Tactile-sensation-imparting device

Abstract

A tactile-sensation-imparting device according to one embodiment of the present invention comprises a support part, an upright part provided on the support part, and a contact part that is provided to the upright part and can be brought into contact with a user. The tactile-sensation-imparting device comprises: an elastically deformable fluid-holding part that forms one holding space for holding a fluid by using the support part, the upright part, and the contact part, the fluid-holding part having, on the contact part and / or the upright part, a plurality of recesses and / or hollow protrusions onto which the fluid flows; and an actuator that changes the positional relationship between the plurality of recesses or the protrusions by changing the pressure and / or the volume of the fluid within the holding space.

Description

tactile presentation device

[0001] The present technology relates to a tactile presentation device that presents a tactile sensation to a user.

[0002] 2. Description of the Related Art Conventionally, tactile presentation devices that present various tactile sensations to a user in synchronization with video images are known.

[0003] For example, Patent Document 1 discloses a tactile presentation device that includes a substrate having a fluid intake and exhaust port, and a tactile presentation layer that forms a space between the substrate and the tactile presentation layer to hold fluid that flows in and out through the fluid intake and exhaust port, the tactile presentation layer having a tactile presentation membrane that deforms as fluid flows in and out, and a wall-like substrate fixing portion that is fixed to the substrate and surrounds the tactile presentation membrane, and the deformation rate of the substrate fixing portion before and after fluid flows into the space is lower than the deformation rate of the tactile presentation membrane.

[0004] Japanese Patent Application Laid-Open No. 2023-125276

[0005] In recent years, there has been a demand for devices that present tactile stimuli to users to be smaller and lighter, while also being able to present more sufficient tactile stimuli to users.

[0006] In view of the above circumstances, an object of the present technology is to provide a tactile presentation device that can present a sufficient tactile stimulus to a user.

[0007] According to one aspect of the present technology, there is provided a tactile device including a support portion, a fluid holding portion, and an actuator. The fluid holding portion is elastically deformable and includes an upright portion provided on the support portion and a contact portion provided on the upright portion and contactable by a user. The support portion, the upright portion, and the contact portion form a holding space for holding fluid. At least one of the contact portion or the upright portion has a plurality of recesses and / or protrusions, and the recesses are connected to each other, or the protrusions are connected to each other, or the recesses and the protrusions are connected to each other in an expandable and contractible manner. The actuator changes the pressure and / or volume of the fluid in the holding space to change the positional relationship between the plurality of recesses or protrusions.

[0008] The support portion may have a higher rigidity than the fluid holding portion.

[0009] The support portion may incorporate the actuator.

[0010] The outer shape of the support portion as viewed from the contact portion side may be the same size as the outer shape of the actuator as viewed from the contact portion side.

[0011] The recess and / or protrusion before changing the pressure and / or volume of the fluid in the holding space may be provided on the contact portion and may have a shape that is inclined with respect to a direction perpendicular to the support portion.

[0012] The recesses and / or protrusions are each provided on the contact portion, and at least some of the recesses and / or protrusions may have different angles of inclination with respect to a direction perpendicular to the support portion before the pressure and / or volume of the fluid in the holding space is changed.

[0013] At least some of the recesses and / or protrusions may have a different modulus of elasticity than other portions.

[0014] The contact portion has the plurality of recesses and / or protrusions, and the plurality of recesses and / or protrusions may at least partially overlap each other when viewed from the contact portion side before changing the pressure and / or volume of the fluid in the holding space.

[0015] The standing portion may have a twisting portion that rotates when the actuator changes the pressure and / or volume of the fluid, and the contact portion may rotate in conjunction with the rotation of the twisting portion.

[0016] The contact portion may have a plurality of protrusions, and the plurality of protrusions may be inclined with respect to a direction perpendicular to the support portion or arranged along a direction opposite to the rotation direction before changing the pressure and / or volume of the fluid in the holding space.

[0017] The plurality of recesses and / or protrusions may have a rectangular shape when viewed from the contact portion side, and the long side of each of the plurality of recesses and / or protrusions may be at least twice as long as the short side before the pressure and / or volume of the fluid in the holding space is changed.

[0018] The contact portion has a contact surface that comes into contact with the user and a non-contact surface that is on the fluid side and does not come into contact with the user, and the multiple concave and / or convex portions before changing the pressure and / or volume of the fluid in the holding space are each arranged to extend radially from the center of the contact surface or the non-contact surface when viewed from the contact portion side, and the contact portion may become convex by increasing the pressure and / or volume of the fluid with the actuator.

[0019] The contact portion may have the plurality of recesses or protrusions, and the plurality of recesses and / or protrusions may be point-symmetric when viewed from the contact portion side before changing the pressure and / or volume of the fluid in the holding space.

[0020] The fluid holding portion may have a first deformed shape in which the actuator presses the contact portion toward the user, and a second deformed shape in which the concave or convex portion is deformed by the actuator after the first deformation, thereby extending in a direction intersecting the direction in which the contact portion is pressed.

[0021] The contact portion may have the protrusion, and at least a portion of the protrusion may have a higher coefficient of friction than other portions.

[0022] The contact portion may have a plurality of protrusions, and at least some of the protrusions may have an anisotropic coefficient of friction.

[0023] The contact portion may have the protrusion, and at least a portion of the protrusion may have higher rigidity than other portions.

[0024] The fluid holding portion may have a plurality of recesses and / or protrusions, and the plurality of recesses and / or protrusions may be arranged asymmetrically when viewed from the contact portion side before the pressure and / or volume of the fluid in the holding space is changed.

[0025] The actuator may further include a detection unit that detects a change in the pressure of the fluid in the holding space and / or a change in the shape of the fluid holding portion, and the actuator may change the pressure and / or volume of the fluid based on the detection result of the detection unit.

[0026] The convex portion may have a hollow shape into which the fluid flows.

[0027] 1A and 1B are diagrams showing a tactile presentation device according to a first embodiment of the present technology, where (A) is a diagram showing before deformation, and (B) is a diagram showing after deformation.

[0023] FIG. 1B is a block diagram of the tactile presentation device.

[0024] FIG. 1C is a diagram showing the tactile presentation device when used by a user, where (A) is a diagram showing the tactile presentation device attached to a user's finger, and (B) is a diagram showing the tactile presentation device provided on a device.

[0025] FIG. 1D is a diagram showing a tactile presentation device according to a second embodiment of the present technology, where (A) is a diagram showing an actuator built into a support unit, and (B) is a diagram showing an actuator having the same size as the support unit.

[0026] FIG. 1F is a diagram showing a tactile presentation device according to a third embodiment of the present technology.

[0027] FIG. 1G is a diagram showing changes in the tactile presentation device according to the third embodiment of the present technology, where (A) is a diagram showing a first state, (B) is a diagram showing a second state, and (C) is a diagram showing a state changing from the first state to the second state.

[0028] FIG. 1G is a diagram showing a tactile presentation device according to a fourth embodiment of the present technology. 12A and 12B are diagrams showing changes in a tactile presentation device according to a fourth embodiment of the present technology, where (A) is a diagram showing a first state, (B) is a diagram showing a state during change from the first state to a second state, and (C) is a diagram showing the second state. 12B are diagrams showing a tactile presentation device according to a fifth embodiment of the present technology. 12C are diagrams showing a tactile presentation device according to a sixth embodiment of the present technology, where (A) is a perspective view of the tactile presentation device, and (B) is a diagram showing the tactile presentation device as viewed from the Z-axis direction. 12D are diagrams showing a tactile presentation device according to a seventh embodiment of the present technology, where (A) is a diagram showing a first state, and (B) is a diagram showing a second state. 12D are diagrams showing a tactile presentation device according to an eighth embodiment of the present technology, where (A) is a perspective view of the tactile presentation device, (B) is a diagram showing a first modified example of the tactile presentation device, and (C) is a diagram showing a second modified example of the tactile presentation device. 12E are diagrams showing a case where the pressure of the fluid is changed relative to FIG. 12A. 13A and 13B are diagrams showing changes in a tactile presentation device according to a ninth embodiment of the present technology, where (A) is a diagram showing a first state, (B) is a diagram showing a state during change from the first state to a second state, and (C) is a diagram showing the second state. 13B are diagrams showing changes in a tactile presentation device according to a ninth embodiment of the present technology. 13C are diagrams showing a tactile presentation device according to a tenth embodiment of the present technology, where (A) is a perspective view of the tactile presentation device, and (B) is a diagram showing a state change from the first state to the second state.10A and 10B are diagrams showing a tactile presentation device according to a first modification of the present technology, where (A) is a diagram showing a modification, (B) is a diagram showing a second modification, (C) is a diagram showing a third modification, and (D) is a diagram showing a fourth modification. 10B are diagrams showing a tactile presentation device according to a second modification of the present technology, where (A) is a diagram showing a first state and (B) is a diagram showing a second state. 10C are diagrams showing a tactile presentation device according to a third modification of the present technology, where (A) is a diagram showing the first state and (B) is a diagram showing the second state. 10D are blocks of a tactile presentation device according to a fourth modification of the present technology, where (A) is a block diagram of a fourth modification of the present technology, and (B) is a block diagram of a fourth modification of the present technology.

[0028] Hereinafter, embodiments of the present technology will be described with reference to the drawings.

[0029] 1 is a diagram showing a tactile presentation device 1 according to a first embodiment of the present technology, where (A) is a diagram showing the device before deformation and (B) is a diagram showing the device after deformation, and Fig. 2 is a block diagram of the tactile presentation device 1. Fig. 3 is a diagram showing the tactile presentation device 1 when used by a user, where (A) is a diagram showing the tactile presentation device worn on a user's finger U, and (B) is a diagram showing the tactile presentation device 1 provided on a device D. In each diagram, the X-axis, Y-axis, and Z-axis indicate three axial directions that are orthogonal to each other.

