JP7442778B2 - Haptic presentation system, tactile presentation device, controller, and method for presenting tactile sensations in a virtual world to a user in the real world - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Act Disclosure fact 1: February 8, 2019, Ritsumeikan University Graduate School 2018 Master's thesis public hearing, Department of Media and Information Science Disclosure fact 2-1: February 27, 2019, http://www. interaction-ipsj. org/proceedings/2019/data/interactive. html http://www. interaction-ipsj. org/proceedings/2019/data/pdf/1B-48. pdf http://www. interaction-ipsj. org/proceedings/2019/data/bib/1B-48. html (Information Processing Society of Japan Interaction 2019 Paper Collection) Publication Facts 2-2: March 6, 2019, Information Processing Society of Japan Interaction 2019 Publication Facts 3-1: March 23, 2019, IEEE VR 2019 On- Site Temporally Proceedings Publication Facts 3-2: March 25-27, 2019, IEEE VR 2019: the 26th IEEE Conference on Virtual Reality and 3D User Int erfaces

The present disclosure relates to a tactile presentation system, a tactile presentation device, a controller, and a method for presenting a tactile sensation in a virtual world to a user in the real world.

As shown in Patent Document 1, for example, a tactile sensation may be presented by a device installed in a fixed position in the real world. Furthermore, as shown in Patent Document 2, for example, the tactile sensation may be presented by a device that is held by a user and is movable in the real world.

Japanese Unexamined Patent Publication No. 6-59803 Japanese Patent Application Publication No. 2008-123061

The former device is installed in a fixed position, so it is easy to present a feeling of contact with a virtual object, but the former device is installed in a fixed position, so the movement of the user is restricted. The latter device is held by the user, so there are fewer restrictions on the user's movement than the former device, but it is difficult to present the feeling of contact with the virtual object by the reaction force from the real object.

It is desirable to present the sensation of contact with a virtual object by using the reaction force from the real object while reducing restrictions on the user's movement.

One aspect of the present disclosure is a tactile presentation system. A tactile presentation system according to an embodiment includes a tactile presentation device having a main body held by a user, a contact provided on the main body so that a relative position with respect to the main body can be changed, and a virtual world. a controller that changes the relative position of the contact with respect to the main body so that when contact with the first virtual object occurs, the contact comes into contact with the real object.

Another aspect of the present disclosure is a tactile presentation device controlled by the controller. Yet another aspect of the present disclosure is a controller that controls the tactile presentation device. Yet another aspect of the present disclosure is a method of presenting tactile sensations in a virtual world to a user in the real world.

Further details are described in the embodiments below.

FIG. 1 is a block diagram of a tactile presentation system. FIG. 2 is a diagram showing contact in the VR space and the real world. FIG. 3 is a side view showing a first modification. FIG. 4 is a sectional view showing a first modification. FIG. 5 is a side view showing a second modification. FIG. 6 is a side view showing a fourth modification. FIG. 7 is a side view showing a fifth modification. FIG. 8 is a perspective view showing a sixth modification.

<1. Overview of tactile presentation system, tactile presentation device, controller, and method for presenting tactile sensations in the virtual world to users in the real world>

(1) A tactile presentation system according to an embodiment includes a tactile presentation device having a main body held by a user and a contact provided on the main body so that the relative position with respect to the main body can be changed. Be prepared. The holding by the user is, for example, grasping by the user's hand. The tactile presentation system according to the embodiment includes a controller that changes the relative position of the contact with respect to the main body so that when contact with a first virtual object occurs in the virtual world, the contact comes into contact with a real object. When the contactor contacts the real object, the user can perceive a reaction force from the real object. Since the contact can change its relative position with respect to the main body, the real object that the contact comes into contact with may not be connected to the main body. Since the real object that generates the reaction force and the main body are not connected, there are fewer restrictions on the user's movement.

(2) Preferably, the controller is configured to control the direction of a contacted surface of the real object that the contactor contacts.

(3) Preferably, controlling the direction of the contacted surface is for adjusting the contact angle between the contactor and the real object.

(4) Controlling the orientation of the contacted surface may include controlling the deformation of the real object that is configured to be deformable.

(5) The tactile presentation device may further include a hardness/softness presentation unit that presents the user with a hardness/softness sensation of the first virtual object.

(6) The tactile presentation device may further include a roughness presentation section that presents the surface roughness of the first virtual object to the user.

