JP6939819B2 - Tactile presentation device - Google Patents

Description

The present invention relates to a tactile presentation device.

As a tactile sensation presenting device that feeds back the tactile sensation to the user, research is being conducted on a device that presents the tactile sensation based on a phenomenon called a lateral force field (horizontal force field). This type of tactile presentation device utilizes the phenomenon that human skin recognizes vibration in the surface direction (horizontal direction) as tactile sensation, and recognizes a plane as a convex or concave surface by changing the vibration in the horizontal direction. Let me. For example, Patent Document 1 discloses a tactile presentation device including a dielectric elastomer actuator that vibrates in the plane direction of human skin.

Special Table 2012-515987

In order to transmit the vibration in the surface direction of the dielectric elastomer actuator so as to be recognized by the human body as a tactile sensation, it is necessary to bring the dielectric elastomer actuator into close contact with the human body. However, since the tactile sensation presenting device of Patent Document 1 has a structure in which the dielectric elastomer actuator is attached to a rigid frame, the dielectric elastomer actuator is brought into close contact with the surface shape of the human body and follows the movement of the human body. Difficult to adhere. These problems become more prominent when the tactile presentation device is applied as a wearable device.

The present invention has been made in view of such circumstances, and an object of the present invention is to attach a dielectric elastomer actuator to a mounting portion such as a finger or an arm with respect to a tactile sensation presenting device that recognizes vibration in the surface direction of the dielectric elastomer actuator as a tactile sensation. It is to improve the sex.

The tactile presentation device that solves the above problems is a tactile presentation device that includes a sheet-shaped dielectric elastomer actuator that expands and contracts in the plane direction according to an applied voltage, and recognizes vibrations due to expansion and contraction of the dielectric elastomer actuator as tactile sensations. A base material on which the dielectric elastomer actuator is laminated is provided, the base material is configured to be bendable, and a portion of the base material on which the dielectric elastomer actuator is laminated is expanded and contracted. It is configured to expand and contract in the direction.

According to the above configuration, the base material on which the dielectric elastomer actuator is laminated has flexibility that allows expansion and contraction in the vibration direction of the dielectric elastomer actuator. Therefore, the dielectric elastomer actuator can transmit the vibration to the human body by expanding and contracting in the vibration direction together with the base material even when it is laminated on the base material.

In addition, the substrate has curvable flexibility. Therefore, the dielectric elastomer actuator and the base material are deformed according to the shape of the surface of the human body, so that the dielectric elastomer actuator can be brought into close contact with the human body in a wide range. Further, since the dielectric elastomer actuator and the base material are deformed according to the movement of the human body, the adhesion can be maintained even when the human body is moved.

In the tactile presentation device, it is preferable that the base material has an annular portion having an annular cross section, and the dielectric elastomer actuator is laminated on the inner surface of the annular portion.
According to the above configuration, it is easy to press the dielectric elastomer actuator against the mounting portion with an appropriate pressure. As a result, the vibration of the dielectric elastomer actuator can be efficiently transmitted to a thin mounting portion such as a finger.

In the tactile presentation device, it is preferable that the dielectric elastomer actuator is configured to extend relatively significantly in a specific first direction in the plane direction thereof.
According to the above configuration, when the same voltage is applied, the amount of movement of the contact point with the finger in the dielectric elastomer actuator becomes larger than that of the dielectric elastomer actuator that extends equally in all directions in the plane direction, and the tactile sensation is presented. The output of the device is improved.

In the tactile presentation device, it is preferable to include an actuator pair composed of the two dielectric elastomer actuators arranged so that the first direction is back to back.

According to the above configuration, the skin of the finger can be strongly pulled by superimposing the vibrations of the two dielectric elastomer actuators constituting the actuator pair, and the vibrations of the dielectric elastomer actuators can be efficiently recognized as a tactile sensation.

In the tactile presentation device, the base material has a low elastic region having a low tensile elastic modulus and a high elastic region having a higher tensile elastic modulus than the low elastic region, and at least a part of the dielectric elastomer actuator is said to be said. It is preferably arranged in a low elastic region. In this case, it is particularly preferable that the dielectric elastomer actuator is arranged so as to straddle the low elastic region and the high elastic region.

