WO2006064615A1 - 力覚提示方法、装置およびプログラム - Google Patents
力覚提示方法、装置およびプログラム Download PDFInfo
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- WO2006064615A1 WO2006064615A1 PCT/JP2005/020026 JP2005020026W WO2006064615A1 WO 2006064615 A1 WO2006064615 A1 WO 2006064615A1 JP 2005020026 W JP2005020026 W JP 2005020026W WO 2006064615 A1 WO2006064615 A1 WO 2006064615A1
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- Prior art keywords
- receptor
- ejection
- inclined side
- force
- surface portion
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Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B21/00—Teaching, or communicating with, the blind, deaf or mute
- G09B21/001—Teaching or communicating with blind persons
- G09B21/003—Teaching or communicating with blind persons using tactile presentation of the information, e.g. Braille displays
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
Definitions
- the present invention relates to a knot presentation technique for giving a knot presentation to an operator by applying a force to the receptor by pushing the receptor against blown air or the like.
- FIG. 19 has a jet part 6 in which a plurality of jet outlets 602 for jetting jet air 601 upward are arranged on the surface.
- the jet air 601 jetted from the jet outlet 602 directly below or around the receiver 1 ′ is controlled according to the position of the receiver 1 ′ moving above the surface where the jet outlets 602 are arranged (for example, Non-Patent Document 1, Patent References 1-3).
- the receptor 1 ' has a flat shape or a concave shape such as a hemisphere (in FIG. 19, a hemispherical shape).
- a concave shape such as a hemisphere (in FIG. 19, a hemispherical shape).
- Patent Document 2 Japanese Patent Laid-Open No. 2003-256105
- Patent Document 3 Japanese Patent Application Laid-Open No. 2004-157677
- Non-Patent Document 1 Suzuki, Kobayashi, “Untethered Katsu presentation interface by wind pressure: 3D object representation”, IEICE Technical Report, IEICE Multimedia, Virtual Environment Fundamentals Study Group (MVE) July 2003, No. 103, No. 209 71 76
- the direction of the presentation force felt by the operator 7 is only the air ejection direction.
- blow out air in that direction It is conceivable to prepare a spout to be used.
- the operator 7 moves the hand and arm to the left and right by installing the lateral jet ports on the left and right sides. That is, there is a possibility that the spout hinders the movement of the operator 7.
- An object of the present invention is to provide an operator with a feeling of a direction including a component in a direction transverse to an ejection direction of air or the like without imposing a burden on the operator with a simple configuration. It is to provide the katsu sense presentation technology.
- the above object is to present a sense of kin to the operator via the receptor by ejecting gas or liquid from the ejection port of the ejection means according to the position or orientation of the receptor and hitting the gas or liquid to the receptor.
- a katsu sense presentation method
- the receiver is provided with an inclined side surface having a shape inclined with respect to the axis of the receptor toward the center force outward, and the gas or liquid is ejected to the inclined side surface.
- a knot presentation method characterized by applying a force including a component in a direction perpendicular to the gas or liquid ejection direction.
- the present invention presents a sense of sensation to the operator via the receptor by ejecting gas or liquid from the ejection port of the ejection means according to the position or orientation of the receptor and hitting the receptor.
- a knot presentation device used in a katsu presentation method is a knot presentation device used in a katsu presentation method
- the haptic presentation device is configured to eject the gas or liquid ejected from the ejection port of the ejection means in accordance with the position or orientation of the receptor measured by the receptor measurement means connected to the haptic presentation device.
- An ejection control means for controlling an amount or an ejection direction, wherein the receptor has an inclined side surface that is inclined with respect to an axis of the receptor from the center to the outside, and the gas or liquid
- the ejection control means controls the ejection means to eject the gas or liquid toward the inclined side surface portion in order to apply a force including a component in a direction perpendicular to the ejection direction of the gas to the receiver. It can also be configured as a haptic presentation device characterized by
- the receptor includes a deformation mechanism that changes the position or orientation of the inclined side surface portion, and the position of the receptor measured by the receptor measurement means is the deformation mechanism. Or it may be provided with a receptor side surface control means for controlling according to the orientation. Good.
- the haptic presentation device calculates the state of the virtual object in the virtual space according to the position or orientation of the receptor measured by the receptor measuring means, and based on the calculation result, calculates the virtual object. You may provide the virtual object exterior calculation means to display the containing virtual space on a virtual space display means.
- the ejection means has a structure in which a plurality of ejection ports are arranged on a plane, and the receptor is located at a predetermined height on the plane.
- the ejection control means is located between the inner edge of the inclined side surface and the outer edge of the inclined side surface of the receiver.