(7) The real object may include a roughness presenting unit that presents the user with the surface roughness of the first virtual object.

(8) The controller is configured to present a second virtual object corresponding to the tactile presentation device to the user in the virtual world without presenting the user with a change in the relative position of the contact with respect to the main body. Preferably, it is configured.

(9) When the controller is not in contact with the first virtual object, the controller may position the contact so that the contact is not in contact with the real object.

(10) The tactile presentation device holds the main body using a reaction force generated when the contactor contacts the real object that is located away from the user as a feeling of contact with the first virtual object. can be presented to the user.

(11) The tactile presentation device according to the embodiment includes a main body held by a user, and a tactile presentation device provided on the main body so that a relative position with respect to the main body can be changed, and a tactile presentation device that provides a tactile sensation to a first virtual object in a virtual world. and a contact whose relative position with respect to the main body is controlled so that it comes into contact with the real object when contact occurs.

(12) The controller according to the embodiment may control the first virtual object in the virtual world so that when the first virtual object comes into contact with the first virtual object, the contact provided on the main body held by the user comes into contact with the real object in the real world. The contactor is configured to control the relative position of the contact with respect to the main body.

(13) The method according to the embodiment is a method of presenting a tactile sensation in a virtual world to a user in the real world. The method is such that when a contact with a first virtual object in the virtual world occurs, a contact provided on a main body held by a user in the real world comes into contact with the real object. Including moving relative to the part.

<2. Details of the tactile presentation system, tactile presentation device, controller, and method for presenting the tactile sensation in the virtual world to the user in the real world>

FIG. 1 shows a haptic presentation system 100 according to an embodiment. The tactile presentation system 100 includes a tactile presentation device 200. The tactile sense presented by the tactile sense presentation device 200 of the embodiment includes a force sense. The tactile presentation device 200 of the embodiment is configured as an elongated rod-shaped member simulating a pen, and is held by a user's hand. The tactile presentation device 200 is configured to be expandable and contractible. The tactile presentation device 200 can switch between contacting and non-contacting the real object 300 by expanding and contracting.

The tactile presentation device 200 of the embodiment is configured such that when a virtual device (a second virtual object 420 to be described later) contacts a virtual object (a first virtual object 410 to be described later) in a virtual space (VR space), a By expanding or contracting, it comes into contact with the real object 300. The user can perceive the reaction force generated when the tactile presentation device 200 contacts the real object 300 as a feeling of contact with the virtual object. The user can perceive the reaction force not only with the hand, which is the contact position between the tactile presentation device 200 and the user, but also with the entire arm.

In the virtual space (VR space), when the virtual device (second virtual object 420 described later) is not in contact with the virtual object (first virtual object 410 described later), the tactile presentation device 200 does not contact the real object 300. The amount of expansion and contraction is adjusted as follows. By making the tactile presentation device 200 non-contact with the real object 300, the user can obtain a feeling of non-contact with the virtual object. Details of the tactile presentation device 200 will be described later.

The tactile presentation system 100 includes a controller 10 and a display device 50. The tactile presentation system 100 may further include a real object 300 for the tactile presentation device 200 to contact. The controller 10 controls tactile presentation by the tactile presentation device 200. Further, the controller 10 manages the VR space presented to the user. The VR space is visually presented to the user by the display device 50.

The display device 50 of the embodiment is, for example, a head-mounted display. The controller 10 tracks the position and orientation of the display device 50 in the real world using, for example, an infrared sensor (not shown). The sensor that detects the position and orientation may be a magnetic sensor, an ultrasonic sensor, an inertial sensor, an optical sensor, or the like. The controller 10 changes the virtual world presented to the user according to the position and orientation of the display device 50.

The controller 10 also tracks the position and orientation of the tactile presentation device 200. The sensor that detects the position and orientation of the tactile presentation device 200 may be the above-mentioned infrared sensor, a magnetic sensor, an ultrasonic sensor, an inertial sensor, an optical sensor, or the like. The type of sensor that detects the position and orientation of the tactile presentation device 200 may be different from the type of sensor that detects the display device 50. The controller 10 displays a virtual device (second virtual object 420 described below) corresponding to the tactile presentation device 200 in the virtual world. The controller 10 changes the position and orientation of the virtual device in the virtual world according to the position and orientation of the tactile presentation device 200. Note that the controller 10 grasps the position and orientation of the display device 50 and the tactile presentation device 200 in the absolute coordinate system in the real world through tracking. However, the controller 10 may only grasp the relative positions and orientations of the display device 50 and the tactile presentation device 200.

