Tactile presentation device

Abstract

In order to achieve the above-described purpose, a tactile presentation device according to the present technology is provided with: a sheet member having a flow path part in which a flow path for a fluid is formed, and an expansion part that is connected to one side of the flow path part to allow inflow and outflow of the fluid and that can be touched by a user; and an actuator that is connected to the other side of the flow path part and that expands or contracts the expansion part by changing at least one of the pressure and volume of the fluid in the expansion part. The expansion part has a first expansion surface portion that can be touched by the user, and a second expansion surface portion that faces the first expansion surface portion and has lower stretchability than the first expansion surface portion.

Description

Haptic presentation device

[0001] This technology relates to a haptic presentation device that presents haptic sensations to a user.

[0002] Conventionally, devices that are worn by a user and present haptic sensations such as force and vibration to the user's skin have been known. For example, in Patent Document 1, a wiring board and a vibration transmission unit that transmits vibration are provided. The wiring board is a base material including a first surface and a second surface, and includes an elastic part having a first elastic coefficient and a fixed part adjacent to the elastic part in the in-plane direction of the first surface of the base material and having a second elastic coefficient larger than the first elastic coefficient. A wiring located on the side of the first surface of the elastic part of the base material is provided, and the vibration transmission unit is connected to the fixed part of the wiring board and has a length reaching a location to which vibration is transmitted from the fixed part. A haptic presentation device is disclosed.

[0003] Japanese Unexamined Patent Application Publication No. 2023-170237

[0004] In recent years, in devices that present haptic stimuli to a user, it has been required to more suitably present haptic stimuli to the user.

[0005] In view of the above circumstances, an object of the present technology is to provide a haptic presentation device capable of presenting a more suitable haptic stimulus.

[0006] To achieve the above object, a haptic presentation device according to one aspect of the present technology includes a sheet part and an actuator. The sheet part has a flow path part in which a flow path of a fluid is formed, and an expansion part that is connected to one side of the flow path part so that the fluid can flow in and out and that can be contacted by the user. The actuator is connected to the other side of the flow path part and expands or contracts the expansion part by changing at least one of the pressure and volume of the fluid in the expansion part. The expansion part has a first expanded surface part that can be contacted by the user and a second expanded surface part that faces the first expanded surface part and has lower stretchability than the first expanded surface part.

[0007] The tactile presentation device described above is a device that is attached to the finger of the user, wherein the actuator is attached to the nail side of the user's finger, the expansion part is attached to the palm side of the user's finger, and the flow channel part may be attached to the side of the user's finger.

[0008] The above-mentioned flow channel may be formed so as to be inclined toward the fingertips of the user's hand when viewed from the side.

[0009] The tactile presentation device described above is a device to be attached to the finger of the user, wherein the actuator is attached to the back of the middle phalanx of the user's finger, the expansion portion is attached to the palmar side of the middle phalanx of the user's finger, and the flow path portion may be attached to the side of the user's finger.

[0010] The tactile presentation device described above is a device to be attached to the fingers of the user, wherein the actuator is attached to the back of the proximal phalanx of the user's finger, the expansion portion is attached to the palmar side of the proximal phalanx of the user's finger, and the flow channel portion may be attached to the lateral side of the user's finger.

[0011] The tactile presentation device is a device that is attached to the user's arm, wherein the actuator is attached to the back of the user's wrist, the expansion portion is attached to the palm side of the user's wrist, and the flow path portion may be attached to the side of the user's wrist.

[0012] The width of the expansion section may be greater than the width of the flow channel section.

[0013] The above-mentioned flow channel may be made of an elastic material.

[0014] The above-mentioned flow channel may have a plurality of protrusions in the width direction of the flow channel.

[0015] The sheet portion may further include an inner member with a higher modulus of elasticity than the flow channel portion and the expansion portion, or within the side that the user comes into contact with, or within the expansion portion and the expansion portion, with at least a portion of it cut out.

[0016] The inner member may be provided at a position opposite to the flow path and may have a first cutout portion that is cut out along the direction of fluid inflow and outflow.

[0017] The inner member may have a second cutout portion that is provided at a position opposite to the expansion portion and is cut out in a spiral shape from the outside of the expansion portion toward the center.

[0018] The above-mentioned second cutout portion may be multiple, and the multiple second cutout portions may be arranged point-symmetrically.

[0019] The sheet portion may further include an outer member that is positioned opposite the inner member to the expansion portion and the flow path portion and has a higher modulus of elasticity than the flow path portion and the expansion portion.

[0020] The length of the inner member along the fluid inflow / outflow direction may be shorter than the length of the outer member along the fluid inflow / outflow direction.

[0021] The outer member may have notches in a direction perpendicular to the inflow and outflow direction of the fluid.

[0022] The sheet portion may further include a support member provided in a position opposite to the expansion portion and the flow path portion relative to the outer member.

[0023] The tactile presentation device described above is a device that is attached to the fingers of the user, and the inflatable portion may be provided on the nail fold of the user's fingers.

[0024] The tactile presentation device described above is a device that is attached to the fingers of the user, and the inflatable parts are multiple in number and may be provided on the pads of the user's fingers and on the nail folds of the user's fingers.

[0025] [Correction based on Rule 91 01.10.2025] This is a perspective view of a tactile presentation device according to the first embodiment of this technology. This is a view of the tactile presentation device from the inflatable side. This is a view of the tactile presentation device when it is attached to a user's finger, where (A) is a view from the fingertip side and (B) is a view from the side of the finger. This is a block diagram of the tactile presentation device. This is a diagram showing a modified version of this technology, where (A) is a view of the tactile presentation device attached to the proximal phalanx, middle phalanx, and wrist of a finger, and (B) is a view of the tactile presentation device attached to the back of the hand and palm. This is a diagram showing a modified version of this technology, where (A) is a view of the finger being held from one side and (B) is a view of the tactile presentation device attached to a device. This is a diagram of the flow path of a tactile presentation device in the second embodiment of this technology. This is a diagram when fluid is flowed into the flow path, where (A) is a view before fluid is flowed into the flow path and (B) is a view when fluid is flowed into the flow path. This figure shows the sheet portion of the tactile presentation device in the third embodiment of this technology. This figure shows the amount of expansion of the sheet portion, where (A) is cloth, (B) is pattern-cut cloth, and (C) is pattern-cut sheet metal. This figure shows the restoring force of the sheet portion, where (A) is cloth, (B) is pattern-cut cloth, and (C) is pattern-cut sheet metal. This figure shows the outer member of a modified example of this technology. This figure shows the support member of a modified example of this technology, where (A) is a cross-sectional view of the tactile presentation device, and (B) is an enlarged cross-sectional view of the tactile presentation device. This figure shows the tactile presentation device in the fourth embodiment of this technology, where (A) is a front view, (B) is a top view, and (C) shows the device when presenting tactile stimuli. This figure shows the intensity of stimuli at the placement location of the tactile presentation device, where (A) is a piezoelectric element next to the claw, (B) is a piezoelectric element on the claw, and (C) is an LRA next to the claw. This figure shows a tactile presentation device that is a modified example of this technology. This diagram shows the contact area pattern, where (A) is the first contact area, (B) is the second contact area, (C) is the third contact area, and (D) is the fourth contact area. This diagram shows the intensity of stimulation in the shape of the contact area of ​​the tactile presentation device, where (A) shows stimulation from a piezoelectric element at 64 Hz, and (B) shows stimulation from a piezoelectric element at 128 Hz presented to the user. This is a diagram of a tactile presentation device in the fifth embodiment of this technology.This figure shows the intensity of stimulation from the tactile presentation device described above, where (A) shows tactile stimulation being presented to the side of the nail and the pad of the finger, and (B) shows tactile stimulation being presented to the side of the nail. This figure shows the tactile presentation device in the sixth embodiment of the present technology, where (A) is before fluid is introduced, and (B) is when fluid is introduced. This is an overall view of the tactile presentation device described above. This is an exploded view of the contact portion of the tactile presentation device described above. This figure shows a modified version of the tactile presentation device described above. This figure shows a modified version of the tactile presentation device described above, where (A) is the side that the user touches, and (B) is the side opposite to the side that the user touches. This figure shows the tactile presentation device in the seventh embodiment of the present technology, where (A) is when it is attached to the user's finger, and (B) is a block diagram. This figure shows the tactile presentation device in the eighth embodiment of the present technology. This figure shows a modified version of the present technology, where (A) is a diagram in which the contact portion of the tactile presentation device is positioned to contact the first joint of the finger, and (B) is a diagram in which the contact portion of the tactile presentation device is positioned to contact the third joint of finger F. This is a diagram showing modified versions of this technology. The diagram shows modified versions of this technology, where (A) is a diagram with two mounting parts and (B) is a diagram with three mounting parts.

[0026] Embodiments of the present invention will be described below with reference to the drawings.

[0027] <First Embodiment> The tactile presentation device 1 according to the first embodiment of this technology will now be described. Figure 1 is a perspective view of the tactile presentation device 1 according to the first embodiment of this technology, and Figure 2 is a view of the tactile presentation device 1 from the side of the inflatable portion 30B. Figure 3 is a view of the tactile presentation device 1 when attached to the finger F of user Y, where (A) is a view from the fingertip F3 side and (B) is a view from the side F2 of finger Y, and Figure 4 is a block diagram of the tactile presentation device 1.

[0028] In this embodiment, the haptic presentation device 1 is used when haptic presentation is performed with the aim of presenting the user with a sense of operation (for example, the operation of gripping or grasping an object) in VR (Virtual Reality) content. Examples of VR content include baseball. In the case of baseball, the device presents the user with the sensation of gripping the bat or throwing the ball when the user grips the bat or throws the ball. The content referred to here may be, but is not limited to, VR as described above, as well as AR (Augmented Reality), movies, games, television videos, images, comics, magazines, picture books and other books (including paper media and ebooks), and music.

[0029] [Tactile Presentation Device] First, the overall configuration of the tactile presentation device 1 will be described. As shown in Figures 1 to 3, the tactile presentation device 1 of this embodiment comprises a control device 10, an actuator 20, and a seat portion 30. In this embodiment, the tactile presentation device 1 is formed in a ring shape as shown in Figures 1 and 3 and is attached to the finger F of the user Y. In this embodiment, the actuator 20 is provided on the fingernail T side of the user Y and the expansion portion 30B is provided on the pad F1 side of the finger F, but of course, it is not limited to this, and the expansion portion 30B may be provided on the fingernail T side of the user Y and the actuator 20 may be provided on the pad F1 side of the finger F. Also, as shown in Figure 1, the control device 10 and the actuator 20 are provided in the same housing, but of course, it is not limited to this, and they may be provided in separate housings.

[0030] (Sheet portion) The sheet portion 30 is formed in a ring shape and has a flow path portion 30A in which a fluid flow path K is formed, and an expansion portion 30B connected to one side of the flow path portion 30A (the first flow path end 303A) so that fluid can flow in and out and which can be contacted by the user Y.

[0031] As shown in Figure 3(A), the flow path section 30A has a first flow path end 303A connected to the expansion section 30B and capable of allowing fluid to flow in and out of the expansion section 30B, and a second flow path end 304A connected to an actuator 20 (described later) and capable of allowing fluid to flow in and out of the flow path section 30 by the actuator 20.

[0032] The flow channel section 30A has a hollow flow channel K through which fluid can move between the actuator 20 and the expansion section 30B. The flow channel K is formed by a first flow channel section 301A and a second flow channel section 302B. In this embodiment, as shown in Figure 3(A), two flow channel sections 30A are provided and connected to both sides of the expansion section 30B (left and right as viewed from Figure 3(A)), and are attached to the side F2 of the user Y's finger F, as shown in Figures 3(A) and (B).

[0033] The first flow channel 301A is provided so as to be in contact with the user Y's finger F, and in this embodiment, it is provided on the inside of the flow channel K. In this embodiment, since the tactile presentation device 1 is attached to the finger F, the first flow channel 301A is curved along the side surface F2 of the finger F. In this embodiment, the first flow channel 301A is provided on the inside, but of course it is not limited to this and may be on the outside.

[0034] The second flow channel 302A is provided opposite the first flow channel 301A, and in this embodiment, it is provided on the outside of the flow channel K. In this embodiment, since the tactile presentation device 1 is attached to a finger F, the second flow channel 302A is curved along the side surface F2 of the finger F, similar to the first flow channel 301A. In this embodiment, the second flow channel 302A is provided on the outside, but of course it is not limited to this and may be provided on the inside.

[0035] Furthermore, as shown in Figure 3(B), the flow path portion 30A is formed to be inclined toward the fingertip F3 of the user Y's hand when viewed from the side F2 of the user Y's finger F. In other words, as shown in Figure 3(B), the flow path portion 30 has a flow path inclined portion 30A1 that is inclined toward the fingertip F3 from a direction perpendicular to the nail T (the up and down direction in Figure 3(B)). The flow path inclined portion 30A1 is formed along a direction perpendicular to the pad F1 of the finger F when viewed from the side F2 of the finger F. The inclination angle of the flow path inclined portion 30A1 is approximately 0 to 45 degrees (excluding 0 degrees), and 20 degrees is particularly preferred.

