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Tactile information conversion device, tactile information conversion method, tactile information conversion program, and element arrangement structure 新技術説明会

外国特許コード F190009810
整理番号 AE10-02TW
掲載日 2019年5月9日
出願国 台湾
出願番号 106111769
公報番号 201802650
公報番号 I710934
出願日 平成29年4月7日(2017.4.7)
公報発行日 平成30年1月16日(2018.1.16)
公報発行日 令和2年11月21日(2020.11.21)
優先権データ
  • 特願2016-077693 (2016.4.7) JP
  • 特願2016-140982 (2016.7.18) JP
発明の名称 (英語) Tactile information conversion device, tactile information conversion method, tactile information conversion program, and element arrangement structure 新技術説明会
発明の概要(英語) 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/or spatially 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.
従来技術、競合技術の概要(英語) Background of the invention 1.
The present invention relates to haptic information conversion devices, methods of haptic information conversion, and haptic information conversion programs and component configuration constructs.
[Prior Art]
Background of the invention [0002] Prior art Tactile presentation devices have been developed for presenting haptics of a real or virtual object to a user.
For example, the following Patent Document 1 discloses a pen (pen) type force-perceptual rendering device in which the finger tip contacts a movable portion when held by a user, so as to exhibit a so-called body feel at the finger tip by reciprocating, shaking, tilting, rotating, etc. actions at the movable portion.
In addition, Non-Patent Document 1 described below discloses a haptic presentation device in which pressure, vibration, temperature are used as elements haptics to generate a haptic map, and the elements haptics are synthesized to present arbitrary haptics.
Further, Non-Patent Document 2 described below discloses that the vibrator provided on the nail side exhibits a virtual concavo-convex feel when performing finger touch movement in a real environment.
Further, in the following Patent Document 2, an electrotactile display is disclosed having the following components for presenting electrical stimulation to a user: an electrode substrate having a plurality of stimulation electrodes, and a conductive gel layer disposed between the stimulation electrodes and the skin.
Prior Art.
Patent literature
Patent Document 1, National Publication No. 2010-287221
Patent Document 2 National Privileges Bulletin No.5057068
Non-patent literature
Non-patent Document 1 "Study of new antennae presenting devices", Ph. D. thesis at the University of Technical Sciences of the Gangoka University of Legal Sciences of the National University , 13102 a 702, URL: http://hdl.handle.net/10649/719
Non-patent Document 2: "Study of a nail-worn haptic display using a nail-worn haptic display", Journal of the Institute of Electronic Information and Communication, Institute of Electronic Information and Communication , 2004, Vol. J87-D2, No.11, pp. 2025-2033
特許請求の範囲(英語) [claim1]
1. A haptic information converting device having at least a memory portion and a control portion for providing haptic information to one or more output portion sides capable of outputting haptic stimuli, said memory portion comprising: a haptic defining portion; Defines said first and second types of haptic stimuli for sensing a first type of haptic stimuli at a second stimulation point where haptic stimuli of the second type of haptic stimuli, or said first and second types of haptic stimuli of the second type of haptic stimuli at a first stimulation point where haptic stimuli of the first type of haptic stimuli occur; The control section has a first stimulation section which determines that the first stimulation point of the first type of tactile stimulation occurs, or causes the first type of tactile stimulation to occur at the first stimulation point through the output section; Tactile information of said second type of tactile stimulation occurring through said output portion at said second stimulation point within a predetermined threshold value in time and/or space from said first stimulation point of said first type of tactile stimulation determined or occurring by said first stimulation portion is output to said output portion side.

[claim2]
2. The haptic information converting device of claim 1, wherein said haptic definition means: defines a haptic stimulus of a kind having a physiological difference threshold greater in temporal or spatial terms than said haptic stimulus of said second kind as a haptic stimulus of said first kind in order to sense said haptic stimulus of said first kind at said second stimulus point; Or, in order to perceive said second type of haptic stimulus at said first stimulation point, a haptic stimulus of a kind having a physiological difference threshold greater in temporal or spatial terms than said first type of haptic stimulus is defined as a haptic stimulus of said second type of haptic stimulus.

