JP2024150644A - Haptic information presentation system - Google Patents

Abstract

[Problem] The present invention aims to realize an induced illusion phenomenon by a combination of vibrations, and to provide trigger displacement, characteristic inducing stimulus/trigger stimulus, misunderstood (misidentified) vibration, synergistic effects related to illusions, consonant/vowel-like displacement configuration, and an illusion phenomenon database. [Solution] A haptic information provision system in which a haptic presentation device presents a stimulus by and/or to an object, and generates a haptic sensation by controlling the stimulus applied to the object in accordance with the operation of an operator. At least one of amplitude, displacement, and deformation is presented to the object. A sensory synthesis/induction device that synthesizes the sensation of a guided sense, and the sensory synthesis/induction device generates at least one of pressure sensation, force sensation, and illusion by a displacement with a sweep displacement on the object. [Selected Figure] Figure 8

Description

The present invention relates to a haptic information presentation system that utilizes sensory characteristics.

Japanese Patent Application Laid-Open No. 2005-190465 discloses a system that can continuously present tactile sensations such as torque and force in the same direction, which cannot be presented by the physical characteristics of the tactile sensation presentation device alone, in a conventional non-grounded man-machine interface that has no base within the body and exposes people to the presence of virtual objects and the impact force of a collision.

This patent application has the following configuration: Haptic presentation device In the haptic presentation device, a control device controls the displacement of one or more actuators in the haptic presentation device, and the physical properties of the actuator, such as displacement, force, and torque, are controlled, thereby allowing the user to perceive various haptic information such as the displacement, force, and torque. This haptic information presentation system uses human sensory properties or illusions to appropriately control physical quantities, allowing the person to experience forces that do not physically exist or haptic sensory physical properties.

JP 2005-190465 A

In view of the above, the prior art has limitations when presenting haptic information only by physical methods, and has shortcomings in sensory strength and clarity. The object of the present invention is to realize an induced illusion phenomenon by a combination of displacement, displacement pattern, and waveform, and to prevent trigger displacement, characteristic induction stimulus, trigger stimulus, and misunderstanding (misperception) in which a Y-directional displacement, displacement pattern, and waveform are mistakenly perceived as a Z-directional displacement, displacement pattern, and waveform due to poor discrimination of tactile directionality, and a finger pressure in the Z direction.
To provide a synergistic effect related to illusions, a consonant/vowel waveform configuration, and an illusion phenomenon database.

The haptic information presentation system according to the present invention includes an object, which is a real object or a virtual object, and a position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, etc., of and/or to the object.
a sensor that detects a stimulus comprising at least one of vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity; a haptic presentation device that applies the sensory characteristics and/or illusion of an operator to the object to present the operator with a haptic sensation as if the operator were actually operating the object; and a haptic presentation control device that controls the haptic presentation device based on the stimulus from the sensor, wherein the haptic presentation control device presents haptic information by controlling the stimulus by utilizing the fact that the sensory characteristics indicating the relationship between the amount of stimulus applied to a person's body and the amount of sensation are nonlinear and/or an illusion, the sensory characteristics comprising at least one of the amount of stimulus given to the operator and the amount of stimulus brought about by the operator's operation, and a sensory amount presented to the operator, the sensory amount being a sensory amount that cannot physically exist, wherein the haptic presentation device presents a stimulus by and/or to the object, and generates a haptic sensation by controlling the stimulus applied to the object in accordance with the operator's operation.

In the haptic system, the touch panel is divided into a plurality of sections and arranged in at least one of an array shape, a dot shape, and a pixel shape, and each touch panel is controlled independently.

In the haptic information presentation system, the object is a touch panel, and a different tactile and/or force sense is generated for each touch panel.

The haptic information presentation system according to the present invention includes an object, which is a real object or a virtual object, and a position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, etc., of and/or to the object.
A haptic presentation device includes a sensor that detects a stimulus having at least one of vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity; a haptic presentation device that applies the sensory characteristics and/or illusion of an operator to the object to present the operator with a haptic sensation as if the operator were actually manipulating the object; and a haptic presentation control device that controls the haptic presentation device based on the stimulus from the sensor; the haptic presentation control device presents haptic information by utilizing the fact that the sensory characteristics indicating the relationship between the amount of stimulus applied to a person's body and the amount of sensation are nonlinear and/or an illusion, the sensory characteristics comprising at least one of the amount of stimulus given to the operator and the amount of stimulus brought about by the operator's operation, and a sensory amount presented to the operator, the sensory amount being a sensory amount that cannot physically exist, and wherein the haptic presentation device presents at least one of amplitude, displacement, and deformation to the object.

In the haptic information presentation system, the touch panel is divided into a plurality of sections and arranged in at least one of an array shape, a dot shape, and a pixel shape, and each touch panel is controlled independently.

In the haptic information presentation system, the haptic presentation device presents a haptic sensation in response to the amplitude, displacement and/or deformation occurring in the object.

In the haptic information presentation system, the haptic presentation device induces at least one of amplitude, displacement, and deformation in six dimensions in the object for at least one of position, phase, and time.

In the haptic information presentation system, the haptic presentation device generates at least one of amplitude, displacement, and deformation perpendicular to, parallel to, or at an arbitrary angle to a tangent of an object.

The haptic information presentation system of the present invention comprises an object, the object being a real object or a virtual object, a sensor for detecting a stimulus having at least one of a position, a speed, an acceleration, a shape, a displacement, a deformation, an amplitude, a rotation, a vibration, a force, a torque, a pressure, a humidity, a temperature, a viscosity, and an elasticity by and/or to the object, a haptic presentation device for applying a sensory characteristic and/or an illusion of an operator to the object to present the operator with a haptic sensation as if the operator had actually operated the object, and a haptic presentation control device for controlling the haptic presentation device based on the stimulus from the sensor, the haptic presentation control device presenting haptic information by controlling the stimulus by utilizing the fact that a sensory characteristic showing the relationship between a stimulus amount applied to a human body and a sensory amount is nonlinear and/or an illusion, the sensory characteristic comprising at least one of a stimulus amount given to the operator and a stimulus amount brought about by the operator's operation, and a sensory amount presented to the operator, the sensory amount being a sensory amount that cannot physically exist,
Here, the haptic sense presentation device is a sensory synthesis/induction device that synthesizes the sensation of an induced sensation,
The sensory synthesis and induction device is a haptic electronic device that generates at least one of a pressure sensation, a force sensation, and an illusion by displacing the object with a sweeping displacement.

By combining the displacements, the induced illusion phenomenon can be realized, and the trigger displacement, characteristic induced stimulus,
It is possible to provide trigger stimuli, misunderstanding (misperception) displacement, synergistic effects related to illusions, consonant/vowel displacement/vibration configuration, and illusion phenomenon database.

Schematic diagram showing the haptic display system Schematic diagram showing the configuration of a haptic information presentation system Demonstration of displacement control of haptic actuator Schematic diagram explaining the optical illusion phenomenon Schematic diagram explaining the optical illusion phenomenon Schematic diagram explaining the optical illusion phenomenon Schematic diagram explaining the optical illusion phenomenon Schematic diagram explaining the optical illusion phenomenon Schematic diagram explaining the optical illusion phenomenon Schematic diagram explaining the optical illusion phenomenon Schematic diagram explaining how to push in your finger Schematic diagram explaining how to push in your finger Schematic diagram explaining how to push in your finger Schematic diagram explaining how to push in your finger Schematic diagram explaining how to push in your finger Schematic diagram explaining how to push in your finger Schematic diagram explaining how to push in your finger Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining vibration control of a haptic actuator Schematic diagram explaining how to control the waveform Schematic diagram explaining how to control the waveform Schematic diagram explaining how to control the waveform Schematic diagram explaining how to control the waveform Schematic diagram for explaining an actuator control method Schematic diagram for explaining an actuator control method Schematic diagram for explaining an actuator control method Schematic diagram explaining haptic sensation generation Schematic diagram illustrating sensory characteristics Schematic diagram illustrating sensory characteristics Schematic diagram illustrating sensory characteristics Schematic diagram illustrating sensory characteristics Schematic diagram illustrating sensory characteristics Schematic diagram illustrating how sensory characteristics are controlled Schematic diagram explaining nonlinear control of physical properties Schematic diagram explaining the configuration of the actuator Schematic diagram explaining how to wear it Schematic diagram explaining how to wear it Schematic diagram explaining the implementation method Schematic diagram explaining the configuration of a haptic actuator Schematic diagram illustrating the basic unit of a haptic actuator Schematic diagram explaining the table type of haptic actuator Schematic diagram explaining the table type of haptic actuator Schematic diagram illustrating the handle type of haptic actuator Schematic diagram illustrating the handle type of haptic actuator Schematic diagram illustrating the handle type of haptic actuator Schematic diagram illustrating the handle type of haptic actuator Schematic diagram explaining the surface type of haptic actuator Schematic diagram explaining the ring type of haptic actuator Schematic diagram illustrating the wristband type of haptic actuator Schematic diagram explaining the arm-ring type of haptic actuator Schematic diagram explaining the attachment site Schematic diagram explaining control wiring Schematic diagram explaining control wiring Schematic diagram illustrating the system and components Schematic diagram explaining module integration Schematic diagram explaining module integration Schematic diagram explaining the optical illusion phenomenon Schematic diagram illustrating the modules of the haptic device. Schematic diagram illustrating the modules of the haptic device. Schematic diagram illustrating a haptic device Schematic diagram illustrating a haptic device Schematic diagram explaining panel type module Schematic diagram explaining panel type module Schematic diagram explaining panel type module Schematic diagram explaining panel type module Schematic diagram explaining panel type module Schematic diagram explaining the LCD touch panel type module Schematic diagram explaining the LCD touch panel type module Schematic diagram explaining the LCD touch panel type module Schematic diagram explaining a touch panel type module Schematic illustrating the multimodal effect Schematic diagram illustrating a multi-touch array unit Schematic diagram explaining the control of sensory synthesis Schematic diagram illustrating multi-touch sensory synthesis control Schematic diagram explaining the control of sensory synthesis Schematic diagram explaining the control of sensory synthesis Schematic diagram explaining the control of sensory synthesis Schematic diagram explaining the control of sensory synthesis Schematic diagram explaining the control of sensory synthesis Schematic diagram explaining the control of sensory synthesis Schematic diagram explaining the control of sensory synthesis Schematic diagram illustrating button shape sense generation Schematic diagram illustrating button shape sense generation Schematic diagram illustrating button sensation generation Schematic diagram illustrating the induced sensation control between buttons Schematic diagram illustrating the induced sensation control between buttons Schematic diagram illustrating the induced sensation control between buttons Schematic diagram explaining haptic control using a slider Schematic diagram explaining haptic control using a slider Schematic diagram explaining haptic control using a slider Schematic diagram explaining the static friction/kinetic friction control method Schematic diagram explaining dynamic friction control Schematic diagram explaining static friction control Schematic diagram explaining static friction control Schematic diagram explaining static friction control Schematic diagram explaining dynamic friction control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram explaining the push button control Schematic diagram illustrating haptic dial control Schematic diagram illustrating haptic dial control Schematic diagram illustrating haptic dial control Schematic diagram illustrating haptic dial control Schematic diagram illustrating haptic dial control Schematic diagram illustrating haptic dial control Schematic diagram illustrating haptic dial control Schematic diagram illustrating haptic dial control Schematic diagram illustrating haptic dial control Schematic diagram illustrating haptic dial control Schematic diagram explaining waveform control Schematic diagram explaining device size and shape characteristics Schematic diagram explaining device size and shape characteristics Schematic diagram explaining texture structure Schematic diagram explaining the database of texture structures Schematic diagram explaining waveform control Schematic diagram illustrating a digital mouse Schematic diagram explaining the measurement of personal characteristics Schematic diagram explaining actuator control Schematic diagram explaining profiling Schematic diagram explaining diagnostic simulation Schematic diagram illustrating remote synchronization

The haptic information presentation system according to the present invention includes:
The present invention relates to a haptic presentation device that presents a haptic sensation to an operator as if he or she were manipulating an actual object by applying a sensory characteristic and/or illusion to the object, by controlling the haptic presentation device based on the stimulus from the sensor. The haptic presentation control device presents haptic information by utilizing the fact that a sensory characteristic indicating the relationship between the amount of stimulus applied to a human body and a sensory amount is nonlinear and/or an illusion, and the sensory characteristic comprises at least one of a stimulus amount given to the operator and a stimulus amount brought about by the operator's operation, and a sensory amount presented to the operator, and the sensory amount is a sensory amount that cannot physically exist.