[0036] In this embodiment, the first flow channel 301A of the flow channel 30 is an elastic material and is composed of an elastomer such as polyurethane rubber (thermoplastic polyurethane resin) or silicone rubber, but is not limited to this.

[0037] In this embodiment, the second flow channel 302A of the flow channel 30 is an elastic material and is made of a hard elastomer or a thin metal such as stainless steel. In this embodiment, the second flow channel 302A is made of a material that is less elastic than the first flow channel 301A.

[0038] In this embodiment, the materials used to make up the first flow channel 301A and the second flow channel 302A are different, but of course, this is not limited to this; they may be made of the same material, or they may not be elastic.

[0039] Furthermore, as shown in Figure 2, the width of the flow channel 30A (in the vertical direction in Figure 2) is approximately 2 mm to 10 mm (for example, 5 mm) in this embodiment, and as shown in Figure 3, the thickness of the flow channel 30A (in the direction perpendicular to the flow channel K) is approximately 0.1 mm to 1 mm (for example, 0.5 mm).

[0040] As described above, the expansion portion 30B is connected to the first flow path end 303A so that fluid can flow in and out, and is configured to be accessible to the user Y. The expansion portion 30B has a first expansion surface portion 301B that is accessible to the user Y, and a second expansion surface portion 302B that faces the first expansion surface portion 301B and has lower elasticity than the first expansion surface portion 301B. In this embodiment, the expansion portion 30B is attached to the pad F1 side of the finger F of the user Y's hand. In this embodiment, the shape of the expansion portion 30B is approximately circular, but of course it is not limited to this, and may be rectangular or ring-shaped.

[0041] The expansion section 30B is hollow, similar to the flow path section 30A, and its internal space expands or contracts due to the actuator 20. In other words, by driving the actuator 20, the pressure and / or volume of the fluid in the expansion section 30B changes via the flow path section 30A, causing the expansion section 30B to expand or contract.

[0042] The first expansion surface portion 301B is connected to the first flow channel portion 301A described above. In this embodiment, the first expansion surface portion 301B is an elastic material and is composed of an elastomer such as polyurethane rubber (thermoplastic polyurethane resin) or silicone rubber, but is not limited to this.

[0043] The second expansion surface portion 302B is connected to the second flow path portion 302A described above. In the present embodiment, the second expansion surface portion 302B is an elastic body and is made of a hard elastomer or a thin metal such as stainless steel. In the present embodiment, the second expansion portion 302B is made of a material having lower stretchability than the first expansion portion 301B.

[0044] Also, as shown in FIG. 2, the width (diameter) (vertical direction in FIG. 2) of the expansion portion 30B is approximately 10 mm to 20 mm (for example, 15 mm) in the present embodiment, and as shown in FIG. 3, the thickness of the expansion portion 30B (direction orthogonal to the flow path K) is approximately 0.1 mm to 1 mm (for example, 0.5 mm). In the present embodiment, the width of the expansion surface portion 30B is larger than the width of the flow path portion 30A. Thereby, a stronger tactile stimulus can be presented. Of course, this is not the only case, and the width of the expansion portion 30B may be equal to or less than the width of the flow path portion 30A.

[0045] In the present embodiment, the first flow path portion 301A and the first expansion surface portion 301B are integrally formed and made of the same material. Also, the second flow path portion 302A and the second expansion surface portion 302B are integrally formed and made of the same material. However, of course, this is not limited to this, and the first flow path portion 301A and the first expansion surface portion 301B, and the second flow path portion 302A and the second expansion surface portion 302B may be made of different materials. Also, hereinafter, the first flow path portion 301A and the first expansion surface portion 301B formed inside are also referred to as the first sealing member M1, and the second flow path portion 302A and the second expansion surface portion 302B formed outside are also referred to as the second sealing member M2.

[0046] (Actuator) The actuator 20 is connected to the other side (the second flow path end portion 304A) of the flow path portion 30A and expands or contracts the expansion portion 30B by changing at least one of the pressure and volume of the fluid in the expansion portion 30B. In the present embodiment, the actuator 20 is attached to the nail T side of the finger F of the user Y's hand (see FIG. 3).

[0047] The actuator 20 is a device that changes at least one of the pressure and volume of the fluid in the expansion part 30B, and is, for example, a pump or a fan, but is not limited thereto, and may be an electrode for driving an electroviscous fluid. Here, the fluid is air or liquid. The air is, for example, nitrogen, helium, etc., but is not limited thereto. The liquid is, for example, water or oil, but is not limited thereto, and may be the above-mentioned electroviscous fluid (a fluid whose viscosity increases when an electric field is applied). The actuator 20 takes in the fluid from a tank having the fluid, the outside world (the space around the tactile display device 1), etc. and causes it to flow into the expansion part 30B, or causes the fluid in the expansion part 30B to flow out to the tank, the outside world, etc., thereby changing at least one of the pressure and volume of the fluid in the expansion part 30B. The actuator 20 connects the flow path part 30A and the expansion part 30B to the tank or the outside world via the inflow / outflow port. The actuator 20 is driven under the control of the control device 10 described later.

[0048] When air is used as the fluid, it can be easily made to flow in and out from the outside, and furthermore, since it is lighter, the weight of the tactile display device 1 can also be made lighter. When a liquid is used as the fluid, since it is incompressible, the response speed when the actuator 20 is driven is fast, and a tactile stimulus can be presented to the user quickly.

[0049] (Control device) The control device 10 controls the driving of the actuator 20 described above. The control device 10 includes an acquisition unit 11, a drive control unit 12, and a storage unit 13.

[0050] The acquisition unit 11 acquires information necessary for driving the actuator 20 from the storage unit 13 described later. Here, the necessary information is, for example, the timing for driving the actuator 20 and the degree to which the actuator 20 is to be driven (such as the degree to which the fluid is to flow into and out of the expansion part 30B).

[0051] Furthermore, the drive control unit 12 generates a drive signal to drive the actuator 20 based on the information acquired by the acquisition unit 11. The actuator 20 is driven based on the drive signal generated by the drive control unit 12. In addition, the storage unit 13 has a non-volatile memory that stores various programs and data necessary for processing by the control device 10. As described above, the storage unit 13 has the information necessary to drive the actuator 20.

[0052] As a result, the tactile presentation device 1 can provide the user with sufficient tactile stimulation. In other words, in this embodiment, the first expanding surface portion 301B of the expanding portion 30B is more elastic than the second expanding surface portion 302B, so it changes (expands or contracts) more significantly towards the first expanding surface portion 301B side depending on the fluid. As a result, even with a limited amount of fluid inflow, it expands significantly towards the first expanding surface portion 301B side, which increases the response speed when the actuator 20 is driven.

[0053] Furthermore, since the first expandable surface portion 301B is more elastic than the second expandable surface portion 302B, the first expandable surface portion 301B expands more significantly compared to the case where the first expandable surface portion 301B and the second expandable surface portion 302B are made of the same material. This makes it possible to suppress variations in the tactile stimuli presented depending on how the tactile presentation device 1 is worn.

[0054] Furthermore, by making the thickness of the area that presents tactile stimuli (in this embodiment, the pad F1 of the finger F, the skin surface with high tactile sensitivity) thinner, and by placing the actuator 20 on the side that does not present tactile stimuli (in this embodiment, the nail T of the finger F, the skin surface with low tactile sensitivity), the area that presents tactile stimuli can be made thinner. This makes it possible to suppress interference with real objects. In other words, when touching a real object (for example, a mug or smartphone) with the pad F1 of the finger F, it is possible to touch it with a sensation close to that of not wearing anything. It also makes it possible to suppress interference with interaction between fingers or other body parts. In other words, because the actuator 20 is on the nail T side, it is easier to avoid contact between the tactile presentation devices 1 provided on the fingers (for example, it is easier to make a pinch gesture that brings the thumb and index finger together). Furthermore, by performing tactile stimulation simultaneously with interaction, it is possible to express emphasis or modulation of the tactile stimulation. In other words, for example, when presenting tactile stimulation to finger F when throwing a ball in a VR game, the actuator 20 is located on the nail T side, which makes it possible to more closely replicate the feeling of actually throwing a ball.

[0055] Furthermore, since the flow channel section 30A has a flow channel inclined section 30A1, when the tactile presentation device 1 is attached to the finger F, it becomes possible to bring the expanding section 30B into contact with the pad F1 of the finger F perpendicularly, following the shape of the finger F which becomes thinner towards the tip of the fingertip F3, thereby providing sufficient tactile stimulation.

[0056] Furthermore, in this embodiment, the elastic modulus of the sheet portion 30 differs between the expansion portion 30B and the flow channel portion 30A. Since the width of the expansion portion 30B is wider than the width of the flow channel portion 30A (the expansion portion 30B has a higher elastic modulus than the flow channel portion 30A), the tactile presentation device 1 is easier to attach, and the ease of attachment can be improved. In other words, in the initial shape (when no external force is applied), the flow channel portion 30A is greatly bent, and the expansion portion 30B is not bent much, resulting in a shape like a horizontally elongated ellipse. At this time, a finger F cannot be inserted as is, but by applying force from the side to pinch it (applying force to the flow channel portion 30A), the ellipse becomes a shape that is slightly closer to a circle, making it possible to insert a finger F. When the pinching force from the side is removed in that state, the circular shape tries to return to its original shape by stretching horizontally and contracting vertically. As a result, the fingertip F1 is pressed with a certain amount of pressure and fixed, and the attachment is completed. For this reason, the tactile presentation device 1 composed of the sheet portion 30 described above can be easily attached, and the ease of attachment (fixation) can be improved.

[0057] In this embodiment, there were two flow channels 30A in the sheet portion 30, but of course, it is not limited to this, and there may be one or three or more.

[0058] <Modification 1-1> Next, modifications of the present technology will be described. In this embodiment, the tactile presentation device 1 was attached to the fingertip (distal phalanx), but of course it is not limited to this, and may be attached to the middle phalanx F4, the proximal phalanx F5, the wrist H3, the palm H1, or the back of the hand H2. Figure 5 shows modifications of the present technology, where (A) shows the tactile presentation devices 1A to 1C attached to the proximal phalanx F5 of the finger F, the middle phalanx F4, and the wrist H3, and (B) shows the tactile presentation device 1D attached to the back of the hand H2 and the palm H1. Furthermore, in this embodiment, attaching to the distal phalanx, middle phalanx, or proximal phalanx does not mean attaching to the bone itself, but rather attaching to the location where the bone is located.

[0059] As shown in Figure 5(A), the tactile presentation device 1A is mounted on the middle phalanx bone F4 of the finger F. More specifically, the actuator (not shown) of the tactile presentation device 1A is positioned (mounted) on the back side (back of the hand) of the middle phalanx of the finger F of the user Y, the expansion portion 30B is positioned (mounted) on the palm side of the middle phalanx of the finger F of the user Y, and the flow path portion 30A is positioned (mounted) on the lateral side of the middle phalanx of the finger F of the user Y. In this embodiment, the actuator 20 is positioned on the back of the hand and the expansion portion 30B is positioned on the palm side, but of course, it is not limited to this, and the actuator 20 may be positioned on the palm side and the expansion portion 30B may be positioned on the back of the hand.

[0060] As shown in Figure 5(A), the tactile presentation device 1B is mounted on the proximal phalanx F5 of the finger F. More specifically, the actuator (not shown) of the tactile presentation device 1C is positioned (mounted) on the back side (back of the hand) of the proximal phalanx of the finger F of the user Y's hand, the expansion portion 30B is positioned (mounted) on the palm side of the proximal phalanx of the finger F of the user Y's hand, and the flow channel portion 30A is positioned (mounted) on the lateral side of the proximal phalanx of the finger F of the user Y's hand. In this embodiment, the actuator (not shown) is positioned on the back of the hand and the expansion portion 30B is positioned on the palm side, but of course, it is not limited to this, and the actuator (not shown) may be positioned on the palm side and the expansion portion 30B may be positioned on the back of the hand.

[0061] Furthermore, as shown in Figure 5(A), the tactile presentation device 1C is mounted on the wrist H3. Specifically, the actuator (not shown) of the tactile presentation device 1C is positioned (mounted) on the back of the user Y's hand, the expansion section 30B is positioned (mounted) on the palm side of the user Y's hand, and the flow path section 30A is positioned (mounted) on the side of the user Y's hand. In this embodiment, the actuator (not shown) is positioned on the back of the hand and the expansion section 30B is positioned on the palm side, but of course, it is not limited to this, and the actuator 20 may be positioned on the palm side and the expansion section 30B may be positioned on the back of the hand.