[claim3]
3. A tactile information converting device as claimed in claim 1 or 2, wherein said first stimulation means determines that a force is present or causes a force to appear as a tactile stimulus of said first kind, and said second stimulation means causes one or more of vibration, temperature, and electrical stimuli to occur at said second stimulation point as a tactile stimulus of said second kind, whereby said tactile stimulus of said second kind is sensed at said first stimulation point.

[claim4]
4. The tactile information converting device of claim 1 or 2, wherein said first stimulation portion determines one or more of vibration, temperature, and electrical stimulation, or causes one or more of vibration, temperature, and electrical stimulation to occur as tactile stimulation of said first type, and wherein said second stimulation portion causes a force to appear at said second stimulation point as tactile stimulation of said second type, whereby said tactile stimulation of said first type is sensed at said second stimulation point.

[claim5]
5. A tactile information converting device as claimed in claim 1 or 2, wherein said first stimulation portion determines that vibration appears or causes vibration to occur as a tactile stimulus of said first kind, and said second stimulation portion causes temperature stimulation to occur as a tactile stimulus of said second kind, whereby said tactile stimulus of said second kind is sensed at said first stimulation point.

[claim6]
6. A tactile information converting device as claimed in claim 1 or 2, wherein said first stimulation means determines that temperature presentation or causes temperature presentation to occur as a tactile stimulus of said first kind, and said second stimulation means causes vibration stimulation to occur at said second stimulation point as a tactile stimulus of said second kind, whereby said tactile stimulus of said first kind is sensed at said second stimulation point.

[claim7]
7. A tactile information converting device as claimed in claim 1 or 2, wherein said first stimulation means determines that electrical stimulation is present or causes electrical stimulation to occur as a tactile stimulation of said first kind, and said second stimulation means causes vibration and/or temperature to occur at said second stimulation point as a tactile stimulation of said second kind, whereby said tactile stimulation of said second kind is sensed at said first stimulation point.

[claim8]
8. A tactile information converting device as claimed in claim 1 or 2, wherein said first stimulation means determines vibration and/or temperature, or causes vibration and/or temperature to occur as a tactile stimulus of said first kind, and wherein said second stimulation means causes electrical stimulus to appear at said second stimulation point as a tactile stimulus of said second kind, whereby said tactile stimulus of said first kind is sensed at said second stimulation point.

[claim9]
9. A tactile information converting device as claimed in any one of claims 1 to 8, wherein said first stimulation point and/or said second stimulation point are perceptual points generated using illusion of phantom sensation.

[claim10]
10. An input device having a haptic information converting device according to any one of claims 1 to 9.

[claim11]
11. An input device according to claim 10, wherein at least a multipoint distribution type pressure sensing sensor is provided in the surface layer, at least a temperature-cold sensing sensor is provided in the intermediate layer, and at least a vibration-sensing sensor is provided in the lower layer.

[claim12]
12. A transmitting device provided with a haptic information converting device according to any one of claims 1 to 9.

[claim13]
13. A memory device having a haptic information converting device according to any one of claims 1 to 9.

[claim14]
14. A server device provided with a haptic information converting device requesting any one of items 1 to 9.

[claim15]
15. A receiving device provided with the haptic information converting device of any one of claims 1 to 9.

[claim16]
16. An output device provided with the haptic information converting device of any one of claims 1 to 9.

[claim17]
17. The output device of claim 16, wherein at least a distribution-type pressure presenting portion formed by multipoint electrotactile stimuli is provided at the surface layer, a high-speed drive-type temperature cold feeling presenting portion formed by Peltier elements is provided at the intermediate layer, and a vibration presenting portion having at least a broadband rate range is provided at the lower layer.

[claim18]
18. An interactive operating system provided with an interactive operating system for instructional action of a robot using a robot instructional device operated by an operator, the robot having a finger portion for holding an object, an object detecting portion disposed on the finger portion for detecting a trait of the object or the trait of the object, and an object detecting portion disposed on the finger portion for detecting a trait of the object or the trait of the object. Generating object detection information, and robot driving means driving said robot, said robot teaching means having: an object detection sensation providing means for supplying a corresponding tactile sensation to said operator in response to tactile information converted by said tactile information converting means based on said object detection information transmitted from said robot.

