Patent Application
20180129288
The present disclosure relates to a tactile-sensation-reproducing apparatus in which a reaction force simulated as a touch of a predetermined object with fingers of a hand can be generated when an input device thereof is touched with the fingers.
An disclosure concerning a virtual-space display apparatus is disclosed by Japanese Unexamined Patent Application Publication No. 2012-234355.
In this virtual-space display apparatus, a terminal communication unit and a server are capable of communicating with each other. The terminal communication unit is provided with a touch panel including a liquid-crystal display and an input unit.
On the basis of communication with the server, an image of a shopping mall is displayed on the liquid-crystal display of the touch panel. If a user makes a dragging motion on the touch panel, the user can move the view of the shopping mall that is being displayed. If the user taps a product thumbnail in the screen showing the shopping mall, detailed information on that product is displayed on the screen. The user can temporarily store products that he/she plans to buy in a stock area. When the user performs a payment process for the stocked products, the user can buy those products.
With the virtual-space display apparatus disclosed by Japanese Unexamined Patent Application Publication No. 2012-234355, the user can check the prices and the colors of products displayed in stores of the shopping mall and can search products that he/she wants to buy while comparing pieces of detailed information on those products.
However, since the user cannot actually touch the products, the user cannot feel the size, the texture, and so forth of each of the products with his/her hand.
A tactile-sensation-reproducing apparatus includes an input device and a control unit. The input device includes an operation member that is pressable with a finger and is movable back and forth, an encoder that detects a position to which the operation member is moved, and a motor that applies a force to the operation member. The control unit preferably stores information on a tactile sensation of a predetermined touching object. Preferably, the control unit controls an output of the motor such that if it is detected with reference to a detection signal from the encoder that the operation member is pressed with a finger, a reaction force simulated as a tactile sensation of the touching object is applied from the operation member to the finger.
The tactile-sensation-reproducing apparatus 1 includes an apparatus body 10 and input devices 20. In
The apparatus body 10 includes a mask-shaped body 11 to be worn over the eyes, and a strap 12 for fitting the mask-shaped body 11 around the head.
As illustrated in the block diagram in
The display panel 13 is not limited to be provided to the mask-shaped body 11. The display panel may be placed on a table or the like and may be used as, for example, a display screen of a personal computer, a display screen of a television, or a display screen of a game machine.
In the exemplary state of use illustrated in
As illustrated in
A surface of the upper case 22 that faces in the Z direction is denoted as a first surface 22a. A surface of the lower case 23 that faces in the Z direction is denoted as a second surface 23a. As illustrated in
An end surface of the upper case 22 that faces in the second direction (the Y direction) has a connector-fitting hole 26. An end surface of the lower case 23 that faces in the Y direction has a power-plug-fitting hole 27.
As illustrated in
Preferably, a plurality of first tactile-sensation-generating units 30 are fixed to one third-direction (X-direction) side of the sectioning plate portion 28b. The input device 20 according to the embodiment includes two first tactile-sensation-generating units 30 arranged side by side in the second direction (the Y direction). One second tactile-sensation-generating unit 40 is provided on the other X-direction side of the sectioning plate portion 28b.
The first tactile-sensation-generating unit 30 includes a frame 31 formed of a folded metal plate. The frame 31 is attached to the sectioning plate portion 28b, whereby the first tactile-sensation-generating unit 30 is mounted on the machinery chassis 28.
The frame 31 is provided with a movable member 32. The movable member 32 is made of a synthetic resin material and has a first operation member 33 fixed to the tip thereof. The first operation member 33 is made of a synthetic resin material. As illustrated in
The frame 31 has, in a sidewall portion 31a forming one side thereof, an oblong guide hole 31c extending in the first direction (the Z direction). The movable member 32 has a sliding projection 32a integrally provided on a side thereof. The sliding projection 32a slides within the oblong guide hole 31c, whereby the movable member 32 is supported in such a manner as to be movable in the first direction (the Z direction) along the frame 31. The movable member 32 has a recess 32b. A compression spring 34 is provided in the recess 32b and between the movable member 32 and the lower end of the frame 31. With the elastic force exerted by the compression spring 34, the movable member 32 is urged upward, in
A motor 35 is fixed to the sidewall portion 31a on one side of the frame 31. An output gear 36a is fixed to the output shaft of the motor 35. A reduction gear 36b is rotatably supported on the outer surface of the sidewall portion 31a. The output gear 36a and the reduction gear 36b are in mesh with each other. A gearbox 37 is fixed to the sidewall portion 31a of the frame 31. A reduction mechanism is housed in the gearbox 37. The rotational force exerted by the reduction gear 36b is reduced by the reduction mechanism provided in the gearbox 37. The reduction mechanism in the gearbox 37 includes a sun gear, a planetary gear, and so forth.
