TACTILE FORCE SENSE PRESENTING DEVICE, ELECTRONIC DEVICE TERMINAL APPLIED WITH TACTILE FORCE SENSE PRESENTING DEVICE, AND TACTILE FORCE SENSE PRESENTING METHOD
First Claim
1. A tactile force sense presenting device comprising:
- an operation unit which includes an operation lever to be operated by an operator, and a movement guide surface which guides an input of a slide motion of the operation lever in the XY-planar direction and an input of a push-in motion of the operation lever in the Z-axis direction at a specific position on the XY-plane;
a detection unit which detects the input of the slide motion of the operation lever in the XY-planar direction and the input of the push-in motion of the operation lever in the Z-axis direction;
a calculation control unit which calculates a force corresponding to an operation of the operation lever, based on detection results of the detection unit; and
a drive transmission unit which includes a driving unit including at least one actuator, and which causes, based on calculation results of the calculation control unit, the driving unit to generate a resistive force of the operation lever with respect to the input of the slide motion in the XY-planar direction and an adjusting force of the operation lever with respect to the input of the push-in motion in the Z-axis direction.
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Abstract
A tactile force sense presenting device of the present invention includes: an operation unit which includes an operation lever to be operated by an operator, and a movement guide surface which guides an input of a slide motion of the operation lever in the XY-planar direction and an input of a push-in motion of the operation lever in the Z-axis direction at a specific position on the XY-plane; a detection unit which detects the input of the slide motion of the operation lever in the XY-planar direction and the input of the push-in motion of the operation lever in the Z-axis direction; a calculation control unit which calculates a force corresponding to an operation of the operation lever, based on detection results of the detection unit; and a drive transmission unit which includes a driving unit including at least one actuator, and which causes, based on calculation results of the calculation control unit, the driving unit to generate a resistive force of the operation lever with respect to the input of the slide motion in the XY-planar direction and an adjusting force of the operation lever with respect to the input of the push-in motion in the Z-axis direction.
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Citations
21 Claims
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1. A tactile force sense presenting device comprising:
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an operation unit which includes an operation lever to be operated by an operator, and a movement guide surface which guides an input of a slide motion of the operation lever in the XY-planar direction and an input of a push-in motion of the operation lever in the Z-axis direction at a specific position on the XY-plane; a detection unit which detects the input of the slide motion of the operation lever in the XY-planar direction and the input of the push-in motion of the operation lever in the Z-axis direction; a calculation control unit which calculates a force corresponding to an operation of the operation lever, based on detection results of the detection unit; and a drive transmission unit which includes a driving unit including at least one actuator, and which causes, based on calculation results of the calculation control unit, the driving unit to generate a resistive force of the operation lever with respect to the input of the slide motion in the XY-planar direction and an adjusting force of the operation lever with respect to the input of the push-in motion in the Z-axis direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 14, 15)
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10. A tactile force sense presenting device comprising:
- an operation unit which includes an operation lever to be operated by an operator;
a movement guide surface which guides an input of a slide motion of the operation lever in the XY-planar direction and an input of a push-in motion of the operation lever in the Z-axis direction at a specific position on the XY-plane;
a detection unit which detects the input of the slide motion of the operation lever in the XY-planar direction and the input of the push-in motion of the operation lever in the Z-axis direction;
a calculation control unit which calculates a force corresponding to an operation of the operation lever, based on detection results of the detection unit; and
a drive transmission unit which includes a driving unit including at least one actuator, the calculation control unit comprisinga simulator calculation unit which, based on detection data from the detection unit, references virtual physical data in a database, simulates a physical phenomenon in a virtual space, thereby updating the virtual physical data, and outputs a force to be presented to the operation lever as presenting data, and a tactile force sense presenting actuator control unit which outputs control data for controlling the actuator for generating forces based on the presenting data, and causes the operation lever to operate based on the control data. - View Dependent Claims (11, 12, 13)
- an operation unit which includes an operation lever to be operated by an operator;
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16. (canceled)
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17. A tactile force sense presenting method for a tactile force sense presenting device comprising an operation unit which includes an operation lever to be operated by an operator, a movement guide surface which guides an input of a slide motion of the operation lever in the XY-planar direction and an input of a push-in motion of the operation lever in the Z-axis direction at a specific position on the XY-plane, a detection unit which detects the input of the slide motion of the operation lever in the XY-planar direction and the input of the push-in motion of the operation lever in the Z-axis direction, a calculation control unit which calculates a force corresponding to an operation of the operation lever, based on detection results of the detection unit, and a drive transmission unit which includes a driving unit including at least one actuator, the method comprising:
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a simulator calculation step of, based on detection data from the detection unit, referencing virtual physical data in a database, simulating a physical phenomenon in a virtual space to thereby update the virtual physical data, and outputting a force to be presented to the operation lever as presenting data; and a tactile force sense presenting actuator control step of outputting control data for controlling the actuator for generating forces based on the presenting data, and causing the operation lever to operate based on the control data. - View Dependent Claims (18, 19, 20, 21)
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Specification