Tactile force-applying input device

Abstract

A tactile force-applying input device (100) comprises: a base (3); an operation member (1) that is supported so as to be movable in a Z-axis direction with respect to the base (3); a shape-memory alloy wire (4) that changes in length as the operation member (1) moves toward a Z2 side; and a control device (10) that is electrically connected to the shape-memory alloy wire (4) and changes the length of the shape-memory alloy wire (4) by changing a current flowing through the shape-memory alloy wire (4) when the operation member (1) moving toward the Z2 side reaches a first position. The control device (10) causes a measurement current to flow to the shape-memory alloy wire (4) so as to measure a resistance value of the shape-memory alloy wire (4), and detects a position of the operation member (1) on the basis of the resistance value.

Description

Force-feeding input device

[0001] The present disclosure relates to a force-feedback input device.

[0002] 2. Description of the Related Art Conventionally, there is known a keyboard (input device) that uses a shape memory alloy wire to generate a pseudo-click sensation when a key switch is pressed (see Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2020-035143

[0004] However, the above-mentioned keyboard needs to be provided with a position detection unit that detects capacitance in order to detect when a key switch is pressed, which may result in a complex structure.

[0005] Therefore, it is desired to provide a force-feedback input device having a simpler structure.

[0006] A force-sense imparting input device according to one embodiment of the present disclosure comprises a base, an operating member supported movably in a first direction relative to the base, a shape memory alloy wire whose length changes as the operating member moves to one side in the first direction, and a control device electrically connected to the shape memory alloy wire and changing the length of the shape memory alloy wire by changing the current flowing through the shape memory alloy wire when the operating member moving to one side reaches a first position, wherein the control device passes a measurement current through the shape memory alloy wire to measure the resistance value of the shape memory alloy wire and detects the position of the operating member based on the resistance value.

[0007] The above-described means can provide a force-feedback input device having a simpler structure.

[0008] 1 is a diagram illustrating an example of the configuration of an input device; FIG. 2 is a perspective view of an operation member constituting the input device of FIG. 1; FIG. 3 is a flowchart illustrating an example of the flow of a force sense imparting process; FIG. 4 is a cross-sectional view of the input device of FIG. 1; FIG. 5 is a cross-sectional perspective view of the input device of FIG. 5; FIG. 6 is a right side view of the input device of FIG. 5; FIG. 7 is a cross-sectional view of the input device of FIG. 7; FIG. 8 is a diagram illustrating yet another example of the configuration of an input device; FIG. 9 is a cross-sectional view of the input device of FIG. 9.

[0009] A force-feedback input device 100 according to an embodiment of the present disclosure will be described below with reference to the drawings. Fig. 1 is a diagram illustrating an example of the configuration of the input device 100. Specifically, the upper diagram of Fig. 1 (the diagram above the block arrow) is an exploded perspective view of the input device 100. The lower diagram of Fig. 1 (the diagram below the block arrow) is a schematic diagram of a force-feedback input system SYS configured by a control device 10, a current-carrying device 11, a resistance value detecting device 12, and the input device 100, and includes a perspective view of the input device 100 in an assembled state.

[0010] In FIG. 1 , X1 represents one direction of the X axis constituting the three-dimensional Cartesian coordinate system, and X2 represents the other direction of the X axis. Furthermore, Y1 represents one direction of the Y axis constituting the three-dimensional Cartesian coordinate system, and Y2 represents the other direction of the Y axis. Similarly, Z1 represents one direction of the Z axis constituting the three-dimensional Cartesian coordinate system, and Z2 represents the other direction of the Z axis. In this embodiment, the X1 side of the input device 100 corresponds to the front side (front face) of the input device 100, and the X2 side of the input device 100 corresponds to the rear side (rear face) of the input device 100. Furthermore, the Y1 side of the input device 100 corresponds to the left side of the input device 100, and the Y2 side of the input device 100 corresponds to the right side of the input device 100. Furthermore, the Z1 side of the input device 100 corresponds to the top side of the input device 100, and the Z2 side of the input device 100 corresponds to the bottom side of the input device 100. This is also true for other figures.

[0011] As shown in the upper diagram of FIG. 1, the input device 100 includes an operation member 1, a support member 2, a base 3, a shape memory alloy wire 4, and a conductive member 5.

[0012] The operating member 1 is a member that receives an operating force from an operator. In the illustrated example, the operating member 1 is a member made of synthetic resin, and is supported by a support member 2 so as to be movable along an operating axis OA that is parallel to the first direction (Z-axis direction).

[0013] The support member 2 is a member arranged between the operating member 1 and the base 3 and configured to be able to elastically support the operating member 1. In the illustrated example, the support member 2 is a leaf spring made of a non-magnetic material and has an inner fixed portion 2C, an outer fixed portion 2E, and elastic arm portions 2G. The inner fixed portion 2C is a portion fixed to the operating member 1, the outer fixed portion 2E is a portion fixed to the base 3, and the four elastic arm portions 2G are elastically deformable portions that connect the inner fixed portion 2C and the outer fixed portion 2E.

[0014] The base 3 is a member that supports the support member 2. In the illustrated example, the base 3 is a member made of synthetic resin and has a substantially rectangular parallelepiped outer shape. Specifically, the base 3 is a lidless box-shaped member having an outer peripheral wall portion 3A and a bottom plate portion 3T. A rectangular annular pedestal portion 3D is formed inside the outer peripheral wall portion 3A, and has four substantially prismatic protrusions 3P formed to protrude upward from the upper surface (inner bottom surface) of the bottom plate portion 3T. The outer fixing portion 2E of the support member 2 is fixed to the base 3 with an adhesive or the like while placed on the pedestal portion 3D.

[0015] The shape memory alloy wire 4 is an example of a shape memory actuator, and constitutes a driving unit that drives the operating member 1. In the illustrated example, the temperature of the shape memory alloy wire 4 rises when a current flows through it, and the wire contracts in response to the rise in temperature. The driving unit can apply a force to the operating member 1 by utilizing the contraction of the shape memory alloy wire 4.

[0016] Specifically, when a current is supplied to the shape memory alloy wire 4, the wire 4 is stretched in a straight line. When the operating member 1 is pressed down by an operator in this state, the shape memory alloy wire 4 is pulled downward by the operating member 1 moving downward, and is stretched.

[0017] The conductive member 5 is a member for conducting electricity to the shape memory alloy wire 4 and is made of a magnetic metal such as iron. In the illustrated example, the conductive member 5 includes a front conductive member 5F fixed to one end (front end) of the shape memory alloy wire 4 and a rear conductive member 5B fixed to the other end (rear end) of the shape memory alloy wire 4. The rear conductive member 5B and the front conductive member 5F each have a terminal portion 5T inserted into a through hole 3H1 formed in the bottom plate portion 3T of the base 3 and a tip portion 5E inserted into a non-through hole 3H2 formed in the bottom plate portion 3T of the base 3. That is, the conductive member 5 is attached to the base 3 so that the terminal portion 5T protrudes downward from the lower surface of the base 3. In FIG. 1 , the through hole 3H1 and the non-through hole 3H2 corresponding to the rear conductive member 5B are visible, but the through hole 3H1 and the non-through hole 3H2 corresponding to the front conductive member 5F are invisible.

