Haptic information presentation system and method
First Claim
1. A haptic information processing device comprising:
- a display member;
a sensor that detects at least one operation 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, which operates a virtual object which presents a haptic sensation on a surface of the display member;
a control device that controls a motion of the virtual object from detection information from the sensor a haptic information presentation device that presents haptic information comprising illusion as if the operator operates real object, from the detection information from the sensor by applying a haptic sensory characteristic of the operator to the virtual object; and
a transmitter and/or a receiver that perform transmission and/or reception of the haptic information, wherein the haptic sensory characteristic comprises;
(i) one or more of a physical quantity being given to the operator and a physical quantity being brought by the operation of operator, and a sensory quantity to be presented to the operator, or(ii) a sensory quantity to be presented to the operator, 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;
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.
3 Assignments
0 Petitions
Accused Products
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.
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Citations
49 Claims
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1. A haptic information processing device comprising:
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a display member; a sensor that detects at least one operation 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, which operates a virtual object which presents a haptic sensation on a surface of the display member; a control device that controls a motion of the virtual object from detection information from the sensor a haptic information presentation device that presents haptic information comprising illusion as if the operator operates real object, from the detection information from the sensor by applying a haptic sensory characteristic of the operator to the virtual object; and a transmitter and/or a receiver that perform transmission and/or reception of the haptic information, wherein the haptic sensory characteristic comprises; (i) one or more of a physical quantity being given to the operator and a physical quantity being brought by the operation of operator, and a sensory quantity to be presented to the operator, or (ii) a sensory quantity to be presented to the operator, 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; 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. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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2. A haptic information processing device comprising:
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a display member; a sensor that detects at least one operation 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, which operates in a space around a surface of the display member; a control device that controls a motion of the virtual object which presents a haptic sensation through the space, from detection information from the sensor; a haptic information presentation device that presents haptic information comprising illusion as if the operator operates a real object, from the detection information from the sensor by applying a haptic sensory characteristic of the operator to the virtual object; and a transmitter and/or a receiver that perform transmission and/or reception of the haptic information, wherein the haptic sensory characteristic comprises; (i) one or more of a physical quantity being given to the operator and a physical quantity being brought by the operation of the operator, and a sensory quantity to be presented to the operator, or (ii) a sensory quantity to be presented to the operator, 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, 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. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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3. A haptic information processing device comprising:
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a display member; a sensor that detects at least one operation 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, which operates on a surface of the display member; a control device that controls a motion of a virtual object which presents a haptic sensation around the surface of the display member from detection information from the sensor; a haptic information presentation device that presents haptic information comprising illusion as if the operator operates a real object, from the detection information from the sensor by applying a haptic sensory characteristic of the operator to the virtual object; and a transmitter and/or a receiver that perform transmission and/or reception of the haptic information, wherein the haptic sensory characteristic comprises; (i) one or more of a physical quantity being given to the operator and a physical quantity being brought by the operation of the operator, and a sensory quantity to be presented to operator, or (ii) a sensory quantity to be presented to the operator, wherein the haptic sensory characteristic is obtained by using at least one of the nonlinear characteristic, a hysteresis characteristic, a masking characteristic relating to a haptic sense, a threshold characteristic, and, muscle reflection, and 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. - View Dependent Claims (25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
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4. A haptic information processing device comprising:
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a display member; a sensor that detects at least one operation 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, which operates a haptic sensation around the display member; a control device that controls a motion of a virtual object from detection information from the sensor; a haptic information presentation device that presents haptic information comprising illusion as if the operator operates a real object, from the detection information from the sensor by applying a haptic sensory characteristic of the operator to the virtual object; and a transmitter and/or a receiver that perform transmission and/or reception of the haptic information, wherein the haptic sensory characteristic comprises; (i) one or more of a physical quantity being given to the operator and a physical quantity being brought by the operation of the operator, and a sensory quantity to be presented to the operator, or (ii) a sensory quantity to be presented to the operator, 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, and 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. - View Dependent Claims (35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45)
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46. A haptic information processing device comprising:
a display member; a sensor that detects at least one operation 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, which operates a virtual object which presents a haptic sensation on a surface of the display member; a control device that controls a motion of the virtual object from detection information from the sensor; a haptic information presentation device that presents haptic information comprising illusion as if the operator operates a real object, from the detection information from the sensor by applying a haptic sensory characteristic of the operator to the virtual object; and a transmitter and/or a receiver that perform transmission and/or reception of the haptic information, wherein the haptic sensory characteristic comprises; (i) one or more of a physical quantity being given to the operator and a physical quantity being brought by the operation of the operator, and a sensory quantity to be presented to the operator, or (ii) a sensory quantity to be presented to the operator, 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, wherein the physical quantity comprises a plurality of physical quantities corresponding to a plurality of operation points, and the plurality of operation points on a curve representing the relationship of the haptic sensory characteristic are utilized, and/or the physical quantity is obtained by setting each of operation points on a curve representing the relationship of the haptic sensory characteristic and each operation duration time on each of operation points.
