Haptic controller device for sensing movement of individual switches

Abstract

The present invention relates to a haptic controller device. The haptic controller device comprises: a housing having an accommodating space therein; a switch unit including a first rotary switch and a second rotary switch which are rotatably installed in the housing; and a motion sensor unit for measuring the pressure applied to the switch unit. The motion sensor unit may include: a sensor structure having a first thin plate, which is installed on one side of the first rotary switch, and a second thin plate, which is installed on one side of the second rotary switch; at least one first pressure sensor which is installed on one side of the first thin plate and measures the pressure applied to the first rotary switch; and at least one second pressure sensor which is installed on one side of the second thin plate and measures the pressure applied to the second rotary switch.

Description

A haptic controller device that senses movement for each switch

[0001] The present invention relates to a haptic controller device that senses movement for each switch, and more specifically, to a haptic controller device that senses a pressure value applied to each switch and controls movement for each switch.

[0002] In order to enhance the sense of immersion and presence in a virtual reality environment in conjunction with virtual reality, various technologies are being researched and developed to provide natural user interface technology using both hands and haptic feedback such as tactile and kinesthetic sensations through this.

[0003] User interfaces equipped with vibration elements provide haptic feedback by modulating vibration patterns to indicate the start / end or termination of an interaction, or to indicate whether the interface has been manipulated. However, this method suffers from the difficulty of providing realistic feedback due to the lack of kinesthetic feedback.

[0004] User interfaces in the form of gloves or exoskeletons have been proposed to provide kinesthetic sensations such as grasping objects in virtual reality, applying force to hold or press them, but these cases have limitations in use due to issues such as the complexity of wearing them and the size of the external device.

[0005] Meanwhile, Korean Patent Publication No. 10-2017-0016695 (Patent Document 1) discloses “Interaction Controller, Haptic Feedback Providing System and Method Using Interaction Controller,” wherein the interaction controller comprises a sensor unit including a gyro sensor and an acceleration sensor; and a haptic unit including a plurality of haptic actuators arranged at regular intervals on a handle portion and operating according to movements detected by the sensor unit.

[0006] In the case of Patent Document 1 as described above, although it is possible to provide various spatial tactile feedback according to the movement of the interaction controller through a plurality of haptic actuators arranged in two dimensions, it only presupposes a situation in which tactile feedback is provided at the surface where the interaction controller and the user's hand (fingers and palm) come into contact, and there was a problem in that it could not properly respond to the physical displacement and kinesthetic feedback that occur in situations such as when gripping or pressing an object with force by hand.

[0007] The problem to be solved by the present invention is to provide a haptic controller device that can control movement for each switch by measuring the pressure applied to each switch.

[0008] Another object of the present invention is to provide a haptic controller device capable of controlling movement for each switch to adjust the intensity of rehabilitation exercise for each finger of a rehabilitation patient.

[0009] The tasks of the present invention are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art from the description below.

[0010] A haptic controller device according to the present invention comprises: a housing having an accommodation space therein; a plurality of rotary switches rotatably installed in the housing; a sensor structure having a plurality of thin plates installed on one side of the rotary switches; and at least one pressure sensor installed on one side of each of the thin plates, wherein the pressure sensor may include at least one pressure sensor that measures a pressure applied to each of the rotary switches.

[0011] Specific details of other embodiments are included in the detailed description and drawings.

[0012] According to embodiments of the present invention, the present invention can control movement of each switch by measuring the pressure applied to each switch.

[0013] By controlling the movement of each switch, the intensity of rehabilitation exercise can be adjusted for each finger of the rehabilitation patient.

[0014] Additionally, by controlling the movement of the switch according to the pressure applied to each switch, it is possible to provide precise tactile feedback to the user.

[0015] The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

[0016] FIG. 1 and FIG. 2 are perspective views illustrating a haptic controller device according to one embodiment of the present invention.

[0017] Fig. 3 is a drawing showing a portion of the housing of the haptic controller device of Fig. 1 removed.

[0018] FIG. 4 is a side view of the haptic controller device of FIG. 1.

[0019] FIG. 5 is a block diagram for explaining a part of the configuration of the haptic controller device of FIG. 1.

[0020] Figures 6 and 7 are perspective views illustrating the housing of Figure 1.

[0021] FIGS. 8 and 9 are drawings for explaining the sensor structure of the haptic controller device of FIG. 1.

[0022] FIG. 10 is a schematic diagram for explaining the first to fifth pressure sensors installed in the sensor structure of FIG. 8.

[0023] Fig. 11 is a drawing for explaining the state in which the actuator part is installed in the second to fifth rotary switches of Fig. 1.

[0024] Fig. 12 is a rear view for explaining the second to fifth rotary switches of Fig. 1.

[0025] Fig. 13 is a cross-sectional view for explaining the second rotary switch of Fig. 12.

[0026] Fig. 14 is a perspective view for explaining the actuator part of Fig. 11.

[0027] Fig. 15 is a perspective view for explaining the driving unit of the actuator part of Fig. 14.

[0028] Fig. 16 is an exploded perspective view for explaining the drive unit of Fig. 15.

[0029] Fig. 17 is a schematic diagram for explaining the sliding member of Fig. 15.

[0030] The advantages and features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. These embodiments are provided only to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Like reference numerals designate like elements throughout the specification.

