Actuator and haptic device

Abstract

This actuator includes: a moving part, at least a part of which moves forward and backward with respect to a subject; a base part arranged on the other side of the moving part with respect to the subject; a expansion-and-contraction part which is arranged on the other side of the subject with respect to the base part, expands and contracts by an electric signal in the second direction non-parallel to a first direction in which the moving part moves forward and backward, and has a first side in the second direction being fixed to the base part; and a force transmission part which is fixed to a second side opposite from the first side of the expansion-and-contraction part in the second direction, extends in the first direction to be fixed to the moving part, and moves the moving part forward and backward by expanding and contracting the expansion-and-contraction part.

Description

Actuators and haptic devices

[0001] The present invention relates to an actuator and a haptic device.

[0002] Haptic devices that reproduce tactile sensations have been developed for virtual reality (VR), augmented reality (AR), mixed reality (MR), and the like. Haptic devices act on a user's tactile sense in conjunction with content including images, for example, to provide the user with an experience similar to touching an actual object. Haptic devices are used to provide various experiences in various fields, for example, entertainment such as games, communication, education, medicine, tourism, and the like.

[0003] Patent Document 1 below discloses a haptic output device that aims to present a realistic sense of pressure without interfering with fingertip movement. This haptic output device includes a housing to be worn on the fingers of a hand, a movable member disposed on the housing and forming a contact surface that comes into contact with the finger, a first mechanism that applies a force to the movable member from the housing side toward the finger side, and a second mechanism having an artificial muscle actuator that pulls the movable member toward the housing side. Novel actuators are desired for haptic devices and other devices.

[0004] JP 2017-79034 A

[0005] According to an aspect of the present invention, there is provided an actuator comprising: a moving unit at least a portion of which advances and retreats relative to a target; a base unit arranged on the opposite side of the moving unit with respect to the target; an expandable unit arranged on the opposite side of the base with respect to the target, which expands and retreats in response to an electric signal in a second direction non-parallel to a first direction in which the moving unit advances and retreats, and which has a first side in the second direction fixed to the base; and a force transmission unit fixed to a second side opposite to the first side of the expandable unit in the second direction, extends in the first direction, and is fixed to the moving unit, and which advances and retreats by expansion and contraction of the expandable unit. According to an aspect of the present invention, there is provided a tactile device comprising the actuator of the above aspect, in which the moving unit applies a force to an animal including a target, thereby presenting a tactile sensation.

[0006] According to an aspect of the present invention, a novel actuator can be provided. According to an aspect of the present invention, a haptic sensation can be presented by a haptic device equipped with the novel actuator. Such a haptic device can be used, for example, to provide various remote experiences, and contributes to the achievement of Goal 4 of the United Nations-led Sustainable Development Goals (SDGs): "Ensure inclusive and equitable quality education and promote lifelong learning opportunities for all."

[0007] 1A to 1C are diagrams showing a haptic device according to a first embodiment; FIG. 2A are diagrams showing an actuator according to a first embodiment; (A) to (C) are diagrams showing an actuator according to a second embodiment; (A) to (C) are diagrams showing an actuator according to a third embodiment; FIG. 2B are diagrams showing actuators according to the embodiments.

[0008] [First Embodiment] A first embodiment will be described. Fig. 1 is a diagram showing an experience system to which a haptic device according to an embodiment is applied. This experience system SYS includes a haptic device 1, a display device 2, and an information processing device 3.

[0009] The display device 2 is, for example, a head-mounted display, and presents (e.g., displays) an image to the user 5 in real space. The haptic device 1 is, for example, a glove-shaped wearable device. The haptic device 1 is worn on the hand of the user 5 in real space. The haptic device 1 includes an actuator 10 according to an embodiment. The information processing device 3 includes, for example, one or more computers. The information processing device 3 may be a cloud computer. The information processing device 3 is communicatively connected to the display device 2. The information processing device 3 is communicatively connected to the haptic device 1.

[0010] The information processing device 3 determines the relative positions of the object 6 and the user 7 in cyberspace using position information of the user 5 in real space. The information processing device 3 generates an image including the object 6 in cyberspace and the hand of the user 7, and provides (e.g., supplies) data of the generated image to the display device 2. The display device 2 uses the image data provided by the information processing device 3 to display an image 8 including the object 6 in cyberspace and the hand of the user 7.

[0011] The information processing device 3 determines whether the object 6 in cyberspace has come into contact with the hand of the user 7, using the relative positions of the object 6 and the user 5 in cyberspace. When the information processing device 3 determines that the object 6 in cyberspace has come into contact with the hand of the user 7, the information processing device 3 causes the haptic device 1 to physically apply a force to the hand of the user 5 in real space. The haptic device 1 drives an actuator 10 included in the haptic device 1 using a control signal provided from the information processing device 3. The haptic device 1 includes, for example, the actuator 10 and a signal generating unit 12. In the haptic device 1, for example, the actuator 10 and the signal generating unit 12 are held in a body shaped to cover at least a portion of the hand of the user 7 (appropriately referred to as a glove-shaped body). The signal generating unit 12 is, for example, a driver that drives the actuator 10. The signal generating unit 12 generates an electric signal using the control signal provided from the information processing device 3, and drives the actuator 10 using this electric signal. A part of the haptic device 1 is moved by the actuator 10 to come into contact with the hand of the user 5, and presents a haptic sensation to the hand of the user 5 that corresponds to the state of touching an object 6 (e.g., pressing the hand). The user 5 can experience the sensation of touching an object 6 in cyberspace, for example.

[0012] This haptic device 1 can present a tactile sensation to an animal by, for example, applying a force to the animal using the actuator 10. The animal to which the haptic device 1 presents a tactile sensation may be a human or a non-human animal. For example, one haptic device 1 may present a tactile sensation of touching a pet to a pet owner, and another haptic device 1 may present a tactile sensation of being touched by the pet owner to the pet. In the following description, it is assumed that the animal to which the haptic device 1 presents a tactile sensation is a human. The predetermined region 11 includes a region to which the haptic device 1 presents a tactile sensation. The predetermined region 11 is set to any region depending on, for example, the application of the haptic device 1. For example, the predetermined region 11 may include a human hand, a human foot, a human back, or another region. In the following description, it is assumed that the predetermined region 11 is a human finger, and a state in which each finger is extended and brought close to each other so as to touch the adjacent finger is referred to as a reference state.

[0013] An actuator according to a first embodiment will now be described. FIGS. 2 and 3A to 3C are diagrams illustrating the actuator according to the first embodiment. FIG. 2 is a perspective view. FIG. 3A is a top view. FIG. 3B is a cross-sectional view taken along line A1-A2 in FIG. 3A. FIG. 3C is a cross-sectional view taken along line B1-B2 in FIG. 3A. In this specification, similar components are denoted by the same reference numerals, and their descriptions will be omitted or simplified. Reference numeral D1 in FIG. 2 indicates the direction connecting the palm and back of the hand (referred to as the thickness direction, as appropriate) in a reference state in which the fingers of the hand are extended and brought close to each other so as to touch each other. Reference numeral D2 in FIG. 2 indicates the direction in which the fingers are aligned in the reference state (referred to as the width direction, as appropriate). Reference numeral D3 in FIG. 2 indicates the direction connecting the fingertip and the base of the finger in the reference state (referred to as the length direction, as appropriate). In the following description, for each of the thickness direction D1, width direction D2, and length direction D3, the direction indicated by the arrow will be referred to as the + side, and the direction opposite to the arrow will be referred to as the - side.

[0014] The actuator 10 according to this embodiment includes a moving section 13, a base section 14, an expandable section 15, a force transmission section 16, and a bearing 21. In the following description, when a plurality of sections such as the moving section 13, the base section 14, the expandable section 15, the force transmission section 16, and the bearing 21 are provided and these sections need to be distinguished from one another, the letters a, b, ... are added to the reference numeral. For example, when a plurality of expandable sections 15 are provided and these sections are not to be distinguished from one another, any one of the expandable sections will be referred to as expandable section 15, and when these sections need to be distinguished from one another, the respective expandable sections will be referred to as expandable section 15a, expandable section 15b, expandable section 15c, expandable section 15d, etc.

[0015] The actuator 10 applies a force to an object by, for example, mechanical operation. The object on which the actuator 10 applies a force is arbitrary. In FIG. 2 , the object on which the actuator 10 applies a force is a predetermined portion 11. The predetermined portion 11 is, for example, a human finger. In the actuator 10, at least a portion of the moving portion 13 (13a, 13b) moves forward and backward relative to the predetermined portion 11. In this embodiment, the first direction, which is the direction in which the moving portion 13 moves forward and backward, is the thickness direction D1. The actuator 10 applies a force to the predetermined portion 11 by moving the moving portion 13 in a direction approaching the predetermined portion 11 (the positive side of the thickness direction D1). For example, in the haptic device 1 of FIG. 1 , the moving portion 13 of the actuator 10 moves toward the predetermined portion 11 and presses the predetermined portion 11, thereby presenting a tactile sensation to the predetermined portion 11.

