Input device

Abstract

Provided is an input device capable of presenting a favorable tactile sensation.　This 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 in the first direction to the operation shaft; a sensor that detects a movement amount of the operation shaft; an abutment portion on which a tip end portion of the operation shaft can abut; a second force sense generator that applies a force in the first direction to the operation shaft in a state in which the tip end portion is abutting on the abutment portion; and a control portion that controls the first force sense generator and the second force sense generator on the basis of the movement amount of the operation shaft detected by the sensor.

Description

Input device

[0001] This disclosure relates to an input device.

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

[0003] Further, a reception step of receiving an input of a sensory parameter indicating the degree of sensory expression when an operating tool is operated, a conversion step of converting the received sensory parameter into a physical parameter correlated with the sensory parameter among a plurality of types of physical parameters included in the physical characteristics regarding sensory stimuli, and an output step of outputting a sensory stimulus signal based on the converted physical parameter are included. The physical characteristics include dynamic characteristics, and the physical parameter is the fingertip vibration period. There is a sensory control method (see, for example, Patent Document 2).

[0004] Japanese Patent Application Laid-Open No. 2019-219948, Japanese Patent Application Laid-Open No. 2023-017031

[0005] However, in the prior art, since a single motor generates a force sense to present a click feeling, there is room for improvement in tactile sensation.

[0006] Therefore, an object is to provide an input device capable of presenting a good tactile sensation.

[0007] The input device according to an embodiment of the present disclosure includes an operation shaft that extends in a first direction, is linearly movable in the first direction, and moves to a first side in the first direction by a pushing operation, a first force sense generator that applies a force in the first direction to the operation shaft, a sensor that detects the movement amount of the operation shaft, a second force sense generator that applies a force in the first direction to the operation shaft, and a control unit that controls the first force sense generator and the second force sense generator based on the movement amount of the operation shaft detected by the sensor.

[0008] An input device capable of presenting a good tactile sensation can be provided.

[0009] 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 system configuration of the input device 100. This is a diagram showing an example of the control image of the input device 100. This is a diagram showing an example of the current waveform used for drive control of the first force generator 102 and the second force generator 110. This is a diagram showing an example of the current waveform used for drive control of the first force generator 102 and the second force generator 110. This is a flowchart showing an example of the control processing of the input device 100. This is a diagram showing an example of the configuration of the input device 200 of Embodiment 2. This is a diagram showing an example of the configuration of the input device 200 of Embodiment 2. This is a diagram showing an example of the control processing performed by the input device 200. This is a diagram showing an example of the control processing performed by the input device 200. This is a diagram showing an example of the control processing performed by the input device 200.

[0010] 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.

[0011] <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.

[0012] The input device 100 includes a base 1 and a frame 2. The height adjustment device 105 and the second force generator 110 are fixed to the upper surface of the base 1. The frame 2 is also fixed to the upper surface of the base 1. The frame 2 straddles the upper sides of the height adjustment device 105 and the second force generator 110 and holds the first force generator 102 through which the operating shaft 101 is inserted. The operating shaft 101 is inserted through a through hole that penetrates the frame 2 in the Z direction, extends below the frame 2, and its tip 101A can contact the contact surface 104A1, which is the upper surface of the holding part 104.

[0013] Figure 1 shows the state in which the tip 101A of the operating shaft 101 is in contact with the contact surface 104A1, which is the upper surface of the holding part 104. However, when the operating knob 101B is not pushed in at all in the -Z direction, the operating shaft 101 is located slightly above the position shown in Figure 1, and a gap in the Z direction is created between the tip 101A and the contact surface 104A1. Note that the positions of the operating shaft 101, tip 101A, and operating knob 101B when the operating knob 101B is not pushed in at all in the -Z direction may be referred to as the initial position.

[0014] Furthermore, here, the Z direction is an example of the first direction, the -Z direction is an example of the first side of the Z direction which is an example of the first direction, and the +Z direction is an example of the second side which is opposite to the first side of the first direction.

[0015] 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.

[0016] The operating shaft 101 is a rod-shaped member that extends in the vertical direction (Z-axis direction). The operating shaft 101 is provided passing through the inside 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 above the contact surface 104A1 of the holding portion 104. As described above, Figure 1 shows the state in which the tip portion 101A is in contact with the contact surface 104A1, but when the operating knob 101B is not pushed in at all in the -Z direction, a gap in the Z direction is created between the tip portion 101A and the contact surface 104A1. 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).

[0017] The first force generator 102 supports the operating shaft 101, which passes through 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 sensation, to the operating body, such as the user's hand, that pushes the operating knob 101B in the -Z direction. The first force generator 102 is a force generator for presenting a click sensation and can transmit vibrations for presenting a click sensation to the operating shaft 101.