[0062] As shown in Figure 5(B), the tactile presentation device 1D is mounted on the back of the hand H2 and the palm H1. More specifically, the actuator 20 of the tactile presentation device 1D is positioned (mounted) on the back of the user Y's hand, the expansion section 30B is positioned (mounted) on the palm side of the user Y's hand, and the flow path section 30A is positioned (mounted) on the side of the user Y's hand. In this embodiment, the actuator 20 is positioned on the back of the hand and the expansion section 30B is positioned on the palm side, but of course, it is not limited to this, and the actuator 20 may be positioned on the palm side and the expansion section 30B may be positioned on the back of the hand.

[0063] As described above, by reducing the thickness of the area that presents tactile stimuli and placing the actuator 20 on the area that does not present tactile stimuli, it is possible to make the area that presents tactile stimuli thinner not only on the fingertips but also on various other parts of the body. This makes it possible to obtain the effects and advantages shown in the above-described embodiment.

[0064] Furthermore, the modifications are not limited to those described above; for example, the actuator 20 may be positioned on the thumb-side of the index finger.

[0065] <Modification 1-2> Next, modifications of this technology will be described. In this embodiment, two flow channels 30A were provided in the tactile presentation device 1, but of course, it is not limited to this, and there may be only one (on one side). Figure 6 shows modifications of this technology, where (A) is a diagram of a finger F being held from one side, and (B) is a diagram of the tactile presentation device 1G attached to the device D.

[0066] As shown in Figure 6(A), the tactile presentation device 1E is provided with an actuator 20E on the nail T side, an inflatable portion 30EB on the pad side of the finger F, and a flow channel portion 30EA connected to the actuator 20E and the inflatable portion 30EB, which is positioned (attached) only on one side F3 of the finger F. The tactile presentation device 1E is attached by using the actuator 20E and the inflatable portion 30EB to grip the user's finger F with elastic force. This makes it possible to make the tactile presentation device 1E lower in cost and lighter.

[0067] Furthermore, in the above embodiment, the haptic presentation device 1 was attached to the user, but as shown in Figure 6(B), it may also be attached to the device D that the user grasps. As shown in Figure 6(B), the haptic presentation device 1F is provided with an actuator 20F on the back surface of the device D, and a flow channel section 30FA and an expansion section 30FB on the front surface. In this embodiment, the device D is a smartphone, but of course it is not limited to this. Also, in this embodiment, the actuator 20F is provided on the back surface of the device D, and a flow channel section 30FA and an expansion section 30FB on the front surface, but of course it is not limited to this, and the flow channel section 30FA and expansion section 30FB may be provided on the back surface of the device D, and the actuator 20F may be provided on the front surface.

[0068] <Second Embodiment> Next, a second embodiment of the present technology will be described. Figure 7 is a diagram of the flow channel 30GA of the tactile presentation device 1G in the second embodiment of the present technology, and Figure 8 is a diagram when fluid is flowed into the flow channel 30GA, where (A) is a diagram before fluid is flowed into the flow channel 30GA, and (B) is a diagram when fluid is flowed into the flow channel 30GA.Hereafter, the configurations that differ from the first embodiment will be mainly described, and the same reference numerals will be used for the same configurations as in the first embodiment, and their descriptions will be omitted or simplified.

[0069] The flow channel section 30GA has a plurality of protrusions KT in the width HB direction of the flow channel KG. As shown in Figure 7, the plurality of protrusions KT are formed to protrude toward each other and toward both sides of the flow channel KG (both sides in the width HB direction) along the flow channel direction KN. In this embodiment, the number of protrusions KT is 24 (12 x 2 on each side), but of course it is not limited to this. Also in this embodiment, the length of the protrusions KT in the flow channel direction KN is approximately 20 mm to 30 mm (for example, 25 mm), and the length of the protrusions KT in the width HB direction is 3 mm to 7 mm (for example, 5 mm), but of course it is not limited to this. In this embodiment, the angle at which each protrusion KT bends is approximately 30 degrees.

[0070] Furthermore, as shown in Figures 8(A) and (B), when fluid flows into the flow channel 30GA, the flow channel 30GA bends inward. This causes a force to bend inward (towards the user) during expansion, providing the user with a strong tactile stimulus (compression force). Although the flow channel 30GA bends when worn on the finger, the multiple protrusions KT expand, creating multiple points where it is prone to bending. This distributes the bending angle, preventing clogging caused by bending at a large angle in one place.

[0071] <Third Embodiment> Next, a third embodiment of the present technology will be described. Figure 9 shows the sheet portion 30H of the tactile presentation device 1H in the third embodiment of the present technology, and Figure 10 shows the amount of expansion of the sheet portion 30H, where (A) is cloth, (B) is pattern-cut cloth, and (C) is pattern-cut sheet metal. Figure 11 shows the restoring force of the sheet portion 30H, where (A) is cloth, (B) is pattern-cut cloth, and (C) is pattern-cut sheet metal.Hereafter, the configurations that differ from the first embodiment will be mainly described, and the same reference numerals will be used for configurations that are the same as in the first embodiment, and their descriptions will be omitted or simplified.

[0072] As shown in Figure 9, the sheet portion 30H further has an inner member 40A on the side that the user comes into contact with, which has a higher modulus of elasticity than the flow channel portion 30A and the expansion portion 30B and is cut out in at least a portion of it. In this embodiment, the inner member 40A is made of nylon cloth, thin stainless steel, PET resin, or the like.

[0073] As shown in Figure 9, in this embodiment, the first sealing member M1 and the second sealing member M2 are bonded together with a double-sided tape, which is the second adhesive member TP2, and the second sealing member M2 and the inner member 40A are bonded together with a double-sided tape, which is the first adhesive member TP1. In this embodiment, the first sealing member M1 and the second sealing member M2 are bonded together with double-sided tape, but of course, this is not the only method, and for example, laser welding, adhesive, or ultrasonic welding may be used. The second adhesive member TP2 is the same size as the first sealing member M1 and the second sealing member M2, and is cut to conform to the shape of the flow path K and the internal space of the expansion section 30B.

[0074] The inner member 40A includes a first inner member 41A that is positioned opposite the flow path portion 30A (first flow path portion 301A) and has a first cutout portion 411A that is cut out along the fluid inflow / outflow direction (left-right direction in Figure 9), and a second inner member 42A that is positioned opposite the expansion portion 30B (first expansion surface portion 301A) and has a second cutout portion 421A that is cut out spirally (radially) from the outside of the expansion portion 30A toward the center.

[0075] The first cutout section 411A is cut out in the shape of a single line. Of course, it is not limited to this; it may be cut out in the shape of two lines, or it may be cut out in the shape of an uneven surface in a direction perpendicular to the inflow / outflow direction, as shown in Figure 7.

[0076] As shown in Figure 9, multiple second cutouts 421A are provided and arranged in a point-symmetric (radial) manner. The spiral shape of the second cutout 421A is not limited to a spiral shape, but also includes curved shapes of less than one rotation and spiral radial shapes. In this embodiment, the second cutout 421A is formed such that the cutout area increases outward from the center of the expansion portion 30B. This makes it possible to keep the strength of the inner member 40A constant. Alternatively, by keeping the cutout area constant and increasing the area of ​​the inner member 40A outward, the center of the expansion portion 30B can be expanded more significantly.

[0077] In Figure 10, the vertical axis represents the height (mm) when expanded, and the horizontal axis represents the length of the sheet portion 30H (length in the left-right direction as shown in Figure 9) (mm). As shown in Figure 10, the amount of expansion of the sheet portion 30H is most often when the inner member 40A is pattern-cut fabric (fabric with a portion cut out as shown in Figure 9), followed by pattern-cut sheet metal (sheet metal with a portion cut out as shown in Figure 9), and then fabric (not pattern-cut, shaped to cover the first sealing member M1).

[0078] Figure 11 shows the height (mm) at the time of expansion on the vertical axis and time (s) on the horizontal axis. Figure 11 shows the restoring force after expansion. As shown in Figure 11, the fastest recovery after expansion was achieved with pattern-cut sheet metal, followed by pattern-cut fabric, and then fabric.

[0079] As described above, by providing the inner member 40A on the side of the first sealing member M1, the speed at which it returns from the expanded state to its original state (initial state) is increased. This increases the amplitude when it vibrates, thereby increasing the intensity of the tactile stimulation given to the user. Furthermore, the cutout helps to suppress the reduction in the amount of deformation (expansion height).

[0080] <Modification 3-1> Next, a modification of the present technology will be described. In this embodiment, the tactile presentation device 1H has an inner member 40A on the side of the first sealing member M1, but of course it is not limited to this, and an outer member 40B may also be provided on the side of the second sealing member M2. Figure 12 shows the outer member 40B of a modification of the present technology.

[0081] As shown in Figure 12, the sheet portion 30I of the tactile presentation device 1I further includes an outer member 40B in addition to the inner member 40A. The outer member 40B is positioned opposite the inner member 40A to the expansion portion 30B and the flow path portion 30A (second sealing member) and has a higher modulus of elasticity than the expansion portion 30B and the flow path portion 30A. In this embodiment, the outer member 40B is made of nylon cloth, thin stainless steel, PET resin, or the like.

[0082] In other words, the outer member 40B is positioned opposite the second sealing member M2, as shown in Figure 12. The outer member 40B is also bonded to the second sealing member M2 by a double-sided tape, which is the third adhesive member TP3, as shown in Figure 12.

[0083] Furthermore, the length of the inner member 40A along the fluid inflow / outflow direction (left-right direction in Figure 12) is formed to be shorter than the length of the outer member 40B along the fluid inflow / outflow direction. The length of the inner member 40A is approximately 95% to 99% or less of the length of the outer member 40B. In other words, when manufacturing the tactile presentation device 1I, the outer member 40B needs to be longer than the inner member 40A in order to bend the sheet portion 30I. This prevents the inner member 40A and the outer member 40B from bending or being pulled more than necessary even when the sheet portion 30I is bent.

[0084] The outer member 40B includes a first outer member 411B provided at a position opposite to the flow path portion 30A (first flow path portion 301A) and having a notch KK cut along the fluid inflow / outflow direction (left-right direction in Figure 12), and a first outer member 42B provided at a position opposite to the expansion portion 30B (first expansion surface portion 301A).

[0085] As described above, the outer member 40B has notches KK in a direction perpendicular to its length along the fluid inflow and outflow direction. Multiple notches KK are provided at positions opposite the flow path section 30A and are cut alternately (alternatingly from the top and bottom directions in Figure 12). In other words, when manufacturing the tactile presentation device 1I, the outer member 40B needs to stretch more than the inner member 40A in order to bend the sheet section 30I. As a result, even if the sheet section 30I is bent, the notches KK cause the outer member 40B to stretch, which prevents it from being pulled more than necessary.

[0086] The sheet portion 30I of the tactile presentation device 1I has an inner member 40A and an outer member 40B, and therefore the sheet portion 30I as a whole is flexible. This is because when it expands, the expandable portion 30B contracts radially inward, increasing the height to which the expandable portion 30B expands. This allows for stronger tactile stimulation to be provided to the user.

[0087] Furthermore, in this embodiment, the outer member 40B is not cut out like the inner member 40A. This suppresses the outer member 40B from bulging when the expansion portion 30B expands. Alternatively, the outer member 40B may be cut out like the inner member 40A. This increases the overall deformation amount and further increases the amount of expansion on the inside. Also, for example, when the flow channel portion 30A is pinched to attach the tactile presentation device 1I to a finger F, the increased expansion on both sides when pinched makes attachment easier.

[0088] Furthermore, if the outer member 40B is made of a material with a lower modulus of elasticity than the inner member 40A, such as cloth, the amount of expansion of the expansion portion 30B can be increased. In addition, because the outer member 40B is made of a material with a low modulus of elasticity, such as cloth, the overall hardness of the sheet becomes softer, making it easier to transmit local deformations to the skin of the fingers. For example, when touching a keyboard, if the outer member 40B is a sheet metal sheet, it is difficult to feel the edges of the keyboard, but if the outer member 40B is cloth (and all other layers are softer than cloth), the edges of the keyboard can be felt when touched, making it easier to operate.

[0089] <Modification 3-2> Next, a modification of the present technology will be described. In this embodiment, the tactile presentation device 1I was provided with only the outer member 40B on the side of the second sealing member M2, but of course it is not limited to this, and a support member 50 may be provided on the outside of the outer member 40B. Figure 13 is a diagram showing the support member 50 of a modification of the present technology, where (A) is a cross-sectional view of the tactile presentation device 1I', and (B) is an enlarged view of the cross-section of the tactile presentation device 1I'.

