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

外国特許コード F190009813
整理番号 AE10-02WO
掲載日 2019年5月9日
出願国 アメリカ合衆国
出願番号 201816153008
公報番号 20190043322
出願日 平成30年10月5日(2018.10.5)
公報発行日 平成31年2月7日(2019.2.7)
優先権データ
  • 特願2016-077693 (2016.4.7) JP
  • 特願2016-140982 (2016.7.18) JP
  • 2017JP14571 (2017.4.7) WO
発明の名称 (英語) Tactile information conversion device, tactile information conversion method, tactile information conversion program, and element arrangement structure NEW 新技術説明会
発明の概要(英語) The purpose is to provide a device, method and program for tactile information conversion, and an element arrangement structure for presenting a plurality of types of stimuli that are capable of presenting a plurality of types of stimuli at one point in a concentrated manner from different points. One of the features is to determine a first stimulation point at which a first type of tactile stimulus is generated or generate the first type of tactile stimulus at the first stimulation point via the output unit and output tactile information for generating a second type of tactile stimulus via the output unit to the output unit at a second stimulation point separated within a temporally and/or spatially predetermined threshold value from the first stimulation point of the first type of tactile stimulus that has been determined or generated by a first stimulation unit.
従来技術、競合技術の概要(英語) BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a tactile information conversion device, a tactile information conversion method, a tactile information conversion program, and an element arrangement structure.
2. Description of the Related Art
In the related art, tactile sensation presentation devices have been developed that present a tactile sensation for a real or virtual object to a user.
For example, Patent Document 1 discloses a pen-type force sensation presentation device that presents, by allowing for motions such as a reciprocating motion, a swinging motion, a tilting motion, a rotation, and the like at a movable part where a fingertip touches when a user holds the device, proprioception to the fingertip.
In addition, Non-Patent Document 1 discloses a tactile sensation presentation device that creates a tactile map using pressure, vibration, and temperature as elementary tactile sensations and synthesizes the element tactile sensations so as to present an arbitrary tactile sensation.
In addition, Non-Patent Document 2 discloses that a vibrator provided on the nail side is vibrated at the time of a finger stroking operation in a real environment so as to present a virtual sense of unevenness.
In addition, Patent Document 2 discloses an electrical tactile sensation display provided with an electrode substrate provided with a plurality of stimulation electrodes, a conductive gel layer between the stimulation electrodes and the skin, etc., in order to present electrical stimulation to the user.
- Patent Document 1: Japanese Patent Application Publication No. 2010-287221
- Patent Document 2: Japanese Patent No. 5057068
- Non-Patent Document 1: Chikai, Manabu, “Study on New Tactile Sense Presentation Devices”, Nagaoka University of Technology doctoral thesis, Nagaoka University of Technology Nagaoka University of Technology, Mar. 25, 2014, 13102 No. 702, URL: http://hdl.handle.net/10649/719
- Non-Patent Document 2: Ando, Hideyuki, Watanabe, Junji, Inami, Masahiko, Sugimoto, Maki, Maeda, Taro, “A Study of the Nail-Mounted Tactile Display for Augmented Reality System”, Journal of the Institute of Electronics, Information and Communication Engineers, the Institute of Electronics, Information and Communication Engineers, Nov. 1, 2004, Vol. J87-D2, No. 11, pp. 2025-2033
特許請求の範囲(英語) [claim1]
1. A tactile information conversion device comprising at least a storage unit and a control unit in order to provide tactile information to one or a plurality of output units capable of outputting a tactile stimulus,
wherein the storage unit includes a tactile definition unit that defines a first type of tactile stimulus and a second type of tactile stimulus for allowing the second type of tactile stimulus to be perceived at a first stimulation point at which the first type of tactile stimulus is generated or a first type of tactile stimulus and a second type of tactile stimulus for allowing the first type of tactile stimulus to be perceived at a second stimulation point at which the second type of tactile stimulus is generated, and
wherein the control unit includes:
a first stimulation unit that determines the first stimulation point at which the first type of tactile stimulus is generated or generates the first type of tactile stimulus at the first stimulation point via the output unit; and
a second stimulation unit that outputs to the output unit tactile information for generating the second type of tactile stimulus via the output unit at the second stimulation point separated within a temporally and/or spatially predetermined threshold value from the first stimulation point of the first type of tactile stimulus, which is determined or generated by the first stimulation unit.