[0018] As an example, the first force generator 102 can be a VCM (Voice Coil Motor) capable of applying a driving force to the operating shaft 101 in the vertical direction (Z-axis direction). The first force generator 102 may also be of an active or passive type. As an active first force generator 102, for example, a linear motor can be used. As a passive first force generator 102, for example, a vibration control device using magnetorheological fluid can also be used.

[0019] 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 (movement from the initial position). 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.

[0020] 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.

[0021] The holding part 104 moves upward relative to the base 1 when the height adjustment device 105 rotates the rotation shaft 105A in one rotational direction. Conversely, the holding part 104 moves downward relative to the base 1 when the height adjustment device 105 rotates the rotation shaft 105A in the other rotational direction.

[0022] 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.

[0023] 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.

[0024] <Second force sensor generator 110> The second force sensor generator 110 has an outer frame 111, a movable part 112, a connecting part 113, and a base 114. The second force sensor generator 110 is a VCM (Voice Coil Motor).

[0025] The outer frame 111 is the housing of the second force generator 110, and is made of resin, for example. The outer frame 111 is cylindrical, with an opening at the top end that communicates with a cylindrical internal space. The outer frame 111 is fixed to the base 1 via a base 114. The outer frame 111 houses the movable part 112 within its internal space, and also houses a yoke, magnets, coils, etc., which generate an electromagnetic force that drives the movable part 112 in the Z direction.

[0026] The movable part 112 protrudes in the +Z direction from an opening at the upper end of the outer frame 111 and is movable in the +Z and -Z directions relative to the outer frame 111 by electromagnetic force. The electromagnetic force that causes the movable part 112 to move toward the +Z direction relative to the outer frame 111 is a reaction force that biases the movable part 112, which is pushed in the -Z direction by the operating shaft 101, toward the +Z direction.

[0027] The connecting portion 113 is a rod-shaped member that connects the upper end of the movable portion 112 to the lower end of the operating shaft 101. The portion of the connecting portion 113 on the -X direction side is fixed to the upper end of the movable portion 112. The tip of the connecting portion 113 on the +X direction side is inserted into a through hole that penetrates the lower end of the operating shaft 101 in the X direction, and is fixed to the operating shaft 101 by passing through the operating shaft 101.

[0028] The movable part 112 and the operating shaft 101 are connected by a connecting part 113, and therefore both move in the +Z and -Z directions. That is, when the operating knob 101B is pushed in the -Z direction and the operating shaft 101 moves in the -Z direction, the movable part 112 also moves in the -Z direction. When the movable part 112 moves in the +Z direction due to the electromagnetic force of the second force generator 110, the operating shaft 101 also moves in the +Z direction. Since the movable part 112 and the operating shaft 101 are fixed by the connecting part 113, both the movable part 112 and the operating shaft 101 are displaced in the Z direction, and the amount of displacement in the Z direction is equal. For example, such a connecting part 113 may be a rod-shaped member made of metal or resin.

[0029] The base 114 has its lower end fixed to the upper surface of the base 1 and its upper end fixed to the lower surface of the outer frame 111. Since the base 114 is a member that holds the outer frame 111 relative to the base 1, it may have any shape as long as it can hold the outer frame 111 relative to the base 1.

[0030] Thus, the second force generator 110 is positioned so as not to overlap with the operating axis 101 in a plan view. This makes it possible to reduce the height of the input device 100.

[0031] The second force generator 110 is capable of generating vibrations at a higher frequency than the first force generator 102, and can present a more delicate and better tactile sensation than the first force generator 102. For example, while the vibration frequency (vibration period) generated by the first force generator 102 on the operating shaft 101 is a maximum of 500 Hz, the vibration frequency (vibration period) generated by the second force generator 110 on the operating shaft 101 is 1 kHz or higher.

[0032] The input device 100 adjusts the tactile sensation presented to the user by driving the first force generator 102 to transmit large vibrations with a low frequency that are easily perceived by the user to the operating shaft 101, and by driving the second force generator 110 to apply more delicate vibrations with a higher frequency to the operating shaft 101.

[0033] <System Configuration Diagram of Input Device 100> Figure 2 shows an example of the system configuration of the input device 100.

[0034] Figure 2 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.

[0035] 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.

[0036] The control device 10 includes a control unit 11, a memory 12, and an output management unit 13. The control unit 11 and the output management unit 13 represent the functions of the program executed by the control device 10 as functional blocks. The memory 12 functionally represents the memory of the control device 10.

[0037] 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.

[0038] 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 104A1), 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.