[0016] The base portion 14 is disposed on the opposite side of the moving portion 13 (13a, 13b) with respect to the predetermined portion 11. The base portion 14 and the moving portion 13 are disposed so as to sandwich the predetermined portion 11. For example, the base portion 14 is disposed on the nail side of a person's finger, which is the predetermined portion 11, and the moving portion 13 is disposed on the pad side of the finger. The base portion 14 is, for example, a support member that supports each portion of the actuator 10. The base portion 14 is, for example, plate-shaped.

[0017] The expansion / contraction section 15 expands and contracts in response to an electrical signal. In this embodiment, the actuator 10 is provided with a plurality of expansion / contraction sections 15. Each of the plurality of expansion / contraction sections 15 is provided on the base section 14. Each of the plurality of expansion / contraction sections 15 is disposed on the opposite side of the base section 14 from the predetermined portion 11. Each of the plurality of expansion / contraction sections 15 expands and contracts in the width direction D2. The expansion / contraction section 15 is, for example, a member having a shape extending in the width direction D2 and expands and contracts in the width direction D2. The expansion / contraction section 15 is, for example, a coil-shaped member whose outer shape is a cylinder that is long in one direction. The outer shape of the expansion / contraction section 15 is considered to be a cylinder, and the direction parallel to the axis of rotational symmetry of this cylinder is appropriately referred to as the axial direction. The axial direction of the expansion / contraction section 15 is set, for example, parallel to the width direction D2. In this embodiment, the width direction D2 is a direction non-parallel to the thickness direction D1 in which the moving section 13 advances and retreats. The width direction D2 may be, for example, a direction intersecting the thickness direction D1 or a direction perpendicular to the thickness direction D1. Each of the multiple stretchable sections 15 is a member extending in the width direction D2. The multiple stretchable sections 15 are provided at intervals from one another in the length direction D3. For example, the multiple stretchable sections 15 are all similar members.

[0018] An electric signal is supplied to each of the multiple expansion / contraction units 15. This electric signal is supplied, for example, from a driver (e.g., the signal generating unit 12 in FIG. 1 ) that drives the actuator 10. For example, each of the multiple expansion / contraction units 15 is individually supplied with an electric signal from the signal generating unit 12 (see FIG. 1 ). For example, each of the multiple expansion / contraction units 15 is controlled by an electric signal individually supplied from the signal generating unit 12.

[0019] The expandable section 15 includes a material that expands and contracts in response to an electric signal. The expandable section 15 includes, for example, a shape memory alloy that is deformed by heat, and expands and contracts as the shape memory alloy is deformed by heat generated by the electric signal. The expandable section 15 is, for example, a microcoil that includes a shape memory alloy. Furthermore, the expandable section 15 may be, for example, a polymer material, a material used in artificial muscles, a dielectric elastomer, or a thermoplastic elastomer that expands and contracts in response to an electric signal.

[0020] The amount of expansion and contraction of the expandable portion 15 changes in response to a supplied electrical signal. The amount of expansion and contraction of the expandable portion 15 changes, for example, in response to heat generated by the supplied electrical signal. For example, the expandable portion 15 has a first length when at a first temperature and a second length shorter than the first length when at a second temperature higher than the first temperature. The expandable portion 15 is conductive, and a current flows through the expandable portion 15 in response to the electrical signal. This current generates heat in the expandable portion 15, and the expandable portion 15 contracts due to this heat. The amount of expansion and contraction of the expandable portion 15 is correlated with the temperature of the expandable portion 15, and the temperature of the expandable portion 15 is correlated with the power supplied to the expandable portion 15 by the electrical signal. For example, the length of the expandable portion 15 is controlled by the power waveform applied to the expandable portion 15. An example of such a component is Biometal (registered trademark) manufactured by Toki Corporation.

[0021] It is noted that no current needs to flow through the expansion / contraction section 15. For example, the actuator 10 may include a temperature adjustment section (e.g., a heater or a Peltier element) that adjusts the temperature of the expansion / contraction section 15 (described later). The expansion / contraction section 15 may include a member that expands and contracts due to a physical phenomenon other than heat (e.g., a field effect), and may include, for example, a piezoelectric element.

[0022] The stretchable portion 15 has a first side in the width direction D2 fixed to the base portion 14. For example, the stretchable portion 15 has a first side in the width direction D2 fixed to the base portion 14 via a fixing portion 18. The fixing portion 18 is a first fixing portion that fixes the stretchable portion 15 to the base portion 14. The fixing portion 18 is a fixed end that holds the first side end of the stretchable portion 15 in a predetermined position. For example, the stretchable portion 15a is fixed to the base portion 14 via a fixing portion 18a on the positive side in the width direction D2. The position of the positive side end of the stretchable portion 15a in the width direction D2 is fixed relative to the base portion 14.

[0023] The stretchable portion 15 has a second side opposite to the first side fixed to the force transmission portion 16. For example, the stretchable portion 15a has a negative side opposite to the positive side in the width direction D2 fixed to the force transmission portion 16a. The force transmission portion 16 extends in the first direction and is fixed to the moving portion 13. For example, the force transmission portion 16a extends in the thickness direction D1 and is fixed to the moving portion 13a. The force transmission portion 16 is fixed to the moving portion 13 by, for example, a fixing portion 19. The force transmission portion 16a is fixed to the moving portion 13a by, for example, a fixing portion 19a.

[0024] The force transmission unit 16 transmits the force generated by the expansion and contraction of the expansion unit 15 to the moving unit 13. The force transmission unit 16 is, for example, a flexible member. The force transmission unit 16 is, for example, a plate-shaped elastic body, a wire, a belt, a film, or the like. The force transmission unit 16 connects the moving unit 13 and the expansion unit 15. The force transmission unit 16 is provided between the moving unit 13 and the expansion unit 15 and connects the moving unit 13 and the expansion unit 15. The force transmission unit 16 extends, for example, in the width direction D2 from an end fixed to the expansion unit 15, and then is supported by a support unit (e.g., a bearing 21), bends, extends in the thickness direction D1, and is fixed to the moving unit 13. By connecting the moving unit 13 and the expansion unit 15 by the force transmission unit 16, the force transmission unit 16 transmits the force generated by the expansion and contraction of the expansion unit 15 to the moving unit 13. The side of the force transmission unit 16 that is not connected to the extension / contraction unit 15 is connected to the moving unit 13. For example, the side of the force transmission unit 16 that is not connected to the extension / contraction unit 15 is fixed to the moving unit 13 via a fixing unit 19. The fixing unit 19 is a second fixing unit that fixes the force transmission unit 16 and the moving unit 13. For example, the end of the force transmission unit 16a that is not connected to the extension / contraction unit 15a is fixed to the moving unit 13a via a fixing unit 19a.

[0025] The force transmission unit 16 moves the moving unit 13 forward and backward by the expansion and contraction of the expansion unit 15. For example, when the expansion and contraction unit 15a expands and contracts, the part of the force transmission unit 16a that is fixed to the expansion and contraction unit 15a is pulled toward the positive side in the width direction D2. This generates tension in the transmission unit 16a, and the tension generated in the transmission unit 16a causes the transmission unit 16a to pull the moving unit 13a toward the positive side in the thickness direction D1. The moving unit 13a moves toward the positive side in the thickness direction D1 by being pulled by the transmission unit 16a.

[0026] The actuator 10 of this embodiment includes a support portion that supports the force transmission portion 16. This support portion includes, for example, a bearing 21. The bearing 21 supports, for example, the force transmission portion 16 without interfering with its movement and deformation. The bearing 21 is provided on the base portion 14. The bearing 21 is rotatable with respect to the base portion 14. The bearing 21 is provided rotatable around an axis parallel to the longitudinal direction D3, for example. The bearing 21 contacts the force transmission portion 16 and supports the force transmission portion 16. The bearing 21a supports the force transmission portion 16a while rotating when the expandable portion 15a expands and contracts, and sends out the portion of the force transmission portion 16a on the same side as the fixed portion 19a with respect to the bearing 21a to the same side as the expandable portion 15a with respect to the bearing 21a.

[0027] The support portion (e.g., bearing 21) may be a guide that guides the force transmission portion 16 from above the base portion 14 (e.g., the + side of the thickness direction D1) toward the moving portion 13. The support portion (e.g., bearing 21) may restrict movement of the force transmission portion 16 in the longitudinal direction D3. For example, a groove may be provided in the support portion (e.g., bearing 21), and the force transmission portion 16 may be disposed in this groove. This groove may be formed, for example, so that the bottom surface of the groove has a step with the surface surrounding the groove in a plane perpendicular to the longitudinal direction D3. The support portion may be any portion that supports the force transmission portion 16 without interfering with deformation of the force transmission portion 16, and may not include the bearing 21. For example, the support portion may have an uneven surface that comes into contact with the force transmission portion 16 to reduce the contact area with the force transmission portion 16.

