JP2024072158A - Tactile presentation device and tactile presentation system - Google Patents

Abstract

To provide a tactile sense presentation device and a tactile sense presentation system capable of presenting a high quality tactile sense without preventing exposure of a finger belly.SOLUTION: According to the present technique, a tactile sense presentation device includes an appliance and a stress generation part. The appliance is attached to a finger, has an action part, and exposes a finger belly. The stress generation part is separated from the action part, applies stress to the appliance, and makes the action part press a tactile presentation position being a position other than the finger belly in the finger.SELECTED DRAWING: Figure 1

Description

This technology relates to a tactile presentation device and a tactile presentation method that presents tactile sensations to a user's fingers.

In virtual reality (VR), when touching a virtual object displayed in a virtual space, a tactile sensation of the virtual object can be presented by using a tactile presentation device. Such tactile presentation devices can be broadly divided into two types. Type 1 is a type that is worn on the hand or fingers and presents tactile sensation by applying pressure or vibration to the part that comes into contact with the skin, with the tactile presentation device placed in the area where it is desired to present tactile sensation. Type 2 is a type that is worn on the wrist or the base of the fingers and has the tactile presentation device placed in an area different from the area where actual tactile sensation is felt, ensuring freedom of movement of the hand or fingers and ensuring tactile operation on real objects by keeping the finger pads exposed.

Meanwhile, attention is being drawn not only to virtual reality, but also to Augmented Reality (AR) and Mixed Reality (MR), technologies that combine image information from virtual space with visual information from real space. The basis of these technologies is to make artificially created virtual objects appear in spaces and objects that actually exist, making it possible, for example, for a fictional character to appear on a desk in front of you. In this way, in a space where the real world and the virtual world are combined, it becomes difficult to achieve both the "act of touching a real object" and the "sensation of touching a virtual object."

In the case of Type 1 shown above, the tactile presentation device is placed in the area where it is desired to present the tactile sensation of the hands and fingers, making it difficult to obtain the sensation of touching a real object with bare hands; for example, it is impossible to play a real piano while using such a device. On the other hand, in Type 2, the tactile presentation device is placed in an area different from the area where actual tactile sensations are felt, making it possible to expose the fingers, etc., and to some extent to play a real piano, etc. However, with Type 2, there is a problem in that the sensation of actually touching a virtual object is not obtained when touching it, and the quality of the tactile sensation is significantly inferior.

Thus, advances in virtual reality, augmented reality, and mixed reality technologies are merging the virtual and real worlds in the area of audiovisual information, but when it comes to tactile information, there is a challenge in overcoming the large trade-off between interaction with real objects and interaction with virtual objects.

In response to this, for example, Patent Document 1 discloses a force and vibration sense presentation device that is composed of a sheet wrapped around two motors and covers the finger pads as a method of presenting tactile sensations to the finger pads while keeping the finger pads as free as possible. The device moves the sheet left and right and upwards as each motor rotates, and the movement of the sheet and tension force applied to the finger pads can present a sense of pressure or shear force. Furthermore, dynamic changes in the sense of pressure or shear force can be presented by finely controlling the movement of the motors.

JP 2018-008250 A

However, the device described in Patent Document 1, in principle, requires that the finger pad be covered with a sheet, so the finger pad cannot be completely exposed. Other devices that have been developed include one in which a vibration element placed on the nail generates vibrations, and one that is configured to cover the finger pad only when vibrations are generated, but it is difficult for either of these to provide a high-quality tactile sensation.

In view of the above circumstances, the objective of this technology is to provide a tactile presentation device and a tactile presentation system that can present high-quality tactile sensations without preventing the exposure of the finger pads.

In order to achieve the above object, a tactile presentation device according to one embodiment of the present technology includes an orthosis and a stress generating unit.
The brace is worn on a finger, has an operating portion, and exposes the finger pad.
The stress generating section is separated from the action section and applies stress to the appliance, causing the action section to press a tactile sensation providing position, which is a position of the finger other than the finger pad.

The stress generating unit may press the action unit against the contact presentation position by pressing the device in a direction away from the finger.

the tactile sensation presentation positions are on both sides of the finger pad,
The stress generating portion may be disposed between the back of the finger and the brace, and the action portion may apply stress to the brace so as to press both sides of the finger pad toward the back of the finger.

The appliance may have an opening that exposes the finger pad, and the action portion may be the periphery of the opening.

