Input device

Abstract

Provided is an input device capable of presenting a favorable tactile sensation.　The input device comprises: an operation shaft that extends in a first direction and is linearly movable in the first direction; a first force sense generator that applies a force to the operation shaft; a sensor that detects a movement amount of the operation shaft; a movable part that has an abutment portion on which a tip portion of the operation shaft abuts, and that is movable to a first side in the first direction when the abutment portion is pushed to the first side in the first direction by the operation shaft; a reaction force output part that outputs a reaction force for biasing the movable part to a second side opposite to the first side in the first direction; and a control part that controls the first force sense generator and the reaction force output part on the basis of the movement amount of the operation shaft detected by the sensor.

Description

Input device

[0001] The present disclosure relates to an input device.

[0002] Conventionally, in an operating device having an operating member capable of being pushed in, a technique has been disclosed in which by controlling a motor, the load of the pushing operation can be controlled and a click feeling can be presented to an operator according to the pushing position (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2019-219948

[0004] However, in the conventional technology, since a single motor generates a force sense to present a click feeling, there is room for improvement in the tactile sensation.

[0005] Therefore, an object is to provide an input device capable of presenting a good tactile sensation.

[0006] The input device according to an embodiment of the present disclosure includes an operation shaft extending in a first direction and linearly movable in the first direction, a first force sense generator applying a force to the operation shaft, a sensor detecting a movement amount of the operation shaft, and a contact portion against which a tip portion of the operation shaft abuts. When the contact portion is pushed into a first side in the first direction by the operation shaft, a movable portion movable to the first side in the first direction, a reaction force output portion outputting a reaction force biasing the movable portion to a second side opposite to the first side in the first direction, and a control portion controlling the first force sense generator and the reaction force output portion based on the movement amount of the operation shaft detected by the sensor.

[0007] An input device capable of presenting a good tactile sensation can be provided.

[0008] This is a side view showing an example of the configuration of the input device 100 according to Embodiment 1. This is a diagram showing an example of the configuration of the operating shaft 101, the holding part 104, the height adjustment device 105, and the second force generator 110. This is a cross-sectional view showing an example of the second force generator 110 in a disassembled state. This is a diagram showing the operation of the second force generator 110 in cross-section. This is a diagram showing the operation of the second force generator 110 in cross-section. This is a diagram showing an example of the system configuration of the input device 100. This is a flowchart showing an example of the control process for preparing the input device 100. This is a flowchart showing an example of the process for driving the second force generator 110. This is a diagram showing an example of the table data used for current control of the second force generator 110. This is a diagram showing an example of the current waveform that drives the second force generator 110 of the input device 100. This is a diagram showing an example of the current waveform that drives the second force generator 110 of the input device 100. This is a diagram showing an example of the current waveform that drives the second force generator 110 of the input device 100. This figure shows an example of the current waveform that drives the second force generator 110 of the input device 100. This figure shows an example of the configuration of the input device 200 of Embodiment 2. This figure shows an example of the configuration of the input device 200 of Embodiment 2. This figure shows an example of the control processing performed by the input device 200. This figure shows an example of the control processing performed by the input device 200. This figure shows an example of the control processing performed by the input device 200.

[0009] The following describes embodiments to which the input device of this disclosure is applied. In the following, the XYZ coordinate system is defined and explained. The direction parallel to the X axis (X direction), the direction parallel to the Y axis (Y direction), and the direction parallel to the Z axis (Z direction) are orthogonal to each other. Also, in the following, for the sake of explanation, the -Z direction side may be referred to as the lower side or bottom, and the +Z direction side as the upper side or top, but this does not represent a universal up-down relationship. Also, a plan view means viewing from the XY plane. Also, in the following, the length, width, thickness, etc. of each part may be exaggerated to make the configuration easier to understand.

[0010] <Embodiment 1> Figure 1 is a side view showing an example of the configuration of an input device 100 according to Embodiment 1. The input device 100 comprises a control device 10, an operating shaft 101, a first force sensor 102, a sensor 103, a holding unit 104, a height adjustment device 105, and a second force sensor 110.

[0011] In the following, the input device 100 will be described using Figures 2, 3, 4A, and 4B in addition to Figure 1. Figure 2 is a diagram showing an example of the configuration of the operating shaft 101, the holding part 104, the height adjustment device 105, and the second force generator 110. Figure 3 is a cross-sectional view showing an example of the second force generator 110 in a disassembled state. Figures 4A and 4B are diagrams showing the operation of the second force generator 110 in cross-section. The cross-sections shown in Figures 3, 4A, and 4B are cross-sections that pass through the central axis of the cylindrical second force generator 110 and are parallel to the XZ plane.

[0012] The input device 100 includes a base 1 and a frame 2. A height adjustment device 105 is fixed to the upper surface of the base 1, and a second force sensor generator 110 is provided on the upper surface of a holding part 104 attached to the upper part of the height adjustment device 105. The frame 2 is also fixed to the upper surface of the base 1. The frame 2 straddles the upper side of the second force sensor generator 110 and holds the first force sensor generator 102 through which an operating shaft 101 is inserted. The operating shaft 101 is inserted through a through hole that penetrates the frame 2 in the Z direction and extends below the frame 2, and the tip portion 101A, which is the lower end of the operating shaft 101, is passed through a hole in the upper surface of the frame 2 and is configured to be able to contact the second force sensor generator 110.

[0013] The input device 100 is used in various electronic devices (e.g., game controllers) and is capable of being pressed. The input device 100 has an operating shaft 101 that extends in the vertical direction (Z-axis direction). An operating knob 101B is attached to the upper end of the operating shaft 101. The input device 100 can move the operating shaft 101 downward by pressing the operating knob 101B downward. When the operating shaft 101 moves downward, the tip portion 101A also moves downward. The amount of downward movement of the operating shaft 101 is detected by a sensor 103 located to the side of the tip portion 101A, and the sensor 103 outputs this information to the control device 10. In Figure 1, the operating knob 101B is covered by a cover 101C except for its upper end.

[0014] The operating shaft 101 is a rod-shaped member extending in the vertical direction (Z-axis direction). The operating shaft 101 is provided penetrating the interior of the first force generator 102. The operating shaft 101 is linearly movable in the vertical direction (Z-axis direction) inside the first force generator 102. The lower end of the operating shaft 101 (the end on the negative Z-axis side) has a hemispherical tip portion 101A formed thereon. The tip portion 101A protrudes downward from the lower surface of the first force generator 102, passes through a hole in the upper surface of the frame 2, and is located within the through hole 111A of the outer frame 111 of the second force generator 110. The upper end of the operating shaft 101 (the end on the positive Z-axis side) protrudes upward from the upper surface of the first force generator 102. An operating knob 101B is attached to the upper end of the operating shaft 101 (the end on the positive Z-axis side).