According to the above configuration, a portion (highly elastic region) that is difficult to vibrate is provided in a part of the base material. As a result, it is possible to prevent the vibration energy of the dielectric elastomer actuator from being dispersed over the entire base material and weakening the vibration transmitted to the human body. Therefore, the vibration of the dielectric elastomer actuator can be efficiently transmitted to the human body.

In the tactile presentation device, the base material includes the low elastic region that is curved in an arc shape and expands and contracts in the circumferential direction, and the high elastic region that limits the displacement of both ends of the low elastic region in the circumferential direction. , The dielectric elastomer actuator is preferably provided in the low elastic region.

According to the above configuration, it is possible to generate vibration in the direction perpendicular to the surface in addition to vibration in the surface direction of the dielectric elastomer actuator, and it is possible to present a wider variety of tactile sensations to the user.

In the tactile presentation device, the base material has an annular portion having an annular cross section, and a plurality of the dielectric elastomer actuators are arranged with respect to the annular portion separately in the circumferential direction of the annular portion. It is preferable that a voltage can be applied to each of the plurality of dielectric elastomer actuators independently.

According to the above configuration, it is possible to generate vibration in the direction perpendicular to the surface in addition to vibration in the surface direction of the dielectric elastomer actuator, and it is possible to present a wider variety of tactile sensations to the user.

In the tactile sensation presenting device, it is preferable that the base material is provided with an adjusting portion for adjusting the wearing state.
According to the above configuration, the mounting state can be adjusted according to the thickness of the mounting portion such as a finger, so that the tactile sensation presenting device has high mounting compatibility.

In the tactile presentation device, it is preferable that the finger is used as a mounting portion and the dielectric elastomer actuator expands and contracts in the circumferential direction of the finger.
According to the above configuration, the vibration of the dielectric elastomer actuator can be efficiently recognized as a tactile sensation.

According to the present invention, it is possible to improve the adhesion of the dielectric elastomer actuator to the human body with respect to the tactile sensation presenting device that recognizes the vibration in the surface direction of the dielectric elastomer actuator as a tactile sensation.

The schematic diagram of the tactile sensation presenting apparatus of 1st Embodiment. The schematic diagram of the dielectric elastomer actuator. Sectional drawing of the annular part of a base material. The perspective view which shows the inner surface side of the annular part of a base material. FIG. 3 is a cross-sectional view of an annular portion of the tactile sensation presenting device of the second embodiment. FIG. 3 is a cross-sectional view of an annular portion of the tactile sensation presenting device of the modified example. FIG. 3 is a cross-sectional view of an annular portion of the tactile sensation presenting device of the modified example. The side view of the tactile sensation presenting apparatus of 3rd Embodiment. FIG. 8 is a cross-sectional view taken along the line 9-9. Explanatory drawing of the base material provided with the adjustment part. Explanatory drawing of the base material provided with the adjustment part.

(First Embodiment)
Hereinafter, the first embodiment of the tactile sensation presenting device will be described.
As shown in FIG. 1, the tactile presentation device 10A includes a bag-shaped base material 11 attached to a user's finger and a rectangular sheet-shaped dielectric elastomer actuator 12 (DEA: Dielectric) laminated on the inner surface of the base material 11. Elastomer Actuator) and.

The base material 11 is made of a flexible material that is bendable and stretchable in the entire plane direction. Examples of the flexible material constituting the base material 11 include elastomers such as silicone and urethane, and stretch fabrics. The base material 11 has an annular portion 11a having an annular cross section, and the DEA 12 is laminated and fixed on the inner surface of the annular portion 11a.

As shown in FIG. 2, the DEA 12 includes a sheet-shaped dielectric layer 20 made of a dielectric elastomer, and a plurality of positive electrode electrodes 21 and negative electrode 22 as electrode layers arranged on both sides of the dielectric layer 20 in the thickness direction. It is a laminated multi-layer structure. An insulating layer 23 is laminated on the outermost layer of the DEA 12. In the dielectric elastomer actuator 12, when a DC voltage is applied between the positive electrode 21 and the negative electrode 22, the dielectric layer 20 is compressed in the thickness direction and the dielectric layer 20 is compressed according to the magnitude of the applied voltage. It is deformed so as to extend in the direction along the surface (the surface direction of DEA12).

The dielectric elastomer constituting the dielectric layer 20 is not particularly limited, and a known dielectric elastomer used for DEA can be used. Examples of the dielectric elastomer include crosslinked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer. One of these dielectric elastomers may be used, or a plurality of types may be used in combination. The thickness of the dielectric layer 20 is, for example, 20 to 200 μm.

