Tactile force sense information display system and method
A system and a method are realized in which in a conventional non-grounding man-machine interface having no reaction base on the human body and for giving the existence of a virtual object and the impact force of a collision to a person, a haptic sensation of a torque, a force and the like can be continuously presented in the same direction, which can not be presented by only the physical characteristic of a haptic sensation presentation device. In a haptic presentation device 112, the rotation velocity of at least one rotator in the haptic presentation device 112 is controlled by a control device 111, and a vibration, a force or a torque as the physical characteristic is controlled, so that the user 110 is made to conceive various haptic information of the vibration, force, torque or the like. The haptic information presentation system uses a human sensory characteristic or illusion to suitably control the physical quantity, and causes the person to feel a force which can not exist physically, or a haptic sensory physical characteristic.
The present invention relates to a haptic information presentation system and method, which uses sensory characteristics.
More particularly, the invention relates to a haptic information presentation system, a haptic information presentation method, a haptic presentation device of a haptic information presentation system, and a control device of a haptic information presentation system, which is for providing a man-machine interface mounted on an equipment used in the field of VR (Virtual Reality), an equipment used in the field of game, a cellular phone, a portable navigation equipment, a PDA (Personal Digital Assistant) or the like.
BACKGROUND ARTWith respect to a conventional haptic device in the VR, in the haptic presentation of a tensile force or reaction force, a haptic presentation part in contact with a human sense organ and a haptic presentation system main body are connected to each other by a wire or an arm, and there has been a disadvantage that the existence of the wire, arm or the like restricts the human motion. Besides, since use is limited to an effective space in which the haptic presentation system main body and the haptic presentation part are connected to each other by the wire or the arm, there has been a limitation in the expanse of the space which can be used.
On the other hand, a man-machine interface which is of a non-grounding type and has no reaction base on the human body has been proposed. However, in this type of presentation device, the rotation velocity (angular velocity) of a motor is controlled so that a torque is presented by a temporal change of an angular momentum vector, and it has been difficult to continuously present haptic information of torque, force or the like in the same direction.
As a non-grounding type haptic information presentation device, a torque presentation apparatus using a gyro moment and a gimbal structure has been developed (non-patent document 1). However, in the gimbal structure, there are problems that the direction of a torque which can be presented is limited, the structure becomes complicated, and the control becomes troublesome.
On the other hand, a non-grounding mobile haptic information presentation device (non-patent document 2) has been proposed in which a torque in an arbitrary direction or with an arbitrary magnitude can be presented by independently controlling the rotations of three gyro motors arranged in three-axis orthogonal coordinates. In this haptic information presentation device, since the torque is generated by controlling a resultant angular momentum vector generated by the three gyro motors, the structure is relatively simple and the control is also easy. However, there are such problems to be solved that haptic information is made to be capable of being continuously presented, and a force sensation other than the torque is made to be capable of being presented.
[Non-patent document 1] Masayuki Yoshie, Hiroaki Yano, Hiroo Iwata “Development of Non-grounded Force Display Using Gyro Moment”, Research Report Collection (Kenkyu Hokokusho) of Human Interface Society, vol. 3, No. 5, pp. 25-30 (2000)
[Non-patent document 2] Yokichi Tanaka, Masataka Sakai, Yuka Kohno, Yukio Fukui, Juli Yamashita, Norio Nakamura, “Mobil Torque Display and Haptic Characteristics of Human Palm”, INTERNATIONAL CONFERENCE ON ARTIFICIAL REALITY AND TELEXISTENCE, pp. 115-120 (2001/12)
DISCLOSURE OF THE INVENTION Problems that the Invention is to SolveIn view of the above, a first object of the invention is to provide a haptic information presentation system and method, in which in a conventional non-grounding man-machine interface having no reaction base on the human body and for giving the existence of a virtual object and the impact force of a collision to a person, a haptic information presentation mechanism using human sensory characteristic is realized, so that haptic information of vibration, torque, force and the like can be continuously presented in the same direction, which can not be presented only by the physical characteristics of a haptic presentation device.
Besides, when a physical quantity continues to be continuously presented in the man-machine interface, in case the performance of the presentation device is sufficiently high, the physical quantity such as the torque or force can continue to be continuously presented in the same direction. However, actually, the performance of the presentation device is not infinite, and in the case where the performance of the presentation device is not sufficient, for example, when the torque continues to be continuously presented, it becomes necessary to return the rotation velocity of the rotator to the initial state in one cycle of the presentation. That is, it is required that the integral value of the angular momentum vector of the rotator is made zero. In this case, the quite opposite torque or force is presented, and there arises a problem that the senses in the positive direction and the negative direction cancel each other out.