The controller 10 of the embodiment includes a computer. As shown in FIG. 1, the computer includes a processor 20 and a memory 30 connected to the processor 20. A computer program 35 that causes the computer to function as the controller 10 is stored in the memory 30 . Processor 20 reads and executes computer program 35 stored in memory 30. The computer program 35 causes the processor 20 to execute the VR space management process 25. The VR space management processing 25 includes control processing of the tactile presentation device 200. The control processing of the tactile presentation device 200 includes expansion and contraction control of the tactile presentation device 200. Note that the memory 30 in the embodiment can include a primary storage device and a secondary storage device.

The controller 10 includes an interface 40 that communicates with the tactile presentation device 200 and the display device 50. Communication may be wireless or wired.

The tactile presentation device 200 shown in FIG. 1 includes a main body section 210. Main body portion 210 is held by the user. More specifically, main body portion 210 is held by the user's hand. The main body 210 is hand-held and is not constrained by fixedly installed instruments. Therefore, the user can freely move the tactile presentation device 200 by holding the main body 210 in the real world.

In the embodiment, the main body portion 210 is formed in a cylindrical shape. Note that the shape of the main body portion is not limited to a cylindrical shape. For example, the main body portion 210 may be a cylindrical member with a grip attached thereto to be held by hand. Further, the main body portion 210 may have a T-shape or an L-shape as a whole. When the tactile presentation device 200 is shaped to simulate a cane, the T-shaped or L-shaped main body portion 210 is suitable because it functions as a grip of the cane.

The tactile presentation device 200 includes a contact 220 provided on the main body 210. The contactor 220 has the role of contacting the real object 300 in the real world. When the contactor 220 comes into contact with the real object 300, the user's hand holding the main body 210 can receive a reaction force from the real object 300 that is located away from the user.

The tactile presentation device 200 is configured to expand and contract as a whole as the contactor 220 moves. Therefore, the contactor 220 is provided within the main body 210 so as to be movable in the longitudinal direction L of the main body 210. More specifically, the contact 220 is inserted into the main body 210 so that the amount of protrusion from the opening 210A formed at one longitudinal end of the main body 210 can be changed. As the contactor 220 moves in the longitudinal direction L, the relative position of the contactor 220 with respect to the main body portion 210 changes.

When the distance from the main body 210 to the real object 300 is long, the contact 220 protrudes largely from the main body 210, so that the tip 220A of the contact 220 comes into contact with the real object 300. When the distance from the main body 210 to the real object 300 is small, the contact 220 slightly protrudes from the main body 210 so that the tip 220A comes into contact with the real object 300. Further, when the reaction force from the real object 300 is not required, the amount of protrusion of the contactor 220 is such that the tip 220A does not come into contact with the real object 300.

Tactile presentation device 200 includes an actuator 230 for moving contactor 220. The actuator 230 of the embodiment is a linear actuator that moves the contactor 220 in a straight line. The actuator is driven by a motor, for example. The actuator may be driven by fluid pressure, such as air or oil pressure. The actuator 230 is provided within the main body 210 to move the contactor 220 in the longitudinal direction L. Note that the movement of the contactor 220 is not limited to linear movement.

The actuator 230 receives a position command signal from the controller 10 and operates to move the contact 220 in the longitudinal direction L. The position command is a command that defines the amount of protrusion of the contactor 220. The controller 10 also acquires current position information of the tip 220A of the contact 220 from the actuator 230. Based on the acquired position information, the controller 10 generates a position command signal so that the tip 220A moves to a target position. Note that the controller 10 can also control the moving speed of the contactor 220.

The tactile presentation device 200 has an interface 240 for communicating with the controller 10. Interface 240 receives position commands from controller 10 and provides them to actuator 230. Additionally, the interface 240 acquires position information of the tip 220A from the actuator 230 and transmits it to the controller 10.

As shown in FIG. 2, the controller 10 causes the display device 50 to display a plurality of virtual objects 410, 420. The plurality of virtual objects presented to the user include a first virtual object 410 that is touched by the user in the virtual space, and a second virtual object 420 that is a virtual device having a shape similar to the haptic presentation device 200. In FIG. 2, the first virtual object 410 is depicted as a hemispherical object, and the second virtual object 420 is depicted as a pen-shaped object. In the real world, there is no real object corresponding to the second virtual object 420. However, in the real world, there is a real object 300 that the tactile presentation device 200 can touch. Here, the position of the real object 300 is fixed and set in the controller 10 in advance. The real object 300 is, for example, a desk.

