Tactile sensation presentation device

Abstract

[Problem] To present a tactile sensation produced by shear force to a user by using linear motion produced by a TSA. [Solution] This tactile sensation presentation device comprises at least one motor, a first rotating body that rotates due to driving force of the motor, a second rotating body that rotates in accordance with the rotation of the first rotating body, and a wire group that is attached to the first rotating body and the second rotating body, the wire group having a first section in which the degree of torsion changes due to the driving force of the motor, and a second section which is connected to the first section via a separator and in which the degree of torsion does not change due to the driving force of the motor, the second section of the wire group being provided with an effect device having a protruding section that protrudes toward the outer side of the tactile sensation presentation device, the effect device being movable in a linear direction by the driving force of the motor.

Description

Tactile sensation presentation device

[0001] The present disclosure relates to a haptic sensation providing device.

[0002] Recently, rotation-linear motion transmission mechanisms using twisted strings have been developed. For example, Patent Document 1 discloses a twisted string actuator that can control the drive of an object to be driven (for example, the rotation of the finger joints of a robot hand) by adjusting the degree of twist of two sets of twisted strings.

[0003] JP 2008-79371 A

[0004] This type of twisted string actuator is called TSA (Twisted String Actuation), and is small, lightweight, and offers a high reduction ratio. Applications that take advantage of the linear motion characteristics of TSA are anticipated.

[0005] Therefore, the present disclosure proposes a new and improved tactile sensation providing device that can provide a user with a tactile sensation due to shear force through linear motion of a TSA.

[0006] According to one aspect of the present disclosure, there is provided a tactile sensation presentation device comprising at least one motor, a first rotating body that rotates due to the driving force of the motor, and a second rotating body that rotates in response to the rotation of the first rotating body, and a group of wires attached to the first rotating body and the second rotating body, wherein the group of wires has a first section in which the degree of twisting changes due to the driving force of the motor, and a second section that is connected to the first section via a separator and in which the degree of twisting does not change due to the driving force of the motor, and the second section of the group of wires has a protrusion that protrudes outward from the tactile sensation presentation device and is provided with an effector that is movable in a linear direction due to the driving force of the motor.

[0007] FIG. 1 is an explanatory diagram illustrating an overview of the haptic sensation presentation device 1 according to the present disclosure. FIG. 2 is an explanatory diagram illustrating an example of the internal configuration of the haptic sensation presentation device 1 according to the present disclosure. FIG. 3 is an explanatory diagram illustrating a mechanism by which the effector 100 moves in a linear direction by the TSA according to the present disclosure. FIG. 4 is an explanatory diagram illustrating a mechanism by which the effector 100 moves in a linear direction by the TSA according to the present disclosure. FIG. 5 is a schematic diagram illustrating the AA cross section of the haptic sensation presentation device 1 shown in FIG.

[0008] Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In this specification and drawings, components having substantially the same functional configurations are designated by the same reference numerals, and redundant description will be omitted.

[0009] The explanation will be given in the following order: 1. Overview of the haptic device 2. Example of functional configuration 3. Modification 4. Supplementary information

[0010] <<1. Overview of haptic sensation presentation device>> It has been revealed that haptic sensation presentation technology can present a pseudo-sense of weight to a user by applying a skin shear stimulus. For example, by applying a shear stimulus to the skin of a user's finger, it is possible to present a sense of weight to the user's fingertip. In this way, in order to present a sense of weight to a user, it is necessary to generate a linear torque sufficient to deform the user's skin in the shear direction.

[0011] However, in general, in order to generate a linear torque sufficient to deform the user's skin in a shear direction, the volume and weight of a device incorporating such haptic technology may increase. A comparative example of a haptic device uses a belt winding method to generate skin shear stimulation. While this belt winding method can generate high linear torque in a small size, it may impose limitations on the shape of the device that employs this method. For example, it may be difficult to apply a belt winding method to handheld devices such as pens and mice.

[0012] The technical concept of an embodiment of the present disclosure has been conceived in light of the above points, and provides a tactile sensation presentation technology with a small and simple configuration. First, an overview of a tactile sensation presentation device 1 according to the present disclosure will be described with reference to FIG.

