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WO2002073385A1 - Procede et unite servant a presenter une force interieure au moyen d'un gyroscope - Google Patents

Procede et unite servant a presenter une force interieure au moyen d'un gyroscope Download PDF

Info

Publication number
WO2002073385A1
WO2002073385A1 PCT/JP2002/002217 JP0202217W WO02073385A1 WO 2002073385 A1 WO2002073385 A1 WO 2002073385A1 JP 0202217 W JP0202217 W JP 0202217W WO 02073385 A1 WO02073385 A1 WO 02073385A1
Authority
WO
WIPO (PCT)
Prior art keywords
presenting
gyroscope
torque
vector
impact force
Prior art date
Application number
PCT/JP2002/002217
Other languages
English (en)
Japanese (ja)
Inventor
Norio Nakamura
Yukio Fukui
Juli Yamashita
Kentaro Nakata
Original Assignee
National Institute Of Advanced Industrial Science And Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by National Institute Of Advanced Industrial Science And Technology filed Critical National Institute Of Advanced Industrial Science And Technology
Priority to JP2002571977A priority Critical patent/JPWO2002073385A1/ja
Publication of WO2002073385A1 publication Critical patent/WO2002073385A1/fr

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
    • A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
    • A63F2300/1037—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals being specially adapted for converting control signals received from the game device into a haptic signal, e.g. using force feedback
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
    • A63F2300/80—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game specially adapted for executing a specific type of game
    • A63F2300/8035—Virtual fishing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/01—Indexing scheme relating to G06F3/01
    • G06F2203/013—Force feedback applied to a game