The haptic sense presentation device presents a stimulus by and/or to the object, and generates a haptic sense by controlling the stimulus applied to the object in accordance with the operation of an operator.

The touch panel is divided into a plurality of sections and arranged in at least one of an array shape, a dot shape, and a pixel shape, and each touch panel is controlled independently.

The object is a touch panel, and each touch panel generates a different tactile and/or haptic sensation.

The haptic sense presentation device presents at least one of amplitude, displacement, and deformation to the object.

The touch panel is divided into a plurality of sections and arranged in at least one of an array shape, a dot shape, and a pixel shape, and each touch panel is controlled independently.

The haptic sense presentation device presents a haptic sense in response to the amplitude, displacement and/or deformation occurring in the object.

The haptic feedback device outputs amplitude, displacement, and time to the object for each of at least one of position, phase, and time.
At least one of the transformations is six-dimensionally guided.

The haptic feedback device can measure amplitude, displacement, and velocity perpendicular to the tangent of an object, parallel to the tangent, or at any angle.
At least one of the deformations occurs.

The tactile/force presentation device is a sensory synthesis/induction device that synthesizes an induced sensory sensation, and the sensory synthesis/induction device generates at least one of a pressure sensation, a force sensation, and an illusion by a displacement having a sweep displacement on the object.

Figure 2 shows a block diagram of a tactile display panel system. The tactile display system reproduces tactile sensations including tactile pressure, touch, and force sensations using a panel and display. Displacement, displacement pattern, and waveform are controlled according to finger movement. A three-dimensional feeling with a sense of depth can be obtained even though the object is flat. Pressure and force sensations are presented even though the displacement, displacement pattern, and waveform are in different directions. It can also be applied to buttons, sliders, dials, and switches.

The haptic display panel system includes a controller and a haptic actuator. The haptic actuator provides a sensor signal to the controller, which in turn:
A control signal is provided to the haptic actuator. The sensor signal comprises a stimulus comprising at least one of a position, a velocity, an acceleration, a shape, a displacement, a deformation, an amplitude, a rotation, a vibration, a force, a torque, a pressure, a humidity, a temperature, a viscosity, an elasticity by and/or to the object.

The controller is driven by a control algorithm and changes the stimulation intensity with displacement, momentum, vibration, amplitude, and displacement over time in accordance with the finger movement. The control signal is generated by the driving voltage of the force information and amplitude information.

Actuators include motors, eccentric motors, linear motors, electrostatic motors, molecular motors, piezos, artificial muscles, memory alloys, coils, voice coils, piezoelectric elements, magnetism, static electricity, and others.
Anything that generates displacement or vibration is acceptable.

The tactile display panel can be attached to any part of the body (see Figure 58).
.

This system applies the operator's sensory characteristics and illusion to present haptic information to the operator as if he or she were manipulating a real object. Specifically, the system is controlled based on stimuli detected by the sensor,
The tactile information is presented by controlling the stimulation by utilizing the fact that the sensory characteristic indicating the relationship between the amount of stimulation applied to the human body and the amount of stimulation is nonlinear or an illusion. The sensory characteristic includes at least one of the amount of stimulation given to the operator and the amount of stimulation brought about by the operation of the operator, and an amount of stimulation presented to the operator, and the amount of stimulation is an amount of stimulation that does not physically exist.

Here, the system presents stimuli from or to an object, and the stimuli applied to the operator are controlled in accordance with the operator's operation. A minimal haptic information presentation system is composed of a haptic actuator and a controller. A sensor attached to the haptic actuator measures the position, speed, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity of the sensor, and the information is sent to the controller, which calculates a control signal for controlling the haptic actuator and sends it to the haptic actuator to control the haptic actuator.

The haptic actuator is equipped with panel-type and display-type sensor functions and presentation functions, and the controller calculates the displacement, momentum, vibration amplitude, displacement stimulus, vibration stimulus, and change in stimulus intensity over time that accompanies physical movements of the fingers, palm, etc., and based on a control algorithm, the position, speed, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. of the haptic actuator are controlled in accordance with the physical movements and pressure of the fingers, palm, etc. monitored by the sensor, and haptic information such as pressure, touch, and force is presented to humans, etc.

The control signal is expressed by a driving voltage or the like as force information (t) and amplitude information (t), and the actuator can be a motor, piezo, artificial muscle, memory alloy, molecular motor, electrostatic, coil, magnetic force, static electricity, or any other device that generates displacement or vibration. As a result, even though a panel or display configured with a flat, curved, or three-dimensional shape is fixed or installed so as to vibrate slightly on a housing or the like, a feeling of insertion, a feeling of pressing in, a feeling of sinking in, a feeling of depth, a feeling of being pushed back, a feeling of floating, a feeling of convergence of vibration/amplitude, a feeling of reverberation of vibration/amplitude, a sense of direction of displacement/movement, a feeling of squelching, a feeling of hardness, a feeling of softness, and a three-dimensional feeling can be felt. Although such sensations are not reproduced or presented physically, such sensations and physical reactions/reflexes are experienced sensorily.

As a result, in an information terminal or the like, it is possible to obtain a realistic feel for operating objects such as buttons, sliders, dials, switches, and operation panels, despite the fact that the panel is flat and planar.

FIG. 3 shows a schematic diagram of the displacement control of a haptic actuator.
It has six degrees of freedom for translation and rotation, and can freely control the displacement, amplitude, speed, acceleration, and phase difference. In addition to the displacement, displacement pattern, waveform, and vibration stimuli, it can also control electrical stimuli, Coulomb force, and other stimuli.

4 to 10 show schematic diagrams of a device that demonstrates the illusion of angles. In these figures, the device is equipped with an actuator on a substrate, a touch panel on top of which, and sensors that detect the displacement, pressure, acceleration, etc. of an object and measure position, rotation, and tensors. The touch panel is displaced in the y direction, but a depression or press of the button is felt in the z direction.

Figure 4 shows normal operation without the illusion phenomenon. The basic unit of the haptic actuator is:
It is composed of a touch panel, a sensor, and an actuator. The touch panel and the sensor can measure position, speed, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque,
Pressure, humidity, temperature, viscosity, elasticity, etc. as scalars, vectors, or tensors.
It is measured.

Actuators can measure position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force,
Torque, pressure, humidity, temperature, viscosity, elasticity, etc. are presented as scalars, vectors, or tensors. Touch panels are usually hard and do not deform, and when an operator presses the touch panel with a pressing pressure P, the touch panel does not displace or deform in the Z direction, and Z=0 is maintained. As the pressing pressure P increases, the operator's fingertip deforms and the operator perceives the pressing pressure, but the sinking displacement Z (=0) and sinking sensation Sz (=0) are not felt.

In this patent, the perception of tactile information at the fingertips is described, however, it is not limited to the fingertips but is intended to apply to the entire body of the operator, anywhere on the body.

Figure 5 shows the operation when the illusion phenomenon occurs. Touch panels are usually hard and do not deform, and when an operator presses the touch panel with a pressing force P, the touch panel does not displace or deform in the Z direction, and Z=0 is maintained.

Here, unlike normal, the actuator displaces the touch panel in the Y direction (Y
), an increase in the pressing pressure P is perceived and a sinking sensation Sz is felt in the Z direction, even though there is no sinking displacement Z (=0). Similarly, when the touch panel is displaced in the X direction (X), a sinking sensation Sz is felt in the Z direction. However, if the direction (Y) pointed by the fingertip does not match the displacement direction of the touch panel, the movement in the displacement direction may be weakly perceived. The illusion is more effective when the displacement direction of the touch panel is adjusted according to the sinking direction of the fingertip and finger.

The phenomenon here is an illusion in which a displacement in the Y direction is perceived as a sinking sensation in the Z direction.
This is an illusion phenomenon (Cross-Direction effect) that transcends the inter-axis and movement directions. There are various displacement patterns for the Y-direction displacement that match the desired tactile sensation. It is not limited to linear increase/decrease, sinusoidal vibration, and combinations of fundamental frequency components, but can also express various tactile sensations and feelings by designing arbitrary waveforms, amplitude modulation, frequency modulation, convolution, and combinations of these, as if creating musical instrument tones and music with a synthesizer.

The illusion pattern has nine combinations of the pressing pressure direction (three directions) x the actuator displacement direction (three directions). In addition, a rotation pattern is also provided. There are also intermediate directions, so the combinations are infinite. In addition to translational displacement, there is also the case of rotational displacement.

Figure 6 shows the operation of the latching continuous illusion phenomenon. Here, the actuator
When the touch panel is displaced stepwise in the Y direction (Y), even though there is no sinking displacement Z (=0), an increase in the pressing pressure P is perceived and a stepwise sinking sensation Sz in the Z direction is felt in conjunction with the stepwise change in displacement (Y).

Figure 7 shows the operation of the latching continuous illusion phenomenon. Here, the actuator
When the touch panel is repeatedly displaced in the Y direction (Y), even though there is no sinking displacement Z (=0), a sinking sensation Sz in the Z direction is felt in accordance with the change in displacement (Y) along with the perception of an increase in the pressing pressure P. There are conditions under which the pressing displacement (Y) is difficult to feel.

The figure shows the pressing, pressing pressure, displacement, and sinking sensation, respectively. In FIG. 8, the displacement appears with a delayed phase. Touch panels are usually hard and do not deform, and when an operator presses the touch panel with a pressing pressure P, the touch panel does not displace or deform in the Z direction, and Z=0 is maintained. Here, unlike usual, when the actuator is used to delay the phase with respect to the increase in pressing pressure P and displace the touch panel in the Y direction (Y), a sinking sensation Sz is felt in the Z direction along with the displacement (Y) in the Y direction, even though there is no sinking displacement Z (=0). Until the displacement (Y) starts to increase, a resistance to the pressing of the virtual button is presented, and the pressing sensation Sz (≠0), which is the maximum value of the resistance, is presented as the hardness of the virtual button.

In FIG. 9, the displacement does not continue and reaches a peak before becoming zero. When the touch panel is displaced reciprocally in the Y direction by the actuator (Y), the sinking displacement Z (=
0), as the pressing pressure P increases and the displacement (Y) changes, a button-like sinking sensation Sz, such as a "click," is felt in the Z direction.

In Fig. 10, the displacement reaches zero after showing positive and negative peaks. When the touch panel is displaced (Y) reciprocally in the Y direction by the actuator, a button-like sinking sensation Sz, such as a "click" in the Z direction, is felt with an increase in the pressing pressure P and a change in the displacement (Y), even though there is no sinking displacement Z (=0).

