USER INTERFACE DEVICE

A user interface device includes a grip including dimensions in a radial direction and a circumferential direction and extending in a longitudinal direction, and at least one optical sensor provided at the grip including a proximity sensor that includes a light emitter and a light receiver, and a force sensor to detect a contact force by an object. The proximity sensor emits light from the light emitter to a predetermined detection range around the force sensor, and detects when the object is in proximity to the force sensor according to a light reception result obtained by light incident from the detection range to be received by the light receiver. The detection range is biased to one side in the circumferential direction from a position of the force sensor toward an outer side portion in the radial direction, and is wider in the circumferential direction than in the longitudinal direction.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to techniques for using optical sensors in user interface devices to be gripped by a user.

2. Description of the Related Art

Japanese Unexamined Patent Application Publication No. 2020-091904 discloses a controller that detects a shape of a finger such as a hand sign by using an optical sensor. The controller includes a gripping member to be gripped by the hand of the user, a sensor array including optical sensors corresponding to a plurality of fingers, respectively, and a grip button provided separately from the optical sensors. In this controller, the optical sensor, which is a non-contact sensor, in which the optical axes of a light emitter and a light receiver are set so as to pass through the positions when the respective fingers are bent. Thus, when the user intentionally opens the hand and stretches the fingers, the light receiver does not receive the reflected light, whereas when the user bends the fingers, the reflected light is received from a position closer to the light emitter in the fingers as the bending amount increases.

SUMMARY OF THE INVENTION

Example embodiments of the present invention provide user interface devices each capable of easily detecting a state of being gripped by a user by using an optical sensor.

In an example embodiment of the present invention, a user interface device to be gripped by a user includes a grip including dimensions in a radial direction and a circumferential direction and extending in a longitudinal direction, and at least one optical sensor provided at the grip and including a proximity sensor including a light emitter and a light receiver, and a force sensor to detect a contact force by an object, the proximity sensor is operable to emit light from the light emitter to a predetermined detection range around the force sensor, and detect a state in which the object is in proximity to the force sensor in accordance with a light reception result obtained by light incident from the detection range to be received by the light receiver, and the detection range is biased to one side in the circumferential direction from a position of the force sensor in the grip toward an outer side portion in the radial direction, and is wider in the circumferential direction than in the longitudinal direction.

According to the user interface devices of example embodiments of the present invention, it is possible to easily detect the state of being gripped by the user by using the optical sensor.

DETAILED DESCRIPTION OF THE EXAMPLE EMBODIMENTS

Hereinafter, example embodiments of user interface devices according to the present invention will be described with reference to the accompanying drawings.

Each example embodiment is an example, and partial replacement or combination of configurations shown in different example embodiments is possible. In Example Embodiment 2 and subsequent example embodiments, the description of the matters common to Example Embodiment 1 will be omitted, and only the differences will be described. In particular, similar operations and effects due to similar configurations will not be sequentially described for each example embodiment.

In Example Embodiment 1, a controller using an optical sensor will be described as an example of a user interface device according to the present invention.

The controller according to the present example embodiment will be described with reference toFIG.1andFIG.2.FIG.1is a perspective view illustrating an appearance of a controller6according to the present example embodiment.FIG.2is a block diagram illustrating the configuration of the controller6.

The controller6of the present example embodiment is an example of a user interface device, which is to be gripped by a hand7of the user for inputting various operations. The controller6of the present example embodiment includes, for example, as illustrated inFIG.1, a grip61to be gripped by the hand7, and a plurality of optical sensors1provided on the grip61. The controller6can be applied to various uses such as a game or control of various equipment as a human-machine interface (HMI) to transmit various instructions and intentions of a human to a machine or a device.

The grip61of the controller6has a grip shape in which a position to be gripped by the hand7is defined, for example, as illustrated inFIG.1, and has, for example, a substantially cylindrical shape. The grip61has, for example, a radial direction Dr and a circumferential direction Dθ that define a substantially circular cross-sectional shape, and a longitudinal direction Dz corresponding to a direction in which a plurality of fingers71of the hand7is arranged. The grip61extends in the longitudinal direction Dz in a cross-sectional shape having the radial direction Dr and the circumferential direction De. The user of the controller6holds the controller6, for example, by wrapping the fingers71of the hand7around the grip61along the circumferential direction De.

