WO2018011929A1 - Touch sensation providing device and simulation system - Google Patents

Abstract

Provided is a touch sensation providing device capable of providing a touch sensation in the direction of pressing the surface of the skin or providing a pulling sensation in the direction opposite to the pressing direction. This touch sensation providing device includes: a casing having a first side and a second side opposite the first side; a first attachment part attached to the first side of the casing; a first contactor located opposite the first attachment part and having a first contacting section to be brought into contact with a first portion of the skin; a second attachment part attached to the second side of the casing; a second contactor located opposite the second attachment part and having a second contacting section to be brought into contact with a second portion of the skin; a first oscillator attached to the casing and oscillating the casing in the direction in which the first contactor and the second contactor are connected; and a first driving control unit which drives the first oscillator in response to a first driving signal which allows the first oscillator to reciprocate in the direction in which the first contactor and the second contactor are connected, wherein the speeds of oscillation in a first direction and a second direction opposite the first direction are different in the reciprocation.

Description

Tactile sensation providing apparatus and simulation system

The present invention relates to a tactile sensation providing apparatus and a simulation system.

Conventionally, a support part, an elastic body having one end supported by the support part, and a moving member supported by the other end of the elastic body and performing periodic acceleration motion with respect to the support part There is an acceleration generator including a coil that applies an acceleration corresponding to an electric current to the moving member.

A first period in which a current in a direction that gives acceleration in a desired direction to the moving member is passed through the coil and a second period other than that are periodically repeated, and the ratio of the first period to the period However, unlike the ratio of the second period, the frequency of the periodic acceleration motion includes a frequency component of 80 Hz or in the vicinity of 80 Hz (see, for example, Patent Document 1 and Non-Patent Document 1).

Japanese Patent Laying-Open No. 2015-223563

Distinct Pseudo-Attraction Force Sensation by a Thumb-Sized Vibrator that Oscillates Asymmetrically, In Proc. Of Eurohaptics 2014, pp.88-95, Versailles, France, June 2014.

By the way, in the conventional acceleration generator, the vibrating direction is a direction parallel to the skin surface of the fingertip, and does not vibrate in the direction of pressing the skin. This is mainly to provide a tactile sensation of pulling in a direction parallel to the surface of the fingertip skin because the receptor on the fingertip skin is likely to sense a shear force in a direction parallel to the skin.

Many of these receptors exist on the belly of the fingertip (the part with the fingerprint), but also on the skin other than the belly of the fingertip. When touching the device, a tactile sensation of pulling in a direction parallel to the surface of the skin is provided.

For this reason, the conventional acceleration generating device can provide a tactile sensation that is pulled in a direction parallel to the skin surface, but cannot provide a tactile sensation that presses the skin surface.

Therefore, an object of the present invention is to provide a tactile sensation providing apparatus and a simulation system that can provide a tactile sensation of pressing the surface of the skin.

A tactile sensation providing device according to an embodiment of the present invention is attached to a housing having a first side and a second side opposite to the first side, and the first side of the housing. A first contact having a first attachment portion and a first contact portion located opposite to the first attachment portion and contacting the first portion of the skin, and attached to the second side of the housing A second contactor having a second attachment part and a second contact part located opposite to the second attachment part and contacting the second part of the skin; and the first contactor attached to the housing A first vibrator that vibrates the casing along a direction connecting the first contactor and the second contactor, and reciprocating the first vibrator along a direction connecting the first contactor and the second contactor. A first drive signal to be moved, which vibrates in a first direction in the reciprocating motion and in a second direction opposite to the first direction. Rate at which includes a first drive control unit for driving said first transducer with a different first driving signal.

It is possible to provide a tactile sensation providing apparatus and a simulation system that can provide a tactile sensation of pressing the surface of the skin.

1 is a perspective view showing a tactile sensation providing apparatus 100 according to an embodiment. It is a figure which shows a part of internal structure of the tactile sensation providing apparatus 100 transparently. It is a figure which shows a part of internal structure of the tactile sensation providing apparatus 100 transparently. It is a figure which shows a part of internal structure of the tactile sensation providing apparatus 100 transparently. It is a figure which shows a part of internal structure of the tactile sensation providing apparatus 100 transparently. It is a figure which shows an example of the usage pattern of the tactile sensation providing apparatus. It is a figure explaining the tactile sensation provided to a user's skin by the tactile sensation providing apparatus. It is a figure explaining the tactile sensation provided to a user's skin by the tactile sensation providing apparatus. It is a figure explaining the tactile sensation provided to a user's skin by the tactile sensation providing apparatus. It is a figure explaining the tactile sensation provided to a user's skin by the tactile sensation providing apparatus. It is a figure explaining the tactile sensation provided to a user's skin by the tactile sensation providing apparatus. It is a figure which shows the drive circuit and drive pattern of vibrator | oscillator 120Z. 2 is a diagram illustrating an internal configuration of a tactile sensation providing apparatus 100. FIG. It is a figure which shows the simulation system 200 of Embodiment 1. FIG. 1 is a perspective view of a computer system to which a processing apparatus 220 according to Embodiment 1 is applied. 2 is a block diagram illustrating a configuration of a main part in a main body 11 of a computer system 10. FIG. It is a figure which shows article | item data. It is a figure which shows an example of the image of articles | goods. It is a figure which shows the data of the table format which linked | related reaction force F and the amplitude value. 3 is a flowchart illustrating processing executed by the processing device 220 according to the first embodiment. 10 is a flowchart illustrating processing executed when the drive control unit 140 of the tactile sensation providing apparatus 100 drives the vibrators 120X, 120Y, and 120Z. It is a figure which shows the tactile sensation providing devices 100A, 100B, and 100C of the modification of the embodiment. It is a figure which shows the tactile sensation providing devices 100A, 100B, and 100C of the modification of the embodiment. It is a figure which shows the tactile sensation providing devices 100A, 100B, and 100C of the modification of the embodiment.

Embodiments to which the tactile sensation providing apparatus and the simulation system of the present invention are applied will be described below.

<Embodiment>
FIG. 1 is a perspective view showing a tactile sensation providing apparatus 100 according to an embodiment. 2 to 5 are diagrams transparently showing a part of the internal configuration of the tactile sensation providing apparatus 100. FIG. FIG. 6 is a diagram illustrating an example of a usage pattern of the tactile sensation providing apparatus 100. 1 to 6, a common XYZ coordinate system is used.

1, the tactile sensation providing apparatus 100 includes housings 101, 102, 103, contacts 111, 112, vibrators 120X, 120Y, 120Z, and a marker 130. In addition to this, the tactile sensation providing apparatus 100 includes a drive control unit that performs drive control of the vibrators 120X, 120Y, and 120Z, but the illustration is omitted here. 2 to 5, the marker 130 is omitted.

The casings 101, 102, and 103 are the main body of the tactile sensation providing apparatus 100, and the casings 102 and 103 branch in the X-axis negative direction and the Y-axis positive direction from the casing 101 that extends in the Z-axis direction. It is provided as follows.

The casings 101, 102, and 103 are made of, for example, an insulator such as resin or metal, and may be integrally molded, or have a configuration in which the casings 102 and 103 are attached to the casing 101. There may be.