The stress generating portion may be disposed between the nail and the appliance.

the tactile presentation position is a toe,
The stress generating portion may be disposed between the back of the finger and the brace, and the action portion may apply stress to the brace so as to lift the nail.

the tactile sensation presentation position is a side of a finger,
The stress generating unit may be positioned between the side of the finger opposite the tactile presentation position and the brace, and may apply stress to the brace so that the action unit and the stress generating unit clamp both sides of the finger.

The tactile sensation presentation positions are on both sides of the finger,
The orthosis has a movable structure that pinches both sides of the finger,
The stress generating portion may apply stress to the brace such that the action portion clamps both sides of the finger.

The action portion may include a pair of first action portions that contact both sides of the finger pad.

The action portion may further include a second action portion that contacts the fingertip.

The brace may include a belt that connects the pair of first working parts and contacts the finger pads.

The stress generating portion may be an element that generates a volume change due to the inflow and outflow of a fluid.

The stress generating portion may be an element that generates vibration.

The stress generating portion may be an element that generates a displacement.

The tactile presentation device may include a plurality of the stress generating units.

The brace may have a slit on the back side of the finger to facilitate deformation of the brace in the width direction of the finger.

In order to achieve the above object, a tactile presentation system according to one embodiment of the present technology includes an orthosis, a stress generating unit, and a control unit.
The brace is worn on a finger, has an operating portion, and exposes the finger pad.
The stress generating section is separated from the action section and applies stress to the appliance, causing the action section to press a tactile sensation providing position, which is a position of the finger other than the finger pad.
The control unit controls the stress generating unit.

The control unit may generate at least one of stress and vibration by the stress generating unit.

The control unit may use the stress generating unit to fit the prosthesis to the finger.

The control unit may control the stress generating unit so that the stress generating unit applies stress to the prosthesis when the finger comes into contact with a real object.

1 is a perspective view of a tactile presentation device according to an embodiment of the present technology. FIG. 2 is a side view of the tactile presentation device. FIG. 2 is a front view of the tactile presentation device. FIG. 2 is a side view of the tactile presentation device worn on a finger. FIG. 2 is a front view of the tactile presentation device worn on a finger. FIG. 2 is a bottom view of the tactile presentation device worn on a finger. 3 is a schematic diagram of a stress generating mechanism included in the tactile presentation device. FIG. 3A to 3C are schematic diagrams illustrating the operation of the tactile presentation device. 3A to 3C are schematic diagrams illustrating the operation of the tactile presentation device. FIG. 11 is a side view of the tactile presentation device having another configuration. FIG. 11 is a front view of the tactile presentation device having another configuration. FIG. 11 is a bottom view of the tactile presentation device having another configuration. 4 is a plan view of a stress generating portion of a stress generating mechanism included in the tactile presentation device. FIG. FIG. 4 is a plan view of the stress generating portion. FIG. 4 is a plan view of the stress generating portion. FIG. 4 is a plan view of the stress generating portion. FIG. 2 is a bottom view of a specific configuration example of the tactile presentation device. FIG. 13 is a plan view of a tactile presentation device according to a modified example of the present technology. 13 is a schematic diagram of a tactile presentation device according to a modified example of the present technology. 13 is a schematic diagram of a tactile presentation device according to a modified example of the present technology. 13 is a schematic diagram of a tactile presentation device according to a modified example of the present technology. 1 is a schematic diagram of a tactile presentation system according to an embodiment of the present technology. 1 is a schematic diagram of a tactile presentation system according to an embodiment of the present technology. 4 is a block diagram showing a hardware configuration of a control unit included in the tactile presentation system according to the embodiment of the present technology. FIG.

[Configuration of tactile presentation device]
A tactile presentation device according to an embodiment of the present technology will be described. Fig. 1 is a perspective view of a tactile presentation device 100 according to the present embodiment, Fig. 2 is a side view of the tactile presentation device 100, and Fig. 3 is a front view of the tactile presentation device 100. Fig. 4 is a side view of the tactile presentation device 100 in a state where it is worn on a finger F, Fig. 5 is a front view of the tactile presentation device 100 in the same state, and Fig. 6 is a bottom view of the tactile presentation device 100 in the same state. As shown in these figures, the tactile presentation device 100 includes an orthosis 110 and a stress generating mechanism 120.

The brace 110 is worn on a finger F as shown in Figs. 4 to 6, exposing the pad of the finger F. The brace 110 has an action part 111. The action part 111 is a part that presses a tactile sensation presentation position P of the finger F. The tactile sensation presentation position P is a position on the finger F other than the pad, and can be on either side of the pad as shown in Figs. 4 to 6.