[0030] In this embodiment, the tactile presentation device 1 is used in cases where tactile presentation is performed for the purpose of presenting a user with an operational sensation (for example, an operation of gripping or grasping an object) in, for example, VR (Virtual Reality) content. An example of VR content is baseball. In the case of baseball, the sensation of gripping a bat or throwing a ball is presented to the user. The content referred to here may be, but is not limited to, AR (Artificial Reality), movies, games, television and other videos, images, comics, magazines, picture books and other books (including paper media and e-books), and music, in addition to the above-mentioned VR.

[0031] [Tactile Presentation Device] First, we will explain the overall configuration of the tactile presentation device 1. As shown in Figures 1 and 2, the tactile presentation device 1 of this embodiment includes a fluid holding unit 2, a support unit 3, an actuator 4, and a control device 10.

[0032] In this embodiment, the tactile presentation device 1 is attached to a user's finger U via a wearing attachment S (e.g., a belt) or is provided on a device D (e.g., a terminal such as a computer keyboard, a smartphone, or a controller), as shown in Fig. 3. As shown in Fig. 1, the tactile presentation device 1 is about the same size as the pad of a human finger when viewed in the Z-axis direction, and is approximately 2 to 3 centimeters square. Also as shown in Fig. 1, the height of the tactile presentation device 1 parallel to the Z-axis direction is approximately 2 to 3 centimeters.

[0033] In this embodiment, the tactile presentation device 1 will be described by taking an example in which a tactile sensation is presented to a user's finger U, but of course this is not limited to this and the tactile sensation may also be presented to an arm, a leg, etc. The size and shape of the tactile presentation device 1 can be changed as appropriate depending on the application and the part of the body to which the tactile sensation is presented.

[0034] (Supporting Part) The supporting part 3 has a supporting surface 30 that is approximately 2 to 3 centimeters square and parallel to the XY plane. The supporting part 3 (supporting surface 30) is provided with an inlet / outlet (not shown) for the fluid R described below, and the fluid R flows into and out of the holding space W described below through the inlet / outlet. The supporting part 3 is made of a material that does not easily expand or contract due to changes in the volume or pressure of the holding space W caused by the inflow and outflow of the fluid R. The supporting part 3 is made of a material such as resin, metal, or rubber, for example, but is of course not limited to these.

[0035] (Fluid Retaining Section) The fluid retaining section 2 has an upright section 24 provided on the support section 3 described above, and a contact section 20 provided on the upright section 24 and contactable by the user (of the user's finger U). The fluid retaining section 2 forms a single retaining space W that retains the fluid R by the support section 3 (support surface 30) described above, and the upright section 24 and contact section 20 described below.

[0036] The standing portion 24 is provided on the support surface 30 of the support portion 3 so as to surround the inlet / outlet when viewed from the Z-axis direction (contact portion 20 side). The standing portion 24 functions as a side surface that forms the above-mentioned holding space W. In this embodiment, the height of the standing portion 24 in the Z-axis direction is, for example, 1 mm. Of course, this is not limited to this, and the standing portion 24 may be provided on a side surface of the support portion 3, and the height in the Z-axis direction may be greater or less than 1 mm. Furthermore, in this embodiment, the standing portion 24 is made of the same material as the support portion 3 described above or the contact portion 20 described later, but of course, this is not limited to this, and the standing portion 24 may be made of a different material from the support portion 3 or the contact portion 20.

[0037] In addition, in this embodiment, the standing portion 24 has a cylindrical shape extending in the Z-axis direction, but is not limited to this, and may have any shape as long as it has the function of connecting the support portion 3 and the contact portion 20.

[0038] The contact portion 20 has a plurality of protrusions 21, recesses 22 provided between the plurality of protrusions 21, and a flexible portion 23 connecting the protrusions 21 and the recesses 22. In this embodiment, the protrusions 21 and the recesses 22 are provided on the contact portion 20, but this is not a limitation, and they may be provided on the standing portion 24. Furthermore, the number and arrangement of the protrusions 21 and the recesses 22 are not limited to the example shown in FIG.

[0039] The contact unit 20 is disposed opposite the support surface 30 in the Z-axis direction, and functions as the top surface (when the support surface 30 is the bottom surface) that forms the holding space W. The contact unit 20 is a surface that presents a tactile sensation to the user, and presents a tactile stimulus to the part of the body that is in contact with the user in a shearing direction (Y-axis direction) or a pressing direction (Z-axis direction), etc.

[0040] The multiple protrusions 21 are hollow, extend in the X-axis direction, and protrude in the positive direction of the Z-axis, and are provided at positions on the contact portion 20 closest to the user (the user's finger U). The hollow protrusions 21 are formed to allow fluid R to flow into them. In other words, the inner circumferential surface of the protrusions 21 also forms part of the holding space W. Changes in the multiple protrusions 21 when the pressure and / or volume of the fluid R in the holding space W is changed will be described later.

[0041] The recess 22 is provided so as to extend in the X-axis direction and protrude in the negative direction of the Z-axis, and is provided at a position of the contact portion 20 that is closest to the support portion 3 (support surface 30) before the pressure and / or volume of the fluid R in the holding space W is changed. The change in the recess 22 when the pressure and / or volume of the fluid R in the holding space W is changed will be described later.

[0042] In this embodiment, the convex portion 21 and the concave portion 22 are made of an elastomer such as silicone rubber or urethane rubber, or a fabric such as nylon coated with an elastomer, or a resin or metal, but of course the material is not limited to this.

[0043] The flexible portion 23 is provided between the convex portion 21 and the concave portion 22 and has stretchability (flexibility). The flexible portion 23 is made of an elastomer such as silicone rubber or urethane rubber, or a fabric such as nylon coated with an elastomer. Changes in the flexible portion 23 when the pressure and / or volume of the fluid R in the holding space W are changed will be described later.

[0044] The convex portions 21, the concave portions 22, and the flexible portions 23 may be made of the same material or different materials. Furthermore, if the convex portions 21, the concave portions 22, and the flexible portions 23 are made of the same material, there may be no boundaries between them. If the convex portions 21, the concave portions 22, and the flexible portions 23 are made of different materials, they are fixed to each other by adhesion, embedding, etc. The fluid holding portion 2 is formed by pouring resin into a 3D printer or mold, but is of course not limited to this.

[0045] (Actuator) The actuator 4 is a device that changes the pressure and / or volume of the fluid R in the holding space W. For example, the actuator 4 may be, but is not limited to, a pump or a fan, or an electrode for driving an electrorheological fluid. Here, the fluid R refers to air or liquid. The air may be, but is not limited to, nitrogen or helium. The liquid may be, for example, water or oil, but is not limited to, the electrorheological fluid (a fluid whose viscosity increases when an electric field is applied). The actuator 4 changes the pressure and / or volume of the fluid R in the holding space W by taking in the fluid R from a tank containing the fluid R or the outside world (the space around the tactile presentation device 1) and causing it to flow into the holding space W, or by causing the fluid R in the holding space W to flow out to the tank or the outside world. The actuator 4 connects the holding space W to the tank or the outside world via an inlet / outlet. The actuator 4 is driven under the control of the control device 10 (described later) and is provided separately from the support unit 3.

[0046] When air is used as the fluid R, it can be easily introduced and discharged from the outside, and since it is light, it is possible to reduce the weight of the tactile presentation device 1. Furthermore, when a liquid is used as the fluid R, it is incompressible, so the response speed when the actuator 4 is driven is fast, and a tactile stimulus can be presented to the user quickly.

[0047] (Control Device) The control device 10 controls the driving of the above-described actuator 4. The control device 10 includes an acquisition unit 11, a drive control unit 12, and a storage unit 13.

[0048] The acquisition unit 11 acquires information necessary for driving the actuator 4 from the storage unit 13, which will be described later. Here, the necessary information includes, for example, the timing at which to drive the actuator 4 and the extent to which the actuator 4 is to be driven (such as the extent to which the fluid R is to flow into and out of the holding space W).

[0049] Furthermore, the drive control unit 12 generates a drive signal for driving the actuator 4 based on the information acquired by the acquisition unit 11. The actuator 4 is driven based on the drive signal generated by the drive control unit 12. Furthermore, the storage unit 13 has a non-volatile memory or the like for storing various programs and various data required for processing by the control device 10. The storage unit 13 has information required for driving the actuator 4 as described above.

[0050] (Deformation of fluid holding portion) As shown in Figure 1 (A), the state of the fluid holding portion 2 before the fluid R flows into the holding space W and causes deformation (first state) will be described, and as shown in Figure 1 (B), the state of the fluid holding portion 2 after the fluid R flows into the holding space W and causes deformation (second state).

[0051] 1A, the first state may or may not contain a fluid R in the holding space W. Here, the first state refers to a state in which no tactile sensation is intended to be presented to the user, in other words, a state in which the actuator 4 is not driven.

[0052] 1B is a state after the actuator 4 is driven to change the shape of the fluid holding portion 2 from the first state described above. In this embodiment, the second state indicates a state in which the fluid R flows into the holding space W and deforms the fluid holding portion 2, but it is not limited to this and may also be a state in which the fluid R flows out of the holding space W and deforms the fluid holding portion 2.

[0053] 1A and 1B, when the state changes from the first state to the second state, the positional relationship between the convex portion 21 and the concave portion 22 changes. Specifically, as shown in FIGS. 1A and 1B, the distance between the convex portion 21 and the concave portion 22 in the Y-axis direction increases. In other words, the position of the concave portion 22 in the Y-axis direction does not change much, but the positions of the multiple convex portions 21 in the Y-axis direction move toward the positive and negative sides of the Y-axis, respectively.

[0054] As shown in Figures 1(A) and (B), the multiple protrusions 21 move in the Y-axis direction (towards the standing portion 24) due to the fluid R inside the hollow protrusions 21, changing the protruding direction so that it tilts from the Z-axis direction toward the Y-axis direction.

[0055] 1A and 1B, the inclination of the recess 22 becomes gentler as the state changes from the first state to the second state. This is because the multiple protrusions 21 pull the recess 22 from both sides in the Y-axis direction when the state changes from the first state to the second state, which makes the inclination of the recess 22 gentler.