Thus, a second object of the invention is to provide a haptic information presentation system and method, in which human sensory characteristics are used, and in an operation of a haptic presentation device, even if a return is made physically to the initial state in one cycle, and a integral value of physical quantity becomes zero, a integral value of a sensory quantity does not become zero, and a sense can continue to be presented freely in an arbitrary direction.
MEANS FOR SOLVING THE PROBLEMSIn order to achieve the above object, according to a first aspect of the invention, a haptic information presentation system includes a haptic presentation unit having two eccentric rotators, and a control unit that independently changes a frequency and an intensity of a vibration and/or a vibration sensation by controlling rotation directions, a phase relation and rotation speeds of the two eccentric rotators.
According to a second aspect of the invention, a haptic information presentation system includes a haptic presentation unit having two eccentric rotators, and a control unit that independently changes a frequency and an intensity of a force and/or a force sensation by inverting rotation directions of the two eccentric rotators.
According to a third aspect of the invention, a haptic information presentation system includes a haptic presentation unit having an eccentric rotator array in which plural single eccentric rotators, and/or plural twin eccentric rotators each having two eccentric rotators, and/or plural twin eccentric rotators arranged in a three-dimensional space are arranged two-dimensionally or three-dimensionally, and a control unit to control a rotation state of each of the eccentric rotators included in the haptic presentation unit.
According to a fourth aspect of the invention, a haptic information presentation system includes a haptic presentation unit having plural rotators arranged three-dimensionally, and a control unit to control a temporal change of a resultant angular momentum vector of the haptic presentation unit, in which the control unit generates a torque with a fixed value by abruptly changing the resultant angular momentum vector in the vicinity of zero, and controls a precession torque to be a specified value or less.
According to a fifth aspect of the invention, in a haptic information presentation method, when a haptic presentation unit having two eccentric rotators is controlled, a frequency and an intensity of a vibration and/or a vibration sensation are independently changed by controlling rotation directions, a phase relation and rotation speeds of the two eccentric rotators.
According to a sixth aspect of the invention, in a haptic information presentation method, when a haptic presentation unit having two eccentric rotators is controlled, a frequency and an intensity of a force and/or a force sensation are independently changed by inverting rotation directions of the two eccentric rotators.
According to a seventh aspect of the invention, in a haptic information presentation method, when a control is made on a haptic presentation unit having an eccentric rotator array in which plural single eccentric rotators, and/or plural twin eccentric rotators each having two eccentric rotators arranged on a same rotation axis, and/or plural twin eccentric rotators arranged in a three-dimensional space are arranged two-dimensionally or three-dimensionally, a rotation state of each of the eccentric rotators included in the haptic presentation unit is individually controlled.
According to an eighth aspect of the invention, in a haptic information presentation method, when a haptic presentation unit having plural rotators arranged three-dimensionally is controlled, a temporal change of a resultant angular momentum vector of the haptic presentation unit is controlled, a torque with a fixed value is generated by abruptly changing the resultant angular momentum vector in the vicinity of zero, and a precession torque is controlled to have a specified value or less.
ADVANTAGE OF THE INVENTIONWhen the haptic information presentation system of the invention and the haptic information presentation method are carried out, special effects listed below can be obtained.
(1) It becomes possible to continuously or intermittently present the haptic information of the torque, force and the like in the same direction, which has been difficult in a conventional man-machine interface which is of a non-grounding type and has no reaction base on the body.
(2) By using human sensory characteristics and illusion, it becomes possible to present the haptic sensory-physical characteristics of the torque, force or the like, which can not exist physically, to a person.
(3) By using the human sensory characteristics, it becomes possible to present the haptic information efficiently while energy is saved, and a miniaturized haptic presentation system can be realized.
(4) In order to present a vibration sensation, a torque sensation, and a force sensation, a device corresponding to each of them is conventionally required. However, according to the invention, it becomes possible to simultaneously present one or more of the vibration sensation, the torque sensation, and the force sensation by one mechanism of the eccentric rotators, various haptic information can be presented, and the presentation system can be miniaturized.
(5) By carrying out the invention, it is possible to realize a useful man-machine interface, an interface between a robot and a machine, an interface between an animal and a machine, and the like, which can be mounted on an equipment used in the field of VR (Virtual Reality), an equipment used in the field of game, a cellular phone, a portable navigation equipment, a PDA (Personal Digital Assistant) and the like. For example, in the field of the VR, the existence of an object in a virtual space or the shock due to a collision can be presented by presenting a force to a person through the man-machine interface or by giving a resisting force or reaction force. Besides, by mounting the interface on the cellular phone, portable navigation equipment, PDA, or the like, various instructions, guides and the like, which have not existed conventionally, can be realized through the skin of an operator.