[0013] 1 is an explanatory diagram for explaining an overview of a tactile sensation provision device 1 according to the present disclosure. The tactile sensation provision device 1 according to the present disclosure is a pen-type device that provides a tactile sensation to a user by TSA. However, although a specific example will be described later, the tactile sensation provision device 1 according to the present disclosure is not limited to a pen-type device.

[0014] The haptic sensation presentation device 1 has, for example, a housing 5. A groove 150 is formed in the housing 5. A protrusion 101 ( FIG. 4 ) of the effector 100 protrudes from a hole in the groove 150. The structures of the effector 100 and the groove 150 will be described in detail below.

[0015] First, a user holds the haptic sensation presentation device 1 and touches a finger (e.g., index finger) of the user to the surface of the protrusion 101 ( FIG. 4 ) of the effector 100 shown in FIG. 1. The haptic sensation presentation device 1 according to the present disclosure then applies a shear force to the user's finger that is in contact with the surface of the protrusion 101 ( FIG. 4 ) of the effector 100, thereby presenting a tactile sensation to the user.

[0016] More specifically, the tactile sensation presentation device 1 has a TSA as a mechanism for moving the effector 100 shown in Fig. 1 in a linear direction S (also called a shear direction). By moving the effector 100 in the linear direction S, it is possible to present a tactile sensation due to a shear force to the user's finger.

[0017] The haptic sensation presentation device 1 can be used, for example, as an operation device that cooperates with VR (Virtual Reality) equipment, etc. In this case, a user can perform various operations in a VR space by holding the haptic sensation presentation device 1.

[0018] The tactile sensation presentation device 1 may also be equipped with various sensors such as an infrared light-emitting diode (LED) or an inertial measurement unit (IMU) for position detection, which allows the position of the tactile sensation presentation device 1 to be detected by a stereo camera or a computer, and the tactile sensation presentation device 1 can be used as an input device in a three-dimensional space such as a virtual reality space.

[0019] For example, in the VR space, the coordinates of a virtual pointer indicating the position of the haptic presentation device 1 in the VR space can be defined using sensor values ​​(for example, sensor values ​​obtained by an infrared LED or an IMU) obtained by various sensors of the above-mentioned haptic presentation device 1. Then, the haptic presentation device 1 may present a haptic sensation to the user when the virtual pointer touches a virtual object defined in the VR space.

[0020] More specifically, when the virtual pointer touches a virtual object defined in the VR space, the haptic sensation presentation device 1 controls the movement of the effector 100 in the linear direction S, thereby presenting a pseudo-sense of weight due to shear force to the user holding the haptic sensation presentation device 1. In this way, the haptic sensation presentation device 1 presents a tactile sensation to the user, thereby providing VR interaction.

[0021] The tactile sensation presentation device 1 may also be controlled so that the position of the effector 100 reciprocates at a constant cycle. This allows the tactile sensation presentation device 1 to present a tactile sensation to a user holding the tactile sensation presentation device 1 through vibration (for example, low-frequency vibration).

[0022] The tactile sensation presentation device 1 may also be equipped with two or more infrared LEDs. For example, the tactile sensation presentation device 1 may be equipped with an infrared LED on each of the leading and trailing ends, and the rotation of the tactile sensation presentation device 1 may be detected from the relative coordinates of the two infrared LEDs. The rotation of the tactile sensation presentation device 1 detected in this manner may be used as information for a virtual pointer in the VR space.

[0023] The tactile sensation presentation device 1 may also detect the rotation speed of the motor used to drive the TSA using a sensor such as a rotary encoder. Furthermore, the tactile sensation presentation device 1 may use the rotation speed of the motor detected by a sensor such as an encoder to control the shear force presented to the user.

[0024] Furthermore, the haptic sensation providing device 1 may control the shear force provided to the user using the position of the effector 100 detected by a distance sensor or the like.

[0025] According to the control described above, the tactile sensation presentation device 1 may be able to provide the user with various tactile sensations, such as the sensation of holding a virtual object in a VR space, the sensation of releasing a virtual object, or the sensation of colliding with a virtual object.

[0026] Although the TSA has been attracting attention as a rotary-linear transmission mechanism that can achieve a high reduction ratio with a simple and lightweight configuration, it can only generate traction force and therefore can only generate linear torque in one direction. When considering the provision of tactile sensations to the user, it is desirable to be able to generate linear torque in both directions (hereinafter sometimes referred to as bidirectional) in the linear direction S.