[0056] This allows the tactile presentation device 1 to present a tactile sensation to the user in a direction that shears the skin. That is, in this embodiment, when the user's finger U touches the contact portion 20 and changes from the first state to the second state, the multiple convex portions 21 move in the positive and negative directions of the Y axis, as shown in FIG. 1B . This is a state in which the user's finger U is being pulled left and right, that is, a state in which so-called shear stress is acting.

[0057] Furthermore, humans are more sensitive to forces acting in the shear direction than in the normal direction when it comes to skin tactile sensation. Therefore, the configuration of the tactile presentation device 1 described above can present a sufficient (strong) tactile stimulus to the user. In other words, even a small device that presents tactile sensations to the user's fingertips can provide sufficient tactile stimuli to the user.

[0058] Furthermore, in this embodiment, the support portion 3 is made of a material with higher rigidity than the fluid holding portion 2. As a result, when changing from the first state to the second state, even if the pressure or volume of the fluid R in the holding space W increases, the support portion 3 does not deform (in other words, the shape of the fluid holding portion 2 is rigid enough to change in response to an increase in the pressure or volume of the fluid R in the holding space W, but the shape of the support portion 3 is rigid enough not to change even if the pressure or volume of the fluid R in the holding space W increases).

[0059] This causes the increase in pressure and volume of the fluid R in the holding space W to be concentrated in the fluid holding portion 2, allowing the fluid holding portion 2 to deform more, thereby presenting the user with a stronger tactile stimulus.

[0060] Second Embodiment In the above embodiment, an example in which the actuator 4 is provided separately from the support unit 3 has been described, but of course the present invention is not limited to this, and the actuator 4 may be built into the support unit 3. Fig. 4 is a diagram showing a tactile presentation device 1A according to a second embodiment of the present technology, in which (A) is a diagram in which the actuator 4 is built into the support unit 3, and (B) is a diagram in which the actuator 4 is the same size as the support unit 3. Descriptions of similar members and the like included in the tactile presentation device 1 according to the above embodiment will be simplified or omitted, and differences will be mainly described.

[0061] As shown in Fig. 4(A), the actuator 4 may be built into the support unit 3. This makes it possible to prevent the size of the tactile presentation device 1A from increasing. Also, as shown in Fig. 4(B), the outer shape of the support unit 3 as viewed from the Z-axis direction (contact unit 20 side) and the outer shape of the actuator 4 as viewed from the Z-axis direction may be the same size.

[0062] Here, "same size" does not necessarily mean "exactly the same size," but also means "approximately the same size." In other words, in Fig. 4(B), the support unit 3 and the actuator 4 are formed so that their external shapes are the same when viewed from the Z-axis direction, which allows the tactile presentation device 1A to be further reduced in size (weight). This not only makes it easier for the user to wear the tactile presentation device 1A as shown in Fig. 3(A), but also makes it less likely that the user will feel uncomfortable wearing it.

[0063] Third Embodiment In the above embodiments, the convex portion 21 in the first state is provided so as to be perpendicular to the XY plane (support portion 3), but of course this is not limited thereto and the convex portion 21 may be provided so as to be inclined with respect to the Z-axis direction perpendicular to the support portion 3. Fig. 5 is a diagram showing a tactile presentation device 1B according to a third embodiment of the present technology. Fig. 6 is a diagram showing changes in the tactile presentation device 1B according to the third embodiment of the present technology, where (A) is a diagram showing the first state, (B) is a diagram showing the second state, and (C) is a diagram showing the state changing from the first state to the second state. Descriptions of similar components and the like included in the tactile presentation device 1 according to the above embodiments will be simplified or omitted, and differences will be mainly described.

[0064] 5 and 6A, the plurality of convex portions 21B and the plurality of concave portions 22B of the tactile presentation device 1B extend in the X-axis direction and are inclined toward the Y-axis direction with respect to the Z-axis direction (are inclined at a predetermined angle from the Z-axis direction). In this embodiment, the plurality of convex portions 21B in the first state have portions that overlap with each other when viewed from the Z-axis direction.

[0065] 6, the convex portion 21B has a protruding protrusion 210B, and a first side surface 211B and a second side surface 212B that connect the protrusion 210B and the recess 22. In this embodiment, in the first state, the protruding direction of the protrusion 210B is inclined with respect to the Z-axis direction, as described above.

[0066] The first side surface 211B is the left side surface of the protrusion 21B when viewed from the X-axis direction, and is provided so as to overlap with other protrusions 21B when viewed from the Z-axis direction. In other words, the lower side (negative side of the Z-axis) of the overlapping portions when viewed from the Z-axis direction described above becomes the first side surface 211B.

[0067] The second side surface 212B is the right side surface of the convex portion 21B when viewed from the X-axis direction, and is provided so as to overlap with the protruding portion 210B and the first side surface 211B when viewed from the Z-axis direction. The length from the protruding portion 210B of the second side surface 212B to the recessed portion 22B is shorter than the length from the protruding portion 210B of the first side surface 211B to the recessed portion 22B.

[0068] The recess 22B has a bottom surface 220B that is the most recessed of the recess 22B, and the direction perpendicular to the bottom surface 220B in the first state is a direction inclined with respect to the Z-axis direction and parallel to the protruding direction of the protrusion 21B.

[0069] Here, a description will be given of the change from the first state to the second state in this embodiment. When the pressure and / or volume of the fluid R in the holding space W is increased from the first state, a force is applied to the first side surface 211B, and the tilted protruding portion 210B of the convex portion 21B is deformed so as to rise (toward being closer to parallel to the Z-axis direction), as shown in Figures 6(A) to 6(C).

[0070] This is because the first side surface 211B is large and therefore susceptible to the pressure of the fluid R. As a result, a force is applied to the contact portion 20B in the direction indicated by the arrow in FIG. 6C, causing the protrusion 21B to rise as shown in FIG. 6B. This allows the user to experience a force in the direction of shearing of the protrusion 21B when changing from the first state to the second state, thereby providing the user with a stronger tactile stimulus. Furthermore, in this embodiment, the multiple protrusions 21B are arranged to overlap each other when viewed from the Z-axis direction (in other words, the protrusion direction (angle) of the protrusion 210B is less than 90° with respect to the support surface 30), resulting in a greater deformation of the protrusion 21B. This allows the user to experience a stronger tactile stimulus.

[0071] In this embodiment, the multiple protrusions 21B are arranged so that they overlap each other when viewed from the Z-axis direction, but this is not limited to this and they do not necessarily have to overlap each other. In other words, the protrusion direction of the protrusions 21B is less than 90° with respect to the support surface 30 and is arranged so that they are inclined toward the Y-axis direction with respect to the Z-axis direction, but the protrusions 21B do not overlap each other when viewed from the Z-axis direction. This also makes it possible to present a tactile stimulus to the user in the shear direction.

[0072] In this embodiment, the protruding directions (inclination angles with respect to the support surface 30) of the plurality of protruding portions 21B are the same or nearly the same, but of course this is not limited to this, and the protruding directions of some of the protruding portions 21B may be different. This makes it possible to present a more complex tactile stimulus to the user. Furthermore, not only the protruding portions 21B but also the plurality of recessed portions 22B may have different directions perpendicular to the bottom surface 220B.

[0073] Furthermore, in this embodiment, the multiple protrusions 21B are made of the same material, but this is not limited thereto; at least a portion of each may be made of a material with a different elastic modulus. For example, the first side surface 211B of each protrusion 21B may be made of metal or resin, while the other components (the protrusions 210B and the second side surface 212B) may be made of an elastomer such as silicone rubber or urethane rubber, or a fabric such as elastomer-coated nylon. As a result, since the first side surface 211B is made of a material that is less likely to stretch, the protrusions 21B deform more in the direction of the arrow shown in FIG. 6(C) (because the protrusions 210B and the second side surface 212B are more likely to stretch (deform), they deform in an elongated manner). This allows the user to be presented with a tactile stimulus in a more shear direction. While the protrusions 21B have been described as an example, this is of course not limiting; at least a portion of the recesses 22B may also be made of a material with a different elastic modulus.

[0074] In this embodiment, the multiple protrusions 21B are configured with the same thickness, but this is not limited thereto; at least some of the protrusions 21B may have different thicknesses. For example, the first side surface 211B of the protrusions 21B may be configured thicker than the other components (the protrusions 210B and the second side surface 212B). This makes the first side surface 211B less likely to expand and contract, and the protrusions 21B deform more in the direction of the arrows shown in FIG. 6(C) (because the protrusions 210B and the second side surface 212B are more likely to expand and contract (deform), and therefore deform in an elongated manner). This allows the user to be presented with a tactile stimulus in a more shear direction. While the protrusions 21B have been described as an example, this is not limiting; at least some of the recesses 22B may also be configured with materials having different elastic moduli.

[0075] <Fourth embodiment> In the above embodiments, a tactile stimulus is presented to the user in a shear direction, but of course this is not limited thereto, and a tactile stimulus may be presented to the user in a rotational direction. Fig. 7 is a diagram showing a tactile presentation device 1C according to a fourth embodiment of the present technology. Fig. 8 is a diagram showing changes in the tactile presentation device 1C according to the fourth embodiment of the present technology, where (A) is a diagram showing a first state, (B) is a diagram showing the transition from the first state to the second state, and (C) is a diagram showing the second state. Descriptions of similar components and the like included in the tactile presentation device 1 according to the above embodiments will be simplified or omitted, and differences will be mainly described.

[0076] In this embodiment, the standing portion 24C has a twisted portion 241C twisted about the Z-axis direction and a base portion 240C connecting the twisted portion 241C and the support portion 3. The tactile presentation device 1C shown in Figures 7 and 8 has a structure known as twist folding, which is a folding method in which origami paper is folded while being twisted.

[0077] The twisted portion 241C has a first twisted portion 2410C, a second twisted portion 2410C', a third twisted portion 2410C'', and a fourth twisted portion (not shown).

