JP7836697B2 - Tactile presentation device - Google Patents

Description

This invention relates to a control system for appropriately adjusting a tactile feedback device according to the situation.

Various forms of haptic presentation devices have been proposed that allow users to experience tactile effects in conjunction with content. These include active tactile effects such as vibration, pressure, wind, humidity, and heat, which can be felt even when the user is stationary, and are already being provided in conjunction with video content such as movies. Furthermore, in interface devices that respond to human movement, there is research being conducted on providing passive tactile effects that are felt in response to the user's actions, such as resistance felt when holding or gripping the device, such as hardness or softness.

Among these, a tactile output device using magnetorheological fluid has been proposed (for example, Patent Document 1). Magnetoviscous fluid is a liquid in which magnetic flow particles are dispersed in a dispersion medium. For tactile output devices, those consisting of nano-sized metal particles are particularly suitable. Magnetoviscous fluid exhibits shear stress (shear stress) in accordance with the strength of the magnetic field, allowing the resistance to contacting an object to be increased or decreased according to the magnetic field strength. Patent Document 1 shows an example where the rotational resistance of a rotating axis passing through the center of a disk in contact with the magnetorheological fluid can be increased or decreased. Since the strength of the magnetic field can be adjusted by the current applied to the electromagnet, this device allows the rotational resistance of the rotating axis to be increased or decreased by the current. A rotational force is applied to this rotating axis by a device displaced by the user's operation, and tactile sensation can be provided to the user as resistance to this force, according to the current value.

Japanese Patent Publication No. 2017-138651

However, when attempting to provide haptic feedback using the device described in Patent Document 1, there was a possibility that the user's perception might change if they operated the device too quickly or too slowly.

Therefore, this invention aims to provide a tactile output device using magnetorheological fluid that can stably present tactile sensations to the user, even when the user operates it rapidly or extremely slowly.

This invention is
A tactile presentation device having a tactile output device using magnetorheological fluid,
The tactile presentation device includes a tactile control unit that controls the components including the tactile output device,
It has,
A speed measuring means for measuring the speed at which a user operates the haptic output device,
A means for deriving a correction value that determines a correction value corresponding to the aforementioned speed,
A signal value calculation means that calculates a tactile signal based on base tactile data and the correction value,
A tactile presentation means that causes the tactile output device to present tactile sensations based on the calculated tactile signals,
The above problem was solved by using a haptic feedback device that performs the following actions.

It was found that the resistance value of the haptic output device changes depending on the user's operating speed because the shear stress (shear stress) generated by the magnetoviscous fluid is speed-dependent. In this invention, the angular velocity of the rotating body in contact with the magnetoviscous fluid, which rotates due to the user's operation of the haptic output device, is measured, and a correction value corresponding to that angular velocity is determined. Based on this correction value and the base haptic data corresponding to the resistance when operated at a normally assumed angular velocity, a haptic signal that actually presents tactile sensation to the haptic output device is calculated. This allows for the presentation of more suitable tactile sensations, suppressing the inherent discomfort of the haptic output device that depends on the characteristics of the magnetoviscous fluid, even when the user operates it rapidly or extremely slowly.

Furthermore, the tactile presentation device according to this invention is
The tactile output device comprises a rotating body that is in contact with the magnetorheological fluid and whose resistance is changed when it rotates, and an angle sensor that detects the angle of the rotating body.
The tactile output device having,
The clock section that measures time,
Embodiments having such embodiments can be adopted.

Furthermore, the tactile presentation device according to this invention is
The system includes a control device that retrieves the base tactile data from an internal storage unit that records the base tactile data, or from an external server that records the base tactile data.
The control device executes a transmission means for transmitting to the tactile presentation device,
The tactile control unit is located within the tactile output device.
The signal value calculation means can be implemented in the haptic control unit. The base haptic data is a set value for the output of the haptic presentation device, set for each piece of content that the user intends to experience or an object that the user intends to "touch" that content. The selection of the base haptic data means that the user intends to "touch" is actively or automatically selected by the program, and the set value for outputting an appropriate value is read.