The real object 300 shown in FIGS. 1 and 2 has a surface (contacted surface) that is contacted by the tactile presentation device 200. The surface to be contacted may be a horizontal surface as shown in the figure, a vertical surface, or an inclined surface. The contacted surface may be a flat surface or a curved surface.

When the user changes the position or orientation of the tactile presentation device 200 in the real world, the position or orientation of the second virtual object 420 in the virtual world changes in synchronization with the change. As shown in FIG. 2, the second virtual object 420 can touch the first virtual object 410 in the virtual world. However, since the second virtual object 420 does not exist in the real world, simply changing the position or posture of the tactile presentation device 200 may not cause contact in the real world. Therefore, in order to cause contact in the real world in synchronization with the contact that occurs in the virtual world, the controller 10 controls the expansion and contraction of the tactile presentation device 200 so that the tactile presentation device 200 comes into contact with the real object 300. Note that when no contact occurs in the virtual world, the controller 10 maintains a state in which the tactile presentation device 200 is not in contact with the real object 300 in the real world.

The expansion/contraction control procedure is as follows. First, when the controller 10 detects that the tip P _tip of the second virtual object 420 has contacted the first virtual object 410 in the virtual world, the controller 10 detects a first contact point P between the tip P _tip and the first virtual object 410. Calculate _{the virtual} position. Here, the position coordinates of the intersection of the first virtual object 410 and the direction vector V passing from the rear end P _end to the front end P _tip of the second virtual object 420 are calculated as the position of the first contact point P _virtual . .

Next, the controller 10 calculates the positional coordinates of the intersection of the third virtual object 430 and the direction vector V as the second contact point P _real . The third virtual object 430 is placed in the same position in the virtual world as the real object 300 in the real world. Note that the third virtual object 430 may or may not be displayed in the virtual world.

At this time, if there is no intersection between the third virtual object 430 and the direction vector V, the controller 10 determines that the touch sensation cannot be presented. If it is determined that the tactile sensation cannot be presented, the tactile presentation device 200 is not expanded or contracted. Note that the fact that it has been determined that the touch sensation cannot be presented may be notified to the user by an appropriate notification means such as a vibrator or sound provided in the tactile presentation device 200.

If there is an intersection between the third virtual object 430 and the direction vector V, the controller 10 calculates the distance d between the first contact point P _virtual and the second contact point P _real . Since the distance d is a distance in the virtual world, the controller 10 converts the distance d into a distance D according to the scale of the real world. Note that if the distance between the first contact point P _virtual and the second contact point P _real exceeds the extendable range of the tactile sense presentation device 200 (the range of motion of the contact 220), the controller 10 It is judged that it cannot be presented. If it is determined that the tactile sensation cannot be presented, the tactile presentation device 200 is not expanded or contracted. Note that the fact that it has been determined that the touch sensation cannot be presented may be notified to the user by an appropriate notification means such as a vibrator or sound provided in the tactile presentation device 200.

If the touch sensation can be presented, the controller 10 transmits a position command signal for moving the tip 220A of the contactor 220 by a distance D to the tactile sensation presentation device 200. Upon receiving the position command, the tactile presentation device 200 moves the contactor 220 so that the tip 220A contacts the contact surface of the real object 300. The user can perceive the reaction force generated by touching the real object 300 as the feeling of touching the virtual object.

Note that the controller 10 may change the expansion/contraction speed of the tactile presentation device 200 depending on the distance d. For example, when the distance d is large, the expansion/contraction speed is increased, and when the distance d is small, the expansion/contraction speed is decreased, thereby obtaining an appropriate expansion/contraction speed according to the distance d.

In the real world, the longitudinal length of the tactile presentation device 200 changes due to expansion and contraction, but in the virtual world, even if the longitudinal length of the tactile presentation device 200 changes, the longitudinal length of the second virtual object 420 changes. Sa doesn't change. Therefore, the user does not need to be aware of changes in the length of the tactile presentation device 200 in the longitudinal direction.

<First modification: Change in orientation of real object>

3 and 4 show a first modification of the real object 300. Although the position and orientation of the real object 300 shown in FIGS. 1 and 2 are fixed, the position or orientation of the real object 300 may be variable. The posture of the real object 300 shown in FIGS. 3 and 4 changes so that the direction of the contacted surface 310A changes. Note that in FIGS. 3 and 4, the horizontal plane is the XY plane, and the vertical direction is the Z direction.