[0078] The first torsion portion 2410C has a first surface 2411C extending from the base 240C toward the Y-axis direction and inclined toward the Z-axis direction, a second surface 2412C connected to the first surface 2411C, extending toward the Y-axis direction and parallel to the XY plane, and a first connection portion 2413C connecting the second surface 2412C and the contact portion 20C and extending in the Z-axis direction.

[0079] The second torsion portion 2410C' has a first surface 2411C' extending from the base 240C toward the negative side of the X-axis and inclined toward the Z-axis direction, a second surface 2412C' connected to the first surface 2411C', extending toward the negative side of the X-axis and parallel to the XY plane, and a first connection portion 2413C' connecting the second surface 2412C' and the contact portion 20C and extending in the Z-axis direction.

[0080] The third torsion portion has a first surface 2411C'' extending from the base 240C toward the negative side of the Y axis and inclined toward the Z axis direction, a second surface connected to the first surface 2411C'' extending toward the negative side of the Y axis and parallel to the XY plane, and a first connection portion connecting the second surface to the contact portion 20C and extending in the Z axis direction.

[0081] The fourth torsion portion has a first surface extending from the base portion 240C toward the positive side of the X-axis and inclined toward the Z-axis direction, a second surface connected to the first surface, extending toward the positive side of the X-axis and parallel to the XY plane, and a first connection portion connecting the second surface to the contact portion 20C and extending in the Z-axis direction.

[0082] The fluid holding unit 2 also has a first opposing surface T1, a second opposing surface T2, a third opposing surface (not shown), and a fourth opposing surface (not shown). The first opposing surface T1 faces the first surface 2411C and the second surface 2412C in the Z-axis direction. The first opposing surface T1 is formed by the back surface side (the surface on the negative side of the Z-axis) of the contact unit 20C and the back surface side (the surface on the negative side of the Z-axis) of the second surface of the fourth torsion unit. The second opposing surface T2 faces the first surface 2411C' and the second surface 2412C' in the Z-axis direction. The second opposing surface T2 is formed by the back surface side (the surface on the negative side of the Z-axis) of the contact unit 20C and the back surface side (the surface on the negative side of the Z-axis) of the second surface 2412C of the first torsion unit 2410C.

[0083] The third opposing surface faces the first and second surfaces of third torsion portion 2410C" in the Z-axis direction. The third opposing surface is formed by the back surface side of contact portion 20C (the surface on the negative side of the Z-axis) and the back surface side of second surface 2412C' of second torsion portion 2410C' (the surface on the negative side of the Z-axis).

[0084] The fourth opposing surface faces the first and second surfaces of the fourth torsion portion in the Z-axis direction and is formed by the back surface side of contact portion 20C (the surface on the negative side of the Z-axis) and the back surface side of the second surface of third torsion portion 2410C″ (the surface on the negative side of the Z-axis).

[0085] The twisted portion 241C also forms a recess 22C with the first opposing surface T1, the first surface 2411C, and the second surface 2412C, and further forms a recess 22C with the second opposing surface T2, the first surface 2411C', and the second surface 2412C'.

[0086] Furthermore, twisted portion 241C forms a recess by the third opposing surface and the first and second surfaces of third twisted portion 2410C'', and further forms a recess by the fourth opposing surface and the first and second surfaces of the fourth twisted portion. When viewed from the Z-axis direction, the four recesses 22C have ends (end faces) that overlap each other to form a shape similar to that of contact portion 20C.

[0087] Here, the change from the first state to the second state of the tactile presentation device 1C in this embodiment will be described with reference to FIG.

[0088] When the pressure and / or volume of the fluid R is increased from the first state shown in Fig. 8(A), the second surfaces 2412C, 2412C' are deformed to become linear with the first surfaces 2411C, 2411C', as shown in Fig. 8(B) and (C). In other words, the inclination of the second surfaces 2412C, 2412C' with respect to the base 240C (support portion 3) becomes the same or nearly the same as the inclination of the first surfaces 2411C, 2411C'.

[0089] At this time, the second surfaces 2412C and 2412C' are lifted in the positive direction of the Z axis, causing the contact portion 20C to be lifted in the Z axis direction. Furthermore, because the second surfaces 2412C and 2412C' are lifted in an inclined state rather than parallel to the Z axis direction, the first connection portion 2413C also moves in the negative direction of the Y axis, as shown in FIGS. 8B and 8C. The second connection portion 2413C' also moves in the positive direction of the X axis, as shown in FIGS. 8B and 8C. Similarly, the third connection portion of the third torsion portion 2410C'' moves in the positive direction of the Y axis, and the fourth connection portion of the fourth torsion portion moves in the negative direction of the X axis. In other words, each recess 22C provided in the torsion portion 241C changes so as to rotate around the Z axis direction in addition to the Z axis direction. In other words, the first opposing surface T1 moves toward the negative side of the X axis, the second opposing surface T2 moves toward the negative side of the Y axis, the third opposing surface moves toward the positive side of the X axis, and the fourth opposing surface moves toward the positive side of the Y axis.

[0090] In other words, the four recesses 22C overlap one another. As a result, when the pressure and / or volume of the fluid R is increased, for example, the recesses 22C provided in the second twisting portion 2410C' open wider, thereby moving the recesses 22C of the first twisting portion 2410C in a direction tilted from the Z-axis direction toward the negative Y-axis. Furthermore, as the recesses 22C of the first twisting portion 2410C also open wider, the recesses of the fourth twisting portion 2410C also open wider, thereby moving the recesses of the third twisting portion 2410C'' in a direction tilted from the Z-axis direction toward the positive Y-axis. Furthermore, as the recesses of the third twisting portion 2410C'' also open wider, the recesses 22C of the second twisting portion 2410C' open wider, thereby moving the recesses of the second twisting portion 2410C' in a direction tilted from the Z-axis direction toward the positive X-axis.

[0091] As a result, the contact unit 20 also rotates about the Z-axis direction as the twisting unit 241C rotates. That is, a tactile stimulus can be presented to the user in the rotational direction. Furthermore, as shown in FIG. 8 , the contact unit 20 expands in the Z-axis direction when the pressure and / or volume of the fluid R is increased. This allows the tactile presentation device 1C to present a tactile stimulus to the user not only in the rotational direction but also in the pressing direction.

[0092] In this embodiment, the case where the pressure and / or volume of the fluid R is increased has been described, but of course this is not limited thereto and the pressure and / or volume may be decreased. In other words, by changing (increasing or decreasing) the pressure and / or volume of the fluid R, the twisted portion 241C can present a tactile stimulus to the rotor and the user.

[0093] The tactile presentation device 1C also has an opening (not shown) that allows the fluid R to flow into the holding space W when viewed from the support unit 3 side. The opening is formed by the first surface 2411C of the first twisting portion 2410C, the first surface 2411C' of the second twisting portion 2410C', the first surface 2411C''' of the third twisting portion 2410C'', and the first surface of the fourth twisting portion.

[0094] The opening is approximately square-shaped when viewed from the Z-axis direction, and is arranged so that when one side of the opening is extended, it intersects with a corner of the approximately square-shaped base 240C. The angle of this intersection (the angle between the extended side and the base 240C) can be greater than 0° and less than 45° (40°, 35°, 30°, 25°, 20°, 10°). This allows the contact portion 20 to rotate around the Z-axis direction. The angle of the intersection is greater than 0° and less than 45°, but is preferably 35° (for greater rotation).

[0095] Fifth Embodiment In the fourth embodiment, the contact portion 20C was a surface parallel to the XY plane in the first state, but of course this is not limited to this and may have a plurality of convex portions 21D. Fig. 9 is a diagram showing a tactile presentation device 1D according to a fifth embodiment of the present technology. Descriptions of similar members and the like included in the tactile presentation device 1C according to the above embodiments will be simplified or omitted, and differences will be mainly described.

[0096] The contact portion 20D has a plurality of protrusions 21D. As shown in FIG. 9 , the plurality of protrusions 21D are inclined with respect to the Z-axis direction (a direction perpendicular to the support portion 3) and are arranged in the opposite direction to the direction of rotation about the Z-axis direction (the direction of rotation of the torsion portion 241C). The protrusions 21D are arranged so that they protrude in the opposite direction to the rotation direction. Of course, this is not a limitation, and each protrusion 21D may be arranged in the rotation direction, and the protrusion direction of the protrusion may be arranged so that it is along the direction of rotation about the Z-axis direction. The plurality of protrusions 21D are arranged in a circular shape when viewed from the Z-axis direction.

[0097] Furthermore, when the pressure and / or volume of the fluid R increases, the plurality of protrusions 21D deform so as to rise up and become parallel to the Z-axis direction, as described above in the third embodiment.

[0098] As a result, not only the tactile stimulus caused by the force applied in the rotational direction as described in the fourth embodiment, but also the tactile stimulus caused by the force applied in the shearing direction as described in the second embodiment is presented to the user, thereby making it possible to present a variety of tactile stimuli to the user.

[0099] Sixth Embodiment In the above embodiments, the shape of the contact unit 20 as viewed in the Z-axis direction is not particularly limited, but of course the present invention is not limited thereto, and the long side of the convex portion 21E or the concave portion 22E of the contact unit 20E as viewed in the Z-axis direction may be at least twice the short side. Figure 10 is a diagram showing a tactile presentation device 1E according to a sixth embodiment of the present technology, where (A) is a perspective view of the tactile presentation device 1E and (B) is a diagram showing the tactile presentation device 1E as viewed in the Z-axis direction. Descriptions of similar components and the like included in the tactile presentation device 1 according to the above embodiments will be simplified or omitted, and differences will be mainly described.

[0100] As shown in Fig. 10 , the tactile presentation device 1E has a plurality of convex portions 21E and a plurality of concave portions 22 arranged alternately in the X-axis direction when viewed from the Z-axis direction. As shown in Fig. 10(B) , the convex portion 21E is rectangular, has a long side 211E in the Y-axis direction, and a short side 212E in the X-axis direction. Also, as shown in Fig. 10(B) , the concave portion 22E is rectangular, has a long side 221E in the Y-axis direction, and a short side 222E in the X-axis direction.

