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WO2010058538A1 - Dispositif de retour de force - Google Patents

Dispositif de retour de force Download PDF

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Publication number
WO2010058538A1
WO2010058538A1 PCT/JP2009/006021 JP2009006021W WO2010058538A1 WO 2010058538 A1 WO2010058538 A1 WO 2010058538A1 JP 2009006021 W JP2009006021 W JP 2009006021W WO 2010058538 A1 WO2010058538 A1 WO 2010058538A1
Authority
WO
WIPO (PCT)
Prior art keywords
actuator
piezoelectric vibrator
force sense
medium
pressure plate
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2009/006021
Other languages
English (en)
Japanese (ja)
Inventor
村田一仁
山本満
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NEC Corp
Original Assignee
NEC Corp
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 NEC Corp filed Critical NEC Corp
Priority to JP2010539130A priority Critical patent/JP5360068B2/ja
Publication of WO2010058538A1 publication Critical patent/WO2010058538A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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

Definitions

  • the present invention relates to a force sense presentation device capable of causing a human hand or finger to perceive a force sense.
  • This application claims priority based on Japanese Patent Application No. 2008-298127 for which it applied on November 21, 2008, and uses the content here.
  • a haptic device that uses information (tactile sensation) when touching an object or reaction force (force sensation) from the object to provide information is effective in improving the operability of the interface and the perception and understanding of information. It is expected to be applied to various vocational technology training, virtual reality technology, telemedicine, game machines, etc.
  • the haptic presentation device has been proposed by various methods and structures.
  • a haptic presentation device that can make a human hand or finger perceive a haptic sense using a liquid as a medium
  • the thing which reproduces the vibration feeling concerning the fingertip which is contacting the object like patent document 1 is known.
  • the force sense presentation device disclosed in Patent Document 1 generates a pulse pressure in an electrorheological fluid by a pump, and applies a voltage applied to an electrode of an electrode group provided for a conductive rubber serving as a contact surface to a fingertip. It controls the viscosity of the electrorheological fluid and the pressure and cycle of the pulse pressure to present a sense of the shape of the contact object.
  • the force sense presentation device disclosed in Patent Document 2 has an electromagnet disposed between a large number of bag bodies in which a fluid is sealed, and an interval between the bag bodies is reduced by an attractive force or a repulsive force acting between adjacent electromagnets. By narrowing or widening, the shape and surface pressure of the part that contacts the hand or finger are changed.
  • the shape of the touched object and the touch feeling are only presented by the vibration of the actuator, and the displacement of the force sense presentation unit driven by the actuator is perceived as a force sense by humans. Not as big as possible.
  • An object of the present invention is to provide a force sense presentation device capable of causing a human hand or finger to perceive a force sense in order to solve the above-described problems.
  • the present invention is a force sense presentation device that allows a user to perceive a force sense through a pressure plate in a direction in which the diameter expands and contracts by application of an alternating electric field.
  • a force sense presentation device including a cylindrical actuator that vibrates, a liquid medium that propagates vibrations of the actuator, and the pressure plate that vibrates due to pressure and displacement propagating in the medium.
  • the medium between the actuator and the pressure plate a liquid, it is possible to increase the displacement of the force sense presentation unit driven by the actuator.
  • FIG. 3 is a plan view taken along the line BB in FIG. It is operation
  • FIG. 1 is a cross-sectional view of the force sense presentation device according to the first embodiment of the present invention.
  • FIG. 2 is a plan view taken along the line BB in FIG. 3A and 3B are operation explanatory views of the hollow cylindrical piezoelectric vibrator used in the force sense presentation device of FIG. 1
  • FIG. 3A is a plan view of the hollow cylindrical piezoelectric vibrator
  • FIG. 3B is a hollow cylindrical piezoelectric vibrator.
  • reference numeral 41 denotes a hollow cylindrical piezoelectric vibrator (actuator)
  • reference numeral 42 denotes a lower structure (lower housing)
  • reference numeral 43 denotes an elastic member
  • reference numeral 44 denotes an upper structure (upper housing)
  • reference numeral 46a, 46b is a pressure plate
  • 47 is a medium (liquid).
  • the hollow cylindrical piezoelectric vibrator 41 forms electrodes (not shown) on the inner peripheral surface and outer peripheral surface of a piezoelectric material formed in a hollow cylindrical shape, and applies an AC voltage to the two electrodes to thereby apply the piezoelectric material. It is designed to be deformed and vibrated. As shown in FIGS. 3A and 3B, the hollow cylindrical piezoelectric vibrator 41 is polarized in the radial direction (the direction of the arrow in FIGS. 3A and 3B), and an AC is applied to the outer peripheral surface and the inner peripheral surface of the hollow cylinder. When an electric field is applied (electrodes are not shown), it vibrates in the direction in which the diameter expands and contracts as shown by the dotted line in FIG. This vibration mode is called a breathing mode.
  • the force sense presentation device of the present embodiment is manufactured by, for example, the following method.
  • the pressure plate 46a or 46b is fixed to one of the upper and lower surfaces in the axial direction of the hollow cylindrical piezoelectric vibrator 41 by bonding or the like, and the medium 47 is put inside the hollow cylindrical piezoelectric vibrator 41.
  • the surface also fixes the pressure plate 46a or 46b by bonding or the like.
  • the medium 47 is sealed in a closed space formed by the hollow cylindrical piezoelectric vibrator 41 and the pressure plates 46a and 46b.
  • the hollow cylindrical piezoelectric vibrator 41 enclosing the medium 47 is placed on the lower structure 42, and the elastic member 43 is placed in the gap between the outer periphery of the hollow cylindrical piezoelectric vibrator 41 and the lower structure 42.
