Functional conversion haptip module and its control method

Abstract

The present invention relates to a function conversion haptic module and a control method thereof, and more specifically, the function conversion haptic module comprises: an electromagnet that generates a magnetic field according to an applied current; a bearing function ball disposed above the electromagnet; a magnetorheological elastic body disposed above the bearing function ball and comprising a magnetorheological fluid that changes stiffness and resistance force as the magnetic field generated by the electromagnet is applied; a resistance force transmission unit disposed above the magnetorheological elastic body and transmitting the resistance force of the stiffness change according to the resistance force change of the magnetorheological elastic body; and an operating unit coupled to the resistance force transmission unit and configured to allow a user to feel a haptic sensation according to the resistance force change transmitted from the resistance force transmission unit. In addition, a control method for a function conversion haptic module according to the features of the present invention is a control method for a function conversion haptic module comprising: (1) a magnetomagnet that generates a magnetic field according to an applied current; a bearing function ball disposed above the electromagnet; a magnetorheological elastic body comprising a magnetorheological fluid disposed above the bearing function ball, wherein the stiffness changes and a resistance change occurs as the magnetic field generated by the electromagnet is applied; a resistance transmission unit disposed above the magnetorheological elastic body and transmitting the resistance of the stiffness change according to the resistance change of the magnetorheological elastic body; and an operating unit coupled to the resistance transmission unit and configured to allow a user to feel a haptic sensation according to the resistance change transmitted from the resistance transmission unit, wherein the user generates a magnetic field from the electromagnet when operating the magnetorheological elastic body to deform the magnetorheological elastic body using the operating unit; (2) a step in which the stiffness of the magnetorheological elastic body changes and a resistance change occurs as the magnetic field generated by the electromagnet is applied. (3) a step in which the resistance force transmission unit transmits the resistance force of the change in stiffness according to the change in resistance force of the magnetorheological elastic body; and (4) a step in which the operating unit provides a haptic touch that allows the user to feel the change in resistance force transmitted from the resistance force transmission unit. According to the function conversion haptic module and the control method proposed in the present invention, the module is configured to include an electromagnet that generates a magnetic field according to an applied current, a bearing function ball disposed above the electromagnet, a magnetorheological elastic body comprising a magnetorheological fluid disposed above the bearing function ball and having a change in stiffness and a change in resistance force as the magnetic field generated by the electromagnet is applied, a resistance force transmission unit disposed above the magnetorheological elastic body and transmitting the resistance force of the change in stiffness according to the change in resistance force of the magnetorheological elastic body, and an operating unit coupled to the resistance force transmission unit and configured to allow a user to feel a haptic sensation according to the change in resistance force transmitted from the resistance force transmission unit, thereby generating vibration through the repetition of compression and restoration of the magnetorheological elastic body according to the applied magnetic field, and generating and providing various haptic information of a button or knob according to the shape of the operating unit. In addition, according to the function conversion haptic module and the control method thereof of the present invention, vibrations generated through the repetition of compression and restoration of a magnetorheological elastic body according to an applied magnetic field can be generated as various haptic information of a button or knob according to the shape of the control part and provided to the user, thereby enabling the selective use of a button or knob of the control part in the configuration of a single haptic actuator, and thereby providing multifunctionality of various user haptics suitable for different shapes of buttons or knobs, and further improving the convenience and efficiency of use.

Description

Technology Field

[0001] The present invention relates to a function conversion haptic module and a control method thereof, and more specifically, to a function conversion haptic module and a control method thereof that generate vibrations through the repetition of compression and restoration of a magnetorheological elastic body according to an applied magnetic field, and generate various haptic information of a button or knob according to the shape of the control part and provide it to the user. Background Technology

[0002] The content described in this section merely provides background information regarding an embodiment of the present invention and does not constitute prior art.

[0004] In general, haptics technology refers to technology that enables users to feel touch, force, and motion through input devices such as keyboards, mice, joysticks, and touchscreens. The term is derived from the Greek adjective 'haptesthai,' meaning 'to touch,' and is also referred to as computer haptic technology.

[0006] Mechanical modules, such as actuators, can be used to provide haptic feedback to users. For example, actuators operate using energy sources in the form of electric current, hydraulic pressure, or pneumatic pressure, and convert this energy into some form of movement. Recently, many actuators have been developed for the purpose of providing force sensations by being fitted to the user's body. Most actuators developed to date for the purpose of providing force sensations utilize vibration motors or hydraulic or pneumatic pumps on the body.

[0008] In particular, in the technical field regarding conventional actuators, research has mainly been conducted to improve the tactile, force, or motion feedback provided by each actuator, but there has been a problem with limitations in that technology for haptic modules providing different haptic feedback has not been presented. Korean Registered Patent Publication No. 10-1341089 is disclosed as a prior art document.

