JP3851459B2 - Haptic communication terminal device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a communication terminal device, in particular, when the remote communication between individuals, in order to transmit the feelings each other relates to the force communication terminal equipment for transmitting a force to each other by hand.
[0002]
[Prior art]
As a communication terminal device for transmitting force sense to each other in the case of remote communication between individuals, the “net-drawing device using a communication line” disclosed in Japanese Patent Laid-Open No. 64-72768 and the Japanese Patent Laid-Open No. 7-30978 are disclosed. There are “force transmitters and force receivers and force transmitters”. The gist of the former is that, in order to perform networking between both terminals connected by a communication line, the traction force generating means for each terminal, the displacement amount detecting means connected thereto, the output of this and the output of the counterpart terminal A calculation unit that receives the traction force that is proportional to the difference between the two displacement amounts and a control unit that causes the traction force generation means to generate the traction force based on the output is provided. The gist of the latter is that when the movable part is moved by exerting a force on the sender, an electric signal generated in the sensor part according to the amount of displacement and the speed of the displacement is used to apply the force on the sender to the movable part. The amount of displacement and the speed of displacement can be transmitted to the receiver, and the receiver can reproduce the force from the sender with its movable part.
[0003]
In these prior arts, power can be transmitted, but the feelings of the communicator cannot be transmitted to the communication partner in detail.
[0004]
[Problems to be solved by the invention]
By the way, as you can see from the experience of finger-cutting, the finger of the hand (especially the little finger) is sensitive to being pressed from the inside. Can be increased. Therefore, in a haptic communication terminal device used for transmitting feelings to each other in remote communication between individuals, it is desirable to use a finger of a hand as a part for measuring and presenting a haptic sense.
[0005]
However, in the prior art, there is a problem in that it is impossible to make the communication person feel as if they are pressing each other's fingers.
[0006]
An object of the present invention is to solve the problem of the prior art in which it is impossible to make a communication person feel as if they are pressing each other's fingers.
[0007]
[Means for Solving the Problems]
A haptic communication terminal device according to the present invention is a haptic communication terminal device capable of mutually transmitting haptics between a communicator and a communication partner, and has a casing portion that can be grasped by a palm. Measure the pressing force of the communicator's finger at the position where the finger is attached when grasping the housing, and output the magnitude of this force as a voltage, and transmit this voltage to the terminal device of the communication partner A force sense that presents a force proportional to the magnitude of the received voltage to a communicator's finger at the same position as the stress measuring means; a transmitting means; a receiving means for receiving a voltage sent from a communication partner terminal device; Presenting means, wherein the stress measuring means is a second arm mounted to rotate about an axis;
Between a first arm arranged to rotate about an axis that is pushed by a user's finger and attached to a second arm; and between the first arm and the second arm; A spring that generates a reaction force according to the magnitude of the force applied by the user's finger to the first arm, and an angle sensor that converts the rotation angle of the first arm into a voltage and outputs the voltage. When the force of the user's finger is increased, the output voltage is increased. The force sense presenting means includes an electric motor that generates a rotational force corresponding to the magnitude of the input voltage, An eccentric cam attached to the rotating shaft and a force generation unit that rotates the second arm and applies a reaction force to the first arm when the eccentric cam rotates, and has a large input voltage. The force that is presented to the user's finger It is obtained by a larger properties.
[0008]
The first arm is arranged at a position where a little finger is attached when grasping the housing, and is rotated by a pressing force of the user's little finger.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described with reference to FIG.
[0016]
FIG. 1 is a block diagram showing a configuration of a haptic communication terminal device according to the present invention.
[0017]
In FIG. 1, reference numeral 10 denotes a stress measuring means, which measures the magnitude of a pressing force of a communication person's finger, converts the magnitude of the force into a voltage, and outputs the voltage. The stress measuring means 10 is disposed between the force sense generating unit 43 of the force sense presenting means 40 and the communicator's finger, and plays a role of transmitting the force generated by the force sense presenting means 40 to the communicator's finger. Also serves.