[0018] The control device 10 is configured to be able to impart a force sensation when the operating member 1 is operated by the operator. In the illustrated example, the control device 10 is a microcomputer equipped with a CPU, memory, etc. Note that, although the control device 10 is installed outside the base 3 in the illustrated example, it may also be installed inside the base 3. In this case, the control device 10 may be one of the components of the input device 100.

[0019] The current supplying device 11 is a device for supplying current to the shape memory alloy wire 4. In the illustrated example, the current supplying device 11 is configured to be able to supply current to the shape memory alloy wire 4 in response to a control command from the control device 10.

[0020] The resistance value detection device 12 is a device that detects the value of the electrical resistance of the shape memory alloy wire 4. In the illustrated example, the resistance value detection device 12 is configured to repeatedly detect the value of the electrical resistance of the shape memory alloy wire 4 at a predetermined detection period and output the detected value to the control device 10. Typically, the value of the electrical resistance of the shape memory alloy wire 4 increases as the shape memory alloy wire 4 is stretched and as the temperature of the shape memory alloy wire 4 increases.

[0021] Here, the details of the operating member 1 will be described with reference to Fig. 2. Fig. 2 is a perspective view of the operating member 1. Specifically, the upper view of Fig. 2 is a top perspective view of the operating member 1, and the lower view of Fig. 2 is a bottom perspective view of the operating member 1.

[0022] 2, the operating member 1 has a flat plate portion 1T that is substantially rectangular in top view, and a substantially hemispherical upper convex portion 1B that is formed so as to protrude upward from the center of the upper surface of the flat plate portion 1T. The operating member 1 also has four substantially prismatic first lower convex portions 1P that are formed so as to protrude downward from the lower surface of the flat plate portion 1T, a substantially cylindrical second lower convex portion 1Q that is formed so as to protrude downward from the center of the lower surface of the flat plate portion 1T, and a substantially cylindrical third lower convex portion 1R that is formed so as to protrude downward from the center of the lower surface of the second lower convex portion 1Q.

[0023] The upper convex portion 1B is a portion formed to extend along the operating axis OA, and is configured so that an operator can press down on the upper convex portion 1B to move downward the operating member 1. In other words, the upper convex portion 1B is disposed in the center of the flat plate portion 1T so that the operator can press down the operating member 1 along the operating axis OA.

[0024] The first lower convex portion 1P is formed to face a convex portion 3P formed on the upper surface of the bottom plate portion 3T of the base 3. The first lower convex portion 1P and the convex portion 3P may be formed, for example, so that a coil spring is disposed between them. This is to prevent the operating member 1 from tilting when moving downward. Furthermore, the first lower convex portion 1P and the convex portion 3P may be formed to function as a stopper mechanism to prevent the operating member 1 from moving excessively downward.

[0025] The second lower protrusion 1Q is a portion to which the inner fixing portion 2C of the support member 2 is fixed. The third lower protrusion 1R is a portion that holds the middle portion 4M of the shape memory alloy wire 4. In the illustrated example, the inner fixing portion 2C of the support member 2 has a substantially annular shape in top view, as shown in FIG. 1 . The third lower protrusion 1R is configured to be inserted into a circular through-hole 2H formed in the center of the inner fixing portion 2C. The inner fixing portion 2C of the support member 2 is fixed to the operating member 1 with an adhesive or the like, with the lower surface of the second lower protrusion 1Q placed on the upper surface of the inner fixing portion 2C and the third lower protrusion 1R inserted into the through-hole 2H.

[0026] In addition, a groove 1G extending in a direction perpendicular to the operation axis OA (X-axis direction) is formed on the lower surface of the third lower convex portion 1R. In the illustrated example, the shape memory alloy wire 4 has an intermediate portion 4M between one end (front end) and the other end (rear end) fitted into the groove 1G and fixed to the operation member 1 with an adhesive or the like.

[0027] Next, referring to Figures 3 and 4, a process (hereinafter referred to as "force sense imparting process") in which the control device 10 supplies current to the shape memory alloy wire 4 to impart a force sense to the operator when the operating member 1 is operated (pressed) by the operator will be described. Figure 3 is a flowchart showing an example of the flow of the force sense imparting process. In the illustrated example, the control device 10 is configured to be switchable between an ON state and an OFF state, and is configured to execute this force sense imparting process every time the OFF state is switched to the ON state. In addition, the control device 10 is configured to repeatedly acquire, at a predetermined sampling period, the resistance value (the value of the electrical resistance of the shape memory alloy wire 4) repeatedly detected by the resistance value detecting device 12 at a predetermined detection period.

[0028] Fig. 4 is a cross-sectional view of the input device 100. Specifically, Fig. 4 is a view of the cross section of the input device 100 on a virtual plane parallel to the XZ plane including the dashed line L1 in the lower view of Fig. 1, as viewed from the Y2 side. More specifically, the upper view of Fig. 4 shows the state of the input device 100 when the operation member 1 is not pressed downward, and the lower view of Fig. 4 shows the state of the input device 100 when the operation member 1 is pressed downward. Also, in Fig. 4, for clarity, the force F1 of the operator trying to press the operation member 1 downward is represented by a white block arrow, and the force F2 of the shape memory alloy wire 4 trying to press the operation member 1 back upward is represented by a black block arrow.

[0029] First, the control device 10 supplies a measurement current to the shape memory alloy wire 4 (step ST1). When the measurement current is supplied, the shape memory alloy wire 4 is stretched linearly between the front conductive member 5F and the rear conductive member 5B. The measurement current is a current supplied to measure the resistance value R, which is the value of the electrical resistance of the shape memory alloy wire 4, and has a preset magnitude.

[0030] Thereafter, the control device 10 measures the resistance value R of the shape memory alloy wire 4 (step ST2). In the illustrated example, the control device 10 measures the resistance value R based on the output of the resistance value detection device 12.

[0031] Thereafter, the control device 10 determines whether the resistance value R exceeds a first threshold value TH1 (step ST3). The first threshold value TH1 corresponds to the value of the electrical resistance of the shape memory alloy wire 4 when the length of the shape memory alloy wire 4 is a predetermined first length. Note that the first length is typically longer than the length of the shape memory alloy wire 4 when a measurement current is supplied and the wire is stretched linearly.