Specifically, the brace 110 has a cylindrical shape that matches the shape of the finger F, and is provided with an opening 112 that exposes the finger pad. The opening 112 is formed in a shape that prevents the brace 110 from contacting the real object when the finger pad comes into contact with the real object. The action portion 111 is the periphery of the opening 112, and a pair of action portions 111 are provided on both sides of the opening 112 as shown in FIG. 1.

The width (Y direction) of the opening 112 is smaller than the width (Y direction) of the finger pad, and the brace 110 is shaped so that the action part 111 is hooked onto the tactile presentation position P, as shown in FIG. 5. This prevents the brace 110 from easily coming off in the upward direction in the figure. The material of the brace 110 is not particularly limited, and can be synthetic resin, metal, etc.

The stress generating mechanism 120 is a mechanism that applies stress to the orthosis 110. FIG. 7 is a schematic diagram showing the configuration of the stress generating mechanism 120. As shown in the figure, the stress generating mechanism 120 includes a stress generating unit 121, a flow path 122, and a drive unit 123. As shown in FIG. 4, the stress generating unit 121 is provided on the orthosis 110 away from the action unit 111, and applies stress to the orthosis 110. The stress generating unit 121 is disposed between the back of the finger F and the orthosis 110, specifically between the nail N and the orthosis 110. The stress generating unit 121 may also be disposed between a part of the back of the finger F other than the nail N and the orthosis 110.

The stress generating unit 121 may be an element that changes in volume due to the flow of fluid in and out. Specifically, the stress generating unit 121 may be a balloon in which a fluid such as air is sealed within an elastic membrane made of a material such as rubber or elastomer. The flow path 122 connects the stress generating unit 121 to the driving unit 123. The driving unit 123 is a pump or the like, which supplies fluid to the stress generating unit 121 via the flow path 122 and discharges the fluid from the stress generating unit 121.

When the driving unit 123 supplies fluid to the stress generating unit 121, the pressure inside the stress generating unit 121 increases, causing expansion as shown by the dashed line in the figure. When the fluid is discharged from inside the stress generating unit 121, the pressure inside the stress generating unit 121 decreases, causing contraction. This expansion allows the stress generating unit 121 to apply stress to the orthosis 110.

The configuration of the stress generating mechanism 120 is not limited to that shown here, and can be various configurations described below. The number of stress generating parts 121 provided in the stress generating mechanism 120 is not particularly limited, and may be one or more.

[Operation of tactile presentation device]
The operation of the tactile presentation device 100 will be described. Figures 8 and 9 are schematic diagrams showing the operation of the tactile presentation device 100. As shown in these figures, when the stress generating unit 121 undergoes expansion deformation (arrow A1 in the figures), a pressing force (arrow B1 in the figures) is applied to the orthosis 110 in a direction away from the finger F, and the action unit 111 applies a pressing force (arrow B2 in the figures) to the tactile presentation position P toward the back of the finger F. At the same time, the stress generating unit 121 applies a reaction force (arrow B3 in the figures) to the finger F. As a result, the finger F is subjected to forces that pinch it from both above and below.

On the finger F, the sensitivity is high on both sides of the finger pad due to the relationship between the hardness of the skin and the distribution of tactile receptors on both sides of the upper part of the nail and the finger pad, so the perception on the finger pad side is greater. For this reason, the user perceives that stress is being applied to the finger pad side from the tactile presentation device 100. In addition, the stress generating unit 121 can generate periodic fluctuations in stress by periodically repeating expansion and deformation, thereby causing vibrations in the orthosis 110. In this case, the stress generating unit 121 can generate vibrations that include not only a single frequency but also multiple frequency components.

[Effects of tactile presentation device]
As described above, the tactile presentation device 100 does not prevent the finger pad from touching a real object because the finger pad is exposed when the device is worn on the finger F. In addition, the device can generate stress and vibration near the finger pad, making it possible to present a high-quality tactile sensation. Therefore, the tactile presentation device 100 can achieve both interaction with a real object and interaction with a virtual object.

Furthermore, since the only parts to be attached to the finger F are the brace 110 and the stress generating section 121, it is suitable for light weight and does not cause fatigue even when worn for a long time. In addition, the tactile presentation device 100 roughly conforms to the shape of the finger F and can be made thin, so it can be worn in a form that does not interfere with hand and finger detection using IR (infra-red rays). Furthermore, the tactile presentation device 100 can be easily attached and detached by simply inserting it into the finger and removing it from the finger.

