Operation device

Abstract

Provided is an operation device capable of providing various force feedbacks.　The operation device is held or worn by an operator and is used for operation of an operation object. The operation device comprises: a rotation wheel 411 that rotates about a rotation axis as a rotation center; a drive motor 415 that rotates the rotation wheel 411 about the rotation axis; an inner frame 412 that supports the rotation wheel 411 such that the rotation wheel is rotatable about the rotation axis as the rotation center; an intermediate frame 413 that can turn, about a first turning axis orthogonal to the rotation axis as a turning center, the rotation wheel 411 rotating about the rotation axis as the rotation center; and a first link mechanism 418 that transmits power for turning the intermediate frame 413.

Description

operating device

[0001] The present invention relates to an operation device that is carried or worn by an operator and used to operate an operation target.

[0002] Various operation devices, such as mice and keyboards, that are communicatively connected to electronic devices such as game consoles and computers and are used to operate objects have become widespread. In addition, with the diversification of game content, such as virtual reality (VR) and immersive games, operation devices that are held or worn by the player have become widespread (for example, see Patent Document 1).

[0003] JP 2020-91904 A Sky Engineering Institute, "Sky Engineering Institute Blog: What is Gyroscopic Moment? ~The reason why a top doesn't fall over," [Retrieved October 19, 2022], Internet, <URL: https: / / www.sky-engin.jp / blog / gyroscopic-moment / >

[0004] Patent Document 1 discloses a controller used for operating a game. The controller in Patent Document 1 has an internal vibrator that can generate vibrations in the controller by driving the vibrator. This provides force feedback so that the player feels vibrations in their hands while playing the game.

[0005] In recent years, there has been a demand for more realistic and immersive gaming content, such as virtual reality (VR) and interactive games. However, the ability to reproduce a sense of realism with force feedback based on vibrations from a vibrator is limited. For this reason, there has been a demand for a variety of force feedback methods that can provide tactile sensations other than vibrations, even in control devices.

[0006] The present invention has been made in view of the above-mentioned problems, and has an object to provide an operating device that is capable of performing a variety of force feedbacks.

[0007] In order to solve the above problems, the operating device disclosed in the present application is an operating device that is held or worn by an operator and is used to operate an object to be operated, and is characterized by comprising: a rotating body that rotates around a rotation axis as a center of rotation; a rotation drive unit that rotates the rotating body around the rotation axis; a first frame that supports the rotating body so that it can rotate around the rotation axis; a second frame that can rotate the rotating body rotating around the rotation axis as a center of rotation around a first rotation axis that is perpendicular to the rotation axis; and a first link mechanism that transmits power to rotate the second frame.

[0008] The operating device is also characterized by comprising a third frame that can rotate the rotating body, which rotates around the rotation axis as a rotation center, around a second rotation axis that is perpendicular to both the rotation axis and the first rotation axis as a rotation center, and a second link mechanism that transmits power to rotate the third frame.

[0009] The operating device is further characterized in that it includes a housing frame that houses the rotating body, the rotation drive unit, the first frame, the second frame, and the first link mechanism, and the second frame and the first link mechanism are rotatably supported on the housing frame.

[0010] The operating device is also characterized in that it includes a first axis rotation drive unit that rotates the second frame via the first link mechanism, and the first axis rotation drive unit is fixed to the housing frame.

[0011] The operating device further comprises a housing frame that houses the rotating body, the rotation drive unit, the first frame, the second frame, the first link mechanism, the third frame, and the second link mechanism, and the second frame and the first link mechanism, as well as the third frame and the second link mechanism, are rotatably supported on the housing frame.

[0012] The operating device is further characterized in that it comprises a first axis rotation drive unit that rotates the second frame via the first link mechanism, and a second axis rotation drive unit that rotates the third frame via the second link mechanism, and the first axis rotation drive unit and the second axis rotation drive unit are fixed to the housing frame.

[0013] In the operating device, the rotation drive unit is capable of controlling the rotation direction and rotation speed of the rotating body.

[0014] The operating device disclosed in the present application can generate an inertial force in a specific direction. By utilizing this inertial force, it is possible to provide a variety of force feedback (not just vibration) in the operating device.