[0032] Specifically, as shown in the lower diagram of FIG. 4 , when the operation member 1 is pushed downward by the operator of the input device 100, the middle portion 4M of the shape memory alloy wire 4 is pulled downward, stretching the shape memory alloy wire 4 until the length of the shape memory alloy wire 4 reaches a first length. When this occurs, the shape memory alloy wire 4 is typically bent into a substantially V-shape in side view, as shown in the lower diagram of FIG. 4 . More specifically, as shown in the lower diagram of FIG. 4 , the middle portion 4M of the shape memory alloy wire 4 is moved downward by a distance DS1 compared to the state shown in the upper diagram of FIG. 4 . Furthermore, as shown in the lower diagram of FIG. 4 , the inner fixing portion 2C of the support member 2 fixed to the lower surface of the second lower convex portion 1Q of the operation member 1 is moved downward by a distance DS2 compared to the state shown in the upper diagram of FIG. 4 . Therefore, the support member 2 generates a force (restoring force) that pushes the operation member 1 back upward.

[0033] When it is determined that the resistance value R does not exceed the first threshold value TH1 (NO in step ST3), the control device 10 continues to monitor the resistance value R. On the other hand, when it is determined that the resistance value R exceeds the first threshold value TH1 (YES in step ST3), the control device 10 supplies a first contraction current to the shape memory alloy wire 4 (step ST4). The first contraction current is a current supplied to contract the shape memory alloy wire 4, and is larger than the measurement current.

[0034] When the first contraction current is supplied, the shape memory alloy wire 4, which has been bent into a substantially V-shape, contracts and attempts to return to a straight, stretched state. As a result, the operator who is pressing down the operating member 1 receives an upward force F2 from the shape memory alloy wire 4, and can feel a sense of force.

[0035] Thereafter, the control device 10 measures the resistance value R of the shape memory alloy wire 4 (step ST5). That is, the control device 10 repeatedly acquires the resistance value R of the shape memory alloy wire 4, which is at a higher temperature due to the supply of the first contraction current than when the measurement current is supplied, at a predetermined sampling period.

[0036] Thereafter, the control device 10 determines whether the resistance value R exceeds a second threshold value TH2 (step ST3). The second threshold value TH2 is typically a value greater than the first threshold value TH1 and corresponds to the value of the electrical resistance of the shape memory alloy wire 4 when the length of the shape memory alloy wire 4 in a state in which the first contraction current is supplied becomes a predetermined second length. Note that the second length is typically longer than the first length.

[0037] Specifically, when the operating member 1 is pushed further downward by the operator of the input device 100, the middle portion 4M of the shape memory alloy wire 4 is pulled further downward, and the shape memory alloy wire 4 is further stretched, and the length of the shape memory alloy wire 4 reaches the second length, the resistance value R exceeds the second threshold value TH2. At this time, the shape memory alloy wire 4 is typically bent into a substantially V-shape in side view.

[0038] When it is determined that the resistance value R does not exceed the second threshold value TH2 (NO in step ST6), the control device 10 continues to monitor the resistance value R. On the other hand, when it is determined that the resistance value R exceeds the second threshold value TH2 (YES in step ST6), the control device 10 supplies a second contraction current to the shape memory alloy wire 4 (step ST7). The second contraction current is a current supplied to further contract the shape memory alloy wire 4, and is larger than the first contraction current.

[0039] When the second contraction current is supplied, the shape memory alloy wire 4 attempts to return to a linearly stretched state with a stronger contraction than when the first contraction current was supplied. Therefore, the operator who is pressing down the operating member 1 receives a stronger upward force than when the first contraction current was supplied, and can feel a force different from the force felt when the first contraction current was supplied.

[0040] In this way, the control device 10 increases the current supplied to the shape memory alloy wire 4 when the resistance value R of the shape memory alloy wire 4 exceeds a predetermined value, thereby providing a sense of force to the operator who is pushing the operating member 1. Specifically, the control device 10 can provide a predetermined sense of force to the operator when the operator pushes the operating member 1 a predetermined distance along the operating axis OA.

[0041] The control device 10 may be configured to supply a measurement current to the shape memory alloy wire 4 when the resistance value R of the shape memory alloy wire 4 falls below a third threshold value TH3 (a value smaller than the first threshold value TH1) while the first contraction current is being supplied to the shape memory alloy wire 4. This is to allow a response when the operator stops pressing the operating member 1.

[0042] Furthermore, the control device 10 may be configured to supply the first contraction current to the shape memory alloy wire 4 when the resistance value R of the shape memory alloy wire 4 falls below a fourth threshold value TH4 (a value greater than the first threshold value TH1 and less than the second threshold value TH2) while the second contraction current is being supplied to the shape memory alloy wire 4. This is to enable a response when the operator loosens the force F1 pressing down the operating member 1.

[0043] Furthermore, steps ST2 to ST4 or steps ST5 to ST7 may be omitted. That is, the control device 10 may be configured to be able to provide one type of force sense to the operator. Conversely, the control device 10 may be configured to be able to provide three or more types of force sense to the operator.

[0044] Next, an input device 100A, which is another configuration example of the force-feedback input device 100, will be described with reference to Fig. 5 and Fig. 6. Fig. 5 is a diagram showing a configuration example of the input device 100A. Specifically, the upper diagram of Fig. 5 (the diagram above the block arrow) is an exploded perspective view of the input device 100A. The lower diagram of Fig. 5 (the diagram below the block arrow) is a schematic diagram of a force-feedback input system SYS composed of a control device 10, a current-carrying device 11, a resistance value detecting device 12, and the input device 100A, and includes a perspective view of the input device 100A in an assembled state.

[0045] Fig. 6 is a perspective cross-sectional view of the input device 100A. Specifically, Fig. 6 is a diagram of the cross section of the input device 100A viewed from the Y2 side on an imaginary plane parallel to the XZ plane including the dashed line L2 in the lower diagram of Fig. 5.

[0046] In the example shown in FIGS. 5 and 6, the input device 100A includes an operation member 1, a base 3, a shape memory alloy wire 4, a conductive member 5, a moving member 6, and a spring member CS.

[0047] The operating member 1 is a member that receives an operating force from an operator. In the illustrated example, the operating member 1 is supported by a shape memory alloy wire 4 so as to be movable along an operating axis OA that is parallel to the first direction (Z-axis direction).

[0048] Specifically, the operating member 1 has an upper operating member 1U, a lower operating member 1D, and a fastening member 1C. The fastening member 1C is a screw for fixing the lower operating member 1D to the moving member 6. The upper operating member 1U is fixed to the upper side of the lower operating member 1D fixed to the moving member 6 with an adhesive or the like, and can cover the fastening member 1C.