[Other configurations of the tactile presentation device]
Another configuration of the tactile presentation device 100 will be described. Figs. 10 to 12 are schematic diagrams showing another configuration of the tactile presentation device 100. As shown in Figs. 10 and 11, the appliance 110 may further include an action unit 113. The action unit 113 is a portion that presses a tactile presentation position R of a finger F. The tactile presentation position R is a position of the finger F other than the finger pad, and can be the fingertip as shown in Figs. 10 and 11. Specifically, the action unit 113 is a hook-shaped portion provided at the tip of the appliance 110, and is formed in a shape that allows the fingertip to be hooked.

In this configuration, when the stress generating section 121 undergoes expansion and deformation, the finger F receives a pressing force from the acting section 111 as well as from the acting section 113 at the tactile presentation position R that pulls the fingertip toward the nail. Therefore, the tactile presentation device 100 can generate a pressure sensation or a vibration sensation not only in the vicinity of the finger pad but also at the fingertip, making it possible to present a higher quality tactile sensation. Note that the tactile presentation position R does not have to be the fingertip, but may be the tip of the nail.

As shown in FIG. 12, the tactile presentation device 100 may also include a belt 114. The belt 114 connects between a pair of action parts 111 and contacts the finger pad. The belt 114 is a flexible film-like belt made of synthetic resin, cloth, or the like. The belt 114 allows the tactile presentation device 100 to be securely fixed to the finger F, improving convenience during work, etc.

By providing the belt 114 on the rear end (first joint) side of the finger pad, the tip side of the finger pad is exposed, and contact with a real object by the finger pad is not hindered. Also, even if the finger pad is partially or entirely covered by the belt 114, the belt 114 can be made thin and flexible to minimize the hindrance of contact by the belt 114.

[Details of the stress generating part]
As described above, the stress generating unit 121 is an element that generates a volume change due to the inflow and outflow of a fluid, and can be a balloon in which a fluid such as air is enclosed by an elastic membrane made of a material such as rubber or elastomer. When a fluid is sucked into the stress generating unit 121 by the driving unit 123 (see FIG. 7), the stress generating unit 121 expands as the internal pressure increases, and can apply stress to the orthosis 110. When the output of the driving unit 123 is constant, a static stress is generated, but by periodically turning the driving unit 123 on and off, the stress generating unit 121 also periodically repeats expansion and contraction. In this case, stress fluctuation occurs, which becomes vibration.

13 to 16 are schematic diagrams showing the configuration of the stress generating part 121. As shown in Figs. 13(a) and (b), the stress generating part 121 may be elliptical when viewed from the finger pad side (Z direction), or may be circular when viewed from the same direction as shown in Figs. 14(a) and (b). In addition, the stress generating part 121 may have various shapes such as an ellipse, a rectangle, or a trapezoid when viewed from the same direction. Furthermore, the stress generating part 121 may be shaped to match the shape of the nail. Since the stress generating part 121 expands and deforms due to fluid pressure, an isotropic pressure acts inside the stress generating part 121, and as shown in Fig. 15, the displacement of the center tends to be large. On the other hand, since the nail also has a curved shape, it may be curved as shown in Fig. 16 so that force is applied over as wide an area as possible when it expands.

The material for the elastic membrane should have a Young's modulus similar to that of general resin materials and a relatively high elongation limit. The amount of expansion in response to the supply pressure also varies depending on the thickness of the elastic membrane, so it is necessary to select a material suitable for making the stress generating section 121. The stress generating section 121 can be made by laminating films together or by rubber molding or the like. It can also be made using a 3D printer or the like, in which case attention must be paid to the flow path connection section for connecting the flow path 122 (see Figure 7).

The stress generating unit 121 is not limited to an element that generates a volume change due to the inflow and outflow of fluid, but may be an element that generates vibration. A voice coil motor or a linear actuator can be used as an element that generates vibration. In this case, the stress generating mechanism 120 (see FIG. 7) does not include a flow path 122 and a drive unit 123, but consists of the stress generating unit 121 and its power wiring. When these vibration elements generate vibrations on the nail, the vibrations vibrate the entire device 110. The device 110 is an elastic body and has internal losses, but the speed of propagation through these elastic bodies is very high, so there is almost no phase shift between the vibrations applied to the nail and the finger pad. However, the amplitude of the vibration direction of these vibration elements is very small, and they are not suitable for generating static stress. Therefore, the tactile presentation device 100 generates vibrations.