[0015] 3 is a perspective view of an example of the appearance of a game controller, illustrating an embodiment of a control device disclosed herein. FIG. 4 is a functional block diagram of a game controller according to embodiment 1. FIG. 5 is a perspective view of a force feedback unit according to embodiment 1. FIG. 6 is a side view of the force feedback unit of FIG. 3, seen from the second-axis rotary motor side. FIG. 7 is a side view of the force feedback unit of FIG. 3, seen from the first-axis rotary motor side. FIG. 8 is a diagram illustrating a gyroscopic moment that can be generated by the force feedback unit of FIG. 3. FIG. 9 is a diagram illustrating a gyroscopic moment that can be generated by the force feedback unit of FIG. 3. FIG. 10 is a diagram illustrating a gyroscopic moment that can be generated by the force feedback unit of FIG. 10. FIG. 11 is a perspective view of a game controller according to another embodiment of a control device disclosed herein. FIG. 12 is a functional block diagram of a game controller according to embodiment 2. FIG. 13 is a perspective view of a force feedback unit of embodiment 2. FIG. 14 is a perspective view of a force feedback unit of embodiment 4. FIG. 15 is a perspective view of an example of a control device according to embodiment 5. FIG. 16 is a diagram illustrating an electric grass mower, which is another application example of a force feedback unit. FIG. 17 is a perspective view of an example of the appearance of a force feedback unit included in a controller according to embodiment 6. FIG. 1 is a perspective view showing a conventional system using a rotating body.

[0016] [Embodiment 1] Hereinafter, an embodiment of the operating device disclosed herein will be described in detail with reference to the drawings. In this embodiment 1, a case where the operating device disclosed herein is applied to a game controller will be illustrated. Fig. 1 is a perspective view showing an example of the appearance of a game controller (hereinafter simply referred to as a controller) 10 according to this embodiment 1. Fig. 2 is a functional block diagram of the controller 10.

[0017] The controller 10 illustrated in Fig. 1 is a device that an operator holds and operates with both hands. The controller 10 has an operation input unit 12 (e.g., an operation stick 12A, a cross button 12B, and key buttons 12C) that the operator uses to input operations. For ease of explanation, the directions of the three orthogonal axes (X-axis, Y-axis, and Z-axis) shown in Fig. 1 correspond to the left-right direction, the front-back direction, and the up-down direction of the controller 10, respectively.

[0018] 2, the controller 10 includes a control unit 11, an operation input unit 12, a communication unit 13, a drive unit 14, and a force feedback unit 15. The communication unit 13 is a means for the controller 10 to communicate with a game console (not shown) wirelessly or via a cable. The force feedback unit 15 is built into the controller 10 as a means for receiving drive from the drive unit 14 and providing feedback that makes the operator holding the controller 10 feel a force. The control unit 11 is a means for performing overall control of the controller 10 (processing control of input signals from the operation input unit 12, communication control with the game console via the communication unit 13, drive control of the drive unit 14, etc.).

[0019] In the controller 10, the force feedback section 15 is not a means for simply generating vibrations like a conventional vibrator, but can generate a force that allows the operator to sense that a force is being applied in a specific direction due to inertial force. In the first embodiment, a force feedback section 15 that uses a gyro moment is exemplified.

[0020] Fig. 3 is a perspective view of the force feedback unit 15. Fig. 4 is a side view of the force feedback unit 15 as seen from the second-shaft rotary motor 157 side. Fig. 5 is a side view of the force feedback unit 15 as seen from the first-shaft rotary motor 156 side.

[0021] 3 to 5, the force feedback unit 15 has a mechanism for generating a gyroscopic moment, and includes a rotating wheel (rotating body) 151, an inner frame (first frame) 152, an intermediate frame (second frame) 153, and a guide frame (third frame) 154 as its main components. The force feedback unit 15 also has a drive motor (rotation drive unit) 155, a first-axis rotation motor (first-axis rotation drive unit) 156, and a second-axis rotation motor (second-axis rotation drive unit) 157 as components corresponding to the drive unit 14 in FIG. 2, and further has support legs 158a to 158d for fixing the force feedback unit 15 to the base 101. The support legs 158a and 158b of the force feedback unit 15, which support a rotation axis S2 of the intermediate frame 153 (described later), function as outer frames. 3 to 5, for convenience, the base 101 on which the force feedback unit 15 is attached is depicted as a flat plate, but the base 101 may be part of the frame member of the controller 10.

[0022] The rotating wheel 151 is journaled by an inner frame 152 and can be rotated about a rotation axis S1 (see FIGS. 4 and 5) by a drive motor 155 attached to the inner frame 152. Both ends of the inner frame 152 are rotatably attached to intermediate frames 153.