[0049] The base 3 is a member configured to support the operating member 1 movably in a first direction and to support the movable member 6 movably in a second direction (X-axis direction) perpendicular to the first direction. In the illustrated example, the base 3 is formed of synthetic resin and has a front base 3F and a rear base 3B. The base 3 also has a hollow portion 3S for accommodating another member (the movable member 6) therein. A groove 3G for guiding the shape memory alloy wire 4 is formed on the side surface of the base 3. Specifically, a front groove 3GF is formed on the side surface of the front base 3F, and a rear groove 3GB is formed on the side surface of the rear base 3B.

[0050] The shape memory alloy wire 4 is an example of a shape memory actuator, and constitutes a drive unit that drives the operating member 1 and the moving member 6. In the illustrated example, the shape memory alloy wire 4 increases in temperature when a current flows through it, and contracts in response to the increase in temperature. The drive unit can apply force to the operating member 1 and the moving member 6 by utilizing the contraction of the shape memory alloy wire 4. In the illustrated example, the shape memory alloy wire 4 is a single shape memory alloy wire having a left portion 4L located on the left side of the moving member 6, a front portion 4F located in front of the moving member 6, and a right portion 4R located on the right side of the moving member 6.

[0051] The conductive member 5 is a member for conducting electricity to the shape memory alloy wire 4, and is made of a magnetic metal such as iron. In the illustrated example, the conductive member 5 has a metal member 50, a terminal member 51, and a fastening member 52. The fastening member 52 is a screw for fixing the metal member 50 and the terminal member 51 to the base 3. Specifically, the conductive member 5 has a left conductive member 5L that fixes one end (left end) of the shape memory alloy wire 4, and a right conductive member 5R that fixes the other end (right end) of the shape memory alloy wire 4. The left conductive member 5L has a left metal member 50L, a left terminal member 51L, and a left fastening member 52L, and the right conductive member 5R has a right metal member 50R, a right terminal member 51R, and a right fastening member 52R. The left metal member 50L and the left terminal member 51L are fitted into a recess 3R (not visible in FIG. 5) formed on the left side surface of the rear base 3B with the rear end of the left portion 4L of the shape memory alloy wire 4 sandwiched therebetween, and are fixed to the left side surface of the rear base 3B by a left fastening member 52L. The right metal member 50R and the right terminal member 51R are fitted into a recess 3R formed on the right side surface of the rear base 3B with the rear end of the right portion 4R of the shape memory alloy wire 4 sandwiched therebetween, and are fixed to the right side surface of the rear base 3B by a right fastening member 52R.

[0052] The moving member 6 is a member configured to move in response to the movement of the operating member 1. In the illustrated example, the moving member 6 is a member made of synthetic resin, and is supported by the base 3 so as to be movable along a second direction (X-axis direction) perpendicular to the first direction (Z-axis direction).

[0053] The spring member CS is a member configured to apply a force along the second direction (X-axis direction) to the movable member 6. In the illustrated example, the spring member CS is a compression coil spring. Specifically, the movable member 6 has a rear member 60, a central member 61, a front member 62, and a ring member 63, and the spring member CS has a front spring member CSF and a rear spring member CSB.

[0054] The rear member 60 has a cylindrical portion 60C, a pair of lateral protrusions 60P protruding to the left and right from the outer peripheral surface of the cylindrical portion 60C, and a substantially rectangular parallelepiped upward protrusion 60Q protruding upward from the outer peripheral surface of the cylindrical portion 60C. The cylindrical portion 60C is formed with a front hollow portion 60H1 that receives the rear end of the central member 61, and a rear hollow portion 60H2 (see FIG. 6) that receives the rear spring member CSB.

[0055] The central member 61 has a columnar portion 61P, a flange portion 61F, and a tip portion 61T. Specifically, the columnar portion 61P has a front columnar portion 61P1 arranged in front of the flange portion 61F, and a rear columnar portion 61P2 arranged behind the flange portion 61F. The tip portion 61T is configured to extend forward from the front end of the front columnar portion 61P1. In the illustrated example, the columnar portion 61P, flange portion 61F, and tip portion 61T are all formed to be cylindrical, with the diameters of the front columnar portion 61P1 and the rear columnar portion 61P2 being the same, the diameter of the flange portion 61F being larger than the diameters of the front columnar portion 61P1 and the rear columnar portion 61P2, and the diameter of the tip portion 61T being smaller than the diameters of the front columnar portion 61P1 and the rear columnar portion 61P2.

[0056] The front member 62 has a cylindrical portion 62C and a pair of lateral protrusions 62P protruding to the left and right from the outer peripheral surface of the cylindrical portion 62C. Specifically, the cylindrical portion 62C has a rear cylindrical portion 62C1 disposed on the rear side and a front cylindrical portion 62C2 disposed on the front side. In the illustrated example, the cylindrical portion 62C is formed to be cylindrical, and the diameter of the front cylindrical portion 62C2 is larger than the diameter of the rear cylindrical portion 62C1. The rear cylindrical portion 62C1 is formed with a rear hollow portion 62H1 (see FIG. 6 ) that accommodates the front columnar portion 61P1 of the central member 61, and the front cylindrical portion 62C2 is formed with a front hollow portion 62H2 that accommodates the ring member 63. In addition, a groove 62G for guiding the shape memory alloy wire 4 is formed in the distal end surface of each of the pair of lateral protrusions 62P.

[0057] The ring member 63 is a member that is fixed to the tip end 61T of the central member 61 inside the front hollow portion 62H2 of the front member 62. In the illustrated example, the tip end 61T is inserted into the ring member 63, and the ring member 63 and the tip end 61T are fixed together with an adhesive. The ring member 63 may also be screwed onto the tip end 61T of the central member 61.

[0058] 6, this configuration allows the front member 62 to slide rearward (toward the X2 direction) on the front columnar portions 61P1 of the central member 61 while compressing the front spring members CSF. Meanwhile, the ring member 63 prevents the front member 62 from slipping forward (toward the X1 direction) from the front columnar portions 61P1 of the central member 61.

[0059] In the illustrated example, a hollow portion 3S (first hollow portion 3S1) is formed on the front side of the rear base 3B to accommodate the rear spring member CSB and the rear member 60. That is, the rear spring member CSB is disposed within the first hollow portion 3S1, between the inner bottom surface of the first hollow portion 3S1 and the inner bottom surface of the rear hollow portion 60H2, and is configured to be compressed to generate a restoring force when the rear member 60 moves rearward (toward the X2 direction) relative to the rear base 3B. In addition, a hollow portion 3S (second hollow portion 3S2) is formed on the rear side of the front base 3F to accommodate the front spring member CSF, the central member 61, and the front member 62. That is, the front spring member CSF is disposed within the second cavity 3S2 between the flange portion 61F of the central member 61 and the front cylindrical portion 62C2 of the front member 62, and is configured to be compressed to generate a restoring force when the front member 62 moves rearward (toward the X2 direction) relative to the central member 61. A cavity 3S (third cavity 3S3) is formed on the front side of the front base 3F to accommodate the front member 62, the ring member 63, and the tip portion 61T of the central member 61. The front member 62 is configured to be able to move rearward (in the X2 direction) within the third cavity 3S3 when the shape memory alloy wire 4 contracts. Specifically, a pair of notches 3C opening forward is formed in the front base 3F, and the front member 62 is attached to the front base 3F so that the pair of lateral protrusions 62P and the pair of notches 3C engage with each other.