[0090] As shown in Figures 13(A) and (B), the sheet portion 30I' of the tactile presentation device 1I' further has a support member 50 on the side of the outer member 40B opposite to the flow channel portion 30A and the expansion portion 30B. The support member 50 is provided in a position opposite the second sealing member M2 to the outer member 40B and has an elastic modulus equal to or higher than that of the outer member 40B. In this embodiment, the support member 50 is made of a material with a high elastic modulus, such as sheet metal, PET plate, or resin.

[0091] The support member 50 is provided so as to cover the outer member 40B and is installed (fixed) to the housing on which the control device 10 and actuator 20 are installed. The support member 50 is bonded to the central part of the outer member 40B, which is the center of the expansion portion 30B, by adhesive SZ. Here, the center of the expansion portion 30B means the center when viewed from the direction perpendicular to the first expansion surface portion 301B and the second expansion surface portion 302B. Also, the center is not limited to the exact center, but also includes the approximate center. The support member 50 is not fixed to its outer circumference (end) by adhesive SZ. The area that is not fixed is, for example, within 1 mm from the end of the support member 50. In this embodiment, the central part of the outer member 40B and the support member 50 are bonded by adhesive SZ, but of course, it is not limited to this, and the central part of the outer member 40B and the support member 50 may simply be in contact. Even in this case, the outer circumference of the outer member 40B does not come into contact with the support member 50.

[0092] In other words, in this embodiment, since the support member 50 is provided on the outside of the outer member 40B, it is possible to suppress the movement of the expansion portion 30 towards the support member 50 when it expands. As a result, the component of the force that the fluid exerts in the direction of pushing against the user's skin (finger F) increases, and thus the tactile stimulation presented to the user can be increased. Also, since the outer member 40B is supported by the support member 50, expansion toward the support member 50 when the fluid flows in is suppressed, so the response speed of the tactile stimulation presented to the user can be improved. Furthermore, by forming the support member 50 to be narrower in width than the outer member 40B and the inner member 40A, or by shifting it toward the base of the finger, the flexibility of the entire sheet on the fingertip side is increased, the amount of tactile information that can be received from the actual object increases, and actual work becomes easier.

[0093] Furthermore, the elastic modulus of the support member 50 is not uniform, and the elastic modulus is higher near the fingertip (near the center of the expansion portion 30B in this configuration) than near the side of the finger (near the flow channel portion 30A in this configuration) (because the width of the support member 50 is wider near the fingertip, or narrower near the side of the finger / has notches to lower the elastic modulus, etc., so the elastic modulus is higher near the expansion portion 30 of the support member 50 than near the flow channel portion 30A), making it easier to attach and improving the fit (fixability).

[0094] <Modification 3-3> Next, a modification of the present technology will be described. In this embodiment, the tactile presentation device 1H was provided with an inner member 40A on the first sealing member side, but of course it is not limited to this, and an outer member 40B may also be provided on the second sealing member side.

[0095] <Modification 3-4> In the embodiment described above, the inner member 40A was placed on the side of the first sealing member M1 that comes into contact with the user, but of course, it is not limited to this, and may be provided between the first sealing member M1 and the second sealing member M2.

[0096] Furthermore, in the embodiment described above, the inner member 40A had a first inner member 41A and a second inner member 42A, but of course it is not limited to this, and it may have only one of them.

[0097] <Fourth Embodiment> Next, a fourth embodiment of the present technology will be described. Figure 14 is a diagram of the tactile presentation device 1J in the fourth embodiment of the present technology, where (A) is a front view, (B) is a top view, and (C) is a diagram showing the presentation of tactile stimuli. Figure 15 is a diagram showing the intensity of stimuli at the placement location of the tactile presentation device 1J, where (A) is a piezoelectric element next to the nail, (B) is a piezoelectric element on the nail, and (C) is an LRA next to the nail. Below, the configurations that differ from the first embodiment will be mainly described, and the same reference numerals will be used for the same configurations as in the first embodiment, and their descriptions will be omitted or simplified.

[0098] The sheet portion 30J of the tactile presentation device 1J is provided so as to surround the nail T, and the tactile presentation portion 30B', which presents tactile stimuli to the user, is provided on the nail fold SK of the user's finger F. The attachment portion SB1 has the function of attaching the tactile presentation portion 30B' to the user's finger F. Here, the nail fold SK is the skin portion on both sides of the nail and has the function of supporting the nail from the left and right.

[0099] In the above, the tactile presentation part is not limited to the inflatable part 30B, but can also be, for example, a piezoelectric element, dielectric elastomer, LRA (Linear Resonant Actuator), VCM (Voice Coil Motor), or fluid actuator. Furthermore, the mounting part 30B' corresponds to the sheet part 30A in the first embodiment.

[0100] Furthermore, as shown in Figure 14(C), tactile stimulation is presented to the user by vibrating the nail T side hidden by the skin through the skin. In this regard, Figure 15 shows an experiment on the sensitivity when tactile stimulation is presented to the side of the nail (nail fold) and on the nail T using a piezoelectric element and LRA. Here, "0" means no stimulation is felt, "1" means it can be felt with concentration, "2" means it is clearly felt, and "3" means it is unpleasantly felt. In Figure 15, the vertical axis is the number of people, and the horizontal axis is the frequency.

[0101] When sinusoidal stimulation of 1 to 512 Hz was applied, it was found that placing a piezoelectric element next to the nail allowed for a wider range of stimulation on the nail surface, particularly low frequencies (below 100 Hz), compared to using the LRA or piezoelectric element. This is because there are many tactile receptors (Ruffini endings) responsible for low frequencies around the nail. Also, because nails are harder than skin, stress concentration occurs between the skin and nail, resulting in a stronger sensation (tactile stimulation).

[0102] Based on the above, by placing the tactile presentation part next to the nail (nail fold), it is possible to present the user with stronger tactile stimulation. Furthermore, with the above configuration, the ventral side of finger F can be exposed for manipulating real objects.

[0103] Furthermore, by implementing the tactile feedback unit on the inside of the sheet portion 30J, appropriate contact conditions and initial pressure can be achieved, enabling the presentation of strong tactile stimuli.

[0104] Furthermore, in this embodiment, by arranging multiple tactile presentation units, various tactile stimuli can be presented to the user using time differences and intensity differences.

[0105] In this embodiment, the tactile presentation unit was located next to the nail, but it is not limited to this location; any area with thin skin is acceptable. Here, skin includes the epidermis, dermis, and subcutaneous tissue, and its thickness is 2 mm on average. Therefore, an area with thin skin is an area where the skin thickness is less than 2 mm. Areas with thin skin include, in addition to the nail fold, the fingertips (including the nails), the back of the fingers, the back of the hands, around the joints, the face, and the neck.

[0106] <Modification 4-1> Next, a modification of the present technology will be described. In this embodiment, the tactile presentation device 1J was provided so that the tactile presentation part was in direct contact with the user, but of course it is not limited to this, and a contact part 30B'2 may be provided between the tactile presentation part and the user's skin. Figure 16 is a diagram showing a modification of the present technology, the tactile presentation device 1J', and Figure 17 is a diagram showing the pattern of the contact part 30B'2, where (A) is the first contact part 30B'2A, (B) is the second contact part 30B'2B, (C) is the third contact part 30B'2C, and (D) is the fourth contact part 30B'2D. Also, Figure 18 is a diagram showing the intensity of stimulation in the shape of the contact part B'2 of the above tactile presentation device 1J', where (A) is a diagram showing stimulation by a piezoelectric element at 64 Hz and (B) is a diagram showing stimulation by a piezoelectric element at 128 Hz presented to the user.

[0107] As shown in Figure 16, the tactile presentation device 1J' has a tactile presentation unit 30B'' and a mounting unit SB2. In this embodiment, the mounting unit SB2 surrounds the user's finger F and fixes the tactile presentation unit 30B'' (described later) onto the nail fold SK. The material of the mounting unit SB2 is not particularly limited, but may be, for example, a thin metal such as stainless steel, a plastic such as PET resin, a rubber material such as urethane or silicone, or a fabric material such as cloth.

[0108] The tactile presentation unit 30B'' includes a stimulus generation unit 30B''1 provided on the attachment unit SB2 that generates stimuli to be presented to the user, and a contact unit 30B'2 located between the stimulus generation unit 30B''1 and the user (the user's finger F), provided on the stimulus generation unit 30B''1, which presents tactile stimuli to the user.

[0109] In this embodiment, the stimulus generation unit 30B''1 is a piezoelectric element, but of course it is not limited to this, and may be a dielectric elastomer, LRA (Linear Resonant Actuator), VCM (Voice coil Motor), fluid actuator, expansion unit 30B, etc.

[0110] As shown in Figure 17(A), the first contact portion 30B''2A, which is the first pattern of the contact portion 30B''2, is a plate shape with a length NS of 10 mm, a width HB of 4 mm, and a thickness of 1 mm. The side of the first contact portion 30B''2A that comes into contact with the user is formed flat.

[0111] As shown in Figure 17(B), the second contact portion 30B''2B, which is the second pattern of the contact portion 30B''2, is a plate shape with a length NS of 10 mm, a width HB of 4 mm, and a thickness of 1 mm. The second contact portion 30B''2B has a circular protrusion E1 with a diameter of 2.8 mm on the side that comes into contact with the user. As shown in Figure 18(B), three protrusions E1 are provided in the longitudinal direction.

[0112] As shown in Figure 17(C), the third contact portion 30B''2C, which is the third pattern of the contact portion 30B''2, is a plate shape with a length NS of 10 mm, a width HB of 4 mm, and a thickness of 1 mm. The third contact portion 30B''2C has a rectangular protrusion E2 with a width of 0.8 mm and a length of 7.8 mm on the side that contacts the user. As shown in Figure 18(C), three protrusions E2 are provided in the width direction.

[0113] As shown in Figure 17(D), the fourth contact portion 30B''2D, which is the fourth pattern of the contact portion 30B''2, is a plate shape with a length NS of 10 mm, a width HB of 4 mm, and a thickness of 1 mm. The fourth contact portion 30B''2D has a circular protrusion E3 with a diameter of 0.8 mm on the side that comes into contact with the user. As shown in Figure 17(D), there are 27 protrusions E2, arranged in 3 rows in the width direction and 9 in the length direction.

[0114] Furthermore, as shown in Figures 18(A) and (B), tactile stimulation is presented to the user by vibrating the nail T side hidden by the skin through the skin. As shown in Figures 18(A) and (B), on the horizontal axis, A (Flat) is the first contact point 30B''2A, B (3 Dots) is the second contact point 30B''2B, C (3 Lines) is the third contact point 30B''2C, and D (27 Dots) is the fourth contact point 30B''2D. The vertical axis represents the stimulus intensity value reported by the subject (value reported using VAS (Visual Analog Scale)), with the stimulus intensity of A being zero, and a positive value indicating a stronger stimulus than A and a negative value indicating a weaker stimulus than A.

[0115] As shown in Figures 18(A) and (B), the second contact portion 30B''2B can provide a stronger stimulus to the user than the third contact portion 30B''2C and the fourth contact portion 30B''2D. This suggests that each individual convex shape pattern, which is somewhat coarser than a finely textured pattern, provides a stronger stimulus to the user. In other words, if the convex portion is small, the amount of deformation of the skin caused by each convex portion is small. However, if the convex portion is large, the amount of deformation of the skin caused by each convex portion is large. For this reason, it is preferable that the contact portion 30B''2 has a convex shape with a diameter of 1 mm or more. In addition, although the surface of the first contact portion 30B''2A is flat, the outer edge portion contacts the skin, contributing to the presentation of a strong tactile stimulus.

[0116] <Fifth Embodiment> Next, a fifth embodiment of the present technology will be described. Figure 19 is a diagram of the tactile presentation device 1L in the fifth embodiment of the present technology, and Figure 20 is a diagram showing the intensity of stimulation of the tactile presentation device 1L, where (A) presents tactile stimulation to the side of the nail SK and the ventral side F1 of the finger, and (B) presents tactile stimulation to the side of the nail SK. The following will mainly describe the configurations that differ from the first embodiment, and the same reference numerals will be used for the same configurations as in the first embodiment, and their descriptions will be omitted or simplified.

[0117] As shown in Figure 19, the tactile presentation device 1L has a first inflatable portion 30B' (first tactile presentation portion) positioned on the side SK of the fingernail and a second inflatable portion 30B'' (second tactile presentation portion) positioned on the ventral side F1 of the finger. In the above description, the inflatable portion 30B was used as an example to explain the configuration for presenting tactile stimuli to the user, but of course, it is not limited to this, and examples of tactile presentation portions include piezoelectric elements, dielectric elastomers, LRAs (Linear Resonant Actuators), VCMs (Voice Coil Motors), and fluid actuators.

[0118] Regarding the tactile presentation device 1L, Figure 20 shows an experiment on the sensitivity when tactile stimuli were presented to the side of the nail (nail fold) and the pad of the finger using a piezoelectric element. Here, "0" means no stimulus is felt, "A" means it is felt at the nail, "AB" means it is felt at the nail and the pad of the finger, "B" means it is felt at the pad of the finger, and "C" means it is felt elsewhere. In Figure 21, the vertical axis is the number of people, and the horizontal axis is the frequency.