A pinion gear 37a is fixed to the reduction output shaft of the gearbox 37. The movable member 32 has a rack portion 32c on a surface of a thick part thereof. The pinion gear 37a and the rack portion 32c are in mesh with each other. The teeth of the pinion gear 37a and the teeth of the rack portion 32c are helical teeth each tilted with respect to the Y direction that is orthogonal to the direction in which the movable member 32 is moved.
Since the compression spring 34 is provided, the backlash between the pinion gear 37a and the rack portion 32c can be eliminated. Note that the compression spring 34 may be omitted.
An encoder 38 is fixed to a sidewall portion 31b on the other side of the frame 31. The encoder 38 includes a stator portion that is fixed to the sidewall portion 31b, and a rotor portion that rotates while facing the stator portion. A rotor shaft included in the rotor portion rotates together with the pinion gear 37a. The encoder 38 is of a variable-resistance type. The stator portion has an arc-shaped resistor pattern. The rotor portion includes a slider that slides along the resistor pattern. Alternatively, the encoder 38 may be of a magnetic-detection type. Specifically, the encoder 38 may include a rotating magnet fixed to the rotor portion, and a magnetic detecting element such as a giant magnetoresistive (GMR) element provided to the stator portion, in which the angle of rotation of the rotor portion is detected by the magnetic detecting element. Alternatively, the encoder 38 may be an optical encoder.
As illustrated in
The second tactile-sensation-generating unit 40 has the same basic structure as the first tactile-sensation-generating unit 30. In the second tactile-sensation-generating unit 40, a movable member 42 is supported by a frame 41 in such a manner as to be movable in the Z direction, and a second operation member 43 is fixed to the tip of the movable member 42. The second operation member 43 projects downward, in
A motor 45 is fixed to the frame 41. An output gear 46a, which is fixed to the output shaft of the motor 45, is in mesh with a reduction gear 46b. The rotational force exerted by the reduction gear 46b is reduced by a reduction mechanism provided in a gearbox 47. The reduced force is transmitted from a pinion gear to a rack portion provided on the movable member 42. Then, the rotation of the pinion gear is detected by an encoder 48.
As illustrated in
As illustrated as the block diagram in
As illustrated in
The apparatus body 10 and each of the input devices 20 may alternatively communicate with each other by using radio-frequency (RF) signals, with batteries provided in the respective input devices 20. In such a case, the cords 52 that connect the apparatus body 10 to the input devices 20 are not necessary.
In addition, the apparatus body 10 preferably has a function of communicating with a server.
Now, a method of operating the tactile-sensation-reproducing apparatus 1 and the behavior of the tactile-sensation-reproducing apparatus 1 will be described.
<Holding Input Device 20 with Hand>
As illustrated in
Preferably, the plurality of first operation members 33 are arranged side by side in the second direction (the Y direction). The length of the second operation member 43 in the Y direction is preferably greater than the length of each of the first operation members 33 in the Y direction. Hence, the two first operation members 33 both overlap the second operation member 43 in the first direction (the Z direction). Therefore, while the first operation members 33 are held with the index and middle fingers, a wide area of the second operation member 43 is holdable with the thumb.
The first operation members 33 and the second operation member 43 are positioned in a central part of the case 21 in the X direction (the third direction). Preferably the input devices 20 each have a substantially symmetrical shape with respect to the X-Z plane and with respect to the Y-Z plane. Therefore, the input device 20 is holdable in the same manner from the right side and from the left side, in
The input device 20 behaves as follows. When a control command is transmitted from the control unit 15 to the motor driver 51, the motors 35 of the first tactile-sensation-generating units 30 and the motor 45 of the second tactile-sensation-generating unit 40 are activated in accordance with the control command. By controlling the rotation of the motors 35 and the motor 45, the movable members 32 and the movable member 42 can be moved to any positions and be stopped at those positions, respectively. For example, the operation members 33 and the operation member 43 can be stopped at respective positions where the operation members 33 and the operation member 43 are made to project from the case 21 to the maximum extent, or at respective positions where the operation members 33 and the operation member 43 are retracted into the case 21 to the maximum extent. Moreover, the operation members 33 and the operation member 43 can each be stopped at any position between the most projected position and the most retracted position.