[0031] Embodiments described herein will be described with reference to cross-sectional and / or plan views, which are ideal illustrations of the present invention. In the drawings, the thicknesses of films and regions are exaggerated for the purpose of effectively explaining the technical contents. Accordingly, the regions illustrated in the drawings have a schematic nature, and the shapes of the regions illustrated in the drawings are intended to illustrate specific shapes of regions of the device and are not intended to limit the scope of the invention. Although terms such as first, second, and third are used to describe various components in various embodiments of the present specification, these components should not be limited by such terms. These terms are used only to distinguish one component from another. The embodiments described and illustrated herein also include complementary embodiments thereof.

[0032] The terminology used herein is for the purpose of describing embodiments only and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise. As used herein, the terms "comprises" and / or "comprising" do not exclude the presence or addition of one or more other components, steps, operations, and / or elements to the mentioned components, steps, operations, and / or elements.

[0033] Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used in their common sense to those of ordinary skill in the art to which the present invention pertains. Furthermore, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless explicitly and specifically defined otherwise.

[0034] Hereinafter, with reference to the drawings, the concept of the present invention and embodiments thereof will be described in detail.

[0035] FIG. 1 and FIG. 2 are perspective views illustrating a haptic controller device according to an embodiment of the present invention. FIG. 3 is a view illustrating a portion of the housing of the haptic controller device of FIG. 1 removed. FIG. 4 is a side view of the haptic controller device of FIG. 1. FIG. 5 is a block diagram illustrating a portion of the haptic controller device of FIG. 1. FIG. 6 and FIG. 7 are perspective views illustrating the housing of FIG. 1. FIG. 8 and FIG. 9 are views illustrating a sensor structure of the haptic controller device of FIG. 1. FIG. 10 is a schematic diagram illustrating first to fifth pressure sensors installed in the sensor structure of FIG. 8. FIG. 11 is a view illustrating an actuator unit installed in the second to fifth rotary switches of FIG. 1. FIG. 12 is a rear view illustrating the second to fifth rotary switches of FIG. 1. FIG. 13 is a cross-sectional view illustrating the second rotary switch of FIG. 12. Fig. 14 is a perspective view for explaining the actuator part of Fig. 11. Fig. 15 is a perspective view for explaining the drive unit of the actuator part of Fig. 14. Fig. 16 is an exploded perspective view for explaining the drive unit of Fig. 15. Fig. 17 is a schematic diagram for explaining the sliding member of Fig. 15.

[0036] Referring to FIGS. 1 to 17, a haptic controller device (10) according to an embodiment of the present invention can three-dimensionally provide a user who holds the haptic controller with various stiffness sensations, such as grasping or pressing an object, depending on interaction with an object / content on a monitor screen. The haptic controller device (10) may include a housing (100), a switch unit (200), a motion sensor unit (300), an actuator unit (400), and a control unit (500). The haptic controller device (10) may further include a battery unit (600) and a communication unit (700).

[0037] The housing (100) may form the exterior of the haptic controller device (10). In an embodiment, the housing (100) may be formed to be elongated in one direction. The shape of the housing (100) may be ergonomically formed so that a user can easily grip it with his or her hand. The housing (100) may have an accommodation space therein in which components of the haptic controller device (10) may be accommodated.

[0038] The housing (100) may include a first opening (O1), a second opening (O2), and a third opening (O3) passing therethrough. In an embodiment, the first opening (O1) may be formed on a side surface of the housing (100). In an embodiment, the first opening (O1) may be formed in an approximately trapezoidal shape in a plan view, but is not limited thereto.

[0039] The second opening (O2) may be formed on the front surface of the housing (100). The second opening (O2) may be formed larger than the first opening (O1). The second opening (O2) may be spaced apart from the first opening (O1). In an embodiment, the second opening (O2) may be formed to be long in the longitudinal direction of the housing (100). The second opening (O2) may be formed to have an approximately rectangular shape in a plan view, but is not limited thereto.

[0040] A third opening (O3) may be formed at one end of the housing (100). In an embodiment, the third opening (O3) may be formed in a circular shape in a plan view, but is not limited thereto. The housing (100) may further include a plurality of fourth openings. The fourth openings may be positioned adjacent to the first opening (O1).

[0041] The housing (100) may include a first shaft fixing member (not shown) positioned adjacent to the first opening (O1) and protruding inwardly. The first shaft fixing member may include a first rotation hole into which both ends of a first rotation shaft, which will be described later, are inserted. Accordingly, the first rotation shaft may be rotatably coupled to the housing (100).

[0042] The housing (100) may include a second shaft fixing portion (150) positioned adjacent to the second opening (O2) and protruding inwardly. The second shaft fixing portion (150) may include a second rotation hole (151) into which both ends of a second rotation shaft (280), which will be described later, are inserted. Accordingly, the second rotation shaft (280) may be rotatably coupled to the housing (100).

[0043] The switch unit (200) may be installed in the housing (100). The switch unit (200) may include a plurality of rotary switches and a plurality of button switches. The rotary switches may be rotatably installed in the housing (100). Each of the rotary switches (210, 220, 230, 240, 250) may be rotatable based on its one end area.

[0044] In an embodiment, the switch unit (200) may include a first rotary switch (210), a second rotary switch (220), a third rotary switch (230), a fourth rotary switch (240), a fifth rotary switch (250), a first button-type switch (260), a first rotary shaft (not shown), and a second rotary shaft (280).