[0018]
A transmission unit 20 encodes the voltage output from the stress measurement unit 10 so as to be suitable for the communication line L, and transmits the encoded voltage to the terminal device installed on the other side via the communication line L. As the communication line L, a total of four copper wires for transmission and reception may be used for direct connection to the other terminal device, or a general telephone network or a digital communication network may be used.
[0019]
Reference numeral 30 denotes a receiving means that receives a code transmitted from the terminal device installed on the other side and outputs it as a voltage.
[0020]
Reference numeral 40 denotes force sense presenting means that generates a force proportional to the voltage output from the receiving means 30 and applies force sense to the little finger of the communicator via the stress measuring means 10 attached to the force sense generating unit 43 of this means. Present.
[0021]
Next, details of the stress measurement means 10 and the force sense presentation means 40 will be described with reference to FIG.
[0022]
FIG. 2 is a front view of the stress measuring means 10 and the force sense presenting means 40 when the lid is removed.
[0023]
In this figure, reference numeral 60 denotes a housing having a size and shape that can be grasped by a palm. FIG. 3 is a perspective view showing a state where the housing 60 shown in FIG. 2 is gripped with the right hand.
[0024]
The stress measuring means 10 includes an arm 11 having a protrusion at a position where it touches the little finger of a communication person, a spring 12 stretched between the arm 11 and an arm (force generation unit) 43, and a shaft 13. And an angle sensor 14 for measuring an angle formed by the arm 11 and the arm 43.
[0025]
The force sense presenting means 40 includes an electric motor 41 attached to a support 50 fixed to a housing 60, an eccentric cam 42 attached to a rotating shaft of the electric motor 41, an arm 43 which is a force sense generating unit, an arm A spring 44 stretched between 43 and the housing 60, and a stopper 45 attached to the housing 60.
[0026]
First, the operation of the stress measuring means 10 will be described.
[0027]
The arm 11 has a protrusion at a position where it touches the little finger of the communicator, and is attached so that it can rotate around a shaft 13 attached to an arm 43 which is a force sense generating part of the force sense presenting means 40.
[0028]
When the communication person's finger presses the protrusion of the arm 11 toward the inside of the housing, the arm 11 rotates counterclockwise about the shaft 13 and contracts the spring 12. At this time, the contracted amount of the spring 12 is proportional to the square root of the magnitude of the pressing force of the communication person's finger.
[0029]
In order to measure the contracted amount of the spring 12, a change in the angle of the arm 11 with respect to the arm 43 is measured by the angle sensor 14. The angle sensor 14 is a contactless potentiometer and outputs a voltage proportional to the rotation angle.
[0030]
When the force of the communicator's finger pushing the arm 11 increases, the spring 12 contracts and the rotation angle of the arm 11 increases, so that the voltage output by the angle sensor 14 increases.
[0031]
Conversely, when the force with which the communicator's finger presses the arm 11 is reduced, the spring 12 is restored and the rotation angle of the arm 11 is reduced, so that the voltage obtained by the angle sensor 14 is reduced.
[0032]
Through the operation described above, the stress measuring means 10 outputs a voltage proportional to the magnitude of the pressing force of the communication person's finger.
[0033]
Next, operation | movement of the force sense presentation means 40 is demonstrated.
[0034]
The electric motor 41 is attached to a support 50 fixed to the housing 60, and generates a rotational force proportional to the input voltage on the rotating shaft.
[0035]
The eccentric cam 42 has a circular shape and is attached to the rotating shaft of the electric motor 41 at a position slightly deviated from the center thereof.
[0036]
The arm 43 is a force generation unit, and is attached so as to be rotatable about a shaft 46 attached to the support 50.