[0028] As described above, the extension / contraction unit 15a and the force transmission unit 16a are drive units (referred to as structural units as appropriate) that drive the moving unit 13a. In this embodiment, the actuator 10 includes multiple drive units that drive the same moving unit. For example, the actuator 10 includes a first drive unit and a second drive unit that move the moving unit 13a. The first drive unit moves one moving unit, and the second drive unit moves the same moving unit that is moved by the first drive unit. The first drive unit includes the extension / contraction unit 15a and the force transmission unit 16a. The second drive unit includes the extension / contraction unit 15b and the force transmission unit 16b.

[0029] The first drive unit includes a first extension / contraction unit (e.g., extension / contraction unit 15a) and a first force transmission unit (e.g., force transmission unit 16a). The first extension / contraction unit is disposed on the opposite side of the base unit from the target, and extends / contracts in response to an electrical signal in a second direction non-parallel to the first direction in which the moving unit advances / retreats. A first side in the second direction is fixed to the base unit. The first transmission unit is fixed to a second side opposite to the first side of the first extension / contraction unit in the second direction, extends in the first direction, and is fixed to the moving unit. The second extension / contraction unit advances / retreats the moving unit.

[0030] The second drive unit includes a second expandable / contractable unit (e.g., expandable unit 15b) and a second force transmission unit (e.g., force transmission unit 16b). The second drive unit has a structure symmetrical to the first drive unit, for example, with respect to a plane perpendicular to the width direction D2. The second expandable / contractable unit is disposed on the opposite side of the base unit from the target, expands and contracts in response to an electrical signal in the second direction, and its second side in the second direction is fixed to the base unit. The second expandable / contractable unit is disposed, for example, in a position perpendicular to the first direction and overlaps with the first expandable / contractable unit when viewed from a third direction perpendicular to the second direction. For example, as shown in FIG. 3, the expandable / contractable unit 15b is disposed in a position where at least a portion thereof overlaps with the expandable / contractable unit 15a when viewed from the length direction D3. The second force transmission unit is fixed to the first side of the second expandable / contractable unit in the second direction, extends in the first direction, and is fixed to the base unit, and moves the moving unit forward and backward by the expansion and contraction of the second expandable / contractable unit.

[0031] In this embodiment, there are multiple bearings 21. For example, each of the multiple bearings 21 is provided to support one force transmission unit 16. For example, the bearings 21 include a bearing 21a that supports force transmission unit 16a, a bearing 21b that supports force transmission unit 16b, a bearing 21c that supports force transmission unit 16c, and a bearing 21d that supports force transmission unit 16d. For example, bearing 21a is provided at an end of the base unit 14 corresponding to the second side of the expandable unit 15a (the end on the negative side in the width direction D2). For example, bearing 21b is provided at an end of the base unit 14 corresponding to the second side of the expandable unit 15b (the end on the positive side in the width direction D2). For example, bearing 21c is provided at an end of the base unit 14 corresponding to the second side of the expandable unit 15c (the end on the negative side in the width direction D2). For example, bearing 21d is provided at an end of the base unit 14 corresponding to the second side of the expandable unit 15d (the end on the positive side in the width direction D2).

[0032] For example, one moving unit 13a is connected to the extension / contraction unit 15a via the force transmission unit 16a and to the extension / contraction unit 15b via the force transmission unit 16b. For example, one moving unit 13b is connected to the extension / contraction unit 15c via the force transmission unit 16c and to the extension / contraction unit 15d via the force transmission unit 16d.

[0033] In the moving section 13a, the fixed section 19a is provided at the end of the moving section 13a on the negative side in the width direction D2, and the fixed section 19b is provided at the end of the moving section 13a on the positive side in the width direction D2. The fixed sections 19a and 19b are provided diagonally to each other in the moving section 13a. The fixed section 19b is provided, for example, at a position on the moving section 13a that is point-symmetrical with respect to the position of the fixed section 19a.

[0034] In the moving section 13b, the fixed section 19c is provided at the end of the moving section 13b on the negative side in the width direction D2, and the fixed section 19d is provided at the end of the moving section 13b on the positive side in the width direction D2. The fixed sections 19c and 19d are provided diagonally to each other in the moving section 13b. The fixed section 19d is provided, for example, at a position on the moving section 13b that is point-symmetrical with respect to the position of the fixed section 19c.

[0035] The force transmission unit 16 moves the moving unit 13 toward and away from the predetermined portion 11 by expanding and contracting the expandable unit 15. The moving unit 13 moves in the thickness direction D1 by expanding and contracting the expandable unit 15, and moves toward and away from the predetermined portion 11. The expandable unit 15 changes the distance between the moving unit 13 and the base unit 14 by expanding and contracting in response to an electrical signal. The expandable unit 15 changes the amount of expansion and contraction in response to, for example, a supplied electrical signal, and changes the distance between the moving unit 13 and the base unit 14 in response to the supplied electrical signal. The moving unit 13 applies a force to the predetermined portion 11 that corresponds to the distance between the moving unit 13 and the base unit 14. When the expandable unit 15 contracts, the moving unit 13 moves toward the base unit 14 (e.g., toward the + side in the thickness direction D1) and presses the predetermined portion 11. When the expandable unit 15 expands, the moving unit 13 moves away from the base unit 14 (e.g., toward the - side in the thickness direction D1). For example, the force transmission unit 16a moves the moving unit 13a in a direction approaching the predetermined portion 11 (e.g., toward the + side in the thickness direction D1) when the stretchable unit 15a contracts, and moves the moving unit 13a in a direction away from the predetermined portion 11 (e.g., toward the - side in the thickness direction D1) when the stretchable unit 15a expands. For example, the force transmission unit 16b moves the moving unit 13a in a direction approaching the predetermined portion 11 (e.g., toward the + side in the thickness direction D1) when the stretchable unit 15b contracts, and moves the moving unit 13a in a direction away from the predetermined portion 11 (e.g., toward the - side in the thickness direction D1) when the stretchable unit 15b expands. For example, the force transmission unit 16c moves the moving unit 13b in a direction approaching the predetermined portion 11 (e.g., toward the + side in the thickness direction D1) when the stretchable unit 15c contracts, and moves the moving unit 13b in a direction away from the predetermined portion 11 (e.g., toward the - side in the thickness direction D1) when the stretchable unit 15c expands. For example, the force transmission unit 16d moves the moving unit 13b in a direction approaching the specified portion 11 (e.g., toward the + side of the thickness direction D1) when the expansion / contraction unit 15d contracts, and moves the moving unit 13b in a direction away from the specified portion 11 (e.g., toward the - side of the thickness direction D1) when the expansion / contraction unit 15d expands.

[0036] The moving unit 13 moves in a direction approaching the predetermined part 11 by contracting the expandable unit 15, and applies a force to the predetermined part 11 by pressing the surface of the moving unit 13 facing the predetermined part 11 against the predetermined part 11. In the haptic device 1, the user feels that the predetermined part 11 is being touched by the force applied to the predetermined part 11 by the actuator 10, and a tactile sensation is presented to the predetermined part 11. For example, when the predetermined part 11 is pressed, the user feels that they are touching an object 6 in cyberspace shown in FIG. 1 .

[0037] In the haptic device 1, the surface of the moving unit 13 facing the predetermined portion 11 may include the surface of the moving unit 13, or may include the surface of a member different from the moving unit 13. For example, a member different from the moving unit 13 may be included between the surface of the moving unit 13 facing the predetermined portion 11 and the predetermined portion 11. For example, in the haptic device 1, the surface of the moving unit 13 facing the predetermined portion 11 may be the inner surface of a glove.

[0038] The base unit 14 may or may not press the predetermined portion 11. The moving unit 13 may be a member arranged on the side of the predetermined portion 11 that is relatively sensitive to touch, and the base unit 14 may be a member arranged on the side of the predetermined portion 11 that is relatively insensitive to touch. The predetermined portion 11 may be a portion of the finger closer to the tip than the first joint, with the moving unit 13 arranged on the pad side of the finger (palm side) and the base unit 14 arranged on the nail side of the finger. The base unit 14 may be provided so that displacement due to expansion and contraction of the expandable unit 15 is suppressed compared to the moving unit 13. For example, the base unit 14 is fixed to a body that forms the outer shape of the haptic device 1, and the moving unit 13 is provided so that it is allowed to move more than the base unit 14.