Furthermore, this invention relates to a tactile presentation method using a tactile presentation device having a tactile output device using magnetorheological fluid,
A step of measuring the speed at which the user operates the haptic output device,
The steps include determining a correction value corresponding to the aforementioned speed,
A step of calculating a tactile signal based on base tactile data and the correction value,
The above problems can be solved by a tactile presentation method that includes the step of causing the tactile output device to present tactile sensations based on the calculated tactile signals.

Furthermore, in this invention,
A tactile output device having a tactile output device using magnetorheological fluid,
The tactile output device includes a tactile control unit that controls the components including the tactile output device,
An angle sensor that measures the angle of a rotating body in contact with the magnetorheological fluid, which is rotated when the user operates the haptic output device,
The clock section that measures time,
It has,
The tactile control unit is,
An angular velocity measuring means for measuring the angular velocity of a rotating body in contact with the magnetorheological fluid, which is rotated when the user operates the haptic output device,
A means for deriving a correction value that determines a correction value corresponding to the angular velocity,
A signal value calculation means that calculates a tactile signal based on base tactile data and the correction value,
A tactile presentation means that causes the tactile output device to present tactile sensations based on the calculated tactile signals,
The above problems can also be solved by a haptic output device that performs this function.

This invention makes it possible to provide users with suitable tactile effects regardless of whether their actions using the tactile feedback device are sudden or gradual.

Functional block diagram of an embodiment of the tactile presentation device according to this invention. Conceptual diagram of an MRF device, an example of a tactile output device used in this invention. Conceptual diagram of a tap unit, an example of a tactile output device according to this invention. Flowchart illustrating an example of using base tactile data from an MRF device. Example diagram of the processing flow when a user uses the tactile presentation device according to this invention. This is a continuation of Figure 5, showing an example of a processing flow. Example of object selection on the monitor output by the application.

The present invention will be described in detail below. This invention relates to a tactile output device having a tactile output device, a tactile presentation device having the tactile output device and a tactile control unit that controls the components including the tactile output device, and a tactile output method using the tactile output device or the tactile presentation device.

In this invention, "touch" refers to one of the five senses, a sensation that can be felt directly or indirectly through the skin, muscles, nerves, etc. This invention particularly focuses on passive tactile effects experienced by the user in response to their actions, such as resistance, tactile feedback, and tactile feedback when applying force.

The aforementioned tactile output device and any tactile presentation device including it are devices or systems that allow users to experience the aforementioned tactile sensation. The tactile output device has a tactile output device that realizes the behavior of experiencing the tactile sensation in response to an electrical signal. Examples of such tactile output devices include magnetorheological fluid devices that increase the rotational resistance of a rotating body of the device in response to an electrical signal. Among these, the delicate adjustment of tactile sensation according to the present invention is particularly effective in devices that directly contact the user and apply force. In addition, a magnetorheological damper that increases the resistance of a linear body (piston) of the device in response to an electrical signal can also be used.

Figure 1 shows a functional block diagram of an embodiment of the haptic presentation device 10 according to this invention. The haptic presentation device 10 includes a haptic output device 11 that actually generates a tactile sensation for the user, and a control device 51 that communicates with the haptic output device 11 to control the operation that generates the sensation.

The tactile output device 11 has a tactile output device 14 that changes its output according to an electrical signal. This tactile output device uses a magnetorheological fluid in the part responsible for tactile output. The viscosity of the magnetorheological fluid changes due to the magnetic force, which increases or decreases depending on the amount of current flowing through the built-in coil 37. This changes the resistance to the user's movement, providing a passive tactile sensation. The shear stress (shear stress) generated by the magnetorheological fluid is velocity-dependent, and its viscosity is also affected by the angular velocity of the rotating body it contacts. Ignoring this effect and providing a uniform output would result in unstable resistance; however, this invention can suppress the changes in tactile sensation caused by the influence of angular velocity.