- an outlet having an angle difference between the direction from the outlet toward the center of the receptor and the direction of the force to be applied to the receiver is a predetermined value or less, and the selected outlet force
- the gas or liquid may be ejected.
- the present invention may be configured as a program for causing a computer to function as each unit in the above-described katsu sense presentation device.
- the jetting means has a simple configuration in which a gas or liquid is jetted in only one direction, and a direction perpendicular to the jetting direction (lateral direction) that does not place a burden on the operator. It is possible to present a force including the components of
- the direction of the force to be presented can be controlled by controlling the inclined side surface by the deformation mechanism of the inclined side surface. Can be controlled.
- the ejection control means can appropriately eject the gas or liquid to the inclined side surface portion by appropriately selecting the ejection port from which the gas or liquid is ejected.
- the virtual object in the virtual space can be changed according to the position or orientation of the receptor.
- FIG. 1 is a configuration diagram of a knot presentation device according to a first embodiment.
- FIG. 2 is an explanatory diagram of a relationship among a receptor, a jetting unit, and an operator of the haptic device according to the first embodiment.
- FIG. 3 is a flowchart of an operation process of the katsu presentation device according to the first embodiment.
- FIG. 4A is a cross-sectional view (1) of the receptor of Example 1.
- FIG. 4B is a cross-sectional view (2) of the receptor of Example 1.
- FIG. 4C is a cross-sectional view (3) of the receptor of Example 1.
- [4D] A view of the receptor of Example 1 with a downward force.
- FIG. 4E is a diagram showing a lower force of the receptor of another example of Example 1.
- ⁇ 5B] is an explanatory diagram (2) of blowing of blown air to the receptor of Example 1.
- FIG. 5C is an explanatory diagram (3) of the blowing of the blown air to the receptor of Example 1.
- FIG. 5D is an explanatory diagram (4) illustrating the blowing of blown air to the receptor of Example 1.
- FIG. 7 is a diagram for explaining the force generated when the blown air collides with an inclined side surface portion, which is a curved inclined surface force.
- ⁇ 8A View of the receptor with the inclined surface of the inclined side part made into a part of a cylindrical shape.
- ⁇ 8B Seeing the receptor with the inclined surface of the inclined side part made into a part of a cylindrical shape from an angle. It is a figure.
- FIG. 9A Lower force is applied to a receptor having an inclined side surface with a curved surface in which the shape in a cross section parallel to the xy plane is a concave curve with respect to the position on the xy plane of the jet outlet. This is a view.
- FIG. 10A is an explanatory view (5) of blowing air to the receiver of Example 1.
- FIG. 10B is an explanatory view (6) of blowing of blown air to the receptor of Example 1.
- FIG. 11 is a view looking down from above an ejection part having a plurality of ejection holes on a plane and a receptor having inclined side surfaces provided all around the central part of the receptor.
- FIG. 12 is a cross-sectional view of a receptor.
- FIG. 13 is a diagram for explaining an angle ⁇ formed by V and V.
- FIG. 14A is a diagram for explaining a force presented to an operator by a receptor in which the inclined surface of the inclined side surface portion is part of a cylindrical shape.
- the receiver has a curved surface shape in which the inclined surface of the inclined side surface portion 102 is a concave curve with respect to the position on the xy plane of the jet outlet in the cross section parallel to the xy plane. It is a figure for demonstrating the force to show.
- FIG. 15 is a configuration diagram of a haptic presentation device according to a second embodiment.
- FIG. 16 is a flowchart of an operation process of the katsu presentation device according to the second embodiment.
- FIG. 17A is an explanatory diagram (1) of the receptor of Example 2.
- FIG. 17B is an explanatory diagram (2) of the receptor of Example 2.
- FIG. 17C is an explanatory view (3) of the receptor of Example 2.
- FIG. 18A is an explanatory diagram (1) of posture control of a receptor according to the second embodiment.
- FIG. 18B is an explanatory diagram (2) of the posture control of the receptor of the second embodiment.
- FIG. 19 is an explanatory diagram of the relationship among the receptor, the ejection means, and the operator of the conventional haptic presentation device.
- Receptor 101: Central part, 102: Inclined side part, 102a, 102b: Blade
- the component in the direction (lateral direction) perpendicular to the direction of ejection is represented. Present the power that is included.
- the receiver In order to realize a force that includes a component in the direction perpendicular to the ejection direction (lateral direction), the receiver has an inclined surface or arc that escapes the air outside the side surface. An inclined side surface portion having a curved surface is provided, and the ejection portion is controlled so that the air is applied to the inclined side surface portion.
- a force including a component in a direction perpendicular to the air ejection direction (lateral direction) can be presented, so that the air ejection is interlocked with an image that comes into contact with an object from the lateral direction.