Examples of the material constituting the positive electrode 21 and the negative electrode 22 include a conductive elastomer, carbon nanotubes, Ketjen Black (registered trademark), and a metal vapor deposition film. Examples of the conductive elastomer include a conductive elastomer containing an insulating polymer and a conductive filler.

Examples of the insulating polymer include crosslinked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer. One of these insulating polymers may be used, or a plurality of types may be used in combination. Examples of the conductive filler include metal particles such as Ketjen Black (registered trademark), carbon black, and copper and silver. One of these conductive fillers may be used, or a plurality of types may be used in combination. The thickness of the positive electrode 21 and the negative electrode 22 is, for example, 10 to 100 μm.

The insulating elastomer constituting the insulating layer 23 is not particularly limited, and a known insulating elastomer used for a known edge of DEA can be used. Examples of the insulating elastomer include crosslinked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer. One of these insulating elastomers may be used, or a plurality of types may be used in combination. The thickness of the insulating layer 23 is, for example, 10 to 100 μm.

As shown in FIG. 1, a plurality of DEA 12s are laminated on the inner surface of the annular portion 11a of the base material 11. More specifically, two DEA12s are arranged so as to be arranged at intervals in the circumferential direction of the annular portion 11a, and four DEA12s are arranged so as to be arranged at intervals in the axial direction of the annular portion 11a. There is. The two DEA 12s arranged side by side in the circumferential direction form an actuator pair 12a. Therefore, in the annular portion 11a, four sets of actuator pairs 12a are arranged side by side in the axial direction thereof. The distance between the DEA 12s constituting the actuator pair 12a is preferably 2 to 5 mm, for example.

As shown in FIGS. 3 and 4, the DEA 12 is configured to have a relatively large extension direction (first direction A) in the plane direction thereof. The two DEA 12s constituting the actuator pair 12a are arranged so that the first direction A is back to back.

More specifically, at the lateral position of each DEA 12 on the inner surface of the base material 11, a limiting portion 13 made of a hard resin such as PP or ABS and located so as to surround the DEA 12 is provided. The limiting portion 13 is a portion for limiting the extension direction of the DEA 12, and is a direction opposite to the first limiting portion 13a that limits the extension of the DEA 12 in a direction intersecting the first direction A and the first direction A. It is provided with a second limiting portion 13b that limits the extension of the DEA 12 to. In the present embodiment, the first direction A is set in the direction along the circumferential direction of the annular portion 11a.

The first limiting portion 13a is provided at a position in contact with or close to the side edge forming the end portion in the direction orthogonal to the first direction A (axial direction of the annular portion 11a) in the DEA 12. The first limiting portion 13a restricts further extension of the DEA 12 in the direction intersecting the first direction A by abutting the side edges of the DEA 12. The second limiting portion 13b is provided at a position in contact with or close to the side edge forming the end portion in the direction opposite to the first direction A in the DEA 12. The second limiting portion 13b restricts further extension of the DEA 12 in the direction opposite to the first direction A by abutting the side edges of the DEA 12.

Next, the operation of this embodiment will be described.
As shown in FIGS. 1 and 3, the tactile presentation device 10A covers the user's finger with the bag-shaped base material 11 and brings the DEA 12 attached to the inner surface of the base material 11 into contact with the pad of the finger. It is in the mounted state. In this wearing state, when the voltage applied to the DEA 12 is increased, the DEA 12 extends in the first direction A (circumferential direction of the pad of the finger). After that, when the voltage applied to the DEA 12 is lowered, the DEA 12 contracts so as to return to the original state. By repeatedly increasing and decreasing the applied voltage to the DEA 12 (for example, applying the voltage in a pulsed manner), the DEA 12 repeatedly expands and contracts and vibrates in the circumferential direction of the finger pad.

The user recognizes the vibration of the DEA 12 as a tactile sensation by being transmitted to the finger. As a result, the tactile sensation presenting device 10A presents a pseudo-force sensation (tactile sensation) to the user. By changing the magnitude of the applied voltage with respect to the DEA 12 and the timing of switching the applied voltage to change the vibration pattern of the DEA 12, the user can recognize various tactile sensations.

