Tactile force sense information display system and method
First Claim
1. A haptic information presentation system, comprising:
- a haptic presentation unit having two eccentric rotators; and
a control unit that independently changes one or more of a frequency of a vibration, an intensity of a vibration and a vibration sensation by controlling one or more of rotation directions, a phase relation or rotation speeds of the two eccentric rotators.
1 Assignment
0 Petitions
Accused Products
Abstract
A system and a method are realized in which in a conventional non-grounding man-machine interface having no reaction base on the human body and for giving the existence of a virtual object and the impact force of a collision to a person, a haptic sensation of a torque, a force and the like can be continuously presented in the same direction, which can not be presented by only the physical characteristic of a haptic sensation presentation device. In a haptic presentation device 112, the rotation velocity of at least one rotator in the haptic presentation device 112 is controlled by a control device 111, and a vibration, a force or a torque as the physical characteristic is controlled, so that the user 110 is made to conceive various haptic information of the vibration, force, torque or the like. The haptic information presentation system uses a human sensory characteristic or illusion to suitably control the physical quantity, and causes the person to feel a force which can not exist physically, or a haptic sensory physical characteristic.
103 Citations
24 Claims
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1. A haptic information presentation system, comprising:
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a haptic presentation unit having two eccentric rotators; and
a control unit that independently changes one or more of a frequency of a vibration, an intensity of a vibration and a vibration sensation by controlling one or more of rotation directions, a phase relation or rotation speeds of the two eccentric rotators. - View Dependent Claims (24)
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2. A haptic information presentation system, comprising:
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a haptic presentation unit having two eccentric rotators; and
a control unit that independently changes one or more of a frequency of a force, an intensity of a force or a force sensation by inverting rotation directions in the two eccentric rotators. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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3. A haptic information presentation system, comprising:
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a haptic presentation unit having an eccentric rotator array in which one or more of multiple single eccentric rotators, or twin eccentric rotators each having two eccentric rotators, or plural twin eccentric rotators arranged in a three-dimensional space are arranged two-dimensionally or three-dimensionally; and
a control unit to control a rotation state of each of the eccentric rotators included in the haptic presentation unit. - View Dependent Claims (4, 5)
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6. A haptic information presentation system, comprising:
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a haptic presentation unit having plural rotators arranged three-dimensionally; and
a control unit to control a temporal change of a resultant angular momentum vector of the haptic presentation unit, wherein the control unit causes the generation of a torque with a fixed value by abruptly changing the resultant angular momentum vector in a vicinity of zero, and controls a precession torque to be a specified value or less. - View Dependent Claims (7)
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8. A haptic information presentation method, wherein when a haptic presentation unit having two eccentric rotators is controlled,
a frequency and an intensity of a vibration and/or a vibration sensation are independently changed by controlling rotation directions, a phase relation and rotation speeds in the two eccentric rotators.
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9. A haptic information presentation method, wherein when a haptic presentation unit having two eccentric rotators is controlled,
a frequency and an intensity of a force and/or a force sensation are independently changed by inverting rotation directions in the two eccentric rotators.
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10. A haptic information presentation method, wherein when a control is made on a haptic presentation unit having an eccentric rotator array in which plural single eccentric rotators, and/or plural twin eccentric rotators each having two eccentric rotators arranged on a same rotation axis, and/or plural twin eccentric rotators arranged in a three-dimensional space are arranged two-dimensionally or three-dimensionally,
a rotation state of each of the eccentric rotators included in the haptic presentation unit is individually controlled.
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13. A haptic information presentation method, wherein when a haptic presentation unit having plural rotators arranged three-dimensionally is controlled, a temporal change of a resultant angular momentum vector of the haptic presentation unit is controlled, and
a torque with a fixed value is generated by abruptly changing the resultant angular momentum vector in a vicinity of zero, and a precession torque is controlled to have a specified value or less.
Specification