The optical sensor1of the present example embodiment is a sensor module in which a proximity sensor12that detects proximity of an object in an optical detection method and a force sensor13that detects force (that is, a contact force) acting when the object comes into contact with the sensor are integrally configured, for example, as illustrated inFIG.2. In the example ofFIG.1, in the grip61of the controller6, the four optical sensors1are provided in order to detect the four fingers71of the hand7as respective objects at positions with which fingertips of the respective fingers71come into contact when the grip61is gripped by the hand7.

The controller6of the present example embodiment can continuously detect a series of processes in which the fingers71of the hand7each are in proximity to and comes into contact with the grip61to apply force, for example, by such arrangement setting of the optical sensors1. Note that in the controller6, the number of the optical sensors1to be provided is not particularly limited to the example ofFIG.1, and may be, for example, three or less or five or more. Further, the number of fingers71to be detected in the controller6is not particularly limited.

In addition, the present example embodiment, the optical sensor1may be incorporated in various operators provided in the controller6. For example, the controller6may be provided with various operators such as a button, a switch, and a retractable lever. Further, the controller6may include a cover covering the optical sensor1. The cover may define an operator of the controller6. According to the controller6of the present example embodiment, the optical sensor1can continuously detect states before and after contact when the user operates the operator with the finger71, for example.

In the optical sensor1of the present example embodiment, for example, as illustrated inFIG.2, the proximity sensor12includes a light emitter21and a light receiver22, and realizes optical proximity sensing. The light emitter21emits light to detect the proximity of an object (hereinafter referred to as “detection light”). The light receiver22receives reflected light obtained by reflecting the detection light from the light emitter21by the object and generates a signal corresponding to, for example, the amount of received light, thereby detecting a state in which the object is in proximity.

In the present example embodiment, the force sensor13can use various force detection methods to detect force from an object. The various force detection methods include, for example, a piezoelectric method, an optical method, a strain resistance method, and a capacitive method. The force sensor13detects forces in multiple axes such as three axes or six axes. The force sensor13may detect a uniaxial force.

According to the optical sensor1of the present example embodiment, the proximity sensing function and the force sensing function are integrally realized, and thus it is possible to reduce the area required for incorporating these functions into the controller6, and to easily configure the controller6. A configuration example of the optical sensor1will be described later.

The controller6of the present example embodiment may further include a control circuit60, for example, as illustrated inFIG.2, the control circuit60being configured or programmed to control, for example, the entire operation of the controller6. For example, the control circuit60generates a control signal corresponding to the operation content of the user based on the detection signal indicating the detection result of the proximity and the force by each optical sensor1. The control signal may be output to a device outside the controller6or may be used for control inside the controller6. The control circuit60may control the driving of each optical sensor1.

The control circuit60is configured by, for example, a CPU, and realizes a predetermined function in cooperation with software. The control circuit60includes internal memories such as a ROM and a RAM, reads data and programs stored in the ROM into the RAM, and performs various arithmetic processing to realize various functions. Note that the control circuit60may be a hardware circuit such as a dedicated electronic circuit or a reconfigurable electronic circuit designed to realize a predetermined function. The control circuit60may be configured by various semiconductor integrated circuits such as a CPU, an MPU, a DSP, an FPGA, and an ASIC. Note that the control circuit60may be an external component of the controller6(or the user interface device).

1-1. Detection Range of Optical Sensor

Setting of a range in which the optical sensor1detects a state where the object such as the finger71is in proximity, that is, a detection range in the controller6of the present example embodiment will be described with reference toFIG.3toFIGS.6A to6C.

The optical sensor1of the present example embodiment has a detection range A10defined by the directivity of the detection light emitted and received by the light emitter21and the light receiver22of the proximity sensor12(FIG.2). Further, the optical sensor1includes a main surface arranged along the outer surface of the grip61, for example. Two directions corresponding to the main surface of the optical sensor1are defined as X and Z directions, and a normal direction orthogonal to the X and Z directions is defined as a Y direction.