The base material 11 on which the DEA 12 is laminated has flexibility that allows it to expand and contract in the plane direction. Therefore, the DEA 12 can expand and contract in the first direction A together with the base material 11 even when the DEA 12 is attached so as to be laminated on the base material 11, and the vibration can be transmitted to the finger.

In addition, the base material 11 has bendability. Therefore, when the tactile sensation presenting device 10A is attached, the DEA 12 and the base material 11 are deformed according to the surface shape of the finger, so that the DEA 12 can be brought into close contact with the finger in a wide range. Further, since the DEA 12 and the base material 11 are deformed according to the movement of the finger, the adhesion of the DEA 12 to the finger can be maintained even when the finger equipped with the tactile presentation device 10A is moved.

Next, the effect of this embodiment will be described.
(1) The tactile sensation presenting device 10A provided with a sheet-shaped DEA 12 that expands and contracts along the surface direction according to an applied voltage and recognizes vibration based on the expansion and contraction of the DEA 12 as a tactile sensation includes a base material 11 on which the DEA 12 is laminated. There is. The base material 11 is configured to be bendable and stretchable in the stretch direction of the laminated DEA 12.

According to the above configuration, the adhesion of the DEA 12 to the mounting site can be improved. Therefore, the tactile presentation device 10A having the above configuration is suitable as a wearable device.
(2) The base material 11 has an annular portion 11a having an annular cross section. The DEA 12 is laminated on the inner surface of the annular portion 11a.

According to the above configuration, it is easy to press the DEA 12 against the mounting site with an appropriate pressure. As a result, the vibration of the DEA 12 can be efficiently transmitted to a thin mounting portion such as a finger.

(3) The DEA 12 is configured to extend relatively significantly in the specific first direction A in the plane direction thereof.
According to the above configuration, when the same voltage is applied to the DEA 12, the amount of movement of the contact point with the finger in the DEA 12 is large as compared with the configuration in which the DEA 12 extends equally in all directions in the plane direction, and the tactile sensation is presented. The output of the device 10A is improved.

(4) The actuator pair 12a composed of two DEA12s arranged back to back on the A side in the first direction is provided.
According to the above configuration, the skin of the finger can be strongly pulled by superimposing the vibrations of the two DEA12s constituting the actuator pair 12a, and the vibrations of the DEA12 can be efficiently recognized as a tactile sensation.

(5) The tactile sensation presenting device 10A uses a finger as a mounting portion, and the DEA 12 expands and contracts in the circumferential direction of the finger.
According to the above configuration, the vibration of the DEA 12 can be efficiently recognized as a tactile sensation.

(Second Embodiment)
Hereinafter, a second embodiment of the tactile sensation presenting device will be described.
The tactile sensation presenting device 10B of the second embodiment is different from the first embodiment in that the configuration of the base material 11 and the restriction portion 13 are omitted, and other configurations are the same as those of the first embodiment.

As shown in FIG. 5, the annular portion 11a of the base material 11 of the tactile presentation device 10B is partially formed in the circumferential direction by a low elastic region R1 having a low tensile elastic modulus, and the remaining portion in the circumferential direction is formed. It is composed of a high elastic region R2 having a higher tensile elastic modulus than the low elastic region R1. The low elasticity region R1 and the high elasticity region R2 are formed by different types of flexible materials constituting the base material 11.

For example, a low elastic region R1 is formed by a soft elastomer such as silicone or urethane, and a high elastic region R2 is formed by a soft elastomer such as silicone or urethane. Although the high elastic region R2 has a tensile elastic modulus relatively lower than that of the low elastic region R1, it has a property of being bendable and expandable in the entire surface direction.

The DEA 12 of the tactile sensation presenting device 10B is arranged so as to straddle the low elastic region R1 and the high elastic region R2 in the circumferential direction of the annular portion 11a. Specifically, in the circumferential direction of the annular portion 11a, the portion located outside the actuator pair 12a in the DEA 12 is attached so as to be laminated on the highly elastic region R2, and the portion located inside the actuator pair 12a is low. It is attached so as to be laminated on the elastic region R1.

The portion of the highly elastic region R2 where the DEA 12s are stacked and arranged functions as a limiting portion that limits the extension of the DEA 12 toward the highly elastic region R2. Therefore, the DEA 12 greatly extends in the direction facing the low elasticity region R1 side, particularly the side opposite to the high elasticity region R2 (first direction A). Therefore, the two DEA 12s constituting the actuator pair 12a of the second embodiment are arranged so that the side A in the first direction faces each other. Then, as shown by the arrow B, in the DEA 12, the portion arranged in the low elasticity region R1 vibrates greatly by repeating the extension in the first direction A and the contraction in the opposite direction.