The vibrators 120X, 120Y, and 120Z are provided inside the casings 101, 102, and 103, respectively. A contact 111 is provided at the end of the housing 101 on the Z-axis positive direction side, and a contact 112 is provided at the end of the housing 101 on the Z-axis negative direction side. The contacts 111 and 112 may be molded integrally with the housing 101 or attached to the housing 101.

The casings 101, 102, and 103 reciprocate in the Z-axis direction when the vibrator 120Z reciprocates in the Z-axis direction. The casings 101, 102, and 103 vibrate reciprocally in the X-axis direction when the vibrator 120X reciprocates in the X-axis direction. The casings 101, 102, and 103 vibrate reciprocally in the Y-axis direction when the vibrator 120Y reciprocates in the Y-axis direction.

Therefore, two-dimensional vibration can be obtained by reciprocating at least any two of the vibrators 120X, 120Y, and 120Z. If all of the vibrators 120X, 120Y, and 120Z are reciprocated, three-dimensional vibration can be obtained.

The contacts 111 and 112 are cylindrical members. The contacts 111 and 112 are respectively provided at the end on the Z-axis positive direction side and the end on the Z-axis negative direction side of the housing 101. As an example, the contacts 111 and 112 are provided at the center of the end surface on the Z-axis positive direction side of the housing 101 and the center of the end surface on the Z-axis negative direction side.

The contact 111 is an example of a first contact, and the contact 112 is an example of a second contact. The part where the contact 111 is attached to the housing 101 is an example of a first attachment part, and the tip of the contact 111 is an example of a first contact part. The part where the contact 112 is attached to the housing 101 is an example of the second attachment part, and the tip of the contact 112 is an example of the second contact part.

The contacts 111 and 112 are made of an insulator such as resin or metal, for example, and may be molded integrally with the housing 101 or attached to the housing 101.

For example, as shown in FIG. 6, the contacts 111 and 112 are held by the index finger A and the thumb B of the user of the tactile sensation providing apparatus 100. In this way, when the contacts 111 and 112 are held by the index finger A and the thumb B, the tactile sensation providing apparatus 100 is held by the user.

The tactile sensation providing apparatus 100 is premised on a usage pattern that is held by a user such that the contact 111 is located above in the vertical direction and the contact 112 is located below in the vertical direction. Here, in the usage pattern of the tactile sensation providing apparatus 100, the direction connecting the contacts 111 and 112 does not need to be parallel to the vertical direction. It is only necessary that the contact 111 is positioned relatively above the contact 112.

The area of the end of the contact 111 on the Z axis positive direction side is smaller than the area of the end of the contact 112 on the Z axis negative direction side. This is due to the following reason. In the usage form of the tactile sensation providing apparatus 100, the user holds the tactile sensation providing apparatus 100 so that the contact 111 is positioned above the contact 112.

For this reason, when the direction connecting the contact 111 and the contact 112 is parallel to the vertical direction, the weight of the tactile sensation providing device 100 is applied to the contact 112. Further, when the direction connecting the contact 111 and the contact 112 is not parallel to the vertical direction, the weight of the tactile sensation providing device 100 is applied to the contact 112 more than the contact 111.

The tactile sensation providing apparatus 100 gives a tactile sensation in the direction of pressing the skin on the belly of the fingertips of the user's index finger A and thumb B (the part where the fingerprint is present) by vibrating the vibrator 120Z. For this reason, in order to suppress the influence of its own weight in the direction of pressing the skin, the area of the end of the contact 111 on the Z-axis positive direction side is smaller than the area of the end of the contact 112 on the Z-axis negative direction side. Is also small.

As an example, the area of the end portion on the Z-axis positive direction side of the contact 111 and the area of the end portion on the Z-axis negative direction side of the contact 112 are such that the direction connecting the contact 111 and the contact 112 is in the vertical direction. When the user holds the tactile sensation providing apparatus 100 so as to be parallel to each other, the surface pressure that the user receives with the index finger A and the thumb B is set to be equal. This is because if the surface pressure received by the index finger A and the thumb B becomes equal, the strength of the tactile sensation received by the index finger A and the thumb B becomes equal.

Here, the force applied to the ends of the contacts 111 and 112 will be described more specifically. Z-axis positive direction side of the end portion of the area of S _a of the contact _111, the length of the outer circumference of the end portion of the Z-axis positive direction side of the cylindrical contact 111 and L _a. The area of the end of the contact 112 on the negative side of the Z axis is S _b , and the length of the outer periphery of the end of the cylindrical contact 112 on the negative side of the Z axis is L _b .

Further, as shown in FIG. 6, when the contacts 111 and 112 are gripped by the index finger A and the thumb B, the gripping force applied in the Z-axis direction from the index finger A and the thumb B to the contacts 111 and 112 is expressed as F ₀ (N ) And gravity (Z-axis negative direction) generated by the own weight M of the tactile sensation providing device 100 is Mg (N).

The surface pressures σ _a and σ _b applied to the skin of the index finger A and thumb B are expressed by the following equation (1).

　また、円柱状の接触子１１１、１１２の端部から、人差し指Ａと親指Ｂの皮膚が受ける力は、主に、円柱状の接触子１１１、１１２の端部の外周（長さＬ_ａ、Ｌ_ｂ）に沿って生じる。人差し指Ａと親指Ｂの皮膚が接触子１１１、１１２の端部の外周から受ける力σ_ａ、σ_ｂは、次式（２）で表される。力σ_ａ、σ_ｂは、それぞれ、長さＬ_ａ、Ｌ_ｂで割った、長さＬ_ａ、Ｌ_ｂあたりの力（Ｎ／ｍ）である。

Further, the force applied to the skin of the index finger A and the thumb B from the ends of the cylindrical contacts 111 and 112 is mainly the outer periphery (lengths _La and L) of the ends of the cylindrical contacts 111 and 112. _b ) along. Forces σ _a and σ _b received by the skin of the index finger A and the thumb B from the outer periphery of the end portions of the contacts 111 and 112 are expressed by the following equation (2). The forces σ _a and σ _b are forces (N / m) per length L _a and L _b divided by the lengths L _a and L _b , respectively.

　人差し指Ａと親指Ｂの皮膚に掛かる面圧が等しければ、利用者が触感提供装置１００の自重Ｍの影響を感じ取りにくくなると考えられる。σ_ａ＝σ_ｂを実現するには、式（１）から式（３）を導き出すことができる。

If the surface pressure applied to the skin of the index finger A and the thumb B is equal, it is considered that the user is less likely to feel the influence of the own weight M of the tactile sensation providing device 100. In order to realize σ _a = σ _b , equation (3) can be derived from equation (1).

　従って、式（３）が成立するように、触感提供装置１００の自重Ｍ、接触子１１１のＺ軸正方向側の端部の面積Ｓ_ａ、接触子１１２のＺ軸負方向側の端部の面積Ｓ_ｂを設定すればよい。

Accordingly, the weight M of the tactile sensation providing device 100, the area S _a of the end of the contact 111 on the positive side of the Z-axis, and the end of the end of the contact 112 on the negative side of the Z-axis so that the expression (3) is satisfied. the area _{S b} may be set.

In addition, although the form in which the contacts 111 and 112 are cylindrical members is described here, the contacts 111 and 112 may be members having a shape other than the cylindrical shape. Even if it is not a cylindrical member, the area of the end portion on the Z-axis positive direction side of the contactor 111 only needs to be smaller than the area of the end portion of the contactor 112 on the Z-axis negative direction side. . For example, the area relationship between the contacts 111 and 112 may be maintained by providing a recess recessed in the negative Z-axis direction at the end of the contact 111 on the positive Z-axis direction.