[0010] The aforementioned background technology is technical information that the inventor possessed for the derivation of the present invention or acquired during the process of deriving the present invention, and it cannot be considered as publicly known technology disclosed to the general public prior to the filing of the present invention. The problem to be solved

[0011] The present invention is proposed to solve the aforementioned problems of previously proposed methods, and aims to provide a function conversion haptic module and a control method thereof, comprising: an electromagnet that generates a magnetic field according to an applied current; a bearing function ball disposed above the electromagnet; a magnetorheological elastic body comprising a magnetorheological fluid disposed above the bearing function ball, wherein stiffness changes and resistance changes occur as the magnetic field generated by the electromagnet is applied; a resistance force transmission unit disposed above the magnetorheological elastic body and transmitting the resistance force of the stiffness change according to the resistance force change of the magnetorheological elastic body; and an operating unit coupled to the resistance force transmission unit and configured to allow a user to feel a haptic sensation according to the resistance force change transmitted from the resistance force transmission unit, thereby generating vibration through the repetition of compression and restoration of the magnetorheological elastic body according to the applied magnetic field, and generating and providing various haptic information of a button or knob according to the shape of the operating unit to the user.

[0013] In addition, the present invention aims to provide a function conversion haptic module and a control method thereof, which can generate vibrations through the repetition of compression and restoration of a magnetorheological elastic body according to an applied magnetic field into various haptic information of a button or knob according to the shape of the control part and provide it to the user, thereby enabling the selective use of a button or knob of the control part within the configuration of a single haptic actuator, and thereby providing multifunctionality of various user haptics suitable for different shapes of buttons or knobs, and further improving the convenience and efficiency of use.

[0015] However, the technical problem that the present invention aims to solve is not limited to the technical problem described above, and other technical problems may exist. means of solving the problem

[0016] A function conversion haptic module according to the features of the present invention for achieving the above-mentioned purpose is,

[0017] As a function conversion haptic module,

[0018] An electromagnet that generates a magnetic field according to the applied current;

[0019] A bearing function ball positioned on the upper part of the above electromagnet;

[0020] A magnetorheological elastic body comprising a magnetorheological fluid disposed on the upper part of the bearing function ball, wherein stiffness changes and resistance changes occur as a magnetic field generated by the electromagnet is applied;

[0021] A resistance force transmission part disposed on the upper part of the magnetorheological elastic body and transmitting the resistance force of the stiffness change according to the resistance force change of the magnetorheological elastic body; and

[0022] The configuration is characterized by including an operating unit coupled to the resistance transmission unit, which allows the user to feel a haptic sensation according to the change in resistance transmitted from the resistance transmission unit.

[0024] Preferably, the electromagnet is,

[0025] A magnetic field is generated according to the applied current, and an alternating magnetic field can be generated so that the magnetorheological elastic body repeatedly compresses and restores to generate vibration.

[0027] More preferably, the magnetorheological elastomer is,

[0028] As the magnetic field generated by the electromagnet is applied, the stiffness changes and the resistance changes. The magnetorheological fluid can be operated such that when the magnetic field is applied, the internal iron particles form magnetic chains and align in a line, and a change in resistance occurs in response to the force pressing in the direction of the electromagnet.

[0030] Even more preferably, the resistance transmission part is,

[0031] In order to transmit the resistance of the change in stiffness according to the change in resistance of the magnetorheological elastic body, the upper part of the magnetorheological elastic body can be coupled to the operating part via an operating part fixing pin.

[0033] Even more preferably, the above-mentioned operating part is,

[0034] It may be composed of a button or knob that transmits vibration so that the user can feel a haptic sensation according to the change in resistance transmitted from the resistance transmission unit.

[0036] A control method for a function conversion haptic module according to the features of the present invention for achieving the above-mentioned purpose is,

[0037] As a control method for a function conversion haptic module,

[0038] (1) A function conversion haptic module comprising: an electromagnet that generates a magnetic field according to an applied current; a bearing function ball disposed above the electromagnet; a magnetorheological elastic body disposed above the bearing function ball and comprising a magnetorheological fluid whose stiffness changes and resistance changes occur as the magnetic field generated by the electromagnet is applied; a resistance transmission unit disposed above the magnetorheological elastic body and transmitting the resistance of the stiffness change according to the resistance change of the magnetorheological elastic body; and a control unit coupled to the resistance transmission unit and configured to allow a user to feel a haptic sensation according to the resistance change transmitted from the resistance transmission unit, wherein the user generates a magnetic field from the electromagnet when operating the magnetorheological elastic body to deform the magnetorheological elastic body using the control unit;

[0039] (2) A step in which the stiffness of the magnetorheological elastic body changes and a change in resistance occurs as a magnetic field generated by the electromagnet is applied;

[0040] (3) A step in which the resistance force transmission unit transmits the resistance force of the stiffness change according to the resistance force change of the magnetorheological elastic body; and

[0041] (4) The above-described operating unit is characterized by a step of providing a user with a haptic sensation according to the change in resistance transmitted from the resistance transmission unit.

[0043] Preferably, the electromagnet is,

[0044] A magnetic field is generated according to the applied current, and an alternating magnetic field can be generated so that the magnetorheological elastic body repeatedly compresses and restores to generate vibration.