[claim2]
2. The tactile information conversion device according to claim 1,
wherein the tactile sensation definition unit defines, as the second type of tactile stimulus, a type of tactile stimulus with a temporal or spatial physiological discrimination threshold that is larger than that of the first type of tactile stimulus in order to allow the second type of tactile stimulus to be perceived at the first stimulation point or
defines, as the first type of tactile stimulus, a type of tactile stimulus with a temporal or spatial physiological discrimination threshold that is larger than that of the second type of tactile stimulus in order to allow the first type of tactile stimulus to be perceived at the second stimulation point.
[claim3]
3. The tactile information conversion device according to claim 1, wherein
the first stimulation unit determines or causes force presentation as the first type of tactile stimulus, and
the second stimulation unit generates one or a plurality of stimuli among vibration, temperature, and electrical stimuli as the second type of tactile stimulus at the second stimulation point,
thereby allowing the second type of tactile stimulus to be perceived at the first stimulation point.
[claim4]
4. The tactile information conversion device according to claim 1, wherein
the first stimulation unit determines or generates one or a plurality of stimuli among vibration, temperature, and electrical stimuli as the first type of tactile stimulus, and
the second stimulation unit causes force presentation as the second type of tactile stimulus at the second stimulation point,
thereby allowing the first type of tactile stimulus to be perceived at the second stimulation point.
[claim5]
5. The tactile information conversion device according to claim 1, wherein
the first stimulation unit determines or causes vibration presentation as the first type of tactile stimulus, and
the second stimulation unit generates a temperature stimulus as the second type of tactile stimulus at the second stimulation point,
thereby allowing the second type of tactile stimulus to be perceived at the first stimulation point.
[claim6]
6. The tactile information conversion device according to claim 1, wherein
the first stimulation unit determines or causes temperature presentation as the first type of tactile stimulus, and
the second stimulation unit generates a vibration stimulus as the second type of tactile stimulus at the second stimulation point,
thereby allowing the first type of tactile stimulus to be perceived at the second stimulation point.
[claim7]
7. The tactile information conversion device according to claim 1, wherein
the first stimulation unit determines or causes electrical stimulus presentation as the first type of tactile stimulus, and
the second stimulation unit generates vibration and/or temperature as the second type of tactile stimulus at the second stimulation point,
thereby allowing the second type of tactile stimulus to be perceived at the first stimulation point.
[claim8]
8. The tactile information conversion device according to claim 1, wherein
the first stimulation unit determines or generates vibration and/or temperature as the first type of tactile stimulus, and
the second stimulation unit causes electrical stimulus presentation as the second type of tactile stimulus at the second stimulation point,
thereby allowing the first type of tactile stimulus to be perceived at the second stimulation point.
[claim9]
9. The tactile information conversion device according to claim 1, wherein
the first stimulation point and/or the second stimulation point are perceptual points caused due to phantom sensation illusion.
[claim10]
10. An input device comprising the tactile information conversion device according to claim 1.
[claim11]
11. The input device according to claim 10, comprising at least:
a multipoint distribution type pressure sensation measurement sensor on a surface layer;
a warm/cold feeling measurement sensor in an intermediate layer; and
a vibration feeling measurement sensor in a lower layer.
[claim12]
12. A transmission device comprising the tactile information conversion device according to claim 1.
[claim13]
13. A storage device comprising the tactile information conversion device according to claim 1.
[claim14]
14. A server device comprising the tactile information conversion device according to claim 1.
[claim15]
15. A receiving device comprising the tactile information conversion device according to claim 1.
[claim16]
16. An output device comprising the tactile information conversion device according to claim 1.
[claim17]
17. The output device according to claim 16, comprising at least:
at least a distribution-type pressure presentation unit using a multipoint electrical tactile sensation stimulus on a surface layer;
a high-speed driving type warm/cold feeling presentation unit using a Peltier element in an intermediate layer; and
a vibration presentation unit of a wide frequency range in a lower layer.
[claim18]
18. An interaction operation system comprising the tactile information conversion device according to claim 1 that teaches motion to a robot by using a robot teaching device operated by an operator,
wherein the robot has:
a finger portion for holding an object;
an object detection unit that detects the object or the characteristics of the object and generates object detection information and that is arranged in the finger portion; and
a robot driving device that drives the robot, and
wherein the robot teaching device has:
an object detection sensation providing unit that provides a corresponding tactile feeling to the operator in accordance with tactile information converted by the tactile information conversion device based on the object detection information transmitted from the robot.
