Tactility providing apparatus and manipulating device using the same

• US 5,389,849 A
• Filed: 01/10/1994
• Issued: 02/14/1995
• Est. Priority Date: 01/20/1993
• Status: Expired due to Term

• Current Assignee: Olympus Optical Company Ltd. (Olympus Corporation)
• Original Assignee: Olympus Optical Company Ltd. (Olympus Corporation)
• Inventors: Nishimura, Hisashi, Sekiguchi, Nobutoshi, Adachi, Hideo, Asano, Takeo
• Primary Examiner(s): Budd, Mark O.
• Application Number:
  US08/179,427
• Time in Patent Office: 400 Days
• Field of Search: 310/311, 310/316-319, 310/321-323, 310/334, 310/336, 310/338, 310/339, 340/407, 434/114, 901/2, 901/9, 901/10, 901/14, 901/23, 901/33, 901/46, 901/50
• US Class Current: 310/323.21
• CPC Class Codes: A61B 1/00043 provided with output arrangements
• CPC Class Codes: A61B 1/00071 Insertion part of the endoscope body A61B1/0055 takes precedence
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 5/065 Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
• CPC Class Codes: B25J 13/084 Tactile sensors in general G01L5/16, G01L5/22
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: H02N 2/163 Motors with ring stator
• CPC Class Codes: H10N 30/302 Sensors

Abstract

A detecting portion outputs a contact state signal in accordance with a contact state with respect to an object to be manipulated. The contact state signal represents at least one of information of a sense of sliding of the detection portion with respect to the object and surface information such as surface roughness of the object. A signal processing section converts the contact state signal from the detecting portion into tactility information corresponding to at least one of the information of the sense of sliding and the surface information. A tactility providing portion is excited in accordance with the tactility information from the signal processing section to generate at least one of a traveling wave corresponding to the information of the sense of sliding and a standing wave corresponding to the surface information. A transmission portion transmits at least one of the traveling wave and the standing wave generated by the tactility providing portion to a finger of an operator.

Claims

1. A tactility providing apparatus comprising:

detection means for outputting a contact state signal in accordance with a contact state with respect to an object to be manipulated, the contact state signal representing at least one of information of a sense of sliding of said detection means with respect to the object and surface information such as surface roughness of the object;

signal processing means for converting the contact state signal from said detection means into tactility information corresponding to at least one of the information of the sense of sliding and the surface information;

tactility providing means which is excited in accordance with the tactility information from said signal processing means to generate at least one of a traveling wave corresponding to the information of the sense of sliding and a standing wave corresponding to the surface information; and

transmission means for transmitting at least one of the traveling wave and the standing wave generated by said tactility providing means to a finger of an operator,

wherein while the finger of the operator is in a non-contact state with respect to the object, the information of the sense of sliding with respect to the object is provided to the finger, through the traveling wave transmitted from said transmission means, in accordance with the contact state signal from said detection means, and the surface information about the object is also provided to the finger through the standing wave.

2. An apparatus according to claim 1, wherein said tactility providing means includes a proper number of piezoelectric elements.

3. An apparatus according to claim 2, wherein said piezoelectric elements include first and second piezoelectric elements arranged to oppose each other at a predetermined distance, and said transmission means includes a vibration member arranged between said first and second piezoelectric elements.

4. An apparatus according to claim 3, wherein said first piezoelectric element is used for oscillation, and said second piezoelectric element is used for absorbing a vibration.

5. An apparatus according to claim 4, wherein a proper number of grooves are formed in said vibration member to be perpendicular to a propagating direction of a traveling wave propagating in said vibration member.

6. An apparatus according to claim 4, wherein third and fourth piezoelectric elements are attached to an intermediate portion of said vibration member to be perpendicular to a propagating direction of a traveling wave propagating in said vibration member.

7. An apparatus according to claim 6, wherein a proper number of grooves are formed in said vibration member in a direction perpendicular to a propagating direction of a traveling wave propagating in said vibration member.