Definitions

  • the invention relates to the field of Virtual Reality (VR),
  • man-machine interfaces for use in the game field, etc., in particular, writing by presenting power or giving anti-force / reaction force to humans through man-machine interfaces
  • the present invention relates to a device that presents an impact due to the presence or collision of an object in a virtual space by restricting a person's movement.
  • VR has been known, which generates images, sounds, tactile sensations, and bodily sensations in response to human movements sensed by sensors to create a sense of being in a space created by a computer.
  • conventional VR sensation presentation devices in stimulus presentation of drag / reaction, a sight presentation unit that is in contact with human sensory organs and the sight presentation system body are connected by a single wire or arm.
  • the presence of these loudspeakers and arms restricts the movement of humans, and it can be used only in an effective space in which the camera presentation system body and the camera presentation unit are connected by wires or arms. Therefore, there was a limit on the spatial extent that could be used.
  • Minami 1 Grigore C. Burdea; "Force and touch feedback for virtual reality” A Wiley-Interscience Publication JOHN WILBY & SONS, INC. P90-93. 1996.
  • the present invention has been made in order to solve the above-mentioned drawbacks of the prior art, and it is possible to arbitrarily control the rotation direction and the rotation speed of a rotating body embedded in a man-machine interface device. It generates a torque in an arbitrary direction to show the existence of a virtual object and the impact force of a collision.
  • the present invention is characterized in that a rotational reaction force is generated using a gyroscope, and the reaction force is controlled by controlling the attitude and the number of rotations of the gyroscope. is there.
  • the gyroscope of the present invention is used differently from a normal gyroscope.
  • a normal gyroscope the fact that the angular momentum of the gyroscope does not change is used, but in the gyroscope of the present invention, the angular momentum of the gyroscope is positively changed and used. Therefore, the gyroscopic scope of the present invention can be referred to as "gyroscopic torque factories".
  • a repulsive levitation type that does not require a bearing is preferable, but a suction levitation type can also be realized in principle.
  • the gyroscope body is rotated by an external force while the rotating body in the gyroscope is rotating, torque is generated. Therefore, in one embodiment of the present invention, the gyro effect can be canceled even while the rotating body is rotating by using two sets of gyroscopic scopes that rotate at the same rotation speed in opposite directions. It makes it possible to reduce the torque generation when rotating.
  • the gyro attitude control unit when a rotational force is generated in each of the axial directions by three gyroscopes arranged and fixed on three axes, the gyro attitude control unit is eliminated, and the device is further improved. Simplify.
  • the present invention by presenting torque by controlling the rotation of a rotating body incorporated in an interface device small enough to fit in a hand, an arm or a wire is not required, and a plurality of interfaces can be provided. Can coexist in the same space. Further, according to the present invention, the interface device and the VR device main body can be connected with a lead wire or cordless, so that the movement of a person is not hindered. Further, according to the present invention, the use of three gyroscopes for generating a torque vector in an arbitrary direction eliminates the need for a movable rotating bearing for controlling the attitude of the rotating body, thereby simplifying the structure. , Increases structural strength. Further, according to the present invention, by using the twin gyroscope, unnecessary torque generation due to the rotation of the gyroscope body can be suppressed even when the rotating body is rotating. BRIEF DESCRIPTION OF THE FIGURES
  • FIGS. 1 to 13 are diagrams illustrating the principle and operation of the present invention, respectively.
  • FIG. 1 shows the torque vector when the magnitude of angular momentum is constant and the direction changes.
  • Figure 2 is a vector diagram showing the torque vector when the angular momentum direction is constant and the magnitude changes;
  • Figure 3 is a vector diagram showing the torque vector when the magnitude and direction of angular momentum change
  • Figures 4A, 4B, 4C, and 4D are vector, plan, front, and side views, respectively, showing torque vectors acting on the gyroscope
  • Figure 5 is a vector diagram showing the torque vector affected by the gyroscopic movement
  • FIG. 6 is a vector diagram showing the torque vector that changes direction periodically;
  • Figure 7 shows the angular momentum, the change in angular momentum, and the change in angular momentum at each time.
  • FIG. 5 is a vector diagram showing a generated torque vector;
  • FIG. 8 is a vector diagram showing a torque vector continuously showing a constant direction
  • FIG. 9 is a diagram showing a rotation of an angular momentum vector and a change in a torque vector acting on a gyroscope by drilling a hole in a gyroscopic pod. It is an explanatory view showing a state in which the rotating body of the gyroscope is viewed with a picture;
  • FIG. 10 is a vector diagram showing a torque vector generated in a side direction of the rectangle.
  • FIG. 11 is a schematic diagram showing a configuration of a single gyroscope system according to the present invention.
  • FIG. 12 is a schematic diagram showing a configuration of a twin gyroscope system according to the present invention.
  • FIG. 13 is a diagram showing a triple gyroscope system according to the present invention.
  • FIG. 14 is a perspective view of a gyroscope-based visual sense presentation device according to an embodiment of the present invention. Is an explanatory diagram showing an example of the use of;