[0027] In this way, when it is desired to exert a direct torque in both directions, it is conceivable that a method using multiple TSAs including multiple groups of wires and multiple motors that drive the multiple groups of wires, or a method using the restoring force of a spring, may be adopted.

[0028] However, adopting a method using multiple TSAs may lead to a complex structure, which may be disadvantageous in terms of freedom of shape, volume, or weight. Also, adopting a method using the restoring force of a spring may be disadvantageous in terms of efficiency, as the spring and TSAs are pushed and pulled.

[0029] Therefore, one of the features of the tactile sensation presentation device 1 according to the present disclosure is that a set of TSAs enables the effector 100 to be driven in both directions in the linear direction S. Below, with reference to Fig. 2, details of the mechanism for moving the effector 100 in both directions in the linear direction S using the TSAs of the tactile sensation presentation device 1 according to the present disclosure will be described.

[0030] <<2. Example of Functional Configuration>> Fig. 2 is an explanatory diagram for explaining an example of the internal configuration of the haptic sensation presentation device 1 according to the present disclosure. As shown in Fig. 2, the haptic sensation presentation device 1 according to the present disclosure has a motor 10, a gear 20, a wire group 30, a separator 40, and a pulley 50 as a TSA.

[0031] (Motor 10) The motor 10 according to the present disclosure rotates a gear 20 (described later) by the driving force of the motor 10. For example, the motor 10 rotates a drive shaft of the motor 10 by the driving force of the motor 10. The motor 10 then rotates a main gear 20A connected to the drive shaft of the motor 10 in the same direction as the rotational direction of the drive shaft of the motor 10.

[0032] (Gear 20) The gear 20 according to the present disclosure is an example of a rotating body that rotates by the driving force of the motor 10. As shown in Fig. 2, the haptic sensation presentation device 1 according to the present disclosure may have a main gear 20A and a sub-gear 20B. Here, the main gear 20A is an example of a first rotating body, and the sub-gear 20B is an example of a second rotating body.

[0033] 2, the main gear 20A may be directly connected to the drive shaft of the motor 10, or the main gear 20A and the sub-gear 20B may mesh with each other. The main gear 20A rotates in the same direction as the drive shaft of the motor 10 due to the driving force of the motor 10. Furthermore, the sub-gear 20B rotates in conjunction with the rotation of the main gear 20A in the opposite direction to the rotation direction of the main gear 20A (i.e., the rotation direction of the drive shaft of the motor 10).

[0034] (Wire group 30) The wire group 30 according to the present disclosure is made up of a plurality of TSA wires 31. As shown in Fig. 2, the wire group 30 is attached to the main gear 20A and the sub gear 20B.

[0035] The wire group 30 has a first section S1 in which the degree of twist changes depending on the driving force of the motor 10. The wire group 30 also has a second section S2 connected to the first section S1 via a separator 40, in which the degree of twist does not change depending on the driving force of the motor 10.

[0036] In other words, the first section S1 and the second section S2 are separated by the separator 40. More specifically, the section from the gear 20 (main gear 20A and sub gear 20B) to the separator 40 is the first section S1, and the remaining sections are the second section S2.

[0037] In addition, the initial state of the wire group 30 in the first section S1 is a twisted state on either the main gear 20A side or the sub gear 20B side, and an untwisted state on the other side of the main gear 20A side or the sub gear 20B side. Figure 2 illustrates an example of the initial state of the wire group 30 in the first section S1, where the wire group 30 on the main gear 20A side is twisted and the wire group 30 on the sub gear 20B side is untwisted.

[0038] However, the initial state of the wire group 30 in the first section S1 is not limited to the example shown in Fig. 2. In the initial state of the wire group 30 in the first section S1, the wire group 30 on the main gear 20A side may be in an untwisted state, and the wire group 30 on the sub gear 20B side may be in a twisted state.

[0039] Furthermore, the initial state of the wire group 30 in the first section S1 may be such that both the wire group 30 on the main gear 20A side and the wire group 30 on the sub gear 20B side are twisted, as long as the degrees of twist of the wire group 30 are different.