Further, the end of the contact 111 on the Z-axis positive direction side and the end of the contact 112 on the Z-axis negative direction side have a certain angle between the side surfaces so as to have end faces. It is preferable that This is to provide a better tactile sensation.

Note that the area of the end of the contact 112 on the negative side in the Z-axis is set to a size equal to or smaller than the area of the thumb (belly) assuming that the contact 112 is held by the thumb. As an example, the diameter is set to be smaller than or equal to a circle having a diameter of 23.4 mm. When it is assumed that a finger other than the thumb is held, the area of the end portion of the contact 112 on the Z-axis negative direction side may be matched with the assumed finger size.

The vibrators 120X, 120Y, and 120Z are provided inside the casings 101, 102, and 103, respectively. As described above, the vibrators 120X, 120Y, and 120Z are provided to reciprocate the entire casings 101, 102, and 103 in the X-axis direction, the Y-axis direction, and the Z-axis direction, respectively. The vibrator 120Z is an example of a first vibrator, and the vibrators 120X and 120Y are examples of a second vibrator.

Since the vibrators 120X, 120Y, and 120Z have the same configuration, the configuration of the vibrator 120Z will be described here. As shown in FIG. 2, the vibrator 120Z includes a spring 121Z, a permanent magnet 122Z, and an electromagnetic coil 123Z.

The spring 121Z is fixed to the inner wall 101A of the casing 101 on the Z axis positive direction side so as to extend in the Z axis negative direction. The end fixed to the inner wall 101A of the spring 121Z is a fixed end, and the end fixed to the opposite permanent magnet 122Z is a free end.

The permanent magnet 122Z is attached to the end (free end) of the spring 121Z on the Z axis negative direction side. As an example, the S pole is located on the Z axis positive direction side, and the N pole is located on the Z axis negative direction side. An electromagnetic coil 123Z is provided on the negative Z side of the N pole of the permanent magnet 122Z.

The electromagnetic coil 123Z attracts the permanent magnet 122Z in the Z-axis negative direction when a current is supplied from a drive control unit (not shown). In this state, the spring 121Z is extended in the Z-axis negative direction. In a state where no current is supplied to the electromagnetic coil 123Z, the permanent magnet 122Z is pulled back in the positive direction of the Z axis by the contraction force of the spring 121Z. For this reason, the permanent magnet 122Z can be reciprocated in the Z-axis direction by passing an electric current intermittently through the electromagnetic coil 123Z at a predetermined frequency.

Here, when the permanent magnet 122Z is reciprocated in the Z-axis direction, the drive control of the vibrator 120Z is performed so that the speed of moving in the Z-axis positive direction is different from the speed of moving in the Z-axis negative direction. Such drive control of the vibrator 120Z will be described later.

The marker 130 is attached to the housing 101. The marker 130 has a plurality of spheres, and reflects infrared rays in various directions when irradiated with infrared rays in a simulation system described later. The marker 130 is used when the processing device of the simulation system detects the position of the tactile sensation providing device 100.

7 to 11 are diagrams illustrating the tactile sensation provided to the user's skin by the tactile sensation providing apparatus 100. FIG. 10 and 11, the tactile sensation providing apparatus 100 is shown in a simplified manner.

As shown in FIG. 7, when the user holds the contacts 111 and 112 with the index finger A and the thumb B, the upper end of the contact 111 presses against the skin of the index finger A as shown in FIG. As shown in FIG. 2, the lower end of the contact 112 presses the skin of the thumb B and sinks.

When the vibrator 120Z is driven and reciprocated in the Z-axis direction in such a state, the upper end of the contactor 111 presses the skin of the index finger A in the Z-axis positive direction as shown in FIG. The operation of returning to the negative Z-axis direction is repeated. Further, as shown in FIG. 10, the lower end of the contact 112 repeats the operation of pressing the skin of the thumb B in the negative Z-axis direction and the operation of returning to the positive Z-axis direction.

Here, when the Meissner body of human skin is given a reciprocating vibration in the shear direction (direction parallel to the surface of the skin) to the skin, the vibration speed in the forward direction is higher than the vibration speed in the backward direction. If it is high, you can feel the tactile sensation being pulled in the forward direction. Further, if the speed of the backward vibration is higher than the speed of the forward vibration, the tactile sensation felt in the backward direction is sensed.

Further, when the user grips the contacts 111 and 112 with the index finger A and the thumb B, when the vibrator 120Z is driven to reciprocate in the Z-axis direction, the skin of the index finger A and the thumb B is sheared. The direction is the Z-axis direction.

As shown in FIG. 10, the vibrator 120 </ b> Z is driven in a state in which the upper end of the contact 111 presses and sinks the skin of the index finger A and the lower end of the contact 112 presses and presses the skin of the thumb B. When the reciprocating motion is made in the Z-axis direction, the corners of the cylindrical contacts 111 and 112 mainly rub against the skin, so that a shearing direction is generated in the Z-axis direction as shown by a double-headed arrow in FIG. .

For this reason, when the vibrator 120Z is reciprocated in the Z-axis direction, if the vibrator 120Z is driven with a driving pattern in which the speed of vibration in the Z-axis positive direction is higher than the speed of vibration in the Z-axis negative direction, the user The tactile sensation that the index finger A is pushed in the positive direction of the Z-axis is obtained. In addition, with regard to the thumb B, a tactile sensation in which pressing in the negative Z-axis direction due to the weight of the tactile sensation providing apparatus 100 is reduced is obtained.

On the other hand, when the vibrator 120Z is reciprocated in the Z-axis direction, the vibrator 120Z is driven with a drive pattern in which the speed of vibration in the negative Z-axis direction is higher than the speed of vibration in the positive Z-axis direction. Then, the user has a tactile sensation in which the thumb B is pushed in the negative Z-axis direction. Further, since the index finger A is in a direction away from the index finger A (Z-axis negative direction), almost no tactile sensation is provided to the index finger A in this drive pattern.

Also, as shown in FIG. 11, when the vibrator 120X is driven to reciprocate in the X-axis direction, the upper surface of the cylindrical contactor 111 and the lower surface of the contactor 112 rub against the skin. As shown, the shear direction is generated in the X-axis direction.

Therefore, when reciprocating the vibrator 120X in the X-axis direction, if the vibrator 120X is driven with a drive pattern in which the speed of vibration in the X-axis positive direction is higher than the speed of vibration in the X-axis negative direction, the user The tactile sensation is obtained when the index finger A is pressed in the positive direction of the X axis.

On the other hand, when the vibrator 120X is driven with a drive pattern in which the speed of vibration in the X-axis negative direction is higher than the speed of vibration in the X-axis positive direction, the user moves the thumb B in the X-axis negative direction. Get a feeling of being pressed. This is the same when the vibrator 120Y is driven to reciprocate the tactile sensation providing apparatus 100 in the Y-axis direction.

FIG. 12 is a diagram showing a drive circuit and a drive pattern of the vibrator 120Z. In FIG. 12, the tactile sensation providing apparatus 100 is simplified, and contacts 111 and 112, a vibrator 120Z, a drive controller 140, a DA (Digital Analog) converter 150, and an amplifier 160 are shown.