[0045] The first rotary switch (210) may be rotatably installed on the first opening (O1). In an embodiment, the first rotary switch (210) may be a switch corresponding to the user's thumb. The first rotary switch (210) may include a first plate portion, a first side wall portion, and a first fastening guide portion.

[0046] The first plate portion may be an area that comes into contact with a user's finger (e.g., thumb). In an embodiment, the first plate portion may be formed to correspond to the shape of the first opening (O1). In an embodiment, the first plate portion may be formed in a trapezoidal shape in a planar view, but is not limited thereto.

[0047] The first plate portion may include a first fixing groove (215) into which a first thin plate (311), which will be described later, is inserted. The first fixing groove (215) may be formed to be recessed from one side of the first plate portion toward the other side. In an embodiment, the first fixing groove (215) may be formed in a shape corresponding to the shape of the first thin plate (311).

[0048] The first plate portion may include a first connection hole (216) through which a first connection connector portion (3181) of a connection member (318) described later passes. The first connection hole (216) may be positioned adjacent to one end of the first rotary switch (210).

[0049] The first fastening guide portion can be coupled with a sliding member (420) of an actuator portion (400) to be described later. The first fastening guide portion can protrude from the other side of the first plate portion toward the inside of the housing (100). In an embodiment, the first fastening guide portion can be positioned adjacent to the other end of the first rotary switch (210), but alternatively, the first fastening guide portion can be positioned in the middle region of the first rotary switch (210).

[0050] The first fastening guide portion may include a first fastening groove into which a sliding member (420) to be described later is inserted. The first fastening guide portion may include first fastening holes into which the first fastening member is inserted with the first fastening groove interposed therebetween. The sliding member (420) may be fastened to the first rotary switch (210) by the first fastening member penetrating the first fastening holes and the sliding member (420) inserted into the first fastening groove.

[0051] The first side wall portion may protrude from the boundary of the first plate portion toward the interior of the housing (100). The first side wall portion may be spaced apart from the first fastening guide portion. In an embodiment, the first fastening guide portion may be located on the inner side of the first side wall portion. The first side wall portion may include first shaft holes through which the first rotational shaft described above passes. Accordingly, the first rotational shaft may connect the first rotational switch (210) and the housing (100). In addition, the first rotational switch (210) may rotate in the housing (100) with respect to the first rotational shaft.

[0052] The second rotary switch (220) may be rotatably installed on the second opening (O2). In an embodiment, the second rotary switch (220) may be a switch corresponding to a user's finger (e.g., an index finger). The second rotary switch (220) may include a second plate portion (221), a second side wall portion (222), and a second fastening guide portion (223).

[0053] The second plate portion (221) may be an area that comes into contact with a user's finger. In an embodiment, the second plate portion (221) may include a second fixing groove (225) into which a second thin plate (312) to be described later is inserted. The second fixing groove (225) may be formed to be recessed from one side of the second plate portion (221) toward the other side.

[0054] The second plate portion (221) may include a second connection hole (226) through which a second connection connector portion (3182) of a connection member (318) described later passes. The second connection hole (226) may be positioned adjacent to one end of the second rotary switch (220).

[0055] The second plate portion (221) may include a second fastening guide portion (223) to which a sliding member (420) of an actuator portion (400) to be described later is coupled. The second fastening guide portion (223) may protrude from the other side of the second plate portion (221) toward the interior of the housing (100). In an embodiment, the second fastening guide portion (223) may be positioned adjacent to the other end of the second haptic body portion, but alternatively, the second fastening guide portion (223) may be positioned in a middle region of the second haptic body portion.

[0056] The second fastening guide portion (223) can be coupled with a sliding member (420) of an actuator portion (400) to be described later. The second fastening guide portion (223) can include second fastening holes (223b) into which a second fastening member (224) is inserted with a second fastening groove (223a) therebetween. The second fastening member (224) passes through the second fastening holes (223b) and the sliding member (420) inserted into the second fastening groove (223a), thereby fastening the sliding member (420) and the second rotary switch (220).

[0057] The second side wall portion (222) may protrude from the boundary of the second plate portion (221) toward the interior of the housing (100). The second side wall portion (222) may be spaced apart from the second fastening guide portion (223). In an embodiment, the second fastening guide portion (223) may be located on the inner side of the second side wall portion (222). The second side wall portion (222) may include second shaft holes through which the aforementioned second rotation shaft (280) passes.

[0058] The second rotary shaft (280) may be positioned on the second opening (O2). The second rotary shaft (280) may connect the second rotary switch (220) and the housing (100). In addition, the second rotary switch (220) may rotate in the housing (100) with respect to the second rotary shaft (280).

[0059] The third rotary switch (230) may be rotatably installed on the second opening (O2). The third rotary switch (230) may be positioned adjacent to the second rotary switch (220). In an embodiment, the third rotary switch (230) may be a switch corresponding to a user's finger (e.g., a middle finger). The third rotary switch (230) may include a third plate portion (231), a third side wall portion (232), and a third fastening guide portion (233).

[0060] In an embodiment, the third plate portion (231) may include a third fixing groove (235) into which a third thin plate (313) to be described later is inserted. The third fixing groove (235) may be formed to be recessed from one side of the third plate portion (231) toward the other side.