[0040] The tactile sensation presentation device 1 also has an effector 100 that can move in a linear direction by the driving force of the motor 10 in the second section S2 of the wire group 30. The effector 100 also has a protrusion 101 ( FIG. 4 ) that protrudes outward from the tactile sensation presentation device 1 (more specifically, the housing 5).

[0041] Furthermore, the wire group 30 in the second section S2 is folded back by the pulley 50. In this way, the tactile sensation presentation device 1 includes the pulley 50, and thus a tactile sensation is presented by a set of the motor 10 and the wire group 30.

[0042] Although the present specification mainly describes an example in which the wire group 30 is composed of six wires 31, the number of wires 31 constituting the wire group 30 according to the present disclosure is not limited to this example. For example, the wire group 30 may be composed of two to five wires 31, or seven or more wires 31.

[0043] In addition, in the example shown in FIG. 2, the effector 100 is provided in the second section S2 on the main gear 20A side, but the effector 100 may be provided in the second section S2 on the sub-gear 20B side, or may be provided on both the main gear 20A side and the sub-gear 20B side.

[0044] Furthermore, the main gear 20A does not necessarily have to be directly connected to the drive shaft of the motor 10. In other words, the main gear 20A may be indirectly connected to the drive shaft of the motor 10. In this case, a component (e.g., a gear) for transmitting the driving force of the motor 10 may be connected to each of the drive shaft of the motor 10 and the main gear 20A.

[0045] The above has described an example of the internal configuration of the haptic sensation presentation device 1 according to the present disclosure. With such a configuration of the haptic sensation presentation device 1, the haptic sensation presentation device 1 can move the effector 100 in a linear direction by rotating the drive shaft of the motor 10 using the driving force of the motor 10, thereby linking the twisting motion and opening motion of the wire groups 30 connected to the main gear 20A and the sub-gear 20B.

[0046] Furthermore, the haptic sensation presentation device 1 can move the effector 100 in both linear directions by changing the rotation direction of the drive shaft of the motor 10. In this way, the effector 100 is moved in a linear direction by the driving force of the motor 10 shown in Fig. 2, and a tactile sensation can be presented to the user by the protrusion 101 (Fig. 4) of the effector 100.

[0047] 3A and 3B are explanatory diagrams illustrating a mechanism by which the effector 100 moves linearly using the TSA according to the present disclosure. For example, when the drive shaft of the motor 10 rotates in a first rotational direction R1 as shown in FIG. 3A, the main gear 20A also rotates in the first rotational direction R1, and the sub-gear 20B rotates in the direction opposite to the first rotational direction R1 (i.e., the second rotational direction R2 shown in FIG. 3B).

[0048] 3A, when the drive shaft of the motor 10 rotates in the first rotation direction R1, the degree of twist of the wire group 30 in the first section S1 increases in the section from the main gear 20A to the separator 40, and decreases in the section from the sub-gear 20B to the separator 40. The decrease in the degree of twist of the wire group 30 means that the degree of twist of the wire group 30 approaches the open side.

[0049] In this way, when the degree of torsion increases in the section from the main gear 20A to the separator 40 and decreases in the section from the sub-gear 20B to the separator 40, the effector 100 moves linearly to the near side L1 (the right side as shown in FIG. 3A ), as shown in FIG. 3A .

[0050] On the other hand, as shown in Figure 3B, when the drive shaft of the motor 10 rotates in a second rotation direction R2 that is opposite to the first rotation direction R1 shown in Figure 3A, the degree of twist of the wire group 30 in the first section S1 becomes smaller in the section from the main gear 20A to the separator 40, and becomes larger in the section from the sub-gear 20B to the separator 40.

[0051] In this way, when the degree of torsion decreases in the section from the main gear 20A to the separator 40 and increases in the section from the sub-gear 20B to the separator 40, the effector 100 moves to the rear side L2 in the linear direction (the left side in FIG. 3B ), as shown in FIG. 3B .

[0052] When the effector 100 moves linearly to the front side L1 or the back side L2, a shear force is applied to the user's finger that is in contact with the protrusion 101 (FIG. 4) of the effector 100 on the front side L1 or the back side L2, and a tactile sensation can be presented to the user.

[0053] The mechanism by which the effector 100 moves in a linear direction using the TSA according to the present disclosure is not limited to the above example. For example, the initial state of the wire group 30 in the first section S1 may be appropriately modified in design.