The drive control unit 140 performs drive control of the vibrators 120X, 120Y, and 120Z, and is realized by a microcomputer. The drive control unit 140 includes a CPU (Central Processing 中央 Unit). The drive control unit 140 is an example of a first drive control unit and a second drive control unit.

FIG. 12 shows the waveform of the drive pattern of the vibrator 120Z generated by the drive control unit 140. The drive pattern is a signal waveform representing the drive signal output from the drive control unit 140.

The drive control unit 140 is connected to the vibrator 120Z via the DA converter 150 and the amplifier 160. The DA converter 150 converts the digital drive signal output from the drive control unit 140 into an analog signal. The amplifier 160 adjusts the signal level of the drive signal analog-converted by the DA converter 150 and inputs the signal to the vibrator 120Z.

The drive signal output by the drive control unit 140 is roughly classified into two types. In the drive pattern shown in FIG. 12, the horizontal axis is the time axis, and the vertical axis is the voltage (vibration amplitude). The two drive patterns shown in (A) and (B) are sawtooth drive patterns, and the speed at which the voltage value (amplitude) rises is different from the speed at which it falls.

Here, the rising operation is an operation from the point where the sawtooth amplitude is minimum to the maximum point, and the falling operation is an operation from the point where the sawtooth amplitude is maximum to the minimum point. When rising, the vibrator 120Z vibrates in the positive direction of the Z axis, and when falling, the vibrator 120Z vibrates in the negative direction of the Z axis.

When providing the tactile sensation of pressing the index finger A in the positive direction of the Z-axis, the drive control unit 140 uses a drive pattern that rises faster than the fall as shown in (A). On the other hand, when providing the tactile sensation of pressing the thumb B in the negative Z-axis direction, the drive control unit 140 uses a drive pattern in which the fall is faster than the rise, as shown in (B).

For example, such a tactile sensation represents a reaction force when the pointer touches an article displayed on the screen when the pointer displayed on the screen is operated by the tactile sensation providing apparatus 100 in a simulation system described later. Used as a tactile sensation.

Further, the two drive patterns shown in FIG. 12 are merely examples, and any drive pattern having any waveform may be used as long as the rising speed and the falling speed are different. However, the frequency of the drive pattern is preferably a frequency that falls within a range of about 40 Hz to 100 Hz as an example. This is because the sensitivity of the human muscle spindle is in this frequency band.

The data representing the drive pattern as described above (drive signal data) is generated by the drive control unit 140. The data representing the driving pattern may be data including speed data representing the rising speed and the falling speed. The speed data is not limited to a form in which the speed increases or decreases linearly, but may increase or decrease nonlinearly.

Further, the data representing the drive pattern may be data including acceleration data representing acceleration at which the voltage value (amplitude) increases or decreases instead of the speed data. A driving pattern that is set so that the rising speed and the falling speed may be different depending on the acceleration at the time of rising of the waveform and the acceleration at the time of falling of the waveform.

The amplitude (voltage value) of the drive signal corresponds to the magnitude of the tactile sensation that represents the reaction force described above. When the amplitude of the drive signal is increased, the tactile sensation representing the reaction force is increased, and when the amplitude of the drive signal is decreased, the tactile sensation representing the reaction force is decreased.

To set the amplitude of the drive signal, for example, it may be performed as follows. A reaction force (1) received by the hand when pulling the spring by hand, and a reaction force (2) by a tactile sensation that is pressed when the vibrator 120Z of the tactile sensation providing device 100 is driven by a drive signal having a certain amplitude (voltage value). The experimenter compares. The measured value of the reaction force (1) when the reaction force (1) and the reaction force (2) are balanced is associated with the amplitude (voltage value) that generates the reaction force (2).

By performing such work for reaction forces (1) of various sizes, table-format data in which the measured values of the reaction force (1) and the reaction force (2) are associated with each other is generated. The amplitude of the drive signal may be set according to the magnitude of the reaction force (2) to be provided to the user's hand of the tactile sensation providing device 100 using such table format data.

FIG. 13 is a diagram showing an internal configuration of the tactile sensation providing apparatus 100.

The tactile sensation providing apparatus 100 includes vibrators 120X, 120Y, and 120Z, a drive control unit 140, a DA converter 150, an amplifier 160, a communication unit 170, and a memory 180. Here, the communication unit 170 will be mainly described.

The communication unit 170 performs wireless communication with the processing device of the simulation system according to a standard such as Bluetooth (registered trademark) or WiFi. The communication unit 170 is connected to the drive control unit 140, and outputs a drive command to the drive control unit 140 when receiving a drive command from the processing apparatus of the simulation system. As a result, at least one of the vibrators 120X, 120Y, and 120Z is driven by the drive control unit 140. Which amplitude of each of the vibrators 120X, 120Y, and 120Z is driven depends on the magnitude of the component of the reaction force in the X-axis direction, the Y-axis direction, and the Z-axis direction.

The memory 180 stores data that is a source of the drive signal generated by the drive control unit 140. If the drive signal is a sawtooth signal, the memory 180 stores data representing the sawtooth wave. In the data representing the sawtooth wave, the frequency of the sawtooth wave and the ratio between the rising speed and the falling speed are determined, and when the drive control unit 140 sets the amplitude, the drive signal as shown in FIG. Can be generated.

When the drive control unit 140 receives data representing the amplitude from the processing device of the simulation system described later, the drive control unit 140 generates a sawtooth drive signal specified by the amplitude. Note that the amplitude value is determined by the magnitude of the reaction force as described above.

FIG. 14 is a diagram showing a simulation system 200 according to the first embodiment.

The simulation system 200 includes a tactile sensation providing device 100, a screen 210A, a projection device 210B, 3D (3-dimensional) glasses 210C, a processing device 220, and a position measurement device 240.

Embodiment 1 The simulation system 200 can be applied to an assembly support system for grasping assembly workability in a virtual space, for example. In the assembly support system, for example, an operation of assembling an electronic component such as a CPU (Central Processing Unit) module, a memory module, a communication module, or a connector on a mother board or the like can be performed in a virtual space.

However, the simulation system 200 according to the first embodiment can be applied not only to the assembly support system but also to various systems for confirming workability in a three-dimensional space.

As the screen 210A, for example, a projector screen can be used. The size of the screen 210A may be set as appropriate according to the application. An image projected by the projection device 210B is displayed on the screen 210A. Here, it is assumed that images of the articles 211 and 212 are displayed on the screen 210A.

The projection device 210B may be any device that can project an image onto the screen 210A. For example, a projector can be used. The projection device 210B is connected to the processing device 220 by a cable 210B1, and projects an image input from the processing device 220 onto the screen 210A. Here, the projection device 210B is of a type that can project a 3D image (stereoscopic image) onto the screen 210A.

Note that the screen 210A and the projection device 210B are examples of a display unit.

The user using the simulation system 200 wears the 3D glasses 210C. The 3D glasses 210C may be any glasses that can convert an image projected on the screen 210A by the projection device 210B into a 3D image. For example, polarized glasses for polarizing incident light or liquid crystal shutter glasses having a liquid crystal shutter are used. Can do.

For example, a liquid crystal display panel may be used instead of the screen 210A and the projection device 210B. In addition, when the 3D glasses 210C are unnecessary, the 3D glasses 210C may not be used. Further, a head mounted display may be used instead of the screen 210A and the projection device 210B.