  • FIG. 15 is a conceptual diagram showing a configuration example of a haptic device using a uniaxial gyro according to an embodiment of the present invention.
  • FIGS. 1 to 13 Before describing the best mode for carrying out the present invention, the principle and operation of the present invention will be described with reference to FIGS. 1 to 13 in order to facilitate understanding of the embodiment of the present invention. , Detailed.
  • an angular momentum vector can be generated in an arbitrary rotation direction by controlling the rotation axis direction and the rotation speed of the gyro, and an arbitrary force can be presented.
  • controlling the rotational speed ratio of the three gyroscopes makes it possible to control the angular momentum vector in any rotation direction without controlling the rotation axis. And present any force. This simplifies the structure and increases the structural strength.
  • the angular momentum vector L is expressed by multiplying the distance r from the origin by the momentum vector p.
  • Te torque base vector is represented torque base vector component generated by the magnitude of the change in the generated torque base-vector component tau Omega and angular momentum on the direction change of the angular momentum Te in force between the L.
  • FIG. 5 shows a state in which a human hand 51 is holding a cover 43 parallel to the axis 47 of the rotor 45.
  • L I d (co L — ⁇ ) / ⁇ t (1 0)
  • the torque vector acting on the gyro 41 indicates the same direction as the change ALi in the angular momentum vector.
  • the torque vector acting on the gyroscope cover 43 is the torque component acting in the direction perpendicular to the rotation axis 47 of the rotating body 45.
  • the torque component acting in the direction of the rotational axis and the torque component, which is the reaction force of L, is represented by the resultant torque vector with L.
  • the torque vector c indicates the same direction at any time.
  • e i becomes L. It always shows the same size in the direction rotated 90 degrees around the counter clock (see Fig. 8).
  • the angular momentum vector L and the torque vector acting on the gyroscope cover 43 return to the initial state when the gyroscope cover 43 rotates 180 degrees (see Fig. 9).
  • r e represents force torque acting on the gyroscope cover one 4 3.
  • twin gyroscope method As shown in Fig. 12, by rotating the rotating bodies of the two gyroscopes in the opposite direction and at the same speed ( ⁇ ⁇ —), the gyroscope effect can be canceled even with the rotating bodies rotating. Methods that can be used (hereinafter, this method is called twin gyroscope method), and
  • the three are mainly considered.
  • the twin Jairosuko Ichipu method rotating two rotating bodies at the same rotational speed in opposite directions
  • the gyro effect can be canceled even if the rotating body is kept rotating. If the entire gyroscope is rotated by an external force while the rotating body in the gyroscope is rotating, a torque is always generated by the gyroscope effect.However, if this twin gyroscope is used, the rotating body will rotate. Unnecessary torque generation can be suppressed. Therefore, this method is effective when it is desired to control the generated torque only by controlling the attitude of the rotating body while keeping the rotation speed constant.
  • a haptic device that presents the sensation of hitting a fish or catching a fish
  • a visual presentation device that presents recoil in gun shooting, such as cannons and pistols, in shooting games such as video game machines.
  • a visual presentation device that shows anti-power in weapons such as light sabers, bamboo swords, and baseball bats used by in-game characters such as video game machines (4)
  • a wrist-sensing device that presents a reaction force to an attack carried out by a character in the game using a wrist-and-ankle-band type interface of the present invention attached to a limb by a game player.
  • a wristband / ankle band type interface of the present invention attached to a limb by a game player is used to present a player's sense of kicking a pole.
  • a visual presentation device that presents an anti-motivation sensation when hitting a road surface with a stick used by a visually impaired person in training of object perception ability for the visually impaired using VR technology.
  • the gyroscope-based visual sensation presentation device is connected to a combo (not shown) for driving and controlling the vision sensation presentation device via a lead wire (not shown) or cordlessly. It is connected.
  • an intermittent torque simulating the pulling of fish is presented to the game user by a haptic display device mounted on the gripper 144 of the fishing rod 144. It is done by that.
  • the simulated torque is set so that the degree of pulling, the strength of the fish, and the change in the speed are different depending on the type and size of the fish selected by the player (game user). (Programming) Has been.
  • the torque vector acting on the fishing rod 144 is generated by the relative rotation of the gyroscope, which is obtained by subtracting the movement of the fishing rod from the player.
  • the position 'attitude of the fishing rod 14 1 is measured with a position' attitude detector (not shown) such as a three-dimensional magnetic sensor, and the movement of the fishing rod is determined based on the measured value.
  • the gyroscope 144 of the haptic device using the gyro according to the present invention rotates on the cross section of the rod 141, and as shown in FIG. 15, the angular momentum vector L has a constant speed on the circumference. In the case of the change, the constant torque vector is continuously displayed on the fishing rod 141, as shown in FIG. Further, by controlling the magnitude of the angular momentum vector L and the rotation direction of the gyroscope 144, as described in the principle of the above-described invention, any magnitude and any torque Vectors can be presented.
  • the gyroscope 145 can be realized by the single gyroscope system shown in FIG. 11, the twin gyroscope system shown in FIG. 12, or the ripple gyroscope system shown in FIG.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