- the technique described in this embodiment can be applied to the amusement field, for example.
- FIG. 1 is a block diagram showing the configuration of the knot presentation device of the first embodiment.
- Fig. 2 shows an explanatory diagram of the relationship between the operator of the haptic device and the ejection part.
- Figure 3 shows a flowchart of the processing performed by the katsu presentation device.
- the knot presentation device of the present embodiment includes a virtual object outside calculation unit 3 and an ejection control unit 5.
- the ejection unit 6 is connected to the ejection control unit 5, and the receptor measurement unit 2 for measuring the position and orientation of the receptor 1 is connected to the virtual object outside calculation unit 3 and the ejection control unit 5 to display the virtual space.
- the unit 4 is connected to the virtual object outside calculation unit 3.
- the receiver 1 receives the jet air 60 1 ejected from the jet outlet 602 of the jet section 6.
- gas, liquid, and the like other than air can be used as those ejected from the ejection port 602, but in this embodiment, an example using air will be described.
- the operator 7 holds the receptor 1.
- the operator 7 may hold the object such as a stick with the receptor 1 attached to the tip of the stick or the like.
- the operator 7 receives the hand, body and clothes of the operator 7.
- Container 1 may be attached. Through the receptor 1, the operator 7 receives a katsu sense presentation.
- the receiver 1 includes a central portion 101 that receives the blown air 601 and transmits a force in the jetting direction to the operator 7, and a direction perpendicular to the jetting direction (lateral direction). ) Has an inclined side surface portion 102 for transmitting the force including the component (2) to the operator 7.
- the inclined side surface portion 102 may be configured as one, or may be configured as a partial cover divided into two or more.
- the inclined side surface portion 102 has a shape inclined with respect to the axis of the receptor 1 so that the central portion force of the receptor 1 is also directed outward.
- the axis of the receptor 1 is a line along the ejection direction of the ejection air 601 when the receptor 1 is in the normal posture. That is, when the ejection direction is perpendicular to the horizontal plane, the axis of the receptor 1 is a line perpendicular to the horizontal plane when the receptor 1 is placed on the horizontal plane.
- the specific shape of the inclined side surface portion 102 can be, for example, an inclined surface or a curved surface curved into an arc as described later.
- the receptor measurement unit 2 is a device configured to always detect the position and orientation of the receptor 1.
- a camera a magnetic sensor, an ultrasonic sensor, an infrared sensor, a detection unit that analyzes and detects a mark added in advance can be used.
- the virtual object calculation unit 3 is realized by a computer, and the virtual object displayed on the virtual space display unit 4 according to the position or orientation of the receptor 1 measured by the receptor measurement unit 2. Calculate the external state (position, shape, color, etc.). For example, the virtual object calculation unit 3 generates a virtual object outside that moves in conjunction with the detected position of the receptor 1.
- the virtual object calculation unit 3 may be configured to calculate and generate a virtual object according to the detected position or orientation of the receptor 1 or the state of another virtual object.
- the virtual space display unit 4 is a means for displaying a virtual space including a virtual object based on the calculation result of the virtual object calculation unit 3, and can be realized using a projector, for example.
- the ejection control unit 5 is configured to eject the ejection port of the ejection unit 6 according to the position or orientation of the receptor 1 measured by the receptor measurement unit 2 or according to the state of a predetermined virtual object in the virtual space.
- the air ejection position of 602 and the ejection amount of the ejection air 601 are controlled.
- the ejection direction of the ejection port 602 can be variable, and in this case, the ejection direction is controlled together with the ejection amount.
- a specific jet outlet 602 for ejecting air is determined in accordance with the position and orientation of the receptor 1 so that the operator can be given a sense of click, and the amount of air jetted from the jet outlet 602 is determined. And determine the ejection direction. Further, since the state of the virtual object may be determined by other factors regardless of the position or orientation of the receptor 1, the air ejected from a specific outlet 602 according to the state of the virtual object. Determine the amount of eruption.
- This ejection control unit 5 can be realized by a computer.
- the ejection unit 6 ejects the ejection air 601 in accordance with the control from the ejection control unit 5.
- the ejection section 6 there is an apparatus in which one or more ejection ports 602 from which air is ejected upward are arranged two-dimensionally on a horizontal plane such as a desk.
- the virtual object calculation unit 3 and the ejection control unit 5 in the haptic presentation device of the present embodiment can be realized by installing a program that causes the computer to execute the processing of these functional units.
- the program can be recorded on a recording medium such as a CD-ROM or provided through a network.
- the receptor measurement unit 2 detects the position or orientation of the receptor 1 held by the operator 7 or attached to the operator 7 (step 11).
