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Tactile information conversion device, tactile information conversion method, tactile information conversion program, and element arrangement structure meetings

Foreign code F200010039
File No. AE10-02WO
Posted date Jan 31, 2020
Country China
Application number 201780021171
Gazette No. 109074157
Date of filing Apr 7, 2017
Gazette Date Dec 21, 2018
International application number JP2017014571
International publication number WO2017175868
Date of international filing Apr 7, 2017
Date of international publication Oct 12, 2017
Priority data
  • P2016-077693 (Apr 7, 2016) JP
  • P2016-140982 (Jul 18, 2016) JP
  • 2017JP14571 (Apr 7, 2017) WO
Title Tactile information conversion device, tactile information conversion method, tactile information conversion program, and element arrangement structure meetings
Abstract In order to provide tactile information to one or a plurality of output unit sides capable of outputting tactile stimulation, the present invention is characterized by outputting tactile information to an output unit side, said tactile information: determining a first stimulation point at which a first type of tactile stimulation will be generated or causing the first type of tactile stimulation to be generated at the first stimulation point, via an output unit; and causing a second type of tactile stimulation to be generated via the output unit, at a second stimulation point temporally and/orspatially separated within a prescribed threshold value from the first stimulation point for the first type of tactile stimulation determined or caused by a first stimulation unit.
Outline of related art and contending technology BACKGROUND ART
Conventionally, real or imaginary objects have been developed for haptic prompts the user with a tactile cue device.
For example, in Patent Document 1 was, there is disclosed a pen-type force feedback apparatus, a movable contact at the time when the user grips the fingertip, is caused to reciprocate, swinging, tilting movement, rotation or the like actions, thereby prompting proprioception to the fingertip.
In addition, in Non-Patent Document 1 was, discloses to pressure, vibration, temperature of elements to generate a haptic mapping haptic, tactile elements to any of the synthesis of these haptic tactile cue device is presented.
In addition, in Non Patent Literature 2 in which, during operation of the disclosed finger drawing under a practical environment, thereby causing the nail side of the vibrator vibrates, to prompt of the convexity feeling that denotes a virtual technology.
In addition, in Patent Document 2 was, discloses in order to present the user with electrical stimulus to an electrode substrate having a plurality of stimulation electrodes, the conductivity between the electrode and the skin irritation and arranged in an electrical touch-sensitive display such as a gel layer.
Prior Art Document
Patent Document
Patent Document 1: Japanese Laid-Open Publication No.2010-287221
Patent Document 2: Japanese Patent Publication No. No.5057068
Non-Patent Document
Non-Patent Document 1: near-well learning "new study of prompting means of the feeler" University of Science Thesis nagaoka technology, National University Corporation nagaoka technology science college, 25 March 2014, 13102 methane No.702, URL: http://hdl.handle.net/10649/719
Non-Patent Document 2: ando hideo by the tree, watanabe Inc., inagaki masahiko, sugimoto, pre-tian taro "study of tactile display with a nail-wear AugmentedReality", Electronic Information and Communication Engineers papers blog, electronic Information and Communication Engineers, 1 November 2004, Vol.J87-D2,No.11,pp.2025-2033
Scope of claims [claim1]
1. A tactile information converting means, wherein in order to be able to output the output part side of the haptic stimulus to provide one or more of tactile information, comprising at least a storage unit and a control unit, characterized in,
Storing section includes a tactile definition part,
Creation of the 1st type defined for use in tactile definition part of the 1st of the 2nd type of the haptic stimulus of the haptic stimulus 1st sense stimulation point of tactile stimulation of the type of the 2nd and the haptic stimulus type, or, in the defined type is defined for a 2nd tactile creation of the portion of the tactile stimulation of the 2nd type of the haptic stimulus 1st sense stimulation point of tactile stimulation of the type of the 1st and the 2nd type tactile stimulus,
The control unit includes:
1st stimulation portion, wherein for the creation of the 1st type of the haptic stimulus determined by 1st stimulation, or, through the output portion of the 1st type of 1st creation point tactile stimulation to stimulate; and
2nd stimulation portion, wherein the output part side to the output haptic information, tactile information is: the determination of the creation or from the 1st through stimulation of the 1st type end of the haptic stimulus point on the 1st stimulation, in time and/or spatially dividing the predetermined threshold value at a point spaced from 2nd stimulus, through the output portion of the haptic stimulus of the 2nd type information creation.

[claim2]
2. Tactile information conversion apparatus according to claim 1, characterized in,
Defining part of the tactile stimulation of the 2nd type in order to sense the tactile stimulation 1st point, and a 1st time compared with the type of the haptic stimulus discrimination threshold of a physiological or spatially a type of the tactile stimulation is defined as the greater of the 2nd type tactile stimulation, or, in order to sense the tactile stimulation of the 2nd type stimulus points 1st, with a tactile stimulus to the 2nd type to be compared in terms of time or the type of the threshold on the spatial tactile stimulus of the physiological identification is defined as the greater of the 1st type tactile stimulation.