Furthermore, by controlling the power to be supplied to the motors 35 and the motor 45, the rotors of the motors 35 and 45 can each be retained with a strong force such that a corresponding one of the operation members 33 and the operation member 43 projecting from the case 21 is immovable even if it is pressed with a finger.
In a state where the movable members 32 and the movable member 42 are allowed to move, any of the operation members 33 and the operation member 43 are pressed. When corresponding ones of the movable members 32 and the movable member 42 are moved in the direction of pressing, detection outputs from corresponding ones of the encoders 38 and the encoder 48 are transmitted to the control unit 15. Then, the control unit 15 recognizes the positions of the moved ones of the operation members 33 and the operation member 43. The control unit 15 stores lines of action of reaction force (coefficients of action of reaction force) that each represent the relationship between the length of travel of the operation member 33 or 43 and the reaction force. In accordance with the positions of the moved ones of the operation members 33 and the operation member 43, corresponding ones of the motors 35 and the motor 45 generate respective torques with reference to the lines of action of reaction force. Thus, reaction forces are applied from the moved ones of the operation members 33 and the operation member 43 to corresponding ones of the fingers.
In the tactile-sensation-reproducing apparatus 1, the control unit 15 stores pieces of information on an object to be held with hands in simulation. The pieces of information include the shape, the size, the surface hardness or softness, the elasticity, and so forth.
For example, the control unit 15 stores the above pieces of information on each of a plurality of products provided in a product catalog listing a predetermined group of products. Such pieces of information are downloaded from a server to the control unit 15 over the Internet or the like. Alternatively, the control unit 15 may receive pieces of information on an object when a storage medium that stores a product catalog or the like is connected to the apparatus body 10.
As illustrated in
In the tactile-sensation-reproducing apparatus 1, the positions to which the respective operation members 33 and 43 are made to project from the case 21 or the reaction forces applied from the operation members 33 and 43 to the respective fingers preferably change in the input device 20 with what is displayed on the screen of the display panel 13.
If the image displayed on the display panel 13 provides menu items as illustrated in
As illustrated in
If the operator moves the input device 20 and changes the orientation of the input device 20 while looking at the product catalog displayed on the display panel 13, the schematic image of the hand H in the display screen is moved such that the index finger F2 selects any of the items in the menu image Mv or in the list image Lv. In such a selecting operation, a product to be displayed is selected. Then, if the operation member 33 is pressed with the index finger F2, such an operation is detected by the encoder 38 and a detection signal is transmitted from the encoder 38 to the control unit 15. Thus, the control unit 15 recognizes that the first operation member 33 has been pressed, and the selection of the product is determined.
The operation of selecting and determining an item from the menu image Mv or the list image Lv illustrated in
In the display mode illustrated in
When any product is selected, the product is designated as the touching object, which is the object to be touched with the hand. As illustrated in
The position or the orientation of the input device 20 held by the hand in a space is detected by the orientation-detecting unit 53. Information thus detected is transmitted to the control unit 15. In accordance with the orientation of the input device 20, the control unit 15 generates a schematic image to be displayed on the display panel 13. Furthermore, in accordance with the position and the orientation of the input device 20, the control unit 15 changes the position and the orientation of the schematic image of the hand H or the schematic image of the fingers to be displayed on the display panel 13.
Note that, in an image of various shops that is displayed on the display panel 13, if any of products provided in the shops displayed is selected by operating the input device 20 held in the hand, that product can be designated as the object to be touched with the hand H.
The object W1 illustrated in
In the display example illustrated in
In such a case, the control unit 15 transmits a state-setting command to the motor driver 51 of the input device 20, whereby the second operation member 43 that is touched with the thumb F1 and one of the first operation members 33 that is touched with the index finger F2 are made operable. For the first operation member 33 that faces the middle finger, the motor 35 of the first tactile-sensation-generating unit 30 is activated such that the first operation member 33 facing the middle finger is retracted so as not to project from the first surface 22a of the case 21. Alternatively, a large load may be applied to the motor 35 of the first tactile-sensation-generating unit 30 so that the rotor thereof does not rotate easily, prohibiting the first operation member 33 that is touched with the middle finger from moving.
Specifically, the input device 20 is configured such that the positions to which the operation members 33 and 43 are made to project from the case 21 or the reaction forces applied from the operation members 33 and 43 to the respective fingers change in accordance with the type of the object that is displayed on the display panel 13.