- the virtual object calculation unit 3 calculates the state (position, shape, etc.) of the virtual object in the virtual space according to the position or orientation of the receptor 1 measured by the receptor measurement unit 2 (step) 12). For example, when the receptor 1 moves so as to push down the virtual object, the state of the virtual object is calculated so that the corresponding part of the virtual object is recessed.
- the virtual space display unit 4 displays a virtual space including the outside of the virtual object based on the calculation result by the virtual object calculation unit 3 (step 13).
- the virtual space may contain other virtual objects.
- the ejection control unit 5 has a central portion of the receptor 1 according to the position or orientation of the receptor 1 measured by the receptor measurement unit 2 or the direction of the receptor 1 or the state of the virtual object in the virtual space 6.
- the jet outlet 602 for jetting air and the jet quantity are determined in the jet part 6 so as to jet air to the 101 1 or the inclined side surface part 102, and a control signal is transmitted to the jet part 6 (step 14). For example, in order to apply a vertically upward force to the receiver 1 in response to the operator pushing the virtual object directly below, the hardness of the virtual object, etc. from the spout 602 directly below the receiver 1 Control is performed so as to eject a quantity of air determined according to the above.
- the ejection unit 6 Based on the control signal from the ejection control unit 5, the ejection unit 6 ejects air from the specific ejection port 602 (step 15). If the event process is to be executed again, the process returns to step 11. If the event process is not executed again, the process ends (step 16).
- the processing in steps 12 to 13 and the processing in steps 14 to 15 are not necessarily performed in this order.
- the processing in steps 12 to 13 and the processing in steps 14 to 15 may be performed in parallel!
- the receiver 1 of the present embodiment includes, for example, an inclined side surface portion 102 having a curved surface or an inclined surface curved in an arc on the outer side (periphery) of a concave central portion 101 such as a planar shape or a hemisphere. It has a built-in configuration.
- FIGS. 4A to 4C show cross sections of an example of the receptor 1.
- FIG. 4A shows the receiver 1 in which a concave portion of a hemisphere is formed in the center as the central portion 101 and a curved surface portion curved in an arc shape is provided as the inclined side surface portion 102.
- FIG. 4B shows the receiver 1 in which a concave portion of a hemisphere is formed in the center as the central portion 101 and an inclined surface is provided as the inclined side surface portion 102.
- the inclined side surface portion 102 is formed into an arc shape, a shape close thereto or an inclined surface, the air that has flowed downward also changes its direction at the inclined side surface portion 102, and the ejection direction With a component in a direction perpendicular to (transverse).
- FIG. 4D is a bottom view of the receiver 1 as viewed from below, and shows an example in which an inclined side surface portion 102 is provided around the center portion 101.
- Figure 4E also shows a bottom view of receptor 1 from below.
- the inclined side surface portion 102 is divided into a plurality of portions.
- the receiver 1 can be formed in such a shape that the central portion 101 is eliminated and only the inclined side surface portion 102 that is curved in an arc shape has a force.
- FIG. 4C shows an example in which the central portion 101 in the example of FIG.
- the inclined side surface portion 102 existing around the circle is arranged. Even in this case, as shown in FIGS. 4D and 4E, the inclined side surface portion 102 may be formed integrally or may be formed as a plurality of divided portions. Further, the inclined side surface portion 102 can be formed in a shape provided around a part of the center point.
- FIG. 5A when the blown air 601 is applied to the central portion 101 of the receptor 1, the force in the blow direction or a direction close thereto can be presented to the operator as in the conventional case.
- FIG. 5B when the blown air is applied to a part of the inclined side surface portion 102 of the receptor 1, as shown in FIG. 5C, the blown air 601 collides with the inclined side surface portion 102 and from there. It will flow mainly laterally outside the side.
- Jet air force with density p [kg / m 3 ], flow velocity V [m / s], flow rate Q [m 3 / s] As shown in Fig. 6, it collides with a stationary inclined surface and Assume that the orientation changes by an angle ⁇ (0 to ⁇ 90 degrees). In this case, if the X component of the force F [N] received by the inclined surface is F and the z component is F, the following equation holds.
- the ejected air is a non-viscous fluid with the same static pressure at all points inside it, and the loss of kinetic energy due to the collision of the ejected air with the inclined surface and friction on the inclined surface is ignored. ing.
- FIG. 5B shows a case where a force including a lateral component is presented to the receptor 1 having a shape in which only the inclined side surface portion 102 has a force as shown in FIG. 4C.
- Force similar to the case When the upward force is presented, the blown air may be controlled so that the blown air 601 hits the opposite sides or the entire surface of the inclined side surface 102 (see FIG. 5D).