The X direction of the optical sensor1in the controller6corresponds to the circumferential direction Dθ of the grip61in the vicinity of the arrangement position of the optical sensor1. One side on which the finger71of the hand7gripping the grip61arrives, of the ±X sides corresponding to both sides in the circumferential direction De, is defined as the +X side. Further, the outside of the grip61in the radial direction Dr corresponds to the +Y side of the optical sensor1, and the inside of the grip61in the radial direction Dr corresponds to the −Y side. The Z direction of the optical sensor1corresponds to the longitudinal direction Dz of the grip61.

In the controller6of the present example embodiment, the detection range A10of the optical sensor1is set to a range biased to the +X side rather than the −X side of the ±X sides corresponding to both sides of the circumferential direction Dθ of the grip61, and is inclined with respect to the Y direction, for example, as illustrated inFIG.3. According to the detection range A10inclined to the +X side, the finger71that arrives at the grip61when the user operates the controller6with the hand7is easily included in the detection range A10, and various states of the hand7during operation or the like can be easily detected.

The detection range A10of the optical sensor1is defined by an angular width α1in an XY plane corresponding to the circumferential direction Dθ of the grip61and an angular width α2in a YZ plane corresponding to the longitudinal direction Dz. In the present example embodiment, in the detection range A10of the optical sensor1, the angular width α1in the circumferential direction Dθ is set to be a relatively wide angle, and the angular width α2in the longitudinal direction Dz is set to be a relatively narrow angle.

According to the angular width A1of the wide angle in the circumferential direction Dθ in the detection range A10of the optical sensor1, when the specific finger71as the detection target in the hand7gripping the grip61has various degrees of bending, the amount of light received in the detection range A10is easily changed according to the degree of bending. This makes it easy for each optical sensor1to detect the state of the finger71, such as the degree of bending of the finger71, which is the detection target. For example, the angular width A1of the wide angle is an angle of equal to or more than about 45°, and is, for example, approximately 90°.

In contrast, when the angular width A1of the above wide angle is not used, only a specific position in the circumferential direction Dθ can be set as a detection target, and for example, only a change in the distance to a detectable portion of the finger71can be detected. In addition, the angular width A1of the wide angle set in the optical sensor1of the present example embodiment may be an angle of equal to or less than about 120° in terms of, for example, suppressing power consumption for emitting the detection light.

Further, according to the angular width A2of the narrow angle in the longitudinal direction Dz in the detection range A10of the optical sensor1, for example, the finger71different from the finger71to be detected by the specific optical sensor1among the plurality of optical sensors1can be easily removed from the detection range A10of the optical sensor1. This makes it possible to easily avoid a situation in which, for example, each optical sensor1erroneously detects the finger71other than the detection target.

For example, the angular width A2of the narrow angle set in the optical sensor1of the present example embodiment is an angle of equal to or more than about 1° and equal to or less than about 60°. The angular width A2is a configurable as appropriate from various viewpoints such as the distance from the finger71to the optical sensor1at which erroneous detection by the optical sensor1is to be avoided or the degree to which erroneous detection is to be eliminated. For example, in order to avoid erroneous detection of the finger71(seeFIG.4A) located relatively far from the optical sensor1, the angular width A2may be set to equal to or less than about 20° from the viewpoint of excluding the adjacent finger71from the detection range A10in consideration of the interval between the fingers71of the hand7gripping the grip61. Alternatively, in order to avoid erroneous detection of a relatively close finger (seeFIG.4B), the angular width A2may be equal to or less than about 40°, for example. The setting of the angular width A2can be appropriately changed according to the size and bending state of the finger71of the hand7, the outer diameter of the grip61, the arrangement of the optical sensors1, and the like.

The attachment position of the optical sensor1on the controller6will be described with reference toFIGS.4A to4C. In the controller6of the present example embodiment, the optical sensor1is attached, for example, within a range of an angle of equal to or more than about 90° and equal to or less than about 180° from a predetermined reference position P0indicating an angle of 0° in the circumferential direction Dθ of the grip61. The reference position P0is set as a reference at which the contact is maintained even in a state where the finger71of the hand7gripping the grip61is stretched, and is set at a position assumed to be a contact point in the grip61, which comes into contact with the base of the finger, for example.