[0054] More specifically, when the drive shaft of the motor 10 rotates in the first rotation direction R1, the wire group 30 in the first section S1 may be designed so that the degree of twist is smaller in the section from the main gear 20A to the separator 40, and the degree of twist is larger in the section from the sub-gear 20B to the separator 40.

[0055] In this case, when the drive shaft of the motor 10 rotates in the second rotation direction R2, the degree of twist of the wire group 30 in the first section S1 increases in the section from the main gear 20A to the separator 40, and decreases in the section from the sub-gear 20B to the separator 40.

[0056] Furthermore, another gear may be provided between the main gear 20A and the sub-gear 20B to transmit the rotation of the main gear 20A to the sub-gear 20B. For example, if one gear is coupled between the main gear 20A and the sub-gear 20B, when the drive shaft of the motor 10 rotates in the first rotation direction R1, the main gear 20A and the sub-gear 20B rotate in the first rotation direction R1. Therefore, when the drive shaft of the motor 10 rotates in the first rotation direction R1, the winding direction of the wires in the first section S1 may be changed so that the degree of twist is increased in the section from the main gear 20A to the separator 40 and decreased in the section from the sub-gear 20B to the separator 40.

[0057] Fig. 4 is a schematic diagram showing the A-A cross section of the tactile sensation presentation device 1 shown in Fig. 1. The tactile sensation presentation device 1 according to the present disclosure presents a tactile sensation to the user by applying a shear force to the user's skin, and therefore is desirably structured so that the user's finger comes into contact with both the movable effector 100 and the immovable housing 5.

[0058] Therefore, it is desirable that the tactile sensation presentation device 1 according to the present disclosure be designed so that the protrusion 101 of the effector 100 protrudes to a certain extent (for example, several mm) from the hole of the groove 150 of the housing 5, as shown in FIG.

[0059] Furthermore, assuming that the user's finger is in contact only with the surface of the protrusion 101 of the effector 100, when the effector 100 moves, the user's finger in contact with the effector 100 also moves in the same manner, so that no shear force is presented to the user. Therefore, it is desirable that an inclined portion 151 as shown in FIG. 4 be formed on the surface of the groove portion 150 of the housing 5 so that the user's finger can easily come into contact with the housing 5.

[0060] According to the structure of the haptic sensation presentation device 1 as described above, the user's finger can come into contact with both the surface of the protrusion 101 of the effector 100 and the inclined portion 151 of the housing 5. As a result, the haptic sensation presentation device 1 can more effectively present shear force to the user's finger by moving the effector 100.

[0061] Furthermore, the surface of the protrusion 101 of the effector 100 may be made of a material (for example, silicon, rubber, etc.) with a friction coefficient equal to or greater than a predetermined value. This may make it easier to transmit shear force to the user. Furthermore, the surface of the protrusion 101 of the effector 100 may be formed with irregularities. In this way, increasing the surface roughness of the surface of the protrusion 101 of the effector 100 increases the frictional force applied to the user's fingers, making it easier to transmit shear force to the user.

[0062] Furthermore, when the user's finger comes into contact with the surface of the protrusion 101 of the effector 100, a force is applied to the effector 100 in the pressing direction (i.e., the left direction in FIG. 4 ) by the finger. Therefore, to prevent the effector 100 from moving in the pressing direction due to the force in the pressing direction generated by the finger contact, a guide member G may be provided that limits the movement of the effector 100 in directions other than the front side L1 and the back side L2 in the linear direction.

[0063] The above describes an example of the functional configuration of the haptic sensation presentation device 1 according to the present disclosure. Next, we will explain modified examples of the haptic sensation presentation device 1 according to the present disclosure. Any one of the first to third modified examples described below may be adopted, or a combination of multiple modified examples may be adopted.

[0064] <<3. Modifications>> (First Modification) The tactile sensation presentation device 1 according to the first modification may be equipped with a vibration actuator such as an LRA or a VCM. In this way, the tactile sensation presentation device 1 can present a wider variety of tactile sensations to the user by using a vibration actuator in combination with the TSA described above.

[0065] For example, the haptic feedback device 1 may be able to enhance the vibration effect by simultaneously driving the vibration actuator and the TSA upon contact with a virtual object in the VR space.