[0039] One or both of the base unit 14 and the moving unit 13 are, for example, flexible members (e.g., plate- or beam-shaped elastic bodies). For example, one or both of the base unit 14 and the moving unit 13 are deformed by the expansion and contraction of the expandable unit 15, and the resulting repulsive force acts to return the expandable unit 15 to its original length. The moving unit 13 may include a flexible member and may exert tension that causes the surface of the actuator 10 (haptic device 1) to contact (e.g., fit) the predetermined portion 11. In this embodiment, the moving unit 13 is a plate member (e.g., a film), but other members may also be used. For example, the moving unit 13 is a flexible member, and when the expandable unit 15 contracts, it bends, and the resulting repulsive force pulls the expandable unit 15. After contracting due to a temperature increase or the like, the expandable unit 15 is pulled by the moving unit 13 when it expands due to a temperature decrease, thereby approaching its original shape. The stretchable portion 15 is prevented from sagging by being pulled by the flexible member, for example. At least a part of the base portion 14 may be included in the stretchable portion 15. One or both of the material and the shape of the base portion 14 may be different from those of the moving portion 13.

[0040] In this embodiment, the base portion 14 is disposed between the predetermined portion 11 and the stretchable portion 15 in the thickness direction D1, thereby preventing heat generated in the stretchable portion 15 from being directly transmitted to the predetermined portion 11 (e.g., a person's finger). The base portion 14 may be made of, for example, a heat insulating material. This heat insulating material may have, for example, a thermal conductivity similar to that of a general heat insulating material. When the base portion 14 is made of a heat insulating material, the base portion 14 can insulate the heat generated in the stretchable portion 15. For example, when the base portion 14 is made of a heat insulating material, it can prevent heat generated in the stretchable portion 15 from being transmitted to the predetermined portion 11 (a person's finger).

[0041] In this embodiment, the actuator 10 includes a moving section 13a, at least a portion of which advances and retreats relative to a predetermined section 11, a base section 14 disposed on the opposite side of the moving section 13a relative to the predetermined section 11, an expandable section 15a disposed on the opposite side of the base section 14 from the predetermined section 11, which expands and retreats in response to an electric signal in a width direction D2 that is non-parallel to the thickness direction D1 along which the moving section 13a advances and retreats, and which has a first side in the width direction D2 (e.g., the positive side in the width direction D2) fixed to the base section 14, and a force transmission section 16a fixed to a second side opposite the first side of the expandable section 15a in the width direction D2 (e.g., the negative side in the width direction D2), extends in the thickness direction D1, and is fixed to the moving section 13a, and which advances and retreats the moving section 13a by the expansion and contraction of the expandable section 15a. These structures are referred to as a structural section 23a (first structural section).

[0042] The actuator 10 also includes a moving section 13a, at least a portion of which advances and retreats relative to the predetermined section 11, a base section 14 disposed on the opposite side of the moving section 13a relative to the predetermined section 11, an expandable section 15b disposed on the opposite side of the base section 14 from the predetermined section 11, which expands and retreats in response to an electric signal in a width direction D2 that is non-parallel to the thickness direction D1 along which the moving section 13a advances and retreats, and which has a second side in the width direction D2 (e.g., the negative side in the width direction D2) fixed to the base section 14, and a force transmission section 16b fixed to a first side opposite the second side of the expandable section 15b in the width direction D2 (e.g., the positive side in the width direction D2), extending in the thickness direction D1, and fixed to the moving section 13a, which advances and retreats the moving section 13a by the expansion and contraction of the expandable section 15b. These structures are referred to as structural section 23b (second structural section).

[0043] The actuator 10 also includes a moving section 13c, at least a portion of which advances and retreats relative to the predetermined section 11, a base section 14 disposed on the opposite side of the predetermined section 11 from a second moving section 13b different from the moving section 13a, an expandable section 15c disposed on the opposite side of the base section 14 from the predetermined section 11, which expands and retreats in response to an electric signal in a width direction D2 non-parallel to the thickness direction D1 in which the moving section 13b advances and retreats, and which has a first side in the width direction D2 (e.g., the + side in the width direction D2) fixed to the base section 14, and a force transmission section 16c fixed to a second side opposite the first side of the expandable section 15c in the width direction D2 (e.g., the - side in the width direction D2), extending in the thickness direction D1, and fixed to the moving section 13b, which advances and retreats the moving section 13b by the expansion and contraction of the expandable section 15c. These structures are referred to as a structural section 23c (third structural section).

[0044] The actuator 10 also includes a moving section 13d, at least a portion of which advances and retreats relative to the predetermined portion 11, a base section 14 disposed on the opposite side of the predetermined portion 11 from a second moving section 13b different from the moving section 13a, an expandable section 15d disposed on the opposite side of the base section 14 from the predetermined portion 11, which expands and retreats in response to an electrical signal in a width direction D2 that is non-parallel to the thickness direction D1 in which the moving section 13b advances and retreats, and whose second side in the width direction D2 (e.g., the negative side in the width direction D2) is fixed to the base section 14, and a force transmission section 16d fixed to a first side opposite the second side of the expandable section 15d in the width direction D2 (e.g., the positive side in the width direction D2), extending in the thickness direction D1, and fixed to the moving section 13b, which advances and retreats the moving section 13b by the expansion and contraction of the expandable section 15d. These structures are referred to as a structural section 23d (fourth structural section).

[0045] In the actuator 10, the first structural portion 23a, the second structural portion 23b, the third structural portion 23c, and the fourth structural portion 23d include structures that are independent of one another. For example, in the first structural portion 23a, the second structural portion 23b, the third structural portion 23c, and the fourth structural portion 23d, structures other than the base portion 14, the moving portion 13a, and the moving portion 13b are structures that are independent of one another. The first structural portion 23a, the second structural portion 23b, the third structural portion 23c, and the fourth structural portion 23d share the base portion 14. In the first structural portion 23a, the second structural portion 23b, the third structural portion 23c, and the fourth structural portion 23d, components provided on the base portion 14 are provided independently on the common base portion 14.

[0046] In this embodiment, the first structural portion 23a and the second structural portion 23b share the moving portion 13a. In the first structural portion 23a and the second structural portion 23b, the force transmission portions 16a and 16b are connected to the common moving portion 13a. The first structural portion 23a and the second structural portion 23b move the common moving portion 13a. In the actuator 10, the first structural portion 23a and the second structural portion 23b are provided in pairs. For example, the first structural portion 23a and the second structural portion 23b are provided symmetrically with respect to a plane that is parallel to the thickness direction D1 and the length direction D3.

[0047] In this embodiment, the third structural portion 23c and the fourth structural portion 23d share the moving portion 13b. In the third structural portion 23c and the fourth structural portion 23d, the force transmission portion 16c and the force transmission portion 16d are connected to the common moving portion 13b. The third structural portion 23c and the fourth structural portion 23d move the common moving portion 13b. In the actuator 10, the third structural portion 23c and the fourth structural portion 23d are provided in pairs. The third structural portion 23c and the fourth structural portion 23d are provided symmetrically with respect to a plane that is parallel to the thickness direction D1 and the length direction D3.

[0048] In this embodiment, the configuration of the pair of the first structural portion 23a and the second structural portion 23b and the configuration of the pair of the third structural portion 23c and the fourth structural portion 23d are the same except for their positions. In this embodiment, the actuator 10 has a plurality of configurations of the pair of the first structural portion 23a and the second structural portion 23b. Note that the configuration of the pair of the first structural portion 23a and the second structural portion 23b and the configuration of the pair of the third structural portion 23c and the fourth structural portion 23d do not have to be the same. Furthermore, the first structural portion 23a, the second structural portion 23b, the third structural portion 23c, and the fourth structural portion 23d may have different structures from one another.

[0049] In this embodiment, the first structural portion 23a, the second structural portion 23b, the third structural portion 23c, and the fourth structural portion 23d are arranged in this order at intervals in a direction (e.g., length direction D3) perpendicular to the thickness direction D1 and the width direction D2, except for the base portion 14 and the moving portion 13 (see FIGS. 2 and 3A). The first structural portion 23a, the second structural portion 23b, the third structural portion 23c, and the fourth structural portion 23d are arranged at predetermined intervals in a direction (e.g., length direction D3) perpendicular to the thickness direction D1 and the width direction D2. This predetermined interval may or may not be equal.

[0050] In this embodiment, the first structural unit 23 a, the second structural unit 23 b, the third structural unit 23 c, and the fourth structural unit 23 d are an integrated structure, but they do not have to be an integrated structure. The first structural unit 23 a, the second structural unit 23 b, the third structural unit 23 c, and the fourth structural unit 23 d are, for example, controlled and operate independently of one another. At least one of the multiple structural units may be controlled in synchronization with the other structural units, may be controlled by the same electrical signal as the other structural units, or may be controlled subordinate to the other structural units.