FIGS.4A to4Cillustrate a series of states of the finger71when gripping the grip61.FIG.4Aillustrates a state in which the finger71of the hand7(gripping the grip61) is stretched.FIG.4Billustrates a state in which the finger71is bent in the middle of gripping the grip61from the state ofFIG.4A.FIG.4Cillustrates a state in which the finger71is further bent from the state ofFIG.4Bto grip the grip61.

According to the optical sensor1of the controller6of the present example embodiment, for example, as illustrated inFIGS.4A to4C, the angular portion overlapping the finger71in the angular width A1of the detection range A10gradually increases from the state in which the finger71is stretched to the state in which the finger71is bent to grip the grip61. Thus, in the optical sensor1, the amount of received light changes in accordance with the degree of bending of the finger to a greater extent than the increase in the amount of received light when the distance between the object and the optical sensor1becomes shorter, for example, and the accuracy of continuously detecting the bending state of the finger71can be improved. In addition, in the example ofFIG.4A, the finger71is in the detection range A10from the stretched state, and such a state can be detected by the optical sensor1.

FIGS.5A to5Cillustrate a case where the outer diameter of the grip61is larger than that inFIGS.4A to4C.FIG.5Aillustrates a state in which the finger71is stretched as inFIG.4A.FIG.5Billustrates a state in which the grip61is in the middle of being grabbed after the state ofFIG.5A.FIG.5Cillustrates a state in which the grip61is gripped after the state ofFIG.5B.

When the grip61has a relatively large diameter, or when the user's finger71is assumed to be short relative to the outer diameter of the grip61, the attachment position of the optical sensor1may be set closer to the reference position P0. For example, the attachment position of the optical sensor1in the circumferential direction Dθ may be at an angle in the vicinity of about 90°. Even in this case, for example, as illustrated inFIGS.5A to5C, the portion where the detection range A10and the finger71overlap each other in the angular width A1changes according to the bending state of the finger, and thus it is possible to easily realize continuous detection of the bending process of the finger.

FIGS.6A to6Cillustrate a case where the outer diameter of the grip61is smaller than that inFIGS.4A to4C.FIG.6Aillustrates a state in which the finger71is slightly bent in the early phase of gripping the grip61.FIG.6Billustrates a state in which the grip61is in the middle of being grabbed after the state ofFIG.6A.FIG.6Cillustrates a state in which the grip61is gripped after the state ofFIG.6B.

When the grip61has a relatively small diameter, or when the user's finger71is assumed to be long relative to the outer diameter of the grip61, the attachment position of the optical sensor1may be set away from the reference position P0. For example, the attachment position of the optical sensor1in the circumferential direction Dθ may be at an angle in the vicinity of about 180°. Even in this case, the optical sensor1in the controller6can continuously detect the bending state of the finger from the initial state in which the finger71is slightly bent, for example.

Further, in the controller6, from the viewpoint of including the stretched finger71in the detection range A10of the optical sensor1, the attachment position of the optical sensor1in the grip61may be at an angle of equal to or less than about 133° in the circumferential direction De, for example.

In the controller6of the present example embodiment, the attachment position of the optical sensor1is not limited to the above examples. For example, when the grip61has a considerably small diameter, the attachment position may be set within a range of an angle of equal to or more than about 90° and equal to or less than about 270° in the circumferential direction De. Further, in addition to the fingertips of the hand7, the optical sensor1corresponding to a portion between the fingertip and the base may be arranged. Further, the optical sensor1may be attached to a portion in the vicinity or the like of various operators provided on the grip61within a range in which the finger71of the hand7gripping the grip61can contact the optical sensor1. As such the optical sensor1may be attached to a position at an angle of equal to or less than about 90°, not particularly limited to equal to or more than about 90° in the circumferential direction De.