The tactile output device 11 includes a tactile control unit 21 that performs calculations and commands such as transmitting or causing electrical signals to be transmitted to the tactile output device 14, and a data storage unit 22, which is memory used by the tactile control unit 21. The data storage unit 22 stores temporary records of signals, information and results necessary for calculations performed by the tactile control unit 21, and instructions. The memory of the data storage unit 22 may be volatile memory, but it is even more preferable if it also has non-volatile memory. Having non-volatile memory allows high-performance tactile output devices 11 to store records and histories of personalized output changes, which can then be referenced for further optimization of the output. Although not shown, the program that operates the tactile control unit 21 may be stored in the data storage unit 22 if it is non-volatile memory, or it may be stored separately. Here, the parts responsible for controlling the tactile output device 11 performed by these components are collectively referred to as the output device control unit 20. The configuration of the output device control unit 20 may include elements other than the tactile control unit 21 and the data storage unit 22.

Furthermore, the tactile output device 11 has a power supply 25 necessary to operate the device itself. This may be a battery or connected to an external power supply. If a battery is used, a replaceable primary battery is sufficient if the current required by the tactile output device 11 is small; however, if a large current is required, a secondary battery charged from an external power supply is more practical. Also, if the communication unit 26 (described later) is powered by a wired cable, the control device 51 may be powered by an external power supply.

The tactile output device 11 has a communication unit 26 that can communicate with the communication unit 63 of the control device 51. It must be able to receive communication from the control device 51, and mutual communication is preferable as it allows for more diverse control by the control device 51. Data and commands received by the communication unit 26 are sent to the output device control unit 20, which then operates the tactile output device 11. Furthermore, data, history, logs, etc., from sensors, etc., may be sent from the output device control unit 20 to the control device 51 via the communication unit 26. The tactile output device 11 may also transmit a portion of the data to the control device 51 and receive the result as a reply.

Communication between communication unit 26 and communication unit 63 may be via wired or wireless communication. In the case of wired communication, power may be supplied via a wired cable. The standard is not particularly limited; at the time of filing this invention, USB cables, Lightning® cables, Thunderbolt® cables, etc., are selectable, but any standard that enables similar or backward-compatible communication is acceptable. In the case of wireless communication, any short-range wireless communication standard can be used, including various wireless LAN standards, Bluetooth® (registered trademark; hereinafter abbreviated), Bluetooth LE, and wireless USB. However, since the amount of data required to realize the adjustment itself in this invention is small, relatively low-speed and low-power standards such as Bluetooth and Bluetooth LE are preferably used. Of course, if a large amount of data is required for operations other than those required by this invention, a high-speed communication standard may be adopted.

The tactile output device 11 preferably includes an angle sensor 16 that detects the angle of a rotating body whose resistance changes when it is in contact with the magnetorheological fluid. The rotating body (corresponding to the disc 32 or rotation axis 41 described later) is a component to which a rotational force is applied by the user's operation.

Furthermore, it is preferable that the tactile output device 11 has a clock unit 19 for measuring time. The clock unit 19 can measure elapsed time, and the angular velocity can be calculated from the elapsed time until the two points of the rotating body are displaced to their respective angles.

The control device 51 communicates with the haptic output device 11 via the communication unit 63 and controls the haptic output device 11 to provide the user with tactile sensations as part of the content. Specifically, examples include terminals used by the user, such as personal computers, game consoles, smartphones, smartwatches, televisions, routers, and network speakers. Furthermore, a server 81 located at the end of the network 82 connected via the router or terminal may perform some of the functions of the control device 51, as described later. For this reason, it is preferable that the control device 51 has a network interface (NWIF) 69 with functions such as priority LAN functionality, wireless LAN functionality, and mobile communication network connection functionality. The network interface 69 may be shared with the communication unit 63 or may be independent. Because the amount of communication differs significantly, independence is often preferable. The figure shows an example where it is independent.

The control device 51 has an input/output device 54. The input/output device 54 is an interface with the user, receiving input and outputting elements other than tactile sensations. Although grouped together in the diagram, it does not need to be a single device and may be composed of multiple devices. Furthermore, the input/output device 54 itself does not need to be located within the housing of the control device 51; it may only have an interface that allows it to connect to other connected devices. Among the input/output devices 54, output devices include, for example, not only a display built into the housing, but also displays and projectors connected via HDMI or DisplayPort cables, speakers built into the housing, wired or wireless headphones, earphones, and speakers. It is preferable to have at least a device that can display images. By experiencing tactile sensations in conjunction with visual information, users are more likely to feel that they are receiving a sensory experience that matches the situation they can see. Among the input/output devices 54, input devices may include a touch panel integrated with a display built into the housing, as well as a mouse, trackball, controller, or keyboard connected via a USB cable. Furthermore, a portion of the input device may also be used as the tactile output device 11.