[0015] The first force generator 102 supports the operating shaft 101, which penetrates the first force generator 102 in the vertical direction (Z-axis direction), so that it can move linearly in the vertical direction (Z-axis direction), and applies force to the operating shaft 101. By applying force to the operating shaft 101, the first force generator 102 can present a tactile sensation, such as a click, to the operating body, such as the user's hand, that pushes the operating knob 101B in the -Z direction. In Embodiment 1, an active first force generator 102 is used, which is capable of applying a driving force to the operating shaft 101 in the vertical direction (Z-axis direction) by electronic control. As the active first force generator 102, for example, a linear motor can be used. However, it is not limited to this, and a passive first force generator 102 that is capable of applying an operating load to the operating shaft 101 by electronic control may also be used. As the passive first force generator 102, for example, a voice coil motor or a vibration control device using magnetorheological fluid can be used. The first force sensor generator 102 is a vibration generating device that includes a motor for generating vibrations.

[0016] Sensor 103 is mounted on the lower surface of the upper end of frame 2 and detects the amount of downward movement of the operating shaft 101. Sensor 103 outputs a detection signal to the control device 10 indicating the detected amount of downward movement of the operating shaft 101. For example, a photosensor that detects the position of the tip 101A of the operating shaft 101 can be used as sensor 103.

[0017] The holding portion 104 has a cylindrical main body portion 104A and a projection portion 104B that protrudes from the side of the main body portion 104A in the +X direction. The lower surface of the main body portion 104A is provided with a screw hole into which a rotating shaft 105A, which is made of screws, can be inserted. The screw hole on the lower surface of the main body portion 104A is inserted into the upper end of the rotating shaft 105A of the height adjustment device 105, and the projection portion 104B is held by the upper end of the main body portion 105B of the height adjustment device 105. The projection portion 104B is held by the upper end of the main body portion 105B so that it does not rotate with the rotating shaft 105A of the height adjustment device 105 even when the rotating shaft 105A of the height adjustment device 105 rotates.

[0018] The holding part 104 holds the second force sensor generator 110 while being screw-engaged with the rotating shaft 105A of the height adjustment device 105. When the height adjustment device 105 rotates the rotating shaft 105A in one direction, the holding part 104 moves upward relative to the base 1. Conversely, when the height adjustment device 105 rotates the rotating shaft 105A in the other direction, the holding part 104 moves downward relative to the base 1.

[0019] The height adjustment device 105 has a rotating shaft 105A and a main body 105B. The rotating shaft 105A extends in the +Z direction on the -X direction side of the main body 105B and is rotationally driven by a motor built into the main body 105B. The motor built into the main body 105B is driven and controlled by the control device 10. For example, a stepping motor is used for the motor in the main body 105B.

[0020] Since the rotating shaft 105A is made of a screw corresponding to the screw hole of the holding part 104, it can rotate to move the holding part 104 up and down relative to the base 1. The height adjustment device 105 can have any configuration as long as it can move the holding part 104 up and down.

[0021] <Second force generator 110> The second force generator 110 has an outer frame 111, a yoke 112, a magnet 113, a movable part 114, and a coil 115. The magnet 113 and the coil 115 are examples of reaction force output parts. The second force generator 110 is a VCM (Voice Coil Motor).

[0022] The outer frame 111 is the housing of the second force sensor generator 110, and is made of resin, for example. The outer frame 111 is cylindrical, and its bottom side is open, communicating with a cylindrical internal space. The outer frame 111 has a disc-shaped upper wall, and a through hole 111A is provided in the center of the upper wall in an XY plane view. The outer frame 111 houses the yoke 112, magnet 113, movable part 114, and coil 115 within its internal space. The outer frame 111 is attached to the yoke 112, which is fixed to the upper surface of the holding part 104, for example. Alternatively, the outer frame 111 may be fixed to the yoke 112, which is fixed to the upper surface of the holding part 104.

[0023] The yoke 112 has a cylindrical outer yoke portion 112A and an inner yoke portion 112B located inside the cylindrical outer yoke portion 112A. The outer yoke portion 112A and the inner yoke portion 112B are arranged concentrically in an XY plane view and are connected by a disc-shaped bottom wall located on the lower side.

[0024] The annular groove between the outer yoke portion 112A and the inner yoke portion 112B houses the movable portion 114 and the coil 115. Inside the inner yoke portion 112B is a magnet 113 made of a permanent magnet. The height of the outer yoke portion 112A is greater than the height of the movable portion 114, and the height of the inner yoke portion 112B is lower than the height of the movable portion 114.

[0025] The movable part 114 is a bobbin around which the coil 115 is wound, and has a circular contact surface 114A located at its upper end. The movable part 114 has a configuration in which a cylindrical portion around which the coil 115 is wound is integrally formed below a disc portion having the contact surface 114A. The contact surface 114A is an example of a contact surface that the tip portion 101A of the operating shaft 101 can contact.

[0026] The coil 115 is wound around the cylindrical portion of the movable part 114. The current flowing through the coil 115 is controlled by the control device 10. The coil 115 has a first end and a second end. For example, when current is passed from the first end to the second end, an electromagnetic force is generated that causes the movable part 114 to move in the +Z direction relative to the yoke 112. This electromagnetic force that causes the movable part 114 to move in the +Z direction relative to the yoke 112 is a reaction force that biases the movable part 114, which is pushed in the -Z direction by the operating shaft 101, in the +Z direction. Also, when current is passed from the second end to the first end, an electromagnetic force is generated that causes the movable part 114 to move in the -Z direction relative to the yoke 112.

[0027] <Operation of the Second Force Sensor Generator 110> Here, the operation of the second force sensor generator 110 will be explained using Figures 4A and 4B.

[0028] Figure 4A shows the state in which the movable part 114 is moved to its furthest +Z direction relative to the yoke 112 by passing current from the first end to the second end of the coil 115. In this state, the contact surface 114A of the movable part 114 is in contact with the lower surface of the upper wall of the outer frame 111. In this state, a gap is created between the lower side of the movable part 114 and the bottom wall of the yoke 112. In the state shown in Figure 4A, the tip 101A of the operating shaft 101 is not inside the through hole 111A of the outer frame 111 and is located above the upper wall of the outer frame 111.