11 to 17 are schematic diagrams showing a method of pressing a finger, which is a stimulus to an object (panel) and/or an object. In FIG. 11, when an operator presses a touch panel with a pressing pressure P and the touch panel is displaced in the Z direction by an actuator, a sinking sensation Sp is felt in the Z direction. In FIGS. 12 and 13, the presentation of a stimulus of slight button resistance of the panel, a stimulus of instant reaction and good response, a stimulus of a click after the button is felt, and a stimulus of only the wall being felt without the button being present, respectively, by pressing a button in a stepwise manner. In FIGS. 14 and 15, the presentation of a stimulus of a moving panel, a stimulus of a stationary panel, and a sensory stimulus between a finger and a panel, respectively, by pressing a button in a stepwise manner. In FIG. 17, the presentation of a triangular wave and a sine wave stimulus generated on the panel by pressing a button.

19 to 24 are schematic diagrams showing the control of the displacement and amplitude applied to the panel as a stimulus. In FIG. 19, when the panel is pressed straight down, the panel is displaced to form a triangular wave. This displacement presents a depth sensation stimulus to the sensory finger, a tension stimulus to the physical finger, and a resistance sensation stimulus to the sensory finger. In FIG. 20, when the panel is pressed down when the panel is unconsciously moved, the panel is displaced to form a triangular wave. This displacement presents a progress sensation stimulus to the sensory finger, a tension stimulus to the physical finger, and a depth sensation stimulus to the sensory finger. In FIG. 21, when a viscoelastic stimulus, which is a button characteristic, is applied to the panel, the panel is displaced to form a triangular wave. This displacement presents a progress sensation stimulus to the sensory finger, a tension stimulus to the physical finger, and a reaction sensation to the sensory finger.

In Fig. 22, when a viscoelastic stimulus, which is an artificial skin sensation, is applied to the panel, the panel is displaced to form a triangular wave. This displacement causes a sensory finger movement stimulus to the panel, a physical finger tension stimulus,
A sensory reaction force is presented to the fingers.

FIG. 23 shows the panel displacement that forms a triangular wave when a stimulus is applied to the panel. The actuator displaces the touch panel in the Y direction (Y
), even though there is no sinking displacement Z (= 0), the indentation pressure P increases and the displacement (Y)
With the change in the Z direction, a button-like sinking sensation Sz is felt.
Y), you can feel a "sinking" sensation in the Z direction, or a button-like "click" sensation Sz.

FIG. 24 shows the displacement of the panel that forms a sine wave when a stimulus is applied to the panel. Here, the actuator displaces the touch panel in the Y direction (Y
), when the pressure P is changed sinusoidally, even though there is no sinking displacement Z (=0), a button-like sinking sensation Sz in the Z direction is felt with an increase in the pressing pressure P and a change in the displacement (Y). Depending on how the displacement (Y) in the Y direction is made, a "sinking" sensation in the Z direction and a button-like "click" sensation Sz can be felt.

25 to 29 are schematic diagrams showing examples of the displacement, displacement pattern, waveform, and vibration of the haptic actuator, illustrating waveform control. The haptic actuator controls the waveform amplitude, vibration amplitude, speed,
By freely controlling the acceleration and phase difference, any displacement and waveform pattern can be generated in any direction.

Fig. 26 shows a displacement waveform that generates a force sense by asymmetrically accelerating and decelerating the waveform. Fig. 27 shows an acceleration/deceleration waveform that generates a force sense by asymmetrically accelerating and decelerating the waveform. Fig. 28 shows
When the panel is subjected to a short-term waveform change to produce a clicking sensation, an acceleration sweep (click sensation) waveform is shown, which changes the frequency for each waveform to change the sensation. A pattern deceleration waveform and a pattern acceleration waveform are generated. Figure 29 shows a schematic diagram of an acceleration/deceleration shift waveform in which the phase of the waveform is fixed and the acceleration/deceleration position is switched, and a phase shift waveform in which the acceleration/deceleration position is fixed and the phase of the waveform is switched. The speed and phase waveform of the waveform are controlled.

FIG. 30 is a diagram showing a haptic information presentation method in which the rotations of two eccentric rotors A 912 and B 913 are phase-synchronized to synthesize displacements by using sensory characteristics related to force sense.

Here, FIG. 30(b) shows a schematic diagram of the two eccentric rotors A912 and B913 in FIG. 30(a) rotated synchronously in the same direction with a phase delay of 180 degrees. As a result of this synchronous rotation, torque rotation without eccentricity can be synthesized.

FIG. 30(c) shows a schematic diagram of a case where sensory characteristic 931 is a logarithmic function characteristic, and similar to sensory characteristic 211, sensory characteristic 931 shows that sensory quantity 933 is a nonlinear characteristic such as logarithm with respect to physical quantity 932, which is a stimulus. Considering a case where a positive torque is generated at operating point A 934 on this sensory characteristic 931 and a negative torque in the opposite direction is generated at operating point B 935, torque sensation 944 is expressed as shown in FIG. 30(d). Torque 943 is proportional to the time derivative of rotor rotation speed 942. Operating point A 934 and operating point B 935
When operated at , a torque sensation 944 is perceived.

The torque 943 physically returns to the initial state 948 in one cycle, and its integral value becomes zero. However, the sensory integral value of the torque sense 944, which is a sensory amount, does not necessarily become zero. By appropriately selecting the operating point A 934 and the operating point B 935,
By appropriately setting the operating point B duration 946, it is possible to continue to present a torque sensation freely in any direction.

The above is true not only for torque rotation but also for rotational and translational displacements, and also when the sensory characteristic 931 shows nonlinear characteristics such as an exponential function.
A similar torque sensation occurs when the threshold is met, and the torque sensation can be continuously presented intermittently in only one direction.

Fig. 31(a) shows the direction of the illusionary tactile force sense induced and perceived by the initial phase (θi) of the phase pattern. The illusionary tactile force sense device 107 can control the direction 1202 of the illusionary tactile force sense induced by the change in momentum synthesized by the eccentric rotor to the direction of the initial phase (θi) by changing the initial phase (θi) of the start of rotation in Fig. 31(b). For example,
By changing the initial phase (θi) as shown in Fig. 31(c), it can be induced in any direction within 360° in a plane. In this case, if the weight of the illusionary tactile force sense interface device 101 itself is heavy, the upward force sensation 1202 due to the illusionary tactile force and the downward force sensation 1204 due to gravity cancel each other out, making it difficult to obtain the floating buoyancy sensation 1202, and the device may feel heavy.
In this case, the upward direction of the illusionary tactile force sense is slightly shifted from the direction opposite to the direction of gravity to induce the illusionary tactile force sense 1203, thereby suppressing the reduction or inhibition of the floating sensation caused by gravity.
There is also a method of inducing tactile force sensations in alternating directions slightly off-vertical: 1°-α°.

32(a) to 32(f) present basic tactile sensations and illusionary tactile sensations.
FIG. 32(a) shows an example of the control of the illusionary tactile force device (tactile force device). FIG. 32(b) shows a schematic diagram of a method for generating a rotational force in the illusionary tactile force device 107.
32(d) is a schematic diagram showing a method for generating a translational force. The rotations of the two eccentric weights 814 in FIG. 32(a) are rotated in the same direction with a phase delay of 180°.
In (d), they rotate in opposite directions.

(1) As shown in Fig. 32(b), when two eccentric rotors are rotated synchronously in the same direction with a phase delay of 180 degrees, the two eccentric rotors become point symmetrical, and the center of gravity and the center of the rotation axis coincide with each other, resulting in a synthesis of rotations with equal torque without eccentricity. This makes it possible to present the sensation of rotational force. However, since torque is the time derivative of angular momentum, in order to continuously present torque in a fixed direction, it is necessary to continuously accelerate the rotation speed of the motor, which is difficult to do in reality.

(2) As shown in FIG. 32(c), by synchronously controlling the angular velocity ω1 and the angular velocity ω2, a continuous rotational force illusion (continuous torque sensation) is induced in a certain direction.
As shown in FIG. 32(e), when the two are synchronously rotated at a constant angular velocity in the opposite direction, the initial phase θi12
By controlling 01, a linear vibration force (simple harmonic motion) can be synthesized in any direction.

(4) As shown in FIG. 32( f ), when the two objects are rotated synchronously in opposite directions at angular velocities ω1 and ω2 in accordance with the sensory characteristics related to the illusionary tactile force, an illusionary tactile force sensation of a continuous translational force (continuous force sensation) is induced in a fixed direction.
As shown in Figures 32(c) and 32(f), by precisely controlling the rotational speed (angular velocity) and phase synchronization to match the sensory characteristics of humans, it is possible to induce an illusory tactile sensation with just a combination of two types of angular velocities (ω1, ω2), thereby simplifying the control circuit.

Fig. 33 shows a schematic diagram of the phenomenon and its effect in Fig. 30. Taking into consideration the sensory characteristics related to the illusionary tactile force sense, the rotation pattern of the eccentric motor 815 is controlled to change the combined momentum of the two eccentric rotors over time, thereby inducing an illusion 905 in which a force acting continuously in a fixed direction is perceived from vibration 904 that periodically accelerates and decelerates around the equilibrium point. In other words, although a component like a force acting in a fixed direction does not physically exist, an illusion is induced in which a force is perceived as acting in a fixed direction.

When acceleration and deceleration are alternately performed at operating points A and B at phase intervals of 180°, a force sensation 905 in a fixed direction is continuously perceived. The force physically returns to its initial state in one cycle, and the integral values of its momentum and force are zero. In other words, it remains around the equilibrium point, and the acceleration/deceleration mechanism does not move to the left. However, the sensory integral value of the force sensation, which is a sensory quantity, does not become zero. At this time, the perception of the force integral 908 in the positive direction decreases, and only the force integral 909 in the negative direction is perceived.

Here, the time derivative of angular momentum is torque, and the time derivative of momentum is force, and in order to continuously generate torque and force in a fixed direction, it is necessary to continuously accelerate the rotation speed of a motor or a linear motor, and therefore a method of periodically rotating a rotating body is not suitable for continuously presenting a force sensation in a fixed direction. In particular, in a non-base type interface used in mobile devices, it is physically impossible to continuously present a force in one direction.

However, humans have non-linear sensory characteristics, and by using the method of the present invention, it is possible to illusorily perceive forces and force patterns that are different from physical characteristics by utilizing the perceptual sensitivity related to tactile force characteristics and controlling the acceleration/deceleration pattern of momentum. For example, sensitivity is the ratio of the magnitude of the felt stimulus to the strength of the stimulus applied, and human sensory characteristics have different sensitivities to the strength of the applied stimulus, being more sensitive to weak stimuli and less sensitive to strong stimuli. Therefore, by controlling the phase of acceleration/deceleration of the motor rotation and periodically repeating acceleration/deceleration, it has been successful in presenting a continuous sense of force in the direction in which a weak stimulus is presented. In addition, the appropriate operating point A of the sensory characteristics is
By selecting A and B, it is possible to present a continuous force sensation even in the direction in which a strong stimulus is presented.

A driving simulator may be associated with this type of device, but in a driving simulator, the sensation of accelerating the car is presented by applying the desired force (sense of acceleration) and then slowly returning the car to its original position with a small acceleration that is not noticeable. This results in an intermittent presentation of force, and with this type of biased acceleration method, it is not possible to continuously present a sense of force or acceleration in a fixed direction. This is also the case with conventional haptic interface devices. However, in the present invention,
By utilizing the illusion, a continuous translational force sensation 905 is presented in a certain direction. In particular, the illusionary tactile/force sense interface device 101 using the illusion is characterized in that a continuous force is perceived in the opposite direction to the direction of the intermittent force presented in the driving simulator using a physical method.