[0061] The third plate portion (231) may include a third connection hole (236) through which a third connection connector portion (3183) of a connection member (318) described later passes. The third connection hole (236) may be positioned adjacent to one end of the third rotary switch (230). The structures of the third plate portion (231), the third side wall portion (232), and the third fastening guide portion (233) may be substantially the same as the structures of the second plate, the second side wall portion (222), and the second fastening guide portion (223).

[0062] The fourth rotary switch (240) may be rotatably installed on the second opening (O2). The fourth rotary switch (240) may be positioned adjacent to the third rotary switch (230). In an embodiment, the fourth rotary switch (240) may be a switch corresponding to a user's finger (e.g., a ring finger). The fourth rotary switch (240) may include a fourth plate portion (241), a fourth side wall portion (242), and a fourth fastening guide portion (243).

[0063] In an embodiment, the fourth plate portion (241) may include a fourth fixing groove (245) into which a fourth thin plate (314) to be described later is inserted. The fourth fixing groove (245) may be formed to be recessed from one side of the fourth plate portion (241) toward the other side.

[0064] The fourth plate portion (241) may include a fourth connection hole (246) through which a fourth connection connector portion (3184) of a connection member (318) described later passes. The fourth connection hole (246) may be positioned adjacent to one end of the fourth rotary switch (240). The structures of the fourth plate portion (241), the fourth side wall portion (242), and the fourth fastening guide portion (243) may be substantially the same as the structures of the second plate, the second side wall portion (222), and the second fastening guide portion (223).

[0065] The fifth rotary switch (250) may be rotatably installed on the second opening (O2). The fifth rotary switch (250) may be positioned adjacent to the fifth rotary switch (250). In an embodiment, the second to fifth rotary switches (220, 230, 240, 250) may be sequentially arranged along the longitudinal direction of the housing (100) on the second opening (O2).

[0066] In an embodiment, the fifth rotary switch (250) may be a switch corresponding to a user's finger (e.g., a thumb). The fifth rotary switch (250) may include a fifth plate portion (251), a fifth side wall portion (252), and a fifth fastening guide portion (253).

[0067] In an embodiment, the fifth plate portion (251) may include a fifth fixing groove (255) into which a fifth thin plate (315) to be described later is inserted. The fifth fixing groove (255) may be formed to be recessed from one side of the fifth plate portion (251) toward the other side.

[0068] The fifth plate portion (251) may include a fifth connection hole (256) through which a fifth connection connector portion (3185) of a connection member (318) described later passes. The fifth connection hole (256) may be positioned adjacent to one end of the fifth rotary switch (250). The structures of the fifth plate portion (251), the fifth side wall portion (252), and the fifth fastening guide portion (253) may be substantially the same as the structures of the second plate, the second side wall portion (222), and the second fastening guide portion (223).

[0069] The second rotary shaft (280) can sequentially pass through the second to fifth rotary switches (220, 230, 240, 250) to connect the second to fifth rotary switches (220, 230, 240, 250) and the housing (100). Accordingly, the second to fifth rotary switches (220, 230, 240, 250) can rotate on the second opening (O2) with respect to the same rotation axis.

[0070] The first button-type switch (260) may be positioned on the third opening (O3). Accordingly, the first button-type switch (260) may be positioned at one end of the housing (100). The first button-type switch (260) may be a switch corresponding to a user's finger (e.g., thumb). In an embodiment, the user may operate the first rotary switch (210) and the first button-type switch (260) using the thumb.

[0071] The motion sensor unit (300) can measure the pressure applied to the switch unit (200), the motion of the haptic controller device (10), etc. Accordingly, the motion sensor unit (300) can sense the movement of the first to fifth rotary switches (210, 220, 230, 240, 250), the first button-type switch (260), etc. The motion sensor unit (300) can include a sensor structure (310), a first pressure sensor (321), a second pressure sensor (322), a third pressure sensor (323), a fourth pressure sensor (324), a fifth pressure sensor (325), and a button sensor (326).

[0072] The sensor structure (310) may include a connecting member (318), a first plate (311), a second plate (312), a third plate (313), a fourth plate (314), and a fifth plate (315).

[0073] The first plate (311) may be installed on one side of the first rotary switch (210). The first plate (311) may be inserted into the first fixing groove (215) described above. The first plate (311) may be formed to correspond to the shape of the first fixing groove (215). In an embodiment, the first plate (311) may be formed in a convex square plate shape on one side of the first rotary switch (210), but is not limited thereto.

[0074] The second plate (312) may be installed on one side of the second rotary switch (220). The second plate (312) may be inserted into the second fixing groove (225) described above. The second plate (312) may be formed to correspond to the shape of the second fixing groove (225). In an embodiment, the second plate (312) may be formed in a convex square shape from one side of the second rotary switch (220), but is not limited thereto.

[0075] The third plate (313) can be installed on one side of the third rotary switch (230). The third plate (313) can be inserted into the third fixing groove (235) described above. The fourth plate (314) can be installed on one side of the fourth rotary switch (240). The fourth plate (314) can be inserted into the fourth fixing groove (245) described above. The fifth plate (315) can be installed on one side of the fifth rotary switch (250). The fifth plate (315) can be inserted into the fifth fixing groove (255) described above.