Also in the case of the second embodiment, the above-mentioned effects (1) to (3) and (5) can be obtained. Further, according to the second embodiment, the effects described below can be obtained.
(6) The base material 11 includes a low elastic region R1 having a low tensile elastic modulus and a high elastic region R2 having a higher tensile elastic modulus than the low elastic region R1. A part of DEA12 is arranged in the low elasticity region R1.

According to the above configuration, a portion of the base material 11 that is difficult to vibrate (high elasticity region R2) is provided. As a result, it is possible to prevent the vibration energy of the DEA 12 from being dispersed throughout the base material 11 and weakening the vibration transmitted to the human body. Therefore, the vibration of the DEA 12 can be efficiently transmitted to the human body.

(7) The DEA 12 is arranged so as to straddle the low elastic region R1 and the high elastic region R2 in the circumferential direction of the annular portion 11a (the direction in which the DEA 12 can contract).
According to the above configuration, it is possible to more effectively suppress the vibration energy of the DEA 12 being dispersed over the entire base material 11 and suppressing the vibration transmitted to the human body from being weakened, and the DEA 12 can be prevented from being weakened with respect to the human body. Vibration can be transmitted more efficiently.

(8) An actuator pair 12a composed of two DEA12s arranged so that the A side in the first direction faces each other is provided.
According to the above configuration, the skin of the finger can be strongly attracted by superimposing the vibrations of the two DEA12s constituting the actuator pair 12a, and the vibrations of the DEA12 can be efficiently recognized as a tactile sensation.

(Third Embodiment)
Hereinafter, a third embodiment of the tactile sensation presenting device will be described.
As shown in FIGS. 8 and 9, the base material 11 of the tactile sensation presenting device 10C of the third embodiment includes a strip-shaped telescopic portion 30 that is curved in an arc shape. The telescopic portion 30 is made of a flexible material that can expand and contract in the circumferential direction, and one DEA 12 is arranged inside the telescopic portion 30. More specifically, the stretchable portion 30 is composed of two membranes made of an elastomer such as silicone or urethane, and the membranes are integrally connected to each other with the DEA 12 sandwiched between the two membranes.

Further, the base material 11 includes fixing portions 31 for fixing both ends of the expansion / contraction portion 30 in the circumferential direction. The fixing portion 31 is a rigid body portion made of a hard resin such as PP or ABS.
In the third embodiment, the stretchable portion 30 corresponds to the low elastic region R1 and the fixed portion 31 corresponds to the high elastic region R2. The base material 11 is formed in an annular cross section as a whole by the expansion / contraction portion 30 as the low elasticity region R1 and the fixing portion 31 as the high elasticity region R2.

Next, the operation of this embodiment will be described.
The tactile sensation presenting device 10C is put into a mounted state by sandwiching a user's finger between the expansion / contraction portion 30 and the fixing portion 31 of the base material 11. In this mounted state, when the voltage applied to the DEA 12 is increased, the DEA 12 expands in the plane direction, and then when the voltage applied to the DEA 12 is decreased, the DEA 12 contracts to return to the original state. The expansion and contraction portion 30 expands and contracts in accordance with the expansion and contraction of the DEA 12, so that the vibration of the DEA 12 in the surface direction is transmitted to the user's finger.

Further, in the present embodiment, both ends of the telescopic portion 30 that expands and contracts following the DEA 12 in the circumferential direction are fixed to the fixed portion 31, and the displacement of the both end portions is restricted. As a result, when the voltage applied to the DEA 12 is greatly increased and the DEA 12 is greatly extended in the plane direction, the central portion of the arc of the telescopic portion 30 is separated from the center of the arc, as shown by the arrow C1 in FIG. Bend to move to. Further, when the voltage applied to the DEA 12 is greatly reduced and the DEA 12 is greatly contracted in the plane direction, the central portion of the arc of the telescopic portion 30 is directed toward the center of the arc, as shown by the arrow C2 in FIG. Bend to move. Due to the operation of the telescopic portion 30 that bends the central portion of the arc of the telescopic portion 30 in the direction away from the center of the arc or in the direction toward the center of the arc, the user's finger vibrates in the direction perpendicular to the surface of the DEA 12, that is, the finger. Vibration in the direction of pressing the surface is transmitted.