In other words, by utilizing the nonlinear sensory characteristics of humans, where sensitivity varies depending on the intensity, not only are the integrals of the forces generated by periodic acceleration/deceleration and vibration physically zero, but they are not offset sensorily, and a force 908 in the positive direction is not perceived, and a translational force sense 905 or torque sensation can be continuously presented in the desired negative direction 909. (See FIG. 19(c) for a method of generating a continuous torque sensation.) The same effect can be obtained with these phenomena, even if the sensory characteristic 831 is not logarithmic with respect to the physical quantity 832 that is the stimulus, as long as it is a nonlinear characteristic. This effect can be obtained not only with the non-base type but also with the base type.

In Fig. 3, by approaching zero for the rotation duration Ta at the operating point A, the momentum in each section of the rotation duration Ta and the rotation duration Tb is equal, so the composite momentum in the section of the rotation duration Ta becomes large and the force also becomes large, but the force sensation changes logarithmically and the sensitivity decreases, so the integral of the sensation value in the section of the rotation duration Ta approaches zero. Therefore, the force sensation in the section of the rotation duration Tb becomes relatively large, and the force sensation in one direction becomes 90.
As a result, the continuity of the two eccentric rotors A and B is improved by appropriately selecting the operating point A and the operating point B, and appropriately setting the operating point A duration and the operating point B duration.
By adjusting the synchronization phase, it is possible to freely present a force sensation in any direction.

FIG. 34 shows the nonlinear characteristics used in the illusionary tactile force sense interface device, which are sensory characteristics (FIG. 34(a) and FIG. 34(b)), nonlinear characteristics of viscoelastic materials (FIG. 34(c)), and nonlinear characteristics of the viscoelastic materials (FIG. 34(d)).
) and the hysteresis characteristics of a viscoelastic material (Fig. 21(d)). Fig. 34(b) is a schematic diagram showing the human sensory characteristics having a threshold 2206 for physical quantities, similar to Fig. 2, and shows that by controlling the illusionary tactile force sense interface device while taking this characteristic into consideration, a sensation that does not physically exist can be induced as an illusionary tactile force sense. As shown in Fig. 34(c), a material having physical properties in which the stress characteristics with respect to an applied force show nonlinear characteristics is subjected to displacement, vibration, and
A similar illusory tactile force is also induced when placed between a device that generates a driving force such as torque or force and the human skin or sensory organs. As shown in Figure 34(d), the sensory characteristics are often not isotropic when the displacement increases or decreases, such as when a muscle is stretched or contracted, but rather show hysteretic sensory characteristics. When a muscle is pulled, it contracts strongly immediately afterwards. By generating such strong hysteresis characteristics, the induction of a similar illusory tactile force is promoted.

FIG. 35 is a diagram showing a haptic information presentation method using a method of changing sensory characteristics by a masking effect related to a force sense, as an example of a method of changing sensory characteristics.

The sensory characteristic is masked by the masking displacement (vibration) and the torque sensation 434 is reduced. The masking method includes simultaneous masking 424 (which has a proven track record in masking vision and hearing), forward masking 425, and backward masking 426. (See FIG. 35(a))
) is a schematic representation of the torque 413 which is a mask, and the torque sensation 434 felt at this time is represented as in (FIG. 35(c)). The torque 413 is proportional to the rotor rotation speed 41
It is proportional to the time derivative of 2.

At this time, the initialization time 415 for initializing the rotor rotation speed 412 and the corresponding masking duration 425 are shortened as shown in FIG. 6 (FIG. 35(d)), and when they become shorter than a certain time, a critical fusion occurs in which the torque is felt as if it is being presented continuously, as shown in torque sensation 464, even though a negative torque due to the initialization is physically present.

The masker that generates the masking displacement (vibration) may be a rotor separate from the maskee rotor whose torque is masked by it, or may be the maskee rotor itself. When the maskee rotor is also the masker, this means that the rotor is controlled by the control device to generate a masking displacement (vibration) during masking.
The direction of the masker displacement (vibration) may or may not be the same as the direction of rotation of the maskee rotor, even when the maskee and masker are the same stimulus (when the maskee rotor is also the masker).

FIG. 36 is a schematic diagram of this case. As shown in FIG. 36, the strong torque sensation 485
, 486, the torque sensation 484 is reduced by the forward masking 485 and the rearward masking 486.

The sensitivity of the torque sensation 517 changes depending on the muscle tension or one or more of the physical, physiological, and psychological states. For example, when a muscle is stretched instantly by an external force, which is a presented torque 514 (a strong torque 524 in a short time), a sensor in the muscle called a muscle spindle detects this and generates a muscle-induced torque 515 that has a power that is not defeated by this external force.
(Muscle reflex torque 525) causes the muscle to contract quickly as a conditioned reflex. At this time, myoelectric potential 51
1 is generated. The control circuit 512 detects this and controls the haptic presentation device 513 to apply a presented torque 516 (a gentle to moderate torque 526) in synchronization with the muscle contraction, thereby changing the sensitivity of the torque sensation 517.

The above is not limited to muscle tension, but also applies to changes in sensory sensitivity due to one or more of the following conditions: respiration, posture, and nerve firing.

The sensitivity of the palm varies depending on the orientation of the palm due to the anatomical structure of the skeleton, joints, tendons, muscles, etc. By correcting the strength of the presented physical quantity (rotation speed ω 612) according to the sensitivity (anisotropic sensitivity curve 611) that depends on the orientation of the palm, it is possible to present the direction with high accuracy.

Figure 37 shows a method of presenting vibrotactile information in any direction using a method of changing sensory characteristics by a masking effect related to force sense, as an example of a control method for continuously and intermittently presenting one or more tactile information sensations of displacement, vibration, force, and torque in any direction.

The sensory characteristic is masked by a masking displacement (vibration) 1216 and is a force sensation 1224.
is decreased. This masking displacement (vibration) can be generated by synchronizing the rotation speed 1022 of the eccentric rotor A and the rotation speed 1023 of the eccentric rotor A in FIG. 30(b) to displace (vibrate) the speed. FIG. 37(a) shows a schematic diagram of this, and the force sensation 1224 felt at this time is expressed as in FIG. 37(b). The force 1213 is proportional to the time derivative of the magnitude 1212 of the composite rotation speed of the two eccentric rotors.

At this time, the initialization time 1215 for initializing the rotation speed 1212 of the rotor is shortened.
As shown in FIG. 37( c ), when the time becomes shorter than a certain time, a critical fusion occurs in which it feels as if a force is being continuously presented, as in force sensation 1244, despite the physical presence of a negative force due to initialization.

The above also occurs when the maskee and masker are made of different rotors, and a similar sensation of continuous presentation occurs not only in the case of force but also in the case of torque.

As shown in Fig. 38(a) to Fig. 38(c), the sensory characteristics of each user are different. For this reason, some people can clearly perceive the illusory tactile sense, some people can hardly perceive it, and some people can improve their perception through learning. The present invention has a device that corrects this individual difference. In addition, if the same stimulus is continuously presented, the sense of the stimulus may become dull. For this reason, it is effective to prevent habituation by fluctuating the intensity, period, or direction of the stimulus.

Figure 38(d) shows an example of a method for presenting a force in a certain direction using the illusionary tactile sense. In the method for synthesizing the displacement component and the vibration component by rotating two eccentric vibrators in the opposite directions, the operating point A
The high-speed rotation speed ω1 (high frequency f1) 1002a at operating point A and the low-speed rotation speed ω2 (low frequency f
2) When 1002b is presented alternately at phase intervals of 180°, the illusionary tactile force intensity (II) is proportional to the logarithm of the acceleration/deceleration ratio Δf/f of the frequency, which is the rotational speed of the eccentric rotor (Figure 38 (e)).
Here, (f = (f1 + f2) / 2, Δf = f1 - f2). The slope n when the illusionary tactile force intensity and the logarithm of Δf/f are plotted indicates individual differences.

In addition, the sensory intensity (VI) indicates the intensity of the displacement component and vibration component that are perceived simultaneously with the illusionary force sensation in a certain direction. The intensity of the displacement component and vibration component and the physical quantity f (logarithm) are roughly inversely proportional to each other, and the sensory intensity (VI) decreases relatively by increasing the frequency f (
(Figure 38(f)). By controlling the strength of the displacement and vibration components, the texture of the force when the illusory tactile sensation is presented changes. The slope m when plotted logarithmically indicates individual differences. Note that n and m, which indicate individual differences, change as learning progresses and converge to a certain value when learning becomes saturated.

39(a) to 39(c) show a method of expressing the texture of a virtual plate 1100. The movement of the illusionary tactile force sense interface device 101 (position/posture angle, speed, acceleration) monitored by sensing represents the movement of a virtual object 1101, and the direction/strength of the resistance force 1102 due to the illusionary tactile force sense and the texture parameters (vibration components contained) are controlled in accordance with the movement of the virtual object, thereby controlling the friction sensation 1109 and roughness sensation 1111, which are the texture of the virtual plate, and the shape.
11 shows a resistance force 1103 acting from the virtual plate to the virtual object (illusionary tactile force sense interface device 101) when the virtual object is moved on the virtual plate 1100, and a resistance force 1102 acting against the movement.

39(b) shows that the frictional force 1104 acting between the illusionary tactile force sense interface device 101 and the virtual plate 1100 when they come into contact with each other repeats dynamic friction and static friction in an oscillatory manner. Also, a pushing back resistance force 1106 is presented through feedback control so that the illusionary tactile force sense interface device 101 stays within the error thickness 1107 of the virtual plate, allowing the user to perceive the presence and shape of the virtual plate. When the illusionary tactile force sense interface device 101 is not present within the virtual plate 1100, no pushing back resistance force is presented, and it is presented only when the illusionary tactile force sense interface device 101 is present, thereby allowing the user to perceive the presence of a wall.

FIG. 39(c) shows a method for expressing surface roughness.
By presenting a resistance force in the opposite direction to the moving direction 1101 of the virtual board 1 in accordance with the moving speed and acceleration, the user is made to perceive a sense of resistance or viscosity 1108. By presenting a negative resistance force (acceleration force 1113) in the same direction as the moving direction, the user is made to perceive a sense of smoothness 1108 of the virtual board as if it were sliding on ice.
10 can be emphasized. This sense of acceleration and smoothness 1110 is difficult to present with a conventional non-base type haptic interface device using a vibrator, and is a texture and effect realized by the illusionary haptic interface device 101 that uses illusion. In addition, by changing the resistance in a vibrational manner (vibrational resistance 1112), the surface roughness sensation 1111 of the virtual plate is perceived.

FIG. 40 shows a control algorithm using a viscoelastic material whose characteristics change with applied voltage. In the method using a viscoelastic material, materials (2403, 2404) with different stress-deformation characteristics are attached, but as shown in FIG. 40(a), a material 1707 whose viscoelastic properties change with applied voltage may be used. By controlling the applied voltage to change the viscoelastic coefficient (FIG. 40(b)), the rate of transmission of the periodically changing momentum generated by the eccentric rotor to the palm is changed in synchronization with the rotation phase of the eccentric rotor. Even if the eccentric rotor rotates at a constant rotation speed (constant speed rotation) as shown in FIG. 40(c), the viscoelastic properties are changed over time to the characteristic values at operating points B and A as shown in FIG. 40(d), so that the momentum transmitted to the palm and fingertips can be controlled, and the same effect as accelerating and decelerating the rotation speed of the eccentric rotor can be obtained.

This method also has the same effect as artificially changing the physical properties of the skin, and has the effect of artificially changing the sensory characteristic curve (Figure 40(e)). Therefore, it can be used to absorb individual differences in sensory properties and to control the efficiency of inducing an illusionary tactile force sense. Similarly to the case where a viscoelastic material is attached to the surface of the illusionary tactile force sense device as in Figure 40(a), a viscoelastic material may be attached to the fingertips or the body as in Figure 40(f). Here, the viscoelastic material can be of any material or with any characteristics, so long as its stress-strain characteristics can be nonlinearly controlled by the applied voltage.
If nonlinear control is possible, the control method is not limited to control by applied voltage.