[0023] The intermediate frame 153 is supported by two opposing support legs 158a, 158b, and can be rotated about a rotation axis S2 (first rotation axis: see FIG. 4) (rotation in the direction of arrow A in FIG. 5) by a first-axis rotation motor 156. The first-axis rotation motor 156 is a servo motor used to control the rotation of the intermediate frame 153, and is fixedly attached to the support leg 158a.

[0024] When the intermediate frame 153 rotates in the direction of arrow A, the inner frame 152 attached to the intermediate frame 153 and the rotating wheel 151 journaled on the inner frame 152 also simultaneously rotate in the direction of arrow A. Note that rotation here refers to a rotational movement that is rotatable in both directions but has a limited angular range. That is, in the force feedback unit 15, the intermediate frame 153 and the first-axis rotating motor 156 have the role of changing the inclination of the rotation axis S1 of the rotating wheel 151 in the direction of arrow A.

[0025] The guide frame 154 is pivotally supported by two opposing support legs 158c, 158d, and can be rotated (rotated in the direction of arrow B in FIG. 4) about a rotation axis S3 (second rotation axis: see FIG. 5) by a second-axis rotation motor 157. The second-axis rotation motor 157 is a servo motor used to control the rotation of the guide frame 154, and is fixedly attached to the support leg 158c.

[0026] The guide frame 154 is formed with an elongated guide hole 154a whose longitudinal direction is parallel to the rotation axis S3, and one end of the rotation axis member of the rotating wheel 151 is inserted into the guide hole 154a. When the guide frame 154 rotates in the direction of arrow B, the rotating wheel 151 receives a force via the rotation axis member inserted into the guide hole 154a. As a result, when the guide frame 154 rotates in the direction of arrow B, the rotating wheel 151 and the inner frame 152 also simultaneously rotate in the direction of arrow B. That is, in the force feedback unit 15, the guide frame 154 and the second-axis rotation motor 157 have the role of changing the inclination of the rotation axis S1 of the rotating wheel 151 in the direction of arrow B.

[0027] When the rotating wheel 151 rotates in the direction of arrow B, the inner frame 152 that supports the rotating wheel 151 rotates relative to the intermediate frame 153. As a result, the intermediate frame 153 does not interfere with the rotation of the rotating wheel 151 in the direction of arrow B. On the other hand, when the rotating wheel 151 rotates in the direction of arrow A, the rotating shaft member of the rotating wheel 151 moves along the guide hole 154a. As a result, the guide frame 154 does not interfere with the rotation of the rotating wheel 151 in the direction of arrow A.

[0028] In the initial state of the force feedback unit 15, the rotation axis S1 of the rotating wheel 151 is arranged parallel to the Z axis (vertical direction). In addition, in the initial state of the force feedback unit 15, the rotation axis S2 is arranged parallel to one of the X axis and Y axis of the controller 10 (the X axis in the examples of FIGS. 3 to 5), and the rotation axis S3 is arranged parallel to the other of the X axis and Y axis (the Y axis in the examples of FIGS. 3 to 5).

[0029] In the force feedback unit 15 configured as described above, while the rotating wheel 151 is rotated at high speed by the drive motor 155, the inclination of the rotation axis S1 of the rotating wheel 151 is changed by the first axis rotation motor 156 or the second axis rotation motor 157, thereby generating an inertial rotational force (so-called gyro moment).

[0030] 6 to 9 are diagrams illustrating the gyro moment that can be generated by the force feedback unit 15. In Figures 6 to 9, the rotational force applied by the first axis rotation motor 156 or the second axis rotation motor 157 is designated as F1, and the resulting gyro moment generated in the force feedback unit 15 is designated as F2. The rotation direction of the rotation wheel 151 at this time is counterclockwise when viewed from above the controller 10.

[0031] As shown in Fig. 6, when the first-axis rotation motor 156 applies a rotational force F1 in the forward rotation direction (clockwise when viewed from the right side of the controller 10) about the rotation axis S2, a gyro moment F2 is generated in the left rotation direction (counterclockwise when viewed from the rear of the controller 10) about the rotation axis S3. As shown in Fig. 7, when the first-axis rotation motor 156 applies a rotational force F1 in the backward rotation direction (counterclockwise when viewed from the right side of the controller 10) about the rotation axis S2, a gyro moment F2 is generated in the right rotation direction (clockwise when viewed from the rear of the controller 10) about the rotation axis S3. As shown in Fig. 8, when the second-axis rotation motor 157 applies a rotational force F1 in the left rotation direction about the rotation axis S3, a gyro moment F2 is generated in the backward rotation direction about the rotation axis S2. As shown in FIG. 9, when a rotational force F1 in the clockwise direction is applied around the rotation axis S3 by the second axis rotation motor 157, a gyro moment F2 in the forward rotation direction is generated around the rotation axis S2.