(6) An eccentric rotator which is conventionally known and is used in a manner mode of a cellular phone or the like, the vibration intensity is increased by increasing the rotation velocity, and the vibration frequency and the vibration intensity have not been capable of being independently controlled. However, in the eccentric rotator to which the invention is applied, the vibration intensity of the eccentric vibration can be changed without changing the rotation velocity. By this, it becomes possible to independently control the vibration frequency and the vibration intensity.
(7) According to the sheet-shaped eccentric rotator array to which the invention is applied, by suitably controlling the rotations of the respective eccentric rotators, the vibration sensation, torque sensation, and force sensation of various patterns in space and time can be presented onto the palm. Besides, the sheet-shaped eccentric rotator array can be applied to a glove, clothes, or something having a wearable shape.
(8) According to the sheet-shaped eccentric rotator array to which the invention is applied, various haptic information relating to an object, such as the existence, shape, elasticity, texture and the like of a virtual object, can be presented by suitably changing a space portion of a force sensation in accordance with the movement of a palm or the like.
(9) In an inertia coordinate system, in the case where the temporal change of the resultant angular momentum vector is controlled, the easiness of the control is a great merit. That is, the resultant angular momentum vector is abruptly changed in the vicinity of zero, so that a large torque is generated, and a precession torque can be suppressed to be low. Besides, in the case where the torque presentation device sways according to the movement of the user and difficulty occurs, the resultant angular momentum vector is temporarily changed in the vicinity of the resultant angular momentum vector with a suitable magnitude, so that a specified torque can be presented while the sway of the torque presentation device is suppressed.
BEST MODE FOR CARRYING OUT THE INVENTIONHereinafter, embodiments of the invention will be described with reference to the drawings.
(Operation Principle 1)
A haptic presentation device 112 is such that the rotation velocity of at least one rotator in the haptic presentation device 112 is controlled by using a control device 111, and a vibration, force or torque as its physical characteristics is controlled, so that a user 110 is made to perceive various haptic information such as the vibration, force or torque.
Hereinafter, although the haptic information presentation system of the embodiment will be described with reference to FIGS. 2 to 40 in addition to
In
The CPU 4160 controls the whole operation of the control device 4120. The RAM 4170 is used as a work area to temporarily store data of a processing object and the like when the CPU 4160 performs the processing. A control program 4150 is previously stored in the ROM 4140. The control program 4150 is a program to prescribe the control processing of the haptic presentation device 4110 corresponding to the input signal from the input device 4130. The CPU 4160 reads the control program 4150 from the ROM 4140 and executes it, and controls the rotator 4180 of the haptic presentation device 4110 correspondingly to the respective input signals.
The input device 4130 is, for example, a select button of an input menu. The CPU 4160 performs a processing (for example, the haptic presentation device 4110 is controlled so as to generate a torque in a specified rotation direction) corresponding to the input of the select button selected by depression, touch or the like. The input device 4130 as stated above may be united with the control device 4120 and made a part of the control device 4120.
Alternatively, the input device 4130 is a device such as a well-known myoelectric detector to detect myoelectricity described later, or a well-known angular acceleration sensor. When a trigger signal of myoelectricity occurrence from the myoelectric detector, or a signal of angular acceleration from the angular acceleration sensor is inputted to the control device 4120, the CPU 4160 feeds back the input and controls the haptic presentation device 4110. The input device 4130 such as the angular acceleration sensor, together with the haptic presentation machine 4110, may be included in the inside of the haptic presentation device 4110.
Since a general processing method in which the CPU 4160 reads the control program 4150 from the ROM 4140 and executes it so that the control of the rotator 4180 of the haptic presentation device 4110 is performed correspondingly to each input signal, is well known for one skilled in the art through non-patent documents 1 and 2 and the others, the detailed description would be unnecessary. Accordingly, in the following, a description will be given to a processing method of the control device in the haptic information presentation system and the structure of the haptic presentation device, which are features of the embodiment.
In a sensory characteristic 211, a sensory quantity 213 thereof is often a nonlinear characteristic, such as a logarithm, with respect to a physical quantity 212 which is mainly a stimulus.
The above is established also when the sensory characteristic 211 exhibits a nonlinear characteristic of an exponential function case or the like.
Similarly to the case which is shown in
The sensory characteristic is not isotropic between a time when a displacement 312 is increased and a time when it is decreased, for example, between a time when a muscle is extended and a time when it is contracted, and often indicates a hysteresis sensory characteristic 311. The hysteresis sensory characteristic 311 of
In the sensory characteristic, masking is performed by a masking vibration and a torque sensation 434 is decreased. As this masking method, simultaneous masking 424 (having satisfactory results in masking of the visual sense and hearing sense), forward masking 425, and backward masking 426 are enumerated.
At this time, an initialization time 415 in which the rotation velocity 412 of the rotator is initialized, and a masking duration time 425 corresponding thereto are shortened like an initialization time 445 and a masking duration time 455 shown in
Incidentally, a masker to generate a masking vibration may be a rotator different from a rotator as a maskee whose torque is masked by that or the rotator itself as the maskee.
