KR100968904B1 - Haptic feedback providing device and control method thereof - Google Patents

Abstract

The present invention relates to a haptic feedback providing apparatus and a control method thereof, and more particularly, to a haptic providing apparatus and a control method capable of providing the same touch as touching a real object by simultaneously providing skin and muscle sensation. . To this end, the skin sensation means for generating a micro-vibration to provide a skin sensation to the user; Root sense means provided in the lower portion of the skin sense means, providing a sense of muscle to the user by using a change in shear force or a change in the rigidity of the fluid generated between the two surfaces; Power supply means for applying electricity to the skin sense means and the muscle sense means; And control means for controlling electricity applied to the skin sensation means and the muscle sensation means based on the tactile information of the object, and providing a haptic feedback providing device for providing skin sensation and muscle sensation and a control method thereof. do.

Skin, muscle, haptic, control

Description

Haptic feedback providing device for providing skin sensation and muscle sensation and control method thereof

The present invention relates to a haptic feedback providing apparatus and a control method thereof, and more particularly, to a haptic feedback providing apparatus and a method for controlling the same, which provide a skin sensation and a muscle sensation at the same time to provide the same touch as a real object. will be.

In general, when you touch an object, the tactile sensations you can feel with a human fingertip (fingertip or stylus pen) are the tactile feedback that the skin touches the surface of the object and when the movement of the joints and muscles is disturbed. There is kinesthetic force feedback felt. As used herein, “haptic feedback” is a concept encompassing tactile feedback and muscular sense force feedback.

As a human sensory receptor, a mechanical stimulus receptor is a Pacinian corpuscle that senses high frequency vibrations, Meissner's corpuscle that senses low frequency vibrations, and Merkel's that senses local pressure. Ruffini's ending, which detects the disc and the stretch that presses on the skin.

Various tactile display devices for stimulating the sensory receptors include various actuators such as piezo actuators, solenoid actuators, DC / AC motors, server motors, ultrasonic actuators, and electroactive polymer actuators. A representative example of the tactile display device is a vibration motor according to an input of a touch screen in a mobile device, and generates a vibration to stimulate a Pachinian / Minus body that senses vibration of high frequency / low frequency.

In addition, Figure 1 is a device that provides such a sense, it shows a case applied to the mobile phone (10). As a device applied to the mobile phone 10 to transmit a predetermined sense, the prior art was a method of outputting only vibration in response to the user's touch with the finger (1).

Such a conventional sensory device only stimulates the skin sensation, and the reality is inferior to touching a real object. A person rubs while pressing an object with a certain pressure using a joint of a hand / arm. At this time, a person feels the stiffness of the object and recognizes a different roughness depending on the degree of pressing even a substance having the same roughness. That is, it is possible to recognize the unique touch of the object not only by the skin sense but also by the comprehensive action of the muscle sense.

Thus, there has been a demand for the development of a device that provides an environment in which a real human feels not limited to simply outputting a predetermined vibration to the skin.

Accordingly, an object of the present invention is to provide a device and a method of controlling the same, which provide the same haptic feedback as when the user actually touches an object by providing skin and muscle sensations at the same time. .

An object of the present invention as described above, the skin sensation means for providing a skin sensation to the user by generating a micro-vibration;

Muscle sense means provided in the lower portion of the skin sense means and providing a sense of muscle to the user by using a change in shear force generated between two surfaces;

Power supply means for applying electricity to the skin sense means and the muscle sense means; And

It can be achieved by a haptic feedback providing apparatus for providing a skin sensation and muscle sensation, characterized in that it comprises a control means for controlling the electricity applied to the skin sense means and muscle sense means based on the tactile information of the object.

In this case, the muscle-sensing means changes the viscosity of the electrorheological fluid or the magnetorheological fluid using an electric field or a magnetic field, and changes the shear force between two faces facing each other based on the viscosity change of the electric or magnetorheological fluid. By generating it, the muscle sensation can be provided.