[0032] The gyro moment F2 shown in FIGS. 6 to 9 is expressed by the following equation (1). That is, when applying equation (1) to the examples of FIGS. 6 to 9, consider a coordinate system O-xyz in which an axisymmetric rigid body (here, the rotating wheel 151) rotates around a fixed point or center of gravity O on the axis of symmetry (here, the Z axis), and does not have an angular velocity around the axis of symmetry of the rigid body. The coordinate system O-xyz is an intermediate coordinate system that rotates around the x-axis and y-axis in conjunction with the rigid body, but does not rotate around the Z-axis. In equation (1), if the moment of inertia around the axis of symmetry (Z axis) of the rigid body (the rotating wheel 151) is Ia, and the angular velocities around the x, y, and z axes are ωx, ωy, and Ω, respectively, then an apparent moment (i.e., gyro moment) Mgyro (here, gyro moment F2) is generated in the coordinate system O-xyz. Furthermore, the principles of generation and calculation of the gyro moment are publicly known, as disclosed in, for example, Non-Patent Document 1, and therefore a detailed description thereof will be omitted here.

[0033]

[0034] In the controller 10, the gyro moment generated by the force feedback unit 15 can provide feedback that makes the operator feel a force in his or her hand. As described above, the generated gyro moment gives the operator the sensation of a rotational force in a specific direction, and this direction can be generated in multiple directions. This allows the controller 10 equipped with the force feedback unit 15 to provide a variety of force feedback. For example, when playing a racing game, the rotational reaction force of the steering wheel can be simulated by generating gyro moments in the left and right rotation directions.

[0035] Furthermore, the force feedback unit 15 described above performs rotational control on the inner frame 152, the intermediate frame 153, and the guide frame 154 to generate a rotational force F1, but the first-axis rotation motor 156 and the second-axis rotation motor 157, which are the drive sources for this rotational control, do not themselves move along with these frames. In particular, the second-axis rotation motor 157 needs to transmit a rotational force from the outside of the intermediate frame 153 to the inner frame 152, but by configuring the second-axis rotation motor 157 to transmit the rotational force to the inner frame 152 via the guide frame 154, it is not necessary to attach the second-axis rotation motor 157 to the intermediate frame 152. This allows the force feedback unit 15 to rotate the inner frame 152, the intermediate frame 153, and the guide frame 154 without being affected by the weight of the first-axis rotation motor 156 and the second-axis rotation motor 157, thereby achieving high responsiveness.

[0036] [Embodiment 2] In this embodiment 2, an example is shown in which the operating device disclosed herein is applied to a game controller different from that in embodiment 1. Fig. 10 is a perspective view showing an example of the appearance of a game controller (hereinafter simply referred to as a controller) 20 according to this embodiment 2. Fig. 11 is a functional block diagram of controller 20.

[0037] The controller 20 illustrated in Fig. 10 has a stick shape with a longitudinal direction, and is operated by an operator holding one end (the hand side) of the stick in one hand and swinging the controller 20 around. The controller 20 also has an operation input unit 22 through which the operator performs operation input, and the operation input unit 22 includes an operation means 22A (a button in Fig. 10 , but may also include a stick) intended to be operated with the thumb. For convenience of explanation, the basic position is one in which the operation means 22A is facing upward, and the directions of the three orthogonal axes (X-axis, Y-axis, and Z-axis) shown in Fig. 10 correspond to the left-right direction, front-rear direction, and up-down direction of the controller 20, respectively.

[0038] As shown in FIG. 11 , the controller 20 includes a control unit 21, an operation input unit 22, a motion detection sensor unit 23, a communication unit 24, a drive unit 25, and a force feedback unit 26. The motion detection sensor unit 23 detects the motion of the controller 20 swung around by the operator and includes sensors such as a tilt sensor and an acceleration sensor. In the controller 20, a detection signal from the motion detection sensor unit 23 is used as an operation input signal from the operator. The communication unit 24 is a means for the controller 20 to communicate with a game console (not shown) wirelessly or via a cable. The force feedback unit 26 is built into the controller 20 as a means for receiving drive from the drive unit 25 and providing feedback that allows the operator holding the controller 20 to sense a force. The control unit 21 is a means for performing overall control of the controller 20 (processing control of input signals from the operation input unit 22, communication control with the game console via the communication unit 24, and drive control of the drive unit 25).