[0029] Furthermore, Figure 4B shows the state in which the tip 101A of the operating shaft 101 is inserted into the through hole 111A of the outer frame 111, and the tip 101A is pushing downwards against the contact surface 114A as indicated by the arrow. In Figure 4B, the lower end of the movable part 114 is in contact with the upper surface of the bottom wall of the yoke 112, so Figure 4B shows the state in which the movable part 114 is moved furthest toward the -Z direction relative to the yoke 112.

[0030] The second force generator 110 is such that when the contact surface 114A is pushed in the -Z direction by the tip 101A of the operating shaft 101, the movable part 114 is movable in the -Z direction. The movable part 114 is movable in the Z direction between the position shown in Figure 4A and the position shown in Figure 4B. Here, the Z direction is an example of a first direction, and the -Z direction is an example of the first side of the Z direction which is an example of a first direction. The +Z direction is an example of the second side which is opposite to the first side of the first direction.

[0031] The second force generator 110 generates an electromagnetic force in the +Z direction by passing an electric current through the coil 115 when the contact surface 114A is pushed in the -Z direction by the tip 101A of the operating shaft 101, thereby providing a tactile sensation to the operating body, such as the user's hand, that pushes the operating knob 101B in the -Z direction.

[0032] <System Configuration Diagram of Input Device 100> Figure 5 shows an example of the system configuration of the input device 100.

[0033] Figure 5 shows the control device 10, sensor 103, first driver 21, second driver 22, first force generator 102, height adjustment device 105, and second force generator 110.

[0034] The control device 10 is implemented by a computer that includes a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), input / output interface, and internal bus.

[0035] The control device 10 includes a control unit 11, a memory 12, a first output management unit 13, a second output management unit 14, and a third output management unit 15. The control unit 11, the first output management unit 13, the second output management unit 14, and the third output management unit 15 represent the functions of the program executed by the control device 10 as functional blocks. The memory 12 also functionally represents the memory of the control device 10.

[0036] The control unit 11 is a processing unit that oversees the control of the control device 10, and performs time management (system interval timer), monitoring the state of the sensor 103, acquiring detection signals from the sensor 103, driving control of the height adjustment device 105, current control of the first force sensor 102, and current control of the second force sensor 110.

[0037] Memory 12 stores data necessary for driving control of the height adjustment device 105 (data representing the relationship between the amount of motor drive and the height of the contact surface 114A), table data used for current control of the first force sensor generator 102 and current control of the second force sensor generator 110 (table data relating the position of the tip 101A of the operating shaft 101 to the current value), and the like.

[0038] The first output management unit 13 manages the output of current to the first force generator 102 via the first driver 21. The second output management unit 14 manages the output of current to the second force generator 110 via the second driver 22. The third output management unit 15 manages the contact surface 114A of the second force generator 110 via the second driver 22.

[0039] <Operation of Input Device 100> When the height position of the contact surface 114A is adjusted by the height adjustment device 105, there is a gap between the tip 101A of the operating shaft 101 and the contact surface 114A. In this state, when the operating knob 101B is pushed in, the operating shaft 101 moves downward. The amount of movement of the operating shaft 101 is detected by the sensor 103. Also, when the operating knob 101B is pushed in to a certain extent, the tip 101A of the operating shaft 101 comes into contact with the contact surface 114A. That is, when the operating knob 101B is pushed in the -Z direction by the amount of the gap described above, the tip 101A comes into contact with the contact surface 114A.

[0040] The first force generator 102 primarily applies a driving force to the operating shaft 101 in the vertical direction (Z-axis direction) from the time the operation of pressing the operating knob 101B begins until the tip 101A of the operating shaft 101 comes into contact with the contact surface 114A.

[0041] The second force sensation generator 110 mainly applies a driving force in the vertical direction (Z-axis direction) to the operating shaft 101 when the tip 101A of the operating shaft 101 abuts against the contact surface 114A and then the operating knob 101B is further pushed in the -Z direction.

[0042] In this way, the input device 100 presents a sense of touch to an operating body such as the hand of a user who performs a pushing operation on the operating knob 101B. The control of the input device 100 will be described using a flowchart. Note that the pushing operation is an operation of pushing the operating knob 101B in the -Z direction. The pushing operation includes an operation state in which the operating knob 101B is displaced in the -Z direction, and an operation state in which, when the tip 101A abuts against the contact surface 114A, a reaction force in the +Z direction is applied to the operating shaft 101, and even if the operating knob 101B is pushed in the -Z direction, the operating knob 101B is not displaced in the -Z direction. The operation state in which the operating knob 101B is not displaced in the -Z direction even when the operating knob 101B is pushed in the -Z direction is an operation state in which the operating knob 101B is being pressed in the -Z direction.

[0043] <Flowchart> Figure 6 is a flowchart showing an example of a control process for preparing the input device 100. The process shown in Figure 6 is a process for performing preliminary preparation of the second force sensation generator 110.

[0044] As a premise, the position (height position) of the holding portion 104 is adjusted to a predetermined position by the height adjustment device 105. The predetermined position of the holding portion 104 can be changed by the user of the input device 100 operating a switch or the like (not shown) to adjust the position of the holding portion 104 with the height adjustment device 105.

[0045] The control unit 11 determines whether the position (height position) of the contact surface 114A has been changed (step S1). Step S1 is a process for determining whether the position (height position) at which the second force sensation generator 110 holds the movable portion 114 as an initial state has been changed from the default position. The position (height position) of the movable portion 114 can be adjusted within the range shown in FIGS. 4A and 4B. When the position of the movable portion 114 is determined, the position (height position) of the contact surface 114A is determined.

[0046] When the control unit 11 determines that the position (height position) of the contact surface 114A has been changed (S1: Yes), it acquires from the memory 12 the current value for driving the coil 115 of the second force sensor 110 in order to adjust the position of the contact surface 114A (step S2). The control unit 11 drives the height adjustment device 105 with the acquired current value.

[0047] The control unit 11 supplies the current of the current value acquired in step S2 to the coil 115 of the second force sensor 110 (step S3).

[0048] The control unit 11 acquires the reaction force condition of the contact surface 114A with respect to the operation axis 101 (step S4). The reaction force condition can be selected by the user using a switch or the like (not shown). As an example, the intensity of the reaction force can be selected from three levels: strong, medium, and weak.