[0051] In this embodiment, in the first structural member 23a, the fixed portion 18a is arranged on a first side in the width direction D2 (e.g., the + side in the width direction D2), while in the second structural member 23b, the fixed portion 18b is arranged on a second side opposite the first side in the second direction (e.g., the - side in the width direction D2), and a plurality of independent stretchable portions 15a and 15b are connected to one moving portion 13a. In the third structural member 23c, the fixed portion 18c is arranged on a first side in the width direction D2 (e.g., the + side in the width direction D2), while in the fourth structural member 23d, the fixed portion 18b is arranged on a second side opposite the first side in the second direction (e.g., the - side in the width direction D2), and a plurality of independent stretchable portions 15c and 15d are connected to one moving portion 13b. In this embodiment, two stretchable portions 15 are connected in parallel to one moving portion 13. When two expansion / contraction sections 15 are connected in parallel to one moving section 13, physical actions (e.g., force, displacement) caused by the expansion and contraction of multiple independent expansion / contraction sections 15 can be applied to one moving section 13, so the physical actions caused by the expansion / contraction sections 15 can be transmitted efficiently.

[0052] Next, a description will be given focusing on the electrical configuration of the actuator 10. In this embodiment, the actuator 10 includes a conductive portion 25 (first conductive portion), a conductive portion 26 (second conductive portion), and a conductive portion 27 (third conductive portion).

[0053] The conductive portion 25 (first conductive portion) is provided on the fixed portion 18 (first fixed portion). The conductive portion 25 is electrically connected to the expandable portion 15. The conductive portion 25 is, for example, an electrode. The conductive portion 26 (second conductive portion) is provided on the force transmission portion 16 and electrically connected to the expandable portion 15. The conductive portion 26 (second conductive portion) is, for example, a conductive member, a signal line, etc. The conductive portion 27 (third conductive portion) is provided on the fixed portion 19 (second fixed portion). The conductive portion 27 (third conductive portion) is electrically connected to the conductive portion 26 (second conductive portion). The conductive portion 27 (third conductive portion) is, for example, an electrode.

[0054] In the actuator 10, an electrical signal is supplied to the expandable portion 15 via the conductive portion 25 (first conductive portion), the conductive portion 26 (second conductive portion), and the conductive portion 27 (third conductive portion). In this manner, in a configuration in which the first electrode and the second electrode are provided at the fixed ends, i.e., the fixed portion 18 (first fixed portion) and the fixed portion 19 (second fixed portion), respectively, the electrical configuration can be simplified compared to a configuration in which the electrodes are provided at the moving ends.

[0055] For example, the actuator 10 includes, in the first structural portion 23a, a conductive portion 25a provided on the fixed portion 18a and electrically connected to the expandable portion 15a, a conductive portion 26a provided on the force transmission portion 16a and electrically connected to the expandable portion 15a, and a conductive portion 27a provided on the fixed portion 19a and electrically connected to the conductive portion 26a. For example, in the first structural portion 23a, an electrical signal is supplied to the expandable portion 15a via the conductive portion 25a, the conductive portion 26a, and the conductive portion 27a.

[0056] For example, the actuator 10 includes, in the second structural portion 23b, a conductive portion 25b provided on the fixed portion 18b and electrically connected to the expandable portion 15b, a conductive portion 26b provided on the force transmission portion 16b and electrically connected to the expandable portion 15b, and a conductive portion 27b provided on the fixed portion 19b and electrically connected to the conductive portion 26b. For example, in the second structural portion 23b, an electrical signal is supplied to the expandable portion 15b via the conductive portions 25b, 26b, and 27b.

[0057] For example, the actuator 10 includes, in the third structural portion 23c, a conductive portion 25c provided in the fixed portion 18c and electrically connected to the expandable portion 15c, a conductive portion 26c provided in the force transmission portion 16c and electrically connected to the expandable portion 15c, and a conductive portion 27c provided in the fixed portion 19c and electrically connected to the conductive portion 26c. For example, in the third structural portion 23c, an electrical signal is supplied to the expandable portion 15c via the conductive portions 25c, 26c, and 27c.

[0058] For example, the fourth structural portion 23d of the actuator 10 includes a conductive portion 25d provided on the fixed portion 18d and electrically connected to the expandable portion 15d, a conductive portion 26d provided on the force transmission portion 16d and electrically connected to the expandable portion 15d, and a conductive portion 27d provided on the fixed portion 19d and electrically connected to the conductive portion 26d. For example, in the fourth structural portion 23d, an electrical signal is supplied to the expandable portion 15d via the conductive portion 25d, the conductive portion 26d, and the conductive portion 27d.

[0059] The conductive portion 25 (first electrode) and the conductive portion 27 (second electrode) are each electrically connected to the signal generating unit 12. The signal generating unit 12 is, for example, a driver that drives the expansion / contraction unit 15. The signal generating unit 12 is provided, for example, in the haptic device 1. The signal generating unit 12 generates an electrical signal and drives the expansion / contraction unit 15 with the electrical signal. The signal generating unit 12 expands and contracts the expansion / contraction unit 15 with the generated electrical signal. The electrical signal includes a signal that specifies at least a portion of the direction of expansion / contraction (extension and contraction) of the expansion / contraction unit 15, the amount of expansion / contraction, the expansion / contraction speed, and the acceleration of the expansion / contraction. For example, the electrical signal includes a current waveform, and the signal generating unit 12 drives the expansion / contraction unit 15 with this current waveform. The amount of expansion / contraction of the expansion / contraction unit 15 is expressed, for example, by the difference between the length of the expansion / contraction unit 15 with an electrical signal supplied and the reference value, where the length of the expansion / contraction unit 15 with no electrical signal supplied is used as a reference value.

[0060] The signal generating unit 12 is connected to, for example, a computer (e.g., the information processing device 3 in FIG. 1 ) so that it can communicate with the computer via wired or wireless communication. The signal generating unit 12 generates an electrical signal that expands or contracts the expansion unit 15 using a signal (e.g., a control signal) from the computer. For example, the information processing device 3 in FIG. 1 provides the haptic device 1 with a signal indicating the level of force to be applied to the finger of the user 5 in real space, depending on the positions of the object 6 in cyberspace and the finger of the user 7. The signal generating unit 12 uses this signal to generate an electrical signal that achieves an expansion or contraction amount of the expansion unit 15 that corresponds to the force level.

[0061] In this embodiment, the signal generating unit 12 generates electrical signals that expand and contract the multiple expansion and contraction units 15. For example, the signal generating unit 12 supplies the electrical signals individually to each of the multiple expansion and contraction units 15. For example, at least a portion of the signal line that transmits the electrical signal to the expansion and contraction unit 15a is provided separately from the signal line that transmits the electrical signal to the expansion and contraction unit 15b.

[0062] The signal generating unit 12 may provide the same electrical signal to the multiple expansion / contraction units 15, or may provide different electrical signals to the multiple expansion / contraction units 15. For example, the signal generating unit 12 may provide electrical signals so that the multiple expansion / contraction units 15 have the same length or amount of expansion. Note that the signal generating unit 12 may also provide electrical signals so that the multiple expansion / contraction units 15 have different lengths or amounts of expansion.

[0063] Next, the operation of the haptic device 1 and actuator 10 of the first embodiment will be described. In the haptic device 1 and actuator 10, for example, the signal generating unit 12 (see FIG. 1) provides electrical signals to the multiple expandable units 15 so that the multiple expandable units 15 contract to the same length. For example, the signal generating unit 12 is supplied with target lengths of the multiple expandable units 15 and a control signal representing the target lengths of the multiple expandable units 15. The target lengths of the multiple expandable units 15 are set to the same target value, for example. The signal generating unit 12 provides electrical signals to each of the multiple expandable units 15 so that the length of each of the multiple expandable units 15 approaches the target value.

[0064] The signal generating unit 12 generates electrical signals that change the temperature of the multiple expandable portions 15 so that the lengths of the multiple expandable portions 15 reach target values, and provides the generated electrical signals to the multiple expandable portions 15. For example, the signal generating unit 12 supplies a current waveform as an electrical signal to each of the multiple expandable portions 15 so that the time history of the lengths of the multiple expandable portions 15 is the same. For example, if the differences in dimensions and characteristics between the multiple expandable portions 15 are within an error range, the current waveforms supplied to the multiple expandable portions 15 are substantially identical in waveform and phase to the current waveforms supplied to them. In this embodiment, "substantially identical" corresponds to being within a predetermined tolerance range.