L'invention concerne une unité servant à présenter la présence d'un objet virtuel ou un impact de collision utilisant le fait qu'un couple de force arbitraire peut être généré dans une direction arbitraire par la commande de la direction et de la vitesse de rotation d'un rotateur enfoui dans un dispositif à interface homme-machine. Une réaction de rotation est en outre générée par l'utilisation d'un gyroscope comme rotateur, et la réaction est commandée par la commande de l'attitude et du régime du gyroscope.
PCT/JP2002/002217 2001-03-08 2002-03-08 Procede et unite servant a presenter une force interieure au moyen d'un gyroscope WO2002073385A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2002571977A JPWO2002073385A1 (ja) 2001-03-08 2002-03-08 ジャイロを用いた力覚呈示方法及び装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2001-065562 2001-03-08
JP2001065562 2001-03-08

Publications (1)

Publication Number Publication Date
WO2002073385A1 true WO2002073385A1 (fr) 2002-09-19

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JP (1) JPWO2002073385A1 (fr)
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Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005050427A1 (fr) * 2003-11-20 2005-06-02 National Institute Of Advanced Industrial Science And Technology Systeme et procede d'affichage d'informations de detection de force tactile
JP2007304996A (ja) * 2006-05-12 2007-11-22 Denso Corp 入力システム
JP2008123061A (ja) * 2006-11-08 2008-05-29 Canon Inc 力覚提示装置及び複合現実感システム
JP2009175777A (ja) * 2008-01-21 2009-08-06 Canon Inc 情報処理装置および方法
JP2017063916A (ja) * 2015-09-29 2017-04-06 日本電信電話株式会社 提示する力覚を決定する装置、方法、およびプログラム
WO2019043787A1 (fr) * 2017-08-29 2019-03-07 株式会社ソニー・インタラクティブエンタテインメント Dispositif de commande de vibration
US10416767B2 (en) 2003-11-20 2019-09-17 National Institute Of Advanced Industrial Science And Technology Haptic information presentation system and method
US10936074B2 (en) 2003-11-20 2021-03-02 National Institute Of Advanced Industrial Science And Technology Haptic information presentation system and method
US10963054B2 (en) 2016-12-15 2021-03-30 Sony Interactive Entertainment Inc. Information processing system, vibration control method and program
US10963055B2 (en) 2016-12-15 2021-03-30 Sony Interactive Entertainment Inc. Vibration device and control system for presenting corrected vibration data
US10969867B2 (en) 2016-12-15 2021-04-06 Sony Interactive Entertainment Inc. Information processing system, controller device, controller device control method and program
US10981053B2 (en) 2017-04-18 2021-04-20 Sony Interactive Entertainment Inc. Vibration control apparatus
US11013990B2 (en) 2017-04-19 2021-05-25 Sony Interactive Entertainment Inc. Vibration control apparatus
US11145172B2 (en) 2017-04-18 2021-10-12 Sony Interactive Entertainment Inc. Vibration control apparatus
JP2021174253A (ja) * 2020-04-24 2021-11-01 日本放送協会 疑似体験システム
JP2021534428A (ja) * 2016-09-15 2021-12-09 リアル シンプル アイディアズ エルエルシー ジャイロ運動フィードバック装置
US11198059B2 (en) 2017-08-29 2021-12-14 Sony Interactive Entertainment Inc. Vibration control apparatus, vibration control method, and program
WO2022091958A1 (fr) * 2020-11-02 2022-05-05 ソニーグループ株式会社 Dispositif haptique et son dispositif et procédé de commande
US11458389B2 (en) 2017-04-26 2022-10-04 Sony Interactive Entertainment Inc. Vibration control apparatus
US11738261B2 (en) 2017-08-24 2023-08-29 Sony Interactive Entertainment Inc. Vibration control apparatus
US11779836B2 (en) 2017-08-24 2023-10-10 Sony Interactive Entertainment Inc. Vibration control apparatus
CN117244243A (zh) * 2023-11-20 2023-12-19 腾讯科技（深圳）有限公司 一种虚拟对象处理方法、装置、设备及存储介质