The case where the rotator of the maskee is also the masker means that at the time of masking, the rotator is controlled to generate the masking vibration by the control device. The vibration direction of the masker may be the same as the rotation direction of the rotator as the maskee or may not be the same.
The above can occur also in the case where the maskee and the masker are the same stimulus (in the case where the rotator of the maskee is also the masker).
With respect to the sensory characteristic, the sensitivity of a torque sensation 517 is changed according to a muscle tensile state or at least one state of physical, physiological and psychological states. For example, when a muscle is instantaneously expanded by a presented torque 514 (high torque 524 in a short time) as an external force, a sensor called a muscle spindle in the muscle senses this, and the muscle is quickly contracted in a conditioned reflex way by a muscle cause torque 515 (muscle reflex cause torque 525) having power not lower than this external force. At this time, myoelectricity 511 is generated. A control circuit 512 having detected it controls a haptic presentation device 513, and changes the sensitivity of the torque sensation 517 by activating a presentation torque 516 (gentle middle torque 526) in synchronization with the contraction of the muscle.
The above is established not only in the muscle tensile state but also in the case of the change of sensory sensitivity due to at least one state of breath, posture and neural firing states.
The above is established also when the sensory characteristic 731 exhibits nonlinear characteristic of an exponential function case or the like. Also in the case where the sensory characteristic 731 of
On the other hand, in an eccentric rotator used in a manner mode of a cellular phone or the like, the vibration intensity is increased by increasing the rotation velocity, and the vibration frequency and the vibration intensity can not be independently controlled.
In the description of
Incidentally, the sheet-shaped eccentric rotator array 880 and the glove-shaped eccentric rotator array 890 are merely examples of the embodiment, and the embodiment can be applied to clothes and wearable haptic information presentation, inclusive of a case where the eccentric rotator array is three-dimensionally arranged.
Here,
The torque 943 is physically returned to an initial state 948 in one cycle, and an integral value thereof is zero. However, a sensory integral value of the torque sensation 944 as a sensory quantity does not necessarily become zero. By suitably selecting the operation point A 934 and the operation point B 935 and by suitably setting an operation point A duration time 945 and an operation point B duration time 946, the torque sensation can continue to be freely presented in an arbitrary direction.
The above is established also when the sensory characteristic 931 exhibits a nonlinear characteristic of an exponential function case or the like. Also in the case where the sensory characteristic 931 of
The above is established also when the sensory characteristic 1031 exhibits a nonlinear characteristic of an exponential function case or the like. Also in the case where the sensory characteristic 1031 of
In the pushing feeling by oneself (
The expansion feeling (
Besides, as shown in
Further, as shown in
Further, as shown in
According to the presentation methods shown in FIGS. 19 to 22, by suitably changing the space distribution of the force sensation in conformity with the movement of the palm, it is possible to present various haptic information relating to the object, such as the existence, shape, elasticity, texture and the like of the virtual object.
(Operation Principle 2)
The sensory characteristic is masked by a masking vibration 1216, and a force sensation 1224 is decreased. This masking vibration can be generated by synchronizing the rotation velocity 1022 of the eccentric rotator A with the rotation velocity 1023 of the eccentric rotator A in
At this time, an initialization time 1215 in which the rotation velocity 1212 of the rotator is initialized is shortened and when it becomes shorter than a certain specific time as shown in
The above occurs also in the case where a maskee and a masker are different rotators, and a similar continuous presented sensation occurs not only in the case of the force but also in the case of a torque.
In the actual use of the haptic information presentation system, since a posture change of a torque presentation device by a human unconscious motion is felt as an inertial force due to the Coriolis force or gyro effect, it is necessary that the inertial force of the rotator itself is suppressed to the utmost, and a large torque can also be presented. In the following, this inertial force will be considered.
As methods of generating a torque sensation, there are a method of accelerating and decelerating the rotation velocity of a rotation body having an inertia moment, and a method of turning a rotation body around an axis orthogonal to its rotation axis. From the viewpoint of dynamics of mechanism, the method is roughly classified into following two types, namely, a rotator posture control type (hereinafter referred to as a gyroscope type 1311) and a resultant angular momentum vector differential type 1312 (
First, the gyroscope type 1311 using a gyroscope to control the posture of a rotator will be described. A gimbal structure is used, and with respect to the posture of the rotator turning at a constant angular velocity ω0, turning angles θ1 and θ2 around two gimbal shafts are changed so that torque can be generated. An angular momentum L0 at the time when the rotation body with an inertia moment I is rotated at an angular velocity ω0 is expressed by
L0=Iω0.