[0049] The control unit 11 determines whether the reaction force condition is weak (step S5).

[0050] When the control unit 11 determines that the reaction force condition is not weak (S5: No), it determines whether the reaction force condition is medium (step S6).

[0051] When the control unit 11 determines that the reaction force condition is not medium (S6: No), it acquires from the memory 12 the table data with a strong reaction force condition (step S7A).

[0052] When the control unit 11 determines in step S6 that the reaction force condition is medium (S6: Yes), it acquires from the memory 12 the table data with a medium reaction force condition (step S7B).

[0053] Also, when the control unit 11 determines in step S5 that the reaction force condition is weak (S5: Yes), it acquires from the memory 12 the table data with a weak reaction force condition (step S7C).

[0054] After the control unit 11 finishes the processes of steps S7A, S7B, and S7C, it advances the flow to step S8 and sets the acquired table data as the table data for driving the second force sensor 110 (step S8).

[0055] Thus, the preliminary preparation of the second force sensor 110 is completed.

[0056] <Drive control of the first force generator 102> The drive control of the first force generator 102 is performed mainly from the time the operation of pushing the operating knob 101B begins until before the tip 101A of the operating shaft 101 comes into contact with the contact surface 114A. Immediately after the operation of pushing the operating knob 101B begins, the first force generator 102 increases the reaction force in the +Z direction applied to the operating shaft 101, and then decreases the reaction force once it has been pushed in to a certain extent. In this way, a click sensation is presented to the operating knob 101B.

[0057] <Drive control of the second force generator 110> Figure 7 is a flowchart showing an example of the process for driving the second force generator 110.

[0058] Here, we will explain using the pressed-in position of the tip 101A of the operating shaft 101. The pressed-in position of the tip 101A of the operating shaft 101 is the position (height position) of the tip 101A in the Z direction, and can take values ​​from the height position of the tip 101A when the operating knob 101B is not pressed down, to the height position of the tip 101A when the operating knob 101B is pressed down to its lowest point. When the operating knob 101B is not pressed down, the tip 101A is not in contact with the contact surface 114A, and when the operating knob 101B is pressed down to its lowest point, the tip 101A is in contact with the contact surface 114A. When the operating knob 101B is pressed down to a certain extent, the tip 101A is in contact with the contact surface 114A.

[0059] The control unit 11 acquires the detection signal from the sensor 103 (step S11).

[0060] The control unit 11 converts the acquired detection signal into the pressed position of the tip 101A of the operating shaft 101 (step S12).

[0061] The control unit 11 determines whether the pressed position calculated in step S12 is included in the table data used for current control of the second force generator 110 (step S13). The table data used for current control of the second force generator 110 is table data that associates the position of the tip 101A of the operating shaft 101 with the current value. The position of the tip 101A in this table data corresponds to the pressed position of the tip 101A. In step S13, the control unit 11 determines whether the position of the tip 101A in the table data includes a position corresponding to the pressed position calculated in step S12.

[0062] If the control unit 11 determines that the pressed position is included in the pressed position in the table data used for current control of the second force generator 110 (S13: Yes), it obtains the current value corresponding to the pressed position from the table data used for current control of the second force generator 110 (step S14).

[0063] The control unit 11 outputs the acquired current value to the coil 115 of the second force generator 110 (step S15).

[0064] The control unit 11 acquires the detection signal from the sensor 103 (step S16).

[0065] The control unit 11 converts the acquired detection signal into the pressed position of the tip 101A of the operating shaft 101 (step S17). The process in step S17 is the same as the process in step S12.

[0066] The control unit 11 determines whether the pressed position calculated in step S17 is included in the pressed position of the table data used for current control of the second force sensor generator 110 (step S18). The process in step S18 is the same as the process in step S13.

[0067] If the control unit 11 determines that the pressing position is included in the pressing position of the table data used for current control of the second force sensor generator 110 (S18: Yes), it returns the flow to step S14.

[0068] In step S18, if the control unit 11 determines that the pressed position is not included in the pressed position of the table data used for current control of the second force generator 110 (S18: No), it obtains a current value from the memory 12 to drive the coil 115 of the second force generator 110 in order to adjust the position of the contact surface 114A (step S19).

[0069] The control unit 11 supplies a current of the current value obtained in step S19 to the coil 115 of the second force generator 110 (step S20). After completing the processing in step S20, the control unit 11 returns the flow to step S11.

[0070] In step S19, the fact that the pressing position is not included in the table data means that the tip 101A of the operating shaft 101 is separated from the contact surface 114A. In this state, the second force generator 110 cannot provide tactile feedback, so the process returns to step S11 after going through steps S19 and S20. In order to return to step S11, steps S19 and S20 are performed in the same way as steps S2 and S3 in order to make the waiting state in step S11 the same as the state after the preliminary preparations in steps S2 and S3 have been completed.

[0071] The first force generator 102 pushes the operating shaft 101 back in the +Z direction. The first force generator 102 monitors the position of the tip 101A of the operating shaft 101 even after it has come into contact with the contact surface 114A, and outputs current to a linear motor or the like to bias the operating shaft 101 in the +Z direction. Furthermore, even after a certain amount of time has elapsed since the tip 101A of the operating shaft 101 came into contact with the contact surface 114A, the first force generator 102 also outputs current to a linear motor or the like to bias the operating shaft 101 in the +Z direction. Through these controls, when the user releases pressure on the operating knob 101B, the operating shaft 101 moves upward in the +Z direction. As the operating shaft 101 moves upward in the +Z direction, the tip 101A of the operating shaft 101 separates from the contact surface 114A and moves outside the control of the second force generator 110 (outside the table data). In this state, the processes in steps S19 and S20 are carried out.

[0072] Furthermore, if the control unit 11 determines in step S13 that the pressed position is not included in the pressed position of the table data used for current control of the second force generator 110 (S13: No), it returns the flow to step S11.

[0073] Figure 8A shows an example of table data used for current control of the second force generator 110. Figures 8B to 8E show an example of current waveforms that drive the second force generator 110 of the input device 100.

[0074] As shown in Figure 8A, the table data used for current control of the second force generator 110 is table data that associates the pressing position with the current value that drives the coil 115 of the second force generator 110. The pressing position is the position in the Z direction of the tip 101A of the operating shaft 101. Therefore, the table data is table data that associates the position (height position) of the tip 101A of the operating shaft 101 with the current value.