[0060] Furthermore, a pair of windows 3W are formed on the side surfaces of the rear base 3B. The pair of windows 3W are configured so that a pair of lateral protrusions 60P protruding to the left and right from the outer peripheral surface of the cylindrical portion 60C of the rear member 60 can move in a first direction (Z-axis direction). With this configuration, the rear member 60 can move in the first direction (Z-axis direction) within the rear base 3B without the lateral protrusions 60P coming into contact with the rear base 3B, and the lateral protrusions 60P can hook the middle portion 4M of the shape memory alloy wire 4 within the windows 3W and pull the shape memory alloy wire 4 downward.

[0061] Next, with reference to FIGS. 7 and 8 , the movements of each component of the input device 100A when the operating member 1 is pressed downward by an operator will be described. FIG. 7 is a right side view of the input device 100A. Specifically, the upper view of FIG. 7 is a right side view of the input device 100A when the operating member 1 is not pressed, and the lower view of FIG. 7 is a right side view of the input device 100A when the operating member 1 is pressed. For clarity, in FIG. 7 , the operating member 1 is given a fine cross pattern, the shape memory alloy wire 4 is given a fine dot pattern, the rear member 60 is given a grid pattern, the central member 61 is given a horizontal stripe pattern, and the front member 62 is given a coarse cross pattern. Also, in FIG. 7 , for clarity, the force F1 of the operator attempting to press the operating member 1 downward is represented by a white block arrow.

[0062] FIG. 8 is a cross-sectional view of the input device 100A. Specifically, FIG. 8 is a cross-sectional view of the input device 100A taken on a virtual plane parallel to the XZ plane including the dashed line L2 in the lower view of FIG. 5, viewed from the Y2 side, and corresponds to the cross-sectional perspective view of FIG. 6. More specifically, the upper view of FIG. 8 is a cross-sectional view of the input device 100A when the operation member 1 is not pressed, and corresponds to the upper view of FIG. 7. The lower view of FIG. 8 is a cross-sectional view of the input device 100A when the operation member 1 is pressed, and corresponds to the lower view of FIG. 7. For clarity, the front spring member CSF and the rear spring member CSB are omitted from the lower view of FIG. 8. For clarity, the force F1 of the operator attempting to press the operation member 1 downward is represented by a white block arrow in FIG.

[0063] As shown in the lower diagram of Figure 7, when the operating member 1 is pressed down by the operator and moves downward by a distance DS1, the rear member 60 of the movable member 6 to which the operating member 1 is fixed also moves downward together with the operating member 1. Specifically, as shown in the lower diagram of Figure 8, the rear member 60 moves downward while sliding on the rear surface of the flange portion 61F of the central member 61. At this time, the central member 61 does not move downward because its downward movement is restricted by the front member 62. Note that the downward movement of the front member 62 is restricted by the inner circumferential surface of the third cavity portion 3S3 of the front base 3F. As a result, as shown in the lower diagram of Figure 8, the gap GP1 between the inner peripheral surface of the first hollow portion 3S1 of the rear base 3B and the upper end of the outer peripheral surface of the tubular portion 60C of the rear member 60 becomes larger, while the gap GP2 between the inner peripheral surface of the front hollow portion 60H1 of the tubular portion 60C and the upper end of the outer peripheral surface of the rear columnar portion 61P2 of the central member 61 becomes smaller. Therefore, as shown in the lower diagram of Figure 7, the lateral protrusion 60P protruding to the right from the outer peripheral surface of the tubular portion 60C of the rear member 60 hooks the middle portion 4M of the right portion 4R of the shape memory alloy wire 4 inside the window portion 3W formed in the side surface of the rear base 3B and pulls it downward by a distance DS2, deforming the middle portion 4M into a V-shape within the window portion 3W. The middle portion 4M is located midway between the rear end and the front end (the portion connected to the front portion 4F) of the right portion 4R of the shape memory alloy wire 4. The same applies to the left portion 4L (not visible in FIG. 7) of the shape memory alloy wire 4.

[0064] When the middle portion 4M is pulled downward by a distance DS2, the front portion 4F attempts to move rearward by a distance DS3. Therefore, the front member 62 is pulled rearward (toward X2) by the front portion 4F of the shape memory alloy wire 4 and moves rearward. When the front member 62 moves rearward, the front spring member CSF (see FIG. 8) is compressed between the rear surface of the front cylindrical portion 62C2 of the front member 62 and the front surface of the flange portion 61F of the central member 61. Furthermore, the central member 61 is pushed rearward by the front spring member CSF and moves rearward, and the rear member 60 is pushed rearward by the central member 61 and moves rearward by a distance DS4 while compressing the rear spring member CSB between the rear member 60 and the rear base 3B.

[0065] Furthermore, the control device 10 may supply a first contraction current to the shape memory alloy wire 4 when the operating member 1 moves downward by the distance DS1. When the first contraction current is supplied, the shape memory alloy wire 4 contracts and attempts to move the front portion 4F rearward, similar to when the middle portion 4M is pulled downward. Therefore, similar to when the middle portion 4M is pulled downward, the spring members CS (front spring member CSF and rear spring member CSB) are compressed, and the moving members 6 (front member 62, central member 61, and rear member 60) move rearward.

[0066] That is, as in the case of the input device 100, in the input device 100A, when the first contraction current is supplied, the middle portion 4M, which was bent in a substantially V-shape, contracts and attempts to return to a linearly stretched state as shown in the upper diagram of FIG. 7 . Therefore, an operator pressing down on the operation member 1 receives an upward force from the shape memory alloy wire 4, and can feel a sense of force. Furthermore, in the input device 100A, when the first contraction current is supplied, the middle portion 4M, which was bent in a substantially V-shape, contracts and attempts to return to a linearly stretched state, and therefore attempts to pull the front portion 4F backward. Therefore, an operator pressing down on the operation member 1 receives a backward force from the shape memory alloy wire 4, and can feel a sense of force. Note that in the input device 100A, the movement direction (X-axis direction) of the movable member 6 and the contraction direction (X-axis direction) of the shape memory alloy wire 4 are the same. Therefore, the movement distance of the rear member 60 (operation member 1) of the moving member 6 in the X-axis direction caused by the contraction of the shape memory alloy wire 4 is greater than the movement distance of the rear member 60 (operation member 1) of the moving member 6 in the Z-axis direction caused by the contraction of the shape memory alloy wire 4. Therefore, the operator who presses down the operation member 1 of the input device 100A can feel a stronger sense of force than in the case of the input device 100.

