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Tactile information conversion apparatus, method for converting tactile information, and tactile information transformation program meetings

Foreign code F190009709
File No. AE10-01WO
Posted date Jan 24, 2019
Country Republic of Korea
Application number 20187026642
Gazette No. 20180112847
Date of filing Apr 7, 2017
Gazette Date Oct 12, 2018
International application number JP2017014570
International publication number WO2017175867
Date of international filing Apr 7, 2017
Date of international publication Oct 12, 2017
Priority data
  • P2016-077692 (Apr 7, 2016) JP
  • 2017JP14570 (Apr 7, 2017) WO
Title Tactile information conversion apparatus, method for converting tactile information, and tactile information transformation program meetings
Abstract In order to provide tactile information to an output unit side that is capable of outputting physical amounts including electricity, force, temperature, vibration, and/or spatio-temporal information, the present invention selects at least two physical amounts among the physical amounts, in accordance with the tactile sensation to be presented, and is characterized by: creating tactile information for presenting a prescribed tactile sensation, on the basis of the selected physical amounts; and outputting the created tactile information to the output unit side.
(From WO2017175867 A1)
Outline of related art and contending technology BACKGROUND ART
Conventionally, real or virtual object located at a haptic presentation device presenting a tactile sensation to the user that has been developed.
For example, in Patent document 1, and the pen type inverse angled presentation apparatus, if a user when grasping the movable portion of the contact of the fingertip, reciprocating, oscillating, tilt, rotation or the like which are different by the movement of, the kinesthetic feeling unique to the given fingertip is disclosed.
In addition, in non patent document 1, pressure, vibration, tactile element to the temperature, and the tactile map is generated, synthesizing of any of their tactile element the tactile presentation with respect to the tactile presentation apparatus is disclosed.
In addition, non Patent literature 2 in which, in the actual environment in the drawing operation with a finger, a nail is provided on the vibrator to vibrate, presenting a virtual concave and convex feeling is disclosed.
Scope of claims [claim1]
1. And at least the electric, force, temperature, vibration, and/or, comprising a space that is capable of outputting an output side of the physical quantity in order to impart tactile information, tactile information control unit and having at least a conversion device, wherein the control unit, in correspondence with a desired tactile sensation presenting, at least one physical quantity selected from the plurality of physical quantities of at least 2 and on the other hand, on the basis of a physical quantity selected from the, wherein the tactile sensation of the haptic information is generated for the creation unit; created by the creating unit and the output unit to output the haptic information output control section on the side of the, apparatus for converting tactile information.
[claim2]
2. Method according to claim 1, wherein the physical quantity of the output of the electricity, an electrical stimulation of the tentacle container of said presentation, tactile information conversion device.
[claim3]
3. Method according to claim 1 or 2, wherein the tactile sensation, said texture being psychologically, tactile information conversion device.
[claim4]
4. Method according to any one of claims 1-3, the body, characterized in that finger, tactile information conversion device.
[claim5]
5. Method according to claim 3, wherein the psychology texture, of the body and a plurality of different tactile information obtained in the receiver is an integrated function in the brain is recognized from an amount said psychological, tactile information conversion device.
[claim6]
6. Claims 1-5 described in any one of the input device including an apparatus for converting tactile information.
[claim7]
7. Method according to claim 6, on a surface layer, the measurement sensor multipoint distribution type sensation, an intermediate layer, and a cold feeling measuring sensor, to the lower layer, having at least a vibration feel measurement sensor input device.
[claim8]
8. The method of any one of claims 1-5 tactile information conversion apparatus including a transmitting apparatus.
[claim9]
9. The method of any one of claims 1-5 tactile information conversion unit to a memory device.
[claim10]
10. The method of any one of claims 1-5 tactile information conversion apparatus including a server device.
[claim11]
11. The method of any one of claims 1-5 tactile information conversion apparatus including a receiving device.
[claim12]
12. The method of any one of claims 1-5 tactile information conversion unit to an output device.
[claim13]
13. Method according to claim 12, the surface layer, by pressure distributed multipoint electrical tactile stimulus presentation unit; interlayer, a cold feeling speed drive type Peltier element presentation unit; and lower, in a broad frequency band parts having at least a vibration output device.
[claim14]
14. The method of any one of claims 1-5 tactile information conversion apparatus is provided, operated by an operator using a robot teaching the robot teaching operation in the interactive operating system, wherein the robot is, finger portion for gripping an object; properties of the object or the object detection, object detection information of the object detection unit, detecting said finger disposed on the object; and having a driving apparatus to drive the robot and the robot, the robot teaching apparatus, said object detection information sent from the robot based on the tactile information transformed by the transformation device in response to haptic information, the operator corresponding to the tactile sensation providing unit provides the object detector to an operating system interaction.
[claim15]
15. And at least electrical, force, temperature, vibration, and/or, the space comprising an output unit capable of outputting a physical quantity on order to impart tactile information, tactile information having at least a control unit in an image conversion method for converting tactile information and, wherein the control unit executing, in correspondence with a desired tactile sensation is presented, at least one of a plurality of physical quantities of at least 2 physical quantity is selected on the other hand, based on the selected physical quantities, in order to provide the tactile sensation of the haptic information creating step of creating; created in the creating step and the output portion to output tactile information on the output control step to, tactile information conversion method.
[claim16]
16. And at least the electric, force, temperature, vibration, and/or, comprising a physical space that is capable of outputting to an output side in order to impart tactile information, and a program for causing a computer to execute, in correspondence with a desired tactile sensation is presented, at least one of the physical amount at a plurality of physical quantities of at least 2 while selecting, based on a physical quantity selected from the, wherein the tactile sensation of the haptic information creating step of creating; created in the creating step and the output side of the haptic information output control step for causing the computer to execute the haptic information conversion program.
[claim17]
17. Electrical, force, temperature, vibration, and/or, the physical space capable of outputting the output side to impart tactile information, tactile information with a controller and at least one conversion device, wherein the control unit, in correspondence with a desired tactile sensation presenting, selecting at least one of the physical quantity while, on the basis of a physical quantity selected from the, wherein the tactile sensation of the haptic information is generated for the creation unit; created by the creating unit and wherein the tactile information to the output portion side and an output control unit, wherein said creation section creates, for the purpose of said presentation corresponding to the touch, (rough) according to the adjustment force-activity (slip) axis, where the (hard) in accordance with the vibration-free (soft) axis, and, according to the temperature (dry) dry-wet (濕) corresponding to at least 2 on an axis, said physical quantity is selected, tactile information conversion device.
[claim18]
18. Method according to claim 17, wherein said creation section creates, for a given sample of the base to the touch detected by the detector and the physical amount, the corresponding texture, wherein the at least 2 axis corresponding to the map to update the learning by said, tactile information conversion device.
[claim19]
19. In order to obtain tactile information, and a control unit having at least a unit conversion device and the tactile information, wherein the detection unit, force, temperature, vibration, and/or, the detectable physical quantity space and, wherein the control unit, wherein the physical amount detected by the detector based on, in response to forces crude-active axis, in accordance with the vibration-free axis, and, according to the temperature of the dry-wet axis corresponding to at least 2 axis by, in order to provide the tactile sensation corresponding to the tactile information is acquired, tactile information conversion device.
[claim20]
20. Method according to claim 19, wherein the control unit, with respect to the known sample to the touch detected by the detector and the physical amount, corresponding to the at least 2 axis corresponding to the texture map by updating the learning of the, apparatus for converting tactile information.
  • 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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