WO2024231983A1 - Force sense presentation device and force sense presentation system - Google Patents

Abstract

A force sense presentation device (2) to be attached to one hand comprises: a pressing part (4) that presses the pad of a first finger of one hand; a vibration generation part (5) that applies vibration to the first finger; and a bending restriction part (6) that restricts bending of the first finger. The bending restriction part includes: a belt (67) that engages with the first finger and extends along the first finger; and a solenoid element (63) that can switch between a restriction state in which movement of the belt is restricted to restrict bending of the first finger, and an allowable state in which movement of the belt is allowed to allow bending of the first finger.

Description

Force feedback device and force feedback system

The present invention relates to a force feedback device and a force feedback system.

2. Description of the Related Art Hand motion capture devices are known that are worn on one hand of a user and can give the user the sensation of gripping an object by exerting a reaction force against the gripping motion (see, for example, Patent Document 1).
The hand motion capture device described in Patent Document 1 includes a base, a fixing device, a plurality of connecting rod structures, a first haptic drive device, a second haptic drive device, a third haptic drive device, and a control device.
The base is placed on the back of one hand and fixed by a fixing device, and the base is provided with a plurality of connecting rod structures and a control device.
A plurality of connecting rod structures, each having a rod, hinge and bearing, are provided for each finger of a hand.
The first haptic drive device is connected between the base and the connecting rod structure to detect a rotation angle of the connecting rod structure relative to the base, and the second and third haptic drive devices are disposed at joints of the connecting rod structure to detect corresponding rotation angles of the connecting rods.
When a control signal is input from the outside, the control device causes the first haptic drive device and the second haptic drive device to generate force feedback.

International Publication No. 2020/088015

The hand motion capture device described in Patent Document 1 has a connecting rod structure that is provided according to the fingers, and multiple haptic drive devices that are provided according to the connecting rod structure, and the multiple haptic drive devices detect the movement of the corresponding fingers and apply force feedback to the corresponding fingers. This causes a problem in that the configuration of the hand motion capture device is complex.

The force feedback device according to the first aspect of the present invention is a force feedback device worn on one hand, and includes a pressing unit that presses the pad of a first finger of the one hand, a vibration generating unit that imparts vibrations to the first finger, and a bending restriction unit that restricts bending of the first finger. The bending restriction unit has a belt that engages with the first finger and extends along the first finger, and a solenoid element that can be switched between a restricting state that restricts movement of the belt to restrict bending of the first finger and an allowing state that allows movement of the belt to allow bending of the first finger.

The force feedback system according to the second aspect of the present invention includes the force feedback device according to the first aspect, a detection device that detects the movement of a hand to which the force feedback device is attached, and an information processing device that transmits a signal to the force feedback device to operate the force feedback device based on the movement of the hand detected by the detection device.

FIG. 1 is a schematic diagram showing a schematic configuration of a force feedback system according to an embodiment. FIG. 2 is a plan view showing a haptic device worn on a subject's hand according to an embodiment. FIG. 1 is a perspective view showing a force feedback device according to an embodiment. FIG. 4 is a perspective view showing a pressing portion and a vibration generating portion according to an embodiment. FIG. 4 is a perspective view showing a pressing portion and a vibration generating portion according to an embodiment. FIG. 4 is a cross-sectional view showing a pressing portion and a vibration generating portion according to an embodiment. FIG. 4 is a perspective view showing a pressing portion and a vibration generating portion according to an embodiment. FIG. 4 is a perspective view showing a pressing portion and a vibration generating portion according to an embodiment. FIG. 4 is a plan view showing a bending restriction portion for an index finger according to an embodiment. FIG. 4 is a side view showing a bending restriction portion for an index finger according to an embodiment. FIG. 13 is an enlarged perspective view showing a portion of a bending restriction portion for an index finger according to an embodiment. FIG. 2 is a side view showing a force sense supply device according to an embodiment when an index finger is bent.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[Overall configuration of the force feedback system]
FIG. 1 is a schematic diagram showing a schematic configuration of a force feedback system 1 according to this embodiment.
1 , a haptic system 1 according to this embodiment includes a detection device 11, an information processing device 12, and a haptic device 2. The haptic system 1 imparts a sense of force to one hand of a user wearing the haptic device 2, in accordance with the movement of the user's one hand calculated by the detection device 11 and the information processing device 12.
The configuration of the force feedback system 1 will be described in detail below.
In the following description, the hand of the user on which the haptic device 2 is attached is referred to as a target hand HN.

[Configuration of detection device]
The detection device 11 functions as a posture calculation device that calculates the posture of the target hand together with the information processing device 12. In this embodiment, the detection device 11 includes a magnetic field generation device 111 and a magnetic sensor 112.
The magnetic field generating device 111 generates a magnetic field around the target hand HN.
The magnetic sensor 112 is attached to the target hand HN. For example, the magnetic sensor 112 is provided on the tips of each finger of the target hand HN, on the back of the target hand HN, and on the palm of the target hand HN. The magnetic sensor 112 is a sensor whose resistance value changes depending on the strength and direction of the magnetic field generated by the magnetic field generating device 111, and outputs the detected strength and direction of the magnetic field to the information processing device 12.
The detection device 11 may include a camera that captures an image of the target hand HN and calculates the posture of the target hand HN based on the image captured by the camera. In this case, the detection device 11 functions as a posture calculation device and transmits information indicating the posture of the target hand HN to the information processing device 12.

[General configuration of information processing device]
The information processing device 12 calculates the positions of the fingers, back, and palm of the target hand HN based on the detection results of each magnetic sensor 112 of the detection device 11, and calculates the posture of the target hand HN.
The information processing device 12 controls the operation of the force sense presentation device 2 attached to the target hand HN based on the calculated posture of the target hand HN. Specifically, the information processing device 12 transmits a control signal to the force sense presentation device 2 to operate the force sense presentation device 2.

[Configuration of the force feedback device]
The haptic device 2 is attached to the target hand HN of the user. More specifically, the haptic device 2 is attached to the target hand HN so as to connect the back of the hand and the fingers on the outside of the target hand HN. The haptic device 2 applies a reaction force to the gripping action of the target hand HN based on a control signal input from the information processing device 12, thereby giving the target hand HN the sensation of gripping a virtual object.

Fig. 2 is a plan view showing the force feedback device 2 attached to the target hand HN, and Fig. 3 is a perspective view showing the force feedback device 2. Note that in Fig. 2 and subsequent figures, illustration of wiring electrically connecting the pressing unit 4, the vibration generating unit 5, and the bending restricting unit 6 to the control unit 7 is omitted.
2 and 3, the force feedback device 2 includes a mounting member 3, a plurality of pressing units 4, a plurality of vibration generating units 5, and a plurality of bending restricting units 6. The pressing units 4, the vibration generating units 5, and the bending restricting units 6 are provided corresponding to the fingers of the target hand HN. Among the fingers of the target hand HN, the fingers on which the pressing units 4, the vibration generating units 5, and the bending restricting units 6 are provided are referred to as target fingers F.
Such a force feedback device 2 is attached to the target hand HN by inserting the target finger F into the pressing portion 4 while aligning the attachment member 3 along the back of the target hand HN, and then attaching the band 32 of the attachment member 3, which will be described later, to the wrist.
In the following description, the three mutually orthogonal directions are referred to as the +X direction, +Y direction, and +Z direction. The direction opposite to the +X direction is referred to as the -X direction, the direction opposite to the +Y direction is referred to as the -Y direction, and the direction opposite to the +Z direction is referred to as the -Z direction. The axis along the +X direction is referred to as the X axis, the axis along the +Y direction is referred to as the Y axis, and the axis along the +Z direction is referred to as the Z axis.