[0067] In this way, similar to the case of the input device 100, in the input device 100A, the control device 10 increases the current supplied to the shape memory alloy wire 4 when the resistance value R of the shape memory alloy wire 4 exceeds a predetermined value, thereby providing a sense of force to the operator who is pushing the operating member 1. Specifically, the control device 10 can provide a predetermined sense of force to the operator when the operator pushes the operating member 1 a predetermined distance along the operating axis OA.

[0068] Next, referring to Fig. 9, an input device 100B, which is yet another configuration example of the force-feedback input device 100, will be described. Fig. 9 is a diagram showing a configuration example of the input device 100B. Specifically, the upper diagram of Fig. 9 (the diagram above the block arrow) is an exploded perspective view of the input device 100B. The lower diagram of Fig. 9 (the diagram below the block arrow) is a schematic diagram of a force-feedback input system SYS composed of a control device 10, a current-carrying device 11, a resistance value detecting device 12, and the input device 100B, and includes a perspective view of the input device 100B in an assembled state.

[0069] In the example shown in FIG. 9, the input device 100B has an operation member 1, a support member 2, a base 3, a shape memory alloy wire 4, a conductive member 5, and a cover member 7.

[0070] The operating member 1 is a member that receives an operating force from an operator. In the illustrated example, the operating member 1 is made of synthetic resin and is supported by a support member 2 so as to be movable along an operating axis OA that is parallel to the first direction (Z-axis direction).

[0071] In the input device 100B, the operation member 1 has a substantially rectangular parallelepiped main body 1M, a substantially cylindrical base 1N formed so as to protrude upward from the center of the upper surface of the main body 1M, and a substantially cylindrical upper convex portion 1B formed so as to protrude upward from the center of the upper surface of the base 1N. Furthermore, the main body 1M is provided with a through hole 1H for guiding the shape memory alloy wire 4, which penetrates the main body 1M along the X-axis direction. Specifically, the through hole 1H has an upper through hole 1HU and a lower through hole 1HD provided at a position lower than the upper through hole 1HU.

[0072] The support member 2 is a member arranged between the operating member 1 and the base 3 and configured to be able to elastically support the operating member 1. In the illustrated example, the support member 2 is a leaf spring made of a non-magnetic material and has an inner fixed portion 2C, an outer fixed portion 2E, and elastic arm portions 2G. The inner fixed portion 2C is a portion fixed to the operating member 1, the outer fixed portion 2E is a portion fixed to the base 3, and the four elastic arm portions 2G are elastically deformable portions that connect the inner fixed portion 2C and the outer fixed portion 2E.

[0073] The base 3 is a member that supports the support member 2. In the illustrated example, the base 3 is made of synthetic resin and has a substantially rectangular parallelepiped outer shape. Specifically, the base 3 is a lidless box-shaped member having an outer peripheral wall portion 3A and a bottom plate portion 3T. The inner side of the outer peripheral wall portion 3A is provided with a base portion 3D that is substantially rectangular and annular in top view, and a recess 3R for receiving the conductive member 5. The inner side of the substantially rectangular and annular base portion 3D is provided with a cavity 3S for receiving the operating member 1. The outer fixing portion 2E of the support member 2 is fixed to the base 3 with an adhesive or the like while placed on the base portion 3D.

[0074] The shape memory alloy wire 4 is an example of a shape memory actuator, and constitutes a driving unit that drives the operating member 1. In the illustrated example, the temperature of the shape memory alloy wire 4 rises when a current flows through it, and the wire contracts in response to the rise in temperature. The driving unit can apply a force to the operating member 1 by utilizing the contraction of the shape memory alloy wire 4.

[0075] Specifically, the shape memory alloy wire 4 has an upper wire 4U inserted into the upper through-hole 1HU of the operating member 1 and a lower wire 4D inserted into the lower through-hole 1HD of the operating member 1. In addition, the shape memory alloy wire 4 is arranged so as to be movable up and down within a pair of slits 3SL formed in the wall of the pedestal portion 3D of the base 3.

[0076] The conductive member 5 is a member for conducting electricity to the shape memory alloy wire 4 and is made of a magnetic metal such as iron. In the illustrated example, the conductive member 5 includes a metal member 50, a terminal member 51, and a fastening member 52. Specifically, the conductive member 5 includes an upper front conductive member 5UF that secures one end (front end) of the upper wire 4U, an upper rear conductive member 5UB that secures the other end (rear end) of the upper wire 4U, a lower front conductive member 5DF that secures one end (front end) of the lower wire 4D, and a lower rear conductive member 5DB that secures the other end (rear end) of the lower wire 4D. The upper front conductive member 5UF includes an upper front metal member 50UF, an upper front terminal member 51UF, and an upper front fastening member 52UF, and the upper rear conductive member 5UB includes an upper rear metal member 50UB, an upper rear terminal member 51UB, and an upper rear fastening member 52UB. Similarly, the lower front conductive member 5DF has a lower front metal member 50DF, a lower front terminal member 51DF, and a lower front fastening member 52DF, and the lower rear conductive member 5DB has a lower rear metal member 50DB, a lower rear terminal member 51DB, and a lower rear fastening member 52DB. The upper front metal member 50UF and the upper front terminal member 51UF are fitted into an upper front recess 3RUF formed in the upper front portion of the base 3 with the front end portion of the upper wire 4U sandwiched therebetween and fixed to the upper front portion of the base 3 by an upper front fastening member 52UF. The upper rear metal member 50UB and the upper rear terminal member 51UB are fitted into an upper rear recess 3RUB formed in the upper rear portion of the base 3 with the rear end portion of the upper wire 4U sandwiched therebetween and fixed to the upper rear portion of the base 3 by an upper rear fastening member 52UB. Similarly, the lower front metal member 50DF and the lower front terminal member 51DF are fitted into a lower front recess 3RDF formed in the lower front part of the base 3 with the front end portion of the lower wire 4D sandwiched therebetween, and are fixed to the lower front part of the base 3 by a lower front fastening member 52DF. Furthermore, the lower rear metal member 50DB and the lower rear terminal member 51DB are fitted into a lower rear recess 3RDB (not visible in FIG. 9 ) formed in the lower rear part of the base 3 with the rear end portion of the lower wire 4D sandwiched therebetween, and are fixed to the lower rear part of the base 3 by a lower rear fastening member 52DB.