[0065] The multiple expandable sections 15 contract, for example, at the same expansion speed and expansion amount. The expansion amount is represented by the change in length, and the expansion speed is represented by the change in length over time. As the multiple expandable sections 15 contract, the entire moving sections 13a-13b move closer to the predetermined portion 11 and move parallel to it. The moving sections 13a-13b move in substantially the same posture relative to the predetermined portion 11. As the moving sections 13a-13b move, they press a predetermined position on the predetermined portion 11. This increases the force acting on the predetermined position by the moving sections 13a-13b, and the user feels a stronger sensation of the predetermined portion 11 being touched. For example, when the power supply from the signal generating section 12 is cut off, the temperature of the multiple expandable sections 15 drops due to heat dissipation. For example, the multiple expandable sections 15 expand and return to their original length due to the decrease in temperature, and the moving sections 13a-13b move in a direction away from the predetermined portion 11. This reduces the force acting on the predetermined portion 11 by the moving portions 13a to 13b, and the user feels less like the predetermined portion 11 is being touched.

[0066] The amount of expansion and contraction of the stretchable portions 15 a and 15 b may be controlled to be different from the amount of expansion and contraction of the stretchable portions 15 c and 15 d. For example, by relatively changing the amount of expansion and contraction of the stretchable portions 15 a and 15 b and controlling them to be different from the amount of expansion and contraction of the stretchable portions 15 c and 15 d, it is possible to move the pressure applied to the predetermined portion 11 by the moving portions 13 a and 13 b in the length direction D3 (the length direction of the finger) perpendicular to the width direction D2.

[0067] Furthermore, the multiple expandable units 15 may change the relative amount of expansion and contraction using an electrical signal to change the attitude of the movable units 13a-13b relative to the predetermined location 11. The movable units 13a-13b can apply force to different positions on the predetermined location 11 depending on their attitude relative to the predetermined location 11. For example, the signal generating unit 12 can change the relative amount of expansion and contraction of the expandable units 15a and 15b, expanding or contracting one or both of the expandable units 15a and 15b so that the lengths (amount of expansion and contraction) of the expandable units 15a and 15b are different, thereby changing the movable unit 13a from a parallel state to a tilted state relative to the base unit 14. This allows the user to experience, for example, the sensation of their finger being traced by changing the position at which they feel touched. For example, the signal generating unit 12 contracts the expandable unit 15a using an electrical signal, and then contracts the expandable unit 15b using an electrical signal with a predetermined time delay. For example, the signal generating unit 12 supplies a current waveform of a predetermined waveform as an electric signal to the expansion / contraction unit 15a, and supplies a current waveform of a predetermined waveform that is out of phase with the electric signal to the expansion / contraction unit 15b as an electric signal. As a result, the position at which the moving unit 13a presses the predetermined part 11 changes continuously, for example, in the width direction D2.

[0068] As described above, the actuator 10 of this embodiment comprises a moving section 13, at least a portion of which moves forward and backward relative to the target; a base section 14, which is arranged on the opposite side of the moving section 13 relative to the target; an expansion / contraction section 15, which is arranged on the opposite side of the target relative to the base section 14 and expands and contracts in response to an electrical signal in a width direction D2 that is non-parallel to the thickness direction D1 in which the moving section 13 moves forward and backward, and whose first side in the width direction D2 is fixed to the base section 14; and a force transmission section 16, which is fixed to a second side opposite the first side of the expansion / contraction section 15 in the width direction D2, extends in the thickness direction D1 and is fixed to the moving section 13, and which moves the moving section 13 forward and backward by the expansion and contraction of the expansion / contraction section 15.

[0069] Here, consider a configuration (referred to as a comparative configuration, as appropriate) in which the + side of the width direction D2 of the expandable portion 15a shown in FIG. 3B is fixed to the movable portion 13a in the same manner as the - side. In FIG. 3B, if the amount of expansion of the expandable portion 15a is ΔL, the amount of movement of the portion of the movable portion 13a fixed to the force transmission portion 16a is ΔL. On the other hand, in the actuator of the comparative configuration, when the amount of expansion of the expandable portion is ΔL, the amount of movement of the movable portion 13a is ΔL / 2. Thus, the actuator of this embodiment shown in FIG. 3 can increase the amount of movement (e.g., stroke) of the movable portion 13 compared to the actuator of the comparative configuration. Furthermore, in the actuator of the comparative configuration, for example, the movable portion moves while maintaining a posture parallel to the width direction. In the actuator 10 according to the embodiment, for example, one movable portion 13 is moved by a first drive unit (e.g., structural portion 23a) and a second drive unit (e.g., structural portion 23b), and the first drive unit and the second drive unit are independently controlled. This actuator 10 can move the movable portion 13a in a position parallel to the width direction D2, or in a position non-parallel to the width direction D2, and can move the movable portion 13a while changing its position. Furthermore, when at least a portion of the expandable portion 15b is positioned so as to overlap the expandable portion 15a when viewed from the length direction D3, the size of the actuator 10 in a plane perpendicular to the length direction D3 can be reduced. For example, in the actuator 10, to set the movement amount of the movable portion 13a to ΔL, the expansion amount of the expandable portion 15a is set to ΔL. The expansion amount of the expandable portion 15a depends, for example, on the reference length of the expandable portion. Here, the reference length of the expandable portion that can achieve the expansion amount of the expandable portion 15a to ΔL is set to L. In an actuator with a comparative configuration, to set the movement amount of the movable portion to ΔL, for example, the expansion amount of the expandable portion needs to be ΔL x 2, and the reference length of the expandable portion needs to be L x 2. When the actuator 10 according to the embodiment is used in the tactile device 1 shown in Figure 1, the size of the actuator 10 can be reduced in the width direction of the finger, so that, for example, the stroke of the moving part can be ensured while preventing the actuator 10 from interfering with adjacent fingers.

[0070] Furthermore, the actuator 10 of this embodiment may include a fixed portion 18 (first fixed portion) that fixes the expansion / contraction portion 15 and the base portion 14, a fixed portion 19 (second fixed portion) that fixes the force transmission portion 16 and the moving portion 13, a conductive portion 25 (first conductive portion) that is provided on the first fixed portion and electrically connected to the expansion / contraction portion 15, a conductive portion 26 (second conductive portion) that is provided on the force transmission portion 16 and electrically connected to the expansion / contraction portion 15, and a conductive portion 27 (third conductive portion) that is provided on the second fixed portion and electrically connected to the second conductive portion, and an electrical signal may be supplied to the expansion / contraction portion 15 via the first conductive portion, the second conductive portion, and the third conductive portion.

[0071] Furthermore, the actuator 10 of this embodiment may be configured to include a second expansion / contraction section (expansion / contraction section 15b) that is arranged on the opposite side of the target with respect to the base section 14, expands and contracts in the width direction D2 in response to an electrical signal, and has a second side in the width direction D2 fixed to the base section, and a second force transmission section (force transmission section 16b) that is fixed to the first side of the second expansion / contraction section in the width direction D2, extends in the thickness direction D1 and is fixed to the base section 14, and moves the moving section 13 forward and backward by expansion and contraction of the second expansion / contraction section.

[0072] Furthermore, the actuator 10 of this embodiment may be configured to include a second moving unit (moving unit 13b) different from the moving unit (moving unit 13a), at least a portion of which moves forward and backward in a first direction relative to the target; a third expansion / contraction unit (expanding unit 15c) arranged on the opposite side of the target with respect to the base unit 14, which expands and contracts in the width direction D2 in response to an electrical signal, and a first side in the width direction D2 fixed to the base unit 14; and a third force transmission unit (force transmission unit 16c) fixed to a second side opposite the first side (expanding unit 15c) of the third expansion / contraction unit in the width direction D2, extending in the thickness direction D1, and fixed to the second moving unit (moving unit 13b), and which moves the second moving unit forward and backward by the expansion and contraction of the expansion / contraction unit 15.

[0073] In addition, the actuator 10 of this embodiment may be configured to include a moving section 13, at least a portion of which moves in the thickness direction D1, a base section 14 arranged at a distance from the moving section 13 in the thickness direction D1, an expansion / contraction section 15 arranged on the opposite side of the moving section 13 with respect to the base section 14, which expands and contracts in a width direction D2 non-parallel to the thickness direction D1 in response to an electrical signal, and a first side in the width direction D2 fixed to the base section 14, and a force transmission section 16 fixed to a second side opposite the first side of the expansion / contraction section 15 in the width direction D2, extending in the thickness direction D1, and fixed to the moving section 13.

[0074] Furthermore, according to this embodiment, there is provided a haptic device 1 including the actuator 10 of this embodiment, in which the moving unit 13 applies a force to an animal including a target to provide a tactile sensation. The actuator 10 of this embodiment can be suitably used in the haptic device 1.

[0075] [Second Embodiment] A second embodiment will be described. In this embodiment, the same components as those in the above-described embodiments are denoted by the same reference numerals, and their description will be omitted or simplified. FIGS. 4(A) to 4(C) are diagrams showing an actuator according to the second embodiment. FIG. 4(A) is a top view. FIG. 4(B) is a cross-sectional view taken along line A3-A4 shown in FIG. 4(A). FIG. 4(C) is a cross-sectional view taken along line B3-B4 shown in FIG. 4(A).