[0075] The pressed-in position 0 is the position where the tip portion 101A contacts the contact surface 114A, and the pressed-in position FFFF indicates the end of the table data. The pressed-in position is a digital count value based on the detection signal from the sensor 103.

[0076] In the current waveforms of Figures 8B to 8E, the horizontal axis represents the indentation position, and the vertical axis represents the current value supplied to the coil 115. The indentation position on the horizontal axis can take any value from S on the left to E on the right. Indentation position S represents the height of the tip 101A when the operating knob 101B is not pushed down. Indentation position E represents the height of the tip 101A when the operating knob 101B is in contact with the contact surface 114A and pushed down to its lowest position. Indentation position E is the position where the tip 101A can be displaced as far downward as possible. Indentation position 0 is the position where the tip 101A contacts the contact surface 114A, and is therefore located between indentation position S and indentation position E.

[0077] The distance that the tip 101A of the operating shaft 101 pushes the contact surface 114A in the -Z direction from the push position 0 on the horizontal axis in Figures 8B to 8E is called the push distance. In other words, the push distance is the distance that the contact surface 114A is pushed in the -Z direction by the tip 101A of the operating shaft 101.

[0078] In the current waveforms shown in Figures 8B to 8E, the section from the pressed position S to the pressed position 0 is the section where the operating knob 101B is pressed downwards and the tip portion 101A is not in contact with the contact surface 114A. In this section, a reaction force is applied to the operating shaft 101 by the first force sensor 102, for example, to provide a click sensation.

[0079] The pressed-in position 0 is the position where the operating knob 101B is pushed downward and its tip 101A contacts the contact surface 114A, and where vibration is applied to the movable part 114 by the second force generator 110, and tactile sensation begins to be presented to the operating shaft 101 via the contact surface 114A.

[0080] The waveform in the section where the indentation position is before 0 (S side) is realized by the current control data of the first force sensor generator 102. This data may be a table data relating the indentation position to the current value, but this is omitted here.

[0081] Furthermore, the waveform in the section where the indentation position is further back (towards E) than 0 is realized by table data used for current control of the second force generator 110. The table data shown in Figure 8A is the table data that realizes the waveform in the section where the indentation position is further back (towards E) of the current waveform shown in Figure 8B. Note that the table data that realizes the waveform in the section where the indentation position is further back (towards E) of the current waveform shown in Figures 8C to 8E is omitted. Note that the table data used for current control of the second force generator 110 may also include current values ​​in the section where the indentation position is closer to (towards S) than 0.

[0082] Furthermore, since the height of the movable part 114 can be adjusted by the height adjustment device 105, the current waveforms shown in Figures 8B to 8E are the current waveforms when the contact surface 114A is at a certain height.

[0083] <Current waveform in Figure 8B> The current waveform shown in Figure 8B is a waveform that supplies a constant current value regardless of the indentation position in the section where the indentation position is in front of (S side) 0. Furthermore, the current waveform shown in Figure 8B has the characteristic that in the section where the indentation position is in behind (E side) 0, the current value gradually decreases as the indentation position is displaced from 0 to the back, takes a minimum value, and then increases. Note that the constant current value in the section where the indentation position is in front of (S side) 0 is determined by the height of the contact surface 114A.

[0084] Here, the pressing distance from pressing position 0 to the pressing position where the current value becomes minimum is an example of the first pressing distance. The control unit 11 controls the second force generator 110 based on the current waveform shown in Figure 8B, controlling it so that the reaction force gradually decreases until the pressing distance reaches the first predetermined distance, and then controlling it so that the reaction force gradually increases once the pressing distance reaches the first predetermined distance.

[0085] When the coil 115 is driven with the current waveform shown in Figure 8B, when the operating knob 101B is pushed downward from the position where the tip 101A contacts the contact surface 114A (pushing position 0), the reaction force in the +Z direction initially weakens, and then increases, thus providing a soft tactile sensation. In addition to providing a tactile sensation, the impact sound generated when the tip 101A of the operating shaft 101 contacts the contact surface 114A can also be variably set by electrical control of the operating shaft 101.

[0086] <Current waveform in Figure 8C> The current waveform shown in Figure 8C is a waveform that supplies a constant current value regardless of the indentation position in the section where the indentation position is in front of (S side) 0. Furthermore, the current waveform shown in Figure 8C has the characteristic that in the section where the indentation position is inward of (E side) 0, the current value increases significantly at indentation position 0, and the current value is maintained at the increased value even when displaced inward.

[0087] The control unit 11 controls the second force generator 110 based on the current waveform shown in Figure 8C, and controls the second force generator 110 so that the reaction force remains constant even if the pressing distance changes.

[0088] When the coil 115 is driven with the current waveform shown in Figure 8C, if the operating knob 101B is pushed downward from the position where the tip 101A contacts the contact surface 114A (pushing position 0), a very strong reaction force in the +Z direction can be exerted, presenting a strong tactile sensation of impact as if the operating shaft 101 were being pressed against a very hard object.

[0089] <Current waveform in Figure 8D> The current waveform shown in Figure 8D is a waveform that supplies a constant current value regardless of the indentation position in the section where the indentation position is in front of (S side) 0. Furthermore, the current waveform shown in Figure 8D has the characteristic that in the section where the indentation position is in rear (E side) 0, the current value gradually increases as the indentation position is displaced from 0 to the rear, and becomes constant beyond a certain indentation position. The current waveform shown in Figure 8D realizes a reaction force of intermediate strength between the current waveform shown in Figure 8B and the current waveform shown in Figure 8C.

[0090] Here, the indentation distance from indentation position 0 to the indentation position where the current value becomes constant is an example of the second indentation distance. The control unit 11 controls the reaction force to gradually increase until the indentation distance reaches the second predetermined distance, and then controls the reaction force to become constant once the indentation distance reaches the second predetermined distance.

[0091] When the coil 115 is driven with the current waveform shown in Figure 8D, as the operating knob 101B is pushed downward from the position where the tip 101A contacts the contact surface 114A (pushing position 0), the reaction force in the +Z direction gradually increases, thus providing a tactile sensation of pressing the operating shaft 101 against an object.

[0092] <Current waveform in Figure 8E> The current waveform shown in Figure 8E is a waveform that supplies a constant current value regardless of the indentation position in the section where the indentation position is in front of (S side) 0. Furthermore, the current waveform shown in Figure 8E has the characteristic that, in the section where the indentation position is in behind (E side) 0, the current value repeatedly increases and decreases as the indentation position shifts from 0 to the back, and as it shifts further to the back (E side), it converges to the current value in the section where the indentation position is between S and 0.