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47. A haptic information processing device comprising:
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a display member; a sensor that detects at least one operation 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, which operates in a space around a surface of the display member; a control device that controls a motion of the virtual object which presents a haptic sensation through the space, from detection information from the sensor; a haptic information presentation device that presents haptic information comprising illusion as if the operator operates a real object, from the detection information from the sensor by applying a haptic sensory characteristic of the operator to the virtual object; and a transmitter and/or a receiver that perform transmission and/or reception of the haptic information, wherein the haptic sensory characteristic comprises; (i) one or more of a physical quantity being given to the operator and a physical quantity being brought by the operation of the operator, and a sensory quantity to be presented to the operator, or (ii) a sensory quantity to be presented to the operator, 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, and wherein the physical quantity comprises a plurality of physical quantities corresponding to a plurality of operation points, and the plurality of operation points on a curve representing the relationship of the haptic sensory characteristic are utilized, and/or the physical quantity is obtained by setting each of operation points on a curve representing the relationship of the haptic sensory characteristic and each operation duration time on each of operation points.
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48. A haptic information processing device comprising:
a display member; a sensor that detects at least one operation 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, which operates on a surface of the display member; a control device that controls a motion of a virtual object which presents a haptic sensation around the surface of the display member from detection information from the sensor; a haptic information presentation device that presents haptic information comprising illusion as if the operator operates a real object, from the detection information from the sensor by applying a haptic sensory characteristic of the operator to the virtual object; and a transmitter and/or a receiver that perform transmission and/or reception of the haptic information, wherein the haptic sensory characteristic comprises; (i) one or more of a physical quantity being given to the operator and a physical quantity being brought by the operation of the operator, and a sensory quantity to be presented to the operator, or (ii) a sensory quantity to be presented to the operator, 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, and wherein the physical quantity comprises a plurality of physical quantities corresponding to a plurality of operation points, and the plurality of operation points on a curve representing the relationship of the haptic sensory characteristic are utilized, and/or the physical quantity is obtained by setting each of operation points on a curve representing the relationship of the haptic sensory characteristic and each operation duration time on each of operation points.
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49. A haptic information processing device comprising:
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a display member; a sensor that detects at least one operation 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, which operates a haptic sensation around the display member; a control device that controls a motion of a virtual object from detection information from the sensor; a haptic information presentation device that presents haptic information comprising illusion as if the operator operates a real object, from the detection information from the sensor by applying a haptic sensory characteristic of the operator to the virtual object; and a transmitter and/or a receiver that perform transmission and/or reception of the haptic information, wherein the haptic sensory characteristic comprises; (i) one or more of a physical quantity being given to the operator and a physical quantity being brought by the operation of the operator, and a sensory quantity to be presented to the operator, or (ii) a sensory quantity to be presented to the operator, 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, and wherein the physical quantity comprises a plurality of physical quantities corresponding to a plurality of operation points, and the plurality of operation points on a curve representing the relationship of the haptic sensory characteristic are utilized, and/or the physical quantity is obtained by setting each of operation points on a curve representing the relationship of the haptic sensory characteristic and each operation duration time on each of operation points.
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Specification