The processing device 220 includes a position detection unit 221, a contact determination unit 222, a video output unit 223, a data holding unit 224, a drive control unit 225, and a communication unit 226. The processing device 220 is realized by a computer having a memory, for example.

The position detection unit 221 performs image processing such as pattern matching on the image data input from the position measurement device 240, and detects the position and orientation of the marker 130 of the tactile sensation providing device 100. The position of the tactile sensation providing device 100 is represented by coordinate values in three-dimensional coordinates, and the posture is represented by an angle with respect to the three-axis directions of the three-dimensional coordinates.

The position detection unit 221 converts the coordinate value in the three-dimensional coordinate into a coordinate in the image projected on the screen 210A, and outputs it as a coordinate representing the position of the pointer 230A. The position detection unit 221 is an example of a second detection unit. That is, the position of the pointer 230A is determined by the position of the tactile sensation providing apparatus 100. In order to move the pointer 230A projected on the screen 210A, the tactile sensation providing apparatus 100 may be moved in real space. The tactile sensation providing apparatus 100 may be regarded as an operation terminal of the pointer 230A.

The position measurement device 240 may detect the position and orientation of the tactile sensation providing device 100.

The contact determination unit 222 determines whether the image of the article 211 or 212 projected on the screen 210A and the pointer 230A displayed on the screen 210A are in contact with each other.

The contact determination unit 222 uses the data representing the shape and position of the article 211 or 212 projected on the screen 210A and the data representing the position of the pointer 230A to contact the image of the article 211 or 212 with the pointer 230A. Determine if you did. The contact determination unit 222 is an example of a determination unit.

The output terminal of the video output unit 223 is connected to the projection device 210B by a cable 210B1. The video output unit 223 outputs an image specified by the article data of the articles 211 and 212 held in the data holding unit 224 to the projection device 210B and displays it on the screen 210A.

Also, the video output unit 223 displays the pointer 230A on the projection device 210B. The position of the pointer 230A in the image displayed on the screen 210A is determined by the position and posture of the tactile sensation providing apparatus 100 detected by the position detection unit 221.

The data holding unit 224 holds data such as article data representing the coordinates and shape of the articles 211 and 212, and image data of the pointer 230A. The data holding unit 224 is realized by a memory and is an example of a data storage unit.

When the contact determination unit 222 determines that the image of the article 211 or 212 and the pointer 230 </ b> A are in contact, the drive control unit 225 represents a reaction force according to the direction in which the pointer 230 </ b> A contacts the article 211 or 212. Outputs vibration pattern drive signals. This drive signal is a signal for driving the vibrator of the tactile sensation providing apparatus 100.

The communication unit 226 is a communication unit that performs wireless communication with the tactile sensation providing apparatus 100, and can perform wireless communication according to a standard such as Bluetooth or WiFi (Wireless-Fidelity). The communication unit 226 transmits a drive signal generated by the drive control unit 225 to the tactile sensation providing apparatus 100. The communication unit 226 may be a communication unit that performs wired communication with the tactile sensation providing apparatus 100.

The position measuring device 240 has infrared cameras 240A and 240B, and is connected to the position detector 221 by cables 241A and 241B, respectively. The infrared cameras 240 </ b> A and 240 </ b> B irradiate the tactile sensation providing apparatus 100 with infrared rays and photograph the reflected light reflected by the marker 130. The position measurement device 240 transfers the image data output from the infrared cameras 240A and 240B to the position detection unit 221. The position measurement device 240 is an example of a first detection unit.

FIG. 15 is a perspective view of a computer system to which the processing device 220 of the first embodiment is applied. A computer system 10 shown in FIG. 15 includes a main body 11, a display 12, a keyboard 13, a mouse 14, and a modem 15.

The main unit 11 includes a CPU (Central Processing Unit), an HDD (Hard Disk Drive), a disk drive, and the like. The display 12 displays an analysis result or the like on the screen 12A according to an instruction from the main body 11. The display 12 may be a liquid crystal monitor, for example. The keyboard 13 is an input unit for inputting various information to the computer system 10. The mouse 14 is an input unit that designates an arbitrary position on the screen 12 </ b> A of the display 12. The modem 15 accesses an external database or the like and downloads a program or the like stored in another computer system.

A program for causing the computer system 10 to function as the processing device 220 is stored in a portable recording medium such as the disk 17 or downloaded from the recording medium 16 of another computer system using a communication device such as the modem 15. Are input to the computer system 10 and compiled.

A program for causing the computer system 10 to have a function as the processing device 220 causes the computer system 10 to operate as the processing device 220. This program may be stored in a computer-readable recording medium such as the disk 17. The computer-readable recording medium is limited to a portable recording medium such as a disk 17, an IC card memory, a magnetic disk such as a floppy (registered trademark) disk, a magneto-optical disk, a CD-ROM, or a USB (Universal Serial Bus) memory. It is not something. The computer-readable recording medium includes various recording media accessible by a computer system connected via a communication device such as a modem 15 or a LAN.

FIG. 16 is a block diagram illustrating a configuration of a main part in the main body 11 of the computer system 10. The main body 11 includes a CPU 21 connected by a bus 20, a memory unit 22 including a RAM or a ROM, a disk drive 23 for the disk 17, and a hard disk drive (HDD) 24. In the first embodiment, the display 12, the keyboard 13, and the mouse 14 are connected to the CPU 21 via the bus 20, but these may be directly connected to the CPU 21. The display 12 may be connected to the CPU 21 via a known graphic interface (not shown) that processes input / output image data.

In the computer system 10, the keyboard 13 and the mouse 14 are input units of the processing device 220. The display 12 is a display unit that displays input contents and the like for the processing device 220 on the screen 12A.

Note that the computer system 10 is not limited to the configuration shown in FIGS. 15 and 16, and various well-known elements may be added or alternatively used.

FIG. 17 is a diagram showing article data.

The article data is data representing the coordinates and shape of the article displayed on the screen 210A. The article data has an article ID, a shape type, reference coordinates, a size, a rotation angle, and a reaction force coefficient k.

The shape type represents the outer shape of the article. In FIG. 17, as an example, the shape types indicate Cuboid (cuboid) and Cylinder (cylindrical body).

The reference coordinate indicates the coordinate value of a point that serves as a reference for coordinates representing the entire article. The unit of the coordinate value is meter (m). An XYZ coordinate system is used as the coordinate system.

The size represents the length of the article in the X-axis direction, the length in the Y-axis direction, and the length in the Z-axis direction. The unit is meters (m). As an example, the length in the X-axis direction represents the vertical length, the length in the Y-axis direction represents the height, and the length in the Z-axis direction represents the depth (the length in the horizontal direction).

The rotation angle is represented by rotation angles θx, θy, and θz with respect to the X-axis direction, the Y-axis direction, and the Z-axis direction. The unit is degree (deg.). The rotation angle θx is an angle for rotating the article about the X axis as a rotation axis. Similarly, the rotation angles θy and θz are angles at which the article is rotated about the Y axis and the Z axis as rotation axes, respectively. The positive directions of the rotation angles θx, θy, and θz may be determined in advance.

The reaction force coefficient k is the hardness of the article in the real space corresponding to the article displayed on the screen 210A. The reaction force coefficient is a coefficient that increases as the article in the real space becomes harder, and its unit is N / mm. Further, as the reaction force coefficient k, other physical quantities such as Young's modulus may be used. As an example, reaction force coefficients k of articles having article IDs 001, 002, and 003 are set to 0.05, 0.03, and 0.01, respectively. For example, an article with an article ID of 001 is made of metal, an article with an article ID of 002 is made of resin, and an article with an article ID of 003 is made of rubber.