Repeated acceleration and deceleration of the motor rotation as shown in Figure 40(b) results in a large energy loss and heat generation, but with this method, the motor rotation speed is constant (Figure 40(c)) or the acceleration ratio f1/f2 is close to 1, and the characteristics change due to the applied voltage, so the energy consumption of this method can be kept smaller than the energy consumption due to acceleration and deceleration of the motor.

FIG. 41 shows an example of the control of the illusionary tactile force sense interface device 101. In this device, the motor 1704 is controlled by a motor feedback (FB) characteristic controller that controls the feedback characteristics of the motor 1704 and a control signal generator that converts an illusionary tactile force sense induction pattern into a motor control signal. In the present invention, the phase pattern of the motor rotation θ(t)=F(
It is essential to control the synchronization of the three motors (u, II, VI, R), and high-precision synchronization control is required. Therefore, as an example of a method, position control using a control pulse train of a servo motor is shown here. When a step motor is used for position control, it often becomes out of step and out of control due to sudden acceleration and deceleration. Therefore, pulse position control using a servo motor is explained here. In the present invention, which uses a large number of illusionary tactile force sense interface devices 101 by separating the control of motor feedback (FB) control characteristics and motor control using a pulse position control method, the consistency of motor control signals when different motors are used, the speed of illusionary tactile force sense induction pattern generation, and scalability that can easily accommodate an increase in the number of control motors to be synchronously controlled are ensured. In addition, correction of individual differences is also made easy.

In the tactile illusion force sense induction function generator 1701, the signal is separated into control signals for controlling the motor FB characteristic controller and the motor control signal generator, and the motor control signal generator generates a pulse signal sequence gi(t) = gi(f(t)) that controls the phase position of the motor, thereby controlling the phase pattern θ(t) of the motor. In this method, the rotation phase of the motor is feedback controlled by the number of pulses, for example, the motor rotates 1.8° with one pulse. The direction of rotation is selected to be normal or reverse by the direction control signal. By using this pulse control method, any acceleration/deceleration pattern (rotation speed, rotation acceleration) can be controlled at any phase timing while maintaining the phase relationship of two or more motors.

42(a)-42(c) show examples of implementation of the illusionary tactile force sense interface device 101.
42(a) and 42(b), the device is attached to a fingertip 533 using an adhesive tape 1301 and a finger insertion portion 1303 of a housing 1302. It may also be attached between fingers 533 (43(c)).
), or it may be held between fingers 533 (43(d)). The housing 1302 may be made of a hard material that does not deform easily, a material that is easily deformed, or a slime-like material with viscoelasticity. FIG. 43 is also conceivable as a variation of these wearing methods. By controlling the phase of the two basic units of the illusionary tactile force sense device using flexible adhesive and a housing, it is possible to express not only left-right and up-down force sense, but also expansion sensation, compression sensation, and pressure sensation. In this way, the wearing part is called a wearing part, such as an adhesive tape or a housing having a finger insertion part, which allows the illusionary tactile force sense interface device 101 to be worn on the body, etc. In addition to the above-mentioned adhesive tape and housing having a finger insertion part, the wearing part may be of any form that can be worn on an object or the body, such as a sheet type, a belt type, or tights. In a similar manner, it can be worn anywhere on the body, such as the fingertips, palms, arms, and thighs. The terms viscoelastic material and viscoelastic property used in this specification are defined as follows:
It refers to something that has viscous and/or elastic properties.

FIG. 43 shows another implementation example of the illusionary tactile force sense interface device 101.
In a), the illusionary tactile force sense device 107 is detected as noise vibration by the acceleration sensor 108, so by arranging it in the opposite direction to the finger 533, the effect of the vibration on the acceleration sensor 108 is reduced. In addition, noise interference is also reduced by canceling the noise vibration detected by the acceleration sensor 108 based on the control signal of the illusionary tactile force sense device 107.

In Figures 43(c) to 43(e), the intrusion of noise vibrations is suppressed by interposing an earthquake-resistant material 1405 between the illusionary tactile force sense device 107 and the acceleration sensor 108.
In (d), the illusionary tactile force sense interface device 1 is used to sense illusionary tactile force sensations while touching a real object.
01. It adds an illusionary tactile force sensation to the sense of touch with a real object. In conventional data gloves, the force sensation is presented by attaching wires to the fingers and pulling the fingers.
When using a data glove to present haptic sensations while touching a real object, it is difficult to combine the sensations of the real object and the virtual object, as the fingers may come off the real object or the gripping may be hindered. The illusionary tactile force sense interface device 101 does not have such problems, and realizes a composite sensation (mixed reality) that adds a virtual sensation while firmly gripping and touching a real object.

In FIG. 43( e ), a haptic sensation is further added according to the contact and grip pressure with the real object measured by the pressure sensor 110, so that the grip and contact sensation of the real object can be edited,
The feel is replaced by the feel of the virtual object 531. In FIG. 43(f), a shape sensor (e.g., a photo sensor) that measures the surface shape and shape deformation is used instead of the pressure sensor in FIG. 43(e) to measure the shape and surface shape of the grasped object related to the feel, and the gripping force, shear elasticity, and contact due to deformation are measured. This realizes a tactile magnifying glass that emphasizes the measured stress, shear elasticity, and surface shape. As with a microscope, the minute surface shape can be visually confirmed on the display, and the shape can also be confirmed tactilely. In addition, if a photo sensor is used as the shape sensor, the shape can be measured without contact, so the shape of the object can be experienced by placing a hand over a distant object.

In addition, in the case of variable touch buttons, where the command on the touch panel changes depending on the usage situation or context, the command of the variable button becomes hidden and unreadable, especially when the button is covered by a finger when pressed, as in the case of a mobile phone. Similarly, in the case of variable buttons in a virtual space in VR content, the menu notation and commands change depending on the context, so when pressing a button, it is not clear what the button is about to be pressed. Therefore, by displaying the command on the display 1406 of the illusionary tactile force sense interface device 101 as shown in FIG. 43(e), the illusionary tactile force sense button can be pressed while checking the command content of the button.

For the virtual object 531 and the virtual controller to be able to feel and operate the virtual button pressing information and pressing reaction force without discomfort in the same way as for real objects, the time delay between pressing and the presentation of the pressing reaction force becomes an issue. For example, in the case of an arm-type grounded haptic interface, the position of the gripping finger is measured by the angle of the arm, etc., and contact/interference with the digital model is judged. Then, the stress to be presented is calculated, the rotation of the motor is controlled, and the movement of the arm is controlled.
In particular, button operations during games are performed reflexively and quickly, so monitoring and controlling them on the content side may not be enough. Therefore, the illusionary tactile force sense interface device 101 is also provided with sensors (108, 10
9, 110) and controls the illusionary tactile device 107 and the viscoelastic material 1404.
By installing a PU and memory and performing real-time control, responsiveness to pressing virtual buttons, etc. is improved, improving realism and operability.

It also has a communication device 205 and communicates with other illusionary tactile force sense interface devices 101 .
For example, when the illusionary tactile force sense interface device 101 is attached to five fingers, the illusionary tactile force sense interface device will deform using a shape-changing material (1403 in Figure 43 (b)) in conjunction with the movement of each finger, and the shape and feel of the virtual controller and virtual button operation can be performed in real time, thereby improving realism and operability.

In FIG. 43(a), in order to effectively utilize the hysteresis characteristics of the senses and muscles, the myoelectric response is measured by the myoelectric sensor 110, and the tactile illusion induction function is corrected in a feedback manner so that the time and strength of muscle contraction increases. One of the factors that affect the induction of the tactile illusion is the way in which the tactile illusion interface device 101 is attached to the finger or palm (how it is pinched and how strongly it is pinched), and the way in which the user applies force to the arm that receives the force from the tactile illusion interface device 101. There are individual differences in the sensitivity of the tactile illusion, and some people feel more sensitive to the tactile illusion when they grip lightly, while others feel more sensitive to the tactile illusion when they grip tightly. Similarly, the sensitivity changes depending on how it is fastened when worn. In order to absorb this individual difference, the grip state is monitored by the pressure sensor 109 and the myoelectric sensor 110, and the individual difference is measured and the tactile illusion induction function is corrected in real time. People learn how to grip in an appropriate direction by getting used to and learning the physical simulation in the content, and this correction has the effect of promoting this. FIG. 43(a)-
In FIG. 43( e ), the illusionary tactile force sense interface device 101 is shown thick in order to show the component configuration, but each component can also be made in a thin, sheet-like shape.

FIG. 44(a) shows an illusionary tactile force sense induced by an illusionary tactile force sense device, and a shape 300 of the illusionary tactile force sense interface device induced by a shape deformation motor 3002 in synchronization with the illusionary tactile force sense.
9 shows an apparatus for enhancing the induced illusionary tactile sensation 905 by deforming the surface 1.
For example, as shown in Fig. 44(b), when applied to a fishing game, the sense of tension in the fishing line induced by the illusionary tactile force sense 905 is further emphasized by warping the interface shape 3001 in accordance with the pulling of the fishing rod by the fish. In this case, if the interface is simply deformed without the illusionary tactile force sense, it is not possible to experience such a realistic pull of the fish, so adding the deformation of the interface to the illusionary tactile force sense improves the reality.
By spatially arranging the basic units of the illusionary tactile force sense device as shown above, it is possible to produce a deformation effect without the shape deformation motor 3002. The shape deformation is not limited to the shape deformation motor 3002, but can be any mechanism that can change shape, such as a drive device using a shape memory alloy or a piezoelectric element.

Fig. 45 shows an alternative device to the illusionary tactile force sense device 107. Instead of the eccentric weight 814 of the eccentric rotor and the eccentric motor 815 that drives it in Fig. 45(a),
In Fig. 45(e), weights 2302 and elastic members 2303 are used. For example, Fig. 45(b) and Fig. 45(d) show eight elastic members 2303 supporting the weights 2302 and four elastic members 2303, respectively.
The figures show the plan view, front view, and side view of the three cases. In each figure, the pair of elastic members 2303 can be contracted and expanded to move the weight in any direction. As a result, translational and rotational displacement and vibration can be generated. Any structure can be used as a substitute as long as it has an acceleration/deceleration mechanism that can generate and control the translational movement of the center of gravity and rotational torque.

46 to 56 show various configurations of a haptic display or touch panel. The haptic display or touch panel includes an actuator provided on a substrate, a touch panel, and a sensor that detects the displacement, pressure, acceleration, etc. of the touch panel and measures the position, rotation, and tensors of the displacement, pressure, acceleration, etc.

46, 47 and 48 show various configurations of a table-type tactile display or touch panel.

The basic unit of a haptic actuator is shown in Fig. 46, which is composed of a touch panel, a sensor, and an actuator.
Velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature,
Viscosity, elasticity, etc. are measured as scalars, vectors, or tensors. Actuators can measure position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque,
Pressure, humidity, temperature, viscosity, elasticity, etc. as scalars, vectors, or tensors.
Here, the perception of haptic information at the fingertips will be explained, but it is not limited to the fingertips, but is assumed to be the whole body of the operator, anywhere on the body. Figure 47 shows an example of using the basic unit of a haptic actuator for a table type and table. In addition to operation with fingertips, it can also be operated with the palm.

48 shows a table type device that has virtual buttons attached to a wall or the like for an operator to operate. The device can be operated with a body part such as an elbow, and an object such as a virtual button can be operated via a body part.