[0119] When sinusoidal stimulation of 1-512 Hz was applied to the side of the nail, the stimulation, which was mostly felt on the nail, became more easily felt on the fingertip or even the entire fingertip when the same stimulation was simultaneously applied to the fingertip. In other words, stimulation that was only felt on the nail became more easily felt on the fingertip as well. This suggests that Pacinian corpuscles, which are responsible for high frequencies (above 200 Hz), have poor spatial resolution compared to Merkel cells, which are responsible for low frequencies (below 100 Hz).

[0120] Based on the above, by placing a tactile presentation element on the side of the nail (nail fold) and a tactile presentation element on the pad of the finger, it is possible to present the user with stronger tactile stimulation.

[0121] Furthermore, tactile receptors (Pacinian corpuscles) distributed in the palms, fingers, and nails, which primarily sense vibrations, have poor spatial sensitivity, making it difficult to pinpoint the location of high-frequency stimulation. Therefore, even when stimulation is presented to the side of the nail, the low-frequency stimulation to the fingertip can pull the sensation in the fingertip or even the entire finger, making it feel as if tactile stimulation is occurring there as well. This makes it possible to make a user feel stimulation in another location, such as the fingertip, even when tactile stimulation is presented to the side of the nail. For example, in VR content where a user touches a button with the pad of their finger, providing tactile feedback that can be felt on the fingertip eliminates the discrepancy in the area where tactile sensations are perceived, thereby enhancing immersion.

[0122] Furthermore, by implementing a tactile feedback unit inside the wearable device, it is possible to achieve appropriate contact conditions and initial pressure, thereby providing strong tactile stimuli.

[0123] Furthermore, in this embodiment, by arranging multiple tactile presentation units, various tactile stimuli can be presented to the user using time differences and intensity differences.

[0124] <Sixth Embodiment> Next, a sixth embodiment of the present technology will be described. Figure 21 is a diagram of the tactile presentation device 1M in the sixth embodiment of the present technology, where (A) is a diagram before fluid is introduced and (B) is a diagram when fluid is introduced. Figure 22 is an overall view of the tactile presentation device 1M. Figure 23 is an exploded view of the contact portion 30CM of the tactile presentation device 1M. Hereinafter, the configurations that differ from the first embodiment will be mainly described, and the same reference numerals will be used for the same configurations as in the first embodiment, and their descriptions will be omitted or simplified.

[0125] As shown in Figures 21 and 22, the tactile presentation device 1M comprises a control device 10, an actuator 20, and a seat portion 30M. In this embodiment, the actuator 20 of the tactile presentation device 1M is provided on the user Y's finger F, but is not limited to this, and may be provided on the arm, leg, toes, etc., in addition to the fingers. In this technology, the arm refers to the upper limb excluding the hand and shoulder.

[0126] In this embodiment, the actuator 20 is described as, for example, a fluid pump having a piezoelectric element, but it is not limited to this. The actuator 20 and the control unit 10 are positioned on the central side (proximal side) of the user Y's body (finger F) rather than the contact portion 30. This ensures space to support the control unit 10 and the actuator 20 (because there is more space on the central side (proximal side) of the user Y's body (finger F)) while suppressing interference with wearability. If they are positioned on the extremities of the body, such as the fingertips, the weight becomes more noticeable, hindering operability for the user Y. However, as in this embodiment, by positioning the actuator 20 and the control unit 10 on the central side (proximal side) of the user Y's body (finger F) rather than the contact portion 30, interference with operability for the user Y can be suppressed.

[0127] In this embodiment, the actuator 20 is located on the dorsal side (nail T side) of the proximal phalanx (middle phalanx F4) of the user Y's finger F, but it is certainly not limited to this configuration.

[0128] The sheet portion 30M includes a flow channel portion 30AM, an expansion portion 30BM, a contact portion 30CM, a connecting portion CT, and a reinforcing member 40CM. Similar to the third embodiment described above, the sheet portion 30M further includes an inner member 40M on the side that the user Y contacts, which has a higher modulus of elasticity than the flow channel portion 30AM and the expansion portion 30BM and is cut out in at least a portion thereof. In this embodiment, the inner member 40M is made of nylon cloth, thin stainless steel, PET resin, etc. Details of the inner member 40M are the same as in the third embodiment and are therefore omitted.

[0129] As described above, by providing the inner member 40M in the flow channel section 30AM and the expansion section 30BM, the speed at which the material returns from the expanded state to its original state (initial state) is increased. This increases the amplitude when vibrating, thereby increasing the intensity of the tactile stimulation provided to the user. Furthermore, the cutouts help to suppress the reduction in the amount of deformation (expansion height).

[0130] Although not shown in Figure 22, the sheet portion 30M may further include the outer member described above in addition to the inner member 40M. The outer member is positioned opposite the inner member 40M to the expansion portion 30BM and the flow path portion 30AM and has a higher modulus of elasticity than the expansion portion 30BM and the flow path portion 30AM. In this embodiment, the outer member is made of nylon cloth, thin stainless steel, PET resin, or the like.

[0131] The sheet portion 30M of the tactile presentation device 1M has an inner member 40M and an outer member, and therefore the sheet portion 30M as a whole is flexible. This is because when it expands, the expandable portion 30BM contracts radially inward, increasing the height to which the expandable portion 30BM expands. This allows for stronger tactile stimulation to be provided to the user.

[0132] Furthermore, in this embodiment, the outer member does not have to be cut out like the inner member 40A. This suppresses the outer member from bulging when the expansion portion 30BM expands. Alternatively, the outer member may be cut out like the inner member 40M. This increases the overall deformation and further increases the amount of expansion on the inside.

[0133] Furthermore, if the outer member 40 is made of a material with a lower modulus of elasticity than the inner member 40M, such as cloth, the amount of expansion of the expansion portion 30BM can be increased. In addition, because the outer member is made of a material with a low modulus of elasticity, such as cloth, the overall hardness of the sheet becomes softer, making it easier to transmit local deformations to the skin of the fingers. For example, when touching a keyboard, if the outer member is a sheet metal sheet, it is difficult to feel the edges of the keyboard, but if the outer member is cloth (and all other layers are softer than cloth), the edges of the keyboard can be felt when touched, making it easier to operate. Also, in this embodiment, an inner member 40M and an outer member are provided, but of course, it is not limited to this, and the inner member 40M and outer member may not be provided.

[0134] In this embodiment, the inflatable portion 30BM is provided so as to contact a part of the user Y other than a joint, and is configured to provide pressure sensation to the user Y's skin. In this embodiment, the inflatable portion 30BM is provided on the ventral side of the middle phalanx (middle phalanx bone F4) of the user Y's finger F, but is of course not limited to this.

[0135] The flow channel section 30AM functions as a mounting section for the user Y to attach the expansion section 30BM and the contact section 30CM. As described above, the flow channel section 30AM is hollow and has a flow channel formed therein that allows fluid to move back and forth between the actuator 20, the expansion section 30BM, and the contact section 30CM, which will be described later.

[0136] In this embodiment, the flow path section 30AM is provided at a position different from the joints of the user Y (first joint J1 and second joint J2). In other words, the flow path section 30AM is not provided on the joints of the user Y. This makes it possible to suppress interference with the movement of the user Y (e.g., finger F).

[0137] In this embodiment, the tactile presentation device 1M was fixed to the user Y by wrapping it around the user Y, with the expansion portion 30BM and the contact portion 30CM being secured to the user Y. However, it is not limited to this, and may be provided to be worn on the hand or fingers like a glove.

[0138] The contact portion 30CM has a joint contact portion 301CM which is connected to one side of the flow path portion 30AM so that fluid can flow in and out further and is provided so as to be able to contact the inside of the joint of user Y, and a joint non-contact portion 302CM which is connected to the joint contact portion 301CM and does not come into contact with the joint of user Y.

[0139] The contact portion 30CM is hollow, similar to the expansion portion 30BM, and its internal space expands or contracts due to the actuator 20. In other words, by driving the actuator 20, the pressure and / or volume of the fluid in the connection portion 30CM changes via the flow path portion 30AM, the expansion portion 30BM, and the connection portion CT described later, causing the contact portion 30CM to expand or contract. As shown in Figures 22 and 23, the contact portion 30CM is rectangular overall in this embodiment, but it is of course not limited to this.

[0140] The joint contact portion 301CM has an expansion region BR that expands or contracts as fluid flows in and out. The expansion region BR includes at least one first expansion region BR1 formed along the joint of user Y (parallel to the axial direction around the axis of bending of the joint, and perpendicular to the direction of fluid inflow), and at least one second expansion region BR2 connected to the first expansion region BR1, with a smaller area in the direction along the joint of user Y than the first expansion region BR1. In other words, the first expansion region BR1 is formed to have a larger space (volume) for accommodating fluid than the second expansion region BR2. In this embodiment, two first expansion regions BR1 and one second expansion region BR2 are formed, but of course, it is not limited to this.

[0141] Furthermore, as shown in Figure 22, in this embodiment, the width 30BM1 of the expansion portion 30BM (the area that contacts user Y) is formed to be wider than the width 30CM1 of the expansion region BR provided in the joint contact portion 301CM (the area that contacts user Y). However, this is by no means the embodiment is limited to this.

[0142] The joint non-contact portion 302CM is capable of contacting the user Y and is located on the opposite side of the expansion portion 30BM from the joint contact portion 301CM and not facing (not in contact with) the joints of the user Y. The joint non-contact portion 302CM has a third expansion region BR3 through which fluid flows in and out. The third expansion region BR3 is spatially connected to the aforementioned expansion region BR, and fluid that has flowed into the expansion region BR flows into it. In this embodiment, the third expansion region BR3 is formed such that the area in the direction along the joints of the user Y is narrower than the first expansion region BR1 and wider than the second expansion region BR2, but of course, it is not limited to this.

[0143] In this embodiment, the contact portion 30CM is provided at a position adjacent to the expansion portion 30BM. Here, the adjacent position refers to at least one joint on the extremity side or the center side of the user Y's body from the part of the user Y where the expansion portion 30BM is located. In this embodiment, the expansion portion 30BM is provided on the ventral side of the middle phalanx F4, and the contact portion 30CM is provided at the second joint J2 (a position adjacent to the expansion portion 30BM), but of course, it is not limited to this.

[0144] As shown in Figure 22, the sheet portion 30M further has a first reinforcing member 401CM (reinforcing member) on the side that the user comes into contact with, which has a higher modulus of elasticity than the contact portion 30CM and is cut out in at least a portion. In this embodiment, the first reinforcing member 401CM is made of nylon cloth, thin stainless steel, PET resin, etc. Also, as shown in Figure 23, the sheet portion 30M further has a second reinforcing member 402CM (reinforcing member) on the side that the user does not come into contact with (opposite the first reinforcing member 401CM via the contact portion 30CM (opposite to the first reinforcing member 401CM)), which has a higher modulus of elasticity than the contact portion 30CM and is cut out in at least a portion. Also, in this embodiment, the second reinforcing member 402CM is made of nylon cloth, thin stainless steel, PET resin, etc. Also, in this embodiment, the second reinforcing member 402CM is made of a higher modulus of elasticity than the first reinforcing member 401CM, but of course, it is not limited to this.

[0145] As shown in Figure 23, in this embodiment, the third sealing member M3 and the fourth sealing member M4 are bonded together with a double-sided tape which is the third adhesive member TP3, the third sealing member M3 and the reinforcing member 40CM (first reinforcing member 401CM) are bonded together with a double-sided tape which is the fourth adhesive member TP4, and the fourth sealing member M4 and the reinforcing member 40CM (second reinforcing member 402CM) are bonded together with a double-sided tape which is the fifth adhesive member TP5, thereby creating the contact portion 30CM and the reinforcing members. In this embodiment, the third sealing member M3 and the fourth sealing member M4 are bonded together with double-sided tape, but of course, this is not the only method, and for example, laser welding, adhesive, or ultrasonic welding may be used. The third adhesive member TP3 is the same size as the third sealing member M3 and the fourth sealing member M4 and is cut to fit the shape of the internal space (expansion region BR) of the contact portion 30CM.

[0146] As shown in Figure 22, the first reinforcing member 401CM is provided at a position opposite to the contact portion 30BM and has a first reinforcing region TR1, a second reinforcing region TR2, and a third reinforcing region TR3. The first reinforcing member 401CM is provided on the side that contacts the user Y and further has a fourth reinforcing region TR4 provided at a position opposite to the connection portion CT, which will be described later. In this embodiment, the first reinforcing member 401CM is provided at a position opposite to the contact portion 30BM, but of course, it is not limited to this, and the first reinforcing member 401CM may not be provided.

