JPH05216568A - Tactile i/o device - Google Patents

Abstract

PURPOSE:To use the human tactility for an interface between a man and a computer. CONSTITUTION:A tactile I/O unit 10 consists of a group of weak pressure actuators 12 with higher density than the resolution of the human tactility arranged in array shape on a a silicon substrate 11, through which tactile information is sent to a man. In this case, the actuator 12 is arranged at intervals L narrower than the finger tactility resolution (approximately 300mum).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tactile input / output device, and more particularly to a tactile input / output device used as an interface between a computer and a human using the human tactile sense as a medium.

[0002]

2. Description of the Related Art In a conventional computer system, various kinds of information input from a human to a computer are characters or figures input via a keyboard or mouse, or images input via an image reading device. ..
Also, various information output from a computer to humans
In contrast to the flat image displayed on the display or the sound from the speaker, in an artificial reality system, which is drawing attention as an interface between a computer and a human, various information input from the human to the computer is The information about the movement of the hand and the movement of the human body, and the various information output from the computer to the human includes a stereoscopic image, a stereoscopic sound field, and tactile information.

[0003]

However, the conventional artificial reality system has the following problems. (1) Regarding the input of various information from a human to a computer, a method of using a data glove and a data suit is being considered because the information on the movement of the human hand and the movement of the human body is directly input to the computer. ,
Data gloves and data suits have not yet reached breakthrough breakthroughs. (2) Regarding the output of various information from a computer to human beings, visual information and auditory information, such as a stereoscopic image connected to a display or a stereophonic sound field by a speaker, have been sufficiently studied, but heat and electricity have been studied. Tactile information such as (pain), firmness, and elasticity has not been sufficiently examined.

It is an object of the present invention to provide a tactile input / output device that can be used as an interface between a computer and a human using the human sense of touch as a medium.

[0005]

A tactile input / output device of the present invention includes a group of minute pressure actuators arranged in an array at a density higher than that of human tactile resolution, and a human being through the group of minute pressure actuators. Communicate tactile information.

Alternatively, it includes a group of minute pressure sensors arranged in an array at a density higher than that of human tactile resolution, and detects human motion information through the group of minute pressure sensors.

Alternatively, it includes a group of minute pressure sensors and a group of minute pressure actuators alternately arranged in an array at a density higher than that of human tactile resolution, and detects human motion information through the group of minute pressure sensors. Then, the information processed by the computer is transmitted to a human through the micro pressure actuator group and tactile information is transmitted to a human.

Here, the minute pressure actuator group and the minute pressure sensor group may be formed on the same substrate.

Alternatively, a minute pressure actuator, a minute pressure sensor, and a minute thermal actuator are set as a set, and the set is arranged in an array with a higher density than the human tactile resolution.

Alternatively, a micro pressure actuator, a micro pressure sensor, and a micro actuator using electricity as a set are provided as a set, and the set is arranged in an array at a density higher than the human tactile resolution.

[0011]

In the tactile input / output device of the present invention, minute pressure actuator groups are arranged in an array at a density higher than that of human tactile resolution, and each minute pressure actuator is independently controlled by a computer to provide a texture. Providing tactile information to humans.

Further, by arranging minute pressure actuators and minute pressure sensors alternately in an array, means for detecting a human movement through the minute pressure sensors and inputting to a computer, and a computer generated means. By forming tactile information such as force feedback and texture in the same substrate as the tactile information generated by the computer and outputting to humans through a small actuator group, humanity such as weight and size can be achieved. It becomes possible to significantly improve the reality of the artificial reality system while considering it.

[0013]

Embodiments of the present invention will now be described with reference to the drawings.

FIGS. 1A and 1B are views each showing a part of the first embodiment of the haptic input / output device of the present invention.