- the inclined side surface portion 102 presents an intended lateral force according to the state of the ejected air (ejecting amount, ejection speed, etc.) and the state of the inclined surface (area, friction, etc.). It is desirable that the angle and shape be such that the upward force is as small as possible with respect to the lateral force. In addition, it is desirable to control the collision position of the blown air 601 so as to reduce the upward force.
- the inclined side surface portion 102 is provided in an annular shape with respect to an axis parallel to the air ejection direction. For this reason, the air flow can be changed in an arbitrary direction (lateral direction) perpendicular to the ejection direction by applying the ejection air to an arbitrary position of the inclined side surface portion 102, and the arbitrary direction perpendicular to the ejection direction can be changed. It has the advantage that it can present force in the direction (lateral direction).
- FIG. 7 shows that the blown air collides with the inclined side surface part 102 having a curved inclined surface force, and the force in the direction perpendicular to the ejection direction (the left side direction in the figure) acts on the inclined side surface part 102. It is a figure which shows a mode.
- FIG. 7 is a view of the horizontal cross section of the inclined side surface portion 102 as seen from the ejection direction.
- the jetted air spreads radially and collides with collision point 0 on the inclined side surface portion 102 and collision point 1 and collision point 2 that are points around collision point 0.
- the air that collided at collision point 0 generates F0, which is a lateral force facing the left side of FIG.
- the air that collides with collision point 1 or collision point 2 is a force in a direction different from the force to be presented Fl, F2 (In this case, the friction on the surface of the surface is ignored).
- F1 can be decomposed into F1 and F1
- F2 can be decomposed into F2 and F2.
- Fl, F2 force ⁇ The force presented as the lateral force facing the left side of Fig. 7 This Fl, F2 Is a component force and is smaller than Fl and F2, respectively.
- the collision point 1 and the collision point 2 have a longer distance from the jet outlet, so the force in the direction that matches the force to be presented is further reduced.
- FIG. 8A is a view from below of the receiver 1 in which the inclined surface of the inclined side surface portion 102 is a part of a cylindrical shape
- FIG. 8B is a view of the receiver 1 from an oblique view
- FIG. 2 is a longitudinal sectional view of the receptor 1.
- the inclined surface of the inclined side surface portion 102 of the receptor 1 has a concave shape with respect to the position on the xy plane of the jet outlet in a cross section parallel to the xy plane.
- the curved surface shape may be a curve.
- 9A is a view of the receptor 1 seen from below
- FIG. 9B is a view of the receptor 1 seen from an oblique direction
- FIG. 9C is a longitudinal sectional view of the receptor 1.
- the ejection control unit 5 causes the ejection unit 6 to move. Control and blow out air to the receiver 1 to present an upward or lateral force to the operator 7. This will be described in more detail below.
- the inclined side surface portion 102 of the receptor 1 is provided.
- the air is ejected from the ejection port 602 of the ejection part 6 so that the ejection air 601 hits.
- the ejection portion 6 is controlled so as to be ejected from the ejection port 602 that can easily flow in the lateral direction along the surface.
- the jet air 601 spreads away from the jet port 602, it is necessary to consider it. Specifically, as shown in FIG. 10A, when the distance between the inclined side surface portion 102 of the receptor 1 and the ejection port 602 is short, the outlet 602 force near the inclined side surface portion 102 of the receptor 1 also draws air. Erupt. Further, as shown in FIG. 10B, when the receiver 1 is located higher than the case shown in FIG. 10A with respect to the surface where the jet outlets 602 are arranged, the jet air 601 hits the inclined side surface 102 of the receiver 1. Then, air is ejected from the ejection port 602 away from the inclined side surface portion 102 in accordance with the spread of air.
- Examples of the display method by the virtual space display unit 4 include a general display, a head mounted display, and projection by a projector.
- the viewpoint position of the operator 7 is detected by a position detection device such as an optical type or a magnetic type, and a virtual space display according to the viewpoint of the operator 7 is performed.
- a virtual space image corresponding to the positions of the left and right eyes of the operator 7 is displayed, and a head-mounted display and stereoscopic glasses that allow the operator 7 to see the images with the left and right eyes must be mounted.
- a method of displaying the virtual space three-dimensionally it is possible to use a method of displaying the virtual space three-dimensionally.
- a method in which an image for both eyes is projected by a projector in a region where the actual sensation is presented and the operator 7 wears stereoscopic glasses for viewing is a method in which the load on the operator 7 is small. is there.
- this display method since the virtual object is stereoscopically displayed in the region where the katsu sense is presented, it is possible to match the presentation position by the sense of vision and the katsu sense, thereby enabling a more intuitive experience. Also, since air is used to convey power, it is possible to take advantage of features that do not interfere with video display.