  • the upper structure 44 is placed on the nip, and is fastened and fixed with screws (not shown). However, the tightening force of the screw is set so as not to restrain the vibration of the piezoelectric vibrator 41.
  • the method described above is merely an example of the method for injecting the medium 47 into the closed space formed by the hollow cylindrical piezoelectric vibrator 41 and the pressure plates 46a and 46b, and is not limited to this method. Absent.
  • Examples of the piezoelectric material of the hollow cylindrical piezoelectric vibrator 41 include lead zirconate titanate, crystal, lithium niobate, barium titanate, lead titanate, lead metaniobate, lead zinc niobate, and lead scandium niobate. Although not limited to these materials.
  • the pressure plates 46a and 46b a rubber material such as silicon or fluorine, a thin metal plate such as stainless steel or aluminum, a resin material such as PET, or a composite material obtained by depositing aluminum on a PET film may be used. However, it is not limited to these materials.
  • examples of the liquid used as the medium 47 include water and an antifreeze solution such as propylene glycol, but are not limited thereto.
  • the fixing method of the hollow cylindrical piezoelectric vibrator 41 and the pressure plates 46a and 46b is not limited to adhesion.
  • the hollow cylindrical piezoelectric vibrator 41 Since the hollow cylindrical piezoelectric vibrator 41 has a property of deforming in a direction in which the diameter expands and contracts when a voltage is applied, the state in which the diameter is expanded and the state in which the diameter contracts are alternately repeated when an AC electric field is applied. ,Vibrate. At this time, the displacement of the medium in contact with the hollow cylindrical piezoelectric vibrator 41 causes a change in density (volume), so that a change in pressure occurs, thereby causing a displacement of the medium at the next moment. Become. Due to this chain of processes, pressure and displacement propagate as waves.
  • V is the volume of the region between AB
  • ⁇ V is the change in volume
  • K is the bulk modulus.
  • the speed of sound v transmitted through the pipe is determined by density ⁇ and bulk modulus K.
  • the drive frequency of the hollow cylindrical piezoelectric vibrator 41 to a low frequency region of about 10 Hz, when the pressure plates 46a and 46b are touched with a finger or hand, it is perceived as a force sensation rather than a sense of vibration. It is possible.
  • a low frequency region of 10 Hz or less can be used as the driving frequency. If the amplitude is large and the frequency is small, a feeling of pressing (force sense) can be obtained. For example, if the driving frequency is 1 Hz or more and 10 Hz or less, the sense of force can be perceived with certainty.
  • FIG. 5A and 5B are a plan view (FIG. 5A) and a cross-sectional view (FIG. 5B) of a hollow cylindrical piezoelectric vibrator used in the force sense presentation device according to the second embodiment of the present invention.
  • the difference from the first embodiment is that in the first embodiment, the piezoelectric vibrator is polarized in the radial direction, whereas in the present embodiment, each divided in the circumferential direction.
  • the piezoelectric vibrator is polarized in the circumferential direction.
  • the piezoelectric vibrator divided into eight in the circumferential direction includes each piezoelectric material 45 and electrodes 50 (50 a and 50 b) disposed between the piezoelectric materials 45. Yes. An AC voltage is applied to each of the divided piezoelectric materials 45 via the electrodes 50a and 50b. Each piezoelectric material 45 is deformed and vibrated by this AC voltage to function as a piezoelectric vibrator. Piezoelectric vibrators divided into eight in the circumferential direction are alternately arranged with divided piezoelectric vibrators 48a polarized in the clockwise direction and divided piezoelectric vibrators 48b polarized in the counterclockwise direction.
  • Each of the divided piezoelectric vibrators 48 a and 48 b is fixed with the electrode 50 interposed therebetween to form a hollow cylindrical piezoelectric vibrator 49.
  • the eight electrodes 50 constituting the hollow cylindrical piezoelectric vibrator 49 also have a structure in which the electrodes 50a and 50b are alternately arranged. When an AC electric field is applied between the electrode 50a and the electrode 50b, the state in which the diameter is expanded and the state in which the diameter is contracted are alternately repeated to vibrate in the breathing mode.
  • the upper and lower surfaces in the axial direction of the hollow cylindrical piezoelectric vibrator 49 are fixed as pressure plates (not shown) by bonding or the like, and the hollow cylindrical piezoelectric vibrator 49 is fixed. And a medium (liquid) is enclosed in a closed space formed by the pressure plate.
  • the hollow cylindrical piezoelectric vibrator 49 filled with a medium is placed on the lower structure, and the gap between the outer periphery of the hollow cylindrical piezoelectric vibrator 49 and the lower structure is placed.
  • the upper member is placed on the elastic member, and is fastened and fixed with a screw (not shown) to complete the force sense presentation device.
  • the liquid used as the material and medium of the pressure plate is the same as that described in the first embodiment.
  • the driving frequency of the hollow cylindrical piezoelectric vibrator 49 is set to a low frequency region of about 10 Hz, so that it does not feel like vibration when the pressure plate is touched with a finger or hand. It can be perceived as a force sense.
  • the cylindrical piezoelectric vibrator is used as the actuator, but an actuator having a principle and structure other than this may be used.
  • the upper and lower surfaces in the axial direction of the cylindrical actuator are used as pressure plates and the medium is enclosed in a closed space formed by the cylindrical actuator and the pressure plate, the structure for enclosing the medium is not limited to this.
  • the structure of the housing for fixing the actuator and the pressure plate can be variously changed based on design requirements and the like without departing from the gist of the present invention.
  • the present invention is used for an output interface of a portable terminal or the like, a tactile force display such as a virtual reality, or the like.