[0039] In the controller 20, the force feedback unit 26 is not a means for simply generating vibrations like a conventional vibrator, but can generate a force that allows the operator to sense that a force is being applied in a specific direction due to inertial force. In the second embodiment, a force feedback unit 26 that uses a reaction wheel is exemplified.

[0040] Fig. 12 is a perspective view of the force feedback unit 26. As shown in Fig. 12, the force feedback unit 26 includes a flywheel (rotating body) 261 and a servo motor (rotation drive unit) 262, which corresponds to the drive unit 25 in Fig. 11.

[0041] In the force feedback unit 26, the servo motor 262 drives the rotation of the flywheel 261, and feedback that allows the operator to feel the force in their hands can be provided by the rotation reaction force that is generated when the rotation of the flywheel 261 is accelerated (including rotation from a stop) or decelerated (including rotation from a stop). Specifically, when the flywheel 261 is accelerated, the servo motor 262 receives a force in the opposite direction to the rotation direction of the flywheel 261. Furthermore, when the flywheel 261 is decelerated, the servo motor 262 receives a force in the same direction as the rotation direction of the flywheel 261.

[0042] In the controller 20, the force feedback unit 26 is provided near the tip of the controller 20, and the rotation axis of the flywheel 261 is arranged so as to be perpendicular to the longitudinal axis of the controller 20, thereby making it possible to apply a force in a specific direction to the operator's hand. Specifically, by aligning the rotation axis of the flywheel 261 with the Z axis direction (up and down direction) in Figure 10, a force in the Y axis direction (left and right direction) can be applied to the operator's hand. Also, by aligning the rotation axis of the flywheel 261 with the Y axis direction in Figure 10, a force in the Z axis direction can be applied to the operator's hand.

[0043] The acceleration or deceleration of the flywheel 261 can be performed continuously or intermittently. This allows the controller 20 to make the operator feel a force simulating the pulling of a fishing rod when playing a fishing game, for example. The magnitude of the force felt by the operator also varies depending on the magnitude of the acceleration of the flywheel 261. Furthermore, as shown in FIG. 10 , the controller 20 may incorporate multiple force feedback units 26, each with a flywheel 261 whose rotation axes are oriented in different directions (more specifically, whose rotation axes are perpendicular to each other). In this case, a single controller 20 can generate forces in various directions.

[0044] Furthermore, in the second embodiment, the force feedback unit 26 using a reaction wheel is mounted on a one-handed controller 20, but the force feedback unit 26 can also be mounted on a two-handed controller 20. Similarly, the force feedback unit 15 using a gyro moment can be mounted on a one-handed controller 20 as well as a two-handed controller 10. Furthermore, the force feedback unit 15 using a gyro moment can also function as a reaction wheel by increasing or decreasing the rotation speed of the rotating wheel 151. In this case, a rotational force on three axes can be obtained by adding one axis provided by the reaction wheel to two axes provided by the gyro moment. Furthermore, the force feedback unit 15 or 26 can also be mounted on a controller that is worn directly on the operator's body. A wearable controller, for example, can be worn on the operator's hand like a glove.

[0045] [Embodiment 3] In the above-described embodiments 1 and 2, a configuration has been exemplified in which a rotating body (rotating wheel 151 or flywheel 261) is combined with only a drive unit (drive motor 155 or servo motor 262) that rotates and drives the rotating body. However, the controller 20 disclosed herein is not limited to this, and it is also possible to combine a brake that abruptly stops the rotation of the rotating body. In this case, brakes such as MR fluid (magnetorheological fluid) brakes and ER fluid (electrorheological fluid) brakes can be suitably used.

[0046] For example, in the force feedback unit 26 described in the second embodiment, a brake (not shown) may be attached to the rotation axis of the flywheel 261. In this configuration, the flywheel 261 is rotated at high speed and the rotation is stopped instantly by the brake, allowing the player to experience a sensation similar to that of an impact. In this way, the controller 20 can allow the player to experience a force that simulates the sensation of hitting back a ball (the ball hitting the racket) when playing, for example, a tennis game.

[0047] The sensation of impact caused by stopping rotation using a brake can also be applied to the force feedback unit 15 described in the first embodiment. In this case, a brake can be provided on any of the rotation axis S1, the rotation axis S2, and the rotation axis S3, but it is particularly preferable to provide a brake on the rotation axis S1. That is, the rotation axis S1 is the axis of rotation of the rotating wheel 151, and by providing a brake on this, the rotating wheel 151, which is rotating at high speed, can be instantly stopped, producing a sensation similar to that of an impact.