[0076] A connecting member (318) may be installed within the housing (100). The connecting member (318) may electrically connect the first plate (311), the second plate (312), the third plate (313), the fourth plate (314), and the fifth plate (315) to the control unit (500). Accordingly, pressure values ​​measured by the first to fifth pressure sensors (321, 322, 323, 324, 325) installed on the first to fifth plates (311, 312, 313, 314, 315) may be transmitted to the control unit (500). The connecting member (318) may include a connecting board (3186), a first connecting connector portion (3181), a second connecting connector portion (3182), a third connecting connector portion (3183), a fourth connecting connector portion (3184), and a fifth connecting connector portion (3185).

[0077] The connection board (3186) may be formed to be long in the longitudinal direction of the housing (100). One side of the connection board (3186) may be electrically connected to the control unit (500).

[0078] Each of the first to fifth connection connector portions (3181, 3182, 3183, 3184, 3185) may extend from the connection board (3186) and be connected to each of the first to fifth rotary switches (210, 220, 230, 240, 250). In an embodiment, the first connection connector portion (3181) may be connected to the first plate (311) by passing through the first connection hole (216). The second connection connector portion (3182) may be connected to the second plate (312) by passing through the second connection hole (226). The third connection connector portion (3183) may be connected to the third plate (313) by passing through the third connection hole (236). The fourth connection connector portion (3184) may be connected to the fourth plate (314) by passing through the fourth connection hole (246). The fifth connection connector portion (3185) may be connected to the fifth plate (315) by passing through the fifth connection hole (256). In an embodiment, the length of the first connection connector portion (3181) may be formed to be longer than the lengths of each of the second to fifth connection connector portions (3182, 3183, 3184, 3185).

[0079] The first to fifth connecting connector portions (3181, 3182, 3183, 3184, 3185) can be formed of a flexible material. Accordingly, they can be easily deformed by the rotation of the first to fifth rotary switches (210, 220, 230, 240, 250), thereby minimizing interference with the rotation of the first to fifth rotary switches (210, 220, 230, 240, 250).

[0080] The first connection connector portion (3181) can be connected to the connection board (3186) portion while passing between the first rotation shaft and the first side wall portion. Accordingly, when the first rotary switch (210) rotates, interference of the first connection connector portion (3181) can be minimized.

[0081] The second connection connector portion (3182) can be connected to the connection board (3186) while passing between the second rotation shaft (280) and the second side wall portion (222). The third connection connector portion (3183) can be connected to the connection board (3186) while passing between the second rotation shaft (280) and the third side wall portion (232). The fourth connection connector portion (3184) can be connected to the connection board (3186) while passing between the second rotation shaft (280) and the fourth side wall portion (242). The fifth connection connector portion (3185) can be connected to the connection board (3186) while passing between the second rotation shaft (280) and the fifth side wall portion (252). Accordingly, when the second to fifth rotary switches (220, 230, 240, 250) rotate, interference of the second to fifth connecting connector parts (3182, 3183, 3184, 3185) can be minimized.

[0082]

[0083] The first pressure sensor (321) may be installed on one side of the first plate (311). One or more first pressure sensors (321) may be installed on the first plate (311). In an embodiment, two first pressure sensors (321) may be installed on the first plate (311). The first pressure sensor (321) may measure a pressure (or force) applied to the first rotary switch (210). For example, the first pressure sensor (321) may measure a first pressure value applied by a user's thumb to the first rotary switch (210). The first pressure sensor (321) may transmit the measured first pressure value to the control unit (500).

[0084] The second pressure sensor (322) may be installed on one side of the second plate (312). One or more second pressure sensors (322) may be installed on the second plate (312). The second pressure sensor (322) may measure the pressure (or force) applied to the second rotary switch (220). The second pressure sensor (322) may transmit the measured second pressure value to the control unit (500).

[0085] The third pressure sensor (323) may be installed on one side of the third plate (313). One or more third pressure sensors (323) may be installed on the third plate (313). The third pressure sensor (323) may measure the pressure (or force) applied to the third rotary switch (230). The third pressure sensor (323) may transmit the measured third pressure value to the control unit (500).

[0086] The fourth pressure sensor (324) may be installed on one side of the fourth plate (314). One or more fourth pressure sensors (324) may be installed on the fourth plate (314). The fourth pressure sensor (324) may measure the pressure (or force) applied to the fourth rotary switch (240). The fourth pressure sensor (324) may transmit the measured fourth pressure value to the control unit (500).

[0087] The fifth pressure sensor (325) may be installed on one side of the fifth plate (315). One or more fifth pressure sensors (325) may be installed on the fifth plate (315). The fifth pressure sensor (325) may measure the pressure (or force) applied to the fifth rotary switch (250). The fifth pressure sensor (325) may transmit the measured fifth pressure value to the control unit (500).

[0088] In the embodiment, each of the first to fifth pressure sensors (321, 322, 323, 324, 325) may be a force sensitive resistor (FSR) whose resistance value changes depending on physical force, weight, etc., but is not limited thereto.

[0089] In an embodiment, three of the second to fifth pressure sensors (322, 323, 324, 325) may be installed on each of the second to fifth plates (312, 313, 314, 315). The number of the second to fifth pressure sensors (322, 323, 324, 325) installed on each of the second to fifth plates (312, 313, 314, 315) may be greater than the number of the first pressure sensors (321) installed on the first plate (311). For example, three of the second to fifth pressure sensors (325) may be installed on each of the second to fifth plates (312, 313, 314, 315). This allows an external force of the thumb to act on the first plate (311). This is because the contact area between the thumb and the first rotary switch (210) is smaller than the contact area between the other fingers and the second to fifth rotary switches (220, 230, 240, 250). Therefore, the number of first pressure sensors (321) installed on the first plate (311) can be reduced, thereby lowering the production cost.