Since the orientation of the contacted surface 310A is variable, the orientation of the contacted surface 310A can be adjusted appropriately. Since the direction of the contacted surface 310A is variable, even if the posture of the tactile presentation device 200 changes, the contact angle of the tactile presentation device 200 with respect to the contacted surface 310A can be adjusted to a predetermined angle (for example, right angle). I can do it. When the tactile presentation device 200 is perpendicular to the contacted surface 310A, the reaction force is easily perceived. Furthermore, since the orientation of the contacted surface 310A is variable, it is also possible to reproduce the orientation of the contacted surface at the contact point of the first virtual object 410 in the virtual world.

The real object 300 shown in FIGS. 3 and 4 includes a movable plate 310 having an inclined contact surface 300A, a rotation mechanism 320 that allows the movable plate 310 to rotate around two mutually orthogonal axes, and a support for the rotation mechanism 320. 330.

The rotation mechanism 320 includes a drive unit (not shown) that rotates the movable plate 310 around the X-direction axis, and a drive unit (not shown) that rotates the movable plate 310 around the Z-axis direction. The drive unit is, for example, a motor. The amount of rotation of the movable plate 310 is controlled by the controller 10. The controller 10 also tracks the angle (posture) of the movable plate 310.

In order to control the movable plate 310, the controller 10 detects the attitude of the tactile presentation device 200 and determines the direction vector V. The controller 10 rotates the movable plate 310 so that the contacted surface 310A is perpendicular to the direction vector V. By rotating the movable plate 310, the tactile presentation device 200 can be kept perpendicular to the contacted surface 310A. Note that the amount of expansion and contraction of the contactor 220 is calculated based on the position (angle information) of the movable plate 310 (contacted surface) after rotation.

<Second modification example: Transformation of real object>

FIG. 5 shows a second modification of the real object 300. In the first modification, the orientation of the contact surface was changed by rotation, but in the second modification, the orientation of the contact surface was changed by deformation.

The real object 300 shown in FIG. 5 includes a deformable portion 350 having a spherical surface. The deforming section 350 has a mechanism that changes the surface shape. Due to the deformation of the deformable portion 350, the curvature of the surface (contacted surface) 350A of the deformed portion 350 changes. By changing the curvature, the angle of the tactile presentation device 200 with respect to the contacted surface 350A can be adjusted. Note that the deforming section 350 may not only deform but also move.

The deformation and movement of the deforming section 350 are controlled by the controller 10. The controller 10 also tracks the surface shape of the deformable portion 350.

In order to control the deformation unit 350, the controller 10 detects the orientation of the tactile presentation device 200 and determines the direction vector V. The controller 10 transmits a shape change amount command to the tactile presentation device 200 and deforms the deforming unit 350 so that the contacted surface 350A is orthogonal to the direction vector V.

By deforming the deforming portion 350, the tactile presentation device 200 can be kept perpendicular to the contacted surface 350A. Note that the amount of expansion and contraction of the contactor 220 is calculated based on the position of the contact surface 350A after deformation.

<Third modification: hardness/softness presentation (method 1)>

The tactile presentation device 200 may include a hardness/softness presentation section. The hardness/softness presentation unit presents the hardness/softness of the virtual object 410 by adjusting the reaction force caused by contact. The hardness/softness presentation unit is configured by, for example, an actuator provided separately from the actuator 230 that moves the contact 220 to bring the contact 220 into contact with the real object 300.

The controller 10 has the hardness and softness of the virtual object 410 as a surface attribute value of the virtual object 410. The controller 10 operates an actuator for presenting the hardness and softness according to the hardness and softness of the virtual object 410 with which contact has occurred, and presents the hardness and softness together with the feeling of contact to the user. For example, if the virtual object 410 with which contact has occurred is soft, the actuator 230 brings the contactor 220 into contact with the real object 300 while operating the actuator to present hardness and softness to reduce the reaction force from the real object 300. The contactor 220 is moved in the direction of weakening. This weakens the reaction force and presents softness to the user. On the other hand, if the virtual object with which the contact has occurred is hard, the hardness is presented to the user by presenting to the user almost the same reaction force when the contactor 220 is brought into contact with the real object 300 by the actuator 230.