[0101] In this embodiment, the length of the long side 211E of the convex portion 21E along the Y axis direction is at least twice the length of the short side 212E along the X axis direction, and the length of the long side 221E of the concave portion 22E along the Y axis direction is at least twice the length of the short side 222E along the X axis direction.

[0102] Because the long side 211E of the convex portion 21E is longer than the short side 212E, it is easily affected by changes in the pressure and / or volume of the fluid R. This makes the long side 211E more likely to stretch due to changes in the pressure and / or volume of the fluid R, and it is possible to present a tactile stimulus to the user in the shear direction.

[0103] In addition, in this embodiment, the long sides 211E, 221E are at least twice as long as the short sides 212E, 222E, but of course this is not limited to this and they may be at least 1.5 times as long, or the long sides 211E, 221E may be formed longer than the short sides 212E, 222E.

[0104] Seventh Embodiment In the above embodiments, a plurality of convex portions 21 or concave portions 22 are arranged in a row on the contact portion 20 on the side that the user comes into contact with. However, this is not limited to this, and a plurality of convex portions 21F or concave portions 22F may be arranged radially. Fig. 11 is a diagram showing a tactile presentation device 1F according to a seventh embodiment of the present technology, where (A) is a diagram showing a first state and (B) is a diagram showing a second state. Descriptions of similar components and the like included in the tactile presentation device 1 according to the above embodiments will be simplified or omitted, and differences will be mainly described.

[0105] 11 , the contact unit 20F of the tactile presentation device 1F has a contact surface 201F that the user comes into contact with and a non-contact surface 202F that the user does not come into contact with and that faces the holding space W where the fluid R is held. As shown in Fig. 11 , the contact surface 201F and the non-contact surface 202F face each other in the Z-axis direction (i.e., they are reverse sides of each other).

[0106] As shown in FIG. 11A , the multiple recesses 22F are provided so as to extend radially from the center of the non-contact surface 202F when viewed in the Z-axis direction. In this embodiment, the multiple recesses 22F are provided so as to extend from the center O of the non-contact surface 202F toward the corner 20F' of the non-contact surface 202F (contact portion 20F) when viewed in the Z-axis direction (having an elongated hole shape extending from the center O toward the corner 20F'). The recesses 22F are also provided so as to recess toward the positive side of the Z-axis (toward the contact surface 201F). In this embodiment, there are four radially extending recesses 22F. In this embodiment, the contact surface 201F is not provided with any protrusions 21F or recesses 22F.

[0107] 11(B), the contact portion 20F becomes convex when the pressure and / or volume of the fluid R is changed (increased) by the actuator 4. In other words, the four recesses 22F are thinner in the Z-axis direction than the other non-contact surfaces 202F. This makes the four recesses 22F more likely to stretch when the pressure and / or volume of the fluid R increases, resulting in a convex shape centered on the center O. This makes it possible to present a sharp pressing tactile stimulus to the user.

[0108] Furthermore, in this embodiment, since the contact surface 201F has a convex shape centered on the center O, the contact surface 201F is elongated from the center O. In other words, since the elongated portion also comes into contact with the user, it is possible to present the user with a tactile stimulus not only in the pressing direction but also in the elongating direction (shear direction).

[0109] In this embodiment, the non-contact surface 202F is provided with recesses 22F recessed toward the contact surface 201F. However, this is not a limitation. For example, multiple protrusions or recesses 22F may be provided on the contact surface 201F, or multiple protrusions protruding toward the support portion 3 may be provided on the non-contact surface 202F. Furthermore, while the number of recesses 22F is four in this embodiment, this is not a limitation and the number may be two. In this embodiment, one recess 22F is provided for each corner 20F' from the center O. However, this is not a limitation and two or more recesses 22F may be provided in a row from the center O toward one corner 20F'. In this embodiment, the multiple recesses 22F are provided radially from the center O of the non-contact surface 202F. However, this is not a limitation and the recesses may be provided radially from a position different from the center O. In this case, the recesses may be provided from the different position toward the corner 20F', or may be provided at a position other than the corner 20F'.

[0110] Eighth Embodiment In the above embodiments, a plurality of convex portions 21 or concave portions 22 are arranged side by side. However, this is not limited thereto, and a plurality of convex portions 21G or concave portions 22G may be arranged point-symmetrically. Fig. 12 is a diagram showing a tactile presentation device 1G according to an eighth embodiment of the present technology, where (A) is a perspective view of the tactile presentation device 1G, (B) is a diagram showing a first modified example of the tactile presentation device 1G, and (C) is a diagram showing a second modified example of the tactile presentation device 1G. Fig. 13 is a diagram showing a case where the pressure of the fluid R is changed compared to Fig. 12(A). Descriptions of similar components and the like included in the tactile presentation device 1 according to the above embodiments will be simplified or omitted, and differences will be mainly described.

[0111] 12A, the tactile presentation device 1G is provided in a square shape so as to be point-symmetric when viewed in the Z-axis direction. Here, point symmetry is not limited to point symmetry in the strict sense, but also includes shapes that are approximately point-symmetric. In addition, although the shape is square in this embodiment, it is not limited to this and may also be circular.

[0112] 12(A), the tactile presentation device 1G has one approximately rectangular protrusion 21G provided at the center O of the contact portion 20G when viewed from the Z-axis direction. Four protrusions 21G are provided in a rectangular ring shape around the central protrusion 21G. In other words, the rectangular ring-shaped protrusions 21G are provided concentrically. The widths in the X-axis direction and Y-axis direction and the height in the Z-axis direction of all three rectangular ring-shaped protrusions 21G are the same, but of course this is not limited to this and they do not have to be the same.

[0113] 12A , the tactile presentation device 1G has recesses 22G provided so as to be point-symmetric when viewed in the Z-axis direction. The multiple recesses 22G are provided around a protrusion 21G provided at a center O or around a rectangular ring-shaped protrusion 21G. The multiple recesses 22G are provided concentrically around the center O, similar to the multiple protrusions 21G described above. The widths in the X-axis direction and Y-axis direction and the depth in the Z-axis direction of the rectangular ring-shaped recesses 22G are all the same, but of course this is not limited to this and they do not have to be the same.

[0114] As shown in FIG. 12B, the tactile presentation device 1G' may be provided so that the corners 201G' of the contact portion 20G' are elevated with respect to the center O'.

[0115] A convex portion 21G' having a roughly hemispherical tip (a dome-like shape rising in the positive direction of the Z axis) is provided at the center O' of the tactile presentation device 1G' when viewed from the Z axis direction. Circular convex portions 21G' are also provided concentrically around the hemispherical convex portion 21G'. The convex portion 21G' provided on the outermost periphery has a circular inner periphery and a square outer periphery. The corners 201G' of the convex portion 21G' provided on the outermost periphery are arranged so that they become higher in the positive direction of the Z axis as they approach the outer diameter.

[0116] Furthermore, the plurality of recesses 22G' are provided around the protrusion 21G' provided at the center O' or around the concentrically arranged protrusions 21G'. The plurality of recesses 22G' are provided concentrically around the center O', similar to the plurality of protrusions 21G' described above. In this embodiment, a portion of the protrusion 21G' provided at the outermost periphery is elevated in the positive direction of the Z axis, but this is of course not limited thereto, and the contact portion 20G' may be provided so as to gradually increase in height from the protrusion 21G' provided at the center O'. In this embodiment, the contact portion 20G' is square-shaped when viewed in the Z axis direction, but this is of course not limited thereto, and the contact portion 20G' may be circular.

[0117] As shown in FIG. 12C, the tactile presentation device 1G'' may be provided so that the heights of the contact portions 20G'' in the Z-axis direction are the same.

[0118] A convex portion 21G" having an approximately hemispherical tip is provided at the center O" of the tactile presentation device 1G" when viewed from the Z-axis direction. Circular convex portions 21G" are also provided concentrically around the hemispherical (dome-shaped) convex portion 21G" at the center. The outermost convex portion 21G" has a circular inner periphery and a square outer periphery. A plurality of recesses 22G" are provided around the convex portion 21G" provided at the center O" or around the concentrically provided convex portion 21G". Similar to the above-described plurality of convex portions 21G", the plurality of recesses 22G" are also provided concentrically around the center O". In this embodiment, the contact portion 20G" is square-shaped when viewed from the Z-axis direction. However, the shape is not limited to this and may be circular.

[0119] 13, when the pressure of the fluid R in the holding space in FIG. 12A is 0 kPa and 12 kPa, the change (the horizontal axis is the position from the center, and the vertical axis is the height from the support surface 30) is examined, and the center changes to be the highest. That is, in FIG. 12A, the protrusion 21G provided at the center O changes to be the highest.

[0120] This allows the user to be presented with a sharp tactile stimulus. Also, while Fig. 13 only shows the graph of the embodiment of Fig. 12(A), the present invention is not limited to this, and the above-described effects can also be achieved with Figs. 12(B) and (C).

[0121] Ninth Embodiment In the above embodiments, the plurality of convex portions 21 or concave portions 22 presented tactile stimuli to the user in the pressure or shear direction. However, this is not limited thereto, and the plurality of convex portions 21H or concave portions 22H may be provided to present tactile stimuli in the pressure and shear directions. Fig. 14 is a diagram showing changes in a tactile presentation device 1H according to a ninth embodiment of the present technology, where (A) is a diagram showing a first state, (B) is a diagram showing a state during the change from the first state to a second state, and (C) is a diagram showing the second state. Fig. 15 is a diagram showing changes in a tactile presentation device 1H according to the ninth embodiment of the present technology. Descriptions of similar components and the like included in the tactile presentation device 1 according to the above embodiments will be simplified or omitted, and differences will be mainly described.