- Three-dimensional display methods using these stereoscopic glasses include the method of using red and blue images and red-blue glasses, the method of using deflected projection images and deflection glasses, and the left and right images and shutters switched in a time-sharing manner. There are ways to use glasses.
- a projector is provided directly above the desk as the ejection unit 6 having the ejection port 602.
- the virtual space display unit 4 projects a virtual object or the like that exists on the desk onto the desk as a left and right virtual space image when the left and right viewpoint position force of the operator 7 is also seen.
- the operator 7 wears stereoscopic glasses, and a marker attached to a portion near the left and right eyes of the stereoscopic glasses is attached to the camera.
- the position of the viewpoint of the operator 7 can be detected by the optical position detection method that is used for capturing images.
- a stereoscopic image corresponding to the viewpoint of the operator 7 can be projected, and a virtual object appears in the space above the desk as the ejection unit 6. Can be presented visually.
- Fig. 11 shows a jet part 6 having a plurality of jet holes 602 in a plane and an inclined side part 102 as a receiver.
- FIG. 3 is a view of the receptor 1 provided around the entire central portion 101 of FIG. Figure
- the coordinates of the center P of the receptor 1 are (X, Y) and tilted from the center P of the receptor 1.
- R1 is the distance to the inner edge of the oblique side (i.e., the outer edge of the center)
- R2 is the distance from the receptor center P to the outer edge of the inclined side
- the coordinates of the ijth outlet N are (X, Y)
- the vector indicating the direction of the force to be presented is V: (a, b), and the vector from the jet outlet N to the receptor center P is V.
- a jet outlet that is located between the inner edge of the inclined side face portion and the outer edge of the inclined side face portion and that has the same direction of force as the direction of force from the jet outlet to the center P is selected and air is jetted out.
- the plurality of jet loci also jets air.
- nozzles satisfying 1 and one or more specified nozzles are to be jetted simultaneously, select one or more nozzles as follows. To do.
- an outlet located between the inner edge of the face part and the outer edge of the inclined side part, and the direction facing the center P from the outlet is closest to the direction of the force, and eject air.
- v I may be selected.
- Equation 3 (Equation 3).
- the position is between the inner edge of the inclined side face portion and the outer edge of the inclined side face portion. Then, select the jet outlet that minimizes the distance between the jet outlet and the center P, and eject the air.
- the vector V for each ejection outlet is set to the coordinates of the ejection outlet and the coordinates of the receptor center P.
- V is the direction to the ejector loca receptor center P
- the size of V is the outlet and the receptor.
- the range of the inclined side surface 102 that is effective for obtaining the required presentation power by experiments (indicated by the distance from the center of the receptor !?); ⁇ ! ⁇ ++ ⁇ !? ⁇ ! ⁇ -If it is calculated as (a, j8> 0), R1 is replaced with Rl + ⁇ ⁇ and R2 is replaced with R2-j8 in the method shown in Equations 1 to 3, where a and j8 are Since it may differ depending on the position of receptor 1, R may be measured at various positions of receptor 1, and a and j8 may be functions of the position of receptor 1, respectively.
- the above-described method for determining a jet outlet is based on a receptor having an annular inclined side surface portion 102 as shown in Figs.
- a force in an arbitrary direction (lateral direction) perpendicular to the ejection direction can be presented.
- the vector V indicating the direction of the force presented in can also be set to any f direction.
- Equations 1 to 3 By setting to, the methods shown in Equations 1 to 3 can be used as they are.
- FIG. 14A is a diagram for explaining the force presented to the operator by the receiver in which the inclined surface of the inclined side surface portion 102 as shown in FIGS. 8A to 8C is a part of the cylindrical shape
- FIG. The inclined surface of the inclined side surface portion 102 as shown in FIGS. 9A to 9C is curved so that the shape in the cross section parallel to the xy plane is a concave curve with respect to the position on the X and Y plane of the jet outlet It is a figure for demonstrating the force which a receptor shows to an operator.
- Each of the receptors shown in FIGS. 14A and B has an inclined side surface portion 102 that also has four inclined surface forces.
- the force in each of the four directions can be presented.
- the directions that can be presented can be increased by increasing the number of inclined surfaces constituting the inclined side surface portion 102.
- there are a plurality of outlets that simultaneously eject, and a plurality of ejected airs are respectively different inclined surfaces. It is also possible to increase the directions that can be presented by combining and presenting multiple forces that are generated when it is applied to.
- FIG. 15 is a block diagram showing the configuration of the katsu presentation device according to the second embodiment.
- Figure 16 shows a flowchart of the processing of the haptic device.
- the inclined side surface portion 102 of the receiver 1 is provided with a deformation mechanism capable of changing its position and inclination.