Furthermore, the stress generating unit 121 may be an element that generates a displacement. A linear actuator such as a sonorade can be used as the element that generates a displacement. In this case, the stress generating mechanism 120 (see FIG. 7) does not include a flow path 122 and a drive unit 123, but consists of the stress generating unit 121 and its power wiring. The linear actuator can be mounted on the orthosis 110 so that the mover contacts the nail, and this can be thought of as replacing the expansion and contraction of a balloon with a linear actuator. The linear actuator can generate vibration force from static stress.

As described above, the stress generating unit 121 may be any unit capable of applying stress to the orthosis 110, but from the standpoint of the size and weight of the tactile presentation device 100 to be worn on the fingertip and the tactile capabilities that can be achieved, it is preferable to use a balloon.

[Specific configuration example of tactile presentation device]
A specific configuration example of the tactile presentation device 100 will be described. FIG. 17 is a plan view showing a specific configuration example of the tactile presentation device 100. As shown in the figure, the tactile presentation device 100 includes an orthosis 110 and a stress generating mechanism 120. The orthosis 110 is provided with an action part 111 and an action part 113. The orthosis 110 is provided with a slit 115 on the back side of the finger, which allows the orthosis 110 to easily deform in the width direction (Y direction) of the finger. This makes it possible to suppress variations in the wearing pressure when wearing the orthosis due to differences in finger size. In addition, the orthosis 110 is provided with an air vent 116.

The stress generating mechanism 120 has a stress generating section 121 which is a balloon, and a flow path 122 is connected to the stress generating section 121. The flow path 122 passes through a slit 115 and is connected to a drive section 123 (see FIG. 7). The slit 115 is sealed with a sheet 117 made of urethane or the like, and the flow path 122 is protected. The tactile presentation device 100 shown here is one specific example configuration, and various modifications can be made.

[Modification]
Modified examples of the tactile presentation device 100 will be described. Fig. 18 to Fig. 21 are schematic diagrams of the tactile presentation device 100 according to the modified examples. As shown in Fig. 18, the tactile presentation device 100 may include a plurality of stress generating units 121. Of the plurality of stress generating units 121, those arranged on the nail can be used to present pressure and vibration senses, and those arranged on the side of the finger can be used for fitting the prosthesis 110 to the finger. The stress generating units 121 are preferably elements that cause a volume change due to the inflow and outflow of a fluid.

Also, as shown in FIG. 19, the orthosis 110 may have a movable structure that clamps both sides of the finger F, and the stress generating unit 121 may operate the movable structure of the orthosis 110. The tactile presentation position P is on both sides of the finger F. When the stress generating unit 121 applies stress to the orthosis 110, the action unit 111 applies a pressing force (arrow C1 in the figure) to this tactile presentation position P, clamping both sides of the finger F. Even with this configuration, the tactile presentation device 100 does not inhibit the contact of the finger pad with a real object, and is capable of generating stress and vibration on both sides of the finger.

20, the tactile presentation position P may be the tip of the finger F. The action unit 111 is a hook-shaped portion provided at the tip of the brace 110, and is formed in a shape that allows the tip of the finger to hook. The brace 110 is fixed to the finger F by a belt 118, and the stress generating unit 121 is disposed between the back of the finger and the brace 110. When the stress generating unit 121 applies stress to the brace 110, the action unit 111 applies a pressing force (arrow C2 in the figure) to the tactile presentation position P, applying a force to lift the nail N. Even with this configuration, the tactile presentation device 100 does not inhibit the contact of the finger pad with a real object, and is capable of generating stress and vibration at the tip of the finger.

21, the tactile presentation position P may be a side of the finger F. The action unit 111 is disposed in close proximity to or in contact with the side of the finger F, and the stress generating unit 121 is disposed between the side of the finger F opposite the tactile presentation position P and the orthosis 110. When the stress generating unit 121 applies stress to the orthosis 110, the action unit 111 presses the tactile presentation position P, and a pressing force (arrow C3 in the figure) is applied so that the action unit 111 and the stress generating unit 121 pinch both sides of the finger F. Even with this configuration, the tactile presentation device 100 does not inhibit the contact of the finger pad with a real object, and is capable of generating a pressure sensation or a vibration sensation on both sides of the finger.