[0122] As shown in FIG. 14A, the fluid holding unit 2H of the tactile presentation device 1H has an erected portion 24H erected from a support unit 3 (not shown), and a contact portion 20H provided on the erected portion 24H and coming into contact with the user.

[0123] The standing portion 24H has a first standing portion 241H that is provided on the support portion 3 and rises in the positive direction of the Z axis, a second standing portion 242H that is provided on the contact portion 20H and has a plurality of convex portions 21H and concave portions 22H described below, and a third standing portion 243H that connects the first standing portion 241H and the second standing portion 242H.

[0124] As shown in Fig. 14A, the first standing portion 241H has a shape that tapers toward the positive side of the Z axis. In other words, the first standing portion 241H has a roughly triangular shape when viewed from the X axis direction. In other words, the first standing portion 241H has a roughly triangular pyramid shape.

[0125] 14A, the second standing portion 242H is provided on the negative side of the contact portion 20H in the Z-axis direction and has a plurality of protrusions 21H and recesses 22H. The plurality of protrusions 21H and recesses 22H protrude or recess substantially along the Z-axis direction.

[0126] The third standing portion 243H has a roughly cylindrical shape when viewed from the X-axis direction. More specifically, the third standing portion 243H is provided so as to curve in the Y-axis direction when viewed from the X-axis direction.

[0127] Here, the multiple convex portions 21H and concave portions 22H will be described. The convex portion 21H has a shape that protrudes when viewed from within the holding space W, and a concave shape when viewed from the outside. The concave portion 22H has a first concave portion 220H and a second concave portion 221H. The first concave portion 220H has a concave shape when viewed from within the holding space W, and protrudes when viewed from the outside. The first concave portions 220H are arranged alternately with the convex portions 21H from the contact portion 20H side.

[0128] The second recess 221H has a recessed shape when viewed from within the holding space W and protrudes when viewed from the outside. The size of the second recess 221H is larger than the size of the first recess 220H. Here, the size of the recess may refer to the volume of the recess or the surface area of ​​the recess. Furthermore, the second recess 221H is provided on the third standing portion 243H side (so as to be connected to the third standing portion 243H).

[0129] Here, changes in the tactile presentation device 1H will be described using Figures 14(A) to 14(C) and Figure 15. Note that the horizontal axis of Figure 15 represents time [s] and the vertical axis represents the amount of change [m]. The pressure also increases over time.

[0130] When the pressure of the fluid R is increased over time from the state shown in Fig. 14(A), the fluid holding portion 2H first expands in the Z-axis direction as shown in Fig. 14(B). This is because the second recess 221H, which is the larger recess, expands (stretches), causing the entire fluid holding portion 2H to expand in the Z-axis direction. In other words, the larger the recess, the greater the force of expansion due to isotropic pressure, and even a small pressure can cause a large change.

[0131] Thereafter, as the pressure of the fluid R further increases over time, the contact portion 20H expands (stretches) in the Y-axis direction as shown in Fig. 14(C) . This is because the first recess 220H, which is the small recess portion, expands (stretches), and the contact portion 20H expands in the Y-axis direction.

[0132] As shown in Figure 15, initially, the second recess 221H, which has a larger recess, expands, causing the fluid holding portion 2H to expand in the Z-axis direction, and then, as the pressure increases, the first recess 220H, which has a smaller recess, expands, causing the contact portion 20H to expand in the Y-axis direction.

[0133] In other words, in this embodiment, the fluid holding portion 2 has a first deformed shape (shape as shown in Figure 14 (B)) in which the actuator 4 presses the contact portion 20H toward the user, and a second deformed shape (shape as shown in Figure 14 (C)) that extends in a direction (Y-axis direction) intersecting the direction in which the actuator 4 deforms the first post-deformation concave portion 220H or convex portion 21H to press the contact portion 20H (Z-axis direction).

[0134] As a result, the tactile presentation device 1H can present a pressing tactile stimulus to the user, and then present a tactile stimulus in the shear direction (the direction in which the part the user is touching is pulled). In this embodiment, as described above, various changes are possible with a single pressure change, and thereby various tactile stimuli can be presented to the user.

[0135] In the present embodiment, the second recess 221H is provided on the center side when viewed from the Z-axis direction. However, this is not limited to this, and the second recess 221H may be provided on the side connected to the contact portion 20H. Furthermore, in the present embodiment, the tactile stimulus is a pressing stimulus followed by a shearing stimulus. However, this is not limited to this, and the tactile stimulus may be a shearing stimulus followed by a pressing stimulus. The tactile stimulus presented to the user is not limited to a pressing or shearing stimulus, but may also be a rotational tactile stimulus. Furthermore, in the present embodiment, only one cylindrical second recess 221H is provided. However, this is not limited to this, and two or more recesses may be arranged side by side in the Y-axis direction. Furthermore, in the present embodiment, the contact portion 20H does not have any projections or recesses. However, this is not limited to this, and the contact portion 20H may have multiple projections 21H or recesses 22H. This allows a stronger tactile stimulus to be presented to the user.

[0136] Tenth Embodiment In the above embodiments, a plurality of convex portions 21 and concave portions 22 are provided on the contact portion 20, but of course this is not limited to this, and a plurality of convex portions 21K may be provided on the contact portion 20K. Fig. 16 is a diagram showing a tactile presentation device 1K according to a tenth embodiment of the present technology, where (A) is a perspective view of the tactile presentation device 1K and (B) is a diagram showing a change from a first state to a second state. Descriptions of similar components and the like included in the tactile presentation device 1 according to the above embodiments will be simplified or omitted, and differences will be mainly described.

[0137] The contact unit 20K of the tactile presentation device 1K has a plurality of hemispherical convex portions 21K and flexible portions 23K provided between the plurality of hemispherical convex portions 21K and connecting the plurality of hemispherical convex portions 21K. In this embodiment, no recesses 22 are provided as in the first embodiment described above.

[0138] In this embodiment, an increase in the pressure and / or volume of the fluid R in the fluid holding unit 2K causes the multiple hemispherical protrusions 21K to extend in the Z-axis direction. As shown in FIG. 16B , when the pressure and / or volume of the fluid R changes (increases), in the case of a flexible unit 23K and multiple hemispherical protrusions 21K that are less stretchable (have a lower elastic modulus) than the flexible unit 23K, the multiple hemispherical protrusions 21K extend in the Z-axis direction, and the flexible unit 23K is deformed as if pulled by the extension of the multiple hemispherical protrusions 21K. Also, as shown in FIG. 16B , the multiple hemispherical protrusions 21K can present a tactile stimulus in a direction (Y-axis direction) that shears the skin that the user is touching, for example.

[0139] That is, the present embodiment also uses multiple hemispherical protrusions 21K to provide a tactile stimulus to the user in the shear direction, similar to the above-described embodiments. Note that the number and arrangement of multiple hemispherical protrusions 21K and flexible portions 23K are not limited to those shown in FIG. 16(A). In addition, in the present embodiment, the change in pressure and / or volume of the fluid R is an increase, but of course, this is not limited to this and may also be a decrease.

[0140] <Modification 1> In the first embodiment, the plurality of convex portions 21 and the concave portions 22 were made of the same material, but of course this is not limited to this, and the plurality of convex portions 21L may be made of a material different from the other components. Figure 17 is a diagram showing a tactile presentation device 1L according to Modification 1 of the present technology, where (A) is a diagram showing Modification 1-1, (B) is a diagram showing a second Modification 1-2, (C) is a diagram showing a third Modification 1-3, and (D) is a diagram showing a fourth Modification 1-4. Descriptions of similar components and the like included in the tactile presentation device 1 according to the above embodiments will be simplified or omitted, and differences will be mainly described.

[0141] As shown in FIG. 17A , the contact portion 20L of the tactile presentation device 1L has multiple protrusions 21L and recesses 22L disposed between the multiple protrusions 21L. The protrusions 21L are made of a material with a higher coefficient of friction than the other portions (the recesses 22L and the flexible portion 23L of the contact portion 20L). The protrusions 21L may be made of, for example, metal, rubber, or resin, and have a coefficient of friction of 0.5 or greater, but are not limited thereto. The protrusions 21L may also have a finely textured shape, but are not limited thereto. This allows for a stronger tactile stimulus to be presented to the user in the shear direction. In addition, in this embodiment, the entire protrusions 21L are made of a material with a higher coefficient of friction than the other portions. However, this is not a limitation, and it is sufficient that at least a portion of the protrusions 21L is made of a material with a higher coefficient of friction than the other portions.

[0142] As shown in FIG. 17(B), the contact unit 20L' of the tactile presentation device 1L' has a plurality of convex portions 21L' and concave portions 22L' provided between the plurality of convex portions 21L'. The friction coefficient of the convex portions 21L' is anisotropic. As shown in FIG. 17(B), the convex portions 21L' are inclined along their convex shapes, and the arrangement of the inclined material of the convex portions 21L' is oriented. In other words, as shown in FIG. 17(B), the friction coefficient is different when the user touches the contact unit 20L' from the concave portions 22L' toward the convex portions 21L' and when the user touches the contact unit 20L' from the convex portions 21L' toward the concave portions 22L' (the friction force has directional anisotropy).

[0143] In this embodiment, the frictional force between the user and the contact portion 20L' is greater when the user touches the contact portion 20L' from the convex portion 21L' toward the concave portion 22L'. In other words, the coefficient of friction between the user and the convex portion 21L' when the actuator 4 moves the convex portion 21L' in a direction (Y-axis direction) away from the adjacent concave portion 22L' is higher than the coefficient of friction between the user and the convex portion 21L' when the convex portion 21L' moves toward the concave portion 22L'. The convex portion 21L' is made of, for example, metal, rubber, or resin, and has a fine protrusion shape such that the coefficient of friction when the user touches the contact portion 20L' from the convex portion 21L' toward the concave portion 22L' is 0.5 or greater, but of course, the present invention is not limited to this.