An object of the present invention as described above is another means, the skin sensation means for providing a skin sensation to the user by generating a micro-vibration;

A muscle sense means provided under the skin sense means and providing a sense of muscle to the user by using a stiffness change of the fluid included in the case;

Power supply means for applying electricity to the skin sense means and the muscle sense means; And

A haptic feedback providing device for providing skin sensation and muscle sensation, comprising: control means for controlling electricity applied to the skin sensation means and the muscle sensation means based on the tactile information of the object.

In this case, the fluid included in the case of the muscle sensation means is a rheological fluid, and the muscle sensation means can provide the muscle sensation by changing the stiffness of the case part including the rheology fluid based on the viscosity change of the rheology fluid.

In addition, the fluid included in the case of the muscle sensation means is paraffin, and the muscle sensation means can provide muscle sensation by changing the stiffness of the case part including the paraffin based on the phase change of the paraffin.

The skin sensation means of the haptic feedback providing device generates a micro vibration by adjusting the interval between the plurality of micro projections.

In addition, the skin sense means may include a contact surface in contact with the skin of the user; and a vibrating element for vibrating the contact surface, it may be configured to generate a micro vibration on the contact surface by the vibration of the vibrating element.

The apparatus may further include position acquiring means for acquiring a contact position of the user who contacts the haptic feedback providing apparatus, and electrical control of the power supply means of the control means is based on the contact position, and the skin sensation means and the muscle sensation means. Can be controlled locally.

An object of the present invention as described above, the control means based on the tactile information of the object applying a control signal to the power supply means;

A step of applying electric power to skin sensation means and muscle sensation means by a power supply means receiving a control signal;

Generating fine vibrations by the skin-sensing means adjusting the spacing between the plurality of micro-projections based on the electrical application of the power supply means; And

The stiffness or shearing force of the muscle sensation means is changed based on the electrical application of the power supply means.

In addition, the tactile information of the object may be stored in advance in the control means or may be input from the outside.

And, before the control signal applying step, the position obtaining means to obtain a contact position of the finger that the user is in contact; and the control signal applying step may apply a control signal based on the contact position. .

In addition, the electricity applied by the power supply means to the skin sense means and the electricity applied to the muscle sense means in the electrical application step may be independent of each other.

Therefore, according to one embodiment of the present invention as described above, unlike the conventional providing only a simple vibration, by providing a muscle sensation stimulation due to the change in the skin sensation stimulation and the viscosity change of the rheological fluid at the same time by providing a fine vibration period The advantage is that it provides the same haptic feedback that the human feels when he or she touches an object.

The haptic feedback has an advantage that can be used in various ways, such as the mobile device industry, the robot industry using the touch.

<Configuration>

Hereinafter, with reference to the accompanying drawings will be described with respect to the configuration of the haptic feedback providing apparatus according to an embodiment of the present invention. As shown in FIG. 2, the haptic feedback providing apparatus according to the present invention includes a skin sense means 100, a muscle sense means 200, a power supply means 300, a control means 400, and the like.

(Skin sense means)

Skin sense means 100 is a member that stimulates the skin sense by generating a fine vibration to the user. Skin sensation means 100 is preferably provided on the top layer of the haptic feedback providing apparatus according to the present invention to stimulate the user's skin. Hereinafter, a case of using a fine protrusion and a case of using a vibrating element will be described as an example of the skin sensor 100 for generating micro vibrations.

①Skin Sensing Means-First Embodiment

Figure 3a is a front view of the skin sensor means for causing vibration using a fine projection. As shown in Figure 3a, the skin sense means according to the present embodiment has a band shape, a plurality of fine protrusions 112 are formed, the edge of the plurality of fine protrusions 112 to adjust the spacing between the fine protrusions There is provided a gap adjusting portion 114a. As shown in FIG. 3B, when the user's finger 1 contacts the microprotrusion 112, the microprotrusion 112 vibrates at a predetermined frequency, thereby stimulating the user's skin sense.

The gap adjusting unit 114a may be formed of a material that can be reduced in length and lengthened by the electrical application of the power supply unit 300, and an example thereof is a shape memory alloy. When a predetermined heat is generated while electricity is applied to the gap adjusting part 114a made of the shape memory alloy, the shape memory alloy is shrunk by heat. Since the space adjusting unit 114a is fixed to the housing (not shown), the space between the fine protrusions 114 is widened according to the shrinkage of the shape memory alloy.