[Configuration of mounting member]
The attachment member 3 is attached to the target hand HN as shown in Fig. 2. The attachment member 3 includes a base 31 and a band 32 as shown in Figs.
The base 31 supports a plurality of folding restricting portions 6. The base 31 is attached to the target hand HN so as to cover at least a portion of the back of the target hand HN.
The band 32 is attached to the −X direction end of the base 31. The band 32 is worn around the wrist of the target hand HN.

[Configuration of pressing part]
4 is a perspective view of the pressing portion 4 and the vibration generating portion 5 as viewed from the -X direction and the +Z direction, and FIG. 5 is a perspective view of the pressing portion 4 and the vibration generating portion 5 as viewed from the +X direction and the -Z direction.
The multiple pressing units 4 are pressure sensation devices that press the fingertip of the target finger F to give the user a pressure sensation. In this embodiment, as shown in Fig. 2, the multiple pressing units 4 include a pressing unit 4A attached to the tip of the thumb FA, a pressing unit 4B attached to the tip of the index finger FB, and a pressing unit 4C attached to the tip of the middle finger FC.
As shown in FIGS. 4 and 5 , the pressing portion 4 includes a cylindrical member 41 , a regulating member 42 , a driving device 43 , a clamping member 44 , a sliding member 45 , a converting member 46 , and a protruding member 47 .

[Configuration of Cylindrical Member]
The cylindrical member 41 is formed in a cylindrical shape with a portion cut out. The target finger F is inserted into the cylindrical member 41 in the +X direction, and the cylindrical member 41 is thereby attached to the fingertip of the target finger F. One end of a belt 67 (described later) of the folding restriction unit 6 is fixed to the cylindrical member 41.
The cylindrical member 41 includes an opening 411, a fixing portion 412, a guide portion 413, a notch 414, a support portion 417, and a pressing portion 418. The pressing portion 418 will be described in detail later.

The opening 411 penetrates the tubular member 41 along the +X direction. The target finger F is inserted into the opening 411 along the +X direction, so that the fingertip of the target finger F is positioned inside the tubular member 41.
The fixing portion 412 is a portion that protrudes in the +Z direction from the outer circumferential surface 41S of the cylindrical member 41, and the driving device 43 and the vibration generating unit 5 are fixed to the fixing portion 412.
The guide portion 413 protrudes from the outer circumferential surface 41S along the circumferential direction of the outer circumferential surface 41S. The guide portion 413 sandwiches the slide member 45 in the X-axis together with the clamping member 44 fixed to the cylindrical member 41. The guide portion 413 not only guides the sliding of the slide member 45 along the outer circumferential surface 41S, but also prevents the slide member 45 from falling off the cylindrical member 41 in the +X direction.

The notch 414 is formed along the +X direction in a portion of the tubular member 41 opposite to the portion where the fixing portion 412 is provided. The distance between the edges 415, 416 of the tubular member 41 separated from each other by the notch 414 is expanded when the target finger F is inserted into the tubular member 41. In other words, the tubular member 41 has flexibility that allows the inner diameter of the tubular member 41 to be expanded. This allows the tubular member 41 to fit the inserted target finger F.
Of the edges 415, 416 facing each other on the Y axis, the edge 415 in the -Y direction has a recess 415A recessed in the -Y direction away from the edge 416, and the edge 416 in the +Y direction has a recess 416A recessed in the +Y direction away from the edge 415. A part of a conversion member 46 described later is disposed inside the recesses 415A, 416A.
The support portion 417 is disposed in the +Y direction from the end edge 416. The support portion 417 supports a conversion member 46, which will be described later. In other words, the conversion member 46 is attached to the support portion 417 by a screw SC.

[Configuration of the Regulating Member]
5, the restricting member 42 is a plate member formed in a circular shape when viewed from the +X direction, and is attached to the cylindrical member 41 so as to close the opening 411. The restricting member 42 comes into contact with the target finger F inserted into the cylindrical member 41, and restricts the target finger F from moving in the +X direction. The restricting member 42 maintains the state in which the fingertip of the target finger F is positioned within the cylindrical member 41.

[Configuration of driving device]
4 and 5, the driving device 43 is fixed to the cylindrical member 41 and is controlled by the control unit 7 described later to slide the sliding member 45 along the outer circumferential surface 41S. The driving device 43 is constituted by a motor such as a stepping motor. The driving device 43 has a driving device main body 431 and a pinion 432.
The driving device body 431 is fixed to the fixing portion 412. Although not shown in the figure, the driving device body 431 has a rotor that protrudes in the −X direction, and the rotor is rotated by the driving device body 431 about a rotation axis along the X axis.
The pinion 432 is fixed to the tip of the rotor and rotates integrally with the rotor. That is, the pinion 432 is rotated by the drive device main body 431. The pinion 432 meshes with a rack 451 (described later) of the slide member 45 to slide the slide member 45.

[Configuration of clamping member]
The clamping member 44 is attached to the outer circumferential surface 41S on the side opposite the guide portion 413 with respect to the slide member 45. That is, the clamping member 44 is attached to the outer circumferential surface 41S in the -X direction with respect to the slide member 45. The clamping member 44 sandwiches the slide member 45 between itself and the guide portion 413, and not only guides the sliding of the slide member 45 together with the guide portion 413, but also prevents the slide member 45 from falling off the cylindrical member 41 in the -X direction.
The clamping member 44 has a cover portion 441 that covers a part of the slide member 45 on the outer diameter direction outer side of the cylindrical member 41. The cover portion 441 prevents the slide member 45 from falling off the outer circumferential surface 41S, and also guides the sliding of the slide member 45.

[Configuration of slide member]
The slide member 45 is formed in an arc shape that follows the outer circumferential surface 41S of the cylindrical member 41, and is attached to the cylindrical member 41. The slide member 45 is slid by the driving device 43 along the outer circumferential surface 41S.
The slide member 45 is attached to the cylindrical member 41 so as to be slidable along the outer peripheral surface 41S about a rotation axis along the X-axis. That is, the slide member 45 is provided so as to be slidable along the outer peripheral surface 41S of the cylindrical member 41 in a first rotation direction about the central axis of the cylindrical member 41 and in a direction opposite to the first rotation direction. The slide member 45 is formed to have a dimension sufficient to cover 3/4 of the outer peripheral surface 41S when viewed along the X-axis.

FIG. 6 is a diagram showing a cross section of the pressing unit 4 and the vibration generating unit 5 along the YZ plane.
The slide member 45 has a rack 451 and a contact portion 452 .
The rack 451 is provided on the outer peripheral surface of the slide member 45. The rack 451 meshes with the pinion 432 of the drive device 43. Therefore, when the pinion 432 is rotated, the slide member 45 rotates clockwise or counterclockwise along the outer peripheral surface 41S of the cylindrical member 41 when viewed from the -Z direction. In other words, the slide member 45 is provided on the cylindrical member 41 so as to be slidable clockwise or counterclockwise around the central axis of the cylindrical member 41.
In this embodiment, the rack 451 is provided on a portion of the outer circumferential surface of the slide member 45 , but it may be provided on substantially the entire outer circumferential surface of the slide member 45 .