Fig. 49, Fig. 51, and Fig. 52 show a steering wheel type actuator equipped with an actuator such as a steering wheel of a car, and a virtual button near the steering wheel for an operator to operate. An example of using a basic unit of a haptic actuator for a steering wheel type actuator is shown. Fig. 49 shows an actuator that can be operated with body parts such as fingers and palms, and objects such as virtual buttons can be operated via body parts. Fig. 50 shows an LCD display provided on the steering wheel. Even if the steering wheel is turned while driving, the orientation of the LCD display is maintained as it is. An object such as a virtual button can be operated with body parts such as fingers and palms, and objects such as virtual buttons can be operated via body parts. In this case, when visual information is presented using an LCD display or the like, the orientation of the LCD display is maintained constant even when the steering wheel is turned so that the viewpoint and field of view can be secured.

In Fig. 51, operations can be performed with body parts such as fingers and palms, and objects such as virtual buttons can be operated via body parts. The haptic actuators are arranged all over the handle, and the handle can be rotated and the haptic actuators can be used regardless of the position of the fingers, palm, or arm.

In Fig. 52, the user can operate objects such as virtual buttons with body parts such as fingers and palms. The entire handle is a haptic actuator, so the user can rotate the handle and use the haptic actuator regardless of the position of the fingers, palm, or arm.

In Fig. 53, you can operate objects such as virtual buttons with your body parts such as your fingers or palms, and through your body parts. This allows you to feel and operate a doorknob even if there is no doorknob. A curved LCD panel and a tactile panel are installed on the window glass. The same thing can be done with buttons, sliders, dials, switches, operation panels, and other objects.

In Fig. 54, a haptic actuator is attached to a finger, in Fig. 55, an actuator is attached to a wrist, and in Fig. 56, an actuator is attached and a virtual button is pressed and operated with a finger. Fig. 54 shows an example in which the basic unit of a haptic actuator is used in a ring type for a ring. It is possible to operate with a body part such as a finger or a palm, and to operate an object such as a virtual button via a body part. This makes it possible to feel and operate a doorknob even if there is no doorknob. The same can be said for buttons, sliders, dials, switches,
This can be done on everything, including the control panel.

Figure 55 shows an example of using the basic unit of a haptic actuator in a wrist type or wrist application. It can be operated with body parts such as fingers or palms, and objects such as virtual buttons can be operated via body parts. This makes it possible to feel and operate a doorknob even if there is no doorknob. The same can be done for buttons, sliders, dials, switches, operation panels, and other objects.

Figure 56 shows an example of using the basic unit of a haptic actuator in an arm ring type and for an arm ring. It can be operated with body parts such as fingers and palms, and objects such as virtual buttons can be operated via body parts. This makes it possible to feel and operate a doorknob even if there is no doorknob. The same can be done for buttons, sliders, dials, switches, operation panels, and other objects.

Figure 57 shows an example of using the basic unit of the haptic actuator on the whole body. It is possible to operate with body parts such as fingers and palms, and to operate objects such as virtual buttons via body parts. This makes it possible to feel and operate a doorknob even if there is no doorknob. The same can be said for buttons, sliders, dials, switches, operation panels, etc.
It can be done in everything.

Fig. 58 and Fig. 59 show schematic diagrams of wiring for connecting a controller and a haptic actuator. Fig. 58 shows a case where the haptic actuators are connected in a parallel arrangement, and Fig. 59 shows a case where they are connected in a cross arrangement.

Fig. 60 shows a schematic diagram of a system for communicating information between a haptic display panel and a computer (PC). The touch panel has an actuator array attached thereto or is integral therewith.

This system applies the operator's sensory characteristics and illusion to present haptic information to the operator as if he or she were manipulating a real object. Specifically, the system is controlled based on stimuli detected by the sensor,
The tactile information is presented by controlling the stimulation by utilizing the fact that the sensory characteristic indicating the relationship between the amount of stimulation applied to the human body and the amount of stimulation is nonlinear or an illusion. The sensory characteristic includes at least one of the amount of stimulation given to the operator and the amount of stimulation brought about by the operation of the operator, and an amount of stimulation presented to the operator, and the amount of stimulation is an amount of stimulation that does not physically exist.

Here, the system presents stimuli from or to an object, and the stimuli applied to the operator are controlled in accordance with the operator's operation. The minimum components consist of a haptic actuator and a controller, and can be used as components. By integrating these components into an actuator array, a video touch panel with a haptic information presentation function is constructed. A haptic information presentation system is a system such as a touch display that uses these components and other modules. In this way, by integrating them into an actuator array, it is possible to configure haptic information presentation systems of various shapes and sizes, such as flat, curved, and three-dimensional.

The position, speed, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity of the haptic actuator are measured by sensors attached to the actuator, and this information is sent to a controller, which calculates a control signal for controlling the haptic actuator and sends it to the haptic actuator to control it. The haptic actuator has a panel-type and display-type sensor function and presentation function, and the controller calculates the displacement, momentum, vibration amplitude, displacement stimulus, vibration stimulus, and time change in stimulus intensity associated with the movement of the body of the fingers, palm, etc., and based on a control algorithm, in accordance with the movement and pressure of the body of the fingers, palm, etc. monitored by the sensors,
The position, speed, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. of the haptic actuator are controlled, and haptic information such as pressure, touch, and force is presented to humans and others.

The control signal is expressed as force information (t) and amplitude information (t) as a driving voltage, etc., and the actuator can be a motor, piezoelectric, artificial muscle, memory alloy, molecular motor, electrostatic, coil, magnetic force, static electricity, or any other device that generates displacement or vibration, regardless of the device or operating principle.

As a result, even though a panel or display made of a flat, curved, or three-dimensional shape is fixed or installed in a housing or the like so as to be subjected to minute displacement or minute vibration, the user can feel a sense of insertion, a sense of being pressed in, a sense of sinking in, a sense of depth, a sense of being pushed back, a sense of floating, a sense of convergence of vibration/amplitude, a sense of reverberation of vibration/amplitude, a sense of direction of displacement/movement, a sense of squelching, a sense of hardness, a sense of softness, and a three-dimensional feel. Even though such sensations are not reproduced or presented physically, such sensations and physical reactions/reflexes are experienced sensorially. In addition, in information terminals and the like, it becomes possible to obtain a realistic sense of operation of objects such as buttons, sliders, dials, switches, and operation panels, despite the use of a flat panel.

In addition to the above, it can be used for stationery, notebooks, pens, home appliances, signs, signage, kiosk terminals, walls, tables, chairs, massagers, vehicles, robots, wheelchairs, tableware, shakers, simulators (for surgery, driving, massage, sports, walking, musical instruments, crafts, painting, art), etc.

FIG. 61 shows various integrated configurations of a haptic display panel system. A plurality of actuators are attached to a touch panel. The actuators may be in the form of an array. The actuators may be integrated into the touch panel. Examples include a unit made up of a plurality of modules, an integrated array type, a spherical or solid type arranged on a surface, and a solid type packed inside the sphere or solid. In this way, by integrating actuators into an actuator array, it is possible to configure a haptic information presentation system of various shapes and sizes, such as flat, curved, and solid.

Fig. 62 shows an array of actuators provided on a tactile display panel, which are attached via a link mechanism, vibration damping agent, or shock absorbing mechanism. It is not necessary to use a vibration damping agent or shock absorbing mechanism. There are various arrangement methods for multiple modules, such as those simply arranged on a flat surface, curved surface, or three-dimensional surface, those in which each module is connected by a link mechanism, those connected by a vibration damping agent or shock absorbing mechanism, or those that are independent.

64 to 67 show schematic diagrams of the basic module of the haptic device. The basic module of the haptic device digitizes and digitally expresses the haptic sensations of buttons, friction, and unevenness, pain, the presence of virtual objects, and the sense of expression. It presents haptic sensations and illusory haptic sensations through physical quantities and stimuli such as displacement, rotation, deformation, and vibration in accordance with the contact and movement of fingers or the body.
Displacement, rotation, speed, acceleration, pressure, and force of contact and movement are measured by sensors using photo devices, distortion, bending, resistance, conductivity, capacitance, sound waves, lasers, etc. The sensor signal includes a stimulus having at least one of the following by and/or to the object: position, speed, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity. This allows haptic sensations such as a button feeling, a friction feeling, and a bumpy feeling, pain sensation, and the presence and feel of a virtual object to be expressed.

The panel can be adapted to any flat surface and shape, allowing for free design. It is possible to digitally express instantaneous changes in haptic sensation. By monitoring the movement near the touch panel before it is touched, it is possible to improve the real-time response characteristics when touching the touch panel. Displacement, rotation, speed, acceleration, pressure, and force of movement are measured using non-contact sensors, etc. This allows the sensation of a collision or impact to be expressed. The contact state related to haptic sensation can be digitally expressed. By monitoring the contact state of the finger, such as the contact angle, contact area, and wetness of the finger, it is possible to control to reflect that state, thereby improving the expression of the feeling of tracing.

68 to 78 are schematic diagrams of a panel-type module. The basic module of the haptic device digitizes and digitally expresses the haptic sensations of buttons, friction, and unevenness, pain, the presence of virtual objects, and the sense of expression. The haptic sensation and illusory haptic sensation are presented by physical quantities and stimuli such as displacement, rotation, deformation, and vibration according to the contact, contact position, and movement of fingers or the body. The haptic sensation and illusory haptic sensation are presented by the physical quantities and stimuli such as displacement, rotation, deformation, and vibration according to the contact, contact position, and movement, and the spatial balance, intensity distribution, and time change of the stimuli on the touch panel. Therefore, it is possible to sense the movement, propagation, and shape change of the force, object, and presence due to the spatial balance, intensity distribution, and time change of the stimulus (phantom sensation), and it is possible to present the object and presence on a hard panel. In addition, despite the hard panel, it is possible to sense the movement, propagation, and shape change of the force, object, and presence due to the spatial balance, intensity distribution, and time change of the stimulus.
And it can demonstrate its presence.

Figure 69 shows the structure of a touch panel with a photointerrupter installed on the base material. The photointerrupter detects distance and changes, and perceives the sensation of pressing a button (sinking pitch, depth). Therefore, by digitally expressing the button sensation on a hard panel, the texture and tactile expression can be adaptively changed instantly according to the application and preference.

70, 71 and 72 show a structure in which an actuator is attached to a touch panel in a suspended structure. Fig. 70 shows a structure in which an actuator is attached to approximately the center of a touch panel in a suspended structure.

Fig. 71 shows a structure in which actuators are attached to both ends of a touch panel in a suspended structure. In the structures of Fig. 70 and Fig. 71, it is preferable to provide a viscoelastic material or a vibration buffer on the side walls between the panel and the wall.

Fig. 72 shows a structure in which actuators are attached to both ends of a touch panel in a suspended structure. In the structure of Fig. 72, it is preferable to provide a low-friction material on the side walls between the panel and the wall. These structures can increase the intensity and effect of the haptic sensation.
In the structure of Figure 71, the touch panel and actuator parts are raised, and a 3D speaker mechanism with six degrees of freedom of displacement and vibration can be used to increase the physical quantity and amount of stimulation transmitted to the finger and body through the touch panel. As the physical quantity and amount of stimulation increase, the actuator parts in Figure 71 are attached to both ends of the touch panel, and in Figure 72, inertial actuators are attached to both ends of the touch panel, making it possible to increase the physical quantity and amount of stimulation transmitted to the finger and body through the touch panel. This increases the amount of tactile sensation, and also increases the amount of pressure sensation, sinking pitch, and depth sensation. It can be applied to IoT devices. It can increase the amount of sensation and efficiency without having to choose a mounting location.