[0039] The output management unit 13 manages the output of current to the first force generator 102 via the first driver 21, and also manages the output of current to the second force generator 110 via the second driver 22.

[0040] <Operation of Input Device 100> When the height position of the contact surface 104A1 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 104A1. In this state, when the operating knob 101B is pushed in, the operating shaft 101 moves downward. At this time, the movable part 112 moves downward together with the operating shaft 101. The amount of movement of the operating shaft 101 is detected by the sensor 103. Furthermore, 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 104A1. 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 104A1.

[0041] The first force sensation generator 102 mainly applies a driving force in the vertical direction (Z-axis direction) to the operating shaft 101 from the start of the pushing operation of the operation knob 101B until the tip 101A of the operating shaft 101 contacts the contact surface 104A1. The first force sensation generator 102 applies a driving force corresponding to a click feeling to the operating shaft 101.

[0042] 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 operation knob 101B is further pushed in the -Z direction after the presentation of the click feeling by the first force sensation generator 102. The tip 101A of the operating shaft 101 contacts the contact surface 104A1 while the operation knob 101B is being further pushed in the -Z direction after the presentation of the click feeling by the first force sensation generator 102.

[0043] In this way, the input device 100 presents a tactile sensation to an operating body such as the hand of a user who performs a pushing operation on the operation 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 operation knob 101B in the -Z direction. The pushing operation includes an operation state in which the operation knob 101B is displaced in the -Z direction, and an operation state in which, even when the operation knob 101B is pushed in the -Z direction while the tip 101A is in contact with the contact surface 104A1 and a reaction force in the +Z direction is applied to the operating shaft 101, the operation knob 101B does not displace in the -Z direction. The operation state in which the operation knob 101B does not displace in the -Z direction even when it is pushed in the -Z direction is an operation state in which the operation knob 101B is being pressed in the -Z direction.

[0044] <Image of Control of Input Device 100> Figure 3 is a diagram showing an example of the image of the control of the input device 100. In Figure 3, the horizontal axis represents the pushing position (mm) of the tip 101A of the operating shaft 101, and the vertical axis represents the load (N) required when the user pushes the operation knob 101B downward with the hand. The pushing position of the tip 101A is represented by the amount of downward movement of the operating shaft 101 detected by the sensor 103.

[0045] The pushing 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 a value from the height position of the tip 101A when the operating knob 101B is not pushed downward to the height position of the tip 101A when the operating knob 101B is pushed downward most.

[0046] The height position of the tip 101A when the operating knob 101B is not pushed downward is referred to as the top position. When the tip 101A is at the top position, there is a gap between the tip 101A and the contact surface 104A1.

[0047] The height position of the tip 101A when the operating knob 101B is pushed downward most is referred to as the bottom position. The bottom position is the position where the tip 101A descends from the top position and contacts the contact surface 104A1. When the tip 101A contacts the contact surface 104A1, the operating knob 101B cannot be pushed downward any further. The movement amount of the operating shaft 101 when the height position of the tip 101A is at the bottom position is an example of a second predetermined movement amount that is larger than the first predetermined movement amount corresponding to the pushing position S2.

[0048] The load characteristic with respect to the pushing position shown in FIG. 3 represents, as an example, the load when pushing a push button switch having a metal contact capable of reverse operation. The input device 100 reproduces the tactile sensation when performing a pushing operation on the push button switch by performing drive control of the first force sensation generator 102 and the second force sensation generator 110.

[0049] As shown in FIG. 3, when the operating knob 101B is pushed downward from the state where the tip 101A of the input device 100 is at the top position, the load gradually rises until the pushing position S1 where the load reaches the maximum value, and when exceeding the pushing position S1, the load rapidly decreases until the pushing position S2. This corresponds to the state where the metal contact performs a reverse operation and presents a click feeling.

[0050] When exceeding the pushing position S2, since the bottom position is close, the load increases again.

[0051] The input device 100 controls the drive of the first force generator 102 and the second force generator 110 according to the pressing position between the top position and the pressed position S1, and controls the drive of the first force generator 102 and the second force generator 110 according to the elapsed time between the pressed position S1 and the bottom position.

[0052] <Current waveforms used for driving control of the first force generator 102 and the second force generator 110> Figures 4A and 4B show examples of current waveforms used for driving control of the first force generator 102 and the second force generator 110. Figures 4A and 4B show four characteristics (1) to (4) in order from top to bottom. In the following, the amount of movement of the operating shaft 101 when the pressed position is S1 is an example of the first predetermined amount of movement. Also, in Figures 4A and 4B, the pressed position S2 is omitted because the distance between the pressed position S1 and the bottom position is short, but the pressed position S2 exists between the pressed position S1 and the bottom position.