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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)
  • Position Input By Displaying (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

L'invention concerne un dispositif de retour de force permettant à un utilisateur de sentir une force par l'intermédiaire d'une plaque de pression. Le dispositif de retour de force comprend un actionneur cylindrique conçu pour vibrer dans la direction selon laquelle il se dilate et se contracte radialement lorsqu'un champ électrique alternatif lui est appliqué, un milieu liquide conçu pour propager les vibrations de l'actionneur, et une plaque de pression mise en vibration par la pression et le mouvement se propageant dans le milieu liquide. L'actionneur prend généralement la forme d'un vibreur piézoélectrique de type cylindrique creux.
PCT/JP2009/006021 2008-11-21 2009-11-11 Dispositif de retour de force Ceased WO2010058538A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2010539130A JP5360068B2 (ja) 2008-11-21 2009-11-11 力覚提示装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2008-298127 2008-11-21
JP2008298127 2008-11-21

Publications (1)

Publication Number Publication Date
WO2010058538A1 true WO2010058538A1 (fr) 2010-05-27

Family

ID=42197981

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2009/006021 Ceased WO2010058538A1 (fr) 2008-11-21 2009-11-11 Dispositif de retour de force

Country Status (2)

Country Link
JP (1) JP5360068B2 (fr)
WO (1) WO2010058538A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012161061A1 (fr) * 2011-05-23 2012-11-29 株式会社村田製作所 Dispositif de présentation de sensation tactile
CN107092380A (zh) * 2012-03-19 2017-08-25 联发科技股份有限公司 一种触摸屏控制方法及其电子装置
WO2019187182A1 (fr) * 2018-03-24 2019-10-03 Smk株式会社 Dispositif de présentation de sensation tactile et dispositif d'entrée d'opération

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008158909A (ja) * 2006-12-25 2008-07-10 Pro Tech Design Corp 触覚フィードバックコントローラ
JP2008253058A (ja) * 2007-03-30 2008-10-16 Japan Aviation Electronics Industry Ltd アクチュエータ及び入力デバイス

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004029999A (ja) * 2002-06-24 2004-01-29 Matsushita Electric Ind Co Ltd 力触覚ディスプレイハンドおよびその製造方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008158909A (ja) * 2006-12-25 2008-07-10 Pro Tech Design Corp 触覚フィードバックコントローラ
JP2008253058A (ja) * 2007-03-30 2008-10-16 Japan Aviation Electronics Industry Ltd アクチュエータ及び入力デバイス

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012161061A1 (fr) * 2011-05-23 2012-11-29 株式会社村田製作所 Dispositif de présentation de sensation tactile
CN107092380A (zh) * 2012-03-19 2017-08-25 联发科技股份有限公司 一种触摸屏控制方法及其电子装置
WO2019187182A1 (fr) * 2018-03-24 2019-10-03 Smk株式会社 Dispositif de présentation de sensation tactile et dispositif d'entrée d'opération

Also Published As

Publication number Publication date
JPWO2010058538A1 (ja) 2012-04-19
JP5360068B2 (ja) 2013-12-04

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