[0144] As a result, when the pressure and / or volume of the fluid R increases, not only can a tactile stimulus be presented to the user in the shear direction, but also, when the pressure and / or volume of the fluid R is decreased, the low frictional force allows the fluid R to be smoothly returned to its original shape. As a result, even when the user only intends to return the shape to its original shape and does not intend to present a tactile stimulus to the user, or when the user wishes to present a weak tactile stimulus to the user, this embodiment can suppress the presentation of a tactile stimulus to the user when the shape is returned to its original shape.

[0145] In this embodiment, the convex portion 21L' is formed so that the frictional force between the user and the contact portion 20L' is greater when the user touches the contact portion 20L' from the convex portion 21L' toward the concave portion 22L'. However, this is not limited to this, and the opposite may also be true. Furthermore, in this embodiment, the frictional force increases when the pressure and / or volume of the fluid R increases, and decreases when the pressure and / or volume decreases. However, this is not limited to this, and the opposite may also be true. Furthermore, in this embodiment, the entire convex portion 21L' is made of a material with a higher friction coefficient than the other portions. However, this is not limited to this, and it is sufficient that at least a portion of the convex portion 21L' is made of a material with a higher friction coefficient than the other portions.

[0146] As shown in FIG. 17C , the contact unit 20L″ of the tactile presentation device 1L″ has multiple protrusions 21L″ and recesses 22L″ provided between the multiple protrusions 21L″. The protrusions 21L″ are made of a material with higher rigidity than the other portions (the recesses 22L″ and the flexible portions 23L″ of the contact unit 20L″). The protrusions 21L″ are made of, for example, metal, resin, or hard rubber, but are not limited to these. This allows a stronger tactile stimulus to be presented to the user in the shear direction. In other words, because the rigidity (Young's modulus) of the protrusions 21L″ is higher than that of the other portions, the shape of the protrusions 21L″ can be maintained (is less likely to deform) even when the pressure and / or volume of the fluid R increases, thereby presenting a localized sense of pressure to the user. In addition, in this embodiment, the entire protrusions 21L″ are made of a material with a higher friction coefficient than the other portions, but this is not a limitation, and it is sufficient if at least a portion of the protrusions 21L″ is made of a material with a higher rigidity than the other portions.

[0147] As shown in FIG. 17(D) , the contact unit 20L''' of the tactile presentation device 1L''' has a plurality of convex portions 21L''' and concave portions 22L''' provided between the plurality of convex portions 21L'''. The convex portions 21L''' are configured to be thicker than other portions (the concave portions 22L''' and the flexible portion 23L''' of the contact unit 20L'''). Here, the thickness refers to the dimension in the normal direction perpendicular to the tangent plane along the curved surface of the convex portion 21L'''. This allows a stronger tactile stimulus to be presented to the user in the shear direction. In addition, in this embodiment, the entire convex portion 21L''' is configured to be thicker than other portions, but this is not limited thereto, and it is sufficient that at least a portion of the convex portion 21L''' is configured to be thicker than other portions. Note that this embodiment has been described as a modified example of the first embodiment, but this is not limited thereto, and other embodiments can also be applied.

[0148] <Modification 2> In the first embodiment, the multiple convex portions 21 and concave portions 22 are configured to be symmetrical when viewed in the X-axis direction, but of course this is not limited to this, and the multiple convex portions 21M and concave portions 22M may be configured to be asymmetrical when viewed in the X-axis direction. Figure 17 is a diagram showing a tactile presentation device 1M according to Modification 2 of the present technology, where (A) is a diagram showing a first state and (B) is a diagram showing a second state. Descriptions of similar components and the like included in the tactile presentation device 1 according to the above embodiment will be simplified or omitted, and differences will be mainly described.

[0149] 18A , the fluid holding unit 2M of the tactile presentation device 1M is asymmetrical in the X-axis direction (or Z-axis direction). The contact unit 20M has a plurality of convex portions 21M and concave portions 22M provided between the plurality of convex portions 21M. The contact unit 20M also has a non-concave-convex surface portion 25M, which is a surface on which the above-mentioned plurality of convex portions 21M and concave portions 22M are not provided. In this embodiment, the non-concave-convex surface portion 25M does not have any concaves or convexes, but it is sufficient that the concave-convex shape is asymmetrical, and the number of concaves or convexes may be fewer than the number of concaves or convexes on one side of the convex portion.

[0150] As shown by the arrows in Figure 18(B), when the pressure and / or volume of the fluid R increases, pressure is applied in one direction (the non-concave surface portion 25M side where the concave and convex portions are not provided), causing the fluid holding portion 2M to deform. This allows a tactile stimulus to be presented to the user in a shearing direction. Note that while this embodiment has been described as a modification of the first embodiment, it is not limited to this and can also be applied to other embodiments.

[0151] <Modification 3> In the ninth embodiment, the plurality of convex portions 21H and the concave portions 22H are configured to be symmetrical when viewed in the X-axis direction, but of course this is not limited to this, and the plurality of convex portions 21N and the concave portions 22N may be configured to be asymmetrical when viewed in the X-axis direction. Figure 18 is a diagram showing a tactile presentation device 1N according to Modification 3 of the present technology, where (A) is a diagram showing a first state and (B) is a diagram showing a second state. Descriptions of similar components and the like included in the tactile presentation device 1 according to the above embodiment will be simplified or omitted, and differences will be mainly described.

[0152] As shown in FIG. 19A , the fluid holding unit 2N of the tactile presentation device 1N is asymmetrical in the X-axis direction. The contact unit 20N has a plurality of convex portions 21N and concave portions 22N provided between the plurality of convex portions 21N. The concave portions 22N have a first concave portion 220N and a second concave portion 221N that is more concave than the first concave portion 220N. The contact unit 20N also has a non-concave / convex surface portion 25N, which is a surface that does not have the plurality of convex portions 21N and concave portions 22N. In this embodiment, the non-concave / convex surface portion 25N does not have any concave / convex portions, but as long as the concave / convex shape is asymmetrical, the number of concave / convex portions may be fewer than the number of concave / convex portions on one side.

[0153] As shown by the arrows in Figure 19(B) , when the pressure and / or volume of the fluid R increases, pressure is applied in one direction (the non-concave surface portion 25N side where the concave and convex portions are not provided), causing the fluid holding portion 2N to deform. This allows a tactile stimulus to be presented to the user in a shearing direction. Note that while this embodiment has been described as a modified example of the ninth embodiment, it is not limited to this and can also be applied to other embodiments.

[0154] <Modification 4> In the above embodiment, there is no mechanism for detecting changes in the pressure of the fluid R in the holding space W or the shape (volume) of the fluid holding portion, but of course this is not limited to this, and the tactile presentation device 1' may have a detection unit 5 that detects changes in the pressure of the fluid R in the holding space W or the shape (volume) of the fluid holding portion. Figure 20 is a block diagram of a tactile presentation device 1' according to Modification 4 of the present technology, where (A) is a block diagram of Modification 4-1 and (B) is a block diagram of Modification 4-2. Descriptions of similar components and the like included in the tactile presentation device 1 according to the above embodiment will be simplified or omitted, and differences will be mainly described.

[0155] As described above, the control device 10 controls the driving of the actuator 4. The control device 10 includes an acquisition unit 11, a drive control unit 12, and a storage unit 13. The control device 10 further includes a detection unit 5 that detects a change in the pressure of the fluid R in the holding space W or a change in the shape (volume) of the fluid holding portion, as described above.

[0156] The detection unit 5 is not particularly limited, but may be, for example, a pressure sensor. The detection unit 5 detects the pressure of the fluid R in the holding space W. The position at which the detection unit 5 is provided is not particularly limited, and the detection unit 5 may be provided integrally with the support unit 3 or may be provided separately from the support unit 3.

[0157] That is, the control device 10 drives the actuator 4 so that the pressure in the holding space W becomes the target pressure. At that time, the pressure in the holding space W is detected by the detection unit 5. The detection result of the detection unit 5 is output to the control device 10. The control device 10 changes the pressure and / or volume of the fluid R based on the detection result of the detection unit 5 (feedback control). That is, when the detection result of the detection unit 5 is higher than the target pressure, the control device 10 controls the actuator 4 to decrease the pressure in the holding space W, and when the detection result of the detection unit 5 is lower than the target pressure, the control device 10 controls the actuator 4 to increase the pressure in the holding space W.

[0158] 20(B), the timing at which the actuator 4 is driven may be controlled by an external input signal (external input). For example, when playing a baseball VR game, the actuator 4 is driven in accordance with the timing at which the ball is hit or thrown, based on a signal sent from the game console. In other words, the acquisition unit 11 acquires the external input signal, and the drive control unit 12 drives the actuator 4 based on the acquired input signal. This eliminates the need to store in advance outputs such as the timing at which the actuator 4 is driven, making it applicable to a variety of scenes.

[0159] Furthermore, in Modification 4-2, a detection unit 5 may be further provided as in Modification 4-1. This allows the pressure in the holding space W to be maintained at an appropriate state, as described above. Furthermore, the detection unit 5 may output to an external device rather than the control device 10. In this case, an input signal is further output from the external device based on the output result.

[0160] <Other Modifications> In the third embodiment described above, the plurality of convex portions 21B and the plurality of concave portions 22B are formed to extend in the X-axis direction, but this is of course not limited to this. For example, the plurality of convex portions 21B and the plurality of concave portions 22B may have a mountain shape that convex toward the positive side of the Z-axis. That is, like the convex portion 21K in the tenth embodiment, a plurality of hemispherical convex portions 21B and concave portions 22B may be provided scattered throughout. Note that the plurality of convex portions 21B and the plurality of concave portions 22B are provided to be inclined toward the Y-axis direction with respect to the Z-axis direction.

[0161] The configurations of the tactile presentation device, protrusions, recesses, etc. described with reference to the drawings are merely exemplary embodiments and can be modified as desired without departing from the spirit of the present technology. In other words, any other configuration for implementing the present technology may be adopted. For example, in the above description, the tactile presentation device is configured such that one holding space and one fluid holding unit are provided on the support unit. However, the present invention is not limited to this, and the support unit may have a plurality of these configurations (sets of holding space and fluid holding unit) (e.g., arranged side by side).

