HAPTIC INFORMATION PRESENTATION SYSTEM AND METHOD

• US 20170031443A1
• Filed: 10/14/2016
• Published: 02/02/2017
• Est. Priority Date: 11/20/2003
• Status: Active Grant

• Current Assignee: National Institute of Advanced Industrial Science and Technology (Government of Japan), Murata Manufacturing Co Limited
• Original Assignee: National Institute of Advanced Industrial Science and Technology (Government of Japan), Miraisens, Inc. (Murata Manufacturing Co Limited)
• Inventors: NAKAMURA, NORIO, FUKUI, YUKIO, SAKAI, MASATAKA
• Granted Patent: US 10,216,278 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A63F 13/285 Generating tactile feedback signals via the game input device, e.g. force feedback
• CPC Class Codes: G06F 2203/013 Force feedback applied to a game
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/014 Hand-worn input/output arrangements, e.g. data gloves
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/041 Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
• CPC Class Codes: G06T 19/006 Mixed reality object pose determination, tracking or camera calibration for mixed reality G06T7/00
• CPC Class Codes: G08B 6/00 Tactile signalling systems, e.g. personal calling systems
• CPC Class Codes: G09G 5/00 Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators image data processing or generation, in general G06T
• CPC Class Codes: G10K 15/04 Sound-producing devices G10K15/02 takes precedence
• CPC Class Codes: H04B 3/36 Repeater circuits H04B3/58 takes precedence

Abstract

A system and method are disclosed 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 cannot be presented by only the physical characteristic of a haptic sensation presentation device. In a haptic presentation device, the rotation velocity of at least one rotator in the haptic presentation device is controlled by a control device, and a vibration, a force or a torque as the physical characteristic is controlled, so that the user is made to conceive various haptic information of the vibration, force, torque or the like.

Claims

1. A method for presenting haptic information comprising at least one of a haptic sensory characteristic and force that does not exist physically to at least one of a medium and a user by controlling at least one of a physical quantity and a sensory quantity utilizing at least one of the haptic sensory characteristic and illusion of at least one of the medium and the user, the method comprising:

presenting at least one motion of a nonlinear characteristic, a hysteresis characteristic, a masking characteristic, a threshold characteristic, and muscle reflection to at least one of the medium and the user.

2. The method according to claim 1, wherein the haptic sensory characteristic comprises (i) a physical quantity provided to at least one of the medium and the user by at least one of being given to at least one of the medium and the user and being bought by motion of at least one of the medium and the user;

and (ii) a sensory quantity to be presented to at least one of the medium and the user, and

wherein the haptic sensory characteristic represents a relationship between the physical quantity to be applied to at least one of the medium and the user, and the sensory quantity to be perceived by at least one of the medium and the user.

3. A method for presenting haptic information comprising at least one of a haptic sensory characteristic and force that does not exist physically to at least one of a medium and a user by controlling at least one of a physical quantity and a sensory quantity utilizing at least one of the haptic sensory characteristic and illusion of at least one of the medium and the user, the method comprising:

presenting at least one motion of a nonlinear characteristic, a hysteresis characteristic, a masking characteristic, a threshold characteristic, and muscle reflection at least one of to the medium and the user by controlling a physical quantity of a driving device provided in a haptic presentation device utilizing at least one of the haptic sensory characteristic and the illusion, wherein the haptic presentation device comprises at least one of an input device, an output device, a display member, a video member, and a medium member.

4. The method according to claim 3, wherein the haptic sensory characteristic comprises (i) a physical quantity provided to at least one of the medium and the user by one or two way out of being given to at least one of the medium and the user and being bought by motion of at least one of the medium and the user;

and (ii) a sensory quantity to be presented to at least one of the medium and the user,

wherein the haptic sensory characteristic represents a relationship between the physical quantity to be applied to at least one of the medium and the user, and the sensory quantity to be perceived by at least one of the medium and the user.

5. A method for presenting haptic information comprising at least one of a haptic sensory characteristic and force that does not exist physically to at least one of a medium and a user by controlling at least one of a physical quantity and a sensory quantity utilizing at least one of the haptic sensory characteristic and illusion of at least one of the medium and the user, the method comprising:

sensing by a sensor a physical quantity input from at least one of;

(i) a finger of at least one of the medium and the user, (ii) a palm of at least one of the medium and the user, (iii) a hand of at least one of the medium and the user, (iv) a leg of at least one of the medium and the user, (v) a head of at least one of the medium and the user, (vi) a body of at least one of the medium and the user, (vii) an operation device, and (viii) a man-machine interface; and

presenting at least one motion of a nonlinear characteristic, a hysteresis characteristic, a masking characteristic, a threshold characteristic, and muscle reflection to at least one of the medium and the user by inputting a signal from the sensor to a driving device in a haptic presentation device to control the physical quantity comprising the driving device by utilizing at least one of the haptic sensory characteristic and the illusion.

6. The method according to claim 5, wherein the haptic sensory characteristic comprises (i) a physical quantity provided to at least one of the medium and the user by one or two way out of being given to at least one of the medium and the user and being bought by motion of at least one of the medium and the user;

and (ii) a sensory quantity to be presented to at least one of the medium and the user,

wherein the haptic sensory characteristic represents a relationship between the physical quantity to be applied to at least one of the medium and the user, and the sensory quantity to be perceived by at least one of the medium and the user.

7. A method for presenting haptic information to at least one of a medium and a user by controlling at least one of a physical quantity and a sensory quantity utilizing at least one of a haptic sensory characteristic and illusion of at least one of the medium and the user, the haptic information comprising at least one of the haptic sensory characteristic and force that does not exist physically, the method comprising:

driving a CPU by utilizing at least one of the haptic sensory characteristic and the illusion to perform at least one of processing data and reading data stored in a storage device; and

presenting to at least one of the medium and the user at least one motion of a nonlinear characteristic, a hysteresis characteristic, a masking characteristic, a threshold characteristic, and muscle reflection.