[0066] Furthermore, the haptic sensation presentation device 1 may present a state change by, for example, presenting vibrations using a vibration actuator when contacting a virtual object in a VR space, and by applying shear stimuli using a TSA when lifting the virtual object. In this way, by combining a vibration actuator and a TSA, it may be possible to switch the method of presenting haptic sensations to the user.

[0067] (Second Modification) In Figures 2 and 3, the mechanism of the TSA that moves the effector 100 in a linear direction using one motor 10 and one set of wires 30 has been described, but the TSA of the tactile sensation presentation device 1 according to the present disclosure is not limited to this example.

[0068] For example, the haptic sensation presentation device 1 according to the second modified example may be equipped with a motor 10 that drives the main gear 20A and a motor 10 that drives the sub-gear 20B. In this case, the rotation of the main gear 20A is no longer linked to the sub-gear 20B, so the haptic sensation presentation device 1 may be equipped with another rotating body instead of the gear 20 (main gear 20A and sub-gear 20B).

[0069] (Third Modification) Furthermore, although an example has been described in which the wire group 30 shown in Figures 2 and 3 is folded back by the pulley 50 and arranged in a U-shape on the tactile sensation presentation device 1, the tactile sensation presentation device 1 according to the third modification does not necessarily have to include the pulley 50.

[0070] For example, in the haptic sensation presentation device 1 according to the third modification, the wire group 30 may be arranged in an I-shape. In this case, the main gear 20A and the sub gear 20B may be arranged at one end side and the other end side of the straight line, respectively.

[0071] Furthermore, the haptic sensation presentation device 1 according to the third modified example may further include a gear that links the rotation of the main gear 20A with the sub-gear 20B when the drive shaft of the motor 10 is connected to the main gear 20A.

[0072] Furthermore, the haptic sensation presentation device 1 according to the third modified example may be equipped with a motor 10 connected to the main gear 20A and a motor 10 connected to the sub-gear 20B. In this case, the rotation of the main gear 20A is no longer linked to the sub-gear 20B, and therefore the haptic sensation presentation device 1 may be equipped with another rotating body instead of the gear 20 (main gear 20A and sub-gear 20B).

[0073] <4. Supplementary Information> Although preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, the technical scope of the present disclosure is not limited to such examples. It is clear that a person skilled in the art of the present disclosure can conceive of various modified or altered examples within the scope of the technical idea described in the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure.

[0074] For example, although the present specification has mainly described an example in which the tactile sensation presentation device 1 is a pen-type device, the tactile sensation presentation device 1 according to the present disclosure is not limited to such an example. For example, the tactile sensation presentation device 1 according to the present disclosure may be a wristband-type device in which the effector 100 contacts the surface of the wrist, and may be used as an alternative means for presenting directions or presenting to fingertips.

[0075] The tactile sensation presentation device 1 may also be a head-mounted display (HMD). In this case, the tactile sensation presentation device 1 may have at least one TSA arranged so that the effector 100 is in contact with the skin on the forehead, and may be used to present a sense of acceleration or wind to the user.

[0076] The tactile sensation providing device 1 may be a bracelet-type device or a ring-type device. In this way, the shape or application of the tactile sensation providing device 1 is not particularly limited.

[0077] Furthermore, the effects described herein are merely descriptive or exemplary and are not limiting. In other words, the technology according to the present disclosure may achieve other effects that are apparent to those skilled in the art from the description of this specification, in addition to or in place of the above-described effects.