[0048] Fourth Embodiment In this fourth embodiment, a force feedback unit 31 that can be used as a momentum wheel will be exemplified. The momentum wheel generates an action in which a wheel rotating at high speed tries to maintain its axis of rotation.

[0049] 13 is a perspective view of the force feedback unit 31. As shown in Fig. 13, the force feedback unit 31 has a rotating wheel (rotating body) 311, an inner frame (first frame) 312, an intermediate frame (second frame) 313, an outer frame 314, a drive motor (rotation drive unit) 315, a first-axis rotation motor 316, and a second-axis rotation motor 317. Servo motors are used as the first-axis rotation motor 316 and the second-axis rotation motor 317.

[0050] In the force feedback unit 31, the inner frame 312 supports the rotating wheel 311 so that it can rotate about a rotation axis S1. A drive motor 315 for driving the rotating wheel 311 to rotate is also fixed to the inner frame 312. The intermediate frame 313 supports the inner frame 312 so that it can rotate about a rotation axis S2 (first rotation axis). A first-axis rotation motor 316 for rotationally displacing the inner frame 312 relative to the intermediate frame 313 is also fixed to the intermediate frame 313. The outer frame 314 supports the intermediate frame 313 so that it can rotate about a rotation axis S3 (second rotation axis). A second-axis rotation motor 317 for rotationally displacing the intermediate frame 313 relative to the outer frame 314 is also fixed to the outer frame 314.

[0051] In the force feedback unit 31, an inertial force that tries to maintain the orientation (tilt) of the rotation axis S1 can be generated by rotating the rotation wheel 311 at high speed using the drive motor 315. When the force feedback unit 31 is mounted on, for example, a game controller (controller 10 or 20), the outer frame 314 is attached so as to be fixed to a frame member of the controller.

[0052] In a controller equipped with the force feedback unit 31, when the operator moves the controller (including at least a movement that rotates the controller) while the force feedback unit 31 is operating (while the rotating wheel 311 is rotating), an inertial force is generated in a direction that attempts to return the orientation of the rotation axis S1 to its original position in response to the movement of the controller, and this inertial force acts as force feedback for the operator. In other words, while the above-mentioned force feedback units 15 and 26 can actively provide force feedback from the controller side through the action of the gyro moment or reaction wheel, the force feedback unit 31 can passively provide force feedback when a movement is applied to the controller from the operator side.

[0053] Furthermore, in the force feedback unit 31, the orientation of the rotation axis S1 can be changed by rotating the inner frame 312 with the first axis rotation motor 316 and by rotating the intermediate frame 313 with the second axis rotation motor 317. In other words, in a controller equipped with the force feedback unit 31, the orientation of the rotation axis S1 to be held can be set to any orientation.

[0054] Furthermore, in the above-described force feedback units 15 and 26, it is possible to make the rotary wheel 151 and the flywheel 261 function as momentum wheels by rotating them at high speed.

[0055] [Embodiment 5] In the above-described embodiments 1 to 4, the case where the operating device disclosed herein is applied to a game controller has been exemplified. However, the application of the operating device disclosed herein is not limited to game controllers, and it can be applied to various other devices.

[0056] As an example, a force feedback unit 15 utilizing a gyroscopic moment can be applied to a power tool such as a handheld drill. When drilling holes with a handheld drill, it is important to maintain the drill's orientation without changing the angle of its rotation axis. In this case, the force feedback unit 15 is positioned so that the rotation axis S1 of the rotating wheel 151 is parallel to the rotation axis of the drill. By rotating the rotating wheel 151 at high speed, the force feedback unit 15 functions as a momentum wheel, generating a force that keeps the rotation axis S1 constant (and thus the rotation axis of the drill constant). Alternatively, even without using the force feedback unit 15, a wheel linked to the motor rotation axis of the drill can be attached to generate a force that keeps the axis constant (see FIG. 14 ). When using the force feedback unit 15, if the orientation of the handheld drill shifts (if the rotation axis of the drill tilts), the force feedback unit 15 can generate the above-mentioned gyroscopic moment, which can be used as a rotational force to correct the shift.

[0057] As another example, the force feedback unit 15 may be applied to an electric grass trimmer as shown in Fig. 15. In this case, by applying a force F1 that swings the rotating disk that cuts the grass back and forth around a fulcrum (the end of the handle of the electric grass trimmer that is fixed by being pressed against the operator's body), a force F2 that swings the rotating disk left and right can be generated, providing a force that supports the work.