The control device 51 includes a control unit 61 that performs calculations and other operations. Specifically, it is a computing device such as a CPU or GPU, and controls the behavior of the device, including content loading, calculations, output to and input to the input/output device 54, and communication with the haptic output device 11.

The control device 51 has a storage unit 62 that holds data and programs. Preferably, the storage unit 62 includes both non-volatile memory or magnetic disks used for storage and volatile memory used for calculations. In the diagram, data is not distinguished as read or not.

The memory unit 62 stores application software (referred to as "App 65" in the diagram) such as games, movies, virtual spaces, and simulators, which allow the user to experience haptic output as part of the content. These may be pre-installed on the control device 51, or they may be downloaded and installed from the server 81 via the network 82.

The application 65 includes audio and video as content, and the haptic output device 11 outputs tactile sensations linked to these audio and video, providing the user with a tactile experience. Examples of such content include, but are not limited to, the reproduction of tactile sensations experienced by characters in a movie, the reproduction of the tactile feel of objects appearing in a game, the tactile feel of objects touched in a virtual space, simulators that reproduce the feel of animals such as cats and dogs, and the reproduction of the resistance of a ball when batting in a virtual batting game. However, it is desirable for the tactile sensations to have varying degrees of intensity for the application of this invention.

The application 65 has a media signal database 66 in its storage unit 62, which includes media signals such as audio and video signals, along with a program for reproducing the aforementioned content, in order to provide it via the input/output device 54. These media signals include, for example, 3D data and graphics of object shapes, voices and dialogue, and sound effects, and are preferably associated with each object that the haptic output device 11 is intended to provide a tactile experience with. Note that the media signal database 66 does not need to hold all necessary media signals in the storage unit 62; they may be downloaded as needed via the network and added temporarily or permanently.

Furthermore, in order to provide the aforementioned content via the haptic output device 11 in parallel with the input/output device 54, the application 65 has a base haptic database 67 in the storage unit 62 that includes base haptic data for reproducing the content. This base haptic data is a set of values and functions that determine what values the haptic output device 11 will use to operate the haptic output device 14 under what circumstances. However, this base haptic data consists of default values and default functions set to be considered suitable for a person who is assumed to have a standard physique as a design standard for the haptic output device 11. Similar to the media signals mentioned above, multiple base haptic data are recorded, each associated with an object. From among these multiple recorded base haptic data, one is selected for each object in the aforementioned content that the user intends to actively touch or passively experience through touch. The control device 51 selects an object to be experienced based on operations from the input/output device 54 or triggers in the content being played, or when an object is automatically selected, it reads the base haptic data associated with that object from the base haptic database 67 and transmits it to the haptic output device 11 via the communication unit 63 and the communication unit 26.

The haptic output device 11 records base haptic data, which is sent as default values for selected objects, etc., in the data storage unit 22. It then controls the haptic output device 14 using this base haptic data to provide the user with a concrete tactile experience. However, in this invention, the haptic output device 14 is adjusted to match the user's operating force to provide a more suitable tactile experience.

To perform this adjustment, the haptic control unit 21, when a user attempts to experience tactile sensations with the haptic output device 14, acquires the angle of the rotating body using the angle sensor 16, measures the displacement of that angle per unit of elapsed time, and then executes a speed measurement means to calculate the speed caused by the user's movements operating the haptic output device 14.

In the embodiment shown in the figure, the speed measurement means is performed by the angle sensor 16 and clock unit 19 of the tactile output device 14, which are part of the tactile output device 11. The tactile output device 14 includes a rotating body that is in contact with the magnetorheological fluid and whose resistance changes when it rotates, an angle sensor 16 that detects the angle of this rotating body, and a user contact area that a user touches directly to apply force in order to rotate the rotating body. The user touches the user contact area and applies force, thereby changing the angle detected by the angle sensor 16 relative to the tactile output device 14.