The micro-projections 112 are preferably made of a stretchable material (eg, rubber, polymer) so as to easily change the spacing between the micro-projections 112.

②Skin Sensing Means-Second Embodiment

Figure 4 is an exploded perspective view of the skin sensor means for causing vibration using the micro-projections, the skin sensor means also includes a plurality of micro-projections 112 in this embodiment. Unlike in the case of the first embodiment of the above-described skin sense means, the gap adjusting unit 114a is provided at the edges of the plurality of fine protrusions 112, and in the present embodiment, the gap adjusting unit 114b is formed of the fine protrusions 112. It may be provided at the bottom.

The gap adjusting unit 114b may use a polymer actuator composed of an electroactive polymer or the like, and an example of the electroactive polymer may include a dielectric elastomer 115 such as polyurethane and acrylic rubber. In the case of the dielectric elastomer 115, it is advantageous when the haptic feedback providing device according to the present invention is used in a portable device or the like in terms of response speed and energy efficiency.

As shown in FIG. 4, the gap adjusting unit 114b includes a dielectric elastic body 115, and an electrode 116 to which electricity by the power supply unit 300 is applied is formed in the dielectric elastic body 115. When electricity is applied to the electrode 116 from the power supply means 300, the gap adjusting portion 114b made of a dielectric elastic body 115 is increased in length. As the space adjusting unit 114b is extended, the space between the fine protrusions 112 attached to the upper portion of the space adjusting unit 114b also increases. The gap change between the minute protrusions 112 provides the user with a different skin stimulus than the skin stimulus before the gap is changed.

Also in the case of this embodiment, the fine protrusions 112 is preferably made of a flexible material to facilitate the change of the interval between the fine protrusions 112 by the interval adjusting unit (114b).

③Skin sense means-third embodiment

Skin sense means for generating a micro-vibration using the vibrating element according to the present embodiment is composed of a contact surface 120 and the vibrating element 130 is in contact with the user's finger (1). The vibrating device 130 is provided below the contact surface 120 to generate fine vibration. According to the vibration of the vibrating device 130, the contact surface 120 provided on the upper part of the vibrating device 130 vibrates finely to stimulate the user's skin sense. At least one vibrating element 130 is provided below the contact plate 120.

As the vibration device 130, a vibration motor, actuators of various configurations, and the like may be used. Looking at the configuration-specific embodiments of the vibration device 130 are as follows.

Figure 5a is an exploded perspective view of a third embodiment of the skin sense means for generating micro-vibration using a solenoid actuator, Figure 5b is a side view of the housing 134 is removed in Figure 5a, Figure 5c is a view of Figure 5b It is a cross section. The vibrating element 130a provided below the contact surface 120 includes a permanent magnet 132, a housing 134, a coil unit 136, a bottom cover 138, and the like. When power is applied to the coil unit 136 by the electrical application of the power supply means 300, the coil unit 136 becomes an electromagnet to induce attraction or repulsive force to the permanent magnet 132. Therefore, the permanent magnet 132 tries to enter or exit the coil unit 136. Due to the displacement of the permanent magnet 132 in the vertical direction, the contact surface 120 coupled with the permanent magnet 132 vibrates finely, and the fine vibration of the contact surface 120 stimulates the user's skin sensation.

6 is a perspective view of a fourth embodiment of the skin sense means for generating micro vibrations using the piezoelectric layer 146. The vibrating element 130b according to the present exemplary embodiment includes a leaf spring 142, a piezoelectric layer 146, a metal plate 144, and the like. The leaf spring 142 is attached to the lower portion of the contact surface 120. The leaf spring 142 amplifies the vibrations of the piezoelectric layer 146 and the metal plate 144 to vibrate the contact surface 120. The piezoelectric layer 146 has a thin band shape and is made of a material such as piezo and Pb (ZrTi) O ₃ . Therefore, vibration is generated when electricity is applied by the power supply means 300, and for this purpose, electrodes 148 are connected to both ends of the piezoelectric layer 146. The metal plate 144 is provided between the piezoelectric layer 146 and the leaf spring 142 to maintain the shape of the piezoelectric layer 146 and transmit vibration to the leaf spring 142.