[0058] [Embodiment 6] A controller 40 (operation device) according to embodiment 6 is provided with a force feedback unit 41 that performs rotation control using a link mechanism. Figures 16 and 17 are perspective views showing examples of the appearance of the force feedback unit 41 provided in the controller 40 according to embodiment 6. Figure 16 shows a state in which the link mechanism is in a reference position, and Figure 17 shows a state in which the link mechanism is bent from the reference position.

[0059] 16 and 17 , the force feedback unit 41 includes an inner frame (first frame) 412 that rotatably supports a rotating wheel (rotating body) 411, an intermediate frame (second frame) 413, a guide frame (third frame) 414, a drive motor (rotation drive unit) 415, a first-axis rotation motor (first-axis rotation drive unit) 416, and a second-axis rotation motor (second-axis rotation drive unit) 417. The drive motor 415 can control the rotation direction and rotation speed of the rotating wheel 411. For example, servo motors are used as the first-axis rotation motor 416 and the second-axis rotation motor 417. Furthermore, the force feedback unit 41 includes a first link mechanism 418, a second link mechanism 419, a housing frame 420, etc.

[0060] The first link mechanism 418 is a link mechanism that connects the intermediate frame 413 and the first-shaft rotation motor 416. The first link mechanism 418 includes an upper first link 418A fixed to the intermediate frame 413 and a lower first link 418B attached to the first-shaft rotation motor 416. The upper first link 418A has an elongated guide hole 418C formed in its lower portion, and a protrusion formed on the lower first link 418B is movably fitted into the guide hole 418C with looseness. The first-shaft rotation motor 416 rotates the intermediate frame 413 via the first link mechanism 418.

[0061] The second link mechanism 419 is a link mechanism that connects the guide frame 414 and the second-shaft rotation motor 417. The second link mechanism 419 has a lower portion attached to the second-shaft rotation motor 417 and a protrusion formed on an upper portion, which is movably fitted with a loose fit into an elongated guide hole 414A opened in the guide frame 414. The second-shaft rotation motor 417 rotates the guide frame 414 via the second link mechanism 419.

[0062] The housing frame 420 is a cubic frame. The housing frame 420 accommodates the rotating wheel 411, the inner frame 412, the intermediate frame 413, the guide frame 414, the drive motor 415, the first shaft rotating motor 416, the second shaft rotating motor 417, the first link mechanism 418, and the second link mechanism 419. The housing frame 420 rotatably supports the intermediate frame 413 and the upper first link 418A of the first link mechanism 418. The first shaft rotating motor 416 and the second shaft rotating motor 417 are fixed to the housing frame 420.

[0063] As described above, the force feedback unit 41 provided in the controller 40 according to the sixth embodiment includes a rotating wheel 411 that rotates around the rotation axis as the center of rotation, a drive motor 415 that rotates the rotating wheel 411 around the rotation axis, an inner frame 412 that supports the rotating wheel 411 so that it can rotate around the rotation axis as the center of rotation, an intermediate frame 413 that can rotate the rotating wheel 411, which rotates around the rotation axis as the center of rotation, around a first rotation axis that is perpendicular to the rotation axis as the center of rotation, and a first link mechanism 418 that transmits power to rotate the intermediate frame 413.

[0064] Furthermore, the force feedback unit 41 includes a guide frame 414 that can rotate the rotating wheel 411, which rotates around the rotation axis as the center of rotation, around a second rotation axis that is perpendicular to both the rotation axis and the first rotation axis as the center of rotation, and a second link mechanism 419 that transmits power to rotate the guide frame 414.

[0065] As described above, the force feedback unit 41 included in the controller 40 according to embodiment 6 is formed using a link mechanism. Furthermore, the force feedback unit 41 houses various components within the housing frame 420, which allows for miniaturization.

[0066] Furthermore, in the force feedback unit 41 provided in the controller 40 according to the sixth embodiment, the first axis rotation motor 416 and the second axis rotation motor 417 are fixed to the housing frame 420. This enables the controller 40 to stabilize the rotation of the rotation wheel 411.

[0067] The stability of the rotation of the rotating wheel 411 will be described in detail. Fig. 18 is a perspective view showing a system using a conventional rotating body (hereinafter referred to as the conventional system). Fig. 18 is a reference to Fig. 7 in U.S. Patent Application Publication No. 2013 / 0199308. The conventional system shown in Fig. 18 is a system that controls the attitude of a satellite using a rotating body.