- the haptic presentation device according to the second embodiment has the inclined side surface portion of the receptor 1 according to the state of the virtual object in the virtual space or according to the position or orientation of the receptor 1.
- the receiver side surface control unit 8 that changes the position or inclination of 102 is provided.
- the inclined side surface portion 102 preferably has a shape as shown in FIG.
- the receiver side surface control unit 8 can be realized by installing a program that causes the computer to execute these processes together with the virtual object calculation unit 3 and the ejection control unit 5.
- the receptor side surface control unit 8 and the deformation mechanism of the receptor 1 are connected by wire or wireless so that a control signal can be transmitted from the receptor side surface control unit 8 to the receptor 1. .
- the processing of the haptic device in Example 2 is performed by the inclined side surface control processing (step S) between the virtual object display processing (step 23) and the ejection control processing (step 25). It differs from the processing of the haptic device in Example 1 in that step 24) is added.
- step 24 the receiver side surface control unit 8 responds to the flow of air from which the ejection loca is also ejected.
- the position or orientation of the inclined side surface portion 102 is controlled so as to keep the direction of the inclined side surface portion 102 constant. This control is performed based on the measured position or orientation of the receptor 1 or the state of the virtual object in the virtual space.
- the receptor measurement unit 2 detects that the receptor 1 is tilted, and the detection signal is sent to the receptor side surface control unit 8.
- the receptor side surface control unit 8 The amount of rotation of the inclined side surface portion 102 is determined so that the state of the inclined side surface portion 102 is the same as the state before the receiver 1 is inclined, and the control signal corresponding to the amount of rotation is determined for the receiver 1. Send the issue.
- the inclined side surface portion 102 of the second embodiment is formed by double wings 102a and 102b on the inner side and the outer side as shown in FIG. 17A, for example.
- the blade 102a and the central portion 101 are connected so that the blade 102a can rotate around the fulcrum c. Further, the blade 102a and the blade 102b are connected so as to be rotatable around a fulcrum d.
- Each fulcrum is provided with a driving device for receiving a control signal from the receiver side surface control unit 8 and rotating the blades.
- the receiver side surface control unit 8 can control the inclined side surface 102 so that only the inner blade 102b rotates. Further, for example, as shown in FIG. 17C, the receiver side surface control unit 8 rotates the inner and outer double blades 102a and 102b as a unit with respect to the central portion 101 so as to move in the vertical direction. It can also be controlled. If only the side surface rotation in the direction shown in FIG. 17C is sufficient, it can be realized by a method in which the inclined side surface portion 102 is not doubled.
- Example 2 As an example of use of Example 2, the orientation of the receptor 1 is changed with respect to the ejection part 6 in which one or more ejection ports 602 from which air is ejected upward are arranged two-dimensionally on a horizontal plane. Explain the case.
- step S24 in the flowchart of FIG. As shown, the direction of the inclined side surface portion 102 of the receptor 1 is changed in accordance with the change in the direction so that the direction (direction) of the inclined side surface portion 102 does not change with respect to the flow of the jet air 601. As a result, the direction of the force to be presented can be kept constant.
- FIG. 18A shows an example of controlling the inclination of the inclined side surface portion 102 by controlling the blade 102b.
- This example shows the case where receptor 1 is rotated by an angle in the counterclockwise direction of the state force in FIG. 17A.
- the blade 102b is rotated in the clockwise direction as shown in FIG. 18A with respect to the blade 102a.
- the direction of the portion that receives air in the inclined side surface portion 102 can be kept the same as the direction of the portion that receives air in the inclined side surface portion 102 in the state of FIG. 17A.
- FIG. 18B shows an example in which the blades 102a and 102b are integrally controlled.
- the receptor 1 is rotated by an angle in the clockwise direction from the state of FIG. 17A.
- the blades 102a and 102b are integrally rotated with respect to the central portion 101 in the counterclockwise direction.
- the direction of the inclined side surface portion 102 can be kept the same as the direction of the inclined side surface portion 102 in the state of FIG. 17A.
- the position and orientation of the blades are changed by rotating the blades around a fulcrum.
- the configuration in which the blade is rotated around a certain fulcrum is shown.
- any configuration may be used as long as the method can change the position or orientation of the blade.
- the blades may be extendable.
- the blade itself can be deformed.
- the inclination of the inclined side surface portion 102 is controlled according to the state of the virtual object in the virtual space. It is good.
- the direction in which the ejected air 601 flows out of the inclined side surface 102 of the receiver 1 with respect to the direction of the ejected air 601 is changed to correspond to the state of the virtual object in the virtual space.