At this time, in view of the direction in which the torque is generated, a torque vectors at the time when an angular momentum vector L (|L|=L0) having a constant magnitude is turned at an angular velocity ω is expressed by
τ=ω×L, where ω=dθ/dt.
Next, the resultant angular momentum vector differential type 1312 to control the time change of the resultant angular momentum vector will be described. Rotation speeds ωx, ωy and ωz of three rotators fixed to an x-axis, a y-axis and a z-axis are independently controlled, and the angular momentums of the rotators are combined, so that an angular momentum vector can be formed in an arbitrary direction. When this is suitably controlled, a torque can be formed in an arbitrary direction. A torque vector at the time when the angular momentum vector L is changed is expressed as follows.
When an inertia moment around each axis is made Ii, the angular momentum Li of rotation at an angular velocity ωi around each of the x-axis, y-axis and z-axis is expressed by
Li=Iiωi, i=x, y, z.
When unit vectors in the x-axis, y-axis and z-axis directions are made i, j and k, the resultant angular momentum vector composed of the angular momentums around the respective axes is expressed by
L=Lxi+Lyj+Lzk.
The time differential of the resultant angular momentum vector is the torque vector τ.
τ=dL/dt
Accordingly, by changing the ratio ωx: ωy: ωz of the angular speeds in the x-axis, y-axis and z-axis directions, the direction of the angular momentum vector generated can be controlled in an arbitrary direction. This method has merits that the control is easy, and various three-dimensional force sensations can be presented. Incidentally, the torque felt by a person has the same magnitude as this torque vector τ and the opposite direction by the action-reaction law (Newton's third law).
When reference is made to
Where, in the case where |L|=L0 is constant, and the direction of the resultant angular momentum vector L is turned at ω=dΩ/dt, the torque vector is expressed by
and is coincident with that of the gyroscope type. This indicates that although the torque which can be presented in the gyroscope type can be presented by the proposed method, the converse is not.
Now, in the case where consideration is given to the use in the so-called human navigation, the motion of the posture of a user generates a change of angular momentum vector, and there is a possibility that an unintentional torque is presented. Then, consideration is given to a torque generated by the resultant angular momentum vector L turning on a turning coordinate system OΩ turning at an angular velocity vector Ω with respect to the inertia coordinate system O.
The equation of motion in the inertia coordinate system O 1330 and the turning coordinate system OΩ 1331 is expressed by
As shown in
Here, in the case where the navigation is performed, there occurs a case where the change of the posture of the user is suppressed. This is because when the body of the user is turned in the horizontal direction, the precession torque well known in a gyrocompass is exerted on the angular momentum Lxi, orthogonal to the angular velocity Ω and Lyj, and functions to suppress the turn Ω of the body of the user. Although this precession torque prevents the free movement of the user, it has an effect to suppress the fluctuation of the torque presentation device due to the walking of the user. Besides, when the arm of the user is moved in the vertical direction, a similar precession torque is exerted on the angular momentum Lxi and Lzk. That is, when the user moves the body, the torque is exerted, and the same direction is always indicated like the gyrocompass.
The control feature of this embodiment is to control the temporal change of the resultant angular momentum vector L 1332, and the easiness of the control is a great merit. By abruptly changing L in the vicinity of zero, a large torque [dL/dt]OΩ is generated, and the precession torque (Ω×L) can be suppressed to be low. By this, the navigation is enabled without hindering the movement of the user.
On the other hand, in the case where the torque presentation device is swayed by the movement of the user and a difficulty occurs, by temporally changing L in the vicinity of the resultant angular momentum vector L 1332 having a suitable magnitude, the torque can be presented while the sway of the torque presentation device is suppressed.
On the other hand, in the case where the gyroscope type 1311 is used,
is established. In order to present a large torque, a large angular momentum vector L is required, and as a result, a large precession torque is generated without fail.
Especially, for the use in the so-called human navigation, miniaturization is required to such a degree as to enable internal or external mounting to a cellular phone or a PDA. Here, consideration will be given to a torque presentation method and operation principle in the case where internal mounting to a cellular phone is performed.
According to the number of dimensions in which a torque is actually generated, a classification into four can be made as shown in
In a conventional cellular phone, a vibration has been used to inform an incoming call. In the navigation by a recent cellular phone, when a street corner approaches, attention is first aroused by vibration, and then, the direction in which a turn is to be made is indicated by voice. That is, since attention is aroused by the vibration, and direction information is not presented, this is defined as a Zero dimension (vibration 1341).
Besides, in the direction presentation on a plane space as in the navigation or the like, two dimensions are sufficient as shown in
Next, merits of three-dimensional torque presentation will be described.