The abutment portion 452 is provided on the inner circumferential surface of the slide member 45. The abutment portion 452 is provided at an end portion of the slide member 45 that is counterclockwise when viewed from the -X direction. The abutment portion 452 abuts against a roller portion 472 (described later) of the protruding member 47, causing the protruding member 47 to protrude into the cylindrical member 41 according to the sliding position of the slide member 45.
The abutment portion 452 has an abutment surface 452A with which the roller portion 472 abuts on the inner peripheral surface of the abutment portion 452. The abutment surface 452A intersects with the outer peripheral surface 41S. More specifically, the abutment surface 452A is inclined in a direction approaching the outer peripheral surface 41S as it moves clockwise as viewed from the -X direction. In other words, the abutment surface 452A is inclined in a direction moving away from the outer peripheral surface 41S as it moves counterclockwise as viewed from the -X direction. That is, the abutment surface 452A is inclined in a direction moving away from the outer peripheral surface 41S as it moves toward the rotation direction of the slide member 45 when the protruding member 47 is protruded to the inside of the cylindrical member 41.
Therefore, although details will be described later, when the slide member 45 rotates counterclockwise when viewed from the -X direction, the abutment portion 452 presses the roller portion 472 in the +Z direction.
The slide member 45 has flexibility such that it can be displaced in response to the displacement of the tubular member 41, which expands in diameter as the target finger F is inserted therein.

[Configuration of conversion member]
7 is a perspective view showing the pressing portion 4 without illustrating the slide member 45. That is, FIG.
The conversion member 46 is fixed to the outer circumferential surface 41S of the cylindrical member 41, and converts the rotation of the slide member 45 into linear motion of the protruding member 47 toward one of the inside and outside of the cylindrical member 41. In other words, the conversion member 46 converts the rotation of the slide member 45 into movement of the protruding member 47 along the radial direction of the cylindrical member 41.
The conversion member 46 includes a main body portion 461 and a pair of fixing portions 462 as shown in FIG. 7, and further includes a pair of restricting portions 463 as shown in FIGS.

7, the main body portion 461 is formed in a substantially rectangular shape when viewed from the -Z direction. The main body portion 461 is disposed inside the recesses 415A and 416A when the conversion member 46 is fixed to the cylindrical member 41. The main body portion 461 has an opening 4611, a pair of protrusions 4612, and a pair of guide holes 4613.
The opening 4611 is formed in a rectangular shape when viewed from the -Z direction, and penetrates the main body 461 along the Z axis direction. The protruding member 47 is disposed inside the opening 4611.
The pair of protrusions 4612 protrude in the −Z direction from the inner edge in the +X direction and the inner edge in the −X direction of the inner edge of the opening 4611 .

The pair of guide holes 4613 are provided in the pair of protruding portions 4612. Specifically, of the pair of guide holes 4613, one guide hole 4613 is provided in the protruding portion 4612 in the +X direction, and the other guide hole 4613 is provided in the protruding portion 4612 in the -X direction. Each guide hole 4613 is an elongated hole having a major axis in the Z axis. The +Z direction is the movement direction of the protruding member 47 toward the inside of the cylindrical member 41.
A rotating shaft portion 473 (described later) of the protruding member 47 is inserted into each guide hole 4613. The minor axis of the guide hole 4613, i.e., the inner diameter of the guide hole 4613 along the Y axis, is the outer diameter of the rotating shaft portion 473 plus a small clearance.

The pair of fixing parts 462 are provided at the end of the main body part 461 in the +Y direction. Specifically, one of the pair of fixing parts 462 extends in the +X direction from the end of the main body part 461 in the +X direction and the +Y direction, and the other fixing part 462 extends in the -X direction from the end of the main body part 461 in the -X direction and the +Y direction. Each fixing part 462 has a hole through which a screw SC fixed to the support part 417 is inserted. With the main body part 461 placed inside the recesses 415A, 416A, the screw SC inserted through the hole of each fixing part 462 is fixed to the support part 417, thereby fixing the conversion member 46 to the outer circumferential surface 41S.

5, the pair of restricting portions 463 are provided at ends in the -Y direction of the main body portion 461. Specifically, of the pair of restricting portions 463, one restricting portion 463 extends in the -Y direction from an end of the main body portion 461 in the +X direction and the -Y direction, and the other restricting portion 463 extends in the -Y direction from an end of the main body portion 461 in the -X direction and the -Y direction.
The pair of restricting portions 463 face the outer peripheral surface 41S when the conversion member 46 is attached to the tubular member 41. The pair of restricting portions 463 come into contact with the outer peripheral surface 41S when the tubular member 41 is expanded in diameter, and restrict the tubular member 41 from expanding in diameter more than necessary. In addition, the pair of restricting portions 463 come into contact with the outer peripheral surface 41S and restrict the conversion member 46 together with the protruding member 47 from moving in the +Z direction.

[Configuration of protruding member]
The protruding member 47 is a pressing piece that is moved inward or outward of the cylindrical member 41 as the slide member 45 slides, and presses the target finger F inserted inside the cylindrical member 41 in the +Z direction. As shown in Fig. 7, the protruding member 47 is disposed within the opening 4611 of the conversion member 46. The protruding member 47 includes a roller member 471 and an insertion member 474.

The roller member 471 is rotatably supported by the insertion member 474, and is rotated in contact with the slide member 45. The roller member 471 includes a roller portion 472 and a pair of rotation shaft portions 473.
The roller portion 472 is formed in a disk shape. The roller portion 472 comes into contact with the abutment portion 452 of the slide member 45, and rotates about the rotation shaft portion 473 as the slide member 45 slides. In other words, the roller portion 472 is a contact portion of the protruding member 47 that comes into contact with the slide member 45.

The pair of rotating shaft portions 473 form the rotation axis of the roller portion 472. Of the pair of rotating shaft portions 473, one rotating shaft portion 473 protrudes in the +X direction from the center of the +X direction surface of the roller portion 472, and the other rotating shaft portion 473 protrudes in the -X direction from the center of the -X direction surface of the roller portion 472. In other words, the roller portion 472 is rotatable about a rotation axis along the Z axis.

The insertion member 474 rotatably supports the roller member 471, and is inserted inside the cylindrical member 41 to press against the target finger F. The insertion member 474 has a pair of support portions 475 and a pressing portion 476.

The pair of support parts 475 support the roller member 471. Each of the pair of support parts 475 has a through hole through which the rotating shaft part 473 is inserted along the +Z direction. As a result, the roller member 471 is supported by the insertion member 474 so that it can rotate around a rotation axis along the X axis. The rotating shaft part 473 inserted through the through hole is inserted into the guide hole 4613. As described above, the major axis of the guide hole 4613 is aligned with the Z axis, and the minor axis of the guide hole 4613 is slightly larger than the outer diameter of the rotating shaft part 473. For this reason, movement of the protruding member 47 in the ±Y directions is restricted, and movement of the protruding member 47 in the ±Z directions is permitted.