[0090] The button sensor (326) may be installed on the first button-type switch (260). The button sensor (326) may be a motion sensor capable of measuring the position and posture of the user's hand, but is not limited thereto. In an embodiment, the button sensor (326) may include an IMU (Inertial Measurement Unit) as a sensor for detecting the position and posture of the housing (100). Information measured by the button sensor (326) may be transmitted to the control unit (500).

[0091] The actuator unit (400) can be installed within the housing (100). The actuator unit (400) is connected to the other side of the first to fifth rotary switches (210, 220, 230, 240, 250) so as to individually rotate the first to fifth rotary switches (210, 220, 230, 240, 250). Accordingly, the actuator unit (400) can independently rotate each of the first to fifth rotary switches (210, 220, 230, 240, 250) without interference from other rotary switches.

[0092] In an embodiment, the actuator unit (400) can pull the first to fifth rotary switches (210, 220, 230, 240, 250). Accordingly, the actuator unit (400) can rotate the first to fifth rotary switches (210, 220, 230, 240, 250) by providing an external force in the same direction as the rotational direction of the first to fifth rotary switches (210, 220, 230, 240, 250).

[0093] In addition, the actuator unit (400) can push the first to fifth rotary switches (210, 220, 230, 240, 250). Accordingly, the actuator unit (400) can rotate the first to fifth rotary switches (210, 220, 230, 240, 250) by providing an external force in a direction opposite to the rotational direction of the first to fifth rotary switches (210, 220, 230, 240, 250). By the actuator unit (400) providing an external force in a direction opposite to the rotational direction of the first to fifth rotary switches (210, 220, 230, 240, 250), the haptic controller device (10) can provide a tactile feedback to the user, thereby providing a tactile sensation of touching an object with the hand in virtual reality.

[0094] The actuator unit (400) may include a first driving unit, a second driving unit (402), a third driving unit (403), a fourth driving unit (404), and a fifth driving unit (405).

[0095] The first driving unit is connected to the first rotary switch (210) and can rotate the first rotary switch (210). The second driving unit (402) is connected to the second rotary switch (220) and can rotate the second rotary switch (220). The third driving unit (403) is connected to the third rotary switch (230) and can rotate the third rotary switch (230). The fourth driving unit (404) is connected to the fourth rotary switch (240) and can rotate the fourth rotary switch (240). The fifth driving unit (405) is connected to the fifth rotary switch (250) and can rotate the fifth rotary switch (250).

[0096] Each of the first to fifth drive units (402, 403, 404, 405) may include a case (410), a screw member (430), a rotational power unit (450), a sliding member (420), a gear unit (440), and a displacement sensor (not shown). In an embodiment, the case (410) of each of the first to fifth drive units (402, 403, 404, 405) may be formed as one. Alternatively, in another embodiment, the case (410) of each of the first to fifth drive units (402, 403, 404, 405) may be individually separated.

[0097] The case (410) may have a space therein for accommodating components such as a screw member (430) and a rotational power unit (450). The case (410) may include a sliding hole through which a sliding member (420) passes, facing the first opening (O1) or the second opening (O2) of the housing (100).

[0098] The rotational power unit (450) may be installed within the case (410). The rotational power unit (450) may generate rotational power. In an embodiment, the rotational power unit (450) may be an electric motor, but is not limited thereto. The rotational power unit (450) may be driven in response to a control signal from the control unit (500). Accordingly, the control unit (500) may control the rotational power of the rotational power unit (450).

[0099] The sliding member (420) may be installed on one side of each of the rotary switches. The sliding member (420) may be formed in the shape of a bar or rod that is elongated in one direction. The sliding member (420) may have an insertion groove (423) on the other side thereof into which a screw member (430) is inserted. Screw threads may be formed on the inner surface of the insertion groove (423).

[0100] One side of the sliding member (420) can be fastened to the first fastening guide part, the second fastening guide part (223), etc., as described above. As illustrated in Fig. 17, the sliding member (420) can include an insertion hole (425) on one side into which any one of the first to fifth fastening members (224, 234, 244, 254) is inserted.

[0101] The sliding member (420) can move linearly by the rotational power of the rotational power unit (450). Accordingly, the sliding member (420) can provide an external force that pushes or pulls each of the rotary switches.

[0102] The screw member (430) may be positioned within the case (410). The screw member (430) may be formed to be elongated in one direction. In an embodiment, the screw member (430) may be positioned on the same line as the sliding member (420). The screw member (430) may be formed in a circular rod shape. The screw member (430) may be rotated by the rotational power of the rotational power unit (450).

[0103] The screw member (430) can be inserted into the insertion groove (423) of the sliding member (420). The screw member (430) can have screw threads formed on the outer surface thereof that engage with the screw threads of the insertion groove (423). Accordingly, when the screw member (430) is rotated by the rotational power unit (450), the sliding member (420) can move linearly along the longitudinal direction of the screw member (430). In other words, the screw member (430) can move the sliding member (420) linearly by being rotated by the rotational power unit (450). The gear unit (440) can control the rotational power of the rotational power unit (450).

[0104] A displacement sensor may be installed within the case (410). The displacement sensor may be positioned adjacent to the sliding member (420). The displacement sensor may measure the displacement of the linearly moving sliding member (420). Displacement information measured by the displacement sensor may be transmitted to the control unit (500).