The reaction force F is expressed by the following equation (4), and is obtained by multiplying the reaction force coefficient k by the amount of biting ΔL and the normal vector n. The reaction force F is represented by a vector.

　式（４）において、ΔＬは、ポインタ２３０Ａがスクリーン２１０Ａに表示される物品に食い込んだ量（食い込み量）である。食い込み量は、物品とポインタ２３０Ａが接触した点から、物品の内側にポインタ２３０Ａが食い込んだ量を表す。

In Expression (4), ΔL is an amount (biting amount) that the pointer 230A bites into the article displayed on the screen 210A. The amount of biting represents the amount by which the pointer 230A bites into the inside of the article from the point where the article and the pointer 230A contact each other.

Further, the vector n is a normal vector of a point where the pointer 230A has touched the article displayed on the screen 210A. The vector of the reaction force F is obtained by multiplying the reaction force coefficient k by the normal vector n as shown in Equation (4). The normal vector n of the article displayed on the screen 210A can be derived from the article data because the orientation of the surface with which the pointer 230A is in contact can be determined by using the article data shown in FIG.

Further, if such article data is used, an image specified by the article data can be represented in the same manner as the article image displayed by the CAD data.

The article data is stored in the data holding unit 224 of the processing device 220.

FIG. 18 is a diagram illustrating an example of an image of an article.

FIG. 18 shows three articles represented by the article data of FIG.

An article with an article ID of 001 has a shape type of Cuboid (cuboid), reference coordinates (X, Y, Z) of (0.0, 0.0, 0.0), and a size of (0.8, 0.2, 0.4), and the rotation angles θx, θy, θz are (0.0, 0.0, 0.0).

Since the reference coordinates (X, Y, Z) are (0.0, 0.0, 0.0), one vertex of the article whose article ID is 001 coincides with the origin O of the XYZ coordinate system. .

An article with an article ID of 002 has a shape type of Cuboid (cuboid), reference coordinates (X, Y, Z) of (0.6, 0.2, 0.0), and a size of (0.2, 0.2, 0.1), and the rotation angles θx, θy, θz are (0.0, 0.0, 0.0).

For this reason, the article with the article ID 002 is arranged on the article with the article ID 001.

The article with the article ID 003 has a shape type of Cylinder, a reference coordinate (X, Y, Z) of (0.8, 0.3, 0.1), and a size of (0.2 , 1.0, 0.3), and the rotation angles θx, θy, θz are (0.0, 0.0, 90.0).

For this reason, the article with the article ID 003 is connected to the X axis positive direction side of the article with the article ID 002 in a state where the article ID is rotated 90 degrees about the Z axis.

As described above, in the first embodiment, the article in the image projected on the screen 210A using the article data having the article ID, shape type, reference coordinates, size, and rotation angle shown in FIG. Specify the coordinates and shape of

For example, when the shape type is Cuboid, the coordinates of the eight vertices are the length in the X-axis direction, the length in the Y-axis direction, the length in the Y-axis direction, and the Z-axis direction with respect to the reference coordinates. Can be obtained by adding or subtracting the length. The coordinates of the eight vertices represent the coordinates of the corner of the article whose shape type is Cuboid.

If the coordinates of eight vertices are obtained, an expression representing 12 sides can be obtained. The expression representing the 12 sides is an expression representing the coordinates of the Edge of the article whose shape type is Cuboid.

Further, if the coordinates representing the eight vertices and / or the expressions representing the 12 sides are obtained, the expressions representing the six surfaces of the article whose shape type is Cuboid are obtained, and the coordinates of the surface are obtained. be able to.

In addition, when the shape type is Cylinder (cylindrical body), based on the length in the X-axis direction, the length in the Y-axis direction, and the length in the Z-axis direction of the article represented by the size, An expression representing a certain circle (or ellipse) can be obtained. Further, if an equation representing a circle (or ellipse) at both ends and a reference coordinate are used, an equation representing the coordinates of the circle (or ellipse) at both ends can be obtained. The coordinates of the side surface of the cylinder can be obtained by using an expression representing the coordinates of the circles (or ellipses) at both ends.

Here, the articles whose shape types are Cuboid (cuboid) and cylinder (cylindrical body) have been described, but articles of various shapes such as a sphere, a triangular pyramid, and a rectangular parallelepiped having a concave portion are similarly projected onto the screen 210A. The coordinates and shape in the image can be obtained.

FIG. 19 is a diagram showing data in a table format in which the reaction force F and the amplitude value are associated with each other.

The vector of the reaction force F is expressed as X, Y, Z components (Fx, Fy, Fz). The amplitude value is expressed as X, Y, and Z components (Apx, Apy, Apz). The X, Y, and Z components (Fx, Fy, and Fz) of the reaction force F are associated with the X, Y, and Z components (Apx, Apy, and Apz) of the amplitude value, respectively.

Therefore, if the values of the X, Y, and Z components (Fx, Fy, Fz) of the reaction force F are obtained, the values of the X, Y, and Z components (Apx, Apy, Apz) of the amplitude value are obtained. For example, when the X, Y, Z components of the reaction force F are (Fx1, Fy1, Fz1), the X, Y, Z components of the amplitude value are (Apx1, Apy1, Apz1).

FIG. 20 is a flowchart illustrating processing executed by the processing device 220 according to the first embodiment. Here, as an example, a case will be described in which images of articles 211 and 212 are displayed on a screen 210A as shown in FIG.

The processing device 220 starts processing after the power is turned on (start).

The processing apparatus 220 acquires article data from the data holding unit 224 (step S1).

The processing device 220 generates a video signal using the article data, and causes the projection device 210B to project an image (step S2). As a result, the images of the stereoscopic models of the articles 211 and 212 are displayed on the screen 210A. The images of the articles 211 and 212 displayed on the screen 210A represent virtual objects that exist in the virtual space.

Note that the processing in steps S1 and S2 is performed by the video output unit 223.

The processing device 220 detects the position and orientation of the tactile sensation providing device 100 in the real space (step S3). The process of step S3 is performed by the position detection unit 221.

The processing device 220 detects the coordinates of the pointer 230A in the virtual space (step S4). The coordinates of the pointer 230A are detected by the position detection unit 221. The coordinate data of the pointer 230 </ b> A is input to the contact determination unit 222 and the video output unit 223.

The processing device 220 causes the projection device 210B to display the pointer 230A on the screen 210A based on the coordinates of the pointer 230A obtained in step S4 (step S5). The tactile sensation providing apparatus 100 has a direction in which the pointer 230A is pointed in advance, and the pointer 230A is displayed at, for example, the intersection of the screen 210A and a straight line determined by the position of the tactile sensation providing apparatus 100 and the predetermined direction. The

Thereby, the pointer 230A is displayed on the screen 210A on which the stereoscopic images of the articles 211 and 212 are displayed.

In step S5, the pointer 230A may be displayed using image data representing the pointer 230A. As for the pointer 230A, data corresponding to the article data of the articles 211 and 212 may be prepared and an image of a stereoscopic model of the pointer 230A may be displayed. However, if the pointer 230A can be displayed without using the image data of the pointer 230A, the image data of the pointer 230A does not have to be held in the data holding unit 224.