As described above, since the Ω×L component hinders the motion of the user, it has been proposed that the operation is performed at the control point where L is in the vicinity of zero. However, with respect to the Lz component, although the precession torque is not exerted in the turn on the horizontal surface, such as the turning of the user, the posture of the torque presentation device becomes stable in the vertical motion of the arm by the conservation of the rotation axis like a vertical gyro in an airplane (see
That is, the arm is lowered, the turning vector Ω is generated around an elbow as a fulcrum, a torque τx is generated in the torque presentation device and in the x direction on the palm so as to turn the Lz vector, and a torque is generated in the direction of canceling the turning vector Ω. It is conceivable that the torque around the elbow as the fulcrum, which suppresses the vertical movement of the torque presentation device, stabilizes the position of the torque presentation device.
When this is Lx, like a gyroscope (an ‘CHUKYU GOMA’) which does not fall but turns while keeping the horizontal, it is conceivable that while the arm is turning on the horizontal plane, the torque to cancel the gravity is generated to float the torque presentation device, and reduces the user's fatigue caused by continuing to hold it.
(Operation Principle 3)
Hereinafter, a description will be given to a haptic presentation device in which the haptic presentation device 1301 shown in
Incidentally, the haptic presentation device 2801 shown in
The turbine fin is a variable fin which can control a relation between a rotation direction and a blast direction, and even if the torque direction resulting from the rotation is the same direction, the flowing direction of an air current can be controlled by changing the angle of the fin. Besides, it may be fixed according to a use.
Incidentally, rotators of two motors, motor bodies, eccentric rotation bodies, two turbine fins in which the generating directions of air currents are opposite to each other are mounted to one rotating shaft 2802, and the flow direction of the air current may be controlled by selecting the turbine fin to be rotated (not shown).
APPLIED EXAMPLE 2
Reference is again made to the haptic presentation device 3001 of
As shown in
On the other hand, as shown in
Here, for example, in the case where the button “0” is depressed by the user, the posture sensor 3430 detects the posture change toward a direction 3302 in
Besides, for example, in the case where the button “0” is rubbed by the user from the top to the bottom, the posture sensor 3430 detects a posture change toward a direction 3470 in
Here, in the case where the user depresses the switch 3550, and the pointer 3501 is swayed in a direction 3570, the posture sensor 3530 detects the posture change toward the direction 3570, and the control circuit 3520 analyzes input information from the posture sensor 3530, and controls a motor in the haptic presentation device 3510 so as to suppress the movement of the haptic presentation device 3510 toward the direction 3570. Thus, the haptic presentation device 3510 presents a force in a direction 3590, and causes the user to feel a resisting force against the sway direction 3570. By this, for example, in the case where the laser beam 3580 is irradiated to an object 3560 having a laser beam tracking function, and the object 3560 is moved from the left to the right in
Here, when the user plays the music game of a monitor 3605, in the case where the baton-type controller 3601 is swayed in a direction 3607, the posture sensor (or pressure sensor) 3630 detects the grasping way and the posture change toward the direction 3607, and the controller control circuit 3640 processes the input information from the posture sensor 3630, and transmits it to the game machine 3606. The game machine 3606 processes the music game based on the information of the posture change from the posture sensor 3630, and the performance of an orchestra in the music game, such as a tempo, rhythm, and breath, is changed by the swinging way of the baton of the conductor. In the case where it is judged that the music at that time exceeds the performance speed at which a person can play and the dynamic range of, a playing method, a suppression signal is transmitted to the controller control circuit 3640. When receiving the suppression signal, the controller control circuit 3640 transmits the information to the control circuit 3620. The control circuit 3620 analyzes the input information from the controller control circuit 3640, and controls a motor in the haptic presentation device 3610 so as to suppress the motion of the haptic presentation device 3610 toward the direction 3607. Thus, the haptic presentation device 3610 presents a force toward a direction 3660, and causes the user to feel a resisting force against the swing direction 3607. By this, in the music game, the music does not exceed the performance speed at which a person can play and the dynamic range of the playing method, and the music game becomes more real.
MODIFIED EXAMPLESHereinafter, modified examples of the operation principles 1 to 3 will be described.
A haptic information presentation method using the piezoelectric matrix 3730 of
Further, it would be understood for one skilled in the art that when the piezoelectric matrix 3730 of
The haptic information presentation method using the oscillator 3801 of
The arrangement of two facing eccentric rotators 3901a and 3901b shown in
Here, for example, in the case where the desk device 4001 is moved on the desk by the user toward a direction 4040, the posture sensor 4030 detects the position change toward the direction 4040 in
Besides, for example, in the case where the desk device 4001 is moved on the desk by the user toward the direction 4040, the posture sensor 4030 detects the position change toward the direction 4040 in
By carrying out the invention, it is possible to realize the useful man-machine interface which can be mounted on an equipment used in the field of VR (Virtual Reality), an equipment used in the field of game, a cellular phone, a portable navigation equipment, a PDA (Personal digital Assistant) and the like.