FIG. 7 is a perspective view illustrating a case in which the vibration device 130a 'further provided with a leaf spring and the vibration device 130b described with reference to FIG. 6 are mixed with the vibration device 130a described with reference to FIGS. 5A to 5C. In addition to the case where a plurality of single types of the various vibration devices 130 as described above are provided, different types of vibration devices may be mixed and used.

(Sensory means)

The muscle sensation means 200 is provided below the skin sensation means 100 to provide muscle sensation to the user. The muscle sensation means 200 may use shear force or change in rigidity. Hereinafter, description will be made for each embodiment of such a sensory means.

①Sensory Means-First Embodiment

8A is an exploded perspective view of the muscle sense means for inducing a change in shear force using a magnetic field. The near sense means according to the present embodiment includes a case part 212 composed of a double membrane, a magnetorheological fluid 214 provided between the double membranes, and an upper layer part provided with a precipitation membrane 216a deposited on the magnetorheological fluid 214. 216 and the coil portion 218 for varying the viscosity of the magnetorheological fluid 214.

Magneto-Rheological Fluid (214) is a fluid whose viscosity changes depending on the strength of a magnetic field. That is, the magnetorheological fluid 214 is in a low viscous state when there is no magnetic field and is changed to a high viscous state such as hardened when applied to the magnetic field. That is, the magnetorheological fluid 214 rapidly increases in viscosity because particles are arranged in a chain-like structure in the direction of the magnetic field under the influence of an applied magnetic field. The magnetorheological fluid 214 is to increase in viscosity in proportion to the intensity of the magnetic field applied. The magnetorheological fluid 214 has advantages such as high tensile strength, low viscosity, stiffness, stability, and wide temperature range, and thus is suitable for haptic applications.

When electricity is applied to the coil unit 218 of the near sense means 200 according to the present embodiment by the power supply unit 300, a magnetic field is induced in the coil unit 218. Due to the magnetic field, the magnetorheological fluid 214 becomes more viscous, and the precipitation film 216a is rotated by the magnetorheological fluid 214 having increased viscosity even when the upper layer 216 is rotated in the direction as shown in FIG. 8B. This is difficult. That is, the shear force is generated between the precipitation membrane 216a and the outer membrane of the double layer of the case portion 212, thereby providing a sense of muscle to the user who wants to rotate the upper layer portion 216.

Electro-Rheological Fluid (ERF) is a fluid whose viscosity changes with the strength of an electric field. In other words, the electro-fluidic fluid is a suspension in which highly polarized particles are dispersed in an insulating fluid, and when the electric field is absent, it is in a low viscosity state and is changed into a high viscosity state such as hardened when applied to the electric field. In other words, the rheological fluid has a sharp increase in viscosity since particles are arranged in a chain-like structure in the direction of the electric field under the influence of an applied electric field. An electrorheological fluid is one whose viscosity increases in proportion to the strength of an applied electric field. Electro-fluidic fluids have the advantages of high tensile and low viscosity, stiffness, stability and wide temperature range, making them suitable for haptic applications.

Therefore, in the present embodiment, when the magnetorheological fluid 214 is configured as an electric fluid fluid, the coil part 218 may be replaced with an electrode.

②Sensory Means-Second Embodiment

9 is a perspective view according to a second embodiment of a near sense means for inducing a change in shear force using a magnetic field. The near sense means 300 according to the present embodiment includes a plurality of permanent magnets 224 provided on the side of the rotating plate 225 and a solenoid 222 provided on both sides of the rotating plate 225.

When no electricity is applied to the solenoid 222 so that the magnetic field is not formed, when the user tries to rotate the rotating plate 225 using the finger 1, the rotating plate 225 is rotatable without any limitation. However, when electricity is applied to the solenoid 222 by the electrical application of the power supply means 300, a magnetic field is generated between the solenoids 222 provided at both ends of the rotating plate 225, the permanent magnet formed on the side of the rotating plate 225 ( The rotation of the rotating plate 225 is difficult due to the interaction of 224 and the magnetic field. That is, the shear force is generated between the two surfaces facing the solenoid 222 and the rotating plate 225, thereby providing a sense of muscle to the user.