[0076] The actuator 10 according to the second embodiment includes an expandable portion 31, an expandable portion 32, a connecting portion 33, a fixed portion 35, a fixed portion 36, a conductive portion 38, a conductive portion 39, and a conductive portion 40.

[0077] In this embodiment, the actuator 10 has a plurality of expansion / contraction sections 31. Each expansion / contraction section 31 includes an expansion / contraction section 31a and an expansion / contraction section 31b. In this embodiment, the actuator 10 has a plurality of expansion / contraction sections 32. Each expansion / contraction section 32 includes an expansion / contraction section 32a and an expansion / contraction section 32b.

[0078] Similar to the stretchable portion 15 of the first embodiment, the stretchable portion 31a, the stretchable portion 31b, the stretchable portion 32a, and the stretchable portion 32b are arranged on the opposite side of the base portion 14 from the target, and are stretched and contracted in the width direction D2 by an electrical signal.

[0079] The stretchable portion 31a has a configuration similar to that of the stretchable portion 15 of the first embodiment, and is fixed to the base portion 14 by a fixing portion 35a on a first side in the width direction D2 (e.g., the + side in the width direction D2). The stretchable portion 32a has a configuration similar to that of the stretchable portion 15 of the first embodiment, and is fixed to the base portion 14 by a fixing portion 36a on a first side in the width direction D2 (e.g., the + side in the width direction D2). The stretchable portion 31a and the stretchable portion 32a are arranged side by side and spaced apart in the length direction D3.

[0080] The stretchable portion 31a is connected to a conductive portion 38a (first electrode) provided on the fixed portion 35a. The stretchable portion 32a is connected to a conductive portion 39a (second electrode) provided on the fixed portion 36a. The stretchable portion 31a and the stretchable portion 32a are each connected to the connection portion 33a on a second side in the width direction D2 (e.g., the negative side in the width direction D2). The stretchable portion 31a and the stretchable portion 32a are connected by a conductive portion 40a provided on the connection portion 33a. The conductive portion 40a electrically connects the stretchable portion 31a and the stretchable portion 32a in series. The conductive portion 38a (first electrode) and the conductive portion 39a (second electrode) are connected to the signal generating unit 12, for example, as in the first embodiment, and are supplied with an electrical signal from the signal generating unit 12. An electrical signal supplied from the signal generating unit 12 is supplied to the expandable portion 31a and the expandable portion 32a via the conductive portion 38a, the conductive portion 39a, and the conductive portion 40a.

[0081] The stretchable portion 31a and the stretchable portion 32a are connected to one force transmission portion 42a via a connection portion 33a on the second side (e.g., the negative side in the width direction D2). The connection portion 33a is part of the force transmission portion 42a. The connection portion 33a is fixed to the moving portion 43 via the force transmission portion 42a. The force transmission portion 42a transmits the force generated by the stretching and contraction of the stretchable portion 31a and the stretchable portion 32a to the moving portion 43. The stretchable portion 31a and the stretchable portion 32a are each fixed to one moving portion 43 via the connection portion 33a and the force transmission portion 42a. The bearing 21 supports the force transmission portion 42a.

[0082] The stretchable portion 31a and the stretchable portion 32a contract or extend in the same manner in response to an electric signal. For example, when an electric signal is supplied to the stretchable portion 31a and the stretchable portion 32a and the stretchable portion 31a and the stretchable portion 32a contract, the moving portion 43 moves via the force transmission portion 42a in a direction approaching the predetermined portion 11 (e.g., toward the + side in the thickness direction D1). For example, when an electric signal is supplied to the stretchable portion 31a and the stretchable portion 32a and the stretchable portion 31a and the stretchable portion 32a extend, the moving portion 43 moves via the force transmission portion 42a in a direction away from the predetermined portion 11 (e.g., toward the - side in the thickness direction D1).

[0083] The stretchable portion 31b has a configuration similar to that of the stretchable portion 15 of the first embodiment, and is fixed to the base portion 14 by a fixing portion 35b on the second side in the width direction D2 (e.g., the - side in the width direction D2). The stretchable portion 32b has a configuration similar to that of the stretchable portion 15 of the first embodiment, and is fixed to the base portion 14 by a fixing portion 36b on the second side in the width direction D2 (e.g., the - side in the width direction D2). The stretchable portion 31b and the stretchable portion 32b are arranged adjacent to each other with a gap in between in the length direction D3. The stretchable portion 31a, the stretchable portion 32a, the stretchable portion 32b, and the stretchable portion 31b are arranged adjacent to each other with a gap in between in this order in the length direction D3.

[0084] The stretchable portion 31b is connected to a conductive portion 38b (first electrode) provided on the fixed portion 35b. The stretchable portion 32b is connected to a conductive portion 39b (second electrode) provided on the fixed portion 36b. The stretchable portion 31b and the stretchable portion 32b are each connected to the connection portion 33b on a first side in the width direction D2 (e.g., the + side in the width direction D2). The stretchable portion 31b and the stretchable portion 32b are connected by a conductive portion 40b provided on the connection portion 33b. The conductive portion 40b electrically connects the stretchable portion 31a and the stretchable portion 32a in series. The conductive portion 38b (first electrode) and the conductive portion 39b (second electrode) are connected to the signal generating unit 12, for example, as in the first embodiment, and are supplied with an electrical signal from the signal generating unit 12. The electrical signal supplied from the signal generating unit 12 is supplied to the expandable portion 31b and the expandable portion 32b via the conductive portion 38b, the conductive portion 39b, and the conductive portion 40b.

[0085] The stretchable portion 31b and the stretchable portion 32b are connected to one force transmission portion 42b via a connection portion 33b on a first side (e.g., the + side of the width direction D2). The connection portion 33b is a part of the force transmission portion 42b. The connection portion 33b is fixed to the moving portion 43 via the force transmission portion 42b. The force transmission portion 42b transmits the force generated by the stretching and contraction of the stretchable portion 31b and the stretchable portion 32b to the moving portion 43. The stretchable portion 31b and the stretchable portion 32b are each fixed to one moving portion 43 via the connection portion 33b and the force transmission portion 42b. The bearing 21 supports the force transmission portion 42b.

[0086] The stretchable portion 31b and the stretchable portion 32b contract or expand in the same manner in response to an electric signal. For example, when an electric signal is supplied to the stretchable portion 31b and the stretchable portion 32b, and the stretchable portion 31b and the stretchable portion 32b contract, the moving portion 43 moves via the force transmission portion 42b in a direction approaching the predetermined portion 11 (e.g., toward the + side in the width direction D2). For example, when an electric signal is supplied to the stretchable portion 31b and the stretchable portion 32b, and the stretchable portion 31b and the stretchable portion 32b expand, the moving portion 43 moves via the force transmission portion 42b in a direction away from the predetermined portion 11 (e.g., toward the - side in the width direction D2).

[0087] In this embodiment, the actuator 10 has two expansion and contraction sections connected in series and arranged in a folded form at one connection section 33, and the connection section 33 is connected to one moving section 43 via a force transmission section 42.

[0088] [Third Embodiment] A third embodiment will now be described. In this embodiment, the same components as those in the above-described embodiments will be denoted by the same reference numerals, and their description will be omitted or simplified. FIGS. 5(A) to 5(C) are diagrams showing an actuator according to the third embodiment. FIG. 5(A) is a top view. FIG. 5(B) is a cross-sectional view taken along line A5-A6 shown in FIG. 5(A). FIG. 5(C) is a cross-sectional view taken along line B5-B6 shown in FIG. 5(A).

[0089] In this embodiment, the actuator 10 includes temperature adjustment units 50a to 50d that adjust the temperatures of the multiple expansion and contraction units 15. The temperature adjustment unit 50a adjusts the temperature of the expansion and contraction unit 15a. The temperature adjustment unit 50b adjusts the temperature of the expansion and contraction unit 15b. The temperature adjustment unit 50c adjusts the temperature of the expansion and contraction unit 15c. The temperature adjustment unit 50d adjusts the temperature of the expansion and contraction unit 15d.

[0090] The temperature adjustment units 50 are provided, for example, near the stretchable unit 15 so as not to interfere with the stretchable unit 15's expansion and contraction. The temperature adjustment unit 50a is provided, for example, near the stretchable unit 15a. The temperature adjustment unit 50b is provided, for example, near the stretchable unit 15b. The temperature adjustment unit 50c is provided, for example, near the stretchable unit 15c. The temperature adjustment unit 50d is provided, for example, near the stretchable unit 15d.

[0091] The temperature adjustment units 50a to 50d are, for example, heaters, Peltier elements, etc. For example, the haptic device 1 (actuator 10) supplies electrical signals to the temperature adjustment units 50a to 50d, and the temperature adjustment units 50a to 50d adjust the temperatures of the multiple expansion and contraction units 15 using the electrical signals, thereby expanding and contracting the multiple expansion and contraction units 15. In this way, the multiple expansion and contraction units 15 may expand and contract by the temperature adjustment units adjusting the temperatures of the multiple expansion and contraction units 15 using the electrical signals.