[0068] In the conventional system, the motor (90 in FIG. 18) that rotates the inner frame (74 in FIG. 18) is located on only one side of the outer frame (76 in FIG. 18). While the conventional system presents no problems when used in the zero-gravity environment of outer space, when used in a location subject to gravity, such as on Earth, the weight of the motor under the influence of gravity causes the outer frame to tilt. The tilt of the outer frame due to gravity affects the torque generated and may result in unintended movement. The conventional system can solve the problem of tilt due to gravity by attaching a weight of the same mass as the motor to the opposite side of the outer frame for balancing. However, this affects the torque generated by the rotation of another motor (102 in FIG. 18). Specifically, the direction of the rotational axis of the motor indicated by 102 in FIG. 18 is the X-axis, and the direction of the rotational axis of the motor indicated by 90 in FIG. 18 is the Y-axis. In this case, the torque of the gyro moment generated when the motor indicated by 102 rotates is in the Y-axis direction, but due to the influence of the motor and weight attached to the outer frame, a torque is generated as a reaction force to the rotation of the motor indicated by 102. Therefore, with conventional systems, even when a weight is attached for balancing, unintended movement may occur.

[0069] The controller 40 disclosed herein has the first axis rotary motor 416 and the second axis rotary motor 417 fixed to the housing frame 420, which reduces the possibility of unintended movement occurring as in conventional systems and provides excellent effects such as making it possible to stabilize the rotation of the rotating wheel 411 even under gravity.

[0070] The embodiments disclosed herein are illustrative in all respects and are not intended to be limiting. Therefore, the technical scope of the present disclosure should not be interpreted solely by the above-described embodiments, but should be defined by the claims. Furthermore, all modifications within the scope and meaning equivalent to the claims are included.

[0071] 10, 20, 40 Game controller (operation device) 11, 21 Control unit 12, 22 Operation input unit 13, 24 Communication unit 14, 25 Drive unit 15, 26, 31, 41 Force feedback unit 151, 411 Rotating wheel (rotating body) 152, 312, 412 Inner frame (first frame) 153, 313, 413 Intermediate frame (second frame) 154, 414 Guide frame (third frame) 155, 315, 415 Drive motor (rotation drive unit) 156, 316, 416 First axis rotation motor (first axis rotation drive unit) 157, 317, 417 Second axis rotation motor (second axis rotation drive unit) 158a to 158d Support leg 23 Motion detection sensor unit 261 Flywheel (rotating body) 262 Servo motor (rotation drive unit) 314 Outer frame 418 First link mechanism 418A Upper first link 418B Lower first link 419 Second link mechanism 420 Housing frame

Claims

1. An operating device that is held or worn by an operator and is used to operate an object to be operated, comprising: a rotating body that rotates about a rotation axis; a rotation drive unit that rotates the rotating body about the rotation axis; a first frame that supports the rotating body so that it can rotate about the rotation axis; a second frame that can rotate the rotating body rotating about the rotation axis about a first rotation axis that is perpendicular to the rotation axis; and a first link mechanism that transmits power to rotate the second frame.

2. An operating device as described in claim 1, comprising: a third frame capable of rotating the rotating body, which rotates around the rotation axis, around a second rotation axis that is perpendicular to both the rotation axis and the first rotation axis; and a second link mechanism that transmits power to rotate the third frame.

3. An operating device as described in claim 1, comprising a housing frame that houses the rotating body, the rotation drive unit, the first frame, the second frame and the first link mechanism, and the second frame and the first link mechanism are rotatably supported by the housing frame.

4. An operating device as described in claim 3, comprising a first axis rotation drive unit that rotates the second frame via the first link mechanism, the first axis rotation drive unit being fixed to the housing frame.

5. An operating device as described in claim 2, comprising a housing frame that houses the rotating body, the rotation drive unit, the first frame, the second frame, the first link mechanism, the third frame and the second link mechanism, and the second frame and the first link mechanism, as well as the third frame and the second link mechanism, are rotatably supported by the housing frame.

6. An operating device as described in claim 5, comprising: a first axis rotation drive unit that rotates the second frame via the first link mechanism; and a second axis rotation drive unit that rotates the third frame via the second link mechanism, wherein the first axis rotation drive unit and the second axis rotation drive unit are fixed to the housing frame.

7. An operating device according to any one of claims 1 to 3, characterized in that the rotation drive unit is capable of controlling the rotation direction and rotation speed of the rotating body.

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