[0046] More preferably, the magnetorheological elastomer is,

[0047] As the magnetic field generated by the electromagnet is applied, the stiffness changes and the resistance changes. The magnetorheological fluid can be operated such that when the magnetic field is applied, the internal iron particles form magnetic chains and align in a line, and a change in resistance occurs in response to the force pressing in the direction of the electromagnet.

[0049] Even more preferably, the resistance transmission part is,

[0050] In order to transmit the resistance of the change in stiffness according to the change in resistance of the magnetorheological elastic body, the upper part of the magnetorheological elastic body can be coupled to the operating part via an operating part fixing pin.

[0052] Even more preferably, the above-mentioned operating part is,

[0053] It may be composed of a button or knob that transmits vibration so that the user can feel a haptic sensation according to the change in resistance transmitted from the resistance transmission unit. Effects of the invention

[0054] According to the function conversion haptic module and the control method proposed in the present invention, the module is configured to include an electromagnet that generates a magnetic field according to an applied current, a bearing function ball disposed above the electromagnet, a magnetorheological elastic body comprising a magnetorheological fluid disposed above the bearing function ball and having a change in stiffness and a change in resistance force as the magnetic field generated by the electromagnet is applied, a resistance force transmission unit disposed above the magnetorheological elastic body and transmitting the resistance force of the change in stiffness according to the change in resistance force of the magnetorheological elastic body, and an operating unit coupled to the resistance force transmission unit and configured to allow a user to feel a haptic sensation according to the change in resistance force transmitted from the resistance force transmission unit, thereby generating vibration through the repetition of compression and restoration of the magnetorheological elastic body according to the applied magnetic field, and generating and providing various haptic information of a button or knob according to the shape of the operating unit.

[0056] In addition, according to the function conversion haptic module and the control method thereof of the present invention, vibrations generated through the repetition of compression and restoration of a magnetorheological elastic body according to an applied magnetic field can be generated as various haptic information of a button or knob according to the shape of the control part and provided to the user, thereby enabling the selective use of a button or knob of the control part in the configuration of a single haptic actuator, and thereby providing multifunctionality of various user haptics suitable for different shapes of buttons or knobs, and further improving the convenience and efficiency of use.

[0058] Furthermore, the various and beneficial advantages and effects of the present invention are not limited to those described above and may be more easily understood in the process of explaining specific embodiments of the present invention. Brief explanation of the drawing

[0059] FIG. 1 is a diagram illustrating the configuration of a function conversion haptic module according to an embodiment of the present invention as function blocks. FIG. 2 is a diagram illustrating the configuration of a magnetorheological elastomer of a function conversion haptic module according to an embodiment of the present invention as a function block. FIG. 3 is a diagram illustrating the configuration of an operating part of a function conversion haptic module according to an embodiment of the present invention as a function block. FIG. 4 is a drawing showing the overall perspective view configuration of a function conversion haptic module according to an embodiment of the present invention. FIG. 5 is a diagram illustrating the configuration of an initial state to explain the operating principle when a button is applied as an operating part in a function conversion haptic module according to an embodiment of the present invention. FIG. 6 is a diagram illustrating the configuration of an initial state in which a button is pressed to explain the operating principle when a button is applied as an operating part in a function conversion haptic module according to an embodiment of the present invention. FIG. 7 is a diagram illustrating the configuration of a magnetic field application state to explain the operating principle when a button is applied as an operating part in a function conversion haptic module according to an embodiment of the present invention. FIG. 8 is a diagram illustrating the configuration of the operating state of a vibration tactile sensation to explain the operating principle when a button is applied as an operating part in a function conversion haptic module according to an embodiment of the present invention. FIG. 9 is a diagram illustrating the configuration of an initial state to explain the operating principle when a knob is applied as an operating part in a function conversion haptic module according to an embodiment of the present invention. FIG. 10 is a diagram illustrating the configuration of an initial state in which a knob is rotated to explain the operating principle when a knob is applied as an operating part in a function conversion haptic module according to an embodiment of the present invention. FIG. 11 is a diagram illustrating the configuration of a magnetic field application state to explain the operating principle when a knob is applied as a control part in a function conversion haptic module according to an embodiment of the present invention. FIG. 12 is a diagram illustrating the configuration of the operating state of a vibration tactile sensation to explain the operating principle when a knob is applied as an operating part in a function conversion haptic module according to an embodiment of the present invention. FIG. 13 is a diagram illustrating the flow of a control method for a function conversion haptic module according to an embodiment of the present invention. Specific details for implementing the invention

[0060] Embodiments of the present invention are described below with reference to the attached drawings so that those skilled in the art can easily implement the invention. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification are denoted by similar reference numerals.

[0062] Throughout the specification, when a part is described as being "connected" to another part, this includes not only cases where they are "directly connected" but also cases where they are "indirectly connected" with other elements interposed between them. Furthermore, when a part is described as "including" a component, this means that, unless specifically stated otherwise, it does not exclude other components but rather allows for the inclusion of additional components; it should be understood that this does not preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0064] The following examples are detailed descriptions to aid in understanding the present invention and are not intended to limit the scope of the present invention. Accordingly, inventions within the same scope that perform the same function as the present invention will also fall within the scope of the present invention.