[0078] Note that the following configurations also fall within the technical scope of the present disclosure. (1) A tactile sensation presentation device comprising: at least one motor; a first rotating body that rotates due to the driving force of the motor; and a second rotating body that rotates in response to the rotation of the first rotating body; and a group of wires attached to the first rotating body and the second rotating body, wherein the group of wires has: a first section whose degree of twist changes due to the driving force of the motor; and a second section that is connected to the first section via a separator and whose degree of twist does not change due to the driving force of the motor, and wherein the second section of the group of wires is provided with an effector that has a protrusion that protrudes outward from the tactile sensation presentation device and is movable in a linear direction due to the driving force of the motor. (2) The tactile sensation presentation device according to (1), further comprising: a groove having a hole through which the protrusion of the effector protrudes. (3) The tactile sensation presentation device according to (2), wherein the groove portion further has an inclined portion inclined toward the hole portion. (4) The tactile sensation presentation device according to any one of (1) to (3), wherein the tactile sensation presentation device further comprises a pulley in the second section, and wherein the wire group is folded back by the pulley in the second section. (5) The tactile sensation presentation device according to (4), wherein the at least one motor is a single motor, and the first rotating body and the second rotating body are gears that mesh with each other. (6) The tactile sensation presentation device according to (5), wherein a drive shaft of the motor is connected to either the first rotating body or the second rotating body. (7) The tactile sensation presentation device according to any one of (1) to (6), wherein the tactile sensation presentation device further comprises a vibration actuator that can present vibrations. (8) The tactile sensation presentation device according to (7), wherein the tactile sensation is presented by combining a shear force from the effector and vibration from the vibration actuator. (9) The tactile sensation presentation device according to any one of (1) to (8), wherein the surface of the protrusion is made of a material having a friction coefficient equal to or greater than a predetermined value.(10) The tactile sensation presentation device according to any one of (1) to (9), further comprising a guide member that limits movement of the effector in directions other than the linear direction. (11) The tactile sensation presentation device according to any one of (1) to (10), further comprising a sensor that enables position detection of the tactile sensation presentation device. (12) The tactile sensation presentation device according to (11), wherein the tactile sensation presentation device performs an operation related to the tactile sensation presentation based on coordinates defined using sensor values ​​obtained by a sensor. (13) The tactile sensation presentation device according to any one of (1) to (12), wherein the tactile sensation presentation device is a pen-shaped device, and presents a tactile sensation to a user's finger by the effector.

[0079] REFERENCE SIGNS LIST 1 haptic sensation providing device 5 housing 10 motor 20A main gear 20B sub gear 30 wire group 31 wire 40 separator 50 pulley 100 effector 101 protrusion 150 groove 151 inclined portion

Claims

1. A tactile sensation presentation device comprising: at least one motor; a first rotating body rotated by the driving force of the motor; and a second rotating body rotated in response to the rotation of the first rotating body; and a group of wires attached to the first rotating body and the second rotating body, wherein the group of wires has a first section, the degree of twisting of which changes due to the driving force of the motor, and a second section, connected to the first section via a separator, the degree of twisting of which does not change due to the driving force of the motor, and an effector is provided in the second section of the group of wires, the effector having a protrusion protruding toward the outside of the tactile sensation presentation device and movable in a linear direction by the driving force of the motor.

2. The tactile sensation presentation device according to claim 1, further comprising a groove portion having a hole through which a protrusion of the effector protrudes.

3. A tactile sensation presentation device as described in claim 2, wherein the groove portion further has an inclined portion inclined toward the hole portion.

4. The tactile sensation presentation device according to claim 1, further comprising a pulley in the second section, and the wire group is folded back by the pulley in the second section.

5. The tactile sensation presentation device according to claim 4, wherein the at least one motor is a single motor, and the first rotating body and the second rotating body are gears that mesh with each other.

6. The tactile sensation presentation device according to claim 5, wherein the drive shaft of the motor is connected to either the first rotating body or the second rotating body.

7. The tactile sensation presentation device according to claim 1, further comprising a vibration actuator capable of presenting vibration.

8. The tactile sensation presentation device according to claim 7, which presents a tactile sensation by combining a shear force from the effector and a vibration from the vibration actuator.

9. The tactile sensation presentation device according to claim 1, wherein the surface of the protrusion is made of a material having a friction coefficient equal to or greater than a predetermined value.

10. The tactile sensation presentation device according to claim 1, further comprising a guide member that limits movement of the effector in directions other than the linear direction.

11. The tactile sensation presentation device according to claim 1, further comprising a sensor that enables position detection of the tactile sensation presentation device.

12. The tactile sensation presentation device according to claim 11, wherein the tactile sensation presentation device performs an operation related to the tactile sensation presentation based on coordinates defined using a sensor value obtained by a sensor.

13. The tactile sensation presentation device according to claim 1, wherein the tactile sensation presentation device is a pen-shaped device, and the effector presents a tactile sensation to a user's finger.

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