[0105] The control unit (500) may be installed within the housing (100). The control unit (500) may be electrically connected to the sensor structure (310). Accordingly, the control unit (500) may receive information measured by the first to fifth pressure sensors (321, 322, 323, 324, 325). In addition, the control unit (500) may receive information measured by the displacement sensors of the first to fifth driving units (402, 403, 404, 405) described above.

[0106] The control unit (500) may include one or more of a central processing unit (CPU), a micro controller unit (MCU), a micro processing unit (MPU), a controller, an application processor (AP), a communication processor (CP), or an ARM processor, or may be defined by the terms thereof. In addition, the control unit (500) may be implemented as a system on chip (SoC) or large scale integration (LSI) having a built-in processing algorithm, or may be implemented in the form of an application specific integrated circuit (ASIC), or a field programmable gate array (FPGA).

[0107] The control unit (500) can control the actuator unit (400) using the first to third pressure values ​​measured by the first to fifth pressure sensors (321, 322, 323, 324, 325). In an embodiment, the control unit (500) can control the rotational power unit (450) of the first drive unit using the first pressure value. The control unit (500) can receive a plurality of first pressure values ​​measured by the plurality of first pressure sensors (321). The control unit (500) can control the actuator unit (400) (first drive unit) to rotate the first rotary switch (210) using the largest pressure value among the plurality of first pressure values.

[0108] Alternatively, in another embodiment, the control unit (500) may calculate an average value of a plurality of first pressure values. The control unit (500) may control the actuator unit (400) (first drive unit) to rotate the first rotary switch using the average value of the first pressure values.

[0109] The control unit (500) can control the rotational power unit (450) of the second drive unit (402) using the second pressure value. The control unit (500) can receive a plurality of second pressure values ​​measured by a plurality of second pressure sensors (322). The control unit (500) can control the actuator unit (400) (second drive unit (402)) to rotate the second rotary switch (220) using the largest pressure value among the plurality of second pressure values.

[0110] Alternatively, in another embodiment, the control unit (500) may calculate an average value of a plurality of second pressure values. The control unit (500) may control the actuator unit (400) (second drive unit) to rotate the second rotary switch using the average value of the second pressure values.

[0111] The control unit (500) can control the rotational power unit (450) of each of the third to fifth drive units (403, 404, 405) using the third to fifth pressure values. The method by which the control unit (500) controls the third to fifth drive units (403, 404, 405) can be the same as the method by which the control unit (500) controls the first drive unit or the second drive unit (402).

[0112] In an embodiment, when first to fifth pressure values ​​are input, the control unit (500) can calculate displacement values ​​corresponding to the first to fifth pressure values. Each of the displacement values ​​may be a value corresponding to the position of the sliding member (420) of each of the first to fifth driving units (402, 403, 404, 405).

[0113] For example, when a user grips the second rotary switch (220) using an index finger, the second pressure values ​​of the index finger measured by each of the second pressure sensors (322) can be transmitted to the control unit (500).

[0114] The control unit (500) can calculate a second displacement value corresponding to the position of the sliding member (420) of the second driving unit (402) using the largest value among the second pressure values. As a method of calculating the second displacement value, the second displacement value corresponding to the second pressure value can be calculated from data table information that calculates the relationship between the pressure value and the displacement value.

[0115] The control unit (500) can control the rotational power unit (450) of the second driving unit (402) so that the sliding member (420) of the second driving unit (402) linearly moves to a position corresponding to the second displacement value. Accordingly, the sliding member (420) can pull the second rotary switch (220) while moving to a position corresponding to the second displacement value. Accordingly, the second rotary switch (220) can rotate at a certain angle. In addition, as the second rotary switch (220) rotates at a certain angle, the user can receive a repulsive force at a position where the second rotary switch (220) stops rotating and a position where the linear movement of the sliding member (420) of the second driving unit (402) stops. Accordingly, the user can feel a feedback feedback.

[0116] In this way, the control unit (500) can control the exercise intensity of the user's finger movement by controlling the actuator unit (400). In an embodiment, the control unit (500) can control the actuator unit (400) so as to provide the user with feedback inversely proportional to the pressure value measured by the pressure sensors.

[0117] The control unit (500) can obtain displacement information of the sliding member (420) from the displacement sensors of each of the first to fifth driving units (402, 403, 404, 405) and compare the calculated displacement values ​​with the measured displacement values. If a difference occurs between the calculated displacement values ​​and the measured displacement values, the control unit (500) can control the actuator unit (400) to correct the position of the sliding member (420). The control unit (500) can transmit motion information, pressure values, etc. measured by the motion sensor unit (300) to the outside through the communication unit (700).

[0118] The communication unit (700) may be installed in the housing (100). The communication unit (700) may perform wireless communication with an external device (e.g., a mobile phone, a computer, etc.). The communication unit (700) may transmit motion information, pressure values, etc. input from the control unit (500) to the external device. In addition, the communication unit (700) may receive various types of information from the external device. In an embodiment, the communication unit (700) may be a wireless communication module such as Wi-Fi, LTE, Bluetooth, etc.

[0119] The battery unit (600) may be installed within the housing (100). The battery unit (600) may store power supplied from an external source. The battery unit (600) may supply power to electronic components such as the actuator unit (400), the control unit (500), and the motion sensor unit (300). The battery unit (600) may be connected to a charging terminal. Accordingly, the battery unit (600) may receive external power from the charging terminal and store electricity.