[0066] In addition, each component, process, procedure, or method included in each embodiment of the present invention may be shared within a scope that is not technically contradictory to one another.

[0068] FIG. 1 is a diagram illustrating the configuration of a function conversion haptic module according to an embodiment of the present invention in functional blocks, FIG. 2 is a diagram illustrating the configuration of a magnetorheological elastomer of a function conversion haptic module according to an embodiment of the present invention in functional blocks, and FIG. 3 is a diagram illustrating the configuration of an operating part of a function conversion haptic module according to an embodiment of the present invention in functional blocks. As illustrated in FIGS. 1 to 3, a function conversion haptic module (100) according to an embodiment of the present invention may be configured to include an electromagnet (110) that generates a magnetic field according to an applied current, a bearing function ball (120) disposed above the electromagnet (110), a magnetorheological elastic body (130) comprising a magnetorheological fluid (131) disposed above the bearing function ball (120) and having its stiffness changed and resistance change generated as the magnetic field generated by the electromagnet (110) is applied, a resistance transmission unit (140) disposed above the magnetorheological elastic body (130) and transmitting the resistance of the stiffness change according to the resistance change of the magnetorheological elastic body (130), and an operating unit (150) coupled to the resistance transmission unit (140) so that a user can feel a haptic sensation according to the resistance change transmitted from the resistance transmission unit (140). Hereinafter, the specific configuration of a function conversion haptic module according to an embodiment of the present invention will be described in detail with reference to the attached drawings.

[0070] FIG. 4 is a drawing showing the overall perspective view configuration of a function conversion haptic module according to an embodiment of the present invention, FIG. 5 is a drawing showing the configuration of an initial state to explain the operating principle when a button is applied as an operating part in a function conversion haptic module according to an embodiment of the present invention, FIG. 6 is a drawing showing the configuration of an initial state of pressing a button to explain the operating principle when a button is applied as an operating part in a function conversion haptic module according to an embodiment of the present invention, FIG. 7 is a drawing showing the configuration of a magnetic field application state to explain the operating principle when a button is applied as an operating part in a function conversion haptic module according to an embodiment of the present invention, FIG. 8 is a drawing showing the configuration of a vibration tactile operating state to explain the operating principle when a button is applied as an operating part in a function conversion haptic module according to an embodiment of the present invention.

[0072] FIG. 9 is a diagram illustrating the configuration of an initial state to explain the operating principle when a knob is applied as a control part in a function conversion haptic module according to an embodiment of the present invention; FIG. 10 is a diagram illustrating the configuration of an initial state in which a knob is rotated to explain the operating principle when a knob is applied as a control part in a function conversion haptic module according to an embodiment of the present invention; FIG. 11 is a diagram illustrating the configuration of a magnetic field application state to explain the operating principle when a knob is applied as a control part in a function conversion haptic module according to an embodiment of the present invention; and FIG. 12 is a diagram illustrating the configuration of a vibration tactile operating state to explain the operating principle when a knob is applied as a control part in a function conversion haptic module according to an embodiment of the present invention.

[0074] The electromagnet (110) is configured to generate a magnetic field according to the applied current. This electromagnet (110) generates a magnetic field according to the applied current, but can be operated to generate an alternating magnetic field so that the magnetorheological elastic body (130), which will be described later, repeatedly compresses and restores to generate vibration. That is, the electromagnet (110) can function to generate vibration by rapidly changing the magnetic field so that the magnetorheological elastic body (130) repeatedly compresses and restores.

[0076] Additionally, the electromagnet (110) can be operated in conjunction with the user operation of the control unit (150), that is, when the user deforms the magnetorheological elastic body (130) (pressing or turning) using the control unit (150), so that a magnetic field can be applied.

[0078] The bearing function ball (120) is configured to be placed on the upper part of the electromagnet (110). As shown in FIG. 4, this bearing function ball (120) can be configured with a structure in which a plurality of balls are arranged in a circular pattern on a disc. Here, the bearing function ball (120) serves to help the knob (153) applied to the operating part (150) rotate smoothly without the bottom part wearing out when rotating it. That is, the bearing function ball (120) can function as a configuration for the rotation of the knob (153) and rotational reaction force.

[0080] The magnetorheological elastic body (130) is positioned on the upper part of the bearing function ball (120) and is configured to include a magnetorheological fluid (131) in which stiffness changes and resistance changes occur as a magnetic field generated by an electromagnet (110) is applied. In this magnetorheological elastic body (130), stiffness changes and resistance changes occur as a magnetic field generated by an electromagnet (110) is applied, and the magnetorheological fluid (131) can be operated such that when a magnetic field is applied, the iron particles inside form a magnetic chain and align in a line, and a change in resistance occurs in response to the force pressing in the direction of the electromagnet (110). Here, when a magnetic field is applied, magnetic attraction occurs between the particles of the magnetorheological fluid (131) within the magnetorheological elastic body (130), and as a force pressing in the direction of the electromagnet (110) is generated, the magnetorheological elastic body (130) is finely compressed in the direction of the stronger magnetic field and can function to increase stiffness. At this time, when a magnetic field is applied to the magnetorheological fluid (131), the iron particles inside are aligned in a line, and a force is generated in the direction of the electromagnet.