[0092] [Modification] An actuator according to a modification of the embodiment will be described. In this embodiment, the same components as those in the above-described embodiment are denoted by the same reference numerals, and their description will be omitted or simplified. FIG. 6 is a diagram showing an actuator according to a modification. In this actuator 10, the expandable portion is arranged so that it approaches a predetermined side of a third direction perpendicular to the first direction and perpendicular to the second direction as it moves from the first side to the second side in the second direction. For example, the expandable portion 15a is arranged so that it approaches the + side of the length direction D3 as it moves from the + side to the - side in the width direction D2. The axial direction of the expandable portion 15a is set non-parallel to the width direction D2 when viewed from the thickness direction D1.

[0093] Compared to the configuration shown in FIG. 3 , the actuator 10 of FIG. 6 can increase the ratio of the length of the expandable portion to the length of the base portion 14 in the width direction D2. By lengthening the expandable portion in the axial direction, the amount of expansion and contraction of the expandable portion can be increased, and the amount of movement (e.g., stroke) of the moving portion can be increased. Increasing the amount of movement of the moving portion can increase the force with which the moving portion presses against an object. For example, when the actuator 10 is used in a haptic device 1, the range of magnitude of the force that the haptic device 1 applies to an object can be widened. Furthermore, when the actuator 10 of FIG. 6 is used in a haptic device 1, for example, the stroke of the moving portion can be increased while preventing the actuator 10 provided on one finger from interfering with adjacent fingers.

[0094] In the actuator 10 of FIG. 6 , the second expandable portion is arranged so as to approach a predetermined orientation of a third direction perpendicular to the first direction and perpendicular to the second direction as it moves from the first side to the second side in the second direction. For example, the expandable portion 15b is arranged so as to approach the + side of the length direction D3 as it moves from the + side to the - side in the width direction D2. The axial direction of the expandable portion 15b is set non-parallel to the width direction D2 as viewed from the thickness direction D1. For example, the axial direction of the expandable portion 15b is parallel to the axial direction of the expandable portion 15a, but it does not have to be parallel to the axial direction of the expandable portion 15a. Compared to the configuration shown in FIG. 3 , the actuator 10 of FIG. 6 makes it easier to move the fixed portion 19a toward the + side in the length direction D3. Compared to the configuration shown in FIG. 3 , the actuator 10 of FIG. 6 makes it easier to move the fixed portion 19b toward the - side in the length direction D3. In this way, the actuator 10 of FIG. 6 can reduce the difference in position between the fixed portion 19a and the fixed portion 19b in the length direction D3, compared to the configuration shown in FIG.

[0095] The technical scope of the present invention is not limited to the aspects described in the above-mentioned embodiments. One or more of the requirements described in the above-mentioned embodiments may be omitted. The requirements described in the above-mentioned embodiments may be combined as appropriate. Furthermore, to the extent permitted by law, the disclosures of all documents cited in the above-mentioned embodiments are incorporated by reference into this specification.

[0096] In the above-described embodiment, an example in which the actuator 10 is applied to the haptic device 1 has been shown, but the present invention is not limited to this example. The actuator 10 according to the above-described embodiment can also be applied to devices other than haptic devices.

[0097] In the above-described embodiment, the actuator 10 includes a plurality of each of the fixed portion 18, the expandable portion 15, the force transmission portion 16, the bearing 21, the fixed portion 19, the conductive portion 25, the conductive portion 26, and the conductive portion 27, but the number of at least one type of each portion does not need to be a plurality, and may be one. For example, the actuator 10 may include one type of at least one of the base portion 14, the fixed portion 18, the expandable portion 15, the force transmission portion 16, the moving portion 13, the conductive portion 25, the conductive portion 26, and the conductive portion 27.

[0098] The configuration of the bearing 21 described in Figure 3 and the like is one example, and the configuration of the bearing 21 is arbitrary. The actuator 10 according to the embodiment may include a bearing 21 having a configuration different from that shown in Figure 3, or may not include a bearing 21. The actuator 10 may include a support portion for the force transmission unit 16 that is different from the bearing 21, instead of the bearing 21. The support portion for the force transmission unit 16 may have a structure that allows the force transmission unit 16 to move while sliding on its surface. This support portion may be part of the base unit 14, and may be a portion of the base unit 14 with rounded corners.

[0099] In the actuator 10, the moving portion 13 may be one member or two or more members. In addition, in the actuator 10, the base portion 14 may be one member or two or more members.

[0100] SYS: experience system, 1: tactile device, 2: display device, 3: information processing device, 5: user, 6: object, 7: user, 8: image, 10: actuator, 11: predetermined part, 12: signal generating unit, 13 (13a to 13b): moving unit, 14: base unit, 15 (15a to 15d): expandable unit, 16 (16a to 16d): force transmitting unit, 18 (18a to 18d): fixed unit (first fixed unit), 19 (19a to 19d): fixed unit (second fixed unit), 21: bearing, 23 (23a to 23d): structural unit, 25 (25a to 25d): conductive unit (first conductive unit), 26 (26a to 26d): conductive unit (second conductive unit), 27 (27a to 27d): conductive unit (third conductive unit), D1: thickness direction, D2: width direction, D3: length direction

Claims

1. An actuator comprising: a moving part, at least a portion of which moves forward and backward relative to an object; a base part arranged on the opposite side of the moving part in relation to the object; an expansion and contraction part arranged on the opposite side of the object in relation to the base part, which expands and contracts in response to an electrical signal in a second direction non-parallel to a first direction in which the moving part moves forward and backward, the first side in the second direction being fixed to the base part; and a force transmission part fixed to a second side opposite the first side of the expansion and contraction part in the second direction, extending in the first direction and fixed to the moving part, which moves the moving part forward and backward by expansion and contraction of the expansion and contraction part.

2. An actuator as described in claim 1, comprising: a first fixed portion fixing the expansion / contraction portion and the base portion; a second fixed portion fixing the force transmission portion and the moving portion; a first conductive portion provided on the first fixed portion and electrically connected to the expansion / contraction portion; a second conductive portion provided on the force transmission portion and electrically connected to the expansion / contraction portion; and a third conductive portion provided on the second fixed portion and electrically connected to the second conductive portion, wherein the electrical signal is supplied to the expansion / contraction portion via the first conductive portion, the second conductive portion and the third conductive portion.

3. An actuator as described in claim 1, comprising: a second telescopic section arranged on the opposite side of the base section to the target, telescopic in the second direction in response to an electrical signal, the second side in the second direction being fixed to the base section; and a second force transmission section fixed to the first side of the second telescopic section in the second direction, extending in the first direction and fixed to the base section, and moving the moving section forward and backward by telescopic expansion and contraction of the second telescopic section.

4. The actuator according to claim 3, wherein the second expandable portion is arranged at a position overlapping with the expandable portion when viewed from a third direction perpendicular to the first direction and perpendicular to the second direction.

5. An actuator as described in claim 3, wherein the telescopic portion and the second telescopic portion are each arranged so as to approach a predetermined side of a third direction perpendicular to the first direction and perpendicular to the second direction as they move from the first side to the second side in the second direction.

6. An actuator as described in claim 3, comprising: a second moving part different from the moving part, at least a part of which moves forward and backward in the first direction relative to the object; a third telescopic part arranged on the opposite side of the object with respect to the base part, which expands and contracts in the second direction in response to an electrical signal, the first side in the second direction being fixed to the base part; and a third force transmission part fixed to a second side opposite to the first side of the third telescopic part in the second direction, extending in the first direction and fixed to the second moving part, and which moves the second moving part forward and backward by the expansion and contraction of the telescopic part.

7. A second telescopic section is disposed on the opposite side of the base section from the target, telescopically expands and contracts in the second direction in response to an electrical signal, and the first side in the second direction is fixed to the base section; a connection section is fixed to the second side in the second direction in the telescopic section and is fixed to the second side in the second direction in the second telescopic section; a first fixing section that fixes the telescopic section to the base section; a second fixing section that fixes the second telescopic section to the base section; a first conductive section that is provided on the first fixing section and is electrically connected to the telescopic section; a second conductive section that is provided on the second fixing section and is electrically connected to the second telescopic section; and a third conductive section that is provided on the connection section and is electrically connected in series to the telescopic section and the second telescopic section; the connection section is fixed to the moving section via the force transmission section; and the electrical signal is supplied to the telescopic section and the second telescopic section via the first conductive section, the second conductive section and the third conductive section. The actuator of claim 1 .

8. A tactile device comprising an actuator according to any one of claims 1 to 7, wherein the moving part exerts a force on an animal including the target to present a tactile sensation.

Images