Haptic information presentation system and method

• US 9,495,804 B2
• Filed: 08/31/2015
• Issued: 11/15/2016
• 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
• Primary Examiner(s): Bee, Andrew
• Assistant Examiner(s): LITTLEJOHN JR, MANCIL H
• Application Number:
  US14/840,423
• Publication Number:
  US 20150371510A1
• Time in Patent Office: 442 Days
• Field of Search: 345/156, 345/161, 345/163, 345/167, 345/157, 345/168, 345/173, 345/179, 340/407.1, 340/407.2
• 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 haptic electronic device comprising a haptic presentation device that presents to an operator haptic information as if the operator operates a real object, by applying at least one of a haptic sensory characteristic of the operator and illusion to a virtual object;

wherein the haptic presentation device comprises a haptic information presentation controlling device that controls a physical quantity to present the haptic information by utilizing that the haptic sensory characteristic representing a relationship between a physical quantity to be applied to a human body and a sensory quantity to be perceived by the human body is nonlinear; and

a driving device that is controlled based on 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 motion of the operator, and (ii) a sensory quantity to be presented to the operator, and

wherein the sensory quantity comprises a sensory quantity that does not exist physically.

2. The haptic electronic device according to claim 1, wherein the haptic electronic device is provided in at least one of a virtual reality environment device, a portable information terminal, a game device, a navigation device, a man-machine interface device, a wearable device, a desk device, a glove type device, a clothing type device, a baton type device, a pen-shaped device, a touch panel, a device comprising a button, and a device comprising an operation panel.

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

wherein 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.

4. The haptic electronic device according to claim 1, wherein the sensory quantity that does not exist physically is 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,

wherein the haptic sensory characteristic comprises at least one of:

a nonlinear characteristic;

a hysteresis characteristic;

a masking characteristic relating to a haptic sense;

a threshold characteristic; and

muscle reflection.

5. The haptic electronic device according to claim 1, wherein the sensory quantity is changed according to at least one of muscle tensile state, physical state, physiological state, psychological state, breath state, posture state, and neural firing state, and/or

wherein the sensory quantity comprises at least one of:

a shape feeling;

an elastic force feeling;

a tactile sensation;

a feeling in which force is transmitted on a presentation object;

a feeling in which an object rolls on a presentation object;

a force sensation;

a vibration sensation;

a torque sensation;

an operation feeling;

an existence feeling;

an elastic feeling;

a texture sensation;

a pushing feeling by the operator;

an expansion feeling;

a pressure feeling;

a pulling feeling by the operator;

a pulled feeling from outside;

a sensation such that the operator feels the weight that is heavier than actual;

a sensation such that the operator feels the weight that is different from actual;

a pushed feeling from outside;

a feeling in which force is transmitted on at least one of the finger, the palm, the hand, the leg, the head, and the body;

a feeling in which an object rolls on at least one of the finger, the palm, the hand, the leg, the head, and the body;

a feeling in which force passes through at least one of the finger, the palm, the hand, the leg, the head, and the body;

a texture sensation on a surface of an object;

a feeling such that the operator grasps an object and moves the object;

an intensity sensation and/or an intensity change sensation of at least one of force, a force sensation, a vibration, a vibration sensation, fatigue, and a fatigue sensation;

a feeling such that the operator presses an object by at least one of the finger, the palm, the hand, the leg, the head, and the body;

a three-dimensional shape feeling of a sphere or a cubic;

an elastic feeling of a sphere or a cubic;

a soft feeling of a sphere or a cubic;

a torque sensation only in one direction;

a hysteresis sensation;

a feeling such that the intensity of a presentation physical quantity is corrected;

an operation feeling at a performance speed which the operator can play music, and/or in a playing method which the operator can play the music; and

an existence sensation of an object or a shock sensation due to a collision in a virtual space by presenting force to the operator and/or giving resisting force or reaction force to limit the motion of the operator.