[0082] Additionally, the magnetorheological elastic body (130) is compressed slightly by the magnetic field applied from the electromagnet (110), increasing its stiffness, and the iron particles inside the magnetorheological fluid (131) are aligned in a line. At this time, the magnetorheological elastic body (130) and the iron particles inside the magnetorheological fluid (131) may generate a force pressing in the direction of the electromagnet due to magnetic attraction, and if the magnetic field is rapidly changed by the electromagnet (110), the magnetorheological elastic body (130) is repeatedly compressed and restored to generate vibration.

[0084] Additionally, as shown in FIGS. 5 to 8, when a user presses the magnetorheological elastic body (130) using the operating part (150) to which the button (152) is applied and a magnetic field is applied from the electromagnet (110), the rigidity of the magnetorheological elastic body (130) changes due to the magnetic field and the iron particles inside the magnetorheological fluid (131) are aligned in a straight line, causing a change in the resistance force generated when pressed. Here, FIG. 5 shows the configuration of an initial state in which a button (152) is applied to a control unit (150) in a function conversion haptic module (100); FIG. 6 shows the configuration of an initial state in which a button (152) is pressed in which a button (152) is applied to a control unit (150) in a function conversion haptic module (100); FIG. 7 shows the state of magnetic field application in which a button (152) is applied to a control unit (150) in a function conversion haptic module (100); and FIG. 8 shows the state of operation of vibration tactile sensation in which a button (152) is applied to a control unit (150) in a function conversion haptic module (100). That is, FIGS. 5 to 8 illustrate the operating principles of the initial state, pressing state, magnetic field application state, and vibration tactile sensation generation state in the function conversion haptic module (100) when a button (152) is applied to the operating part (150).

[0086] Additionally, as shown in FIGS. 9 to 12, when a user rotates the magnetorheological elastic body (130) using a control unit (150) to which a knob (153) is applied and a magnetic field is applied from an electromagnet (110), a change in rotational resistance occurs due to the force of the iron particles inside the magnetorheological elastic body (130) and magnetorheological fluid (131) pressing in the direction of the electromagnet by the applied magnetic field. Here, FIG. 9 shows the configuration of an initial state in which a knob (153) is applied to a control unit (150) in a function conversion haptic module (100); FIG. 10 shows the configuration of a state in which a knob (153) is rotated in which a knob (153) is applied to a control unit (150) in a function conversion haptic module (100); FIG. 11 shows the state of magnetic field application in which a knob (153) is applied to a control unit (150) in a function conversion haptic module (100); and FIG. 12 shows the operation state of vibration tactile sensation in which a knob (153) is applied to a control unit (150) in a function conversion haptic module (100). That is, FIGS. 9 to 12 illustrate the operating principles of the initial state, the rotating state, the magnetic field application state, and the vibration tactile sensation generation state when the knob (153) is applied to the control part (150) in the function conversion haptic module (100). In this way, the magnetorheological elastomer (130) can function to generate various haptic information according to the shape of the control part of the button (152) or the knob (153) of the control part (150).

[0088] The resistance transmission unit (140) is configured to be positioned on the upper part of the magnetorheological elastic body (130) and to transmit the resistance of the stiffness change according to the resistance change of the magnetorheological elastic body (130). This resistance transmission unit (140) can be coupled to the control unit (150) via a control unit fixing pin (151) on the upper part of the magnetorheological elastic body (130) to transmit the resistance of the stiffness change according to the resistance change of the magnetorheological elastic body (130). Here, the resistance transmission unit (140) can function to transmit haptic information so that the user can feel the vibration generated as compression and restoration are repeated in the magnetorheological elastic body (130) through the control unit (150).

[0090] The control unit (150) is coupled to the resistance transmission unit (140) and configured to allow the user to feel haptic sensations according to changes in resistance transmitted from the resistance transmission unit (140). This control unit (150) may be composed of a button (152) or a knob (153) that transmits vibrations so that the user can feel haptic sensations according to changes in resistance transmitted from the resistance transmission unit (140). Here, the control unit (150) transmits haptic information generated through the magnetorheological elastomer (130) to the user, and can function to generate haptic information of various functions according to the shape of the control unit of the button (152) and the knob (153). That is, in the case of the button (152), haptic information regarding changes in resistance that occur when pressed can be received, and in the case of the knob (153), haptic information regarding changes in rotational resistance according to the rotation of the knob can be received.

[0092] Additionally, the control unit (150) can function to allow the replacement use of a button (152) or a knob (153) depending on user operation.

[0094] As shown in FIGS. 4 to 12, the function conversion haptic module (100) may have an electromagnet (110), a bearing function ball (120), a magnetorheological elastic body (130), a resistance force transmission part (140), and an operating part (150) configured in a housing (160), wherein the housing (160) may be configured as a double structure of an outer housing (161) and an inner housing (162). Additionally, as shown in FIG. 4, the function conversion haptic module (100) may include an electromagnet (110), a bearing function ball (120), a magnetorheological elastic body (130), a resistance force transmission part (140), an operating part (150), and a housing (160), and may be used as an actuator capable of generating haptic information of various functions according to the button shape or knob shape of the operating part (150).