8 is a perspective view of the pressing portion 4 and the vibration generating portion 5 as viewed from the -X direction. That is, FIG. 8 is a perspective view showing the protruding member 47.
The pressing portion 476 is a portion of the protruding member 47 facing the +Z direction. As shown in Fig. 6 and Fig. 8, the pressing portion 476 is disposed in the cylindrical member 41 so as to be able to come into contact with the target finger F. In the present embodiment, the surface of the pressing portion 476 facing the target finger F is a flat surface. However, the present invention is not limited to this, and the surface of the pressing portion 476 facing the target finger F may be a curved surface with a central portion protruding in the +Z direction, for example.

[Function of the pressing part]
When the pinion 432 is rotated and the slide member 45 is rotated counterclockwise from the position shown in FIG. 6 along the outer circumferential surface 41S, the abutment portion 452 of the slide member 45 comes into contact with the roller portion 472 of the protruding member 47.
As described above, the protruding member 47 is disposed in the opening 4611 of the conversion member 46 fixed to the cylindrical member 41. In addition, the rotation shaft portion 473 constituting the rotation shaft of the roller portion 472 is inserted into the guide hole 4613 of the conversion member 46. As a result, the movement of the protruding member 47 in the ±X directions and the ±Y directions is restricted.
Therefore, when the slide member 45 is further rotated counterclockwise, the roller portion 472 is moved in the +Z direction by the abutment surface 452A while rotating along the abutment surface 452A inclined with respect to the outer circumferential surface 41S. As a result, the protruding member 47 is moved in the +Z direction, and the pressing portion 476 presses the target finger F in the +Z direction.
The amount by which the pressing portion 476 is inserted into the inside of the cylindrical member 41 varies depending on the amount by which the sliding member 45 is slid. Therefore, by adjusting the amount by which the sliding member 45 is slid, the pressing force on the target finger F can be adjusted.

When the pinion 432 is rotated in the opposite direction from the state in which the protruding member 47 has moved in the +Z direction and the slide member 45 is rotated clockwise as viewed from the -X direction, the roller portion 472 is moved in the -Z direction while in contact with the contact surface 452A. As a result, the protruding member 47 is moved in the -Z direction, and the pressing force of the pressing portion 476 on the target finger F is reduced.
When the slide member 45 is further rotated clockwise, the insertion amount of the pressing portion 476 into the inside of the cylindrical member 41 decreases, and the pressing portion 476 moves away from the target finger F.
In this way, in the pressing unit 4, depending on the rotation direction and rotation angle of the pinion 432, i.e., the sliding direction and sliding amount of the sliding member 45, it is possible to switch between applying and not applying a pressing force to the target finger F, and it is also possible to adjust the pressing force applied to the target finger F.

The holding portion 418 of the tubular member 41 is provided inside the tubular member 41 as shown in FIG. 8. The holding portion 418 comes into contact with a part (e.g., the nail) of the target finger F inserted into the tubular member 41, and prevents the target finger F from swinging along the Z-axis inside the tubular member 41. In addition, when the protruding member 47 presses the target finger F in the +Z direction, the holding portion 418 restricts the movement of the target finger F in the +Z direction, thereby enabling the pressing portion 476 to reliably press the pad of the target finger F.

[Configuration of vibration generating unit]
Each of the vibration generating units 5 applies vibration to the target hand HN. More specifically, the vibration generating unit 5 generates vibration acting on the target hand HN, creating an illusion that the target hand HN is in contact with an object. In this embodiment, as shown in FIG. 2, the vibration generating units 5 include a vibration generating unit 5A for the thumb FA, a vibration generating unit 5B for the index finger FB, and a vibration generating unit 5C for the middle finger FC. More specifically, the vibration generating unit 5A is provided integrally with the pressing unit 4A for the thumb FA, and applies vibration to the pressing unit 4A, thereby applying vibration to the thumb FA of the target hand HN. In this embodiment, the vibration generating unit 5A is fixed to the cylindrical member 41 of the pressing unit 4A. The same is true for the vibration generating units 5B and 5C.
Such a vibration generating unit 5 can be configured, for example, by a voice coil motor controlled by a control unit 7 described later.

[Configuration of folding restriction section]
Fig. 9 is a plan view showing the bending restricting portion 6B for the index finger FB as viewed from the +Z direction, and Fig. 10 is a side view showing the bending restricting portion 6B as viewed from the +Y direction.
2, the plurality of bending restriction units 6 are provided corresponding to the target fingers F, and restrict bending of the target fingers F to give the user a feeling of touch when the target finger F touches a virtual object or a feeling of touch when the target finger F grasps a virtual object. The plurality of bending restriction units 6 include a bending restriction unit 6A for the thumb FA, a bending restriction unit 6B for the index finger FB, and a bending restriction unit 6C for the middle finger FC.
Of these, the folding restriction portion 6B includes a slide portion 61, a support base 62, a solenoid element 63, a restriction member 64, a reel 65, a biasing member 66, and a belt 67, as shown in FIGS.
The folding restriction portions 6A and 6C have the same configuration as the folding restriction portion 6B. Therefore, in the following, only the folding restriction portion 6B will be described, and a description of the folding restriction portions 6A and 6C will be omitted.

[Configuration of slide part]
The sliding portion 61 is provided on the base 31 so as to be slidable along the X-axis while supporting the support base 62. That is, the folding restricting portion 6 is provided on the mounting member 3 so as to be movable along the +X direction in which the belt 67 extends. The sliding portion 61 has a long hole 611 along the X-axis.
A screw SC1 for fixing the slide portion 61 to the base 31 is inserted in the -Z direction through the long hole 611. The screw SC1 is fixed to a screw hole 311 provided in the base 31, whereby the slide portion 61, and therefore the bending restriction portion 6, are fixed to the base 31.
In addition, the slide portion 61 can slide along the X-axis by loosening the screw SC1 from the screw hole 311, thereby adjusting the position of the slide portion 61 on the base 31, and ultimately the position of the bending control portion 6 on the base 31.

[Support base configuration]
The support base 62 is attached to the slide portion 61 so as to be rotatable about a rotation axis Rx1 along the Z-axis. The support base 62 has a support portion 621, a rotation shaft portion 622, a guide portion 623, and a rotation support portion 624.
The support portion 621 is formed in a generally rectangular shape that is long in the X-axis direction. The support portion 621 supports the solenoid element 63 on a surface facing the +Z direction.
The rotating shaft portion 622 is provided at the end of the support portion 621 in the +X direction. The rotating shaft portion 622 is a portion supported by the slide portion 61 so as to be rotatable around a rotation axis Rx1 along the Z axis. That is, the folding restricting portion 6 is provided on the mounting member 3 so as to be rotatable around the rotation axis Rx1 along the Z axis. The Z axis is an axis that intersects both the +X direction in which the belt 67 extends and the +Y direction in which the fingers of the target hand HN are aligned.

The guide portion 623 corresponds to a guide member. The guide portion 623 extends linearly from the support portion 621 in the +X direction. That is, the guide portion 623 extends linearly from the base 31 of the mounting member 3 along the target finger F via the support portion 621. The guide portion 623 guides the sliding of the belt 67 along the X axis. The length of the guide portion 623 on the X axis is approximately the same as the length from the metacarpophalangeal joint to the proximal interphalangeal joint of the target finger F when the target finger F is any of the index finger FB, middle finger FC, ring finger, and little finger, and is approximately the same as the length from the metacarpophalangeal joint to the interphalangeal joint of the thumb when the target finger F is the thumb FA.
The rotation support part 624 is provided on a -X direction portion of the guide part 623. In other words, the rotation support part 624 is provided between the support part 621 and the guide part 623. The rotation support part 624 supports the reel 65 rotatably about a rotation axis Rx2 along the Y axis.