[0053] (1) is the waveform of the current supplied to the first force generator 102 according to the pressing position in the section from the top position to S1. (2) is the waveform of the current supplied to the first force generator 102 according to the elapsed time from the point in time when the pressing position reaches S1. The current waveforms shown in (1) and (2) of Figure 4A are waveforms represented by the first table data used for current control of the first force generator 102.

[0054] (3) is the waveform of the current supplied to the second force generator 110 according to the pressing position in the section from the top position to S1. (4) is the waveform of the current supplied to the second force generator 110 according to the elapsed time from the point in time when the pressing position reaches S1. The current waveforms shown in (3) and (4) of Figure 4A are waveforms represented by the bottom table of the second table data used for current control of the second force generator 110. The second table data has a bottom table and a top table data.

[0055] <Current waveform in Figure 4A> As shown in (1), in the section from the top position to S1, the current value supplied to the first force generator 102 is gradually increased according to the pressing position until just before the pressing position reaches S1, and the current value is kept constant at the maximum value from just before the pressing position reaches S1 until S1. That is, when the pressing position of the operating shaft 101 detected by the sensor 103 is less than S1, the control unit 11 drives the first force generator 102 by current control to apply a force to the operating shaft 101 in the first direction (Z direction) that biases the operating shaft 101 to the second side (+Z direction side) opposite to the first side (-Z direction side).

[0056] Then, when the pressed position reaches S1, the current value is reduced to a predetermined value. The predetermined value should be low enough to provide a click sensation by reducing the current value. By supplying such a current to the first force generator 102, the operating load of the operating knob 101B gradually increases as the pressed position moves downward from the top position, and when the pressed position reaches S1, a click sensation is provided by reducing the current value to a predetermined value. In other words, when the pressed position of the operating shaft 101 detected by the sensor 103 reaches S1, the control unit 11 provides a click sensation by reducing the current value of the first force generator 102 to a predetermined value.

[0057] Furthermore, when the pressed position reaches S1 in (1), as shown in (2), the time when the pressed position reaches S1 is taken as time t0, and the current value supplied to the first force generator 102 increases from time t0 to time t1 according to the elapsed time from time t0, becomes approximately constant after time t1, and increases again after time t2. During the period from time t0 to t1, a vibration sensation immediately following the click sensation is presented, and during the period from time t1 to t2, the reaction force is suppressed. After time t2, the reaction force is increased by increasing the current value, presenting a tactile sensation of pressing against a hard object.

[0058] Furthermore, as shown in (3), in the section from the top position to S1, the current value supplied to the second force generator 110 is kept constant to push the movable part 112 upward in the +Z direction. Since the current value at this time is sufficiently small, the force in the +Z direction generated by the second force generator 110 is not enough to give a reaction force in the +Z direction to the operating shaft 101. That is, when the pressed position of the operating shaft 101 detected by the sensor 103 is less than S1, the control unit 11 drives the second force generator 110 to apply a force to the operating shaft 101 that biases it toward the +Z direction. When the operating shaft 101 is in the initial position, the movable part 112 is located toward the +Z direction than its position when the second force generator 110 is not driven, so the second force generator 110 is driven to apply a force to the operating shaft 101 that biases it toward the +Z direction.

[0059] Furthermore, in (3), when the pressed position reaches S1, as shown in (4), the current value supplied to the second force generator 110 is repeatedly increased and decreased according to the elapsed time from time t0, with the time when the pressed position reached S1 being taken as time t0. That is, when the pressed position of the operating shaft 101 detected by the sensor 103 reaches S1, the control unit 11 starts driving the second force generator 110 and repeatedly increases and decreases the current value. By vibrating the operating shaft 101 with the second force generator 110, which is capable of generating vibrations at a higher frequency than the first force generator 102, a good tactile sensation is presented. A high vibration frequency means a short vibration period.

[0060] <Current waveform in Figure 4B> The current waveforms shown in (1) to (3) of Figure 4B are the same as the current waveforms shown in (1) to (3) of Figure 4A. The current waveforms in Figure 4B differ from those in Figure 4A in that the current value immediately after time t0 in (4) is larger than that in Figure 4A.

[0061] The current waveform shown in (4) of Figure 4B shows that the current value at time ta, immediately after time t0, is increased compared to the current waveform shown in Figure 4A. Time ta is timed to coincide with the moment when the pressed position reaches the bottom position, and by increasing the current value from immediately after time t0 towards time ta, the impact of the click sensation can be mitigated.

[0062] In other words, immediately after the operating shaft 101 reaches the pressed position S1 as detected by the sensor 103, the control unit 11 drives the second force generator 110 to apply a force to the operating shaft 101 that biases it toward the +Z direction in order to mitigate the impact caused by the clicking sensation.