(3) Muscular Sense Means-Third Embodiment

FIG. 10A is a perspective view of a muscle sensation means for providing a muscle sensation by using a stiffness change of the rheological fluid, FIG. 10B is an exploded perspective view, and FIG. 10C is a cross-sectional view taken along the line A-A of FIG. The near sense means 300 according to the present embodiment forms an electric field in the intermediate part 234 and the flow hole 234a in which the case part 232 and the flow hole 234a through which the electro-fluidic fluid 235 can enter and exit are formed. It includes an electrode 236, a receiving film 238 for receiving the electro-fluidic fluid 235 passing through the flow hole 234a, and a lower support layer 239 formed with the receiving hole (239a). As shown in FIG. 10C, the electrode 236 is provided such that the positive electrode and the negative electrode cross each other at predetermined intervals in the flow hole 234a. When electricity is applied to the electrode 236 by the power supply means 300, an electric field is generated between the positive electrode and the negative electrode.

When no electric field is generated, the user presses the case part with the finger 1 to the near sense means 300 as shown in FIG. 10D, and the electric rheological fluid 235 flows through the hole 234a as shown in FIG. 10E. ) Is stored in the receiving film 238. However, when electricity is applied to the electrode 236 to form an electric field in the flow hole 234a, the viscosity of the electric rheological fluid 235 near the flow hole 234a increases. Therefore, the amount of the electrofluidic fluid 235 passing through the flow hole 234a is significantly reduced, so that even if the user presses the case part 232 with the finger 1, a large difference occurs in the degree of the case part 232 being pressed. do. In this way, it stimulates the user's sense of muscle.

In the present embodiment, in the case of using the magnetorheological fluid instead of the electric rheological fluid 235, the electrode 236 may be replaced by a coil part generating a magnetic field.

④ Root-Sensory Means—Fourth Embodiment

11A is a cross-sectional view according to a fourth embodiment of a muscle sensation means for providing a stiffness change using paraffin. In the present embodiment, the near sense means 300 includes a case part 242 and a paraffin 243 included in the case part 242, a heater part 245 for supplying heat to the paraffin 243, and the like. do. The heater unit 245 generates predetermined heat by applying the power of the power supply unit 300. As the heater unit 245, a micro heater may be used. When the paraffin 243 causes a phase change due to the heat generated by the heater 245, and the paraffin 243 is liquefied, the case part 242 is digitized by the liquefied paraffin 243 as shown in FIG. 11B. Pressing by is good.

⑤ muscle sense means-fifth embodiment

12A is a perspective view according to a fifth embodiment of a muscle sensation means for providing a stiffness change using a magnetorheological fluid, and FIG. 12B is a cross-sectional view of the fluid tube 250. The near sense means 300 according to the present embodiment includes a plurality of fluid tubes 250 including a magnetorheological fluid 252 therein, a case part 258 provided with a fluid tube 250, and a fluid tube 250. Coil portion 254 wound along the outer circumferential surface thereof. When the user presses the case part 258 using the finger 1, since no electricity is applied to the coil part 254 surrounding the fluid pipe 250, the viscosity of the magnetorheological fluid 252 is very low and is flexible. Will be pressed. Subsequently, when electricity is applied to the coil unit 254 by the power supply unit 300, a magnetic field is induced in the coil unit 254 to which the electricity is applied, and the magnetic rheology included in the fluid pipe 250 by the magnetic field. Fluid 252 increases in viscosity. In this state, when the user presses the case portion 258, which is an upper region of the fluid pipe 250 having increased viscosity, by using the finger 1, the user is provided with a hard sense of hardness. 12C shows the fluid tube 250 'having increased viscosity by the magnetic field.

In the present exemplary embodiment, when the electrofluidic fluid is used instead of the magnetorheological fluid 252, the coil part 254 may be replaced with an electrode provided in the fluid pipe 250.