Next, the effect of the third embodiment will be described. Also in the case of the third embodiment, the effect of (1) above can be obtained. Further, according to the third embodiment, the effects described below can be obtained.
(9) The base material 11 includes an expansion / contraction portion 30 that is curved in an arc shape and can be expanded and contracted in the circumferential direction, and a fixing portion 31 that limits the displacement of both ends of the expansion / contraction portion 30 in the circumferential direction. The DEA 12 is provided on the telescopic portion 30.

According to the above configuration, in addition to the vibration in the plane direction of the DEA 12, it is possible to generate the vibration in the plane direction of the DEA 12, and it is possible to present a wider variety of tactile sensations to the user.
Further, according to the above configuration, the user's finger can be easily put into the mounting state by sandwiching the user's finger between the expansion / contraction portion 30 and the fixing portion 31 of the base material 11. Further, since the expansion / contraction portion 30 extends according to the thickness of the finger when it is attached, the attachment suitability is high.

Each of the above embodiments can be modified and implemented as follows. Each of the above embodiments and the following modifications can be implemented in combination with each other to the extent that they are technically consistent.

After mounting the base material 11, the base material 11 may be tightened using a restraining member such as an elastic band in order to press the DEA 12 against the mounting site with an appropriate pressure.
-The base material 11 may have a portion that cannot be expanded or contracted, as long as at least a part of the portion on which the DEA 12 is laminated can be expanded or contracted. For example, the highly elastic region R2 of the second embodiment may be made of a material that does not expand and contract.

The portion of the base material 11 on which the DEA 12 is laminated is not limited to a configuration in which the laminated DEA 12 can be expanded and contracted in the entire surface direction, and the laminated DEA 12 can be expanded and contracted in at least one direction (for example, in the first direction A). It suffices if it can be expanded and contracted in the parallel direction).

-The shape of the base material 11 can be appropriately changed according to the mounting portion. For example, when the wearing site is an arm, it may be used as a base material shaped like a wristband. Further, the annular portion 11a of the base material 11 may be a portion that becomes annular by wrapping the strip-shaped base material 11 around a finger, an arm, or the like and fixing it with a hook-and-loop fastener or the like. Further, the base material 11 may have no annular portion 11a.

-The arrangement of DEA 12 on the base material 11 is not particularly limited. For example, in the first and second embodiments, the DEA 12s are regularly arranged so that the two DEA 12s form an actuator pair 12a, but a plurality of DEA 12s may be arranged irregularly. Further, the number of DEA 12 provided on the base material 11 may be one.

The DEA 12 may have a plurality of first directions A, which are directions in which the DEA 12 is relatively greatly extended. For example, when the second limiting portion 13b is omitted and only the first limiting portion 13a is used as the limiting portion 13, the DEA 12 can be greatly extended to both sides of the annular portion 11a of the base material 11 in the circumferential direction. In this case, both directions in the circumferential direction are the first direction A.

-The first direction A of each DEA 12 may be all the same direction, or the first direction A of some or all DEA 12 may be different. Further, the DEA 12 may extend equally in all directions in the plane direction.

-In the second embodiment, the DEA 12 may be at least partially arranged in the low elasticity region R1. For example, as shown in FIG. 6, the entire DEA 12 may be arranged in the low elasticity region R1.

-The method of providing the low elasticity region R1 and the high elasticity region R2 on the base material 11 is not limited to the method of different types of the flexible materials constituting the base material 11. For example, as shown in FIG. 7, the tensile elastic modulus of a part of the base material 11 is partially increased by inserting the core material 11b such as cloth into a part of the base material 11 made of a kind of elastomer material. The high elastic region R2 may be used. Further, the highly elastic region R2 may be provided by partially increasing the thickness of the base material 11.

-The portion of the surface of the DEA 12 that comes into contact with the finger may be subjected to a smooth surface treatment to improve the slip. For example, as shown in FIG. 6, even if a plurality of spherical bodies 12b made of nylon, Teflon (registered trademark) or the like are adhered to the surface of the DEA12 to reduce the contact area between the finger and the DEA12. good.