8. An apparatus according to claim 2, wherein said piezoelectric elements include first to eighth piezoelectric elements arranged at angular intervals of 45°

to oppose each other at a predetermined interval, and said transmission means is arranged between said first to eighth piezoelectric elements and includes a vibration member having a substantially octagonal outer shape and a proper number of grooves formed in correspondence with directions in which said first to eight piezoelectric elements oppose each other.

9. An apparatus according to claim 2, wherein said piezoelectric elements include first to eighth arcuated piezoelectric elements respectively arranged at positions determined by dividing a circumference into eight equal parts, and said transmission means includes a circular vibration member arranged on said first to eighth arcuated piezoelectric elements.

10. An apparatus according to claim 9, wherein a proper number of grooves are formed in said circular vibration member to be perpendicular to propagating directions of traveling waves propagating between said first to eighth arcuated piezoelectric elements.

11. An apparatus according to claim 9, wherein said circular vibration member has a proper number of concentrical grooves.

12. An apparatus according to claim 4, wherein a proper number of plate-like members are formed upright on said vibration member to be perpendicular to a propagating direction of a traveling wave propagating in said vibration member.

13. An apparatus according to claim 5, wherein said proper number of grooves are formed in a lower surface of said vibration member.

14. An apparatus according to claim 4, wherein said first and second piezoelectric elements are mounted on first and second ultrasonic shielding members, respectively.

15. An apparatus according to claim 4, wherein said first and second piezoelectric elements are mounted on a common ultrasonic shielding member.

19. An apparatus according to claim 1, further comprising:

an operating portion, having said detection means, for bringing said detection means into contact with said object and for carrying out a predetermined work on said object;

a manipulation portion, having said transmission means, for transmitting tactility information to an operator by said transmission means, said manipulation portion being manipulated by the operator so that said operating portion carries out a predetermined operation; and

a control section, having said signal processing means for converting/outputting tactility information about the object on the basis of the contact state signal based on the object and output from said detection means of said operating means, for controlling said transmission means in accordance with the processed signal and controlling movement of said operating portion in accordance with movement of said manipulating portion.

20. An apparatus according to claim 1, wherein said signal processing means converts tactility information of the object into a frequency exceeding a time response limit of tactility of a human being on the basis of the contact state detected by said detection means, and outputs the frequency.

16. A tactility providing apparatus comprising:

detection means for outputting a contact state signal in accordance with a contact state with respect to an object to be manipulated, the contact state signal representing at least one of information of a sense of sliding of said detection means with respect to the object and surface information such as surface roughness of the object, and hardness information such as hardness/softness of the object;

signal processing means for converting the contact state signal from said detection means into first tactility information corresponding to at least one of the information of the sense of sliding and the surface information, and also converting the contact state signal into second tactility information corresponding to the hardness information;

first tactility providing means which is excited in accordance with the first tactility information from said signal processing means to generate at least one of a traveling wave corresponding to the information of the sense of sliding and a standing wave corresponding to the surface information;

second tactility providing means which is excited in accordance with the second tactility information from said signal processing means to generate a pressure corresponding to the hardness information; and

transmission means for transmitting at least one of the traveling wave and the standing wave generated by said first tactility providing means to a finger of an operator together with the pressure generated by said second tactility providing means,

wherein while the finger of the operator is in a non-contact state with respect to the object, the information of the sense of sliding with respect to the object is provided to the finger, through the traveling wave transmitted from said transmission means, in accordance with the contact state signal from said detection means, the surface information about the object is provided to the finger through the standing wave, and the hardness information about the object is also provided to the finger through the pressure.

17. An apparatus according to claim 16, wherein said first tactility providing means includes an oscillation piezoelectric element and an absorption piezoelectric element arranged to oppose each other at a predetermined distance, said transmission means includes a vibration member arranged between said oscillation piezoelectric element and said absorption piezoelectric element, and said second tactility providing means includes a voice coil constituted by a coil coupled to said vibration member via said oscillation piezoelectric element and said absorption piezoelectric element, and a magnetic circuit magnetically coupled to said coil.

18. An apparatus according to claim 17, wherein said voice coil is coupled to said vibration member via an ultrasonic shielding member on which said oscillation piezoelectric element and said absorption piezoelectric element are mounted.