[0162] The present technology can also be configured as follows. (1) A tactile presentation device including: a support portion; an upright portion provided on the support portion; and a contact portion provided on the upright portion and contactable by a user, wherein the support portion, the upright portion, and the contact portion form a holding space for holding a fluid, and at least one of the contact portion or the upright portion has a plurality of recesses and / or hollow protrusions into which the fluid flows, and an elastically deformable fluid holding portion in which the recesses are connected to each other, the protrusions are connected to each other, or the recesses and the protrusions are connected to each other in an expandable and contractible manner. (2) The tactile presentation device described in (1) above, wherein the rigidity of the support portion is higher than the rigidity of the fluid holding portion. (3) The tactile presentation device described in (1) or (2) above, wherein the support portion has the actuator built in. (4) The tactile presentation device according to (3) above, wherein the outer shape of the support section as viewed from the contact section side is the same size as the outer shape of the actuator as viewed from the contact section side. (5) The tactile presentation device according to any one of (1) to (4) above, wherein the concave and / or convex sections before changing the pressure and / or volume of the fluid in the holding space are provided in the contact section and have a shape that is inclined with respect to a direction perpendicular to the support section. (6) The tactile presentation device according to any one of (1) to (5) above, wherein the concave or convex sections are respectively provided in the contact sections, and at least some of the multiple concave and / or convex sections before changing the pressure and / or volume of the fluid in the holding space differ in angle of inclination with respect to a direction perpendicular to the support section. (7) The tactile presentation device according to any one of (1) to (6) above, wherein at least some of the concave or convex sections have a different elastic modulus than other parts.(8) The tactile presentation device according to any one of (1) to (7) above, wherein the contact portion has the plurality of concave or convex portions, and the plurality of concave or convex portions before the pressure and / or volume of the fluid in the holding space is changed at least partially overlap with each other when viewed from the contact portion side. (9) The tactile presentation device according to any one of (1) to (8) above, wherein the upright portion has a twisting portion that rotates when the actuator changes the pressure and / or volume of the fluid, and the contact portion rotates in accordance with the rotation of the twisting portion. (10) The tactile presentation device according to (9) above, wherein the contact portion has a plurality of convex portions, and the plurality of convex portions before the pressure and / or volume of the fluid in the holding space is changed are inclined with respect to a direction perpendicular to the support portion, and each of the convex portions is arranged along the rotation direction of the twisting portion or the direction opposite to the rotation direction. (11) The tactile presentation device according to any one of (1) to (10) above, wherein the plurality of recesses or protrusions have a rectangular shape when viewed from the contact unit side, and a long side of each of the plurality of recesses or protrusions before changing the pressure and / or volume of the fluid in the holding space is at least twice as long as a short side. (12) The tactile presentation device according to any one of (1) to (11) above, wherein the contact unit has a contact surface that comes into contact with the user and a non-contact surface that is on the fluid side and does not come into contact with the user, and the plurality of recesses or protrusions before changing the pressure and / or volume of the fluid in the holding space are provided so as to extend radially from the center of the contact surface or the non-contact surface when viewed from the contact unit side, and the contact unit becomes a convex shape when the pressure and / or volume of the fluid is increased by the actuator. (13) A tactile presentation device according to any one of (1) to (12) above, wherein the contact portion has the plurality of recesses or protrusions, and the plurality of recesses or protrusions before changing the pressure and / or volume of the fluid in the holding space are point-symmetric when viewed from the contact portion side.(14) The tactile presentation device according to any one of (1) to (13) above, wherein the fluid holding unit has a first deformed shape that causes the actuator to press the contact unit toward the user, and a second deformed shape that extends in a direction intersecting a direction in which the actuator deforms the concave and / or convex portions after the first deformation to press the contact unit. (15) The tactile presentation device according to any one of (1) to (14) above, wherein the contact unit has the convex portions, and at least a portion of the convex portions has a higher coefficient of friction than other portions. (16) The tactile presentation device according to any one of (1) to (15) above, wherein the contact unit has a plurality of convex portions, and at least a portion of the convex portions has an anisotropic coefficient of friction. (17) The tactile presentation device according to any one of (1) to (16) above, wherein the contact portion has the convex portion, and at least a portion of the convex portion has higher rigidity than other portions. (18) The tactile presentation device according to any one of (1) to (17) above, wherein the contact portion has the convex portion, and at least a portion of the convex portion has a greater film thickness than other portions. (19) The tactile presentation device according to any one of (1) to (18) above, wherein the fluid holding portion has a plurality of concave portions or convex portions, and the plurality of concave portions or convex portions are arranged asymmetrically when viewed from the contact portion before changing the pressure and / or volume of the fluid in the holding space. (20) The tactile presentation device according to any one of (1) to (19) above, further comprising a detection unit that detects a change in the pressure of the fluid in the holding space or a shape of the fluid holding unit, and the actuator changes the pressure and / or volume of the fluid based on a detection result of the detection unit. (21) The tactile presentation device according to any one of (1) to (20) above, wherein the convex portion has a hollow shape into which the fluid flows.

[0163] REFERENCE SIGNS LIST 1 tactile presentation device 2 fluid holding section 3 support section 4 actuator 20 contact section 21 convex section 22 concave section 23 flexible section 24 erect section 30 support surface R fluid W holding space

Claims

1. A tactile presentation device comprising: a support section; an upright section provided on the support section; and a contact section provided on the upright section and contactable by a user, wherein the support section, the upright section, and the contact section form a single holding space for holding a fluid, and at least one of the contact section or the upright section has a plurality of recesses and / or protrusions, the recesses being connected to each other, or the protrusions being connected to each other, or the recesses and the protrusions being connected to each other in an expandable and contractible manner; and an actuator that changes the positional relationship between the plurality of recesses or protrusions by changing the pressure and / or volume of the fluid in the holding space.

2. A tactile presentation device according to claim 1, wherein the rigidity of the support section is higher than the rigidity of the fluid holding section.

3. A tactile presentation device according to claim 1, wherein the support unit incorporates the actuator.

4. A tactile presentation device according to claim 3, wherein the external shape of the support part as viewed from the contact part side is the same size as the external shape of the actuator as viewed from the contact part side.

5. A tactile presentation device as described in claim 1, wherein the concave and / or convex portions before changing the pressure and / or volume of the fluid in the holding space are provided on the contact portion and have a shape that is inclined with respect to a direction perpendicular to the support portion.

6. A tactile presentation device as described in claim 1, wherein the recesses and / or protrusions are respectively provided on the contact portion, and at least some of the recesses or protrusions before the pressure and / or volume of the fluid in the holding space is changed have different angles of inclination relative to a direction perpendicular to the support portion.

7. A tactile presentation device according to claim 1, wherein at least a portion of the recessed and / or protruding portions has a different elastic modulus than the other portions.

8. A tactile presentation device as claimed in claim 5, wherein the contact portion has a plurality of recesses and / or protrusions, and the plurality of recesses or protrusions at least partially overlap each other when viewed from the contact portion before changing the pressure and / or volume of the fluid in the holding space.

9. A tactile presentation device as described in claim 1, wherein the erected portion has a twisting portion that rotates by changing the pressure and / or volume of the fluid using the actuator, and the contact portion rotates in conjunction with the rotation of the twisting portion.

10. A tactile presentation device according to claim 9, wherein the contact portion has a plurality of protrusions, and the plurality of protrusions before changing the pressure and / or volume of the fluid in the holding space are inclined relative to a direction perpendicular to the support portion, and each of the protrusions is arranged along the rotation direction of the torsion portion or the direction opposite to the rotation direction.

11. A tactile presentation device as described in claim 1, wherein the plurality of recesses and / or protrusions have a rectangular shape when viewed from the contact portion side, and the long side of each of the plurality of recesses or protrusions before changing the pressure and / or volume of the fluid in the holding space is at least twice as long as the short side.

12. A tactile presentation device as described in claim 1, wherein the contact portion has a contact surface that comes into contact with the user and a non-contact surface that is on the fluid side and does not come into contact with the user, and the multiple concave or convex portions before the pressure and / or volume of the fluid in the holding space is changed are each arranged to extend radially from the center of the contact surface or the non-contact surface when viewed from the contact portion side, and the contact portion becomes convex when the pressure and / or volume of the fluid is increased by the actuator.

13. A tactile presentation device as described in claim 1, wherein the contact portion has the plurality of recesses or protrusions, and the plurality of recesses or protrusions before changing the pressure and / or volume of the fluid in the holding space are point-symmetric when viewed from the contact portion side.

14. A tactile presentation device as described in claim 1, wherein the fluid holding portion has a first deformed shape that causes the actuator to press the contact portion toward the user, and a second deformed shape that extends in a direction intersecting the direction in which the actuator deforms the concave or convex portion after the first deformation to press the contact portion.

15. A tactile presentation device according to claim 1, wherein the contact portion has the protrusion, and at least a portion of the protrusion has a higher coefficient of friction than other portions.

16. A tactile presentation device according to claim 1, wherein the contact portion has a plurality of protrusions, and the coefficient of friction of at least some of the protrusions is anisotropic.

17. A tactile presentation device according to claim 1, wherein the contact portion has the protrusion, and at least a portion of the protrusion has higher rigidity than other portions.

18. A tactile presentation device as described in claim 1, wherein the fluid holding section has a plurality of recesses and / or protrusions, and the plurality of recesses or protrusions are arranged asymmetrically when viewed from the contact section before the pressure and / or volume of the fluid in the holding space is changed.

19. A tactile presentation device as claimed in claim 1, further comprising a detection unit that detects changes in the pressure of the fluid in the holding space or the shape of the fluid holding portion, and the actuator changes the pressure and / or volume of the fluid based on the detection results of the detection unit.

20. A tactile presentation device according to claim 1, wherein the convex portion has a hollow shape into which the fluid flows.

Images