Furthermore, the tactile output device 11 has a clock unit 19 for measuring time. By measuring the change in the angle of the rotating body detected by the angle sensor 16 during a predetermined time measured by the clock unit 19, the angular velocity, which is the rate of angle change per unit of time, can be determined. The angular velocity of this change in the angle of the rotating body is used as the speed calculated by the speed measuring means.

Furthermore, the haptic output device 14 has a correction table or formula set up to adjust the output in accordance with the angular velocity of the rotating body, based on the characteristics of the magnetorheological fluid. This is derived by converting the velocity to the angular velocity of the rotating body in the measurement results of the shear stress change with respect to the velocity of the magnetorheological fluid. It is either pre-recorded in the haptic output device 14 during the manufacturing stage, included in the application 65 and distributed, or pre-stored and accessible on the server 81 on the network. In any case, the haptic presentation device 10 can access it.

In the tactile presentation device 10 according to this invention, a correction value derivation means is executed to calculate a correction value by comparing the retrieved correction table or correction formula with the angular velocity. This execution may be performed by the tactile control unit 21 or by the control unit 61 of the control device 51.

The haptic presentation device 10 according to this invention, even if the haptic output device 14 using magnetorheological fluid exhibits different outputs depending on the angular velocity of the rotating body being operated, executes a signal value calculation means to calculate a haptic signal that actually operates the haptic output device 14 based on the base haptic data and a calculated correction value, as an adjustment to match the angular velocity. Then, the haptic control unit 21 executes a haptic presentation means to cause the haptic output device 14 to present tactile sensations based on the calculated haptic signal. As a result, regardless of the abruptness of the individual's operation, the user can experience tactile sensations that are appropriate to the feel intended by the content provider, thanks to the haptic signal corrected by calculation according to the angular velocity.

The following will explain using a specific device as the tactile output device 14. In the following explanation, the tactile output device 11, which is a tap unit having a magnetorheological fluid (MRF) device (hereinafter abbreviated as "MRF device"), will be used as an example of the tactile output device 14. The MRF device used as a specific example here consists of a rotating shaft 41, a disk 32, yokes 34 and 35, a coil 37, a magnetorheological fluid 38, casings 31 and 36, etc. As shown in Figure 2, a space is provided around the disk 32 attached to the rotating shaft 41, sandwiched between the yokes 34 and 35, and a magnetorheological fluid 38 whose viscosity changes depending on the strength of the magnetic field placed thereon is introduced into that space. Also, a coil 37 that generates a magnetic field (arrow in the figure) is housed there, supported by the yoke 35. The rotating shaft 41 is supported by a bearing 39 and is integrated with the disk 32 surrounded by the magnetorheological fluid 38. The magnetorheological fluid 38 allows the resistance to rotating the rotating shaft 41 to be adjusted by the amount of current supplied to the coil 37 that generates the magnetic field. By increasing or decreasing the viscosity of the magnetorheological fluid 38 in response to a user applying force to rotate the rotating shaft 41, the resistance to the disc 32 integrated with the rotating shaft 41 is increased or decreased, creating an active tactile effect of "difficulty in rotating" the rotating shaft 41. In this example, the disc 32 corresponds to the rotating body that contacts the magnetorheological fluid 38 in the tactile output device 14. The angle sensor 16 is installed to detect either the angle of the disc 32 itself or the angle of the rotating shaft 41, which rotates in conjunction with the disc 32.

A tap unit, which is a tactile output device 11 using such an MRF device, is shown in Figures 3(a) and 3(b). It has a base 40 that is fixed by the thumb or palm, and a finger rest part 42 that rotates in conjunction with the rotation axis 41 of the MRF device provided on the base 40. The finger rest part 42 corresponds to one or all of the index, middle, ring, and little fingers, and rotates around a pivot point 43 when the fingers are bent to grip. That is, this finger rest part 42 is the user contact area. When the finger rest part 42 is pressed, the first link member 44 and the second link member 45, linked via a pin 46, rotate as shown in Figure 3(c). This movement of the second link member 45 causes the rotation axis 41 to rotate relative to the base 40 by an angle θ. The resistance during this rotation is increased or decreased by the magnetorheological fluid 38 of the MRF device.