⑥ muscle sense means-Embodiment 6

FIG. 13 is a cross-sectional view according to a sixth embodiment of a muscle sensation means for providing a muscle sensation by providing a stiffness change using an electrorheological fluid. An elastic spring 264 and an electric rheological fluid 267 are included in the cylindrical case part 268. The upper portion of the elastic spring 264 is the pressing plate 262 is connected by the shaft 263, the lower portion is supported on the inner surface of the case portion 268. When the finger 1 presses the pressing plate 262, the pressing plate 262, the shaft 263 and the elastic spring 264 are subjected to a compressive force and move integrally.

The electrode 269 provided inside the case part 268 causes an electric field by the application of the power supply unit 300 to electricity. Due to the electric field, the rheological fluid 267 increases in viscosity, and due to the increase in viscosity of the electric rheological fluid 267, the degree to which the finger 1 presses the pressing plate 262 is weakened. This gives the user a sense of stiff sense of muscle.

When the electric rheological fluid 267 according to the present embodiment is replaced with a magnetorheological fluid, the electrode 269 may be replaced with a coil part wound around the outer circumferential surface of the case part 268.

(Power means)

The power supply unit 300 applies electricity to the aforementioned skin sense means 100 and the muscle sense means 200. The electricity applied to the skin sense means 100 and the electricity applied to the muscle sense means 200 are independently applied to each other, so that the skin sense means 100 and the muscle sense means 200 operate separately. One example of the power supply means 300 is a secondary battery used in a mobile phone.

(Control means)

The control means 400 controls the electricity of the power supply means 300 based on the tactile information of the object. The tactile information of the object may be stored in the control means 400 in the form of physical property data or may be provided from an external memory device (eg, a USB memory). For example, in order to provide a soft touch like a rubber ball, the vibration of the skin sensor 100 may be adjusted or the stiffness of the muscle sensor 200 may be adjusted.

As described above, the skin sense means 100 and the muscle sense means 200 are arranged in plural. For example, as in the fifth embodiment of the muscle sensation means 200, a plurality of fluid pipes 250 may be arranged in parallel. The contact portion of the user's finger 1 is only a part of the haptic feedback providing device. The control means 400 may control the power supply means 300 to change only the local areas of the skin sense means 100 and the muscle sense means 200. Thus, power consumption of the haptic feedback providing device can be minimized.

(Location acquisition means)

The position acquiring means 500 acquires a contact position of the finger 10 in contact with the haptic providing device at a predetermined coordinate (for example, x-y coordinate). When the electricity applied to the skin sense means 100 and the muscle sense means 200 is controlled on the basis of the position information of the position acquisition means 500, the haptic may be provided by changing only the portion where the user's finger 1 touches. Can be. Therefore, the user does not need to change the part that does not feel the haptic by using the finger 1, thereby minimizing power consumption. This is advantageous in that the haptic providing device according to the present invention can be effectively applied to a portable device (eg, a mobile phone). That is, the control of the control means 400 is preferably based on the position acquisition information of the position acquisition means 500.

As an example of the position acquisition means 400, a configuration or a touch pad for position acquisition used in a touch screen may be used.

FIG. 14 is a haptic feedback providing device having such a configuration, and shows a haptic feedback providing device having a muscle sensation means 200 according to a fifth embodiment of a skin sensation means 100 according to a first embodiment. State diagram.

< Control Method>

15 is a flowchart illustrating a control method of a haptic providing device according to the present invention. First, the position acquisition means 500 obtains a contact position that the user's finger 1 is in contact with (S100). The contact position may be obtained at a predetermined coordinate (eg, x-y coordinate), and the coordinate regarding the contact position is applied to the control means 400.

Thereafter, the control means 400 applies a control signal to the power supply means 300 based on the contact position information and the physical property information of the object (S200). As described above, the physical property information of the object may be stored in the control means 400 or provided from an external memory device. The control signal of the control means 400 relates to the degree of application of electricity to the skin sense means 100 and the muscle sense means 200 provided at the contact position (eg, the strength of the voltage or the strength of the current). For example, if the contact position is the central region of the haptic providing apparatus, a control signal for applying electricity to the skin sensor means 100 and the muscle sensor means 200 provided in the central region is applied to the power supply means 300. .