[0120] The operation of the haptic controller device (10) according to the present invention configured as described above is described as follows.

[0121] A user can hold the haptic controller device (10) with his / her hand. Accordingly, the thumb can press the first rotary switch (210), the index finger can press the second rotary switch (220), the middle finger can press the third rotary switch (230), the ring finger can press the fourth rotary switch (240), and the little finger can press the fifth rotary switch (250).

[0122] The first to fifth pressure sensors (321, 322, 323, 324, 325) installed in the first to fifth rotary switches (250) can measure the pressure applied by the user's finger. Accordingly, the first to fifth pressure sensors (321, 322, 323, 324, 325) can transmit the first to fifth pressure values ​​to the control unit (500).

[0123] The control unit (500) can control the actuator unit (400) using each of the first to fifth pressure values. In other words, each of the first to fifth drive units (402, 403, 404, 405) corresponding to the first to fifth pressure values ​​can be controlled. Accordingly, each of the first to fifth drive units (402, 403, 404, 405) can pull the first to fifth rotary switches (210, 220, 230, 240, 250) corresponding to each of the first to fifth pressure values.

[0124] As the first to fifth driving units (402, 403, 404, 405) pull the first to fifth rotary switches (210, 220, 230, 240, 250), the first to fifth rotary switches (210, 220, 230, 240, 250) can rotate at a certain angle. Accordingly, the user can feel the sensation of grasping an object. In addition, as the first to fifth rotary switches (210, 220, 230, 240, 250) rotate only by a certain angle, the user can feel a repulsive force at the point where the rotation of the first to fifth rotary switches (210, 220, 230, 240, 250) stops. Accordingly, the user can feel a feedback.

[0125] Although the preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and various modifications may be made by a person skilled in the art without departing from the gist of the present invention as claimed in the claims. Furthermore, such modifications should not be understood individually from the technical idea or prospect of the present invention.

Claims

1. A housing having an accommodation space inside; A switch unit including a first rotary switch and a second rotary switch (220) rotatably installed in the housing; and Includes a motion sensor section that measures the pressure applied to the above switch section, The above motion sensor part, A sensor structure having a first plate (311) installed on one side of the first rotary switch and a second plate installed on one side of the second rotary switch; At least one first pressure sensor installed on one side of the first plate and measuring the pressure applied to the first rotary switch; and A haptic controller device comprising at least one second pressure sensor installed on one side of the second plate and measuring a pressure applied to the second rotary switch.

2. In paragraph 1, An actuator unit installed within the housing and connected to the other side of the first and second rotary switches to individually rotate the first and second rotary switches; and; A haptic controller device including a control unit that controls the actuator unit using a first pressure value measured by the first pressure sensor and a second pressure value measured by the second pressure sensor.

3. In paragraph 2, The first pressure sensor is installed in multiple numbers on the first plate, The above control unit is a haptic controller device that controls the actuator unit to rotate the first rotary switch by using the largest pressure value or the average value among a plurality of first pressure values ​​measured by the first pressure sensors.

4. In paragraph 3, The second pressure sensor is installed in multiple numbers on the second plate, The above control unit is a haptic controller device that controls the actuator unit to rotate the second rotary switch by using the largest pressure value or the average value among a plurality of second pressure values ​​measured by the second pressure sensors.

5. In paragraph 4, A haptic controller device wherein the number of the second pressure sensors is greater than the number of the first pressure sensors.

6. In paragraph 2, The above actuator part includes a first driving unit connected to the first rotary switch and a second driving unit connected to the second rotary switch, Each of the above first and second driving units, A sliding member connected to the other side of the first rotary switch or the second rotary switch; a screw member inserted into the sliding member; and A haptic controller device including a rotational power unit that rotates the screw member to linearly move the sliding member.

7. In paragraph 2, A haptic controller device, wherein the sensor structure is positioned within the housing and includes a connecting member electrically connecting the first plate and the second plate to the control unit.

8. In paragraph 7, The first rotary switch comprises a first fixing groove (215) into which the first plate is inserted; and a first connecting hole connected to the first fixing groove and through which the connecting member passes. A haptic controller including a second rotary switch, a second fixing groove into which the second plate is inserted; and a second connecting hole connected to the second fixing groove and through which the connecting member passes.

9. In paragraph 1, The above housing comprises a first opening and a second opening passing through it, The second opening is spaced apart from the first opening and is larger than the first opening, The above first rotary switch is positioned on the first opening, The second rotary switch is a haptic controller device positioned on the second opening.

10. In paragraph 9, The above switch section further includes a third rotary switch, a fourth rotary switch and a fifth rotary switch that are rotatably installed in the housing and are sequentially arranged on the second opening. The sensor structure includes a third plate installed on one side of the third rotary switch, a fourth plate installed on one side of the fourth rotary switch, and a fifth plate installed on one side of the fifth rotary switch. The above motion sensor part, At least one third pressure sensor installed on one side of the third plate and measuring the pressure applied to the third rotary switch; At least one fourth pressure sensor installed on one side of the fourth plate and measuring the pressure applied to the fourth rotary switch; and A haptic controller device comprising at least one fifth pressure sensor installed on one side of the fifth plate and measuring a pressure applied to the fifth rotary switch.

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