Note that the processing in step S5 is performed by the video output unit 223. Note that the processing of steps S3 to S5 is performed in parallel with the processing of steps S1 to S2.

The processing apparatus 220 determines whether or not the article 211 or 212 and the pointer 230A are in contact (step S6). The process in step S6 is performed by the contact determination unit 222. The contact determination unit 222 determines whether the article 211 or 212 and the pointer 230A are in contact with each other based on the article data of the articles 211 and 212 and the coordinate data of the pointer 230A obtained in step S4.

Whether the article 211 or 212 is in contact with the pointer 230A is determined by whether or not there is an intersection between a corner, a side, or a surface represented by the article data of the article 211 or 212 and a position represented by the coordinate data of the pointer 230A. That's fine.

Further, whether or not the article 211 or 212 and the pointer 230A are in contact is determined by whether or not the difference in position between the coordinate data of the pointer 230A and the coordinates included in the article data closest to the coordinate data is equal to or smaller than a predetermined value. May be. For example, the operation of the tactile sensation providing apparatus 100 in the simulation system 200 is more determined when the difference between the position included in the article data closest to the coordinate data and the position represented by the coordinate data is a predetermined value or less. Such a setting may be used when the property is good.

In step S7 described below, as an example, it is assumed that the article 211 and the pointer 230A are in contact with each other. The same processing is performed even when the article 212 and the pointer 230A come into contact with each other.

If the processing device 220 determines that the article 211 and the pointer 230A are in contact with each other (S6: YES), the processing device 220 obtains the reaction force F using Equation (4) based on the coordinates of the contact point between the article 211 and the pointer 230A (step). S7). Note that the process of step S <b> 7 is performed by the contact determination unit 222.

The contact determination unit 222 calculates the amount of biting ΔL based on the coordinates of the pointer 230A and the article data of the article 211, and obtains the normal vector n of the article 211 at the contact point, and the reaction force F according to the equation (4). Find the vector of.

The drive control unit 225 obtains the amplitude value (Apx, Apy, Apz) from the reaction force F obtained in step S7 based on the data in the table format that associates the reaction force F with the amplitude value (see FIG. 19). It transmits to the tactile sensation providing apparatus 100 (step S8). As a result, the vibrators 120X, 120Y, and 120Z of the tactile sensation providing apparatus 100 are driven.

This completes the series of processing (end). The process shown in FIG. 20 is repeatedly executed at a predetermined control cycle. For this reason, while the pointer 230A is in contact with the article displayed on the screen 210A, the vibrators 120X, 120Y, and 120Z are driven.

If it is determined in step S6 that the article 211 or 212 is not in contact with the pointer 230A (S6: NO), the flow returns to steps S1 and S3.

FIG. 21 is a flowchart showing processing executed when the drive control unit 140 of the tactile sensation providing apparatus 100 drives the vibrators 120X, 120Y, and 120Z.

The drive control unit 140 starts processing when the tactile sensation providing apparatus 100 is turned on (start).

The drive control unit 140 receives a drive signal from the processing device 220 via the communication unit 170 (step S21).

The drive control unit 140 generates a drive signal from the reaction force signal (step S22).

The drive control unit 140 drives the vibrators 120X, 120Y, and 120Z using the drive signal (step S23).

This completes the series of processing (end).

As described above, according to the simulation system 200 of the first embodiment, the pointer 230A operated by the tactile sensation providing apparatus 100 contacts an article such as the article 211 or 212 in the image projected on the screen 210A. In this case, the vibration pattern that vibrates the vibrators 120X, 120Y, and 120Z is changed so as to provide a reaction force according to the Young's modulus of the contacted article.

Therefore, it is possible to provide the user with a tactile sensation that represents a reaction force according to the Young's modulus of the article. The user can recognize the contact with the article only by the tactile sensation of the reaction force.

In addition, the simulation system 200 according to the first embodiment uses the tactile sensation providing apparatus 100 to provide the user with a tactile sensation that represents a reaction force according to the Young's modulus of the article that the tactile sensation providing apparatus 100 contacts.

As shown in FIG. 6, when the user grips and holds the contacts 111 and 112 with the index finger A and the thumb B, the tactile sensation providing device 100 reciprocates the contacts 111 and 112 in the Z-axis direction. Thus, it is possible to realize a tactile sensation in which the index finger A is pressed in the positive Z-axis direction and a tactile sensation in which the thumb B is pressed in the negative Z-axis direction.

Therefore, according to the first embodiment, it is possible to provide a tactile sensation providing apparatus 100 that can provide a tactile sensation that presses the surface of the skin.

In addition, the form which detects the position and attitude | position of the tactile sensation providing apparatus 100 using the marker 130 and the position measuring device 240 (infrared cameras 240A and 240B) has been described above. However, the position and orientation of the tactile sensation providing device 100 may be detected using at least one of an infrared depth sensor, a magnetic sensor, a stereo camera, an acceleration sensor, or an angular velocity sensor that does not require the marker 130.

In the above description, the position measuring device 240 detects the position of the marker 130 attached to the tactile sensation providing device 100. However, as the position measuring device 240, for example, an infrared laser is irradiated toward a subject and reflected light is reflected. A device that calculates the distance (depth) to a point included in the image based on the time until the light is received may be used. By using such a position measurement device 240, an image of a user who performs an instruction operation toward the screen 210 </ b> A can be obtained without attaching the marker 130 to the tactile sensation providing device 100, and the user's posture and / or Based on the gesture or the like, the position of the pointer 130A can be determined.

22, FIG. 23, and FIG. 24 are diagrams showing tactile sensation providing devices 100A, 100B, and 100C according to modified examples of the embodiment.

The tactile sensation providing device 100A shown in FIG. 22 has one truncated cone-shaped contact 111A and a plurality of truncated cone-shaped contacts 112A. For example, nine contacts 112A are provided. The vibrators 120X, 120Y, and 120Z, the drive control unit 140, and the like are built in. Further, the marker 130 is omitted.

The contact 111A touches the index finger A at the tip of the contact 111A, and the nine contacts 112A touch the thumb B at the tip of the contact 112A. For this reason, the area where the contact 111A touches the index finger A is smaller than the area where the nine contacts 112A touch the thumb B. The tactile sensation providing device 100A thus miniaturized may be used.

23 includes a contactor 111B1, 111B2, 111B3, 111B4 held by the index finger A1, middle finger A2, ring finger A4, and little finger A4, and a contact 112B held by the thumb B. The tactile sensation providing apparatus 100B schematically represents a central member 105 that holds the contacts 111B1, 111B2, 111B3, 111B4, and 112B. Vibrators 120X, 120Y, and 120Z are provided inside the central member 105.

The contacts 111B1, 111B2, 111B3, and 111B4 are provided to have an angle with each other in accordance with the arrangement of the index finger A1, the middle finger A2, the ring finger A4, and the little finger A4. For this reason, when the contactor 112B aligns the center axis of the cylindrical shape with the vertical axis, at least three of the contactors 111B1, 111B2, 111B3, and 111B4 are arranged so as to have an angle with respect to the vertical axis. Yes.

Here, it is assumed that the vertically upward unit vector is p, and the areas of the upper ends of the contacts 111B1, 111B2, 111B3, and 111B4 are S _a1 , S _a2 , S _a3 , and S _a4 . Moreover, let n _a1 , n _a2 , n _a3 , and n _a4 be the vectors facing the upper end that pass through the central axes of the cylindrical contacts 111B1, 111B2, 111B3, and 111B4.