[Configuration of tactile presentation system]
A tactile presentation system including the tactile presentation device 100 will be described. Fig. 22 is a schematic diagram of a tactile presentation system 150 including the tactile presentation device 100, and shows the tactile presentation system 150 in which the stress generating unit 121 is an element that generates a volume change due to the inflow and outflow of a fluid. As shown in the figure, the tactile presentation system 150 includes the tactile presentation device 100, a control unit 131, and application software (in the figure, "APP") 132. Note that the control unit 131 is a functional configuration realized by the cooperation of hardware and software, and may be installed in the tactile presentation device 100.

The control unit 131 supplies a control signal to the drive unit 123 and controls the stress generating unit 121. When the control unit 131 receives an instruction from the application software 132 to generate stress or vibration, it supplies a control signal to the drive unit 123 to cause the stress generating unit 121 to generate stress, thereby generating stress or vibration.

Specifically, when the user's finger touches a virtual object, the application software 132 instructs the control unit 131 to generate a haptic sensation corresponding to the virtual object, and the control unit 131 can cause the stress generating unit 121 to generate stress in response to the instruction. In addition, when the user's finger touches a real object, the application software 132 instructs the control unit 131 to generate a haptic sensation, and the control unit 131 can also cause the stress generating unit 121 to generate stress in response to the instruction.

The control unit 131 can also control the stress generating unit 121 based on the output of various sensors. Examples of sensors include a pressure sensor that detects the pressure of the balloon that constitutes the stress generating unit 121 and a distance sensor that detects the shape of the balloon. The control unit 131 can also control the stress generating unit 121 in a configuration in which multiple stress generating units 121 are provided (see FIG. 18), and fit the prosthesis 110 to the finger using the stress generating unit 121.

Figure 23 is a schematic diagram of a tactile presentation system 150 in which the stress generating unit 121 is an element that generates vibration or an element that generates displacement. As shown in the figure, the control unit 131 is directly connected to the stress generating unit 121 and controls the stress generating unit 121. The control content is the same as that described above.

[Example of application of tactile presentation system]
The tactile presentation system 150 can be applied to various applications using VR, AR, MR, etc. For example, by using the tactile presentation system 150, the stress generating unit 121 can be controlled under appropriate conditions using finger position information for a virtual object, an operation button, etc. in a VR space, and a tactile sensation such as the touch of a virtual object or a switch can be presented to the fingertip. In addition, by using the tactile presentation system 150, for example, input work on a keyboard of a real object can be performed in an AR space or an MR space.

Furthermore, by using the tactile presentation system 150, a specific tactile sensation can be presented to the fingertips when a tactile action is performed on a real object in an AR or MR space. At this time, the user can feel both the "tactile sensation of the real object" and an "artificially created tactile sensation" on their fingertips. For example, this can present various new tactile sensations, such as turning a flat desk into a keyboard or switch operation panel, or giving the illusion that a surface is rough even though the user is actually stroking a smooth surface.

The tactile presentation system 150 can also be used solely in real space. For example, if this system is used when operating a personal computer (PC) or playing a game, or in an application that assumes gesture input (hand recognition using leap motion), it can be used to provide tactile interaction during spatial operations, as it can be used to handle tasks involving real objects and has minimal adverse effects on finger recognition.

[Hardware configuration of the control unit]
A description will now be given of a hardware configuration capable of realizing the functional configuration of the control unit 131. Fig. 24 is a schematic diagram showing this hardware configuration.

As shown in the figure, the control unit 131 incorporates a CPU (Central Processing Unit) 1001 and a GPU (Graphics Processing Unit) 1002. An input/output interface 1006 is connected to the CPU 1001 and GPU 1002 via a bus 1005. A ROM (Read Only Memory) 1003 and a RAM (Random Access Memory) 1004 are connected to the bus 1005.

The input/output interface 1006 is connected to an input unit 1007 consisting of input devices such as a keyboard and mouse through which the user inputs operation commands, an output unit 1008 which outputs a processing operation screen and an image of the processing result to a display device, a storage unit 1009 consisting of a hard disk drive or the like for storing programs and various data, and a communication unit 1010 consisting of a LAN (Local Area Network) adapter and the like for executing communication processing via a network such as the Internet. Also connected is a drive 1011 which reads and writes data to a removable storage medium 1012 such as a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory.

The CPU 1001 executes various processes according to a program stored in the ROM 1003, or a program read from a removable storage medium 1012 such as a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory, installed in the storage unit 1009, and loaded from the storage unit 1009 to the RAM 1004. The RAM 1004 also stores data necessary for the CPU 1001 to execute various processes, as appropriate. The GPU 1002 executes calculations necessary for image drawing under the control of the CPU 1001.