As shown in FIG. 1A, the tactile input / output device 10 is constructed by arranging minute pressure actuators 12 on a silicon substrate 11 in an array shape with a density higher than that of human tactile resolution. The tactile information is transmitted to a human through a group of minute pressure actuators 12.
Here, each minute pressure actuator 12 has a tactile resolution L ₀ (3) of a human fingertip as shown in FIG.
They are arranged in an array with a distance L narrower than about 100 μm).

As shown in FIG. 2, the minute pressure actuator 12 has a cylindrical piezo element 12 ₁ and an actuate rod 12 ₂ penetrating the hollow portion of the piezo element 12 _1.
And the positive electrode 12 ₃ attached to the piezo element 12 _1.
And the negative electrode 12 ₄ .

When transmitting tactile information to a human through the pressure actuator 12, a computer applies a gas pressure to the end face of the actuating rod 12 _{2 on} the lower side in the drawing to move the actuating rod 12 ₂ upward in the drawing.
By applying a potential according to the control information from the computer between the positive electrode 12 ₃ and the negative electrode 12 ₄ , the piezoelectric element 12
₁ is expanded or contracted in the radial direction, and the amount of movement of the actuate rod 12 _{2 to} the upper side in the figure is controlled by the amount of expansion and contraction (expansion and contraction) of the piezo element 12 ₁ . As a result, the amount of movement of each actuating rod 12 ₂ can be changed in accordance with the control information from the computer, so the pressure applied to each human fingertip by each actuating rod 12 ₂ is changed, and the tactile information to the human being is changed. Can be told. In addition,
The gas pressure is preset according to the mass of the actuate rod 12 ₂ . Further, the gas pressure is turned off by the computer each time tactile information is transmitted to a human, whereby the pressure applied to the human by each actuating rod 12 ₂ is reset.

The tactile input / output device 10 shown in FIG. 1 is a micromechatronics technology utilizing semiconductor lithography technology (Fujita, "Present and future of micromechatronics", KAST Report, Vol.
4, 1991).

FIG. 3 is a diagram showing a pressure sensor for explaining a second embodiment of the tactile input / output device of the present invention.

The tactile input / output device of this embodiment is shown in FIG.
20 groups of minute pressure sensors are on a silicon substrate (not shown)
Are arrayed in a higher density than the human tactile resolution.
It is configured by a group of 20 minute pressure sensors.
It conveys tactile information to the computer. Where each
The minute pressure sensor 20 has a tactile resolution L of a human fingertip. ₀ 
Array with a spacing L smaller than (about 300 μm)
Are arranged in.

The minute pressure sensor 20 is a known piezoelectric element.
It uses the inverse piezoelectric effect of a child and has a cylindrical piezo.
Element 20₁ And the piezo element 20₁ Attached to the upper surface shown
Stick 20₂ And the piezo element 20₁ Attached to
Positive electrode 20₃ And the negative electrode 20_Four Consists of. Human
The pressure corresponding to the tactile information from the piezo element 20₁ Illustration of
Rod 20 mounted on top₂ Added to the end face of the rod
0₂ Is a piezo element 20 ₁ Positive pressure by compressing
Pole 20₃ And negative electrode 20_Four The potential difference between and changes.
By inputting the change in the potential difference into the computer,
Tactile information from humans is transmitted to the computer.

The tactile input / output device of this embodiment is also shown in FIG.
Similar to the tactile input / output device 10 shown in FIG. 1, it can be manufactured by using the micromechatronics technology utilizing the semiconductor lithography technology described above.

FIG. 4 is a view showing the arrangement of pressure actuators and pressure sensors for explaining the third embodiment of the tactile input / output device of the present invention.

In the tactile input / output device of this embodiment, as shown in FIG. 4, a group of minute pressure actuators 12 shown in FIG. 2 and a group of minute pressure sensors 20 shown in FIG. (Shown in the drawing) are arranged alternately in an array, and tactile information is transmitted to a human through a group of minute pressure actuators 12 and a minute pressure sensor 20.
It transmits tactile information to a computer through a group. The minute pressure actuators 12 and the minute pressure sensors 20 each have a human tactile resolution L _0.
They are arranged in an array with a distance L narrower than (about 300 μm).