An example of the base tactile data, angle, and correction values for this MRF device is shown in the flowchart of Figure 4. This is a table defined for each selected object, indicating the "rotation position"—how many degrees the disc 32 rotates from its default state based on the position where the finger rest 42 is gripped—and the array of values indicating how much current is applied to increase the resistance to the disc 32's rotation. Such a table is set for each object to be used and recorded together in the base tactile database 67. Alternatively, it could be defined using a function corresponding to the rotation position. For example, if the object is small, there would be no resistance until the rotation position advances significantly and is described as touching, and then the current value would increase to increase resistance from that point onward. Or, to virtually simulate the tactile sensation of gripping a gummy object, some resistance would be applied from the beginning to mimic the feeling of deforming the gummy, but the resistance would increase sharply from the angle where the gummy deforms no further, and the current value would be set to the maximum value to prevent further rotation.

When a user selects an object to experience tactile sensations, the control device 51 retrieves and selects the base tactile data associated with that object from the base tactile database 67. If the base tactile data associated with that object is not found in the base tactile database 67, the control device 51 downloads the corresponding base tactile data from the server via the network and selects it. The control device 51 then transmits the selected base tactile data to the tactile output device 11.

Furthermore, the tactile output device 11 has a table of correction values (correction table) corresponding to the angular velocity of the disk 32, which depends on the properties of the magnetorheological fluid 38 enclosed in the tactile output device 14 and the size and shape of the disk 32. Since this correction table differs for each specification of the tactile output device 14, it is preferable that it is recorded in the data storage unit 22 at the time of shipment of the tactile output device 14. However, it may also be possible to modify it externally. Alternatively, when the tactile output device 14 is first used with the application 65, the correction table corresponding to the specification of that tactile output device 14 may be downloaded from the server 81 and transmitted to the tactile output device 11, thereby being stored in the data storage unit 22. Basically, the higher the angular velocity of the magnetorheological fluid 38, the lower this correction value becomes. The example table shows correction values set in 0.1°/s increments, but it is not limited to this, and may be set more finely.

When the user grips the tap unit and the rotational position changes, the angle sensor 16 detects this. The voltage applied by the tactile control unit 21 to the MRF device when the rotational position reaches 2° is determined by the following procedure. First, the current value when the finger position is 2° is confirmed by referring to the base tactile data table stored in the data storage unit 22. Here, it is 0.2A. That is, the current value when operated at a standard angular velocity is such that the MRF device realizes a resistance equivalent to a 0.2A current as tactile feedback. Here, an example is shown where the value when operated at an angular velocity of 0.1°/s is considered standard (correction value = 1.0). The correction table also contains correction values for higher angular velocities. Based on these current values and correction values, the current value of the tactile signal to be actually transmitted is calculated.

Furthermore, the tactile control unit 21 detects the value from the angle sensor 16 and, when it reaches a predetermined angle (for example, every 1°), obtains the time from the clock unit 19 and temporarily stores the angle and time. When the user performs an operation and the disc 32 rotates, and the next predetermined angle is reached, the time is again obtained from the clock unit 19. By dividing the angle difference by the time difference (elapsed time), an angular velocity measuring means can be realized to measure the angular velocity.

Alternatively, as a calculation procedure for the angular velocity measurement method, the rotational position may be continuously acquired at intervals of a basic unit of time (e.g., 1 second), and the previous angular velocity may be continuously calculated in real time from the change in the finger position. The correction value to be used at that point in time may then be determined from the calculated angular velocity.

In either procedure, once the angular velocity is measured, the tactile control unit 21 refers to a pre-recorded correction table and executes a correction value derivation means to determine the correction value corresponding to that angular velocity. In the example in Figure 4, if the angular velocity is calculated to be 0.3°/s, the correction value can be determined to be 0.6.