When the first operation members 33 and the second operation member 43 are pressed with corresponding ones of the actual fingers, pieces of information on the positions thereof are transmitted from the encoders 38 and 48 to the control unit 15. Then, the control unit 15 controls the state of display such that the schematic image of the thumb F1 and the schematic image of the index finger F2 that are displayed on the display panel 13 move toward each other in accordance with the lengths by which the first operation members 33 and the second operation member 43 are moved toward each other.
That is, the movements of the schematic images of the hand and the fingers change with the movements of the operation members 33 and 43 included in the input device 20.
The detection signal from the encoder 38 of the first tactile-sensation-generating unit 30 that is touched with the index finger F2 and the detection signal from the encoder 48 of the second tactile-sensation-generating unit 40 that is touched by the thumb F1 are transmitted to the control unit 15. In the control unit 15, pieces of information on the shape and the size of the object W1 and the detection signals from the encoders 38 and 48 are compared. At the beginning of pressing of the second operation member 43 and the first operation member 33 with the thumb F1 and the index finger F2, substantially no rotational loads are applied to the motors 35 and 45, and the thumb F1 and the index finger F2 therefore receive substantially no loads. Consequently, the operator feels as if his/her thumb F1 and index finger F2 were moving freely in the space.
When the detection signals from the encoders 38 and 48 indicate that the distance between the thumb F1 and the index finger F2 has become the same as the size of the object W1, the control unit 15 transmits a control command to the motor driver 51 such that rotational loads are applied to the motors 35 and 45. Thus, reaction forces simulated as if the object W1 were pinched are applied to the thumb F1 and the index finger F2, respectively.
Alternatively, the following process may be employed. When the second operation member 43 and the first operation member 33 start to be pressed with the thumb F1 and the index finger F2, the motors 35 and 45 are caused to generate weak driving forces, respectively, whereby moving forces that cause the second operation member 43 and the first operation member 33 to move toward each other are applied to the second operation member 43 and the first operation member 33. Then, when the distance between the thumb F1 and the index finger F2 has become the same as the size of the object W1, loads are applied to the motors 35 and 45, respectively. In such a process, it is possible to make the operator feel no resistances on his/her fingers at the beginning of operation with the thumb F1 and the index finger F2. Furthermore, the elastic forces of the compression springs 34 and 44 can be cancelled out. Hence, it is easier to give the operator a sensation of pinching the object W1 with the thumb F1 and the index finger F2 that are freely moved in the space.
Moreover, the positions to which the first operation member 33 touched with the index finger F2 and the second operation member 43 touched with the thumb F1 are made to project from the case 21 may be determined in accordance with the shape and the size of the schematic image of the object W1 displayed on the display panel 13.
The object W2 illustrated in
When the object W2 is selected as the touching object and the schematic image of the object W2 is displayed on the display panel 13, the schematic image of the hand H or the fingers is changed into a state where the object W2 is held with the hand H or the fingers. Then, the control unit 15 transmits a state-setting command to the input device 20, whereby the input device 20 changes its state in accordance with the shape and the size of the object W2 or the schematic image of the hand H. Specifically, in the input device 20, the positions to which the first operation members 33 and the second operation member 43 are made to project are set. Thus, the operator can feel like holding the object W2 displayed on the screen with his/her actual hand.
In such a case, detection outputs from the encoders 38 included in the two tactile-sensation-generating units 30 included in the input device 20 and a detection output from the encoder 48 included in the tactile-sensation-generating unit 40 are transmitted to the control unit 15, and the control unit 15 controls the three motors 35 and 45.
In another control process, when the second operation member 43 starts to be pressed with the thumb F1 and the two first operation members 33 start to be pressed with the index finger F2 and the middle finger F3, no loads are applied to the motors 35 and 45 in the beginning, or the movable members 32 and 42 are moved such that the operation members 33 and the operation member 43 are brought toward each other. Thus, it is possible to make the operator feel as if his/her fingers were moving in the space. When the distances among the fingers F1, F2, and F3 have become the same as the respective lengths that define the outer shape of the object W2, loads are applied to the motors 35 and 45, respectively. Thus, reaction forces that give the same tactile sensation as that given when the object W2 is held with the fingers F1, F2, and F3 are generated.
The object W3 illustrated in
In a state where an image of the object W3 is displayed on the display panel 13, the rotational load applied to the motor 35 of the first tactile-sensation-generating unit 30 touched with the middle finger F3 is increased and the rotational load applied to the motor 45 of the second tactile-sensation-generating unit 40 touched with the thumb F1 is increased in accordance with the state-setting command transmitted from the control unit 15, whereby the first operation member 33 touched with the middle finger F3 and the second operation member 43 touched with the thumb F1 are kept immovable while only the first operation member 33 touched with the index finger F2 is allowed to move.