Next, the operation of the artificial reality system using the tactile input / output device of this embodiment will be described with reference to FIG.

Human movement is detected through a group of minute pressure sensors 20 and input to a computer. The computer describes the disguised world of information such as displacement, movement, force feedback and texture of the target world or thing from the relationship between the properties of the target world or thing registered in advance and input information (motion detection). Then, the tactile information is output to the human through the group of minute pressure actuators 12 in synchronization with the visual information and the auditory information.

Next, an example of the structure in which the minute pressure actuators 12 and the minute pressure sensors 20 are formed on the same silicon substrate will be described with reference to FIG.

In the configuration example shown in FIG. 6, the dielectric layer 32 is formed on the silicon substrate 31. The silicon substrate 31 and the dielectric layer 32 are respectively provided with holes 31 ₁ and 32 ₁ for allowing gas to pass therethrough, and the portions of the dielectric layer 32 where the holes 32 ₁ are formed are opened and closed. The part 36 is formed. Further, first electrodes 34 ₁ and 34 ₂ are formed in the opening / closing part 36 of the dielectric layer 32 and in the dielectric layer 32 facing the opening / closing part 36, respectively, and are formed on the upper surface of the opening / closing part 36 in the figure. Is the second electrode 35 ₁ , 3
5 ₂ are formed. Further, an actuate rod 33 is formed at the right end of the opening / closing portion 36 in the figure (T. Ohns).
tin, MICROMACHINED SILICON MICROVALVE, Proceedings
IEEE Micro Mechanical Systems, p.95, 1990).

First according to control information from the computer
The actuating rod 33 functions as the minute pressure actuator 12 shown in FIG. 2 by changing the potential difference between the electrode 34 ₁ and the first electrode 34 ₂ and moving the opening / closing part 36 in the vertical direction in the figure. Can be made Also, keep the gas pressure controlled by a computer,
Pressure information from a human being applied to the actuate rod 33 is converted into an electric signal by the pair of second electrodes 35 ₁ and 35 ₂ , and the electric signal is subjected to electric processing such as amplification and filtering and then input to a computer. By doing so, the actuate rod 33 is attached to the minute pressure sensor 20 shown in FIG.
Can function as.

FIG. 7 is a view showing the arrangement of pressure actuators, pressure sensors and thermal actuators for explaining the fourth embodiment of the tactile input / output device of the present invention.

As the tactile information for humans, heat may be used as a medium in addition to pressure as a medium. That is, as shown in FIG. 7, the minute pressure actuator 12 shown in FIG. 2, the minute pressure sensor 20 shown in FIG. 3 and the minute thermal actuator 41 composed of a miang type resistor are combined as a set, as shown in FIG. The sets may be arranged in an array with a spacing L narrower than the human tactile resolution L ₀ (about 300 μm).

Although the thermal actuator 41 is combined in the tactile input / output device of this embodiment, an actuator using electricity as a medium, which is constructed by utilizing the potential difference between the microelectrodes, may be combined in the same manner.

FIGS. 8A and 8B are views showing a pressure actuator for explaining the fifth embodiment of the tactile input / output device of the present invention.

The tactile input / output device of this embodiment is shown in FIG.
As shown in, the minute pressure actuators 50 whose hollow portions are divided into three are arranged in an array in the _{first to third} hollow portions 511 to 513 whose internal pressures are respectively controlled by the computer. the first to third hollow portion 51 _{1-51 3} in the internal pressure of the actuator 50 is controlled respectively computer, as shown in FIG. (B), changing the planar direction of the density of each minute pressure actuator 50 This allows the textual information to be transmitted from the computer to humans.

In the above description, the texture information at the fingertip is mainly described, but it goes without saying that it can be applied to any part of the body by considering the tactile resolution which differs depending on the body part. At this time, when the degree of freedom of force feedback is large, it is possible to use a known six-degree-of-freedom master manipulate or the like in combination with the minute actuator of the present invention.