[0093] When the coil 115 is driven with the current waveform shown in Figure 8E, as the operating knob 101B is pushed downward from the position where the tip 101A contacts the contact surface 114A (pushing position 0), the strength of the reaction force is repeatedly varied, providing a tactile sensation of slight vibrations as the reaction force gradually decreases.

[0094] As shown in Figures 8B to 8E above, the control unit 11 controls the second force generator 110 by controlling the current supplied to the coil 115 according to the indentation position, thereby changing the reaction force applied to the movable part 114 that is pushed in the -Z direction.

[0095] As shown in Figures 8B to 8E, the control unit 11 derives the indentation distance at which the contact surface 114A is pushed in the -Z direction based on the amount of movement of the operating shaft 101 detected by the sensor 103. Then, when the indentation distance reaches which the indentation position becomes 0, the control unit 11 starts controlling the second force generator 110 and controls the reaction force based on the indentation distance.

[0096] In this description, we have explained a configuration in which table data is used that associates the pressing position with the current value driving the coil 115 of the second force generator 110. However, table data may also be used that associates the elapsed time since the tip portion 101A contacts the contact surface 114A with the current value driving the coil 115 of the second force generator 110.

[0097] <Effects> The input device 100 includes an operating shaft 101 that extends in a first direction and is linearly movable in the first direction, a first force generator 102 that applies force to the operating shaft 101, a sensor 103 that detects the amount of movement of the operating shaft 101, a movable part 114 that has a contact part that the tip of the operating shaft 101 abuts against, and which is movable to the first side in the first direction when the contact part is pushed to the first side in the first direction by the operating shaft 101, a reaction force output unit (magnet 113, coil 115) that outputs a reaction force that biases the movable part 114 to the second side opposite to the first side in the first direction, and a control unit 11 that controls the first force generator 102 and the reaction force output unit (magnet 113, coil 115) based on the amount of movement of the operating shaft 101 detected by the sensor 103. Therefore, by controlling a reaction force output unit (magnet 113, coil 115) provided separately from the first force generator 102 based on the amount of movement of the operating shaft 101, a reaction force directed in the second direction (upward) in the first direction (Z direction) can be applied to the operating shaft 101.

[0098] Therefore, it is possible to provide an input device 100 that can present a good sense of touch.

[0099] Furthermore, the control unit 11 may control the reaction force output by the reaction force output unit (magnet 113, coil 115) according to the indentation distance at which the contact portion is pushed to the first side by the operating shaft 101. By applying a reaction force to the operating shaft 101 according to the indentation distance, tactile sensation can be presented.

[0100] Furthermore, the control unit 11 may control the reaction force output unit (magnet 113, coil 115) so that the reaction force changes according to the pressing distance. By applying a reaction force that changes according to the pressing distance to the operating shaft 101, a more varied tactile sensation can be presented.

[0101] Furthermore, the control unit 11 may derive the indentation distance at which the contact portion is pushed to the first side based on the amount of movement of the operating shaft 101 detected by the sensor 103, and control the reaction force output by the reaction force output unit (magnet 113, coil 115) based on the indentation distance. By calculating the indentation distance, the indentation position of the operating shaft 101 can be determined more accurately, and a reaction force can be applied to the operating shaft 101 with higher precision according to the calculated indentation distance to present tactile sensation.

[0102] Furthermore, the control unit 11 may, based on the amount of movement of the operating shaft 101 detected by the sensor 103, detect that the tip 101A of the operating shaft 101 has reached a position where it contacts the contact surface 114A, and then start controlling the reaction force output by the reaction force output unit (magnet 113, coil 115). By calculating the indentation distance, the position where the tip 101A of the operating shaft 101 contacts the contact surface 114A can be determined more accurately, and by applying the reaction force output by the reaction force output unit (magnet 113, coil 115) to the operating shaft 101 after the tip 101A has contacted the contact surface 114A, the tactile sensation provided by the reaction force of the reaction force output unit (magnet 113, coil 115) can be presented more efficiently.

[0103] Furthermore, once the control unit 11 starts controlling the reaction force, it may control the reaction force output unit (magnet 113, coil 115) so that the reaction force remains constant even if the pressing distance changes. By outputting a constant reaction force regardless of the pressing distance after the tip portion 101A contacts the contact surface 114A, it is possible to present a tactile sensation of impact as if the operating shaft 101 were being pressed against a hard object.

[0104] Furthermore, when the control unit 11 starts controlling the reaction force, it may control the reaction force to gradually decrease until the pressing distance reaches a first predetermined distance, and then gradually increase once the pressing distance reaches the first predetermined distance. A clicking sensation can be presented by pressing the operating shaft 101 against a soft object and then pushing it back firmly.

[0105] When the control unit 11 starts controlling the reaction force, it may control the reaction force to gradually increase until the pressing distance reaches a second predetermined distance, and then control the reaction force to remain constant once the pressing distance reaches the second predetermined distance. This can provide a tactile sensation of pressing the operating shaft 101 against an object.

[0106] Furthermore, the movable part 114 and the reaction force output part (magnet 113, coil 115) may constitute a second force generator 110 that applies force to the operating shaft 101 via the contact surface 114A. By controlling the second force generator 110, which is provided separately from the first force generator 102, a reaction force directed to the second side (upward) in the first direction (Z direction) can be applied to the operating shaft 101.

[0107] <Embodiment 2> Figures 9A and 9B show an example of the configuration of the input device 200 in Embodiment 2. The input device 200 includes a control device 10, an operating shaft 101, a first force sensor 102, a sensor 103, a holding part 104, a height adjustment device 105, a second force sensor 110, and a second height adjustment device 210. In Figures 9A and 9B, the heights of the holding part 104 and the first force sensor 102, which are held by the height adjustment device 105 and the second height adjustment device 210, are different. Here, the height adjustment device 105 is a mechanism that can adjust the height position with a higher resolution than the second height adjustment device 210.

[0108] The input device 200 of Embodiment 2 has a configuration that includes a second height adjustment device 210 that can adjust the height of the first force sensor generator 102, instead of the frame 2 of the input device 100 of Embodiment 1.

[0109] The following description of the input device 200 will focus on the differences between it and the input device 100 of Embodiment 1. Components of the input device 200 that are identical to those of the input device 100 of Embodiment 1 are denoted by the same reference numerals, and their descriptions are omitted.