[claim3]
3. Tactile information conversion apparatus according to claim 1 or 2, characterized in,
1st of the 1st type as a force stimulus unit determines that the haptic stimulus presentation creation or,
2nd vibration stimulation unit sets, one of the temperature and electrical stimulation of the 2nd type or a plurality of tactile stimulus to the stimulus as a 2nd creation point,
Whereby the type of the haptic stimulus 1st 2nd sense stimulation point.

[claim4]
4. Tactile information conversion apparatus according to claim 1 or 2, characterized in,
1st vibration stimulation unit sets, one or more of the temperature and electrical stimulation of the 1st type is determined as a creation or tactile stimulus,
2nd type stimulus unit of the 2nd with a tactile stimulus to the force as a 2nd prompting stimulus point creation,
Whereby the 2nd type of the haptic stimulus 1st sense stimulation point.

[claim5]
5. Tactile information conversion apparatus according to claim 1 or 2, characterized in,
1st vibration stimulation unit is to determine the type of the haptic stimulus presentation creation or as a 1st,
2nd 2nd type of stimulation unit sets the tactile stimulus to the thermal stimulus as a 2nd creation stimulation sites,
Whereby the type of the haptic stimulus 1st 2nd sense stimulation point.

[claim6]
6. Tactile information conversion apparatus according to claim 1 or 2, characterized in,
1st 1st type of stimulation unit is to determine the temperature of the prompts as creation or tactile stimulus,
2nd 2nd type of stimulation unit sets a vibration stimulus as the 2nd and the creation point of tactile stimulation to stimulate,
Whereby the 2nd type of the haptic stimulus 1st sense stimulation point.

[claim7]
7. Tactile information conversion apparatus according to claim 1 or 2, characterized in,
1st type delivering an electrical stimulation of the stimulation unit determines that the haptic stimulus presentation creation or as a 1st,
2nd vibration and/or the stimulation unit is a tactile stimulus and the 2nd type in the 2nd temperature as the stimulation point creation,
Whereby the type of the haptic stimulus 1st 2nd sense stimulation point.

[claim8]
8. Tactile information conversion apparatus according to claim 1 or 2, characterized in,
1st vibration and/or stimulation unit sets a type of the tactile stimulation is determined as a 1st temperature creation or,
2nd of the stimulus giving as a 2nd type of the electrical stimulation unit and the creation point of tactile stimulation to stimulate 2nd,
Whereby the 2nd type of the haptic stimulus 1st sense stimulation point.

[claim9]
9. Claim 1-8 according to any one of the haptic information conversion device, characterized in,
1st and the 2nd/or stimulation is based on the stimulation delusions hallucinations of the sense point.

[claim10]
10. An input device, characterized in,
Claim 1-9 comprising a haptic information conversion apparatus according to any one.

[claim11]
11. Input device according to claim 10, characterized in,
The distributed-type input device on the surface layer at least includes multi-point sensor measuring pressure gauge, measures sensor having at least a thermal sensation in the intermediate layer, the lower layer has at least a vibration-measuring sensor.

[claim12]
12. A sending apparatus, characterized in,
Claim 1-9 comprising a haptic information conversion apparatus according to any one.

[claim13]
13. A memory device, characterized in,
Claim 1-9 comprising a haptic information conversion apparatus according to any one.

[claim14]
14. A server device, characterized in,
Claim 1-9 comprising a haptic information conversion apparatus according to any one.

[claim15]
15. A receiving device, characterized in,
Claim 1-9 comprising a haptic information conversion apparatus according to any one.

[claim16]
16. An output device, characterized in,
Claim 1-9 comprising a haptic information conversion apparatus according to any one.

[claim17]
17. An output device according to claim 16, characterized in,
An output device having at least a surface layer of the haptic stimulus presentation unit based on the multi-point electrical pressure profile, the intermediate layer includes at least evaluating the thermal sensation presenting unit based on a high-speed drive type Peltier element, the vibration of the presentation unit in the lower layer has at least a wide frequency band.

[claim18]
18. An interactive operating system, as claimed in any one of which is provided with tactile information conversion apparatus according to claim 1-9, a robot teaching device operated by an operator using the robot teaching operation, characterized in,
The robot having:
With the finger, which is used for the holding object;
The object detection unit, arranged on the fingers, the properties of the object or object is detected, generating an object detection information; and
Driven by the robot apparatus, wherein the robot is driven,
A robot teaching device having a sense source object detection, the object from the robot on the basis of the detected transmission to provide sensory object detection information, in accordance with the conversion means converts the haptic information of the tactile information, corresponding to the tactile sensation is provided to the operator.