More specifically, for example, in the field of the VR, the existence of an object in a virtual space, or the shock due to a collision can be presented by presenting a force to the person through the man-machine interface to which the invention is applied, or by giving a resisting force or a reaction force to limit the motion of the person. Besides, by mounting the interface on the cellular phone, the portable navigation equipment or the like, various instruction, guides and the like, which have not been conventionally seen, can be realized through the skin of the operator.
BRIEF DESCRIPTION OF THE DRAWINGS
- 112 haptic presentation device
- 111 control device
- 110 user
- 211 sensory characteristic
- 212 physical quantity
- 213 sensory quantity
- 214 operation point A
- 215 operation point B
- 222 rotation velocity
- 223 torque
- 224 torque sensation
- 228 initial state
- 225 operation point A duration time
- 226 operation point B duration time
- 231 sensory characteristic
- 234 operation point A
- 235 operation point B
- 244 torque sensation
- 243 torque
- 248 initial state
- 246 operation point B duration time
- 312 variation
- 311 hysteresis sensory characteristic
- 314 operation passage A
- 315 operation passage B
- 334 torque sensation
- 333 torque
- 332 rotation velocity
- 338 initial state
- 464 torque sensation
- 424 masking
- 425 forward masking
- 426 backward masking
- 413 torque
- 434 torque sensation
- 412 rotation velocity
- 415 initialization time
- 445 masking duration time
- 485 forward masking
- 486 backward masking
- 484 torque sensation
- 513 haptic presentation device
- 514 presentation torque
- 515 muscle cause torque
- 516 presentation torque
- 517 torque sensation
- 812 eccentric rotator A
- 813 eccentric rotator B
- 912 eccentric rotator A
- 913 eccentric rotator B
- 931 sensory characteristic
- 932 physical quantity
- 933 sensory quantity
- 934 operation point A
- 935 operation point B
- 944 torque sensation
- 942 rotation velocity
- 943 torque
- 948 initial state
- 945 operation point A duration time
- 946 operation point B duration time
- 1012 eccentric rotator A
- 1013 eccentric rotator B
- 1031 sensory characteristic
- 1032 physical quantity
- 1033 sensory quantity
- 1034 operation point A
- 1035 operation point B
- 1044 force sensation
- 1043 force
- 1042 magnitude of resultant rotation velocity
- 1048 initial state
- 1045 operation point A duration time
- 1046 operation point B duration time
- 1111 twin eccentric rotator
- 1112 twin eccentric rotator
- 1113, 1114 force
- 1216 masking vibration
- 1124 torque sensation
- 1224 force sensation
- 1212 magnitude of resultant rotation velocity
- 1244 initialization time
- 1301 force sensation
- 1301 haptic presentation device
Claims
1. A haptic information presentation system, comprising:
- a haptic presentation unit having two eccentric rotators; and
- a control unit that independently changes one or more of a frequency of a vibration, an intensity of a vibration and a vibration sensation by controlling one or more of rotation directions, a phase relation or rotation speeds of the two eccentric rotators.
2. A haptic information presentation system, comprising:
- a haptic presentation unit having two eccentric rotators; and
- a control unit that independently changes one or more of a frequency of a force, an intensity of a force or a force sensation by inverting rotation directions in the two eccentric rotators.
3. A haptic information presentation system, comprising:
- a haptic presentation unit having an eccentric rotator array in which one or more of multiple single eccentric rotators, or twin eccentric rotators each having two eccentric rotators, or plural twin eccentric rotators arranged in a three-dimensional space are arranged two-dimensionally or three-dimensionally; and
- a control unit to control a rotation state of each of the eccentric rotators included in the haptic presentation unit.
4. The haptic information presentation system according to claim 3, wherein
- the eccentric rotator array is adapted to form a skin-shaped eccentric rotator array, and
- the control unit causes the presentation of one or more of a vibration changing spatially and temporally, a vibration sensation, a torque, a torque sensation, a force or a force sensation.
5. The haptic information presentation system according to claim 4, wherein setting the control mode of the skin-shaped eccentric rotator array causes the presentation of one or more of a vibration, a force, a shear force, a torque, a resultant torque to twist a palm or a finger or another whole presentation object, a shape feeling of a three-dimensional object caused by presentation of a three-dimensional resisting force, an elastic feeling, a tactile sensation, a feeling in which a force is transmitted on a palm or a finger or another presentation object; a feeling in which a material rolls on a palm or a finger or another presentation object, a feeling in which a force, a vibration or a torque passes through a palm or a finger or another presentation object, and a texture of a surface of a virtual object.
6. A haptic information presentation system, comprising:
- a haptic presentation unit having plural rotators arranged three-dimensionally; and
- a control unit to control a temporal change of a resultant angular momentum vector of the haptic presentation unit,
- wherein the control unit causes the generation of a torque with a fixed value by abruptly changing the resultant angular momentum vector in a vicinity of zero, and controls a precession torque to be a specified value or less.