[Configuration of solenoid element]
The solenoid element 63 is disposed on the support portion 621 and moves the regulating member 64 along the X-axis. The operation of the solenoid element 63 is controlled by the control portion 7, which will be described later, and moves the regulating member 64 to either a position in the +X direction or a position in the -X direction.

[Configuration of the Regulating Member]
FIG. 11 is an enlarged perspective view of a portion of the folding restriction portion 6B.
The restricting member 64 is slid along the X-axis by the solenoid element 63 to restrict or allow the rotation of the reel 65, thereby restricting or allowing the bending of the target finger F.
When the restricting member 64 is placed in the restricting position in the +X direction by the solenoid element 63, the tip end of the restricting member 64 in the +X direction meshes with the reel 65, as shown in Figure 11. This restricts the rotation of the reel 65.
When the restricting member 64 is placed in the permitted position in the -X direction by the solenoid element 63, the engagement with the reel 65 is released, thereby allowing the reel 65 to rotate.

[Reel Composition]
The reel 65 is provided on the belt 67 on the opposite side to the engaging portion of the target finger F, and rotates with the movement of the belt 67 to wind and unwind the belt 67. As shown in Fig. 9 and Fig. 11, the reel 65 is supported by a rotation support part 624 in a rotatable manner about a rotation axis Rx2 along the Y-axis while connected to the belt 67. The reel 65 has a pair of rotating parts 651, 652, and a shaft part 653 that connects the pair of rotating parts 651, 652 to each other.
Each of the pair of rotating parts 651, 652 is formed in a disk shape centered on a shaft part 653. Of the pair of rotating parts 651, 652, a meshing part 654 is provided on the outer circumferential surface of the rotating part 651 in the +Y direction.
11, the meshing portion 654 is configured with a plurality of teeth provided in the circumferential direction centered on the rotation axis Rx2 of the reel 65. When the regulating member 64 is inserted between the plurality of teeth of the meshing portion 654, the rotation of the reel 65 is regulated, and thus the belt 67 cannot be paid out from the reel 65. On the other hand, when the meshing between the meshing portion 654 and the regulating member 64 is released and the rotation of the reel 65 is permitted, the belt 67 is permitted to be pulled out from the reel 65.

[Configuration of the biasing member]
The biasing member 66 biases the reel 65 in a direction in which the reel 65 winds up the belt 67, thereby generating tension in the belt 67. Although detailed illustration is omitted, in this embodiment, the biasing member 66 is configured by a spiral spring. However, this is not limited thereto, and as long as the biasing member 66 can bias the reel 65, the configuration of the biasing member 66 is not limited to a spiral spring and may be another configuration.

[Belt configuration]
The belt 67 extends along the guide portion 623. In detail, the end of the belt 67 in the −X direction is connected to the reel 65, and the end of the belt 67 in the +X direction is connected to the cylindrical member 41 of the pressing portion 4. In other words, the belt 67 extends from the reel 65 in the +X direction and is connected to the pressing portion 4, and the portion of the belt 67 that engages with the target finger F is the pressing portion 4.
In the present embodiment, the belt 67 is made of a material with low elasticity. As a result, bending of the target finger F is restricted at the timing when the feeding out of the belt 67 by the reel 65 is restricted.

Fig. 12 is a side view of the force feedback device 2 when the index finger FB is bent, as viewed from the +Y direction. In Fig. 12, of the multiple bending restriction units 6, the bending restriction unit 6B for the index finger FB is illustrated, and the bending restriction unit 6A for the thumb FA and the bending restriction unit 6C for the middle finger FC are not illustrated.
When the rotation of the reel 65 is not restricted by the restricting member 64, the belt 67 can be pulled out from the reel 65, and the belt 67 extends in the +X direction in response to the bending of the target finger F, as shown in Fig. 12. In more detail, when the rotation of the reel 65 is not restricted by the restricting member 64, the belt 67 is pulled out in the +Z direction in response to the bending of the target finger F, resisting the biasing force of the biasing member 66. Therefore, the length of the belt 67 from the reel 65 becomes longer as the target finger F is bent.
In a state in which the rotation of the reel 65 is restricted by the restricting member 64, even if the target finger F is bent, the belt 67 cannot be pulled out from the reel 65, and therefore the length of the belt 67 from the reel 65 does not change. This restricts the bending of the target finger F. That is, the solenoid element 63 switches the position of the restricting member 64 to switch between a restricting state in which the movement of the belt 67 connected to the reel 65 is restricted to restrict bending of the target finger F, and a permitting state in which the movement of the belt 67 is permitted to allow bending of the target finger F.
Therefore, at the timing when it is determined that the target finger F has come into contact with the virtual object, the rotation of the reel 65 is restricted by the restricting member 64, thereby instantaneously restricting the bending of the target finger F. This makes it possible to give the user the sensation that the object has come into contact with the target finger F.

[Configuration of control unit]
1 controls the force feedback device 2 based on a control signal acquired from the information processing device 12. Specifically, the control unit 7 controls the pressing units 4, the vibration generating units 5, and the bending restricting units 6 based on the control signal from the information processing device 12. The control unit 7 is provided on the band 32 of the attachment member 3, for example.
Based on the acquired control signal, the control unit 7 can individually perform the following operations: pressing the pad of the target finger F by the pressing unit 4, generating vibrations for the target finger F by the vibration generating unit 5, and restricting bending of the target finger F by the bending restriction unit 6, or can perform these operations simultaneously.
For example, when it is determined that the posture of the target hand HN detected by the detection device 11 and calculated by the information processing device 12 is a posture for gripping an object, the information processing device 12 outputs a predetermined control signal to the force feedback device 2. The control unit 7 that has acquired the control signal operates the pressing unit 4, the vibration generating unit 5, and the bending restricting unit 6 to simultaneously press the pad of the target finger F, generate vibration for the target finger F, and restrict bending of the target finger F. As a result, bending of the target finger F is restricted, the pad of the target finger F is pressed, and further, vibration is applied to the target finger F, thereby giving the user the sensation of gripping a virtual object.

[Effects of the embodiment]
The haptic system 1 according to the present embodiment described above provides the following advantages.
The haptic system 1 includes a haptic device 2, a detection device 11, and an information processing device 12. The detection device 11 detects the movement of the hand on which the haptic device 2 is attached. The hand whose movement is detected by the detection device 11 corresponds to a target hand HN. The information processing device 12 transmits a control signal to the haptic device 2 to operate the haptic device 2, based on the movement of the target hand HN detected by the detection device 11.