<Fourth variation: hardness/softness presentation (method 2)>

FIG. 6 shows a tactile presentation device 200 including a fluid damper as the hardness/softness presentation section 250. The hardness/softness presentation section 250 is provided on the contact 220, for example. The hardness/softness presentation section 250 may be provided on the main body section 210 or may be provided at the joint between the main body section 210 and the contactor 220.

The fluid damper is configured such that the inside thereof is filled with a working fluid such as compressed air, oil-based liquid, or magnetic fluid. By attenuating the reaction force using the fluid damper, it is possible to present the user with a softness that makes the user sink into the virtual object 410. If the amount of attenuation of the reaction force is small, the hardness of the virtual object 410 can be presented to the user. The damping characteristics of the fluid damper are adjusted by the controller 10. The controller 10 determines the adjustment value of the damping characteristic depending on the hardness or softness of the virtual object 410 with which contact has occurred. The adjustment value of the damping characteristic is given from the controller 10 to the hardness/softness presentation section 250.

Note that when presenting the hardness/softness, methods 1 and 2 regarding hardness/softness presentation may be combined.

<Fifth modification: Surface roughness presentation (method 1)>

As shown in FIG. 7, the tactile presentation device 200 may include a roughness presentation section 260. The roughness presenting unit 260 presents the roughness (roughness) of the surface of the virtual object 410. The roughness presentation section 260 shown in FIG. 7 generates vibrations. The vibrations can be generated, for example, by a mechanical vibrator or a low frequency sound source. The roughness presenting section 260 may be provided on the contactor 220 or on the main body section 210.

The controller 10 has the surface roughness of the virtual object 410 as a surface attribute value of the virtual object 410. The controller 10 adjusts at least one of the intensity and frequency of the vibration generated by the roughness presentation unit 260, depending on the roughness of the virtual object 410 with which contact has occurred.

<Sixth variation: Surface roughness presentation (method 2)>

As shown in FIG. 8, the real object 300 may include the roughness presenting section. The real object 300 shown in FIG. 8 includes a plurality of movable plates 370A, 370B, 370C, 370D, 370E, and 370F with different surface roughnesses in order to present different roughnesses to the user. The controller 10 switches the movable plate that the tactile presentation device 200 contacts in the real world, depending on the surface roughness of the first virtual object 410 with which contact occurs in the virtual world.

A plurality of movable plates 370A, 370B, 370C, 370D, 370E, and 370F shown in FIG. 8 are provided at the periphery of a rotary disk 380. The rotary disk 380 is rotationally driven by a drive section (not shown). Rotation of the rotary disk 380 is controlled by the controller 10. The controller 10 has the surface roughness of the virtual object 410 as a surface attribute value of the virtual object 410. The controller 10 selects one movable plate for the tactile presentation device 200 to contact, depending on the roughness of the virtual object 410 with which the contact occurs. The selected movable plate has a roughness that is the same as or approximates the roughness of the virtual object 410 with which contact occurred in the virtual world.

For example, when the movable plate 370C is selected, the controller 10 rotates the rotary plate 380 so that the movable plate 370C moves to a position facing the tactile presentation device 200. Thereby, the contactor 220 of the tactile presentation device 200 can contact the selected movable plate 370C. By bringing the tactile presentation device 200 into contact with the movable plate 370C, the surface roughness of the movable plate 370C can be presented to the user as the surface roughness of the virtual object 410.

Note that when presenting the surface roughness, method 1 and method 2 regarding surface roughness presentation may be combined. By combining the movable plate of method 2 and the vibration of method 1, it is possible to present a variety of roughness sensations to the user that cannot be presented with a finite number of movable plates. Furthermore, as an aid to presentation of roughness, visual guidance of roughness becomes possible by making the surface representation of a virtual object in the virtual world visually indicate roughness. Visual guidance can provide the user with an illusion of roughness to compensate for the roughness that the user perceives.

Auditory guidance may be used to aid in roughness presentation. Auditory guidance auditorily indicates the roughness of the surface of a virtual object in the virtual world. For example, when the second virtual object 420 moves on the surface of the first virtual object 410 and the surface roughness of the first virtual object 410 is large, a strong fricative sound (such as a rasping sound) is presented to the user, When the surface roughness of the first virtual object 410 is small, a weak fricative sound can be presented to the user. A sound output device (speaker, etc.) presented to the user may be provided in the tactile presentation device 200, or may be provided in the real object 300 (movable plates 310, 370A, 370B, 370C, 370D) that the tactile presentation device 200 contacts. , 370E, 370F, etc.), or may be installed near the actual object 300. Auditory guidance may be used in conjunction with the visual guidance described above.