7. The haptic information presentation system according to any one of claim 6, wherein the haptic presentation unit has a shape mountable on a portable communication equipment or a mobile electronic equipment.
8. A haptic information presentation method, wherein when a haptic presentation unit having two eccentric rotators is controlled,
- a frequency and an intensity of a vibration and/or a vibration sensation are independently changed by controlling rotation directions, a phase relation and rotation speeds in the two eccentric rotators.
9. A haptic information presentation method, wherein when a haptic presentation unit having two eccentric rotators is controlled,
- a frequency and an intensity of a force and/or a force sensation are independently changed by inverting rotation directions in the two eccentric rotators.
10. A haptic information presentation method, wherein when a control is made on a haptic presentation unit having an eccentric rotator array in which plural single eccentric rotators, and/or plural twin eccentric rotators each having two eccentric rotators arranged on a same rotation axis, and/or plural twin eccentric rotators arranged in a three-dimensional space are arranged two-dimensionally or three-dimensionally,
- a rotation state of each of the eccentric rotators included in the haptic presentation unit is individually controlled.
11. The haptic information presentation method according to claim 10, wherein
- the eccentric rotator array is worked to form a skin-shaped eccentric rotator array, and
- a vibration changing spatially and temporally and/or a vibration sensation, a torque and/or a torque sensation, or a force and/or a force sensation is presented.
12. The haptic information presentation method according to claim 11, wherein by setting a control mode of the skin-shaped eccentric rotator array, one of a vibration, a force, a shear force, a torque, a resultant torque to twist a palm or a finger or another whole presentation object, a shape feeling of a three-dimensional object caused by presentation of a three-dimensional resisting force, an elastic feeling, a tactile sensation, a feeling in which a force is transmitted on a palm or a finger or another presentation object, a feeling in which a material rolls on a palm or a finger or another presentation object, a feeling in which a force, a vibration or a torque passes through a palm or a finger or another presentation object, and a texture of a surface of a virtual object is presented.
13. A haptic information presentation method, wherein when a haptic presentation unit having plural rotators arranged three-dimensionally is controlled, a temporal change of a resultant angular momentum vector of the haptic presentation unit is controlled, and
- a torque with a fixed value is generated by abruptly changing the resultant angular momentum vector in a vicinity of zero, and a precession torque is controlled to have a specified value or less.
14. The haptic information presentation system according to claim 2, wherein
- the haptic presentation unit includes a rotation unit to rotate the eccentric rotator,
- the control unit controls a rotation state of the rotation unit included in the haptic presentation unit, and the rotation unit rotates together with the eccentric rotator to be rotated.
15. The haptic information presentation system according to claim 14, wherein the haptic presentation unit includes a fin rotated together with the eccentric rotator, and a fluid surrounding the fin.
16. The haptic information presentation system according to claim 15, wherein
- the fluid is air, and
- the haptic presentation_unit includes a hole opposite to the fin and communicating with outside.
17. The haptic information presentation system according to claim 14, further comprising an input unit to input external information to the control unit,
- wherein the control unit controls a rotation state of each of the eccentric rotators included in the haptic presentation unit in accordance with the external information inputted from the input unit.
18. The haptic information presentation system according to claim 17, wherein
- the haptic presentation unit includes the input unit and the control unit, and
- the haptic presentation unit itself is the haptic information presentation system.
19. The haptic information presentation system according to claim 14, wherein
- piezoelectric elements are used instead of the eccentric rotators, and
- the control unit controls a voltage of each of the piezoelectric elements included in the haptic presentation unit.
20. The haptic information presentation system according to claim 14, wherein magnets are used instead of the eccentric rotators, and the control unit controls a voltage of each of the magnets included in the haptic presentation unit.
21. The haptic information presentation system according to claim 14, wherein material particles of the two eccentric rotators rotate around a same rotation axis on a same plane.
22. A haptic presentation_device of a haptic information presentation system, comprising a function of a haptic presentation unit of a haptic information presentation system according to claim 14.
23. A control device of a haptic information presentation system, comprising a function of a control unit of a haptic information presentation system according to claim 14.
24. The haptic information presentation system according to claim 1, wherein
- the haptic presentation unit includes a rotation unit to rotate the eccentric rotator,
- the control unit controls a rotation state of the rotation unit included in the haptic presentation unit, and the rotation unit rotates together with the eccentric rotator to be rotated.
Type: Application
Filed: Nov 19, 2004
Publication Date: Apr 26, 2007
Inventors: Norio Nakamura (Ibaraki), Yukio Fukui (Ibaraki), Masataka Sakai (Ibaraki)
Application Number: 10/579,672
International Classification: G09G 5/00 (20060101);