An example of the execution of the signal value calculation means described above is shown. When the rotation position reaches N°, the current value before correction can be determined to be 0.5A from the base tactile data. The tactile control unit 21 calculates the previous angular velocity as 0.3°/s from the elapsed time between the time when the previous rotation position (N-1)° was reached and the time when the rotation position N° was reached. The correction value obtained from this angular velocity was 0.6. Then, the current value of 0.5A from the base tactile data and the correction value of 0.6 obtained from the angular velocity are multiplied to calculate the current value of the tactile signal to be actually transmitted as 0.5A × 0.6 = 0.3A. The tactile control unit 21 applies a tactile signal with the voltage required to flow this calculated current value of 0.3A to the MRF device and executes the tactile presentation means to allow the user to experience the expected tactile sensation. When the angle sensor 16 detects a further change in rotational position, it references the current value corresponding to the new rotational position, calculates the previous angular velocity to obtain a correction value, and similarly calculates a tactile signal to provide a tactile sensation.

When the object selected in the application 65 executed by the control device 51 changes, the control device 51 retrieves the base haptic data associated with the new object from the base haptic database 67 and transmits it to the haptic output device 11 to provide haptic feedback corresponding to the new object. Examples of object changes include when a user specifies an object to touch in a game executed by the control device 51, or when a new object appears during the game. Even if the object changes and the base haptic data used changes, the force comparison value and body comparison value can be used in the signal value calculation means with the same values.

An example of the process when a user utilizes the haptic output device 11 according to this invention will be explained with reference to the flowcharts in Figures 5 and 6. First (S101), the application 65 is launched on the control device 51, which is a smartphone (S102). Next, the power of the tap unit, which is the haptic output device 11, is turned on (S103), and the smartphone and the tap unit are paired via Bluetooth to establish a wireless connection (S104). Note that in this embodiment, the application launch (S102) may be performed after S104. Furthermore, a correction table specific to this tap unit is pre-recorded in the data storage unit 22 of the tap unit, and the haptic control unit 21 can recall it.

With the tap unit now ready, the control device 51 displays an image on the application 65 that allows the user to select an object (S111). The user, operating the application 65 from the input/output device 54, selects an object from those displayed on the monitor to experience tactile sensation (S112). Figure 7 shows an example of the display on the monitor. Here, the lint ball object on the right is selected. The user's selection is specified by touching the touch panel. Upon receiving the selection instruction, the control unit 61 retrieves the base tactile data associated with the selected lint ball object from the base tactile database 67 (S113) and transmits it to the tap unit (S114). If no corresponding base tactile data exists in the base tactile database 67, the control device 51 downloads the base tactile data associated with that object from an external server 81 and then transmits it to the tap unit. The tap unit stores the transmitted base tactile data in the data storage unit 22 (S117).

Next, we move on to the specific tactile output. The tactile control unit 21 acquires the angle that will be the rotation position from the angle sensor 16 (S121). At the same time, it acquires the time from the clock unit 19 (S122). It monitors whether that angle has reached the next rotation position that will change the current value, as defined in the base tactile data stored in the data storage unit 22 (S123). If it has not reached it (S123 → No), it continues to acquire the angle from the angle sensor (S123). If it has reached the next rotation position (S123 → Yes), it acquires the angle that will be the rotation position again from the angle sensor 16 (S124) and acquires the time from the clock unit 19 (S125). It calculates the angular velocity from the angle difference and the time difference (elapsed time) (S126) and finds a correction value corresponding to the angular velocity (S127). It multiplies the current value of the base tactile data corresponding to that angle by the correction value to calculate the tactile signal, which is the actual amount of current that flows (S128). According to instructions from the tactile control unit 21, the battery supplies the necessary voltage value to the coil of the MRF device to deliver the calculated current value, thereby allowing the user to experience tactile sensations at the assumed resistance. (The user experiences tactile sensations at the assumed resistance by supplying a voltage value necessary to deliver the calculated current value from the battery to the coil of the MRF device.)

If the user continues to rotate the same object and experience a different sensation (S129 → Yes), the system returns to monitoring the rotational position using the angle sensor 16 (S123). If the user selects a different object (for example, the gummy-like object on the left) and experiences a different sensation (S131 → Yes), the system returns to step S111 (S132). In this case, the base haptic data associated with the selected object is retrieved. If the user ends the experience (S131 → No), the application 65 is terminated (S151).