[0063] By using the current waveform shown in Figure 4B, the impact sensation included in the click sensation presented by driving the first force generator 102 can be reduced, and the tactile sensation presented by the click sensation can be controlled. The second force generator 110 can generate vibrations at a higher frequency than the first force generator 102, and therefore can present a more delicate and better tactile sensation than the first force generator 102. The input device 100 can adjust the tactile sensation presented to the user by driving the first force generator 102 with a low frequency to transmit large vibrations that are easily perceived by the user to the operating shaft 101, and by driving the second force generator 110 with a high frequency to apply more delicate vibrations to the operating shaft 101.

[0064] The current waveforms shown in (1) and (2) of Figure 4B are represented by the first table data used for current control of the first force generator 102. The current waveforms shown in (3) and (4) of Figure 4B are represented by the bottom table of the second table data used for current control of the second force generator 110. The second table data consists of a bottom table and a top table data.

[0065] <Flowchart> Figure 5 is a flowchart showing an example of the control process of the input device 100.

[0066] As a prerequisite, the position (height position) of the holding part 104 is adjusted to a predetermined position by the height adjustment device 105. The predetermined position of the holding part 104 can be changed by the user of the input device 100 by operating a switch (not shown) or the like to adjust the position of the holding part 104 with the height adjustment device 105.

[0067] The control unit 11 determines whether bottom vibration is occurring (step S1). In step S1, the control unit 11 determines whether the bottom vibration flag is 1. The bottom vibration flag is a flag that is set to 1 when the operating knob 101B is pushed in and the tip portion 101A reaches the bottom position. The tip portion 101A reaching the bottom position is equivalent to the tip portion 101A making contact with itself. The control unit 11 can determine that the tip portion 101A has reached the bottom position based on the detection signal from the sensor 103.

[0068] If the control unit 11 determines that bottom vibration is not occurring (S1: NO), it determines whether top vibration is occurring (step S2). In step S2, the control unit 11 determines whether the top vibration flag is 1. The top vibration flag is a flag that is set when the operating knob 101B returns to the top position. The control unit 11 can determine that it has moved to the top position based on the detection signal of the sensor 103. The control unit 11 can determine that the tip portion 101A has moved upward after reaching the bottom position based on the detection signal of the sensor 103. Note that when the tip portion 101A moves upward after reaching the bottom position, the tip portion 101A will move away from the contact surface 104A1.

[0069] If the control unit 11 determines that top vibration is not occurring (S2: NO), it acquires the detection signal from the sensor 103 (step S3).

[0070] The control unit 11 converts the acquired detection signal into the pressed position of the tip 101A of the operating shaft 101 (step S4).

[0071] The control unit 11 obtains a current value corresponding to the pressing position from the first table data used for current control of the first force sensor 102 (step S5).

[0072] The control unit 11 outputs the acquired current value to the motor of the first force sensor generator 102 (step S6).

[0073] The control unit 11 determines whether the pressed position has changed in the -Z direction and whether it has reached the bottom position (step S7). Whether the pressed position has changed in the -Z direction can be determined by the control unit 11 comparing the pressed position calculated in step S4 of the previous control cycle with the pressed position calculated in step S4 of the current control cycle.

[0074] When the control unit 11 determines that the indentation position has moved in the -Z direction and has reached the bottom position (S7: YES), it sets the bottom vibration flag to 1 (step S7A). After completing the process in step S7A, the control unit 11 terminates the flow (end). After terminating the flow, the control unit 11 returns to the start.

[0075] Furthermore, if the control unit 11 determines in step S7 that the pressed position has moved in the -Z direction and has not reached the bottom position (S7: NO), it determines whether the pressed position has moved in the +Z direction and has reached the top position (step S8). Whether the pressed position has moved in the +Z direction can be determined by the control unit 11 comparing the pressed position calculated in step S4 of the previous control cycle with the pressed position calculated in step S4 of the current control cycle. Also, the control unit 11 can determine whether the pressed position has reached the top position based on the detection signal from the sensor 103.

[0076] When the control unit 11 determines that the pressed position has moved in the +Z direction and has reached the top position (S8: YES), it sets the top vibration flag to 1 (step S8A). After completing the processing in step S8A, the control unit 11 terminates the flow (end). After terminating the flow, the control unit 11 returns to start.

[0077] Furthermore, if the control unit 11 determines in step S8 that the push position has changed in the +Z direction and has not reached the top position (S8: NO), it terminates the flow (end). When the control unit 11 terminates the flow, it returns to the start.