In the control unit 131 configured as described above, the CPU 1001 loads a program stored in the storage unit 1009, for example, into the RAM 1004 via the input/output interface 1006 and the bus 1005, and executes the program, thereby performing the above-mentioned series of processes.

The program executed by the control unit 131 can be provided, for example, by recording it on a removable storage medium 1012 such as a package medium. The program can also be provided via a wired or wireless transmission medium such as a local area network, the Internet, or digital satellite broadcasting.

In the control unit 131, the program can be installed in the storage unit 1009 via the input/output interface 1006 by mounting the removable storage medium 1012 in the drive 1011. The program can also be received by the communication unit 1010 via a wired or wireless transmission medium and installed in the storage unit 1009. In addition, the program can be pre-installed in the ROM 1003 or the storage unit 1009.

The program executed by the control unit 131 may be a program that is processed chronologically according to the sequence described in this disclosure, or may be a program that is processed in parallel or at the required timing, such as when called. Furthermore, the entire hardware configuration of the control unit 131 does not have to be mounted on one device, and the control unit 131 may be configured by multiple devices. Furthermore, part of the hardware configuration of the control unit 131 may be mounted on multiple devices connected via a network.

[About this disclosure]
The effects described in this disclosure are merely examples and are not limited thereto, and other effects may be present. The description of multiple effects above does not necessarily mean that these effects are exhibited simultaneously. It means that at least one of the above effects can be obtained depending on conditions, etc., and effects not described in this disclosure may also be exhibited. It is also possible to combine at least two of the characteristic parts described in this disclosure.

This technology can also be configured as follows:

(1)
An appliance that is worn on a finger, has an action portion, and exposes a finger pad;
a stress generating unit spaced apart from the action unit, applying stress to the device and causing the action unit to press a tactile presentation position other than the finger pad.
(2)
The tactile presentation device according to (1),
The stress generating unit presses the action unit against the touch presentation position by pressing the prosthesis in a direction away from the finger.
(3)
The tactile presentation device according to (2),
the tactile sensation presentation positions are on both sides of the finger pad,
The stress generating unit is disposed between the back of the finger and the brace, and the acting unit applies stress to the brace so as to press both sides of the finger pad toward the back of the finger.
(4)
The tactile presentation device according to (3),
The tactile presentation device, wherein the attachment is provided with an opening for exposing the finger pad, and the action portion is a periphery of the opening.
(5)
The tactile presentation device according to (3),
A tactile presentation device, wherein the stress generating unit is disposed between the nail and the appliance.
(6)
The tactile presentation device according to (2),
the tactile presentation position is a toe,
A tactile presentation device, wherein the stress generating unit is disposed between the back of the finger and the brace, and the action unit applies stress to the brace so as to lift the nail.
(7)
The tactile presentation device according to (2),
the tactile sensation presentation position is a side of a finger,
A tactile presentation device, wherein the stress generating unit is disposed between the side of the finger opposite the tactile presentation position and the orthosis, and applies stress to the orthosis so that the action unit and the stress generating unit clamp both sides of the finger.
(8)
The tactile presentation device according to (1),
The tactile sensation presentation positions are on both sides of the finger,
The orthosis has a movable structure that pinches both sides of the finger,
The stress generating unit applies stress to the orthosis so that the action unit pinches both sides of a finger.
(9)
The tactile presentation device according to any one of (1) to (5),
The tactile presentation device, wherein the action portion includes a pair of first action portions that come into contact with both sides of a finger pad.
(10)
The tactile presentation device according to (9),
The tactile presentation device, wherein the action portion further includes a second action portion that comes into contact with a fingertip.
(11)
The tactile presentation device according to (9) or (10),
The tactile presentation device, wherein the equipment includes a belt that connects the pair of first working parts and comes into contact with a finger pad.
(12)
The tactile presentation device according to any one of (1) to (11),
The stress generating portion is an element that generates a volume change due to the inflow and outflow of a fluid.
(13)
The tactile presentation device according to any one of (1) to (11),
The stress generating portion is an element that generates vibration.
(14)
The tactile presentation device according to any one of (1) to (11),
The stress generating portion is an element that generates a displacement.
(15)
The tactile presentation device according to any one of (1) to (14),
A tactile presentation device comprising a plurality of the stress generating units.
(16)
The tactile presentation device according to any one of (1) to (15),
The tactile presentation device, wherein the brace is provided with a slit on the back side of the finger to facilitate deformation of the brace in the width direction of the finger.
(17)
An appliance that is worn on a finger, has an action portion, and exposes a finger pad;
a stress generating unit that is spaced apart from the action unit and applies a stress to the device to cause the action unit to press a tactile sensation providing position that is a position of the finger other than the finger pad;
A tactile presentation system comprising: a control unit that controls the stress generating unit.
(18)
The tactile presentation system according to (17),
The control unit causes the stress generating unit to generate at least one of a stress and a vibration.
(19)
The tactile presentation system according to (17) or (18),
The control unit fits the prosthesis to the finger using the stress generating unit.
(20)
The tactile presentation system according to any one of (17) to (19),
The control unit controls the stress generating unit so that the stress generating unit applies stress to the prosthetic device when a finger comes into contact with a real object.