[0096] Additionally, the structure of the function conversion haptic module (100) may be configured such that a magnetorheological elastic body (130) containing magnetorheological fluid (131) is positioned on top of an electromagnet (110), a resistance force transmission part (140) and a housing (160) are positioned on top of it, the operating part (150) and the resistance force transmission part (140) are connected by an operating part fixing pin (151), and a bearing function ball (120) is positioned between the electromagnet (110) and the magnetorheological elastic body (130).

[0098] FIG. 13 is a diagram illustrating the flow of a control method for a function conversion haptic module according to an embodiment of the present invention. As shown in FIG. 13, the control method for a function conversion haptic module according to an embodiment of the present invention may be implemented by including the following steps in the function conversion haptic module: a step (S110) of generating a magnetic field from an electromagnet when a user operates to deform a magnetorheological elastic body using a control unit; a step (S120) of changing stiffness and generating a change in resistance or creating a vibration tactile sensation as the magnetorheological elastic body is subjected to the magnetic field generated by the electromagnet; a step (S130) of a resistance transmission unit transmitting the resistance of the stiffness change or the vibration tactile sensation according to the change in resistance of the magnetorheological elastic body; and a step (S140) of the control unit providing the user with the ability to feel the haptic sensation according to the change in resistance transmitted from the resistance transmission unit.

[0100] In step S110, in a function conversion haptic module (100) comprising an electromagnet (110) that generates a magnetic field according to an applied current, a bearing function ball (120) disposed above the electromagnet (110), a magnetorheological elastic body (130) comprising a magnetorheological fluid (131) disposed above the bearing function ball (120) and having its stiffness change and resistance change occur as the magnetic field generated by the electromagnet (110) is applied, a resistance transmission part (140) disposed above the magnetorheological elastic body (130) and transmitting the resistance of the stiffness change according to the resistance change of the magnetorheological elastic body (130), and an operating part (150) coupled to the resistance transmission part (140) and enabling a user to feel a haptic sensation according to the resistance change transmitted from the resistance transmission part (140), when a user operates to deform the magnetorheological elastic body (130) using the operating part (150), A magnetic field is generated in the electromagnet (110). In this step S110, the electromagnet (110) generates a magnetic field according to the applied current, and can be operated to generate an alternating magnetic field so that the magnetorheological elastic body (130), which will be described later, repeatedly compresses and restores to generate vibration. That is, the electromagnet (110) can function to generate vibration by rapidly changing the magnetic field so that the magnetorheological elastic body (130) repeatedly compresses and restores.

[0102] Additionally, the electromagnet (110) can be operated in conjunction with the user operation of the control unit (150), that is, when the user deforms the magnetorheological elastic body (130) (pressing or turning) using the control unit (150), so that a magnetic field can be applied.

[0104] Additionally, the bearing function ball (120) is configured to be placed on the upper part of the electromagnet (110), and as shown in FIG. 4, it can be configured with a structure in which a plurality of balls are arranged in a circular pattern on a disc. This bearing function ball (120) serves to help the knob (153) applied to the operating part (150) rotate smoothly without the bottom part wearing out when rotating it. That is, the bearing function ball (120) can function as a configuration for the rotation of the knob (153) and the rotational reaction force.

[0106] In step S120, the magnetorheological elastic body (130) changes stiffness and resistance as a magnetic field generated by the electromagnet (110) is applied. The magnetorheological elastic body (130) in step S120 is configured to include a magnetorheological fluid (131) which is positioned on the upper part of the bearing function ball (120) and whose stiffness changes and resistance changes as a magnetic field generated by the electromagnet (110) is applied. In this configuration, the magnetorheological fluid (131) can be operated such that when a magnetic field is applied, the iron particles inside form a magnetic chain and align in a line, and a change in resistance occurs in response to the force pressing in the direction of the electromagnet (110). When a magnetic field is applied to such a magnetorheological elastic body (130), magnetic attraction is generated between the particles of the magnetorheological fluid (131) within the magnetorheological elastic body (130), and a pressing force is generated in the direction of the electromagnet (110), causing the magnetorheological elastic body (130) to be finely compressed in the direction of the strong magnetic field and to function to increase stiffness. At this time, when a magnetic field is applied to the magnetorheological fluid (131), the iron particles inside are aligned in a line, and a pressing force is generated in the direction of the electromagnet.

[0108] Additionally, the magnetorheological elastic body (130) is compressed slightly by the magnetic field applied from the electromagnet (110), increasing its stiffness, and the iron particles inside the magnetorheological fluid (131) are aligned in a line. At this time, the magnetorheological elastic body (130) and the iron particles inside the magnetorheological fluid (131) may generate a force pressing in the direction of the electromagnet due to magnetic attraction, and if the magnetic field is rapidly changed by the electromagnet (110), the magnetorheological elastic body (130) is repeatedly compressed and restored to generate vibration.