[claim19]
19. A non-transitory computer-readable medium encoded with a program for performing a tactile information conversion method performed in a tactile information conversion device comprising at least a storage unit and a control unit in order to provide tactile information to one or a plurality of output units capable of outputting a tactile stimulus,
wherein the storage unit includes a tactile definition unit that defines a first type of tactile stimulus and a second type of tactile stimulus for allowing the second type of tactile stimulus to be perceived at a first stimulation point at which the first type of tactile stimulus is generated or a first type of tactile stimulus and a second type of tactile stimulus for allowing the first type of tactile stimulus to be perceived at a second stimulation point at which the second type of tactile stimulus is generated,
the program comprising:
computer-implemented modules executed in the control unit, including:
a first stimulation module that determines the first stimulation point at which the first type of tactile stimulus is generated or generates the first type of tactile stimulus at the first stimulation point via the output unit; and
a second stimulation module that outputs to the output unit tactile information for generating the second type of tactile stimulus via the output unit at the second stimulation point separated within a temporally and/or spatially predetermined threshold value from the first stimulation point of the first type of tactile stimulus, which is determined or generated by the first stimulation module.
[claim20]
20. A tactile information conversion program comprising modules that are implemented by a computer comprising at least a storage unit and a control unit in order to provide tactile information to one or a plurality of output units capable of outputting a tactile stimulus and that are executed in the control unit,
wherein the storage unit includes a tactile definition unit that defines a first type of tactile stimulus and a second type of tactile stimulus for allowing the second type of tactile stimulus to be perceived at a first stimulation point at which the first type of tactile stimulus is generated or a first type of tactile stimulus and a second type of tactile stimulus for allowing the first type of tactile stimulus to be perceived at a second stimulation point at which the second type of tactile stimulus is generated,
the modules including:
a first stimulation module that determines the first stimulation point at which the first type of tactile stimulus is generated or generates the first type of tactile stimulus at the first stimulation point via the output unit; and
a second stimulation module that outputs to the output unit tactile information for generating the second type of tactile stimulus via the output unit at the second stimulation point separated within a temporally and/or spatially predetermined threshold value from the first stimulation point of the first type of tactile stimulus, which is determined or generated by the first stimulation module.
[claim21]
21. An element arrangement structure of a laminated type and/or a horizontally arranged type for elements in the case of presenting at least two types of tactile sensations among electricity, temperature, vibration, and force,
wherein either one of or a combination of a plurality of features among features (1) to (4) is employed:
(1) a presentation element for electricity is arranged more toward the body than a presentation element for vibration or temperature in a laminated manner;
(2) a presentation element for temperature is arranged more toward the body than a presentation element for vibration in a laminated manner;
(3) a presentation element for electricity, temperature, and/or vibration is arranged more toward the body than a presentation element for force in a laminated manner; and
(4) at least a presentation element for vibration is horizontally arranged.
[claim22]
22. The element arrangement structure according to claim 21,
wherein, in the case of horizontally arranging the presentation element for vibration, a gap for conversion of vibration into sound, for vibration resonance, or for heat dissipation is provided.
[claim23]
23. The element arrangement structure according to claim 21,
wherein presentation elements for electricity are horizontally arranged in a dense manner, and presentation elements for temperature and/or vibration are horizontally arranged in a sparse manner.
[claim24]
24. The element arrangement structure according to claim 21,
wherein at least a portion of the element arrangement structure is of a horizontally arranged type, and
wherein presentation elements that are arranged horizontally are connected such that the presentation elements have flexibility as a whole.
[claim25]
25. The element arrangement structure according to claim 21,
wherein the presentation element for electricity functions as a ground when the presentation element for electricity does not present electricity.
[claim26]
26. The element arrangement structure according to claim 21,
wherein at least a portion thereof has a horizontally arranged type element arrangement structure, and
wherein, in a plurality of presentation elements of the same type that are arranged in the horizontal surface direction, a stimulus is localized between the plurality of elements by phantom sensation.
[claim27]
27. The element arrangement structure according to claim 21,
wherein at least a portion of the element arrangement structure is of a horizontal type, and
wherein the horizontally arranged structure is provided so as to surround the body as a whole.
[claim28]
28. The element arrangement structure according to claim 22,
wherein at least a portion thereof has a horizontal type element arrangement structure, and
wherein the gap is provided between the plurality of presentation elements for vibration that are arranged in the horizontal surface direction.
[claim29]
29. The element arrangement structure according to claim 22,
wherein the gap is provided on the back side of the horizontally arranged structure so as to surround the body as a whole.
  • 発明者/出願人(英語)
  • TACHI Susumu
  • NAKATANI Masashi
  • SATO Katsunari
  • MINAMIZAWA Kouta
  • KAJIMOTO Hiroyuki
  • JAPAN SCIENCE AND TECHNOLOGY AGENCY
国際特許分類(IPC)
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