[0037]
When the voltage input to the electric motor 41 increases, the eccentric cam 42 rotates so that the center thereof is on the left side of the rotating shaft of the electric motor 41, and pushes the arm 43 outward of the housing 60. At this time, the arm 43 contracts the spring 44 and pushes the arm 11 of the stress measuring means 10 toward the outside of the housing 60 through the spring 12. Since the spring 12 is sufficiently strong, a force can be transmitted to the finger of the communicator touching the arm 11. When the voltage input to the electric motor 41 becomes very large and the force of the eccentric cam 42 pushing the arm 43 toward the outside of the housing 60 becomes too strong, the stopper in which the arm 43 is attached to the housing 60 is used. It stops at 45 and no further strong force is transmitted to the communicator's finger.
[0038]
When the voltage input to the electric motor 41 decreases, the force with which the eccentric cam 42 pushes the arm 43 toward the outside of the housing 60 is weakened, and the arm 43 is pushed toward the inside of the housing 60 by the restoring force of the spring 44. At this time, the arm 43 pulls the arm 11 back toward the inside of the housing 60 via the spring 12, so that the force transmitted to the finger of the communicator is weakened.
[0039]
Through the operation described above, the force sense presentation unit 40 presents a force sense having a magnitude proportional to the input voltage to the communication person's finger.
[0040]
Furthermore, an operation when two force communication terminal devices are connected to each other via the communication line L will be described. Here, two haptic communication terminal devices are referred to as a terminal 1 and a terminal 2, respectively. Further, a communicator who uses the terminal 1 is referred to as a communicator 1 (a communicator who uses the terminal 2 is a communicator 2).
[0041]
When the finger of the communicator 1 pushes the arm 11 of the terminal 1 toward the inside of the housing 60, the arm 11 of the terminal 2 moves toward the outside of the housing and pushes the finger of the communicator 2. Conversely, when the finger of the communicator 2 pushes the arm 11 of the terminal 2 toward the inside of the housing, the arm 11 of the terminal 1 moves toward the outside of the housing 60 and pushes the finger of the communicator 1.
[0042]
When the fingers of the communicator 1 and the fingers of the communicator 2 simultaneously push the arms 11 of the respective terminals toward the inside of the housing 60, the arms 11 of the respective terminals are as if they are one stick with two fingers. Acts as if both ends are pressed together. That is, when the force applied by the communicator 1 is stronger than the force applied by the communicator 2, the arm 11 of the terminal 1 is pushed toward the inside of the housing 60, and the arm 11 of the terminal 2 is external to the housing 60. It is pushed out toward. On the contrary, when the finger of the communicator 2 is stronger, the arm 11 of the terminal 2 is pushed toward the inside of the housing 60, and the arm 11 of the terminal 1 is pushed out of the housing 60.
[0043]
Since the operation described above proceeds with almost no time difference between the two terminals, the two communicators 1 and 2 feel as if they are pushing each other's fingers.
[0044]
The above-described embodiment shown in FIGS. 1 to 3 has only a function of transmitting force, but in addition to this, an embodiment having a call function, that is, an embodiment that can also be called a handset with a handshake function. The form will be described with reference to FIGS.
[0045]
In FIG. 4, reference numeral 110 denotes a grip force detection unit, which is provided with a grip force sensor at a position where the middle finger or index finger of the caller touches in a state where the caller holds the handset. Detect strength.
[0046]
An input grip strength conversion unit 120 converts the strength of the grip strength detected by the grip strength detection unit 110 into an amount of rotation of the potentiometer using an arm, and converts it into an electrical signal.
[0047]
Reference numeral 130 denotes a microphone, which is similar to a normal telephone transmitter, and inputs voice.
[0048]
The grip strength signal converted into an electrical signal by the input grip strength converter 120 and the voice signal input by the microphone 130 are transmitted to the handset of the other party's talker via a telephone line or the like. As a method of transmitting a grip signal and a voice signal through a telephone line, for example, a method of multiplexing both signals on a single channel analog telephone line by frequency band division, or a method of digitalizing both signals with an analog / digital converter. It is possible to use various methods such as a method of time-division multiplexing and transmission to an l-channel digital telephone line.