[0147] As shown in Figure 22, the first reinforcement region TR1 faces the first expansion region BR1 described above and has a narrower region than the first expansion region BR1 in the direction along the joint of user Y (parallel to the axial direction around the axis in which the joint bends, and perpendicular to the direction of fluid inflow). In other words, the first expansion region BR1 has a region that does not face the first reinforcement region TR1. Furthermore, the first expansion region BR1 that faces the first reinforcement region TR1 (the contact portion 30CM facing the first reinforcing member 401CM) is less likely to expand due to fluid inflow than the first expansion region BR1 that does not face the first reinforcement region TR1 (the contact portion 30CM that does not face the first reinforcing member 401CM).

[0148] As shown in Figure 22, the second reinforcement region TR2 faces the second expansion region BR2 described above and has a wider area than the second expansion region BR2 in the direction along the joint of user Y (parallel to the axial direction around the axis in which the joint bends, and perpendicular to the direction of fluid inflow). In other words, the second expansion region BR2 is formed to be covered by the second reinforcement region TR2. As a result, the second expansion region BR2 is less likely to expand due to fluid inflow than the first expansion region BR1 (the contact portion 30CM that does not face the first reinforcing member 401CM) which does not face the first reinforcement region TR1.

[0149] As shown in Figure 22, the third reinforcement region TR3 faces the third expansion region BR3 of the joint non-contact portion 302CM described above, and has a wider area than the third expansion region BR3 in the direction along the joint of user Y (parallel to the axial direction around the axis in which the joint bends, and perpendicular to the direction of fluid inflow). In other words, the third expansion region BR3 is formed to be covered by the third reinforcement region TR3. As a result, the third expansion region BR3 is less likely to expand due to fluid inflow than the first expansion region BR1 (the contact portion 30CM that does not face the first reinforcing member 401CM) which does not face the first reinforcement region TR1.

[0150] As shown in Figure 22, the fourth reinforcement region TR4 faces the connection portion CT, which will be described later, and has a wider area than the connection region CT1 of the connection portion CT in the direction along the joint of user Y (parallel to the axial direction around the axis in which the joint bends, and perpendicular to the direction of fluid inflow). In other words, the connection region CT1 is formed to be covered by the fourth reinforcement region TR4. As a result, the connection region CT1 is less likely to expand due to fluid inflow than the first expansion region BR1 (the contact portion 30CM that does not face the first reinforcing member 401CM) which does not face the first reinforcement region TR1.

[0151] Furthermore, the second reinforcing member 402CM has the same configuration (shape) as the first reinforcing member 401CM, and is formed so that the contact portion 30CM and the connecting portion CT described later are covered by the first reinforcing member 401CM and the second reinforcing member 402CM. In this embodiment, the second reinforcing member 402CM is provided facing the contact portion 30BM and on the opposite side from the first reinforcing member 401CM, but of course, it is not limited to this, and the second reinforcing member 402CM may not be provided.

[0152] Furthermore, the connecting portion CT connects the expansion portion 30BM and the contact portion 30CM, and is configured to allow fluid to flow in and out of the contact portion 30CM through the expansion portion 30BM. The connecting portion CT has a connecting region CT1 through which fluid can flow in and out of the contact portion 30CM. The connecting region CT1 is hollow, similar to the expansion portion 30BM and the contact portion 30CM, and is configured to allow fluid to move back and forth through the contact portion 30CM. As shown in Figure 22, the connecting portion CT is rectangular overall in this embodiment, but is of course not limited to this.

[0153] As a result, the tactile presentation device 1M can provide sufficient tactile stimulation to the user. In other words, in this embodiment, the inflatable portion 30BM provides pressure sensation to the user's skin by expanding, and the contact portion 30CM provides force sensation to the user's joints by expanding. This allows for a stronger presentation of tactile stimulation to the user.

[0154] Furthermore, in VR (Virtual Reality) content, for example, when haptic feedback is provided to give users a sense of control, it becomes possible to provide users with not only pressure sensations but also force sensations, thereby improving realism (the degree of similarity to the experience of touching a real object).

[0155] Furthermore, in this embodiment, the contact portion 30CM is provided in a position adjacent to the expansion portion 30BM. This makes it possible to further improve realism (the degree of similarity to the experience of touching a real object).

[0156] Furthermore, for example, when a user presses a button in mid-air with their finger in VR (Virtual Reality) content, the contact portion 30CM provides force feedback to the user's joints, thereby stabilizing the action of holding the finger in mid-air.

[0157] The flow channel section 30AM functions as a mounting section for attaching the expansion section 30BM and contact section 30CM to the user Y. This integrates the functions of the fluid flow channel and the mounting section, allowing the entire tactile presentation device 1M to be miniaturized. Alternatively, the flow channel section 30AM and the mounting section may be configured separately. This eliminates limitations on the mounting position and shape due to the shape of the flow channel section or the positional relationship between the expansion section 30BM, contact section 30CM and the actuator 20, ensuring that the tactile presentation device 1M is securely attached to the user Y.

[0158] In this embodiment, the expansion region BR of the joint contact portion 301CM includes a first expansion region BR1 and a second expansion region BR2 connected to the first expansion region BR1, which has a narrower expansion region than the first expansion region BR1. As a result, when fluid is introduced into the expansion region BR, the joint contact portion 301CM bends inward (towards the user). In other words, a force is applied in the direction of bending inward (towards the user) during expansion, providing the user with a strong tactile stimulus (compressive force). Furthermore, although the joint contact portion 301CM bends when worn on the finger, there are multiple positions where the first expansion region BR1 and the second expansion region BR2 expand and bend easily, so the bending angle is distributed, and clogging caused by bending at a large angle in one place can be suppressed.

[0159] Furthermore, in this embodiment, the width 30BM1 of the expansion portion 30BM (the area that contacts the user Y) is formed to be wider than the width 30CM1 of the expansion region BR provided in the joint contact portion 301CM (the area that contacts the user Y). This makes it possible to present a stronger pressure sensation to the user.

[0160] Furthermore, in this embodiment, the contact portion 30CM has a joint non-contact portion 302CM that is capable of contacting the user Y and is located opposite the expansion portion 30BM to the joint contact portion 301CM, and does not face (contact) the joint of the user Y. As a result, when fluid flows into the joint contact portion 301CM and presents force sensation to the user Y, the joint non-contact portion 302CM can also press (support) the user Y (or their finger Y), thereby presenting a stronger force sensation to the user Y.

[0161] In this embodiment, the third reinforcement region TR3 faces the inflow / outflow region BR3 and has a wider area than the inflow / outflow region BR3 in the direction along the joint of the user Y. In other words, the inflow / outflow region BR3 is formed to be covered by the third reinforcement region TR3. This prevents tactile sensations from being presented to parts that do not present tactile sensations to the user. The joint non-contact portion 302CM may also be formed in a concave shape relative to the user (in other words, a shape that is concave towards the second reinforcement member 402CM). More specifically, it may be formed in a shape that conforms to the shape of the user's body (e.g., finger F) facing the joint non-contact portion 302CM when the user bends their joint. This further prevents tactile sensations from being presented to the user.

[0162] In this embodiment, the sheet portion 30M further includes a first reinforcing member 401CM (reinforcing member) on the side that the user contacts, which has a higher elastic modulus than the contact portion 30CM and is cut out in at least a portion of it. In other words, by providing the first reinforcing member 401CM on the inside (user side) of the contact portion 30CM, the speed at which it returns from the expanded state to its original state (initial state) is increased. This increases the amplitude when it vibrates and enhances the intensity of the tactile stimulation given to the user. Furthermore, because it is cut out, the reduction in the amount of deformation (expansion height) can be suppressed.

[0163] In this embodiment, the sheet portion 30M further includes a second reinforcing member 402CM (reinforcing member) on the side not in contact with the user, which has a higher modulus of elasticity than the first reinforcing member 401CM and is partially cut out. This makes it possible to suppress the bulging towards the second reinforcing member 402 when the contact portion 30CM expands, thereby providing a stronger tactile sensation to the user Y.

[0164] In this embodiment, the first reinforcing member 401CM is provided at a position opposite the contact portion 30BM and includes a first reinforcing region TR1 having a narrower area than the first expansion region BR1, and a second reinforcing region TR2 having a wider area than the second expansion region BR2 (when viewed from the joint side of user Y, the second expansion region BR2 is covered by the second reinforcing region TR2). This makes it possible to make the first expansion region BR1 in the contact portion 30CM more flexible before expansion and more flexible after expansion, thereby increasing the magnitude of the change and providing a stronger force sensation to the user. The second expansion region BR2 is configured to be narrower than the second reinforcing region TR2. In other words, by narrowing the area that does not provide force sensation to the user, it is possible to shorten the expansion time of the entire expansion region BR and improve responsiveness.

[0165] In this embodiment, the fourth reinforcement region TR4 faces the connection portion CT and has a wider area than the connection region CT1 of the connection portion CT in the direction along the joint of the user Y. In other words, the connection region CT1 is formed to be covered by the fourth reinforcement region TR. This makes it possible to prevent tactile sensations from being presented to parts that are not meant to be presented to the user.

[0166] In this embodiment, the connecting portion CT connects the expansion portion 30BM and the contact portion 30CM, and is configured to allow fluid to flow in and out of the contact portion 30CM side via the expansion portion 30BM. This makes it possible to control both the expansion portion 30BM and the contact portion 30CM simultaneously with a single actuator 20, which allows for a smaller overall size and cost reduction of the tactile presentation device 1M compared to controlling each with a separate actuator 20.

[0167] On the other hand, when the expansion section 30BM and the contact section 30CM are controlled by separate actuators 20, the timing of fluid inflow and the amount of fluid inflow can be controlled for each.

[0168] <Modification 6-1> Next, a modification of the present technology will be described. In this embodiment, the function of the tactile presentation device 1M' as a mounting part was limited to the flow channel section 30AM, but of course, it is not limited to this, and a part of the reinforcing member 40CM may also be provided with a mounting part function. Figure 24 is a diagram showing a modification of the present technology, the tactile presentation device 1M'. Hereinafter, the configurations that differ from the sixth embodiment will be mainly described, and the same reference numerals will be used for the same configurations as in the sixth embodiment, and their descriptions will be omitted or simplified.

[0169] In this modified example, the reinforcing member 40CM' has a fixing portion 403CM' that functions as an attachment portion for attaching the contact portion 30CM to the user Y. In this embodiment, the fixing portion 403CM' is provided so as to extend from both sides of the second reinforcing region TR2' and is configured to be wrapped around the user Y (for example, on a joint, middle phalanx, or distal phalanx). The fixing portion 403CM' may, for example, be made of hook-and-loop fasteners, and the contact portion 30CM may be attached to the user Y by these hook-and-loop fasteners. The fixing portion 403CM' as a whole is made of an elastic material, and is, of course, not limited to, an elastomer such as polyurethane rubber (thermoplastic polyurethane resin) or silicone rubber.

[0170] This makes it possible to fix the contact portion 30CM more firmly to the user Y (and its joints), thereby providing the user Y with a better sense of force. In this embodiment, the fixing portion 403CM' is provided so as to extend from both sides of the second reinforcement region TR2', but of course it is not limited to this, and may also be provided so as to extend from both sides of the first reinforcement region TR1 or the third reinforcement region TR3.

[0171] <Modification 6-2> Next, a modification of the present technology will be described. Figure 25 shows a haptic presentation device 1N, which is a modification of the present technology, where (A) is the side that user Y contacts, and (B) is the side opposite to the side that user Y contacts. The following description will mainly focus on the configurations that differ from the sixth embodiment, and the same reference numerals will be used for the same configurations as in the sixth embodiment, and their descriptions will be omitted or simplified.

[0172] In this embodiment, the reinforcing member 40CN of the tactile presentation device 1N is provided in the expanded region BR of the contact portion 30CN and has an uneven shape. That is, the reinforcing member 40CN covers the contact portion 30CN that contacts the joint of the user Y, so that it has an uneven shape extending outward from the center of the user Y's joint. As a result, a larger area of ​​the contact portion 30CN can come into contact with the joint of the user Y, and thus a stronger force sensation can be presented to the user Y.

[0173] In this embodiment, the reinforcing member 40CN also has a fixing portion 403CN that functions as an attachment portion for attaching the contact portion 30CN to the user Y. In this embodiment, the fixing portion 403CN is provided so as to extend from both sides of the expansion region BR and is configured to be wrapped around the user Y. For example, part of the fixing portion 403CN may be made of hook-and-loop fasteners, and the contact portion 30CN may be attached to the user Y using these hook-and-loop fasteners.

[0174] This makes it possible to more securely fix the contact portion 30CN to the user Y, and to provide the user Y with better force feedback. In this embodiment, the fixing portion 403CN is provided so as to extend from both sides of the second reinforcement region TR2', but of course it is not limited to this, and may be provided so as to extend from both sides of the first reinforcement region TR1 or the third reinforcement region TR3.