-Regarding the third embodiment, the number and arrangement of DEA 12s provided in the telescopic portion 30 are not particularly limited. For example, as shown in FIGS. 6 and 7, a plurality of DEA 12s may be arranged so as to be separated and arranged in the circumferential direction of the expansion / contraction portion 30.

The pattern of the voltage applied to the DEA 12 is not particularly limited, and can be appropriately set according to the tactile sensation presented to the user. Further, when a plurality of DEA 12s are provided, the pattern of the voltage applied to each DEA 12 may be the same or different from each other. When a plurality of DEA 12s are provided, it is preferable that a voltage can be applied to each of the plurality of DEA 12s independently.

For example, as shown in FIGS. 6 and 7, two DEA 12s arranged so as to be separated and arranged in the circumferential direction of the low elasticity region R1 of the base material 11 including the low elasticity region R1 and the high elasticity region R2. On the other hand, the same pattern of voltage is applied to match the timing of expansion and contraction of the two DEA12s. In this case, in the telescopic portion 30 in which the two DEA 12s are arranged, the central portion of the telescopic portion 30 vibrates in the direction perpendicular to the surface, and the vibration in the direction of pressing the surface of the finger against the user's finger is transmitted. .. That is, it operates in the same manner as in the third embodiment in which one DEA 12 is arranged.

Further, a voltage having a pattern in which the expansion timing and the contraction timing are staggered is applied to the above two DEA 12. In this case, the telescopic portion 30 vibrates in the plane direction of the DEA 12. In this way, it is possible to independently apply a voltage to a plurality of DEA 12s that are separately arranged in the circumferential direction, and by controlling the applied voltage, the user's finger is in a different direction. Vibration can be transmitted. Therefore, it is possible to present a wider variety of tactile sensations to the user.

-As the base material 11 of the first embodiment and the second embodiment, the base material 11 of the third embodiment may be applied. Further, as the base material 11 of the third embodiment, the base materials 11 of the first embodiment and the second embodiment may be applied. The fixing portion 31 of the base material 11 of the third embodiment is not limited to the configuration of fixing the end portion of the expansion / contraction portion 30, and at least the end portion of the expansion / contraction portion 30 when the DEA 12 is expanded / contracted. It may be a configuration that makes it difficult to displace.

-For example, as shown in FIGS. 10 and 11, the base material 11 may be provided with an adjusting portion for adjusting the mounting state of the base material 11. In this case, since the mounting state can be adjusted according to the thickness of the mounting portion such as a finger, the tactile sensation presenting device has high mounting compatibility.

In the configuration shown in FIG. 10, the stretchable portion 30 and the fixing portion 31 are formed as separate bodies for the base material 11 of the tactile sensation presenting device 10C of the third embodiment. The telescopic portion 30 is integrally provided with a strip-shaped or string-shaped insertion portion 30a at both ends thereof, and the fixing portion 31 is provided with two insertion holes 31a through which the insertion portion 30a is inserted. ing. In this example, the adjusting portion is composed of the insertion portion 30a and the insertion hole 31a.

When the base material 11 is attached, the user's finger is inserted between the stretchable portion 30 and the fixed portion 31 with the insertion portion 30a of the stretchable portion 30 inserted into the insertion hole 31a of the fixed portion 31. After that, the position of the fixing portion 31 is changed by changing the insertion degree of the insertion portion 30a. Thereby, the strength with which the telescopic portion 30 and the fixing portion 31 tighten the fingers can be adjusted.

In the configuration shown in FIG. 11, with respect to the base material 11 of the tactile sensation presenting device 10C of the third embodiment, one end 30b of the expansion / contraction portion 30 is configured to be separable from the fixing portion 31, and the inner surface and the fixing portion of the end portion 30b. A hook-and-loop fastener 32 is provided on the outer surface of 31. In this example, the adjusting portion is composed of the end portion 30b of the telescopic portion 30 and the hook-and-loop fastener 32 provided on the outer surface of the fixing portion 31.

When this base material 11 is attached, after the elastic portion 30 and the fixing portion 31 are wrapped around the user's finger, the end portion 30b of the elastic portion 30 is surfaced at an arbitrary position with respect to the outer surface of the fixing portion 31. It is fixed by the fastener 32. Thereby, the strength with which the telescopic portion 30 and the fixing portion 31 tighten the fingers can be adjusted.