[0049]
Reference numeral 140 denotes an output grip strength conversion unit that converts the strength of the grip strength as an electrical signal transmitted from the handset of the other party's talker into a physical displacement amount. For this purpose, the rotation amount of the torque motor is controlled by an electric signal and converted into a physical displacement amount using a cam and an arm.
[0050]
A grip strength output unit 150 is provided with a movable unit at a position where the base of the thumb of the caller touches when the caller holds the handset, and the value of the grip force data transmitted from the other party's phone is When the force increases, the force acting in the direction of pushing the base of the thumb in the movable portion is increased.
[0051]
Reference numeral 160 denotes a speaker, which is the same as an ordinary telephone handset, and outputs the voice transmitted from the other party.
[0052]
Next, details of the grip strength detection unit 110, the input grip strength conversion unit 120, the grip strength output unit 150, and the output grip strength conversion unit 140 will be described with reference to FIG.
[0053]
FIG. 5 is a front view of the back surface of the handset with handshake function with the back cover removed. The side of the handset with the microphone and speaker is shown in the table. Reference numeral 170 denotes a housing. A speaker 160 and a microphone 130 are disposed at the same position as a handset of a normal telephone.
[0054]
Specifically, the grip force detection unit 110 is an arm 111 shown in FIG. 5 and is disposed at a position where the middle finger or index finger of the caller touches when the caller holds the handset. The arm 111 rotates when the force of pushing from the middle finger or index finger of the caller to the inside of the hand increases.
[0055]
The input grip force conversion unit 120 is attached to a spring 123 stretched between a pin 122 planted on the substrate 121 fixed to the housing 170 and a pin 112 planted on the arm 111 and the substrate 121. The rotating potentiometer 124 is connected to one end of the arm 111. The rotation angle of the arm 111 when the caller presses the arm 111 and the extension force of the spring 123 is balanced is detected by the potentiometer 124 and output as the magnitude of the voltage.
[0056]
The output grip force conversion unit 140 includes a torque motor 142, an eccentric cam 143, and a spring 144 attached to a substrate 141 fixed to the housing 170. The spring 144 is stretched between the pin 145 planted on the substrate 141 and a pin 152 planted on the arm 151 described later so as to be in the compression direction. The torque motor 142 rotates in accordance with the gripping force data input as the magnitude of the voltage, and an arm 151 (to be described later) rotates around the pin 153 implanted in the substrate 141 by a cam 143 connected to the torque motor 142. . When the magnitude of the input voltage is reduced, the rotational force of the torque motor 142 is weakened, and the arm 151 is pulled back to the original position by the spring 144.
[0057]
The grip force output unit 150 is specifically an arm 151, and one end of the grip force output unit 150 is rotatably attached to the substrate 141. In a state where the caller holds the handset, a movable portion is disposed at a position where the base of the thumb of the caller touches. As the arm 151 rotates, the force acting in the direction of pushing the base of the caller's thumb changes.
[0058]
According to the above configuration, when a caller grips the handset, the portion of the arm 111 protruding outward from the housing 170 is pushed by the index finger, and the arm 111 is rotated. An electric signal corresponding to the pressing force is output and transmitted to drive the torque motor 142 of the other handset (for convenience of explanation, FIG. 5 is also used as the other hand), and the arm 151 is moved from the housing 170 by the cam 143. Drive to protrude more. That is, the grip strength of one speaker is transmitted to the other speaker.