[0110] The height adjustment device 105 has a sensor that detects the height position of the holding part 104, and this sensor outputs a detection signal representing the height position to the control device 10.

[0111] The second height adjustment device 210 has a main body 211, a gear shaft 212, a stopper 213, and a base 214, and is adjustable. The main body 211 of the second height adjustment device 210 has a built-in stepping motor, and by driving the stepping motor, the gear shaft 212 is rotated, and the height of the base 214 can be adjusted.

[0112] <Control Processing of Input Device 200> Figures 10A to 10C show examples of control processing performed by the input device 200. The processing in Figures 10A and 10B is the process of initializing the height position of the holding part 104 and the height position of the base part 214. Figure 10C is the process of adjusting the height position of the holding part 104 and the height position of the base part 214 after initializing them.

[0113] <Processing in Figure 10A> The control unit 11 acquires the detection signal from the sensor of the height adjustment device 105 (step S101). The sensor of the height adjustment device 105 outputs a detection signal to the control device 10 that represents the height position of the holding unit 104. Since the holding unit 104 holds the second force generator 110, the height position of the holding unit 104 corresponds to the height position of the second force generator 110.

[0114] The control unit 11 determines whether the current height position obtained in step S101 is equal to the reference position (step S102). The reference position is the height position that serves as the reference for the holding unit 104, and the data representing the reference position is stored in the memory 12.

[0115] If the control unit 11 determines that the current height position obtained in step S101 is not equal to the reference position (S102: No), it drives the stepping motor of the height adjustment device 105 by one step (step S103). At this time, if the current height position is lower than the reference position, it drives the stepping motor of the height adjustment device 105 so that the holding part 104 rises, and if the current height position is higher than the reference position, it drives the stepping motor of the height adjustment device 105 so that the holding part 104 descends.

[0116] In step S102, if the control unit 11 determines that the current height position obtained in step S101 is equal to the reference position (S102: Yes), it determines the height position of the holding unit 104 (step S104).

[0117] <Processing in Figure 10B> The control unit 11 drives the stepping motor of the main body 211 of the second height adjustment device 210 for the maximum number of steps in the direction of raising the height position of the base portion 214 (step S111). As a result, the height position of the base portion 214 is raised to the highest position by the second height adjustment device 210.

[0118] The control unit 11 sets the stepping motor of the main body 211 of the second height adjustment device 210 to a step-out state and sets the height position of the base 214 to the reference height position (step S112). A stepping motor step-out state is a state in which the stepping motor loses synchronization between the pulse and the motor rotation due to overload, rapid acceleration, or rapid deceleration.

[0119] <Processing in Figure 10C> The control unit 11 determines whether the height position of the holding unit 104 has been determined (step S121).

[0120] If the control unit 11 determines that the height position of the holding unit 104 has not been determined (S121: No), it terminates the flow. In this case, the control unit 11 executes the process shown in Figure 10A to determine the height position of the holding unit 104.

[0121] If the control unit 11 determines in step S121 that the height position of the holding portion 104 has been determined (S111: No), it then determines whether the height position of the base portion 214 has been determined to the reference height position (step S122).

[0122] If the control unit 11 determines that the height position of the base portion 214 is not yet fixed at the reference height position (S122: No), it terminates the flow. In this case, the control unit 11 executes the process shown in Figure 10B to set the height position of the base portion 214 to the reference height position.

[0123] In step S122, if the control unit 11 determines that the height position of the base portion 214 has been determined to be the reference height position (S122: Yes), it obtains the target stroke length from the memory 12 (step S123). The target stroke length is the target stroke length when performing a push operation to push the operation knob 101B downward, and is stored in the memory 12.

[0124] The control unit 11 calculates the amount of drive to drive the height adjustment device 105 and the second height adjustment device 210 in order to achieve the acquired target stroke length (step S124). The height adjustment device 105 can adjust the height position with a higher resolution than the second height adjustment device 210. In step S124, the values ​​of N and M are determined to achieve the target stroke length by summing N (where N is 0 or an integer of 1 or more) times the unit adjustment amount of the height position that can be adjusted with the resolution of the height adjustment device 105 and M (where M is 0 or an integer of 1 or more) times the unit adjustment amount of the height position that can be adjusted with the resolution of the second height adjustment device 210.

[0125] The control unit 11 determines, based on the results obtained in step S124 for the values ​​of N and M, whether adjustment by the second height adjustment device 210, which has a lower resolution, is necessary (step S125). That is, it determines whether the value of M is 1 or greater. If the value of M is 1 or greater, adjustment by the second height adjustment device 210 is necessary.

[0126] If the control unit 11 determines that adjustment by the second height adjustment device 210 is necessary (S125: Yes), it determines whether the current position of the operating knob 101B, based on the height adjustment amount by the second height adjustment device 210, is the target position (step S126). The target position in step S126 is the height adjustment amount by the second height adjustment device 210 realized by the value of M obtained in step S124. The process in step S126 is to determine whether the current height adjustment amount by the second height adjustment device 210 is the height adjustment amount by the second height adjustment device 210 realized by the value of M obtained in step S124.

[0127] If the control unit 11 determines that the current height adjustment amount by the second height adjustment device 210 is not the target position (S126: No), it calculates the number of steps to drive the stepping motor of the second height adjustment device 210 (step S127). In step S127, the control unit 11 calculates the difference between the current height position due to the adjustment amount of the second height adjustment device 210 and the target position (the height position achieved by the value of M obtained in step S124), and calculates how many steps to drive the stepping motor in the upward or downward direction.

[0128] The control unit 11 drives the stepping motor of the second height adjustment device 210 for the number of steps calculated in step S127 (step S128). After completing the process in step S128, the control unit 11 proceeds to step S131.

[0129] Furthermore, if the control unit 11 determines in step S126 that the current height adjustment amount by the second height adjustment device 210 is the target position (S126: Yes), it proceeds to step S131. The control unit 11 determines Yes in S126 when the height adjustment amount by the second height adjustment device 210 realized by the value of M obtained in step S124 is equal to the current height adjustment amount by the second height adjustment device 210. In this case, since adjustment of the height position by the second height adjustment device 210 is unnecessary, the flow proceeds to step S131 in order to adjust the height adjustment device 105.