The power supply means 300 receiving the control signal applies electricity to the skin sense means 100 and the muscle sense means 200 (S200). At this time, the application of electricity to the skin sense means 100 and the muscle sense means 200 of the power supply means 300 is preferably made independently.

The skin sensation means 100 generates fine vibrations according to the electrical application of the power supply means 300, thereby providing a skin sensation to the user (S300), and the muscle sensation means 200 according to the application of the power supply means 300. The stiffness is changed or the shear force is changed to provide a sense of muscle to the user (S400).

The haptic providing apparatus and its control method according to the present invention can be used in various ways, regardless of the type, if the purpose is to provide haptics to a user such as a robot or a game device as well as a portable electronic communication device such as a mobile phone, a navigation device, a smartphone, a PMP, a PDA, and the like. Can be used.

In particular, the present invention can be applied to an interface in the form of a mouse pad that can be used in a touch pad desktop computer of a notebook.

Although the present invention has been described in connection with the above-mentioned preferred embodiments, it will be readily apparent to those skilled in the art that various other modifications or variations can be made without departing from the spirit and scope of the invention. Are all within the scope of the appended claims.

1 is a state mounted to the mobile phone as a device for providing a vibration to a conventional user,

2 is a schematic structural block diagram of a haptic providing apparatus according to the present invention;

Figure 3a is a first embodiment of the skin sensation means of the haptic providing apparatus according to the present invention, a front view of the skin sensation means causing vibration using a fine projection.

Figure 3b is a side view of Figure 3a, showing a state of vibration of the fine projections,

Figure 4 is an exploded perspective view of a second embodiment of the skin sensation means of the haptic providing apparatus according to the present invention,

Figure 5a is an exploded perspective view of a third embodiment of the skin sensation means of the haptic providing apparatus according to the present invention,

5B is a side view of the housing in a removed state in FIG. 5A;

5C is a cross-sectional view of FIG. 5B;

Figure 6 is a perspective view of a fourth embodiment of the skin sensation means of the haptic providing apparatus according to the present invention,

7 is a state diagram in which a third embodiment of the skin sense means described in FIGS. 5A to 5C and a fourth embodiment of the skin sense means described in FIG. 6 are mixed;

Figure 8a is an exploded perspective view according to a first embodiment of the muscle sensation means of the haptic providing apparatus according to the present invention,

8B is a perspective view illustrating a state in which the configuration of FIG. 8A is coupled;

9 is a perspective view according to a second embodiment of a muscle sensation means in the haptic providing device according to the present invention;

Figure 10a is a perspective view according to a third embodiment of the muscle sensation means using a change in stiffness of the haptic providing apparatus according to the present invention,

10B is an exploded perspective view of FIG. 10A;

10C is a cross-sectional view taken along the line A-A of FIG. 10A;

11A is a cross-sectional view according to a fourth embodiment of a muscle sensation means using a change in stiffness of a haptic providing device according to the present invention;

11B is a state diagram when a finger presses the muscle sense means of FIG. 11A;

12A is a perspective view according to a fifth embodiment of a muscle sensation means using a change in stiffness of a haptic providing device according to the present invention;

12b is a sectional view of a fluid tube,

12C is a perspective view of the fluid tube of increased viscosity among the muscle sense means of FIG. 12A;

13 is a cross-sectional view according to a sixth embodiment of the muscle sensation means using a change in stiffness of the haptic providing device according to the present invention;

14 is an exploded perspective view showing a state in which a haptic providing device according to the present invention combines a first embodiment of a skin sensation means and a fifth embodiment of a muscle sensation means;

15 is a flowchart illustrating a control method of a haptic providing device according to the present invention.