[claim19]
19. A tactile information conversion method, wherein the haptic information is performed in the conversion device, the haptic information is capable of outputting of the haptic stimulus to the switching means to one or more of the output side having at least a storage unit and a control unit to provide a tactile information, characterized in,
Storing section includes a tactile definition part,
Creation of the 1st type defined for use in tactile definition part of the 1st of the 2nd type of the haptic stimulus of the haptic stimulus 1st sense stimulation point of tactile stimulation of the type of the 2nd and the haptic stimulus type, or, in the defined type is defined for a 2nd tactile creation of the portion of the tactile stimulation of the 2nd type of the haptic stimulus 1st sense stimulation point of tactile stimulation of the type of the 1st and the 2nd type tactile stimulus,
Tactile stimulation information included in the controller to perform the method steps of the 1st switch and the 2nd stimulating,
In the 1st step of stimulating, stimulation of the haptic stimulus to the creation of the 1st type 1st a determination is made, or, through the output portion of the 1st type of the haptic stimulus 1st creation stimulation sites,
In the step of stimulating the 2nd, the output part side to the output haptic information, tactile information is: the determination of the creation or from the 1st through the type of the 1st stimulating of the haptic stimulus point on the 1st stimulation, in time and/or spatially dividing the predetermined threshold value at a point spaced from 2nd stimulus, through the output portion of the 2nd type of the haptic stimulus information creation.

[claim20]
20. A tactile information conversion program, which is capable of outputting of the haptic stimulus in order to make one or more of the output part side of the control section having at least a storage unit and provide tactile information to a program executing computer, characterized in,
Storing section includes a tactile definition part,
Creation of the 1st type defined for use in tactile definition part of the 1st of the 2nd type of the haptic stimulus of the haptic stimulus 1st sense stimulation point of tactile stimulation of the type of the 2nd and the haptic stimulus type, or, in the defined type is defined for a 2nd tactile creation of the portion of the tactile stimulation of the 2nd type of the haptic stimulus 1st sense stimulation point of tactile stimulation of the type of the 1st and the 2nd type tactile stimulus,
Tactile information conversion program for causing a controller to perform the step comprising of a 1st and a 2nd stimulation to stimulate step,
In the 1st step of stimulating, stimulation of the haptic stimulus to the creation of the 1st type 1st a determination is made, or, through the output portion of the 1st type of the haptic stimulus 1st creation stimulation sites,
In the step of stimulating the 2nd, the output part side to the output haptic information, tactile information is: the determination of the creation or from the 1st through the type of the 1st stimulating of the haptic stimulus point on the 1st stimulation, in time and/or spatially dividing the predetermined threshold value at a point spaced from 2nd stimulus, through the output portion of the 2nd type of the haptic stimulus information creation.

[claim21]
21. A component configuration structure body, which is suggested power, temperature, vibration and the force by at least two types of the multi-layer elements at the time of the tactile configuration of the element/structure or an intermediary level and a, characterized in,
A component placement structure body is
(1) As compared with the power of the vibration or the temperature of the cue elements the human body side of the structure located in a stacked element prompts,
(2) As compared with the temperature of the vibration prompt element disposed on the body side of the structure of the prompt elements are stacked,
(3) the electric power is compared to the force of the prompt element, the temperature and/or the human body side of the vibration prompt element located in a stacked structure, and
(4) Carrying out a horizontal element of the at least the indication of the configuration structure vibration,
A combination of one of the one or more.

[claim22]
22. A component placement structure body according to claim 21, characterized in,
Carrying out a horizontal element of the vibration prompt when the configuration, is subjected to vibration or vibration arranged for heat dissipation or converted into a voice of the resonance space.

[claim23]
23. A component placement structure body according to claim 21 or 22, characterized in,
The power level of the prompt element tightly arranged, an indication of a temperature and/or vibration to be sparsely element arranged horizontally.

[claim24]
24. Claim 21-23 in accordance with the configuration structure according to any one element, characterized in,
An intermediary of at least a portion of the structure element is disposed in a horizontal configuration element body structure body,
In an integrated manner with a prompt element is connected to the horizontal configuration of the flexible.

[claim25]
25. Claim 21-24 according to any one of a component placement structure, characterized in,
When the power of the power element is not presented prompt, to function as a ground.

[claim26]
26. Claim 21-25 according to any one of a component placement structure, characterized in,
An intermediary of at least a portion of the structure element is disposed in a horizontal component placement structure body,
The plurality of arranged in a horizontal plane in the same type of cue elements, positioned in a plurality of cue elements through hallucinations between the stimulus.

[claim27]
27. Claim 21-26 in accordance with the configuration structure according to any one element, characterized in,
At least a portion of the structure element is formed into a flat type component placement structure body,
A horizontally disposed at the periphery of the body structure is disposed entirely covered.

[claim28]
28. A component placement structure body according to claim 22, characterized in,
At least a portion of the structure element is formed into a flat type body component placement structure,
Arranged in a direction along a horizontal plane at an indication of a gap is arranged between a plurality of transducer elements.

[claim29]
29. A component placement structure body according to claim 22, characterized in,
Are bonded to the periphery of the body at the level of the back side of the structure of the configuration setting provided with air spaces.
  • Applicant
  • JAPAN SCIENCE AND TECHNOLOGY AGENCY
  • Inventor
  • TACHI SUSUMU
  • NAKATANI MASASHI
  • SATO KATSUNARI
  • MINAMIZAWA KOUTA
  • KAJIMOTO HIROYUKI
IPC(International Patent Classification)
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