Also, the area of the lower end of the cylindrical contact 112B and _{S b.} A vector directed toward the lower end passing through the central axis of the contact 112B is denoted by _nb1 .

S _a1 , S _a2 , S _a3 , S _a4 and n _a1 , n _a2 , n _a3 , n _a4 are represented by S _ai , n _ai (i = 1 to 4), and S _b1 and n _b1 are represented by S _bi , n _bi When represented by (i = 1 to 4), the contacts 111B1, 111B2, 111B3, and 111B4 and the contact 112B may be designed so that the following expression (5) is satisfied.

　式（５）の左辺の第１項は、鉛直上向きの単位ベクトルをｐと、端向きのベクトルをｎ_ａ１、ｎ_ａ２、ｎ_ａ３、ｎ_ａ４との内積に、面積Ｓ_ａ１、Ｓ_ａ２、Ｓ_ａ３、Ｓ_ａ４を乗じて得る４つの値の合計を表している。これは、面積Ｓ_ａ１、Ｓ_ａ２、Ｓ_ａ３、Ｓ_ａ４の水平面への投影面積の合計を求めていることを表す。

The first term on the left side of the equation (5) is the area product S _a1 , S _a2 , S, which is the inner product of the vertical upward unit vector p and the end-oriented vectors n _a1 , n _a2 , n _a3 , n _{a4. This} represents the sum of four values obtained by multiplying _a3 and _Sa4 . This indicates that the total of the projected areas of the areas S _a1 , S _a2 , S _a3 , and S _{a4 on} the horizontal plane is obtained.

The second term on the left side of Equation (5) is obtained by multiplying the inner product of p by the vertically upward unit vector and n _b1 by the end vector and the area S _b1 . This represents that the projected area of the area S _{b1 on} the horizontal plane is obtained.

Therefore, Expression (5) represents that the projected area of the area S _{b1 on} the horizontal plane is larger than the total value of the projected areas of the areas S _a1 , S _a2 , S _a3 , and S _{a4 on} the horizontal plane.

A tactile sensation providing device 100C shown in FIG. 24 has a vibrator 120Z provided inside an annular holder 190, a contact 111C provided on the vibrator 120Z, and the index finger A's belly is contacted with the index finger A inserted. 111C is touched. The tactile sensation providing device 100 </ b> C configured to fit on the finger in this way may be used.

The tactile sensation providing apparatus and the simulation system according to the exemplary embodiments of the present invention have been described above, but the present invention is not limited to the specifically disclosed embodiments, and is not limited to the claims. Various modifications and changes can be made without departing from the above.

DESCRIPTION OF SYMBOLS 100 Tactile sensation providing apparatus 101, 102, 103 Case 111, 112 Contact 120X, 120Y, 120Z Vibrator 130 Marker 140 Drive control part 150 DA converter 160 Amplifier 170 Communication part 180 Memory 200 Simulation system 210A Screen 210B Projection apparatus 210C 3D glasses 220 Processing Device 221 Position Detection Unit 222 Contact Determination Unit 223 Video Output Unit 224 Data Holding Unit 225 Drive Control Unit 226 Communication Unit 240 Position Measuring Device 240A, 240B Infrared Camera

Claims (8)

A housing having a first side and a second side opposite to the first side;
A first contact having a first attachment portion attached to the first side of the housing, and a first contact portion located opposite to the first attachment portion and contacting the first portion of the skin;
A second contactor having a second attachment part attached to the second side of the housing; and a second contact part located opposite to the second attachment part and contacting the second part of the skin;
A first vibrator that is attached to the housing and vibrates the housing along a direction connecting the first contact and the second contact;
A first drive signal for reciprocating the first vibrator along a direction connecting the first contact and the second contact, wherein the first direction in the reciprocation is opposite to the first direction. A tactile sensation providing apparatus comprising: a first drive control unit that drives the first vibrator with a first drive signal having a different speed of vibration in the second direction. The first drive signal is a first drive signal in which a first speed for vibrating the first vibrator in the first direction is higher than a second speed for vibrating the first vibrator in the second direction. The tactile sensation providing device according to claim 1, wherein the tactile sensation providing device is a first drive signal that provides a tactile sensation pulled in the first direction to the first part and the second part of the skin. The first drive signal is set such that a first acceleration that causes the first vibrator to vibrate in the first direction is set larger than a second acceleration that causes the first vibrator to vibrate in the second direction. The tactile sensation providing apparatus according to claim 2, wherein the first speed is a first drive signal set to be higher than the second speed. The tactile sensation providing device includes a hand having the first part and the second part of the user's skin so that the second contact is positioned on the lower side in the vertical direction than the first contact. A tactile sensation providing device held by
The first contact surface where the first contact contacts the first portion of the skin is smaller than the second contact surface where the second contact contacts the second portion of the skin. The tactile sensation providing apparatus according to any one of claims 1 to 3. A plurality of the first contacts, and the first contact surface is a total surface of the surfaces in which the plurality of first contacts contact the plurality of first portions of the skin, or
5. The plurality of second contactors are included, and the second contact surface is a total surface of surfaces on which the plurality of second contactors contact the plurality of second parts of the skin. Tactile sensation providing device. A second vibrator attached to the housing and vibrating in a direction different from a direction in which the first vibrator vibrates;
A second drive signal for reciprocating the second vibrator in the different direction, wherein a speed of vibrating in a third direction in the reciprocating motion in the different direction and a fourth direction opposite to the third direction is provided. The tactile sensation providing apparatus according to claim 1, further comprising: a second drive control unit that drives the second vibrator with a different second drive signal. The first drive signal is displayed on the display unit in a simulation system that displays an article and a pointer on a display unit, detects a user's motion, and moves the pointer according to the detected user's motion. The tactile sensation according to any one of claims 1 to 5, wherein the tactile sensation is a driving signal for reciprocating the first vibrator in the first direction and the second direction when the pointer contacts the article. apparatus. A display unit that displays an image of the article based on article data representing the shape and coordinates of the article;
A tactile sensation providing device for operating a position of a pointer displayed on the display unit by moving the user while holding it in a hand;
A first detection unit for detecting the position and orientation of the tactile sensation providing apparatus;
A second detection unit that detects coordinates of the pointer displayed on the display unit based on the position and orientation detected by the first detection unit;
A determination unit that determines whether or not the pointer is in contact with the article displayed on the display unit based on coordinates included in the article data and coordinates of the pointer detected by the second detection unit; Including
The tactile sensation providing apparatus includes:
A housing having a first side and a second side opposite to the first side;
A first contact having a first attachment portion attached to the first side of the housing, and a first contact portion located opposite to the first attachment portion and contacting the first portion of the skin;
A second contactor having a second attachment part attached to the second side of the housing; and a second contact part located opposite to the second attachment part and contacting the second part of the skin;
A first vibrator that is attached to the housing and vibrates the housing along a direction connecting the first contact and the second contact;
When the determination unit determines that the pointer has contacted the article, the first drive signal causes the first vibrator to reciprocate along the direction connecting the first contact and the second contact. A first drive control unit configured to drive the first vibrator with a first drive signal having different speeds for vibrating in a first direction in the reciprocating motion and in a second direction opposite to the first direction. , Simulation system.

Images