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US10936074B2 (en) 2003-11-20 2021-03-02 National Institute Of Advanced Industrial Science And Technology Haptic information presentation system and method
US9171437B2 (en) 2003-11-20 2015-10-27 National Institute Of Advanced Industrial Science And Technology Haptic information presentation system and method
US10416767B2 (en) 2003-11-20 2019-09-17 National Institute Of Advanced Industrial Science And Technology Haptic information presentation system and method
US11287888B2 (en) 2003-11-20 2022-03-29 National Institute Of Advanced Industrial Science And Technology Haptic information presentation system and method
GB2423846B (en) * 2003-11-20 2008-06-11 Nat Inst Of Advanced Ind Scien Haptic information presentation system and method
WO2005050427A1 (fr) * 2003-11-20 2005-06-02 National Institute Of Advanced Industrial Science And Technology Systeme et procede d'affichage d'informations de detection de force tactile
US10936072B2 (en) 2003-11-20 2021-03-02 National Institute Of Advanced Industrial Science And Technology Haptic information presentation system and method
KR101361291B1 (ko) 2003-11-20 2014-02-11 도꾸리쯔교세이호진 상교기쥬쯔 소고겡뀨죠 촉력각 전자 디바이스
US9041520B2 (en) 2003-11-20 2015-05-26 National Institute Of Advanced Industrial Science And Technology Haptic information presentation system and method
US9135791B2 (en) 2003-11-20 2015-09-15 National Istitute Of Advanced Industrial Science And Technology Haptic information presentation system and method
US9142104B2 (en) 2003-11-20 2015-09-22 National Institute Of Advanced Industrial Science And Technology Haptic information presentation system and method
GB2423846A (en) * 2003-11-20 2006-09-06 Nat Inst Of Advanced Ind Scien Tactile force sense information display system and method
US9495804B2 (en) 2003-11-20 2016-11-15 National Institute Of Advanced Industrial Science And Technology Haptic information presentation system and method
US9495803B2 (en) 2003-11-20 2016-11-15 National Institute Of Advanced Industrial Science And Technology Haptic information presentation system and method
US11385723B2 (en) 2003-11-20 2022-07-12 National Institute Of Advanced Industrial Science And Technology Haptic information presentation system and method
US10216278B2 (en) 2003-11-20 2019-02-26 National Institute Of Advanced Industrial Science And Technology Haptic information presentation system and method
JP4711135B2 (ja) * 2006-05-12 2011-06-29 株式会社デンソー 入力システム
JP2007304996A (ja) * 2006-05-12 2007-11-22 Denso Corp 入力システム
JP2008123061A (ja) * 2006-11-08 2008-05-29 Canon Inc 力覚提示装置及び複合現実感システム
JP2009175777A (ja) * 2008-01-21 2009-08-06 Canon Inc 情報処理装置および方法
JP2017063916A (ja) * 2015-09-29 2017-04-06 日本電信電話株式会社 提示する力覚を決定する装置、方法、およびプログラム
JP2021534428A (ja) * 2016-09-15 2021-12-09 リアル シンプル アイディアズ エルエルシー ジャイロ運動フィードバック装置
JP7482871B6 (ja) 2016-09-15 2024-07-23 リアル シンプル アイディアズ エルエルシー ジャイロ運動フィードバック装置
JP7482871B2 (ja) 2016-09-15 2024-05-14 リアル シンプル アイディアズ エルエルシー ジャイロ運動フィードバック装置
US10969867B2 (en) 2016-12-15 2021-04-06 Sony Interactive Entertainment Inc. Information processing system, controller device, controller device control method and program
US10963054B2 (en) 2016-12-15 2021-03-30 Sony Interactive Entertainment Inc. Information processing system, vibration control method and program
US10963055B2 (en) 2016-12-15 2021-03-30 Sony Interactive Entertainment Inc. Vibration device and control system for presenting corrected vibration data
US10981053B2 (en) 2017-04-18 2021-04-20 Sony Interactive Entertainment Inc. Vibration control apparatus
US11145172B2 (en) 2017-04-18 2021-10-12 Sony Interactive Entertainment Inc. Vibration control apparatus
US11013990B2 (en) 2017-04-19 2021-05-25 Sony Interactive Entertainment Inc. Vibration control apparatus
US11458389B2 (en) 2017-04-26 2022-10-04 Sony Interactive Entertainment Inc. Vibration control apparatus
US11738261B2 (en) 2017-08-24 2023-08-29 Sony Interactive Entertainment Inc. Vibration control apparatus
US11779836B2 (en) 2017-08-24 2023-10-10 Sony Interactive Entertainment Inc. Vibration control apparatus
WO2019043787A1 (fr) * 2017-08-29 2019-03-07 株式会社ソニー・インタラクティブエンタテインメント Dispositif de commande de vibration
JPWO2019043787A1 (ja) * 2017-08-29 2020-02-06 株式会社ソニー・インタラクティブエンタテインメント 振動制御装置
US11198059B2 (en) 2017-08-29 2021-12-14 Sony Interactive Entertainment Inc. Vibration control apparatus, vibration control method, and program
JP2021174253A (ja) * 2020-04-24 2021-11-01 日本放送協会 疑似体験システム
WO2022091958A1 (fr) * 2020-11-02 2022-05-05 ソニーグループ株式会社 Dispositif haptique et son dispositif et procédé de commande
CN117244243A (zh) * 2023-11-20 2023-12-19 腾讯科技（深圳）有限公司 一种虚拟对象处理方法、装置、设备及存储介质
CN117244243B (zh) * 2023-11-20 2024-02-02 腾讯科技（深圳）有限公司 一种虚拟对象处理方法、装置、设备及存储介质

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