Reference Signs List 100 tactile presentation device 110 orthosis 111 action section 112 opening 113 action section 114 belt 115 slit 120 stress generating mechanism 121 stress generating section 122 flow path 123 drive section 131 control section 150 tactile presentation system

Claims (20)

An appliance that is worn on a finger, has an action portion, and exposes a finger pad;
a stress generating unit spaced apart from the action unit, applying stress to the device and causing the action unit to press a tactile presentation position other than the finger pad. The tactile presentation device according to claim 1 ,
The stress generating unit presses the action unit against the touch presentation position by pressing the prosthesis in a direction away from the finger. The tactile presentation device according to claim 2,
the tactile sensation presentation positions are on both sides of the finger pad,
The stress generating unit is disposed between the back of the finger and the brace, and the acting unit applies stress to the brace so as to press both sides of the finger pad toward the back of the finger. The tactile presentation device according to claim 3,
The tactile presentation device, wherein the attachment is provided with an opening for exposing the finger pad, and the action portion is a periphery of the opening. The tactile presentation device according to claim 3,
A tactile presentation device, wherein the stress generating unit is disposed between the nail and the appliance. The tactile presentation device according to claim 2,
the tactile presentation position is a toe,
A tactile presentation device, wherein the stress generating unit is disposed between the back of the finger and the brace, and the action unit applies stress to the brace so as to lift the nail. The tactile presentation device according to claim 2,
the tactile sensation presentation position is a side of a finger,
A tactile presentation device, wherein the stress generating unit is disposed between the side of the finger opposite the tactile presentation position and the orthosis, and applies stress to the orthosis so that the action unit and the stress generating unit clamp both sides of the finger. The tactile presentation device according to claim 1 ,
The tactile sensation presentation positions are on both sides of the finger,
The orthosis has a movable structure that pinches both sides of the finger,
The stress generating unit applies stress to the orthosis so that the action unit pinches both sides of a finger. The tactile presentation device according to claim 1 ,
The tactile presentation device, wherein the action portion includes a pair of first action portions that come into contact with both sides of a finger pad. The tactile presentation device according to claim 9,
The tactile presentation device, wherein the action portion further includes a second action portion that comes into contact with a fingertip. The tactile presentation device according to claim 9,
The tactile presentation device, wherein the equipment includes a belt that connects the pair of first working parts and comes into contact with a finger pad. The tactile presentation device according to claim 1 ,
The stress generating portion is an element that generates a volume change due to the inflow and outflow of a fluid. The tactile presentation device according to claim 1 ,
The stress generating portion is an element that generates vibration. The tactile presentation device according to claim 1 ,
The stress generating portion is an element that generates a displacement. The tactile presentation device according to claim 1 ,
A tactile presentation device comprising a plurality of the stress generating units. The tactile presentation device according to claim 1 ,
A tactile presentation device, wherein the brace has a slit on the back side of the finger to facilitate deformation of the brace in the width direction of the finger. An appliance that is worn on a finger, has an action portion, and exposes a finger pad;
a stress generating unit that is spaced apart from the action unit and applies a stress to the device to cause the action unit to press a tactile sensation providing position that is a position of the finger other than the finger pad;
A tactile presentation system comprising: a control unit that controls the stress generating unit. The tactile presentation system according to claim 17,
The control unit causes the stress generating unit to generate at least one of a stress and a vibration. The tactile presentation system according to claim 17,
The control unit fits the prosthesis to the finger using the stress generating unit. The tactile presentation system according to claim 17,
The control unit controls the stress generating unit so that the stress generating unit applies stress to the prosthesis when a finger comes into contact with a real object.

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