[0078] Furthermore, if the control unit 11 determines in step S1 that bottom vibration is occurring (S1: YES), it obtains a current value corresponding to the indentation position from the bottom table of the second table data (step S11).

[0079] The control unit 11 outputs the acquired current value to the motor of the second force generator 110 (step S12).

[0080] The control unit 11 determines whether to terminate the bottom vibration (step S13). In step S13, the control unit 11 determines whether to terminate the bottom vibration based on whether the time the bottom vibration has been continuing has reached the bottom vibration duration. In step S13, if the control unit 11 determines that the time the bottom vibration has been continuing has reached the bottom vibration duration, it terminates the bottom vibration; if it determines that the time the bottom vibration has been continuing has not reached the bottom vibration duration, it continues the bottom vibration without terminating it. The bottom vibration duration can be set, for example, to the time the vibration remains after the reversible metal contact has reversed, and the vibration duration is adjusted in amplitude, frequency, and time according to the strength of the tactile sensation and the degree of resonance to be presented. For example, if a strong resonance is to be left, the amplitude is increased and the vibration frequency is decreased while the vibration is applied for a long time.

[0081] If the control unit 11 determines that the bottom vibration will not be terminated (S13: NO), it terminates the flow (end). Once the control unit 11 has terminated the flow, it returns to the start.

[0082] Furthermore, if the control unit 11 determines in step S13 that the bottom vibration has ended (S13: YES), it resets the bottom vibration flag to 0 (step S13A). In other words, the bottom vibration flag is cleared.

[0083] When the control unit 11 finishes processing in step S13A, it terminates the flow (end). When the control unit 11 terminates the flow, it returns to the start.

[0084] Furthermore, if the control unit 11 determines in step S2 that top vibration is occurring (S2: YES), it obtains a current value corresponding to the indentation position from the top table of the second table data (step S21).

[0085] The control unit 11 outputs the acquired current value to the motor of the second force generator 110 (step S22). Although the current waveform realized by the top table of the second table data is not shown here, the motor of the second force generator 110 is driven in step S22 only after it has been determined that the pressed position has moved in the +Z direction and reached the top position (S8: YES). That is, when the operating knob 101B has been pressed in until the tip portion 101A moves to the bottom position, and then the operating knob 101B has returned to its position before being pressed (initial position), and when one operation is completed in the input device 100. When the operation is completed, the motor of the second force generator 110 is driven to present tactile sensation. In this state, as an example, the operating knob 101B may be made to vibrate slightly with a predetermined vibration pattern to indicate that the operation is complete.

[0086] The control unit 11 determines whether to terminate the top vibration (step S23). In step S23, the control unit 11 determines whether to terminate the top vibration based on whether the time the top vibration has been continued has reached the top vibration duration. In step S23, if the control unit 11 determines that the time the top vibration has been continued has reached the top vibration duration, it terminates the top vibration; if it determines that the time the top vibration has been continued has not reached the top vibration duration, it continues the top vibration without terminating it. The top vibration duration is adjusted according to the intensity of the tactile sensation presented and the degree of resonance, by adjusting the amplitude, frequency, and duration. For example, if a strong resonance is to be left, the amplitude is increased and the vibration frequency is decreased while the vibration is applied for a long time.

[0087] If the control unit 11 determines that the top vibration will not be terminated (S23: NO), it terminates the flow (end). Once the control unit 11 has terminated the flow, it returns to the start.

[0088] Furthermore, if the control unit 11 determines in step S23 that the top vibration has ended (S23: YES), it resets the top vibration flag to 0 (step S23A). In other words, the top vibration flag is cleared.

[0089] When the control unit 11 finishes processing in step S23A, it terminates the flow (end). When the control unit 11 terminates the flow, it returns to the start.

[0090] <Effects> The input device 100 includes an operating shaft 101 that extends in a first direction (Z direction), is linearly movable in the first direction (Z direction), and moves to the first side (-Z direction side) in the first direction (Z direction) by a pushing operation; a first force generator 102 that applies force in the first direction (Z direction) to the operating shaft 101; a sensor 103 that detects the amount of movement of the operating shaft 101; a second force generator 110 that applies force in the first direction (Z direction) to the operating shaft 101; and a control unit 11 that controls the first force generator 102 and the second force generator 110 based on the amount of movement of the operating shaft 101 detected by the sensor 103. Therefore, by combining the tactile sensation obtained by driving the first force generator 102 to vibrate the operating shaft 101 and the tactile sensation obtained by driving the second force generator 110 to vibrate the operating shaft 101, it is possible to present a good tactile sensation.

[0091] Therefore, it is possible to provide an input device 100 that can present a good sense of touch.