73 to 77 show schematic diagrams of a touch panel module incorporating a liquid crystal display in a touch panel. In the touch panel module in FIG. 73, a liquid crystal panel is arranged in the space between a pair of modules arranged on both sides of the touch panel. Since the touch panel and the actuator are separated from each other, the image on the liquid crystal panel does not blur or vibrate. The tactile sensation, touch, and presence of an object projected on the liquid crystal panel are presented. It is possible to simulate the touch and touch of a 3D object using a 2D model.

74 and 75 are schematic diagrams of a thin touch panel module.
75 shows the same arrangement as in FIG. 3. In FIG. 75, an actuator is provided on each end of the touch panel, so that the touch panel can be mounted on a thin device such as a smartphone.

Figure 76 shows a schematic diagram of a touch panel module system in which a screen is provided on the surface of the touch panel of the touch panel module of Figures 73 to 75, and a projector is disposed above the screen. This allows a digital haptic function of the image to be realized. The image projection by the projector and the haptic touch panel are controlled.

Fig. 77 is a schematic diagram showing a five-sensory information presentation device disposed on the touch panel module of Fig. 73 to Fig. 76. The installation of the five-sensory information presentation device improves reality by utilizing the five senses, such as sight, hearing, and touch. In addition, the five senses, such as images, sounds, touch, smell, and taste, can be used. The mutual effect of the five senses, which match or do not match (mismatch) the haptic information as an object, enhances and promotes the illusion, and can expand sensations that do not exist in reality.

Figure 78 shows a schematic diagram of a multi-touch array unit. It presents basic movement and motion sensations. By controlling the phase of the displacement direction for each panel, it is possible to express movement and motion sensations other than simple displacement by movement stimulation. It presents a rotation sensation by a fixed panel.

Figure 79 presents a complex sense of movement. By controlling the phase of the displacement direction for each panel and controlling the sensation synthesis with the fingertips, it presents a sense of expansion, pressure, twisting, expansion, and pressure. It presents a sense of deformation by a fixed panel.

Figure 80 presents a complex sense of movement. Phase control of the displacement direction for each panel and sensory synthesis in the perception and cognition layer are performed to synthesize and control the multi-touch sensation, providing a sense of expansion, pressure, and twisting, and presenting a sense of expansion and pressure. A sense of deformation is obtained by a fixed panel.

Fig. 81 shows a device that presents tactile and haptic sensations. It performs sensory synthesis control that reproduces different components [tactile and haptic sensations] for each panel. It performs Z-direction pressure drive by finger pressure and control by XY displacement trigger, and presents tactile and haptic sensations in the Z direction simultaneously. It realizes multiple resonance peaks.

Fig. 82 presents tactile and haptic sensations using a single device. Different components (tactile and haptic sensations) are reproduced for each panel. Z-direction pressure sensation drive by finger pressure and control by XY displacement trigger.
It generates and controls pressure sensation in the Z direction, and simultaneously presents tactile and haptic sensations through the panel. It realizes multiple resonance peaks.

Fig. 83 shows the presentation of haptic and haptic sensations using one device. Different components (haptic and haptic sensations) are played back at different times for each panel. The method of synthesis is not limited to this. Mutual effects such as mutual masking of haptic and haptic sensations are avoided. Consonants and vowels are presented.

In Fig. 84, the induced pattern is controlled to control the forward and backward displacements. In Fig. 85, haptics and force are presented by one device. Different components (haptics and force) are played back at different times for each panel. There are cases where there is overlapping and cases where there is no overlapping. The method of synthesis is not limited to this. Composite effects such as mutual masking of haptics and force are avoided. Consonants and vowels are presented.

FIG. 86 presents tactile and force sensations using a single device. Different components (intensity/amplitude, frequency, waveform, phase) are presented on each panel. Waveform comparison, difference, phase difference, and synergistic effects generate sensations different from the components. FIG. 87 presents tactile and force sensations using a single device. Different components (intensity/amplitude, frequency, waveform, phase) are presented on each panel. Waveform comparison,
Differentiation, phase difference, and synergistic effects create sensations that are different from the ingredients.

Fig. 88 presents a button-shaped sensation of a sharp peak in haptic sensation. The closer to the center, the larger the panel amplitude. The further away, the smaller it becomes. A sensation at the peak (pulling back/overtaking sensation) is presented. A sharp gradient convex sensation is presented by the panel. Fig. 89 presents a semi-cylindrical convex sensation in haptic sensation. The strength and amplitude of the stimulation/displacement are controlled. Going over a peak (pulling back/overtaking sensation)
The panel provides a sense of convexity.

Fig. 90 presents a concave gap sensation in haptic sensation. The sense of resistance is momentarily removed to present the gap sensation. The panel presents a concave gap sensation.

Figure 91 shows induced sensation control of finger movement (crossing sensation) between buttons. It controls the strength and amplitude of the stimulation and displacement. It is difficult for the finger to remain between the buttons, and it is guided to the buttons. On a flat panel, finger movement is guided like an attractor of a potential field. The pointer is operated from the panel to move between the buttons. When the pointer leaves the button area, it is guided to the next pointer. The closer to the center of the guidance zone, the larger the panel amplitude becomes (it becomes smaller when it moves away). The force sense direction switches at the center of the guidance zone.

In Fig. 92, the guiding sensation between buttons is controlled to present an edge sensation and an end point sensation. At the end of the guiding section, a click displacement occurs. The presence of the edge and the feeling that the button is raised are obtained. The pointer is operated from the panel to move between the buttons. When the pointer leaves the button area, it is guided to the next pointer. The closer to the center of the guiding section, the larger the panel amplitude becomes (the further away, the smaller it becomes). The force sense direction is switched at the center of the guiding section.

Figure 93: Controlling the guiding sensation of a button to present an edge sensation. A masking displacement (vibration) is generated at the edge. This gives the presence of the edge and the sensation of a step or indentation of a button on a flat panel. The pointer is operated from the panel to move between buttons. When the pointer leaves the button area, it is guided to the next pointer. The closer it is to the center of the guidance zone, the larger the panel amplitude becomes (the further it is, the smaller it becomes). The force sense direction switches at the center of the guidance zone.

Fig. 94 presents a stable haptic sensation by controlling the haptic force of a slider. The pointer is operated from the panel to move between buttons, and when the pointer leaves the button area, it is guided to the next button. The closer to the center of the guidance area, the larger the @panel amplitude becomes (the further away, the smaller it becomes). The force sense direction is switched at the center of the guidance area. A slider sensation is obtained.

Fig. 95 shows a slider being haptically controlled to present a stable haptic sensation and generate a click displacement at the slider end point. A slider sensation is obtained. Fig. 96 shows a slider sensation control.

Fig. 97 presents a stable haptic sensation during sweeping. Control is performed separately for static friction and dynamic friction. A stable haptic sensation is presented. Stable presentation is achieved with different control modes. Fig. 98
presents a stable haptic sensation by controlling dynamic friction during sweeping (to make the period uniform). Controls coherent phase by cutting displacement. Presents a stable haptic sensation. Presents stability with different control modes.

Fig. 99 shows a system that controls static friction during a sweep to provide a stable haptic sensation. Fix your finger (body) and move the virtual slider. Fix the virtual slider and slide your finger.
Reciprocating motion. Slider sensation. Figure 100 presents a stable haptic sensation by controlling static friction during sweeping. Fix your finger (body) and move the virtual slider. Fix the virtual slider, slide your finger, and reset your finger when it reaches the end (lift your finger off the panel surface). Slider sensation.

Figure 101 presents a stable haptic sensation by controlling static friction during sweeping. Fingers (body)
Fix the virtual slider and move it. Fix the virtual slider, slide the finger, and reset the finger when it reaches the end (disconnection displacement). Slider sensation. Figure 102 presents a stable haptic sensation by dynamic friction control during sweeping. Fix the finger (body) and move the virtual slider. Fix the virtual slider and slide the finger. When the friction exceeds the tension limit, the contact fixation is released. Slider sensation.

These sweep waveforms, click waveforms, and cut waveforms may be vibrations or arbitrary waveforms. There are various arbitrary waveform patterns that match the desired tactile sensations and feel.
It is not limited to linear increase/decrease, sinusoidal vibration, and combinations of fundamental frequency components; it is possible to express a wide variety of tactile sensations and feelings by using arbitrary waveform design, amplitude modulation, frequency modulation, convolution, and combinations of these, just as if creating musical instrument tones and music with a synthesizer.

Fig. 103 shows how to control and present the sensation of pressing a button. --Displacement is applied to the panel when the pressing pressure exceeds threshold 1 when it rises, and threshold 2 when it falls. --The hardness of the button is expressed by the threshold value, amplitude, and frequency of the panel. Even though the panel does not dent, you can experience the sensation of pressing deep. The sensation of a dent without a physical dent.

Fig. 104 presents the sensation of pressing a button by controlling the pressing of the button. --Displacement is applied to the panel when the pressing pressure exceeds threshold 1 when it rises and threshold 2 when it falls. --The hardness of the button is expressed by the threshold value and the amplitude and frequency of the panel. Even though the panel does not dent, you can experience the sensation of pressing depth. The sensation of a dent without a physical dent.

In Fig. 105, the button pressing sensation is controlled and presented. By setting multiple thresholds, a sensation such as a half-press is expressed. A half-press sensation like a camera shutter. A sensation of holding the shutter focus. In Fig. 106, the shutter button pressing sensation is controlled and presented. By setting multiple thresholds, a sensation such as a half-press is expressed. A half-press sensation like a camera shutter.
The feeling of shutter focus retention.

Figure 107 shows how to control the sensation of pressing a button.
(The first press is not released, the second press is released.) Figure 108 presents the button press sensation by latch control. Press and release are separated (The first press is not released, the second press is released.)

Fig. 109 shows how the pulse threshold for the notches is controlled at equal intervals. Mille-feuille, the sensation of a knife being inserted into chocolate-covered ice cream. Fig. 110 shows how the pulse threshold for the notches is controlled at unequal intervals. Fig. 111 shows how the pulse threshold for the notches is controlled at equal intervals. Mille-feuille, the sensation of a knife being inserted into chocolate-covered ice cream.

Fig. 112 shows how the pulse threshold for the notches is controlled at equal intervals. Mille-feuille, the feeling of putting a knife into chocolate covered ice cream. Fig. 113 shows how the pulse threshold for the notches is controlled at equal intervals. Mille-feuille, the feeling of putting a knife into chocolate covered ice cream. Fig. 114 shows how the pulse threshold for the notches is controlled at unequal intervals. Mille-feuille, the feeling of putting a knife into chocolate covered ice cream.

Fig. 115 shows hysteresis control of a push-in button. Amplitude is added to the panel when the threshold value is exceeded during pressing pressure and when the threshold value is exceeded during release. The hardness of the button is expressed by the threshold value, the amplitude of the panel, and the frequency.

Fig. 116 shows a finger pressure function control for a press sensation button. Amplitude is added to the panel when the pressing pressure exceeds threshold 1 when it rises and threshold 2 when it falls. The hardness of the button is expressed by the threshold value, panel amplitude, and frequency. Fig. 117 shows an amplitude is added to the panel when the pressing pressure exceeds threshold 1 when it rises and threshold 2 when it falls. Waveform adaptation is controlled. The threshold value and panel amplitude,
The hardness of the button is expressed by frequency.

In Fig. 118, a push-in button is pushed in 3D along a displacement amplitude plane (phase) and controlled according to a threshold. Amplitude is added to the panel when the push-in pressure exceeds threshold 1 when it rises and threshold 2 when it falls. The hardness of the button is expressed by the threshold value, the amplitude of the panel, and the frequency.

In Fig. 119, amplitude is added to the panel when the pressing pressure exceeds threshold 1 when it rises, and threshold 2 when it falls, to control the press-feel button according to the situation. The hardness of the button is expressed by the threshold value, the amplitude of the panel, and the frequency. Amplitude is added to the panel when the pressing pressure exceeds threshold when it rises, and threshold when it falls. The hardness of the button is expressed by the threshold value, the amplitude of the panel, and the frequency.