[0130] The control unit 11 determines whether it is necessary to adjust the height position using the height adjustment device 105 (step S131). That is, it determines whether the value of N calculated in step S124 is 1 or greater. If the value of N is 1 or greater, then adjustment by the height adjustment device 105 is necessary.

[0131] If the control unit 11 determines that adjustment by the height adjustment device 105 is necessary (S131: Yes), it determines whether the height of the holding unit 104 with the current adjustment amount by the height adjustment device 105 is the target position (step S132). The target position in step S132 is the height adjustment amount by the height adjustment device 105 that is achieved by the value of N obtained in step S124. The process in step S132 is to determine whether the current height adjustment amount by the height adjustment device 105 is the height adjustment amount by the height adjustment device 105 that is achieved by the value of N obtained in step S124.

[0132] If the control unit 11 determines that the current height adjustment amount by the height adjustment device 105 is not the target position (S132: No), it calculates the number of steps to drive the stepping motor of the height adjustment device 105 (step S133). In step S133, the control unit 11 calculates the difference between the current height position due to the adjustment amount of the height adjustment device 105 and the target position (the height position achieved by the value of N obtained in step S124), and calculates how many steps to drive the stepping motor in the upward or downward direction.

[0133] The control unit 11 drives the stepping motor of the height adjustment device 105 for the number of steps calculated in step S133 (step S134). After completing the process in step S134, the control unit 11 proceeds to step S135.

[0134] The control unit 11 determines the current height position of the operating knob 101B, which is achieved by the second height adjustment device 210 and the height adjustment device 105, and updates the height position of the operating knob 101B up to the previous control cycle (step S135).

[0135] Furthermore, if the control unit 11 determines No in step S131, or Yes in step S132, it proceeds to step S135.

[0136] <Effects> The input device 200 can independently adjust the height position of the holding part 104 using the height adjustment device 105 and the height position of the operating knob 101B and the tip part 101A using the second height adjustment device 210.

[0137] For example, as shown in Figures 9A and 9B, the height position of the operating knob 101B can be changed while keeping the gap in the Z direction between the tip portion 101A and the contact surface 114A constant.

[0138] Furthermore, by changing the gap in the Z direction between the tip portion 101A and the contact surface 114A, it is possible to change the amount that the operating knob 101B can be pressed, allowing users to freely create the feel they desire.

[0139] Since the height of the operating knob 101B is adjustable, it is possible to make the operating knob 101B protrude from surrounding components as needed, and the height can be adjusted so that the operating knob 101B is conspicuous. Conversely, by lowering the height of the operating knob 101B, it is possible to make the operating knob 101B less conspicuous, and it is also possible to prevent the operating knob 101B from protruding from surrounding components.

[0140] Furthermore, by making the height adjustment device 105 and the second height adjustment device 210 of the input device 200 operable on keyboard switches and the like, the user can adjust it to their desired feel, thereby improving user comfort.

[0141] Furthermore, as an example, when the input device 200 is used as a start switch for a car, the operating knob 101B can be made to protrude from surrounding components when the ignition is off, clearly indicating that the ignition is off. When the ignition is turned on, the operating knob 101B can be retracted, making it possible to visually determine that the ignition is on. In recent years, with the rise of electric vehicles, the interior of the car is quieter, making it more difficult for the driver to hear whether the ignition is on or off. By making it visually clear in this way, usability can be improved.

[0142] Although an exemplary embodiment of the input device of this disclosure has been described above, this disclosure is not limited to the specifically disclosed embodiments, and various modifications and changes are possible without departing from the scope of the claims.

[0143] This international application claims priority based on Japanese Patent Application No. 2024-220756, filed on 17 December 2024, the entire contents of which are incorporated herein by reference.

[0144] 10 Control device 11 Control unit 12 Memory 13 First output management unit 14 Second output management unit 15 Third output management unit 21 First driver 22 Second driver 100 Input device 101 Operating shaft 101A Tip 101B Operating knob 101C Cover 102 First force generator 103 Sensor 103A Sensor 104 Holding part 104A Main body 104A1 Contact surface 104B Projection 105 Adjustment device 105A Rotating shaft 105B Main body 110 Second force generator 111 Outer frame 111A Through hole 112 Yoke 112A Outer yoke part 112B Inner yoke part 113 Magnet 114 Movable part 114A Contact surface 115 Coil 200 Input device 210 Adjustment device 211 Main body 212 Gear shaft 213 Stopper 214 Base

Claims

1. An input device comprising: an operating shaft extending in a first direction and movable linearly in the first direction; a first force generator that applies force to the operating shaft; a sensor that detects the amount of movement of the operating shaft; a movable part having a contact portion that the tip of the operating shaft abuts against, and which is movable to the first side in the first direction when the contact portion is pushed to the first side in the first direction by the operating shaft; a reaction force output unit that outputs a reaction force to the movable part that biases it to a second side opposite to the first side in the first direction; and a control unit that controls the first force generator and the reaction force output unit based on the amount of movement of the operating shaft detected by the sensor.

2. The input device according to claim 1, wherein the control unit controls the reaction force output by the reaction force output unit according to the distance by which the contact portion is pushed to the first side by the operating shaft.

3. The input device according to claim 2, wherein the control unit controls the reaction force output unit so that the reaction force changes according to the pressing distance.

4. The input device according to claim 2 or 3, wherein the control unit derives a pushing distance at which the contact portion is pushed to the first side based on the amount of movement of the operating shaft detected by the sensor, and controls the reaction force output by the reaction force output unit based on the pushing distance.

5. The input device according to claim 4, wherein the control unit, upon detecting that the tip of the operating shaft has reached a predetermined position based on the amount of movement of the operating shaft detected by the sensor, starts controlling the reaction force output by the reaction force output unit.

6. The input device according to claim 5, wherein when the control unit starts controlling the reaction force, it controls the reaction force output unit so that the reaction force remains constant even if the indentation distance changes.

7. The input device according to claim 5, wherein when the control unit starts controlling the reaction force, it controls the reaction force to gradually decrease until the pressing distance reaches a first predetermined distance, and when the pressing distance reaches the first predetermined distance, it controls the reaction force to gradually increase.

8. The input device according to claim 5, wherein when the control unit starts controlling the reaction force, it controls the reaction force to gradually increase until the pressing distance reaches a second predetermined distance, and when the pressing distance reaches the second predetermined distance, it controls the reaction force to remain constant.

9. The input device according to any one of claims 1 to 8, wherein the movable part and the reaction force output part constitute a second force generator that applies force to the operating shaft via the contact part.

Images