[0092] Furthermore, the control unit 11 may control the second force generator 110 after the application of force to the operating shaft 101 by the first force generator 102 has finished. By controlling the second force generator 110 after the application of force to the operating shaft 101 by the first force generator 102 has finished, it is possible to combine the tactile sensation obtained by driving the first force generator 102 to vibrate the operating shaft 101 with the tactile sensation obtained by driving the second force generator 110 to vibrate the operating shaft 101, thereby presenting a good tactile sensation.

[0093] Furthermore, the first force generator 102 is capable of transmitting vibrations to the operating shaft 101 to present a click sensation. When the amount of movement of the operating shaft 101 detected by the sensor 103 is less than a first predetermined amount of movement, the control unit 11 drives the first force generator 102 to apply a force to the operating shaft 101 in the first direction (Z direction) that biases it toward the second side (+Z direction) opposite to the first side (-Z direction). When the amount of movement of the operating shaft 101 detected by the sensor 103 reaches the first predetermined amount of movement, the drive of the first force generator 102 is stopped to present a click sensation, and the drive of the second force generator 110 may be started. By coordinating the drive of the first force generator 102 and the second force generator 110 so that tactile sensation is presented by the drive of the second force generator 110 after the presentation of the click sensation, a better tactile sensation can be presented.

[0094] The operating shaft 101 is further provided with a contact surface 104A1 to which the tip 101A can contact. When the amount of movement of the operating shaft 101 detected by the sensor 103 reaches a second predetermined amount of movement which is greater than a first predetermined amount of movement, the tip 101A of the operating shaft 101 may contact the contact surface 104A1. When the amount of movement of the operating shaft 101 is the first predetermined amount of movement, the tip 101A is not in contact with the contact surface 104A1, so a good click sensation can be presented. Furthermore, after the amount of movement of the operating shaft 101 reaches the second predetermined amount of movement, by applying vibration of the second force generator 110 to the operating shaft 101 while the tip 101A is in contact with the contact surface 104A1, it is possible to present a tactile sensation as if the operating shaft 101 were pressed against a hard object.

[0095] Furthermore, the control unit 11 may drive the second force generator 110 to apply a force to the operating shaft 101 that biases it toward the second side (+Z direction) opposite to the first side (-Z direction) when the amount of movement of the operating shaft 101 detected by the sensor 103 is less than a first predetermined amount of movement. In a configuration where the movable part 112 is located toward the +Z direction when the operating shaft 101 is in its initial position compared to the position when the second force generator 110 is not driven, applying a force to the operating shaft 101 that biases it toward the +Z direction when the operating shaft 101 is in its initial position makes it possible to achieve smooth downward movement of the operating shaft 101 when the operating knob 101B is pushed downward.

[0096] Furthermore, the control unit 11 may drive the second force generator 110 to apply a force to the operating shaft 101 in the second direction (+Z direction), opposite to the first direction (-Z direction), in order to mitigate the impact caused by the click sensation immediately after the amount of movement of the operating shaft 101 detected by the sensor 103 reaches a first predetermined amount of movement. By mitigating the impact of the click sensation caused by the driving of the first force generator 102 with the driving of the second force generator 110, a better tactile sensation can be presented.

[0097] Furthermore, when the amount of movement of the operating shaft 101 detected by the sensor 103 reaches a first predetermined amount of movement, the control unit 11 may control the second force generator 110 so that the force applied by the second force generator 110 to the operating shaft 101 changes according to the elapsed time since the amount of movement of the operating shaft 101 reached the first predetermined amount of movement. After the amount of movement of the operating shaft 101 reaches the first predetermined amount of movement, the amount of movement that the operating shaft 101 can move is limited. For this reason, by switching to time control based on elapsed time to drive the second force generator 110, it is possible to change the tactile sensation more precisely and present a better tactile sensation.

[0098] Furthermore, the vibration period generated by the second force generator 110 may be shorter than the vibration period generated by the first force generator 102. By driving the first force generator 102, a large vibration with a low frequency that is easily perceived by the user is transmitted to the operating shaft 101, and by driving the second force generator 110, a more delicate vibration with a higher frequency is applied to the operating shaft 101, thereby adjusting the tactile sensation presented to the user. This makes it possible to present a better tactile sensation.

[0099] Furthermore, the second force generator 110 is positioned so as not to overlap with the operating shaft 101 in a plan view, and the second force generator 110 may have a movable part 112 that moves in a first direction (Z direction) when driven by the control unit 11, and a connecting part 113 that connects the movable part 112 to the operating shaft 101. By configuring the system to apply force to the operating shaft 101 while the second force generator 110 is positioned so as not to overlap with the operating shaft 101 in a plan view, the height of the input device 100 can be reduced, and the input device 100 can be placed in various locations.