A plurality of low elasticity regions R1 may be provided for one high elasticity region R2, and DEA 12 may be arranged in each of the plurality of low elasticity regions R1. For example, in the example shown in FIG. 11, three elastic portions 30 corresponding to the low elastic region R1 are connected to one fixed portion 31 corresponding to the high elastic region R2.

R1 ... low elasticity region, R2 ... high elasticity region, 10A, 10B ... tactile presentation device, 11 ... base material, 11a ... annular portion, 12 ... dielectric elastomer actuator (DEA), 12a ... actuator pair, 13 ... restriction portion, 13a ... 1st limiting part, 13b ... 2nd limiting part, 20 ... dielectric layer, 21 ... positive electrode, 22 ... negative electrode, 23 ... insulating layer, 30 ... elastic part, 31 ... fixed part.

Claims (9)

A tactile presentation device including a sheet-shaped dielectric elastomer actuator that expands and contracts in the plane direction according to an applied voltage, and recognizes vibration due to expansion and contraction of the dielectric elastomer actuator as a tactile sensation.
A base material on which the dielectric elastomer actuator is laminated is provided.
The base material is configured to be bendable and
The portion of the base material on which the dielectric elastomer actuators are laminated is configured to be expandable and contractible in the expansion and contraction direction of the laminated dielectric elastomer actuators .
The base material includes a low elastic region having a low tensile elastic modulus and a high elastic region having a higher tensile elastic modulus than the low elastic region.
The dielectric elastomer actuator is a tactile presentation device characterized in that it is arranged so as to straddle the low elasticity region and the high elasticity region. A tactile presentation device including a sheet-shaped dielectric elastomer actuator that expands and contracts in the plane direction according to an applied voltage, and recognizes vibration due to expansion and contraction of the dielectric elastomer actuator as a tactile sensation.
A base material on which the dielectric elastomer actuator is laminated is provided.
The base material is configured to be bendable and
The portion of the base material on which the dielectric elastomer actuators are laminated is configured to be expandable and contractible in the expansion and contraction direction of the laminated dielectric elastomer actuators .
It is provided with an actuator pair consisting of the two dielectric elastomer actuators.
The two dielectric elastomer actuators constituting the actuator pair are configured to extend relatively large in a specific first direction in the plane direction thereof, and are spaced so as to be back to back in the first direction. Placed with a gap,
The side edge of the dielectric elastomer actuator abuts around each of the two dielectric elastomer actuators constituting the actuator pair, so that the dielectric elastomer actuator extends in the direction opposite to the first direction. There is a limiting part to limit,
Between the two dielectric elastomer actuators constituting the actuator pair, the limiting portion provided around the dielectric elastomer actuator of one and the limiting portion provided around the dielectric elastomer actuator of the other. A tactile presentation device characterized in that a gap is provided between them. The limiting portion includes a first limiting portion that limits extension in a direction intersecting the first direction, and a second limiting portion that limits extension in a direction opposite to the first direction.
The tactile sensation presenting device according to claim 2, wherein the gap is provided between the second limiting portions. The base material includes a low elastic region having a low tensile elastic modulus and a high elastic region having a higher tensile elastic modulus than the low elastic region.
The tactile presentation device according to claim 2 or 3 , wherein at least a part of the dielectric elastomer actuator is arranged in the low elasticity region. The base material comprises the low elastic region which is curved in an arc shape and can be expanded and contracted in the circumferential direction, and the high elastic region which limits the displacement of both ends of the low elastic region in the circumferential direction.
The tactile sensation presenting device according to claim 4 , wherein the dielectric elastomer actuator is provided in the low elasticity region. The base material has an annular portion having an annular cross section.
The tactile sensation presenting device according to any one of claims 1 to 5, wherein the dielectric elastomer actuator is laminated on the inner surface of the annular portion. The base material has an annular portion having an annular cross section.
A plurality of the dielectric elastomer actuators are arranged with respect to the annular portion separately in the circumferential direction of the annular portion.
The tactile sensation presenting device according to any one of claims 1 to 6 , wherein a voltage can be independently applied to the plurality of dielectric elastomer actuators. The tactile sensation presenting device according to any one of claims 1 to 7 , wherein the base material is provided with an adjusting unit for adjusting a mounting state. The tactile presentation device according to any one of claims 1 to 8 , wherein the finger is used as a mounting portion, and the dielectric elastomer actuator expands and contracts in the circumferential direction of the finger.

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