Haptic information presentation system and method

• US 9,041,520 B2
• Filed: 02/23/2010
• Issued: 05/26/2015
• 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)
• Inventors: Fukui, Yukio, Nakamura, Norio, Sakai, Masataka
• Primary Examiner(s): Wu, Daniel
• Assistant Examiner(s): LITTLEJOHN JR, MANCIL H
• Application Number:
  US12/710,813
• Publication Number:
  US 20110050404A1
• Time in Patent Office: 1,918 Days
• Field of Search: 340/407.1, 345/156, 345/145, 345/146, 345/158, 345/157, 345/161, 345/179, 345/333, 345/521, 345/700, 345/701, 345/702, 715/701, 715/702, 224/223, 463/30, 463/36, 463/37, 463/38, 463/44, 434/11, 434/45
• US Class Current: 340/407.1
• 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 can not 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 haptic electronic device comprising:

a sensor that detects at least one physical quantity of a finger of an operator, a palm of the operator, a hand of the operator, a leg of the operator, a head of the operator, a body of the operator, an operation device, and a man-machine interface;

a haptic information presentation device that presents haptic information generated in association with the at least one physical quantity detected by the sensor; and

a control device that controls the haptic information presentation device based on a haptic sensory characteristic of the operator, wherein the haptic sensory characteristic comprises a nonlinear characteristic, and

wherein the haptic sensory characteristic comprises a physical quantity provided to the operator by one or two ways out of being given to the operator and being brought by motion of the operator, and a sensory quantity to be presented to the operator,

the haptic sensory characteristic representing a relationship between said physical quantity to be applied to said operator and said sensory quantity to be perceived by the operator.

2. The haptic electronic device according to claim 1, wherein illusion is added to the haptic sensory characteristic.

3. The haptic electronic device according to claim 1, wherein the haptic sensory characteristic further comprises a hysteresis characteristic and/or a masking characteristic.

4. The haptic electronic device according to claim 1, wherein a plurality of operation points on a curve representing a function of the haptic sensory characteristic are utilized, and the physical quantity comprises a plurality of physical quantities corresponding to the plurality of operation points.

5. The haptic electronic device according to claim 1, wherein the physical quantity comprises at least one of a vibration, a torque, sound, a video, an air pressure, and force.

6. The haptic electronic device according to claim 1, wherein the sensory quantity comprises at least one of:

a shape feeling;

an elastic feeling;

a tactile sensation;

a texture sensation;

a pushing feeling;

an expansion feeling;

a rubbing feeling;

a pressure feeling;

a pulling feeling;

a pulled feeling;

a pushed feeling;

a feeling in which at least one of an object, a vibration, force, and a torque is transmitted on a display member;

a feeling in which an object rolls on the display member;

a feeling in which at least one of an object, a vibration, force, and a torque passes through the display member;

a force sensation;

a vibration sensation;

a torque sensation

an acceleration or an deceleration sensation; and

an operation feeling.

7. The haptic electronic device according to claim 1, wherein the haptic information presentation device comprises at least one of a motor, a piezoelectric element, a magnet, a speaker, a rotator, an eccentric rotator, and a rotation unit.

8. The haptic electronic device according to claim 1, further comprising at least one of a virtual reality environment device, a portable information terminal, a game device, a navigation device, and a man-machine interface device.

9. A haptic electronic device comprising:

a sensor that detects at least one physical quantity of a finger of an operator, a palm of the operator, a hand of the operator, a leg of the operator, a head of the operator, a body of the operator, an operation device, and a man-machine interface;

a haptic information presentation device that presents haptic information generated in association with the at least one physical quantity detected by the sensor; and

a control device that controls the haptic information presentation device based on a haptic sensory characteristic of the operator,

wherein the haptic sensory characteristic comprises a nonlinear characteristic,

wherein the haptic sensory characteristic comprises a physical quantity provided to the operator by one or two ways out of being given to the operator and being brought by motion of the operator, and a sensory quantity to be presented to the operator,

the haptic sensory characteristic representing a relationship between said physical quantity to be applied to said operator and said sensory quantity to be perceived by the operator, and

wherein the haptic information comprises at least one of;

a motion due to a button operation;

a motion due to a switch operation;

a motion due to a dial operation;

a motion due to an operation with respect to a display member;

a motion due to a scroll operation with respect to the display member;

a motion due to a touch operation with respect to the display member;

a motion due to an acceleration or deceleration operation with respect to the display member;

a motion due to an operation for grasping the display member;

a motion due to an operation for rubbing the display member;

a motion due to an operation for pressing the display member;

a motion due to an operation for pulling the display member;

a motion due to an operation for moving the display member;

a motion due to an operation with respect to a virtual object;

a motion due to an scroll operation with respect to the virtual object;

a motion due to an touch operation with respect to the virtual abject;

a motion due to an acceleration or deceleration operation with respect to the virtual object;

a motion due to an operation for grasping the virtual object;

a motion due to an operation for rubbing the virtual object;

a motion due to an operation for pressing the virtual object;

a motion due to an operation for pulling the virtual object; and

a motion due to an operation for moving the virtual object.

10. The haptic electronic device according to claim 9, wherein illusion is added to the haptic sensory characteristic.

11. The haptic electronic device according to claim 9, wherein the haptic sensory characteristic further comprises a hysteresis characteristic and/or a masking characteristic.

12. The haptic electronic device according to claim 9, wherein a plurality of operation points on a curve representing a function of the haptic sensory characteristic are utilized, and the physical quantity comprises a plurality of physical quantities corresponding to the plurality of operation points.