8. The method according to claim 7, wherein the driving of the CPU is performed by a controller built in a haptic presentation device in response to receive a signal from an information processing device.

9. The method according to claim 7, wherein the haptic sensory characteristic comprises (i) a physical quantity provided to at least one of the medium and the user by one or two way out of being given to at least one of the medium and the user and being bought by motion of at least one of the medium and the user;

and (ii) a sensory quantity to be presented to at least one of the medium and the user,

wherein the haptic sensory characteristic represents a relationship between the physical quantity to be applied to at least one of the medium and the user, and the sensory quantity to be perceived by at least one of the medium and the user.

10. A method for presenting haptic information to at least one of a medium and a user by controlling at least one of a physical quantity and a sensory quantity utilizing at least one of a haptic sensory characteristic and illusion of at least one of the medium and the user, the haptic information comprising at least one of the haptic sensory characteristic and force that does not exist physically, the method comprising:

sensing by a sensor at least one physical quantity of;

(i) a finger of at least one of the medium and the user, (ii) a palm of at least one of the medium and the user, (iii) a hand of at least one of the medium and the user, (iv) a leg of at least one of the medium and the user, (v) a head of at least one of the medium and the user, (vi) a body of at least one of the medium and the user, (vii) an operation device, and (viii) a man-machine interface, wherein at least one of the finger, the palm, the hand, the leg, the head, the body, the operation device and the man-machine interface operates a virtual object; and

controlling a motion of the virtual object to present the haptic information to at least one of the medium and the user as if at least one of the medium and the user operates a real object from detection information of the sensor by applying the haptic sensory characteristic of at least one of the medium and user to the virtual object,

wherein the haptic sensory characteristic is obtained by using at least one of a nonlinear characteristic, a hysteresis characteristic, a masking characteristic relating to a haptic sense, a threshold characteristic, and muscle reflection.

11. The method according to claim 10, wherein the sensory quantity comprises at least one of:

a sensory quantity where an integral value of the sensory quantity does not become zero even if a further integral value of the physical quantity becomes zero; and

a sensory quantity that does not exist physically.

12. The method according to claim 10, wherein the haptic sensory characteristic comprises:

(i) one or more of a physical quantity being given to the medium and a physical quantity being brought by operation of the medium, or

(ii) a sensory quantity to be presented to the medium.

13. The method according to claim 10, wherein the motion of the virtual object is controlled to present the haptic information on a surface of a display member.

14. The method according to claim 10, wherein the motion of the virtual object is controlled to present the haptic information at a space around a surface of a display member.

15. The method according to claim 10, wherein the motion of the virtual object is controlled to present the haptic information around a surface of a display member.

16. The method according to claim 10, wherein the motion of the virtual object is controlled to present the haptic information around a display member.

17. The method according to claim 10, wherein the controlling of the motion of the virtual object comprises controlling at least one of a motor, vibration, torque, sound, video, an air pressure, force, a piezoelectric element, a magnet, a speaker, a rotator, an eccentric rotator, and a rotation unit.

18. The method according to claim 10, wherein the controlling of the motion of the virtual object comprises controlling a frequency and an intensity of at least one of vibration and vibration sensation independently.

19. The method according to claim 10, wherein the controlling of the motion of the virtual object comprises utilizing a masking effect to continuously or intermittently control at least one haptic information of a vibration sensation, a force sensation, and a torque sensation in an arbitrary direction.

20. The method according to claim 10, wherein the controlling of the motion of the virtual object comprises:

analyzing input information from at least one of a posture sensor or a touch panel sensor; and

controlling a motor to give a movement in a direction such that a feeling such as to operate an actual scroll wheel or joystick is presented in spite of a virtual wheel on the touch panel.

21. The method according to claim 10, wherein the controlling of the motion of the virtual object comprises analyzing input information from a controller control circuit to control a motor so as to control a movement in a direction of a haptic presentation device.

22. The method according to claim 10, wherein the controlling of the motion of the virtual object comprises analyzing input information from an angular acceleration sensor to control a motor.

23. The method according to claim 10, wherein the controlling of the motion of the virtual object comprises controlling rotations of an eccentric rotator.

24. The method according to claim 10, wherein the controlling of the motion of the virtual object comprises adjusting a spatial intensity distribution of a resisting force.

25. The method according to claim 10, wherein the controlling of the motion of the virtual object comprises at least one of accelerating or decelerating a rotation velocity of a rotation body having an inertia moment.

26. The method according to claim 10, wherein the controlling of the motion of the virtual object comprises rotating a rotation body around an axis orthogonal to its rotation axis.

27. The method according to claim 10, wherein the controlling of the motion of the virtual object comprises controlling a posture of a rotator using a gyroscope.

28. The method according to claim 10, wherein the haptic information comprises at least one physical quantity of a motion due to at least one of a button operation, an input operation, a switch operation, a dial operation, an operation with respect to a display member, a scroll operation with respect to the display member, a touch operation with respect to the display member, an acceleration or deceleration operation with respect to the display member, an operation for grasping the display member, an operation for rubbing the display member, an operation for pressing the display member, an operation for pulling the display member, an operation for moving the display member, an operation with respect to a virtual object, a scroll operation with respect to the virtual object, a touch operation with respect to the virtual object, an acceleration or deceleration operation with respect to the virtual object, an operation for grasping the virtual object, an operation for rubbing the virtual object, an operation for pressing the virtual object, and an operation for pulling the virtual object based on a haptic sensory characteristic of an operator.