The force sense presentation device 2 is attached to a target hand HN, which is one hand. The force sense presentation device 2 includes a pressing unit 4, a vibration generating unit 5, and a bending restricting unit 6. A target finger F of the target hand HN corresponds to a first finger.
The pressing unit 4 presses the pad of the target finger F. The vibration generating unit 5 applies vibration to the target finger F.
The bending restriction unit 6 restricts bending of the target finger F. The bending restriction unit 6 includes a belt 67 and a solenoid element 63.
The belt 67 engages with the target finger F via the pressing portion 4. The belt 67 extends along the target finger F.
The solenoid element 63 switches between a restricting state in which the movement of the belt 67 is restricted to restrict bending of the target finger F, and a permitting state in which the movement of the belt 67 is permitted to allow bending of the target finger F.

According to such a configuration, for example, when the target finger F equipped with the haptic device 2 is bent as if grasping an object, the solenoid element 63 switches the state of the haptic device 2 from a permissive state to a restricted state, thereby restricting further bending of the target finger F. This allows the user to be given the sensation of grasping an object. The sensation can be provided by the solenoid element 63 that switches between the restricted state and the permissive state. Therefore, the sensation of grasping an object can be presented to the user with a simple configuration.
At this time, the pressing unit 4 presses the pad of the target finger F, and further, the vibration generating unit 5 applies vibration to the target finger F, thereby giving the user a more realistic feeling of grasping an object.
Furthermore, since the information processing device 12 controls the haptic device 2 based on the movement of the target hand HN, the fingertip can be pressed by the pressing unit 4, and vibration and the above-mentioned tactile sensation can be imparted based on the movement of the target hand HN. Therefore, the versatility of the haptic system 1 can be improved.

In the force feedback device 2, the bending restriction unit 6 has a reel 65 that rotates to wind and unwind a belt 67. The solenoid element 63 restricts the rotation of the reel 65 in a restricting state that restricts bending of the target finger F, and allows the rotation of the reel 65 in a allowing state that allows bending of the target finger F.
According to this configuration, restricting the rotation of the reel 65 restricts the movement of the belt 67 engaged with the target finger F, thereby restricting bending of the target finger F. Also, allowing the rotation of the reel 65 allows the movement of the belt 67, thereby allowing bending of the target finger F. The solenoid element 63 can easily switch between such a permitted state and a restricted state.

The force sense supply device 2 has a restricting member 64 that is inserted into a meshing portion 654 of the reel 65 .
The solenoid element 63 inserts the restricting member 64 into the meshing portion 654 in the restricted state, and separates the restricting member 64 from the meshing portion 654 in the permitted state.
According to this configuration, by moving the restricting member 64 by the solenoid element 63, it is possible to switch between the restricted state in which the rotation of the reel 65 is restricted and the permitted state in which the rotation of the reel 65 is permitted. This makes it possible to reliably switch between the restricted state and the permitted state.

The force sense supply device 2 has a biasing member 66 that biases the reel 65 in a direction in which the reel 65 winds up the belt 67 .
According to such a configuration, tension can be generated in the belt 67, and the belt 67 can be made to follow the target finger F. This makes it possible to immediately restrict bending of the target finger F by restricting the rotation of the reel 65. Therefore, it is possible to improve the responsiveness of switching from the permissive state to the restricted state.

In the force feedback device 2 , the belt 67 is connected to the pressing unit 4 .
According to such a configuration, since the belt 67 is connected to the pressing unit 4 that engages with the target finger F, there is no need to engage the belt 67 with any part of the target finger F other than the part where the pressing unit 4 is provided. Therefore, it is possible to prevent the configuration of the force sense presentation device 2 from becoming complicated, and also to prevent an increase in the user's effort when wearing the force sense presentation device 2.

In the force feedback device 2 , the pressing unit 4 includes a cylindrical member 41 , a driving device 43 , a sliding member 45 and a protruding member 47 .
The cylindrical member 41 is attached to the fingertip of the target finger F. The sliding member 45 is provided slidably along an outer peripheral surface 41S of the cylindrical member 41. The driving device 43 slides the sliding member 45. The protruding member 47 protrudes inward from the cylindrical member 41 as the sliding member 45 slides counterclockwise as viewed from the -X direction. The counterclockwise direction as viewed from the -X direction corresponds to the first rotation direction.
According to this configuration, it is possible to press the target finger F placed inside the cylindrical member 41. At this time, the protruding member 47 protrudes inwardly from the cylindrical member 41 as the sliding member 45 slides counterclockwise as viewed from the -X direction. According to this, by adjusting the sliding amount of the sliding member 45, it is possible to adjust the protruding amount of the protruding member 47 inwardly from the cylindrical member 41, and therefore it is possible to adjust the pressing force on the target finger F placed inside the cylindrical member 41.

The force feedback device 2 includes a mounting member 3 that is mounted on the back of the target hand HN. The solenoid element 63 is provided on a base 31 of the mounting member 3.
According to this configuration, it is possible to stably arrange the solenoid element 63. Furthermore, even when a plurality of bending restriction parts 6 are provided, the solenoid element 63 of each bending restriction part 6 can be easily arranged.

The force feedback device 2 includes a guide portion 623 that extends linearly from the mounting member 3 along the target finger F via a support portion 621 and guides the movement of the belt 67 .
According to this configuration, it is possible to easily move the belt 67 along the extending direction of the target finger F. As a result, when the bending restriction unit 6 switches the state of the force feedback device 2 to the restriction state, bending of the target finger F can be effectively restricted.
Here, when the flexible belt 67 is arranged in contact with the target finger F, even if the movement of the belt 67 is restricted, it is difficult to restrict the bending of the first finger toward the palm side.
In response to this, by providing the guide portion 623 extending from the mounting member 3, the target finger F can be restricted from being bent toward the palm side by the belt. Therefore, the user can be effectively given the sensation of gripping an object.

In the force-feedback supply device 2, the folding restriction portion 6 is provided on the mounting member 3 so as to be movable along the extending direction of the belt 67.
According to this configuration, the bending restricting portion 6 can be disposed at a position suitable for the length of the target finger F by moving the bending restricting portion 6 according to the length of the target finger F. Therefore, the above-mentioned sensation can be more effectively imparted to the user.

In the force feedback device 2, the bending restriction unit 6 is provided on the mounting member 3 so as to be rotatable about a rotation axis Rx1 along the Z axis. The Z axis is an axis that intersects both the +X direction in which the belt 67 extends and the +Y direction in which the fingers of the target hand HN are aligned.
According to this configuration, the orientation of the folding restriction portion 6 can be made to follow the movement of the target finger F. Therefore, the belt 67 can be easily made to fit along the target finger F, so that the above-mentioned sensation can be more effectively imparted to the user.

The force feedback device 2 includes a control unit 7 that controls the pressing unit 4, the vibration generating unit 5, and the bending restricting unit 6. The control unit 7 presses the pad of the target finger F with the pressing unit 4 and causes the vibration generating unit 5 to generate vibration at a timing when the solenoid element 63 brings the finger into the restricted state.
With this configuration, the user can experience a more realistic sensation of gripping a virtual object.

[Modifications of the embodiment]
The present disclosure is not limited to the above-described embodiments, and modifications and improvements within the scope that can achieve the object of the present disclosure are included in the present disclosure.
In the above embodiment, the pressing unit 4, the vibration generating unit 5, and the bending restricting unit 6 are provided on each of the thumb FA, the index finger FB, and the middle finger FC of the fingers of the target hand HN. However, this is not limited thereto, and the pressing unit 4, the vibration generating unit 5, and the bending restricting unit 6 may be provided on at least one of the fingers of the target hand HN, which is one hand, and the number and type of fingers on which the pressing unit 4, the vibration generating unit 5, and the bending restricting unit 6 of the force sense presentation device 2 are provided can be changed as appropriate. For example, the pressing unit 4, the vibration generating unit 5, and the bending restricting unit 6 may be provided on all the fingers of the target hand HN.