In parallel with this flow, the tactile control unit 21 may also send the acquired angle sensor 16 values and angular velocity values to the control device 51. The control device 51, having received the angle sensor 16 values and angular velocity values, may change the shape of the object displayed on the input/output device 54 monitor or play sounds according to the angle and force. For example, the shape of the ball of fur object shown in Figure 7 may be redrawn to a gradually flattened shape with a size inversely proportional to the angle sensor value. Furthermore, different sounds may be played depending on the magnitude of the angular velocity. For example, a sound of crushing may be played from the speaker when squeezed sharply, and a sound of gradual deformation may be played when squeezed gently.

10 Tactile presentation device 11 Tactile output device 14 Tactile output device 16 Angle sensor 19 Clock unit 20 Output device control unit 21 Tactile control unit 22 Data storage unit 25 Power supply 26 Communication unit 31 Casing 32 Disc 34 Yoke 35 Yoke 37 Coil 38 Magnetorheological fluid 39 Bearing 40 Base 41 Rotating shaft 42 Parts 43 Pivot 44 First link material 45 Second link material 46 Pin 51 Control device 54 Input/output device 61 Control unit 62 Storage unit 63 Communication unit 65 Application 66 Media signal database 67 Base tactile database 69 Network interface 81 Server 82 Network

Claims (6)

A tactile output device having a tactile output device using magnetorheological fluid,
A tactile control unit that controls the components including the tactile output device,
It has,
In order to suppress the influence of velocity on the shear stress generated by the magnetoviscous fluid,
A speed measuring means for measuring the speed at which a user operates the haptic output device,
A means for deriving a correction value that determines a correction value corresponding to the aforementioned speed,
A signal value calculation means that calculates a tactile signal based on base tactile data and the correction value,
A tactile presentation means that causes the tactile output device to present tactile sensations based on the calculated tactile signals,
A haptic presentation device that performs the following actions. The speed measured by the speed measuring means is characterized by being the angular velocity of the rotating body in contact with the magnetorheological fluid, which is rotated when the tactile output device is operated.
The tactile presentation device according to claim 1. The tactile output device comprises a rotating body that is in contact with the magnetorheological fluid and whose resistance is changed when it rotates, and an angle sensor that detects the angle of the rotating body.
The tactile output device having,
The clock section that measures time,
The tactile presentation device according to claim 2, having the following features. The tactile presentation device is
The system includes a control device that retrieves the base tactile data from an internal storage unit that records the base tactile data, or from an external server that records the base tactile data.
The control device executes a transmission means for transmitting to the tactile presentation device,
The tactile control unit is located within the tactile output device.
The signal value calculation means is performed by the tactile control unit,
The tactile presentation device according to claim 2 or 3. A tactile presentation method using a tactile presentation device having a tactile output device using magnetorheological fluid,
In order to suppress the influence of velocity on the shear stress generated by the magnetoviscous fluid,
A step of measuring the speed at which the user operates the haptic output device,
The steps include determining a correction value corresponding to the aforementioned speed,
A step of calculating a tactile signal based on base tactile data and the correction value,
A tactile presentation method comprising the step of causing a tactile output device to present a tactile sensation based on the calculated tactile signal. A tactile output device having a tactile output device using magnetorheological fluid,
The tactile output device includes a tactile control unit that controls the components including the tactile output device,
An angle sensor that measures the angle of a rotating body in contact with the magnetorheological fluid, which is rotated when the user operates the haptic output device,
The clock section that measures time,
It has,
The tactile control unit is,
In order to suppress the influence of velocity on the shear stress generated by the magnetoviscous fluid,
An angular velocity measuring means for measuring the angular velocity of a rotating body in contact with the magnetorheological fluid, which is rotated when the user operates the haptic output device,
A means for deriving a correction value that determines a correction value corresponding to the angular velocity,
A signal value calculation means that calculates a tactile signal based on base tactile data and the correction value,
A tactile presentation means that causes the tactile output device to present tactile sensations based on the calculated tactile signals,
A tactile output device that performs the following actions.