13. The haptic electronic device according to claim 9, wherein the physical quantity comprises at least one of a vibration, a torque, sound, a video, an air pressure, and force.

14. The haptic electronic device according to claim 9, wherein the sensory quantity comprises at least one of:

a shape feeling;

an elastic feeling;

a tactile sensation;

a texture sensation;

a pushing feeling;

an expansion feeling;

a rubbing feeling;

a pressure feeling;

a pulling feeling;

a pulled feeling;

a pushed feeling;

a feeling in which at least one of an object, a vibration, force, and a torque is transmitted on a display member;

a feeling in which an object rolls on the display member;

a feeling in which at least one of an object, a vibration, force, and a torque passes through the display member;

a force sensation;

a vibration sensation;

a torque sensation

an acceleration or an deceleration sensation; and

an operation feeling.

15. The haptic electronic device according to claim 9, wherein the haptic information presentation device comprises at least one of a motor, a piezoelectric element, a magnet, a speaker, a rotator, an eccentric rotator, and a rotation unit.

16. The haptic electronic device according to claim 9, further comprising at least one of a virtual reality environment device, a portable information terminal, a game device, a navigation device, and a man-machine interface device.

17. A haptic electronic device comprising:

a sensor that detects at least one physical quantity of a finger of an operator, a palm of the operator, a hand of the operator, a leg of the operator, a head of the operator, a body of the operator, an operation device, and a man-machine interface;

a haptic information presentation device that presents haptic information generated in association with the at least one physical quantity detected by the sensor; and

a control device that controls the haptic information presentation device based on a haptic sensory characteristic of the operator,

wherein the haptic sensory characteristic comprises a sensory quantity that an integral value of a sensory quantity does not become zero even if an integral value of the physical quantity becomes zero, and

wherein the haptic sensory characteristic comprises a physical quantity provided to the operator by one or two ways out of being given to the operator and being brought by motion of the operator, and a sensory quantity to be presented to the operator,

the haptic sensory characteristic representing a relationship between said physical quantity to be applied to a human body said operator and said sensory quantity to be perceived by the human body operator.

18. The haptic electronic device according to claim 17, wherein illusion is added to the haptic sensory characteristic.

19. The haptic electronic device according to claim 17, wherein the haptic sensory characteristic further comprises a hysteresis characteristic and/or a masking characteristic.

20. The haptic electronic device according to claim 17, wherein a plurality of operation points on a curve representing a function of the haptic sensory characteristic are utilized, and the physical quantity comprises a plurality of physical quantities corresponding to the plurality of operation points.

21. The haptic electronic device according to claim 17, wherein the physical quantity comprises at least one of a vibration, a torque, sound, a video, an air pressure, and force.

22. The haptic electronic device according to claim 17, wherein the sensory quantity comprises at least one of:

a shape feeling;

an elastic feeling;

a tactile sensation;

a texture sensation;

a pushing feeling;

an expansion feeling;

a rubbing feeling;

a pressure feeling;

a pulling feeling;

a pulled feeling;

a pushed feeling;

a feeling in which at least one of an object, a vibration, force, and a torque is transmitted on a display member;

a feeling in which an object rolls on the display member;

a feeling in which at least one of an object, a vibration, force, and a torque passes through the display member;

a force sensation;

a vibration sensation;

a torque sensation

an acceleration or an deceleration sensation; and

an operation feeling.

23. The haptic electronic device according to claim 17, wherein the haptic information presentation device comprises at least one of a motor, a piezoelectric element, a magnet, a speaker, a rotator, an eccentric rotator, and a rotation unit.

24. The haptic electronic device according to claim 17, further comprising at least one of a virtual reality environment device, a portable information terminal, a game device, a navigation device, and a man-machine interface device.

25. A haptic electronic apparatus provided in a haptic electronic device comprising at least one of a virtual reality environment device, a portable information terminal, a game device, a navigation device, and a man-machine interface device, the haptic electronic apparatus comprising:

a sensor that detects at least one physical quantity of a finger of an operator, a palm of the operator, a hand of the operator, a leg of the operator, a head of the operator, a body of the operator, an operation device, and a man-machine interface,

a driving device that drives the sensor; and

a control device that controls the driving device based on a haptic sensory characteristic of the operator,

wherein the haptic sensory characteristic comprises a nonlinear characteristic,

wherein the haptic sensory characteristic comprises a physical quantity provided to the operator by one or two ways out of being given to the operator and being brought by motion of the operator, and a sensory quantity to be presented to the operator,

the haptic sensory characteristic representing a relationship between said physical quantity to be applied to a human body said operator and said sensory quantity to be perceived by the human body operator, and

wherein the haptic electronic device is driven in association with behavior of the haptic electronic apparatus.

26. The haptic electronic apparatus according to claim 25, wherein illusion is added to the haptic sensory characteristic.

27. The haptic electronic apparatus according to claim 25, wherein the haptic sensory characteristic further comprises a hysteresis characteristic and/or a masking characteristic.

28. The haptic electronic apparatus according to claim 25, wherein a plurality of operation points on a curve representing a function of the haptic sensory characteristic are utilized, and the physical quantity comprises a plurality of physical quantities corresponding to the plurality of operation points.

29. The haptic electronic apparatus according to claim 25, wherein the physical quantity comprises at least one of a vibration, a torque, sound, a video, an air pressure, and force.