In the above embodiment, the bending restriction unit 6 switches between a restricted state and an allowable state by inserting or detaching the restriction member 64, which is moved by the solenoid element 63, into or from the reel 65 that takes up and delivers the belt 67. However, this is not limited to the above, and the configuration of the bending restriction unit 6 is not limited to the above as long as the bending restriction unit 6 can be switched by the solenoid element 63 between a restricted state in which the movement of the belt 67 is restricted to restrict bending of the target finger F and a allowable state in which the movement of the belt 67 is allowed to allow bending of the target finger F.
For example, the solenoid element 63 may directly engage with the belt 67 to restrict the movement of the belt 67 .

In the above embodiment, the folding restriction section 6 includes a biasing member 66 that biases the reel 65 in the direction of winding the belt 67. However, this is not limited to the above, and the biasing member 66 may be omitted. Furthermore, the biasing member 66 is not limited to a spiral spring, and may be another biasing member such as a torsion coil spring.

In the above embodiment, the end of the belt 67 opposite the reel 65 is connected to the cylindrical member 41 of the pressing unit 4. However, this is not limited to the above, and the end of the belt 67 may be engaged with the target finger F separately from the pressing unit 4. For example, the belt 67 may have a ring-shaped portion at the end opposite the reel 65 into which the target finger F is inserted and which comes into contact with the target finger F.

In the above embodiment, the pressing unit 4 includes a cylindrical member 41, a regulating member 42, a driving device 43, a clamping member 44, a sliding member 45, a conversion member 46, and a protruding member 47. However, the configuration of the pressing unit 4 is not limited to the above, as long as it is capable of pressing the fingertip of the target finger F. For example, the regulating member 42, the clamping member 44, and the conversion member 46 may be omitted, and the sliding member 45 may directly press the target finger F. Furthermore, the pressing unit 4 does not include the sliding member 45, and a driving device such as a solenoid element may directly move a movable protruding member inside the cylindrical member 41 to press the target finger F.

In the above embodiment, the vibration generating unit 5 is provided in the cylindrical member 41 of the pressing unit 4. However, this is not limited to the above, and the position of the vibration generating unit 5 is not important as long as the vibration generating unit 5 can impart vibration to the target finger F. For example, the vibration generating unit 5 may be provided in the bending restriction unit 6.

In the above embodiment, the solenoid element 63 of the bending restriction unit 6 is provided on the mounting member 3. Specifically, the slide portion 61 of the bending restriction unit 6 is slidably provided on the base 31 of the mounting member 3, and the solenoid element 63 of the bending restriction unit 6 is fixed to a support base 62 provided on the slide portion 61. However, this is not limited to the above, and the solenoid element 63 may be provided on a structure other than the mounting member 3 as long as it does not interfere with the movement of the target finger F.

In the above embodiment, the folding restriction unit 6 includes a guide unit 623 that guides the movement of the belt 67. However, this is not limiting, and the guide unit 623 may be omitted. In this case, for example, the reel 65 may be provided at the tip of an arm that extends in the +X direction from the support unit 621.

In the above embodiment, the slide portion 61 of the folding restriction portion 6 is provided on the base 31 of the mounting member 3 so as to be slidable along the X-axis. In other words, the folding restriction portion 6 is provided on the mounting member 3 so as to be movable along the direction in which the belt 67 extends. However, this is not limited to the above, and the folding restriction portion 6 may be fixed to the mounting member 3.

In the above embodiment, the support base 62 of the bending restriction unit 6 is provided on the slide portion 61 fixed to the mounting member 3 so as to be rotatable around the rotation axis Rx1 that intersects with both the +X direction in which the belt 67 extends and the +Y direction in which the fingers of the target hand HN are aligned. In other words, the bending restriction unit 6 is provided on the mounting member 3 so as to be rotatable around the rotation axis Rx1 along the Z axis. However, this is not limited to the above, and the bending restriction unit 6 may be fixed to the mounting member 3.

In the above embodiment, the control unit 7 presses the pad of the target finger F with the pressing unit 4 and generates vibrations with the vibration generating unit 5 at the timing when the solenoid element 63 brings the target finger F into the restricted state. However, this is not limited to the above, and the restriction of bending of the target finger F, the pressing of the pad of the target finger F, and the application of vibrations to the target finger F do not have to be performed simultaneously.

In the above embodiment, the force feedback system 1 includes the detection device 11, the information processing device 12, and the force feedback device 2. However, this is not limited to the above, and the detection device 11 is not necessary. If the force feedback device 2 can detect the posture of the target hand HN independently of the detection device 11 and the information processing device 12, and the control unit 7 can control the pressing unit 4, the vibration generating unit 5, and the bending restricting unit 6 according to the detected posture of the target hand HN, the force feedback device 2 may be used alone.

[Summary of the present invention]
The present invention will be summarized below.
[1] A haptic device worn on one hand,
A pressing portion that presses the pad of a first finger of the one hand;
a vibration generating unit that applies vibration to the first finger;
A bending restriction portion that restricts bending of the first finger,
The folding restriction portion is
a belt engaging the first finger and extending along the first finger;
A force feedback device comprising: a solenoid element that can be switched between a restrictive state that restricts movement of the belt and restricts bending of the first finger, and an allowable state that allows movement of the belt and allows bending of the first finger.

According to this configuration, for example, when the fingers of one hand equipped with the haptic device are bent as if to grasp an object, the solenoid element switches the state of the haptic device from a permissive state to a restrictive state, thereby restricting the fingers of the hand from being further bent, thereby giving the user the sensation of grasping an object.
At this time, the pressing section presses the pad of the first finger, and further, the vibration generating section imparts vibration to the first finger, thereby giving the user a more realistic feeling of gripping an object.
The application of such a sensation can be realized by a solenoid element that switches between the restricted state and the permitted state, and therefore the sensation of gripping an object can be presented to the user with a simple configuration.

[2] In the haptic device according to [1],
The folding restriction unit has a reel that rotates to wind up and unwind the belt,
The solenoid element restricts rotation of the reel in the restricted state, and permits rotation of the reel in the permitted state.
According to this configuration, by restricting the rotation of the reel, the movement of the belt engaging with the first finger is restricted, thereby restricting bending of the first finger. Also, by allowing the rotation of the reel, the movement of the belt is permitted, thereby allowing bending of the first finger. The solenoid element can easily switch between such a permitted state and a restricted state.

[3] In the haptic device according to [2],
a restricting member that is inserted into the meshing portion of the reel,
The solenoid element inserts the regulating member into the meshing portion in the regulating state, and separates the regulating member from the meshing portion in the allowing state.
According to this configuration, the solenoid element moves the restricting member, thereby switching between a restricted state in which rotation of the reels is restricted and a permitted state in which rotation of the reels is permitted, thereby making it possible to reliably switch between the restricted state and the permitted state.