[0077] The cover member 7 is a member arranged to cover the upper surface of the base 3. In the illustrated example, the cover member 7 is a plate-shaped metal member, and a circular opening 7K is formed in the center for passing the upper convex portion 1B of the operation member 1 through. Furthermore, through holes 7H are formed in the front right corner and the rear left corner of the cover member 7. A substantially cylindrical convex portion 3P formed to protrude upward from the upper surface of the base 3 is inserted into the through hole 7H. The base 3 and the cover member 7 are joined together by, for example, crimping the convex portion 3P inserted into the through hole 7H. However, the base 3 and the cover member 7 may also be joined together by applying an adhesive to the convex portion 3P inserted into the through hole 7H.

[0078] Next, referring to FIG. 10 , the movements of each component when the operating member 1 of the input device 100B is pressed downward by an operator are described. FIG. 10 is a cross-sectional view of the input device 100B. Specifically, FIG. 10 is a view of the cross-section of the input device 100B taken on a virtual plane parallel to the XZ plane including the dashed line L3 in the lower view of FIG. 9 , as viewed from the Y2 side. More specifically, the upper view of FIG. 10 is a cross-sectional view of the input device 100B when the operating member 1 is not pressed, the center view of FIG. 10 is a cross-sectional view of the input device 100B when the operating member 1 is pressed, and the lower view of FIG. 10 is a cross-sectional view of the input device 100B when the operating member 1 is further pressed. Note that, for clarity, in FIG. 10 , the forces F1 and F3 of the operator attempting to press the operating member 1 downward are represented by white block arrows, and the forces F2 and F4 of the shape memory alloy wire 4 attempting to move the operating member 1 up and down are represented by black block arrows.

[0079] As shown in the center diagram of Figure 10 , when the operating member 1 is pushed downward by the operator's force F1 and moves downward by a distance DS1, the upper wire 4U is pulled downward by the downwardly moving operating member 1, causing it to stretch. This is because both ends (front and rear ends) of the upper wire 4U are positioned higher than the intermediate portion 4UM between the front and rear ends when the operating member 1 is not pushed, as shown in the top diagram of Figure 10 . As the intermediate portion 4UM moves downward, the difference between the height of the intermediate portion 4UM and the respective heights of the front and rear ends increases. On the other hand, as the operating member 1 moves downward, the stretching of the lower wire 4D is alleviated. This is because both ends (front and rear ends) of the lower wire 4D are positioned lower than the intermediate portion 4DM between the front and rear ends when the operating member 1 is not pushed, as shown in the top diagram of Figure 10 . As the intermediate portion 4DM moves downward, the difference between the height of the intermediate portion 4DM and the respective heights of the front and rear ends decreases. For clarity, the positions of the lower wire 4D and the upper wire 4U when the operating member 1 is not pushed in are shown by dashed lines in the center diagram of Fig. 10. The same is true for the bottom diagram of Fig. 10.

[0080] The control device 10 may supply a first contraction current to the upper wire 4U when the operating member 1 has moved downward by the distance DS1. When the first contraction current is supplied, the upper wire 4U contracts and generates a force F2 that tries to push the operating member 1 back upward. Therefore, the operator who is pushing down the operating member 1 receives an upward force from the upper wire 4U and can feel a sense of force.

[0081] Thereafter, as shown in the lower diagram of FIG. 10 , the control device 10 may supply a second contraction current to the lower wire 4D when the operating member 1 is further depressed by the operator's force F3 and moves further downward by a distance DS2. In the illustrated example, the force F3 is a force that attempts to further push the operating member 1 downward while the first contraction current is being supplied to the upper wire 4U, and is therefore greater than the force F1. In the illustrated example, the supply of the first contraction current to the upper wire 4U is stopped at this time. When the second contraction current is supplied, the lower wire 4D contracts, generating a force F4 that attempts to further pull the operating member 1 downward. Therefore, the operating member 1 receives a downward force from the lower wire 4D, and the operator pressing down the operating member 1 feels a force different from the force felt when receiving an upward force from the upper wire 4U. Specifically, the operator feels a sudden decrease in the force required to push the operating member 1.

[0082] In the input device 100B, the control device 10 is configured to pass a measurement current through the upper wire 4U to measure the resistance of the upper wire 4U and detect the position of the operation member 1 based on the measured resistance. However, the control device 10 may also be configured to detect the position of the operation member 1 by passing a measurement current through the lower wire 4D to measure the resistance of the lower wire 4D. Furthermore, the control device 10 may be configured to detect that the operation member 1 has moved downward by a distance DS1 by passing a measurement current through the upper wire 4U to measure the resistance of the upper wire 4U, and to detect that the operation member 1 has moved downward by a distance DS2 by passing a measurement current through the lower wire 4D to measure the resistance of the lower wire 4D. Alternatively, the control device 10 may be configured to detect that the operating member 1 has moved downward by a distance DS1 by passing a measurement current through the lower wire 4D and measuring the resistance value of the lower wire 4D, and to detect that the operating member 1 has moved downward by a distance DS2 by passing a measurement current through the upper wire 4U and measuring the resistance value of the upper wire 4U.

[0083] As described above, the input device 100 according to one embodiment of the present disclosure is a force-feedback input device, and as shown in Fig. 1, includes a base 3, an operating member 1 supported movably in a first direction (Z-axis direction, up and down direction) relative to the base 3, a shape memory alloy wire 4 whose length is changed by the operating member 1 moving to one side (Z2 side, downward) in the first direction (Z-axis direction), and a control device 10 electrically connected to the shape memory alloy wire 4, which changes the length of the shape memory alloy wire 4 by changing the current flowing through the shape memory alloy wire 4 when the operating member 1 moving to one side (Z2 side) reaches a first position (the position shown in the lower diagram of Fig. 4). The control device 10 is configured to pass a measurement current through the shape memory alloy wire 4 to measure the resistance value R of the shape memory alloy wire 4 and detect the position of the operating member 1 based on the resistance value R.

[0084] In this configuration, the shape memory alloy wire 4 not only functions as a drive unit that drives the operating member 1, but also functions as a position detection unit that detects the position of the operating member 1 in the first direction (Z-axis direction). This is because the control device 10 can recognize the length of the shape memory alloy wire 4 by measuring the resistance value R of the shape memory alloy wire 4, and can recognize the position of the operating member 1 in the first direction (Z-axis direction) by recognizing the length of the shape memory alloy wire 4. Therefore, this configuration has the effect of being able to detect the position of the operating member 1 in the first direction (Z-axis direction) without providing a separate position sensor that functions as a position detection unit, thereby simplifying the structure of the input device 100. In other words, this configuration can determine, for example, whether the operating member 1 has been pressed without using a position sensor.

[0085] In addition, the control device 10 may intermittently change the current flowing through the shape memory alloy wire 4 when the operating member 1 reaches the first position (the position shown in the lower diagram of Figure 4), thereby intermittently contracting the shape memory alloy wire 4.

[0086] This configuration can give the operator a sensation as if the operating member 1 is vibrating when the operating member 1 is pressed a predetermined distance, for example. In other words, this configuration allows the operator to easily recognize that the operating member 1 has been pressed a predetermined distance.