[0100] <Embodiment 2> Figures 6A and 6B 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, and a second height adjustment device 210. In Figures 6A and 6B, 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.

[0101] 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 a frame 2.

[0102] 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.

[0103] 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. The upper surface of the holding part 104 is a contact surface 104A1.

[0104] 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.

[0105] <Control Processing of Input Device 200> Figures 7A to 7C show examples of control processing performed by the input device 200. The processing in Figures 7A and 7B is the process of initializing the height position of the holding part 104 and the height position of the base part 214. Figure 7C 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.

[0106] <Processing in Figure 7A> 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 contact surface 104A1 of the holding part 104.

[0107] 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 contact surface 104A1 of the holding unit 104, and the data representing the reference position is stored in the memory 12.

[0108] 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 contact surface 104A1 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 contact surface 104A1 falls.

[0109] 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).

[0110] <Processing in Figure 7B> 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.

[0111] 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.

[0112] <Processing in Figure 7C> The control unit 11 determines whether the height position of the holding unit 104 has been determined (step S121).

[0113] 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 7A to determine the height position of the holding unit 104.

[0114] 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).

[0115] 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 7B to set the height position of the base portion 214 to the reference height position.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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).

[0128] Furthermore, if the control unit 11 determines NO in step S131, or YES in step S132, it proceeds to step S135.

[0129] <Effects> The input device 200 can independently adjust the height position of the contact surface 104A1 of the holding part 104 using the height adjustment device 105, and adjust the height positions of the operating knob 101B and the tip part 101A using the second height adjustment device 210.

[0130] For example, as shown in Figures 6A and 6B, 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 104A1 constant.

[0131] Furthermore, by changing the gap in the Z direction between the tip portion 101A and the contact surface 104A1, the amount that the operating knob 101B can be pressed can be changed, allowing the user to freely create the desired feel.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] This international application claims priority based on Japanese Patent Application No. 2024-220757, filed on 17 December 2024, the entire contents of which are incorporated herein by reference.

[0137] 10 Control device 11 Control unit 12 Memory 13 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 Protrusion 105 Adjustment device 105A Rotating shaft 105B Main body 110 Second force generator 111 Outer frame 112 Movable part 113 Connecting part 114 Base 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 being linearly movable in the first direction, and moving to a first side in the first direction by a pushing operation; a first force generator that applies a force in the first direction to the operating shaft; a sensor that detects the amount of movement of the operating shaft; a second force generator that applies a force in the first direction to the operating shaft; and a control unit that controls the first force generator and the second force generator 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 starts controlling the second force generator when the first force generator is applying the force to the operating shaft.

3. The input device according to claim 2, wherein the first force generator is capable of transmitting vibrations to the operating shaft for the purpose of providing a click sensation, and the control unit drives the first force generator to apply a force to the operating shaft that biases the operating shaft to a second side opposite to the first side in the first direction when the amount of movement of the operating shaft detected by the sensor is less than a first predetermined amount of movement, and when the amount of movement of the operating shaft detected by the sensor reaches the first predetermined amount of movement, the control unit causes the click sensation to be provided by current control of the first force generator and starts driving the second force generator.

4. The input device according to claim 3, further comprising a contact portion to which the tip of the operating shaft can contact, wherein when the amount of movement of the operating shaft detected by the sensor reaches a second predetermined amount of movement which is greater than the first predetermined amount of movement, the tip of the operating shaft contacts the contact portion.

5. The input device according to claim 3 or 4, wherein the control unit drives the second force generator to apply a force to the operating shaft that biases the operating shaft to the second side opposite to the first side when the amount of movement of the operating shaft detected by the sensor is less than the first predetermined amount of movement.

6. The input device according to any one of claims 3 to 5, wherein the control unit drives the second force generator to apply a force to the operating shaft that biases it to the second side opposite to the first side in order to mitigate the impact caused by the click sensation, immediately after the amount of movement of the operating shaft detected by the sensor reaches the first predetermined amount of movement.

7. The input device according to any one of claims 3 to 6, wherein the control unit controls the second force generator so that the force applied by the second force generator to the operating shaft changes according to the elapsed time since the amount of movement of the operating shaft detected by the sensor reached the first predetermined amount of movement.

8. The input device according to any one of claims 1 to 7, wherein the vibration period generated by the second force generator is shorter than the vibration period generated by the first force generator.

9. The input device according to any one of claims 1 to 8, wherein the second force generator is positioned in a location that does not overlap with the operating axis in a plan view, and the second force generator has a movable part that moves in the first direction when driven by the control unit, and a connecting part that connects the movable part to the operating axis.

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