<Description of the symbols for the main parts of the drawings>

1: finger 10: mobile phone

100: skin sense means 112: fine projection

114a and 114b: Spacing part 115: Dielectric elastomer

116, 148, 236, and 269 electrodes 120 contact surfaces

130, 130a, 130a ', 130b: vibrating element 132, 224: permanent magnet

134: housing 136, 218, 254: coil portion

138: bottom cover 142: leaf spring

144: metal plate 146: piezoelectric layer

200: muscle sense means 212, 232, 242, 258, 268: case portion

214, 252: magnetorheological fluid 216a: sedimentation membrane

216: upper layer 222: solenoid

225: rotating plate 235, 267: electro-fluidic fluid

234a: flow hole 234; Mezzanine

239a: receiving hole 239: lower support layer

243: paraffin 245: heater

250: fluid tube 250 ': fluid tube with increased viscosity

264: elastic spring 300: power supply means

400: control means 500: position acquisition means

Claims (12)

Skin sensation means for providing a skin sensation to the user by generating a micro-vibration by adjusting the interval between the plurality of micro-projections; Muscle sense means provided in the lower portion of the skin sense means and providing a sense of muscle to the user by using a change in shear force generated between two surfaces; Power supply means for applying electricity to the skin sense means and the muscle sense means; And Haptic feedback providing device for providing a skin sensation and muscle sensation, characterized in that it comprises; control means for controlling the electricity applied to the skin sense means and the muscle sense means based on the tactile information of the object. The method of claim 1, The muscle sense means, Muscular sensation by using an electric or magnetic field to change the viscosity of the electrorheological or magnetorheological fluid and to generate a change in shear force between the two faces that face each other based on the change in viscosity of the electrorheological or magnetorheological fluid Haptic feedback providing device for providing a sense of the skin and muscles, characterized in that to provide. Skin sensation means for providing a skin sensation to the user by generating a micro-vibration by adjusting the interval between the plurality of micro-projections; Muscle sense means provided under the skin sense means and providing a sense of muscle to the user by using a stiffness change of the fluid included in the case; Power supply means for applying electricity to the skin sense means and the muscle sense means; And Haptic feedback providing device for providing a skin sensation and muscle sensation, characterized in that it comprises; control means for controlling the electricity applied to the skin sense means and the muscle sense means based on the tactile information of the object. The method of claim 3, wherein The fluid contained in the case of the muscle sense means is a rheological fluid, and The haptic feedback providing device for providing skin sensation and muscle sensation, characterized in that for providing a sense of muscle by changing the stiffness of the case portion including the rheological fluid based on the change in viscosity of the rheological fluid. The method of claim 3, wherein The fluid contained in the case of the muscle sensation means is paraffin, and The haptic feedback providing device for providing skin sensation and muscle sensation, characterized in that for providing a sense of muscle by changing the stiffness of the case part including the paraffin based on the phase change of the paraffin. delete The method according to claim 1 or 3, The skin sense means, And a vibrating element for vibrating the contact surface with a contact surface in contact with the skin of the user. Haptic feedback providing device for providing skin and muscle sensation, characterized in that the micro-vibration is generated on the contact surface by the vibration of the vibration element. The method according to claim 1 or 3, And position acquiring means for acquiring a contact position of the user who contacts the haptic feedback providing apparatus. Electrical control of the power supply means of the control means is based on the contact position, the haptic feedback providing apparatus for providing skin sensation and muscle sensation, characterized in that for locally controlling the skin sense means and the muscle sense means. The control means applying a control signal to the power supply means based on the tactile information of the object; A step of supplying electricity to the skin sense means and the muscle sense means by the power supply means receiving the control signal; Generating fine vibrations by the skin-sensing means adjusting the interval between the plurality of micro-projections based on the electrical application of the power supply means; And And a step of changing the stiffness or shear force of the muscle sensation means based on the electrical application of the power supply means. The method of claim 9, Control method of the haptic feedback providing device for providing the skin and muscle sense, characterized in that the tactile information of the object is stored in advance in the control means or received from the outside. The method of claim 9, Before the control signal applying step, The position acquiring means acquires a contact position of the finger that the user is in contact with; and The control signal applying step is a control method of the haptic feedback providing device for providing a skin and muscle sense, characterized in that for applying a control signal based on the contact position. The method of claim 9, In the step of applying electricity, Control method of a haptic feedback providing apparatus for providing skin sensation and muscle sensations, characterized in that the power applied by the power supply means to the skin sense means and the electricity applied to the muscle sense means are applied independently of each other.

Images