[4] In the haptic device according to [2] or [3],
A force-feedback presentation device comprising: a biasing member that biases the reel in a direction in which the reel winds up the belt.
With this configuration, the belt can be fitted to the finger, and by restricting the rotation of the reel, bending of the first finger can be restricted immediately, thereby improving the responsiveness of switching from the permitted state to the restricted state.

[5] In the haptic device according to any one of [1] to [4],
The belt is connected to the pressing portion.
According to this configuration, since the belt is connected to the pressing part that engages with the first finger, there is no need to engage the belt with any part of the first finger other than the part where the pressing part is provided. This makes it possible to prevent the configuration of the haptic device from becoming complicated, and also to prevent an increase in the user's effort when wearing the haptic device.

[6] In the haptic device according to any one of [1] to [5],
The pressing portion is
A cylindrical member attached to the tip of the first finger;
a slide member provided slidably along an outer circumferential surface of the cylindrical member;
A drive device for sliding the slide member;
A force feedback device comprising: a protruding member that protrudes inward of the cylindrical member as the sliding member slides in a first rotation direction.
According to this configuration, the first finger placed inside the cylindrical member can be pressed. At this time, the protruding member protrudes inwardly from the cylindrical member as the sliding member slides in the first rotation direction. According to this, by adjusting the sliding amount of the sliding member in the first rotation direction, the protruding amount of the protruding member inwardly from the cylindrical member can be adjusted, so that the pressing force on the first finger placed inside the cylindrical member can be adjusted.

[7] In the haptic device according to any one of [1] to [6],
a wearing member that is worn on the back of the one hand,
The solenoid element is provided on the mounting member.
According to this configuration, the solenoid element can be stably arranged, and even when a plurality of bending restriction portions are provided, the solenoid element of each bending restriction portion can be easily arranged.

[8] In the haptic device according to [7],
A force feedback device, characterized in that the bending restriction portion includes a guide member that extends linearly from the attachment member along the first finger and guides the movement of the belt.
According to this configuration, it is possible to easily move the belt along the direction in which the first finger extends, and thus it is possible to effectively restrict bending of the first finger when the bending restricting unit switches the state of the force feedback device to the restricted state.
Here, when a flexible belt is disposed in contact with the first finger, even if the movement of the belt is restricted, it is difficult to restrict the bending of the first finger toward the palm.
In response to this, by providing the guide member extending from the attachment member, the belt can regulate the first finger from being bent toward the palm, thereby effectively imparting to the user the sensation of gripping an object.

[9] In the haptic device according to [7] or [8],
The fold restricting portion is provided on the mounting member so as to be movable along an extension direction of the belt.
According to this configuration, the bending restricting portion can be moved in accordance with the length of the first finger, so that the bending restricting portion can be disposed at a position suitable for the length of the first finger, thereby more effectively imparting the above-mentioned sensation to the user.

[10] In the haptic device according to any one of [7] to [9],
A force feedback device characterized in that the bending control portion is mounted on the mounting member so as to be rotatable around a rotation axis that intersects both the direction in which the belt extends and the direction in which the fingers of the one hand are arranged.
According to this configuration, the orientation of the folding restriction portion can be made to follow the movement of the first finger, so that the belt can be easily made to follow the first finger, and the above-mentioned sensation can be more effectively imparted to the user.

[11] In the haptic device according to any one of [1] to [10],
a control unit that controls the pressing unit, the vibration generating unit, and the bending restricting unit,
The control unit presses the pad of the first finger with the pressing unit and generates vibrations with the vibration generating unit at the timing when the solenoid element brings the device into the restricted state.
With this configuration, the user can experience a more realistic sensation of gripping a virtual object.

[12] A haptic device according to any one of [1] to [11],
a detection device for detecting a movement of a hand on which the force feedback device is attached; and
An information processing device that transmits a signal to the haptic device to operate the haptic device based on the movement of the one hand detected by the detection device.
According to such a configuration, it is possible to achieve the same effects as the above-mentioned force feedback device.
In addition, since the information processing device controls the haptic device based on the movement of one hand, the pressing unit can press the fingertip, or provide vibration and the above-mentioned tactile sensation based on the movement of the one hand, thereby improving the versatility of the haptic system.

1... Force sense presentation system, 11... Detection device, 12... Information processing device, 2... Force sense presentation device, 3... Mounting member, 31... Base, 32... Band, 4, 4A, 4B, 4C... Pressing portion, 41... Cylindrical member, 42... Regulating member, 43... Driving device, 44... Clamping member, 45... Slide member, 46... Conversion member, 47... Protruding member, 5, 5A, 5B, 5C... Vibration generating portion, 6... Bending regulating portion, 61... Slide portion, 62... Support base, 623... Guide portion (guide member), 63... Solenoid element, 64... Regulating member, 65... Reel, 66... Pressing member, 67... Belt.

Claims (12)

A force feedback device to be worn on one hand,
A pressing portion that presses the pad of a first finger of the one hand;
a vibration generating unit that applies vibration to the first finger;
A bending restriction portion that restricts bending of the first finger,
The folding restriction portion is
a belt engaging the first finger and extending along the first finger;
A force feedback device comprising: a solenoid element that can be switched between a restrictive state that restricts movement of the belt and restricts bending of the first finger, and an allowable state that allows movement of the belt and allows bending of the first finger. The force feedback device according to claim 1 ,
The folding restriction unit has a reel that rotates to wind up and unwind the belt,
The solenoid element restricts rotation of the reel in the restricted state, and permits rotation of the reel in the permitted state. The force feedback device according to claim 2,
a restricting member that is inserted into the meshing portion of the reel,
The solenoid element inserts the regulating member into the meshing portion in the regulating state, and separates the regulating member from the meshing portion in the allowing state. The force feedback device according to claim 2,
A force-feedback presentation device comprising: a biasing member that biases the reel in a direction in which the reel winds up the belt. The force feedback device according to claim 1 ,
The belt is connected to the pressing portion. The force feedback device according to claim 1 ,
The pressing portion is
A cylindrical member attached to the tip of the first finger;
a slide member provided slidably along an outer circumferential surface of the cylindrical member;
A drive device for sliding the slide member;
A force feedback device comprising: a protruding member that protrudes inward of the cylindrical member as the sliding member slides in a first rotation direction. The force feedback device according to claim 1 ,
a wearing member that is worn on the back of the one hand,
The solenoid element is provided on the mounting member. The force feedback device according to claim 7,
A force feedback device, characterized in that the bending restriction portion includes a guide member that extends linearly from the attachment member along the first finger and guides the movement of the belt. The force feedback device according to claim 7,
The fold restricting portion is provided on the mounting member so as to be movable along an extension direction of the belt. The force feedback device according to claim 7,
A force feedback device characterized in that the bending control portion is mounted on the mounting member so as to be rotatable around a rotation axis that intersects both the direction in which the belt extends and the direction in which the fingers of the one hand are arranged. The force feedback device according to claim 1 ,
a control unit that controls the pressing unit, the vibration generating unit, and the bending restricting unit,
The control unit presses the pad of the first finger with the pressing unit and generates vibrations with the vibration generating unit at the timing when the solenoid element brings the device into the restricted state. The force feedback device according to claim 1 ,
a detection device for detecting a movement of a hand on which the force feedback device is attached; and
An information processing device that transmits a signal to the haptic device to operate the haptic device based on the movement of the one hand detected by the detection device.

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