[0110] Additionally, as shown in FIGS. 5 to 8, when a user presses the magnetorheological elastic body (130) using the operating part (150) to which the button (152) is applied and a magnetic field is applied from the electromagnet (110), the rigidity of the magnetorheological elastic body (130) changes due to the magnetic field and the iron particles inside the magnetorheological fluid (131) are aligned in a straight line, causing a change in the resistance force generated when pressed. Here, FIG. 5 shows the configuration of an initial state in which a button (152) is applied to a control unit (150) in a function conversion haptic module (100); FIG. 6 shows the configuration of an initial state in which a button (152) is pressed in which a button (152) is applied to a control unit (150) in a function conversion haptic module (100); FIG. 7 shows the state of magnetic field application in which a button (152) is applied to a control unit (150) in a function conversion haptic module (100); and FIG. 8 shows the state of operation of vibration tactile sensation in which a button (152) is applied to a control unit (150) in a function conversion haptic module (100). That is, FIGS. 5 to 8 illustrate the operating principles of the initial state, pressing state, magnetic field application state, and vibration tactile sensation generation state in the function conversion haptic module (100) when a button (152) is applied to the operating part (150).

[0112] Additionally, as shown in FIGS. 9 to 12, when a user rotates the magnetorheological elastic body (130) using a control unit (150) to which a knob (153) is applied and a magnetic field is applied from an electromagnet (110), a change in rotational resistance occurs due to the force of the iron particles inside the magnetorheological elastic body (130) and magnetorheological fluid (131) pressing in the direction of the electromagnet by the applied magnetic field. Here, FIG. 9 shows the configuration of an initial state in which a knob (153) is applied to a control unit (150) in a function conversion haptic module (100); FIG. 10 shows the configuration of a state in which a knob (153) is rotated in which a knob (153) is applied to a control unit (150) in a function conversion haptic module (100); FIG. 11 shows the state of magnetic field application in which a knob (153) is applied to a control unit (150) in a function conversion haptic module (100); and FIG. 12 shows the operation state of vibration tactile sensation in which a knob (153) is applied to a control unit (150) in a function conversion haptic module (100). That is, FIGS. 9 to 12 illustrate the operating principles of the initial state, the rotating state, the magnetic field application state, and the vibration tactile sensation generation state when the knob (153) is applied to the control part (150) in the function conversion haptic module (100). In this way, the magnetorheological elastomer (130) can function to generate various haptic information according to the shape of the control part of the button (152) or the knob (153) of the control part (150).

[0114] In step S130, the resistance transmission unit (140) transmits the resistance of the stiffness change according to the resistance change of the magnetorheological elastic body (130). In order to transmit the resistance of the stiffness change according to the resistance change of the magnetorheological elastic body (130) in step S130, the resistance transmission unit (140) may be coupled to the operating unit (150) via the operating unit fixing pin (151) at the top of the magnetorheological elastic body (130). Here, the resistance transmission unit (140) may function to transmit haptic information so that the user can feel the vibration generated as compression and restoration are repeated in the magnetorheological elastic body (130) through the operating unit (150).

[0116] In step S140, the control unit (150) is provided to allow the user to feel a haptic sensation according to the change in resistance transmitted from the resistance transmission unit (140). The control unit (150) in step S140 may be composed of a button (152) or a knob (153) that transmits vibration so that the user can feel a haptic sensation according to the change in resistance transmitted from the resistance transmission unit (140). The control unit (150) transmits haptic information generated through the magnetorheological elastomer (130) to the user, and may function to generate haptic information of various functions according to the shape of the control unit of the button (152) and the knob (153). That is, in the case of the button (152), haptic information regarding the occurrence of a change in resistance that occurs when pressed can be received, and in the case of the knob (153), haptic information regarding the occurrence of a change in rotational resistance according to the rotation of the knob can be received. Here, the control unit (150) can function to allow the replacement use of a button (152) or a knob (153) depending on user operation.

[0118] As described above, a function conversion haptic module and a control method thereof according to an embodiment of the present invention comprises: an electromagnet that generates a magnetic field according to an applied current; a bearing function ball disposed above the electromagnet; a magnetorheological elastomer comprising a magnetorheological fluid disposed above the bearing function ball, wherein stiffness changes and resistance changes occur as the magnetic field generated by the electromagnet is applied; a resistance transmission unit disposed above the magnetorheological elastomer and transmitting the resistance of the stiffness change according to the resistance change of the magnetorheological elastomer; and an operating unit coupled to the resistance transmission unit and configured to allow a user to feel a haptic sensation according to the resistance change transmitted from the resistance transmission unit. By such a configuration, vibrations are generated through the repetition of compression and restoration of the magnetorheological elastomer according to the applied magnetic field, and various haptic information of a button or knob according to the shape of the operating unit can be generated and provided to the user. In particular, vibrations generated through the repetition of compression and restoration of the magnetorheological elastomer according to the applied magnetic field are of a button or knob according to the shape of the operating unit. By enabling the generation and provision of various haptic information to the user, it is possible to select and use buttons or knobs of the control unit within the configuration of a single haptic actuator, thereby providing multifunctionality of various user haptics suitable for different types of buttons or knobs, and further enhancing the convenience and efficiency of use.