[0059]
【The invention's effect】
According to the first aspect of the present invention, there is provided a stress measuring means that has a casing portion that can be grasped by a palm and that measures the pressing force of a communicator's finger at a position where the finger is attached when grasping the casing. and transmitting means for transmitting the magnitude to the terminal device of the communication partner, the communication partner of the force transmitted from the terminal device and receiving means for receiving the size, the correspondent a force proportional to the magnitude of the received power A force sense presenting means for presenting to a finger, and the stress measuring means is attached to a force sense generating portion of the force sense presenting means, so that a communication person's finger presses the stress measuring means. It is possible to present a sense of force on the communicator's finger at the same position, and to make two communicators who use this device feel as if they are pushing each other's fingers. it can. Further, in the stress measuring device, an arm arranged so as to be rotated by being pushed by a communicator's finger, and a spring that generates a reaction force according to the magnitude of the force applied to the arm by the finger; The angle sensor that converts the rotation angle of the arm into a voltage makes it possible to measure the pressing force of the communication person's finger with a simple configuration, and also in the force presentation device. An electric motor that generates a rotational force in accordance with the control voltage, an eccentric cam attached to the rotating shaft of the electric motor, and an arm arranged so that the finger of the communicator is pushed by rotating the eccentric cam. Since it is configured, it is possible to present a sense of force to the communication person's finger with a simple configuration.
[0060]
Moreover, in the invention concerning Claim 2, the said stress measurement means measures the pushing force of the little finger of a communication person in the position which attaches the little finger at the time of grasping | ascertaining a housing | casing, The said force sense presentation means is Since the force proportional to the received voltage is presented to the little finger of the communicator at the same position as the stress measuring means, the two communicators who use this device have the effect of transmitting their feelings to each other. Can be increased.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an embodiment of a haptic communication terminal device according to the present invention.
FIG. 2 is a front view of the stress measuring means and the force sense presenting means in FIG. 1 as viewed from the side.
3 is a perspective view showing a state in which the housing in FIG. 1 is gripped with a right hand. FIG.
FIG. 4 is a block diagram showing a configuration of another embodiment of a haptic communication terminal device according to the present invention.
5 is a front view showing a structure of the grip strength detection unit, the input grip strength conversion unit, the output grip strength conversion unit, and the grip strength output unit in FIG. 4 and an example of mounting on the handset.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Stress measuring means 11 Arm 12 Spring 13 Shaft 14 Angle sensor 20 Transmitting means 30 Receiving means 40 Force sense presentation means 41 Electric motor 42 Eccentric cam 43 Force sense generating part (arm)
44 Spring 45 Stopper 46 Shaft 50 Supporting tool 60 Housing 110 Grip strength detection unit 111, 151 Arm 112, 122, 145, 152, 153 Pin 120 Input grip strength conversion unit 121, 141 Substrate 123, 144 Spring 124 Potentiometer 130 Microphone 140 Output grip strength Conversion unit 142 Torque motor 143 Eccentric cam 150 Grip force output unit 160 Speaker

Claims (2)

A force sense communication terminal device capable of transmitting force sense between a communication person and a communication partner,
Has a housing part that can be grasped by the palm,
A stress measuring means for measuring the pressing force of the communication person's finger at the position where the finger is attached when grasping the housing, and outputting the magnitude of this force as a voltage;
Transmitting means for transmitting this voltage to the terminal device of the communication partner;
Receiving means for receiving the voltage sent from the terminal device of the communication partner;
Force sense presenting means for presenting a force proportional to the magnitude of the received voltage to a communicator's finger at the same position as the stress measuring means ;
The stress measuring means includes
A second arm mounted rotatably about an axis;
A first arm arranged to rotate about an axis that is pushed by a user's finger and attached to the second arm;
A spring that is between the first arm and the second arm, and that generates a reaction force according to the magnitude of the force applied by the user's finger to the first arm;
An angle sensor that converts the rotation angle of the first arm into a voltage and outputs the voltage,
When the user's finger pressing force increases, the output voltage increases.
The force sense presenting means includes:
An electric motor that generates torque according to the magnitude of the input voltage;
An eccentric cam attached to the rotating shaft of the electric motor;
A force sense generator that rotates the second arm when the eccentric cam rotates and applies a reaction force to the first arm;
A haptic communication terminal device characterized in that the force presented to the user's finger increases as the input voltage increases . The first arm is disposed at a position where a little finger is attached when grasping the housing;
2. The haptic communication terminal device according to claim 1, wherein the haptic communication terminal device is rotated by a pressing force of a user's little finger .

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