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

7. The haptic electronic device according to claim 1, wherein the virtual object comprises at least one of a virtual scroll wheel, a virtual button, a virtual joystick, and a virtual operation panel.

8. A haptic electronic device comprising a haptic presentation device that presents haptic information to an operator by applying at least one of a haptic sensory characteristic of the operator and illusion to a real object;

wherein the haptic presentation device comprises a haptic information presentation controlling device that controls a physical quantity to present the haptic information by utilizing that the haptic sensory characteristic representing a relationship between a physical quantity to be applied to a human body and a sensory quantity to be perceived by the human body is nonlinear; and

a driving device that is controlled based on 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 motion of the operator, and (ii) a sensory quantity to be presented to the operator, and

wherein the sensory quantity comprises a sensory quantity that does not exist physically.

9. The haptic electronic device according to claim 8, wherein the haptic electronic device is provided in at least one of a virtual reality environment device, a portable information terminal, a game device, a navigation device, a man-machine interface device, a wearable device, a desk device, a glove type device, a clothing type device, a baton type device, a pen-shaped device, a touch panel, a device comprising a button, and a device comprising an operation panel.

10. The haptic electronic device according to claim 8, wherein the physical quantity comprises at least one of force, a vibration, a torque, an acceleration, a deceleration, an air pressure, a video, and sound, 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

wherein 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.

11. The haptic electronic device according to claim 8, wherein the sensory quantity that does not exist physically is 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,

wherein the haptic sensory characteristic comprises at least one of:

a nonlinear characteristic;

a hysteresis characteristic;

a masking characteristic relating to a haptic sense;

a threshold characteristic; and

muscle reflection.

12. The haptic electronic device according to claim 8, wherein the sensory quantity is changed according to at least one of muscle tensile state, physical state, physiological state, psychological state, breath state, posture state, and neural firing state, and/or

wherein the sensory quantity comprises at least one of:

a shape feeling;

an elastic force feeling;

a tactile sensation;

a feeling in which force is transmitted on a presentation object;

a feeling in which an object rolls on a presentation object;

a force sensation;

a vibration sensation;

a torque sensation;

an operation feeling;

an existence feeling;

an elastic feeling;

a texture sensation;

a pushing feeling by the operator;

an expansion feeling;

a pressure feeling;

a pulling feeling by the operator;

a pulled feeling from outside;

a sensation such that the operator feels the weight that is heavier than actual;

a sensation such that the operator feels the weight that is different from actual;

a pushed feeling from outside;

a feeling in which force is transmitted on at least one of the finger, the palm, the hand, the leg, the head, and the body;

a feeling in which an object rolls on at least one of the finger, the palm, the hand, the leg, the head, and the body;

a feeling in which force passes through at least one of the finger, the palm, the hand, the leg, the head, and the body;

a texture sensation on a surface of an object;

a feeling such that the operator grasps an object and moves the object;

an intensity sensation and/or an intensity change sensation of at least one of force, a force sensation, a vibration, a vibration sensation, fatigue, and a fatigue sensation;

a feeling such that the operator presses an object by at least one of the finger, the palm, the hand, the leg, the head, and the body;

a three-dimensional shape feeling of a sphere or a cubic;

an elastic feeling of a sphere or a cubic;

a soft feeling of a sphere or a cubic;

a torque sensation only in one direction;

a hysteresis sensation;

a feeling such that the intensity of a presentation physical quantity is corrected;

an operation feeling at a performance speed which the operator can play music, and/or in a playing method which the operator can play the music; and

an existence sensation of an object or a shock sensation due to a collision in a virtual space by presenting force to the operator and/or giving resisting force or reaction force to limit the motion of the operator.

13. The haptic electronic device according to claim 8, wherein the driving device comprises at least one of a motor, a piezoelectric element, a magnet, a speaker, a rotator, an eccentric rotator, and a rotation unit.

14. The haptic electronic device according to claim 8, wherein the real object comprises at least one of a real scroll wheel, a real button, a real joystick, and a real operation panel.