In Fig. 120, amplitude is added to the panel when the pressing pressure exceeds threshold 1 when it rises, and threshold 2 when it falls. The hardness of the button is expressed by the threshold value, amplitude and frequency of the panel. Amplitude is added to the panel when the pressing pressure exceeds threshold 1 when it rises, and threshold 2 when it falls, to control the pressing sensation button according to the situation.

Fig. 121 shows a time pattern control of the push feel button. Fig. 122 shows a uniform control of the notch pulse threshold. Fig. 123 shows a uniform pulse width amplitude control of the notch pulse threshold. Fig. 124 shows a uniform waveform control of the notch pulse threshold. Fig. 125 shows a uniform masking control of the notch pulse threshold.

Fig. 126 shows how a push-feel button is dynamically and statically friction controlled, and amplitude is applied to the panel when the pressing pressure exceeds threshold 1 when it rises, and threshold 2 when it falls. The hardness of the button is expressed by the threshold value, the amplitude of the panel, and the frequency. Fig. 127 shows how a push-feel button is phase-controlled, and amplitude is applied to the panel when the pressing pressure exceeds threshold 1 when it rises, and threshold 2 when it falls. The hardness of the button is expressed by the threshold value, the amplitude of the panel, and the frequency.

In Fig. 128, the pressing is controlled at equal intervals, and the panel is made to oscillate only when the pressing pressure increases and exceeds multiple thresholds. High frequency is used for the notch amplitude. In combination with a button, a notch button is expressed. In Fig. 129, the pressing is controlled at uneven intervals, and the panel is made to oscillate only when the pressing pressure increases and exceeds multiple thresholds. High frequency is used for the notch amplitude.
Combine with a button to create a notch button

In Fig. 130, the threshold is controlled at equal intervals, and the panel is oscillated only when the pressing pressure increases and exceeds multiple thresholds. A high frequency is used for the notch amplitude. In combination with a button, a notch button is expressed.

Fig. 131 shows how a haptic dial is controlled by a control function. The displacement direction is controlled for each position phase.
Displacement can be controlled in 3D directions. Realizes various dial sensations. Realistic dial sensation with flat panel. No need for physical/analog dial mechanism. In Fig. 132, the dial is rotated with a sense of acceleration by operating the pointer from the panel. The panel is vibrated parallel to the tangent of the dial to realize the sense of acceleration. For sliding expression, the dial is further controlled to produce a sense of force in the direction of rotation.

In Fig. 133, a pointer is operated from a panel to rotate a dial with a sense of resistance. The panel is oscillated at a right angle to the tangent of the dial to realize the sense of resistance. In Fig. 134, a pointer is operated from a panel to rotate a dial with a sense of horizontal acceleration. The panel is oscillated at a right angle to the tangent of the dial to express the sense of horizontal acceleration. In Fig. 135, a pointer is operated from a panel to rotate a dial with a variable feel.
The panel is made to oscillate at any angle to the tangent of the dial to express a variable feel. By changing the phase of the displacement direction for each position, various feels are generated. In Fig. 136, the dial is turned randomly by operating the pointer from the panel. The panel is made to oscillate at a right angle to the tangent of the dial to express a random feel.

FIG. 137 shows a dial that has a clicking feel, with clicking displacement occurring at each fixed position phase, achieving the feel of a flat panel loader encoder, a digital dial, or a volume knob.

Fig. 138 shows a centripetal haptic sensation that provides a sense of circular guiding operation on the circumference of a volume, a sense of a finger staying within the circumference, or a sense of a finger moving on the circumference, and a sense of circular movement when an actual rotating volume is rotated, at a certain position phase.
The sense of motion can be expressed by the sense of circular induction and resistance when the rotating volume is actually rotated. By alternately or exclusively presenting centripetal haptic sensation and resistive haptic sensation at a certain position phase, the sense of circular motion can be realized when the volume is rotated.

Fig. 140 expresses the haptic sensation of volume adjustment and confirmation operations. A click displacement is applied at each fixed position phase, realizing the rotary volume sensation by the click displacement, the button pressing sensation by the confirmation click displacement, and the volume operation, confirmation, and switch sensation on a flat panel.

Fig. 141 shows an example of increasing the variation of haptic dial sensations. The direction of displacement and the way of displacement are controlled for each position phase. Displacement can be controlled in 3D directions. Various dial sensations,
It realizes a sense of touch, warns, calls attention, and displays directions. Open the panel to display the direction appropriately and at the right time.
Various dial feel and response are presented in appropriate places. The feel and response are controlled appropriately according to the situation.

Fig. 142 shows that the illusion of force changes nonlinearly depending on the weight by changing the size and shape of the device. The perceived sound pressure and perceived torque strength are variable. Fig. 143 shows that the threshold and perceived amount of tactile force are
Changes with device size. Perceived torque strength is obtained by subtracting weight from torque. Perceived quantity has an optimal device size.

Fig. 144 shows that texture is formed by pressure (touch sensation); pressure, hot and cold, touch; micro-time structure, force sense; macro-time structure, vibration sense; and frequency. Fig. 145 shows a database of texture structures in which various macro- and micro-time structures express texture.

Fig. 146 shows how the 2D amplitude direction is controlled by controlling the waveform. The amplitude for any axis on the panel surface is generated by synthesizing the waveforms on the X and Y axes.

In Fig. 147, a number of touch panels are arranged in an array, and an actuator is provided for each touch panel. This allows the position of the displacement direction to be controlled for each panel, realizing a sense of pitch, grip, tear, and rotation, and allowing subtle adjustments in mouse operation to be intuitively realized. Fig. 148 shows a system that uses an illusionary tactile force induction function generator to measure individual characteristics.

Figure 149 is a flowchart showing a method for controlling the actuator.

Application examples and their effects are shown in Fig. 150 to Fig. 152. Fig. 150 realizes personal profiling using a dial and a pointer. An operation profile, like handwriting judgment, and physiological information are analyzed to estimate a personal ID, psychological state, health state, and fatigue level.

In Fig. 151, a large number of touch panels are arranged in an array, and an actuator is provided for each touch panel. This allows the position of the displacement direction to be controlled for each panel, and realizes a sense of forward movement, backward movement, shearing/tornage, expanding/pinch, grasping, and rotation. This allows the state of the body (such as organs) to be displayed in accordance with the image and the way the fingertips are moved and the force applied.
By providing a variety of different textures (hardness, softness, shape, etc.), palpation training can be realized.

FIG. 152 shows that remote synchronous operation is possible by connecting the VR environment generating devices via communication.
As an application example, in information terminals, etc., it is possible to obtain a realistic feel of the operation of objects such as buttons, sliders, dials, switches, and operation panels, despite the flat panel. Since it is possible to present various sensations, it can be used for stationery, notebooks, pens, home appliances, signs, signage, kiosk terminals, walls, tables, chairs, massagers, vehicles, robots, wheelchairs, tableware, shakers, simulators (for surgery, driving, massage, sports, walking, musical instruments, crafts, painting, art), etc., and it can be used to provide a sense of insertion, sinking,
Sense of depth, sense of being brought back, sense of floating, sense of convergence, sense of reverberation, sense of direction, sense of solidity, sense of hardness, sense of softness, smoothness, slimy feeling, slimy feeling, roughness, bumpy feeling, tingly feeling,
It is possible to add value to products by providing textures and sensations such as a hard, crunchy, or squishy feel.

Industrial application fields

By implementing the present invention, the following devices can be used in the field of virtual reality:
It is possible to realize a useful man-machine interface that can be installed in devices used in the fields of games, amusement, and entertainment, portable communication devices, information terminal devices, navigation devices, and portable information terminal devices used in the IT field, devices used in the automotive and robotics fields, devices used in the medical and welfare fields, and devices used in the space development field.

More specifically, for example, in the fields of virtual reality and information appliances, a man-machine interface to which the present invention is applied can be used to present haptic information such as touch and feel to a person, or to restrict a person's movements by applying a resistance or a reaction force, thereby presenting the presence of an object in virtual space or real space, an impact due to a collision, or a sense of operating a device. Also, by installing the above-mentioned interface in a mobile phone, a portable navigation device, or the like, various kinds of instructions and guidance not seen in the past can be realized through the operator's skin.

Despite being a flat panel, it is possible to realistically obtain the tactile sensation of buttons, sliders, dials, switches, operation panels, and other objects. Because it can present a variety of sensations, it can be used for stationery, notebooks, pens, home appliances, signs, signage, kiosk terminals, walls,
Tables, chairs, massagers, vehicles, robots, wheelchairs, tableware, shakers, simulators (surgery, driving, massage, sports, walking, musical instruments, crafts, painting, art)
It can be used for the above, and can add value to products by providing tactile sensations such as a sense of insertion, a sense of sinking in, a sense of depth, a sense of being pushed back, a sense of floating, a sense of convergence, a sense of reverberation, a sense of direction, a sense of sinking in, a sense of hardness, a sense of softness, a smooth feeling, a slimy feeling, a rough feeling, a bumpy feeling, a tingly feeling, a hard feeling, a tapping feeling, and a squishy feeling.

Claims (10)

A display body including a physical quantity generating device;
A controller that controls the driving of the physical quantity generating device by supplying a control signal;
an actuator receiving a control signal from the controller and providing a sensor signal to the controller;
A haptic interface that has human sensory characteristics;
A device for inducing an illusionary tactile sensation in a display body comprising:
the sensory characteristics include at least one of nonlinearity, hysteresis, masking, and threshold, the controller controls a sensory synthesis and/or a physical quantity of a tactile sense and/or an illusionary tactile sense to control the actuator with the control signal, presenting a sensory quantity or a physical quantity via the display body, and controlling a sensation induced by a shape or position of one or more display objects displayed on the display body to present a sensation different from the sensory quantity or physical quantity and/or a sensation that does not physically exist;
The induced sensation includes a sensation induced by the display object,
The induced sensation is a displacement in a predetermined direction,
The apparatus, wherein the actuator generates a displacement in a direction different from the predetermined direction. The device of claim 1 , wherein the predetermined direction of the induced sensation and the different direction of the displacement produced by the actuator are orthogonal. The device according to claim 1 or 2, wherein the display has a plane, and the plane and different directions of the displacements generated by the actuator are orthogonal to each other. The device of claim 1 , wherein the predetermined direction of the induced sensation and the different direction of the displacement produced by the actuator are opposite directions. The device according to claim 1 or 4, wherein the display has a plane, and the different directions of the displacements generated by the actuator are opposite to the plane. 13. The sensory sensation different from the sensory amount and/or the sensory sensation not physically present is presented by at least one of a comparison, a difference, a synthesis, and a synergistic effect of the sensory amounts.
6. The apparatus described in any one of claims 1 to 5. The inducement drives the controller to obtain a physical quantity, a stimulus quantity, a momentum quantity, a velocity,
and angular velocity, varying it over time, or utilizing at least one of thresholds, sensory characteristics, masking characteristics, and hysteresis characteristics for physical quantities. The apparatus according to any one of claims 1 to 7, characterized in that the apparatus comprises an illusionary tactile force sensation induction function generating device. The controller may be configured to detect speed, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, temperature, humidity, viscosity, elasticity, physical quantity, displacement, vibration, amplitude, strength, frequency, waveform,
9. The device according to claim 1, characterized in that it controls at least one of the phase and the stimulation. The device according to any one of claims 1 to 9, characterized in that the display is arranged in at least one of a plurality of partitioned arrays, dots and pixels, and is controlled independently and/or dependently, and a sense of movement and/or motion is presented to the display.