As described above, the states of the operation members 33 and 43 of the input device 20 are set in accordance with the schematic image of the object (touching object) W2 or the schematic image of the hand H that is displayed on the display panel 13.
In a motion of actually touching the object W3 with the index finger F2, the orientation-detecting unit 53 provided in the input device 20 detects the orientation and the position of the hand. As illustrated in
In such a case, in the schematic image of the hand H displayed on the display panel 13, the fingers other than the index finger F2 are displayed in curled states as illustrated in
The control unit 15 monitors the detection signals of the encoders 38 and 48. As illustrated in any of
In a control process for giving a sensation of texture, when the positions of the operation members 33 and 43 are detected on the basis of the detection outputs from the encoders 38 and 48, the respective reaction forces are each determined with reference to the line of action of reaction force L1 and in conjunction with the pressing stroke that is made at that point of time. The line of action of reaction force L1 illustrated in
For example, when the stroke of the operation member 33 or 43 that is being pressed has reached 6 mm, a reaction force fa is applied to the finger. The reaction force fa may be the sum of the reaction force applied to the thumb F1 and the reaction force applied to the index finger F2. Alternatively, the reaction force fa may be applied to each of the thumb F1 and the index finger F2. This also applies to a case where reaction forces are applied to the thumb F1, the index finger F2, and the middle finger F3, respectively. If the object W3 is pressed only with the index finger F2 as illustrated in
Referring to the line of action of reaction force L1 illustrated in
If the above line of action of reaction force L1 is set, the operator can be made to feel as if the object W1 pinched with his/her fingers, the object W2 held with his/her fingers, or the object W3 pressed with his/her index finger F2 had elasticity. The sensation of hardness, softness, or elasticity can be set freely by changing the line of action of reaction force illustrated in
In the setting of the reaction force illustrated in
In such a setting of the reaction force, for example, the reaction force that is applied to the finger gradually increases by following the line of action of reaction force L2 until the stroke of the operation member 33 or 43 that is pressed with the finger reaches about 5 mm. If the force exerted by the finger pressing the operation member is reduced at a pressing stroke of 5 mm, the finger is pushed backward by the reaction force that is set forth by the line of action of reaction force L2. However, when the encoder 38 or 48 detects that the operation member 33 or 43 has been pushed backward together with the finger, a reaction force for the returning motion that is applied thereafter to the finger from the operation member 33 or 43 follows the line of action of reaction force L3.
In the setting of the reaction force illustrated in
Referring now to a line of action of reaction force L4 illustrated in
If the torque of the motor 35 or 45 is caused to fluctuate slightly as described above, the reaction force applied from the operation member 33 or 43 to the finger of the operator can provide a viscous sensation. That is, a reaction force resembling a sensation obtained when a viscoelastic body is pressed with the finger can be provided. Such a viscous sensation can be set by changing the period or the duty ratio of the cycle, illustrated in
Lines of action of reaction force L5 and L6 illustrated in
When the first operation member 33 is pressed with the index finger F2 as if an operation knob of the push switch displayed on the screen were pressed with the index finger F2, a reaction force following the line of action of reaction force L5 illustrated in
Hence, the operator can feel, with his/her finger, how the tactile sensation obtained at the operation of the push switch selected in the image is like.
As a variation of the reaction force to the finger that is generatable by each of the tactile-sensation-generating units 30 and 40 of the input device 20, the following may be employed, for example. At the beginning of the pressing motion made by the finger, the reaction force may be generated as an elastic sensation. Then, when the pressing motion is continued to some extent, the reaction force may be generated as a hard sensation by prohibiting the further pressing with the finger. Such a process is a simulation of a sensation obtained when the surface of a hand of a person is pressed with a finger.
As another variation, the operation members 33 and 43 may be vibrated so as to give a vibrating sensation to the fingers. In such a case, a reaction force obtained as if the operator were touching a small animal with his/her fingers can be provided.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2015-137054 | Jul 2015 | JP | national |
This application is a Continuation of International Application No. PCT/JP2016/066563 filed on Jun. 3, 2016, which claims benefit of Japanese Patent Application No. 2015-137054 filed on Jul. 8, 2015. The entire contents of each application noted above are hereby incorporated by reference in their entireties.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/JP2016/066563 | Jun 2016 | US |
| Child | 15861869 | US |