[claim19]
19. A haptic information conversion method performed in a haptic information conversion apparatus having at least a memory portion and a control portion for providing haptic information to one or more output portion sides capable of outputting haptic stimuli, said memory portion comprising: a haptic definition portion, and a control portion; Defines said first and second types of haptic stimuli for sensing a first type of haptic stimuli at a second stimulation point where haptic stimuli of the second type of haptic stimuli, or said first and second types of haptic stimuli of the second type of haptic stimuli at a first stimulation point where haptic stimuli of the first type of haptic stimuli occur; The haptic information converting method comprises the following steps performed in the control section: a first stimulation step of determining a first stimulation point at which the haptic stimulation of the first type occurs, or at which the haptic stimulation of the first type occurs through the output section; Tactile information from a second stimulation point within a predetermined threshold in time and/or space from said first stimulation point of said first stimulation point determined or occurring in said first stimulation step is output to said output portion side.

[claim20]
20. A haptic information conversion program for use by a computer having at least a memory portion and a control portion for providing haptic information to one or more output portion sides capable of outputting haptic stimuli, said memory portion comprising: a haptic defining portion; Defines said first and second types of haptic stimuli for sensing a first type of haptic stimuli at a second stimulation point where haptic stimuli of the second type of haptic stimuli, or said first and second types of haptic stimuli of the second type of haptic stimuli at a first stimulation point where haptic stimuli of the first type of haptic stimuli occur; The tactile information conversion program comprises the following steps for execution by the control section: a first stimulation step of determining a first stimulation point at which the tactile stimulation of the first type occurs or at which the tactile stimulation of the first type occurs through the output section; Tactile information from a second stimulation point within a predetermined threshold in time and/or space from said first stimulation point of said first stimulation point determined or occurring in said first stimulation step is output to said output portion side.

[claim21]
21. An element configuration construct which is a layered and/or horizontal configuration of elements exhibiting at least two of electrical, temperature, vibration, and force tactile sensation, said element configuration construct being a combination of one or more of the following: (1) layering an electrical presentation element on a more body-side than a vibrating or temperature presentation element; (2) Layering the temperature rendering element on a more body-dependent side than the vibrating rendering element, (3) layering the electrical, temperature, and/or vibrating rendering element layering the moving element on a more body-dependent side than the force rendering element, and (4) layering the vibrating rendering element horizontally.

[claim22]
22. The element configuration construction as recited in claim 21, wherein when the aforementioned vibration presenting element is horizontally configured, a void is provided for converting vibration into sound or for vibration resonance or for heat dissipation.

[claim23]
23. The element configuration construct of claim 21 or 22, wherein the electrical rendering elements are closely horizontally configured, the temperature and/or vibrating rendering elements are sparsely horizontally configured.

[claim24]
24. The component configuration construct of any one of claims 21 to 23, wherein at least a portion of the component configuration construct is in the form of a horizontal configuration;

[claim25]
25. The component configuration construct of any one of claims 21 to 24, wherein said electrical rendering element functions as ground when not electrically rendered.

[claim26]
26. A component configuration body as claimed in any one of claims 21 to 25, wherein at least a portion of the component configuration is in the form of a horizontal configuration;

[claim27]
27. The component configuration construct of any one of claims 21 to 26, wherein at least a portion of the component configuration construct is a horizontal version;

[claim28]
28. A component configuration according to claim 22, wherein at least a portion of the component configuration is of a horizontal type;

[claim29]
29. The element configuration construct of claim 22, wherein the aforementioned void is provided on the backside of the horizontally configured construct disposed in such a manner that the entire body surrounds the body.
  • 出願人(英語)
  • JAPAN SCIENCE AND TECHNOLOGY AGENCY
  • 発明者(英語)
  • TACHI SUSUMU
  • NAKATANI MASASHI
  • SATO KATSUNARI
  • MINAMIZAWA KOUTA
  • KAJIMOTO HIROYUKI
国際特許分類(IPC)
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