[0175] Furthermore, in this embodiment, the tactile presentation device 1N forms a flow path that spatially connects the expansion portion 30BN and the contact portion 30CN. This makes it possible to control both the expansion portion 30BN and the contact portion 30CN simultaneously with a single actuator 20, allowing for a smaller overall size and cost reduction of the tactile presentation device 1N compared to controlling each portion with a separate actuator 20.

[0176] <Seventh Embodiment> Next, a seventh embodiment of the present technology will be described. Figure 26 is a diagram of the tactile presentation device 1P in the seventh embodiment of the present technology, where (A) is a diagram when attached to the finger F of user Y, and (B) is a block diagram. The following description will mainly focus on the configurations that differ from the first embodiment, and the same reference numerals will be used for the same configurations as in the first embodiment, and their descriptions will be omitted or simplified.

[0177] The tactile presentation device 1P further includes a sensor unit S that detects the bending and straightening state of the user Y's joints. The sensor unit S is provided, for example, on the contact portion 30CP of the sheet portion 30P, but is not limited to this. The configuration of the sensor unit S is not particularly limited, but it may be configured to detect, for example, strain caused by bending and straightening of joints.

[0178] The control unit 10P may acquire information regarding the bending and straightening state of the user Y's joints detected by the sensor unit S via wired or wireless means, and drive the actuator 20 based on the acquired information.

[0179] This allows for more accurate presentation of pressure and force sensations to the user Y. In other words, for example, if the control unit 10P determines that the joint is bent to a large degree, it can determine that the object is being gripped tightly and control the actuator 20 to drive more fluid to provide stronger pressure and force sensations.

[0180] <Eighth Embodiment> Next, an eighth embodiment of the present technology will be described. Figure 27 is a diagram of the haptic presentation device 1Q in the eighth embodiment of the present technology. Hereinafter, the configurations that differ from the first embodiment will be mainly described, and the same reference numerals will be used for the same configurations as in the first embodiment, and their descriptions will be omitted or simplified.

[0181] In this embodiment, the flow channel section 30AQ is provided on the central side of the user Y's body relative to the user Y's joint J2, and the tactile presentation device 1Q is provided on the distal side of the user Y's body relative to the user Y's joint J2, and further includes a mounting section SB for attaching the expansion section 30BQ or the contact section 30CQ to the user Y.

[0182] In this embodiment, the flow channel 30AQ and the mounting portion SB are connected to the contact portion 30CQ. However, this is by no means limited, and they may be provided at different positions on the sheet portion 30Q. Furthermore, the mounting portion SB may, for example, be made up of a hook-and-loop fastener, and the contact portion 30CQ may be attached to the user Y using the hook-and-loop fastener.

[0183] In other words, the flow channel section 30AQ and attachment section SB of the haptic presentation device 1Q are configured to wrap around the user Y, with the expansion section 30BQ and contact section 30CQ avoiding the user's joints. This allows the joints to move freely, thus providing the user with a greater sense of immersion.

[0184] In this embodiment, the flow channel 30AQ is provided on the central side of the user Y's body relative to the user Y's joint J2, and the attachment part SB is provided on the extremity side of the user Y's body relative to the user Y's joint J2, but of course, it is not limited to this. For example, the attachment part SB may be provided on the central side of the user Y's body relative to the user Y's joint J2, and the flow channel 30AQ may be provided on the extremity side of the user Y's body relative to the user Y's joint J2.

[0185] In this embodiment, the contact portion 30CQ is provided to contact the second joint J2 of the finger F, but of course, it is not limited to this and may be provided to contact other joints.

[0186] <Modification 8-1> Next, a modification of the present technology will be described. In this embodiment, the tactile presentation device 1M was mounted so that the contact portion 30CM was in contact with the second joint J2, but of course, it is not limited to this, and it may be mounted so that the contact portion is in contact with the first joint J1 or the third joint. Figure 28 shows a modification of the present technology, where (A) is a diagram in which the contact portion 30CM of the tactile presentation device 1Q' is in contact with the first joint J1 of the finger F, and (B) is a diagram in which the contact portion 30CM of the tactile presentation device 1Q'' is in contact with the third joint J3 of the finger F.

[0187] As shown in Figure 28(A), the tactile presentation device 1Q' has a contact portion 30CQ' on the inside of the first joint J1 of the finger F. More specifically, the actuator 20 of the tactile presentation device 1Q' is positioned (attached) on the dorsal side (back of the hand side) of the middle phalanx of the finger F of the user Y's hand, the expansion portion 30BQ' is positioned (attached) on the ventral side (palmar side) of the distal phalanx of the finger F of the user Y's hand, and the flow path portion 30AQ is provided on the contact portion 30CQ' and is positioned (attached) to connect to the actuator 20 on the middle phalanx of the finger F of the user Y's hand.

[0188] As shown in Figure 28(B), the tactile presentation device 1Q'' has a contact portion 30CQ'' on the inside of the third joint J3 of the finger F. More specifically, the actuator 20 of the tactile presentation device 1Q'' is positioned (attached) to the back of the user Y's hand H1, the expansion portion 30BQ'' is positioned (attached) to the ventral (palmar) side of the proximal phalanx of the finger F of the user Y's hand, and the flow path portion 30AQ is provided on the contact portion 30CQ'' and is positioned (attached) to connect to the actuator 20 on the back of the user Y's hand H1. The attachment portion SB is also provided on the contact portion 30CQ'' and is positioned (attached) to wrap around the proximal phalanx of the finger F of the user Y's hand. The attachment portion SB and the flow path portion 30AQ are positioned to straddle the third joint J3.

[0189] This makes it possible to present tactile stimuli to various parts of the body, and to obtain the effects shown in the embodiments described above.

[0190] <Modification 8-2> Next, a modification of the present technology will be described. In this embodiment, the tactile presentation device 1M was provided with one expansion portion 30BM and one contact portion 30CM, but of course it is not limited to this, and at least one of them may be provided in multiples. Figure 29 is a diagram showing a modification of the present technology.

[0191] As shown in Figure 29, the contact portion of the tactile presentation device 1R has a first contact portion 30CR1 provided on the inside of the first joint J1 of the finger F, and a second contact portion 30CR2 provided on the inside of the second joint J2 of the finger F. Specifically, the actuator 20 of the tactile presentation device 1R is positioned (attached) on the back side (back of the hand) of the distal phalanx of the finger F of the user Y's hand, the expansion portion 30BR is positioned (attached) on the palm side of the distal phalanx of the finger F of the user Y's hand, and the flow path portion 30AQ is positioned (attached) on the side of the middle phalanx, distal phalanx, or second joint J2 of the finger F of the user Y's hand. The attachment portion SB is provided on the first contact portion 30CR1 and is positioned (attached) so as to wrap around the first joint J1 of the finger F of the user Y's hand.

[0192] Of course, the positional relationship between the expansion portion 30BR, the first contact portion 30CR1, and the second contact portion 30CR2 is not limited to that described above. Also, although multiple contact portions were provided in this modified example, it is not limited to this, and there may be multiple expansion portions, or there may be multiple contact portions and multiple expansion portions.

[0193] This makes it possible to present tactile stimuli to various parts of the body, and to obtain the effects shown in the embodiments described above.

[0194] <Modification 8-3> Next, a modification of this technology will be described. Figure 30 shows a modification of this technology, where (A) is a diagram with two mounting parts SB, and (B) is a diagram with three mounting parts SB.

[0195] As shown in Figure 30(A), the tactile presentation device 1S has a contact portion 30CS provided on the inside of the third joint J3 of the finger F, an expandable portion 30BS provided on the palmar side of the distal phalanx, a first attachment portion SB1 and a second attachment portion SB2 provided on the second joint J2 and the third joint J3, and a flow channel portion 30AS. Specifically, the actuator 20 of the tactile presentation device 1S is positioned (attached) to the back of the user Y's hand H1, and a part of the sheet portion 30S extending to the middle phalanx is attached to the user Y's finger F by the second attachment portion SB2. The first attachment portion SB1 is provided on the contact portion 30CS and is positioned (attached) so as to wrap around the proximal phalanx of the user Y's finger F. The first attachment portion SB1 and the flow channel portion 30AS are provided so as to straddle the third joint J3. As a result, contact between the sheet portion 30S and the user is stable, and sufficient tactile presentation can be provided to the user.

[0196] In this embodiment, the expansion portion 30BS is provided on the proximal phalanx side of the user Y's finger than the second attachment portion SB2 (a part of the sheet portion 30S is provided on the distal phalanx side of the user Y's finger than the expansion portion 30BS), but of course, it is not limited to this, and the expansion portion 30BS may be provided on the ventral side of the middle phalanx F4.

[0197] As shown in Figure 30(B), the tactile presentation device 1T includes an inflatable portion 30BT provided on the palmar side of the distal phalanx of the finger F, a contact portion CT provided on the palmar side of the proximal phalanx of the finger F, a first attachment portion SB1', a second attachment portion SB2', and a third attachment portion SB3' provided on the first joint J1, second joint J2, and third joint J3, and a flow channel portion 30AT. Specifically, the actuator 20 of the tactile presentation device 1Q'' is positioned (attached) to the back of the user Y's hand H1, the connection portion CT is provided along the user Y's finger and spatially connects the inflatable portion 30BT and the contact portion 30CT. The flow channel portion 30AQ is positioned (attached) to the side of the back of the user Y's hand H1. The first attachment portion SB1' is provided on the contact portion 30CS and is positioned (attached) to wrap around the proximal phalanx of the user Y's finger F. The first mounting portion SB1' and the flow path portion 30AS are provided so as to straddle the third joint J3. The second mounting portion SB2' is provided on the connecting portion CT and is attached to the connecting portion CT so as to wrap around the second joint J2. The third mounting portion SB3' is provided on the connecting portion CT and is attached to the connecting portion CT so as to wrap around the first joint J1.

[0198] This makes it possible to present tactile stimuli even when the expansion portion and the contact portion are located at different positions, allowing the effects described in the above-described embodiment to be obtained in a variety of situations. Furthermore, by arranging the control unit 10 and actuator 20 on the back of the hand, stability is increased and interference with wearability can be suppressed. In addition, the expansion portion 30BT can be used to present pressure sensation to the distal phalanges of fingers F, which are more sensitive to pressure.

[0199] The effects described above are merely illustrative and not limiting, and other effects may also exist. Furthermore, it is possible to combine the features of each embodiment and each modification.

[0200] Furthermore, this technology can also be configured as follows.