- the direction of the force applied to the receptor 1 can be controlled.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/593,784 US8239145B2 (en) | 2004-12-13 | 2005-10-31 | Method, device and program for presenting inner force sense and program |
JP2006548716A JP4237799B2 (ja) | 2004-12-13 | 2005-10-31 | 力覚提示方法、装置およびプログラム |
EP05805457.8A EP1830243B1 (en) | 2004-12-13 | 2005-10-31 | Force feedback method, apparatus and program |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004359772 | 2004-12-13 | ||
JP2004-359772 | 2004-12-13 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006064615A1 true WO2006064615A1 (ja) | 2006-06-22 |
Family
ID=36587678
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/020026 WO2006064615A1 (ja) | 2004-12-13 | 2005-10-31 | 力覚提示方法、装置およびプログラム |
Country Status (5)
Country | Link |
---|---|
US (1) | US8239145B2 (ja) |
EP (1) | EP1830243B1 (ja) |
JP (1) | JP4237799B2 (ja) |
CN (1) | CN100392564C (ja) |
WO (1) | WO2006064615A1 (ja) |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010107800A (ja) * | 2008-10-31 | 2010-05-13 | David Rebolledo Mendez Jovan | 知覚装置 |
EP2380074B1 (en) | 2008-12-19 | 2016-11-16 | Koninklijke Philips N.V. | Apparatus and method for providing a user interface to an information processing system |
JP2012253690A (ja) * | 2011-06-06 | 2012-12-20 | Namco Bandai Games Inc | プログラム、情報記憶媒体及び画像生成システム |
US9317121B2 (en) * | 2011-12-15 | 2016-04-19 | Industry-University Cooperation Foundation Hanyang University | Apparatus and method for providing tactile sensation in cooperation with display device |
CN103853364A (zh) * | 2012-11-29 | 2014-06-11 | 联想(北京)有限公司 | 一种触觉反馈方法、电子设备及触觉反馈系统 |
FR2999741B1 (fr) * | 2012-12-17 | 2015-02-06 | Centre Nat Rech Scient | Systeme haptique pour faire interagir sans contact au moins une partie du corps d'un utilisateur avec un environnement virtuel |
CN106598247B (zh) * | 2016-12-16 | 2020-09-18 | 阿里巴巴(中国)有限公司 | 基于虚拟现实的响应控制方法及装置 |
EP3379222B1 (en) | 2017-03-22 | 2020-12-30 | Methode Electronics Malta Ltd. | Magnetoelastic based sensor assembly |
US11084342B2 (en) | 2018-02-27 | 2021-08-10 | Methode Electronics, Inc. | Towing systems and methods using magnetic field sensing |
EP3758959A4 (en) | 2018-02-27 | 2022-03-09 | Methode Electronics, Inc. | TOWING SYSTEMS AND METHODS USING MAGNETIC SENSING |
US11135882B2 (en) | 2018-02-27 | 2021-10-05 | Methode Electronics, Inc. | Towing systems and methods using magnetic field sensing |
US11014417B2 (en) | 2018-02-27 | 2021-05-25 | Methode Electronics, Inc. | Towing systems and methods using magnetic field sensing |
US11491832B2 (en) | 2018-02-27 | 2022-11-08 | Methode Electronics, Inc. | Towing systems and methods using magnetic field sensing |
US11221262B2 (en) | 2018-02-27 | 2022-01-11 | Methode Electronics, Inc. | Towing systems and methods using magnetic field sensing |
WO2022175950A1 (en) * | 2021-02-18 | 2022-08-25 | Technion Research & Development Foundation Limited | Haptic feedback device and a method of controlling same |
TWI770949B (zh) | 2021-04-20 | 2022-07-11 | 達運精密工業股份有限公司 | 顯示裝置、非接觸式按鍵及輸入裝置 |
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- 2005-10-31 WO PCT/JP2005/020026 patent/WO2006064615A1/ja active Application Filing
- 2005-10-31 CN CNB200580009326XA patent/CN100392564C/zh not_active Expired - Fee Related
- 2005-10-31 JP JP2006548716A patent/JP4237799B2/ja not_active Expired - Fee Related
- 2005-10-31 EP EP05805457.8A patent/EP1830243B1/en not_active Expired - Fee Related
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Also Published As
Publication number | Publication date |
---|---|
CN1934523A (zh) | 2007-03-21 |
CN100392564C (zh) | 2008-06-04 |
JP4237799B2 (ja) | 2009-03-11 |
JPWO2006064615A1 (ja) | 2008-06-12 |
EP1830243A1 (en) | 2007-09-05 |
US20080249718A1 (en) | 2008-10-09 |
EP1830243B1 (en) | 2013-04-17 |
EP1830243A4 (en) | 2011-06-22 |
US8239145B2 (en) | 2012-08-07 |
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