[0120] The foregoing description of the present invention is for illustrative purposes only, and those skilled in the art will understand that other specific forms can be easily modified without altering the technical spirit or essential features of the present invention. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. For example, each component described as a single unit may be implemented in a distributed manner, and components described as distributed may likewise be implemented in a combined form.

[0122] The scope of the present invention is defined by the claims set forth below rather than by the detailed description above, and all modifications or variations derived from the meaning and scope of the claims and equivalent concepts thereof should be interpreted as being included within the scope of the present invention. Explanation of the symbols

[0123] 100: Function conversion haptic module according to an embodiment of the present invention 110: Electromagnet 120: Bearing function ball 130: Magnetorheological elastomer 131: Magnetorheological fluids 140: Resistance transmission section 150: Control panel 151: Control unit fixing pin 152: Button 153: Nope 160: Housing 161: External housing 162: Internal housing S110: In a function conversion haptic module, a step of generating a magnetic field from an electromagnet when a user operates to deform a magnetorheological elastic body using a control unit. S120: A stage in which the stiffness of a magnetorheological elastic body changes and a change in resistance occurs as a magnetic field generated by an electromagnet is applied. S130: A step in which the resistance force transmission part transmits the resistance force of the stiffness change according to the resistance force change of the magnetorheological elastic body S140: A step of providing a control unit that enables the user to feel haptic sensations according to changes in resistance transmitted from a resistance transmission unit.

Claims

Claim 1 As a function conversion haptic module (100), the module comprises: an electromagnet (110) that generates a magnetic field according to an applied current; a bearing function ball (120) disposed above the electromagnet (110); a magnetorheological elastic body (130) disposed above the bearing function ball (120) and including a magnetorheological fluid (131) that changes stiffness and resistance force as the magnetic field generated by the electromagnet (110) is applied; and a resistance force transmission part (140) disposed above the magnetorheological elastic body (130) and transmitting the resistance force of the stiffness change according to the resistance force change of the magnetorheological elastic body (130). A function conversion haptic module comprising a resistance transmission unit (140) and an operating unit (150) coupled to the resistance transmission unit (140) to allow a user to feel a haptic sensation according to a change in resistance transmitted from the resistance transmission unit (140), wherein the resistance transmission unit (140) is coupled to the operating unit (150) via an operating unit fixing pin (151) at the upper part of the magnetorheological elastic body (130) to transmit a resistance force of a change in stiffness according to a change in resistance of the magnetorheological elastic body (130). Claim 2 A function conversion haptic module according to claim 1, wherein the electromagnet (110) generates a magnetic field according to the applied current, and is operated to generate an alternating magnetic field such that the magnetorheological elastic body (130) repeatedly compresses and restores to generate vibration. Claim 3 In paragraph 2, the magnetorheological elastic body (130) is characterized by having a change in stiffness and a change in resistance as a magnetic field generated by the electromagnet (110) is applied, and the magnetorheological fluid (131) is operated such that when a magnetic field is applied, the iron particles inside form a magnetic chain and align in a line, and a change in resistance occurs in response to a force pressing in the direction of the electromagnet (110), thereby constituting a function-converting haptic module. Claim 4 delete Claim 5 In paragraph 3, the function conversion haptic module is characterized in that the operating part (150) is composed of a button (152) or knob (153) that transmits vibration so that the user can feel a haptic sensation according to the change in resistance force transmitted from the resistance force transmission part (140). Claim 6 A method of controlling a function conversion haptic module (100), comprising: (1) an electromagnet (110) that generates a magnetic field according to an applied current; a bearing function ball (120) disposed above the electromagnet (110); a magnetorheological elastic body (130) disposed above the bearing function ball (120) and including a magnetorheological fluid (131) that changes stiffness and resistance force as the magnetic field generated by the electromagnet (110) is applied; a resistance force transmission unit (140) disposed above the magnetorheological elastic body (130) and transmitting the resistance force of the stiffness change according to the resistance force change of the magnetorheological elastic body (130); and an operating unit (150) coupled to the resistance force transmission unit (140) and configured to allow a user to feel a haptic sensation according to the resistance force change transmitted from the resistance force transmission unit (140), wherein the user uses the operating unit (150) to control the magnetorheological A method for controlling a function-converting haptic module, comprising: a step of generating a magnetic field from an electromagnet (110) during operation to deform an elastic body (130); (2) a step in which the rigidity of the magnetorheological elastic body (130) changes and a change in resistance occurs as the magnetic field generated by the electromagnet (110) is applied; (3) a step in which the resistance transmission unit (140) transmits the resistance of the change in rigidity according to the change in resistance of the magnetorheological elastic body (130); and (4) a step in which the operating unit (150) provides a haptic sensation according to the change in resistance transmitted from the resistance transmission unit (140) so that the user can feel the haptic sensation, wherein the resistance transmission unit (140) is coupled to the operating unit (150) via an operating unit fixing pin (151) at the upper part of the magnetorheological elastic body (130) to transmit the resistance of the change in rigidity according to the change in resistance of the magnetorheological elastic body (130).

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