[0087] In addition, the control device 10 may change the current flowing through the shape memory alloy wire 4 to contract the shape memory alloy wire 4 when the operating member 1 moves further to one side (Z2 side, downward) than the first position (the position shown in the lower diagram of Figure 4) and reaches the second position.

[0088] This configuration allows the operator to feel a force different from the force felt when the operating member 1 is pushed to the first position when the operating member 1 is pushed to the second position in the first direction (Z-axis direction), for example. Therefore, the operator can easily distinguish between pushing the operating member 1 to the first position and pushing the operating member 1 to the second position.

[0089] 5 and 6, an input device 100A, which is another configuration example of the input device 100, may include a movable member 6 supported movably in a second direction (X-axis direction, front-rear direction) intersecting with a first direction (Z-axis direction, up-down direction) relative to the base 3. In this case, as shown in the lower diagram of FIG. 8, the operation member 1 may be supported so as to be movable in the first direction (Z-axis direction) relative to the movable member 6 (central member 61). As shown in the lower diagram of FIG. 7, the shape memory alloy wire 4 may be configured such that a first portion (rear end portion of the right portion 4R) is attached to the base 3 (rear base 3B) and a second portion (front end portion of the right portion 4R, front portion 4F) is attached to the movable member 6 (front member 62), and the contraction of the shape memory alloy wire 4 moves the movable member 6 to one side (X2 side, rear side) in the second direction (X-axis direction). Furthermore, the operating member 1 moving to one side (Z2 side) in the first direction (Z-axis direction) may be configured to contact an intermediate portion 4M between the first portion (rear end portion of the right portion 4R) and the second portion (front end portion of the right portion 4R) of the shape memory alloy wire 4, as shown in the lower diagram of Figure 7, and pull and stretch the shape memory alloy wire 4. In the illustrated example, the operating member 1 is configured to be able to move a rear member 60 constituting the moving member 6 downward together with the operating member 1. The rear member 60 is configured to hook the intermediate portion 4M of the shape memory alloy wire 4 with a pair of lateral protrusions 60P, and pull the intermediate portion 4M downward as the rear member 60 moves downward.

[0090] This configuration has the effect of converting the force of the operating member 1 pulling the middle portion 4M of the shape memory alloy wire 4 downward into a force that moves the moving member 6 backward. Therefore, this configuration has the effect of being able to provide the operator with a force different from that provided in a configuration without the moving member 6. Furthermore, this configuration typically has the effect of being able to provide the operator with a force stronger than that provided in a configuration without the moving member 6. This is because, if the contraction amount of the shape memory alloy wire 4 is the same, the movement distance of the moving member 6 in the X-axis direction is typically greater than the movement distance of the operating member 1 in the Z-axis direction.

[0091] As shown in FIG. 9, the shape memory alloy wire 4 may include a first shape memory alloy wire (upper wire 4U) and a second shape memory alloy wire (lower wire 4D).

[0092] This configuration has the effect of being able to provide the operator with a force sense that is different from the force sense obtained by using a single shape memory alloy wire 4. For example, this configuration can provide the operator with a force sense that is stronger than the force sense obtained by using a single shape memory alloy wire 4. Note that the shape memory alloy wire 4 may be made up of three or more shape memory alloy wires.

[0093] In addition, the control device 10 may be configured to change the current flowing through the first shape memory alloy wire (upper wire 4U) when the operating member 1 moving to one side (Z2 side, lower side) reaches a first position (position shown in the center diagram of Figure 10) to contract the first shape memory alloy wire (upper wire 4U), and to change the current flowing through the second shape memory alloy wire (lower wire 4D) when the operating member 1 moving further to one side (Z2 side, lower side) reaches a second position (position shown in the bottom diagram of Figure 10) to contract the second shape memory alloy wire (lower wire 4D).

[0094] This configuration has the effect of making it possible to differentiate the force sense generated when the operating member 1 reaches the first position from the force sense generated when the operating member 1 reaches the second position, thereby achieving, for example, a camera configured so that the operator can easily distinguish between the half-pressed state and the full-pressed state of the shutter button (an application example of the input device 100).

[0095] The preferred embodiments of the present invention have been described above in detail. However, the present invention is not limited to the above-described embodiments. Various modifications or substitutions may be applied to the above-described embodiments without departing from the scope of the present invention. Furthermore, the features described with reference to the above-described embodiments may be combined as appropriate unless technically inconsistent.

[0096] For example, in the input device 100B described with reference to Figure 9, the control device 10 may be configured to alternately change the current flowing through the first shape memory alloy wire (upper wire 4U) and the current flowing through the second shape memory alloy wire (lower wire 4D) when the operating member 1 moves downward by a distance DS2 and reaches the second position.

[0097] This application claims priority based on Japanese Patent Application No. 2023-121649, filed on July 26, 2023, the entire contents of which are incorporated herein by reference.

[0098]

Claims

1. A force-sense imparting input device comprising: a base; an operating member supported so as to be movable in a first direction relative to the base; a shape memory alloy wire whose length changes as the operating member moves to one side in the first direction; and a control device electrically connected to the shape memory alloy wire and changing the length of the shape memory alloy wire by changing the current flowing through the shape memory alloy wire when the operating member moving to one side reaches a first position, wherein the control device passes a measurement current through the shape memory alloy wire to measure the resistance value of the shape memory alloy wire and detects the position of the operating member based on the resistance value.

2. The force-imparting input device of claim 1, wherein the control device intermittently changes the current flowing through the shape memory alloy wire when the operating member reaches the first position, thereby intermittently contracting the shape memory alloy wire.

3. The force-imparting input device of claim 1, wherein the control device changes the current flowing through the shape memory alloy wire to change the length of the shape memory alloy wire when the operating member moves further to one side from the first position and reaches the second position.

4. A force-imparting input device as described in claim 1, comprising a movable member supported so as to be movable in a second direction intersecting the first direction relative to the base, the operating member supported so as to be movable in the first direction relative to the movable member, the shape memory alloy wire having a first portion attached to the base and a second portion attached to the movable member, configured to move the movable member to one side in the second direction by contracting, and the operating member moving to one side in the first direction contacts an intermediate portion between the first and second portions of the shape memory alloy wire to pull and stretch the shape memory alloy wire.

5. The force-feedback input device according to claim 1, wherein the shape memory alloy wire includes a first shape memory alloy wire and a second shape memory alloy wire.

6. The force-imparting input device of claim 5, wherein the control device changes the current flowing through the first shape memory alloy wire when the operating member moving to one side reaches the first position, thereby contracting the first shape memory alloy wire, and changes the current flowing through the second shape memory alloy wire when the operating member moving further to one side reaches a second position, thereby contracting the second shape memory alloy wire.

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