[0201] (1) A tactile presentation device comprising: a sheet portion having a flow channel portion in which a fluid flow channel is formed, and an expandable portion connected to one side of the flow channel portion so as to allow the fluid to flow in and out and to which a user can contact; and an actuator connected to the other side of the flow channel portion to expand or contract the expandable portion by changing at least one of the pressure and volume of the fluid in the expandable portion, wherein the expandable portion has a first expandable surface portion that the user can contact, and a second expandable surface portion that faces the first expandable surface portion and has lower elasticity than the first expandable surface portion. (2) The tactile presentation device according to (1) above, wherein the tactile presentation device is a device attached to the finger of the user's hand, the actuator is attached to the nail side of the user's finger, the expandable portion is attached to the palm side of the user's finger, and the flow channel portion is attached to the lateral side of the user's finger. (3) A tactile presentation device according to (1) or (2) above, wherein the flow channel portion is formed to be inclined toward the fingertip side of the user's hand when viewed from the side. (4) A tactile presentation device according to any one of (1) to (3) above, wherein the tactile presentation device is a device attached to the finger of the user's hand, the actuator is attached to the back of the middle phalanx of the user's finger, the expansion portion is attached to the palm side of the middle phalanx of the user's finger, and the flow channel portion is attached to the side of the user's finger. (5) A tactile presentation device according to any one of (1) to (4) above, wherein the tactile presentation device is a device attached to the finger of the user's hand, the actuator is attached to the back of the proximal phalanx of the user's finger, the expansion portion is attached to the palm side of the proximal phalanx of the user's finger, and the flow channel portion is attached to the side of the user's finger. (6) A tactile presentation device according to any one of (1) to (5) above, wherein the tactile presentation device is a device attached to the user's arm, the actuator is attached to the back of the user's wrist, the expansion part is attached to the palm side of the user's wrist, and the flow channel part is attached to the side of the user's wrist.(7) A tactile presentation device according to any one of (1) to (6) above, wherein the width of the expansion portion is greater than the width of the flow channel portion. (8) A tactile presentation device according to any one of (1) to (7) above, wherein the flow channel portion is made of an elastic material. (9) A tactile presentation device according to any one of (1) to (8) above, wherein the flow channel portion has a plurality of protrusions in the width direction of the flow channel. (10) A tactile presentation device according to any one of (1) to (9) above, wherein the sheet portion further has an inner member that has a higher elastic modulus than the flow channel portion and the expansion portion and is cut out in at least a part of it, on the side that the user contacts or within the expansion portion and the flow channel portion. (11) A tactile presentation device according to (10) above, wherein the inner member is provided at a position opposite to the flow channel portion and has a first cutout portion cut out along the direction of fluid inflow and outflow. (12) A tactile presentation device according to (10) above, wherein the inner member is provided at a position opposite to the expansion portion and has a second cutout portion that is spirally cut out from the outside of the expansion portion toward the center. (13) A tactile presentation device according to (12) above, wherein the second cutout portion is a plurality of portions, and the plurality of second cutout portions are provided point-symmetrically. (14) A tactile presentation device according to (10) above, wherein the sheet portion further has an outer member that has a higher modulus of elasticity than the flow path portion and the expansion portion and is provided at a position opposite to the inner member with respect to the expansion portion and the flow path portion. (15) A tactile presentation device according to (14) above, wherein the length of the inner member along the fluid inflow and outflow direction is shorter than the length of the outer member along the fluid inflow and outflow direction. (16) A tactile presentation device according to (14) above, wherein the outer member has notches in a direction perpendicular to the direction of fluid inflow and outflow. (17) A tactile presentation device according to (14) above, wherein the sheet portion further has support members provided relative to the outer member at positions facing the expansion portion and the flow path portion.(18) A tactile presentation device according to any one of (1) to (17) above, wherein the tactile presentation device is a device attached to the fingers of the user, and the inflatable portion is a tactile presentation device provided on the nail fold of the user's fingers. (19) A tactile presentation device according to any one of (1) to (18) above, wherein the tactile presentation device is a device attached to the fingers of the user, and the inflatable portion is a plurality of tactile presentation devices provided on the pads of the user's fingers and on the nail folds of the user's fingers. (20) A tactile presentation device according to any one of (1) to (19) above, wherein the sheet portion further has a contact portion that is connected to one side of the flow channel portion so that the fluid can flow in and out and is in contact with the inside of the user's joint, the flow channel portion causes the user to wear the expansion portion and the contact portion, and the actuator is connected to the other side of the flow channel portion and causes the contact portion to expand or contract by changing at least one of the pressure and volume of the fluid in the contact portion. (21) A tactile presentation device according to (20) above, wherein the flow channel portion is provided on at least one side of the user's body relative to the user's joint, either on the extremity side or the center side of the user's body, and further comprises a mounting portion that is provided on the side of the user's body relative to the user's joint, either on the extremity side or the center side of the user's body, which is different from the flow channel portion, and causes the user to wear the expansion portion or the contact portion. (22) A tactile presentation device according to (20) or (21) above, wherein the flow path portion is provided at a position different from the user's joint. (23) A tactile presentation device according to any one of (20) to (22) above, wherein the actuator is a fluid pump having a piezoelectric element. (24) A tactile presentation device according to any one of (20) to (23) above, further comprising a sensor portion for detecting the bending and straightening state of the user's joint, wherein the actuator further comprises a control unit for controlling the expansion portion or the contact portion to expand or contract based on the bending and straightening state of the user's joint detected by the sensor portion.(25) A tactile presentation device according to any one of (20) to (24) above, wherein the sheet portion further has a reinforcing member on the side to which the user makes contact, the reinforcing member having a higher modulus of elasticity than the contact portion and having at least a portion cut out. (26) A tactile presentation device according to (25) above, wherein the contact portion facing the reinforcing member is less likely to expand due to the inflow of the fluid than the contact portion not facing the reinforcing member. (27) A tactile presentation device according to any one of (20) to (26) above, wherein the area of ​​the expanding portion that contacts the user is wider than the area of ​​the contact portion that contacts the user. (28) A tactile presentation device according to any one of (20) to (27) above, wherein the tactile presentation device is a device that is attached to the user's finger by the flow channel portion, and the contact portion is a tactile presentation device provided on the first joint of the user's finger. (29) A tactile presentation device according to any one of (20) to (28) above, wherein the tactile presentation device is attached to the user's finger by the flow channel, and the contact portion is a tactile presentation device provided on the second joint of the user's finger. (30) A tactile presentation device according to any one of (20) to (29) above, wherein the tactile presentation device is attached to the user's finger by the flow channel, and the contact portion is a tactile presentation device provided on the third joint of the user's finger. (31) A tactile presentation device according to any one of (20) to (30) above, wherein the tactile presentation device is attached to the user's finger by the flow channel, and the contact portion is a tactile presentation device provided on at least two of the first, second, or third joints of the user's finger. (32) A tactile presentation device according to any one of (20) to (31) above, wherein the tactile presentation device is attached to the user's finger by the flow channel, the contact portion is provided on the first joint of the user's finger, the expansion portion is provided on the ventral side of the distal phalanx of the user's finger, and the actuator is provided on the dorsal side of the middle phalanx of the user's finger.(33) A tactile presentation device according to any one of (20) to (32) above, wherein the tactile presentation device is attached to the user's finger by the flow channel, the contact portion is provided at the second joint of the user's finger, the expansion portion is provided on the ventral side of the middle phalanx of the user's finger, and the actuator is provided on the dorsal side of the proximal phalanx of the user's finger. (34) A tactile presentation device according to any one of (20) to (33) above, wherein the tactile presentation device is attached to the user's finger by the flow channel, the contact portion is provided at the third joint of the user's finger, the expansion portion is provided on the ventral side of the proximal phalanx of the user's finger, and the actuator is provided on the back of the user's hand. (1-1) A tactile presentation device attached to a part of a user, comprising a tactile stimulus presentation portion that presents tactile stimuli to a thin area of ​​skin of the user. (1-2) A tactile presentation device as described in (1-1) above, wherein the thin-skinned area is the nail fold. (1-3) A tactile presentation device as described in (1-1) above, wherein the thin-skinned area is the fingertip. (1-4) A tactile presentation device as described in (1-1) above, wherein the thin-skinned area is the back of the finger. (1-5) A tactile presentation device as described in (1-1) above, wherein the thin-skinned area is the back of the hand. (1-6) A tactile presentation device as described in (1-1) above, wherein the thin-skinned area is around the joint. (1-7) A tactile presentation device as described in (1-1) above, wherein the thin-skinned area is the face. (1-8) A tactile presentation device as described in (1-1) above, wherein the thin-skinned area is the neck. (1-9) A tactile presentation device as described in (1-1) above, wherein the tactile presentation unit comprises a contact unit that can come into contact with the user, and a stimulus generation unit provided on the contact unit that generates tactile stimuli to be presented to the user via the contact unit.(1-10) A tactile presentation device as described in (1-9) above, wherein the contact portion has a protrusion of 1 mm or more in diameter on the side that contacts the user. (1-11) A tactile presentation device as described in (1-2) above, wherein the tactile presentation portion includes a piezoelectric element. (2-1) A tactile presentation device to be worn on the finger of a user, comprising a first tactile presentation portion provided on the pad of the finger of the user, and a second tactile presentation portion provided on the nail fold of the finger of the user. (2-2) A tactile presentation device as described in (2-1) above, wherein the first tactile presentation portion provides low-frequency tactile stimulation to the pad of the finger, and the second tactile presentation portion provides high-frequency tactile stimulation to the nail fold of the finger. (2-3) A tactile presentation device as described in (2-1) above, wherein the second tactile presentation unit includes a piezoelectric element. (4-1) A tactile presentation device according to any one of (1) to (3) above, wherein the tactile presentation device is a device attached to the upper limb of the user, the actuator is attached to the back of the middle phalanx of the user's fingers, the back of the proximal phalanx of the user's fingers, or the back of the user's wrist, the inflatable part is attached to the palm side of the middle phalanx of the finger when the actuator is attached to the back of the middle phalanx of the finger, the palm side of the proximal phalanx of the finger when the actuator is attached to the back of the proximal phalanx of the finger, the palm side of the wrist when the actuator is attached to the back of the wrist, the flow channel is attached to the side of the user's fingers when the actuator and the inflatable part are attached to the user's fingers, and the side of the user's wrist when the actuator and the inflatable part are attached to the user's wrist.

[0202] 1...Tactile presentation device 10...Control device 20...Actuator 30...Sheet section 30A...Flow channel section 30B...Expansion section 301B...First expansion surface section 302B...Second expansion surface section 40A...Inner member 40B...Outer member 50...Support member

Claims

1. A tactile presentation device comprising: a sheet portion having a flow channel portion in which a fluid flow channel is formed; an expandable portion connected to one side of the flow channel portion so as to allow the fluid to flow in and out and to which a user can contact; and an actuator connected to the other side of the flow channel portion to expand or contract the expandable portion by changing at least one of the pressure and volume of the fluid in the expandable portion, wherein the expandable portion has a first expandable surface portion that the user can contact and a second expandable surface portion that faces the first expandable surface portion and has lower elasticity than the first expandable surface portion.

2. A tactile presentation device according to claim 1, wherein the tactile presentation device is a device attached to the finger of the user, the actuator is attached to the nail side of the user's finger, the expansion portion is attached to the palm side of the user's finger, and the flow path portion is attached to the lateral side of the user's finger.

3. A tactile presentation device according to claim 2, wherein the flow channel portion is formed to be inclined toward the fingertips of the user's hand when viewed from the side.

4. A tactile presentation device according to claim 1, wherein the tactile presentation device is a device attached to the upper limb of the user, the actuator is attached to the back of the middle phalanges of the fingers of the user, to the back of the proximal phalanges of the fingers of the user, or to the back of the wrist of the user, the inflatable portion is attached to the palm side of the middle phalanges of the fingers when the actuator is attached to the back of the middle phalanges of the fingers, to the palm side of the proximal phalanges of the fingers when the actuator is attached to the back of the proximal phalanges of the fingers, and to the palm side of the wrist when the actuator is attached to the back of the wrist, the flow path portion is attached to the lateral side of the fingers of the user when the actuator and the inflatable portion are attached to the fingers of the user, and to the lateral side of the wrist when the actuator and the inflatable portion are attached to the wrist of the user.

5. A tactile presentation device according to claim 1, wherein the width of the expansion portion is greater than the width of the flow channel portion.

6. A tactile presentation device according to claim 1, wherein the flow channel portion is an elastic body.

7. A tactile presentation device according to claim 1, wherein the flow channel portion has a plurality of protrusions in the width direction of the flow channel.

8. A tactile presentation device according to claim 1, wherein the sheet portion further comprises an inner member having a higher modulus of elasticity than the flow channel portion and the expansion portion and having at least a portion cut out, on the side to be contacted by the user or within the expansion portion and the flow channel portion.

9. A tactile presentation device according to claim 8, wherein the inner member is provided at a position opposite to the flow channel and has a first cutout portion cut out along the direction of fluid inflow and outflow.

10. A tactile presentation device according to claim 8, wherein the inner member is provided at a position opposite to the expansion portion and has a second cutout portion that is spirally cut out from the outside of the expansion portion toward the center.

11. A tactile presentation device according to claim 10, wherein the second cutout portion is a plurality of portions, and the plurality of second cutout portions are arranged point-symmetrically.

12. A tactile presentation device according to claim 8, wherein the sheet portion is provided at a position opposite to the inner member with respect to the expansion portion and the flow channel portion and further comprises an outer member having a higher modulus of elasticity than the flow channel portion and the expansion portion.

13. A tactile presentation device according to claim 12, wherein the length of the inner member along the fluid inflow / outflow direction is shorter than the length of the outer member along the fluid inflow / outflow direction.

14. A tactile presentation device according to claim 12, wherein the outer member has a notch in a direction perpendicular to the inflow and outflow direction of the fluid.

15. A tactile presentation device according to claim 12, wherein the sheet portion further comprises a support member provided in a position opposite to the expansion portion and the flow path portion with respect to the outer member.

16. A tactile presentation device according to claim 1, wherein the tactile presentation device is a device attached to the finger of the user, and the inflatable portion is provided on the nail fold of the user's finger.

17. A tactile presentation device according to claim 1, wherein the tactile presentation device is a device attached to the fingers of the user, and the inflatable portion is a plurality of portions provided on the pads of the fingers of the user and on the nail folds of the fingers of the user.

18. A tactile presentation device according to claim 1, wherein the seat portion further has a contact portion that is connected to one side of the flow channel portion so as to be able to further inflow and outflow the fluid and is able to contact the inside of the user's joint, the flow channel portion causes the user to wear the expansion portion and the contact portion, and the actuator is connected to the other side of the flow channel portion and expands or contracts the contact portion by changing at least one of the pressure and volume of the fluid in the contact portion.

19. A tactile presentation device according to claim 18, wherein the sheet portion further comprises a reinforcing member on the side to which the user makes contact, the reinforcing member having a higher modulus of elasticity than the contact portion and having at least a portion of it cut out.

20. A tactile presentation device according to claim 19, wherein the contact portion facing the reinforcing member is less likely to expand due to the inflow of the fluid than the contact portion not facing the reinforcing member.

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