[0036]

Since the present invention is configured as described above, it has the following effects. (1) It is possible to positively use the texture information and the like even for the tactile sense that has been mainly used only to supplement the audiovisual sense until now. (2) It is described by a computer by providing a means for actuating with output information from the computer in consideration of humanity such as conventional weight and size in a data glove or a data suit which is an input device to the computer. It is possible to give various tactile information at the same time in a form synchronized with the visual information, and it is possible to obtain a remarkable improvement in reality in the artificial reality system.

[Brief description of drawings]

FIG. 1 is a diagram showing a part of a first embodiment of a haptic input / output device of the present invention, (A) is a perspective view, and (B) is a partially enlarged view.

FIG. 2 is a perspective view showing the configuration of the pressure actuator shown in FIG.

FIG. 3 is a diagram showing a pressure sensor for explaining a second embodiment of the tactile input / output device of the present invention.

FIG. 4 is a diagram showing an arrangement of pressure actuators and pressure sensors for explaining a third embodiment of the haptic input / output device of the present invention.

5 is a diagram showing the configuration of an artificial reality system, which is attracting attention as an interface between a computer and a human, and the exchange of information between the computer and the human, for explaining the operation of the tactile input / output device shown in FIG. Is.

FIG. 6 is a diagram showing a configuration example in which the minute pressure actuator group and the minute pressure sensor group shown in FIG. 4 are formed on the same silicon substrate.

FIG. 7 is a diagram showing a layout of a pressure actuator, a pressure sensor, and a thermal actuator for explaining a fourth embodiment of the haptic input / output device of the present invention.

FIG. 8 is a diagram showing a pressure actuator for explaining a fifth embodiment of the haptic input / output device of the present invention, (A)
FIG. 4A is a diagram showing a configuration of a minute pressure actuator, and FIG.

[Explanation of symbols]

10 Tactile Input / Output Device 11 Silicon Substrate 12, 50 Pressure Actuator 12 ₁ , 20 ₁ Piezo Element 12 ₂ Actuate Rod 12 ₃ , 20 ₃ Positive Electrode 12 ₄ , 20 ₄ Negative Electrode 20 Pressure Sensor 20 ₂ Rod 31 Silicon Substrate 31 ₁ , 32 ₁ Hole 32 Dielectric Layer 33 Actuate Rod 34 ₁ , 34 ₂ First Electrode 35 ₁ , 35 ₂ Second Electrode 36 Opening / Closing Part 41 Thermal Actuator 51 ₁ First Hollow Part 51 ₂ Second Hollow part 51 ₃ Third hollow part L Interval

Claims (6)

[Claims] 1. A tactile input / output device including a group of minute pressure actuators arranged in an array at a density higher than that of human tactile resolution, and transmitting tactile information to a person through the group of minute pressure actuators. 2. A tactile input / output device including a group of minute pressure sensors arranged in an array at a density higher than that of human tactile resolution, and detecting human movement information through the group of minute pressure sensors. 3. A micro pressure actuator group and a micro pressure sensor group, which are alternately arranged in an array at a density higher than that of a human tactile resolution, and detect human motion information through the micro pressure sensor group. Then, a tactile input / output device for transmitting information processed by the computer to the human through the group of minute pressure actuators. 4. The tactile input / output device according to claim 3, wherein the minute pressure sensor group and the minute pressure actuator group are formed on the same substrate. 5. A tactile input / output device in which a minute pressure actuator, a minute pressure sensor, and a minute thermal actuator are combined into a set, and the set is arranged in an array at a density higher than the human tactile resolution. 6. A tactile sensor in which a micro pressure actuator, a micro pressure sensor, and a micro actuator using electricity as a set are arranged as a set, and the set is arranged in an array at a density higher than a human tactile resolution. Output device.