<3. Additional notes>
The present invention is not limited to the above embodiments, and various modifications are possible.

10: Controller 20: Processor 25: VR space management processing 30: Memory 35: Computer program 40: Interface 50: Display device 100: Tactile presentation system 200: Tactile presentation device 210: Main body 210A: Opening 220: Contact 220A: Tip 230: Actuator 240: Interface 250: Hardness/softness presentation section 260: Roughness presentation section 300: Real object 300A: Contacted surface 310: Movable plate 310A: Contacted surface 320: Rotation mechanism 330: Support section 350: Deformation section 350A : Contacted surface 370A : Movable plate 370B : Movable plate 370C : Movable plate 370D : Movable plate 370E : Movable plate 370F : Movable plate 380 : Rotating plate 410 : First virtual object 420 : Second virtual object 430 : Third virtual object D: Distance d: Distance L: Longitudinal direction P _virtual : First contact point P _end : Rear end P _real : Second contact point P _tip : Tip V: Direction vector

Claims (13)

a tactile presentation device having a main body held by a user; and a contact provided on the main body so that a relative position with respect to the main body can be changed;
a real object that is separate from the tactile presentation device and that is not connected to the main body ;
a controller that changes the relative position of the contact with respect to the main body so that when contact with a first virtual object occurs in the virtual world, the contact comes into contact with the real object;
A tactile presentation system equipped with a tactile presentation device having a main body held by a user; and a contact provided on the main body so that a relative position with respect to the main body can be changed;
a controller that changes the relative position of the contact with respect to the main body so that the contact comes into contact with a real object when contact with a first virtual object occurs in the virtual world;
Equipped with
The controller is configured to control the direction of a touched surface of the real object that the contactor contacts. The tactile presentation system. The tactile presentation system according to claim 2, wherein controlling the direction of the contacted surface is for adjusting the contact angle between the contactor and the real object. The tactile presentation system according to claim 2 or 3, wherein controlling the orientation of the contacted surface includes controlling the deformation of the real object configured to be deformable. The tactile presentation system according to any one of claims 1 to 4, wherein the tactile presentation device further includes a hard/soft sensation presentation unit that presents the user with a hard/soft sensation of the first virtual object. The tactile presentation system according to any one of claims 1 to 5, wherein the tactile presentation device further includes a roughness presentation section that presents the surface roughness of the first virtual object to the user. The tactile presentation system according to any one of claims 1 to 6, wherein the real object includes a roughness presenting section that presents the surface roughness of the first virtual object to the user. The controller is configured to present a second virtual object corresponding to the tactile presentation device to the user in the virtual world without presenting to the user a change in the relative position of the contact with respect to the main body. The tactile presentation system according to any one of claims 1 to 7. The tactile presentation according to any one of claims 1 to 8, wherein the controller positions the contactor so that the contactor is not in contact with the real object when the first virtual object is not in contact with the first virtual object. system. The tactile presentation device presents a reaction force generated when the contact comes into contact with the real object that is located away from the user as a feeling of contact with the first virtual object to the user holding the main body. The tactile presentation system according to any one of claims 1 to 9. A tactile presentation device,
a main body held by a user;
The tactile sense presentation device is provided in the main body so that its relative position with respect to the main body can be changed freely, and when a contact with the first virtual object occurs in the virtual world, the tactile sense presentation device is separate from the main body. a contact whose relative position with respect to the main body is controlled so as to contact an unconnected real object;
A tactile presentation device comprising: A controller for a tactile presentation device comprising a main body and a contact,
When a contact occurs with the first virtual object in the virtual world, the contact provided on the main body held by the user in the real world is separate from the tactile presentation device and non-contact with the main body. A controller configured to control the relative position of the contact with respect to the main body so as to contact a real object provided at the connection . A method for presenting a tactile sensation in a virtual world to a user in the real world using a tactile sensation presentation device including a main body and a contact, the method comprising:
When a contact occurs with the first virtual object in the virtual world, the contact provided on the main body held by the user in the real world is different from the tactile presentation device and contacts the main body. includes moving the contact with respect to the main body so as to come into contact with a real object provided in an uncoupled manner ;
A method for presenting tactile sensations in a virtual world to a user in the real world.

Images