In the controller6of the present example embodiment, the shape of the grip61is not particularly limited to the examples ofFIG.2andFIG.3, and may be various substantially cylindrical shapes. For example, the cross-sectional shape of the grip61need not be a perfect circle. Further, for example, when the plurality of fingers71is used as the detection target by arranging the plurality of optical sensors1side by side in the longitudinal direction Dz or the like, the outer diameter of the grip61need not be uniform, and for example, the size of the outer diameter may vary along the longitudinal direction Dz according to the difference in length of each finger71. In addition, the attachment position of the optical sensor1can be individually adjusted according to the difference in the length of the finger71.

2. Optical Sensor

Hereinafter, a configuration example of the optical sensor1in the controller6of the present example embodiment will be described.

2-1. Overview of Optical Sensor

An outline of a configuration example of the optical sensor according to Example Embodiment 1 will be described with reference toFIG.7.FIG.7is a perspective view of the optical sensor1in the controller6of the present example embodiment.

The optical sensor1is configured by assembling the proximity sensor12and the force sensor13so as to be arranged in the X direction on a substrate11, for example. Hereinafter, two directions parallel to the main surface of the substrate11are referred to as the X direction and the Z direction, and a normal direction of the main surface is referred to as the Y direction. In addition, the +Y side on which the force sensor13protrudes from the substrate11may be referred to as an upper side, and the −Y side on the opposite side may be referred to as a lower side.

In the optical sensor1of the present example embodiment, the force sensor13includes a force sensor element3and a dome portion41including an elastic body that covers the force sensor element3from the upper side (+Y). The optical proximity sensor12includes the light emitter21, the light receiver22, and a wall portion42configured to surround the light emitter21and the light receiver22. The dome portion41for a force sensor and the wall portion42for a proximity sensor are integrally formed of, for example, an elastic member4.

In the optical sensor1of the present example embodiment, the proximity sensor12is arranged on the +X side where the finger71arrives, and the force sensor13is arranged on the opposite −X side. This makes it possible to easily detect proximity such as when the finger71arrives to apply a contact force to the force sensor13. In the optical sensor1of the present example embodiment, the wall portion42for the proximity sensor is an example of a light guide that defines the above-described detection range A10(seeFIG.3) on the +X side.

2-2. Details of Optical Sensor

Hereinafter, the optical sensor1according to the present example embodiment will be described in detail with reference toFIG.7andFIG.8.

FIG.8is a perspective view illustrating the internal structure of the optical sensor1ofFIG.7.FIG.8illustrates a state in which the elastic member4is not provided in the optical sensor1illustrated inFIG.7.

In the optical sensor1of the present example embodiment, for example, as illustrated inFIG.8, the light emitter21and the light receiver22of the proximity sensor12are arranged side by side in the Z direction on the +X side relative to the force sensor13on the substrate11such as a rigid substrate. In the following, an example in which the position of the light emitter21is on the +Z side and the position of the light receiver22is on the −Z side on the substrate11will be described.

In the proximity sensor12of the optical sensor1, the light emitter21includes a light emitting element23and a sealing body25that seals the light emitting element23with resin or the like, for example, as illustrated inFIG.8.

The light emitting element23includes a light source element such as a light emitting diode (LED). For example, the light emitting element23emits light having a predetermined wavelength band such as an infrared region as the detection light. The light emitting element23includes a light emitting surface to emit the emitted detection light, and is arranged with the light emitting surface facing upward.

The light emitting element23is not limited to the LED, and may include various solid-state light source elements such as a laser diode (LD) or a vertical cavity surface emitting laser (VCSEL). The light emitting element23may include a plurality of light source elements. The light emitting element23may be provided with an optical system such as a lens and a mirror that collimate light from the light source element.

The light receiver22in the proximity sensor12receives reflected light obtained by reflecting the detection light from the light emitter21by the object, and detects the proximity of the object. The light receiver22includes, for example, as illustrated inFIG.8, a light receiving element24and a sealing body26that seals the light receiving element24with resin or the like.

The light receiving element24includes one or a plurality of optical receivers such as a photodiode (PD), and has a light receiving surface including the optical receiver. The light receiving element24receives light, such as reflected light obtained by the detection light being reflected by the object, on the light receiving surface, and generates a light reception signal indicating, for example, the amount of received light as a light reception result.

The light receiving element24is not limited to the PD, and may include various types of optical receivers such as a phototransistor, a position sensitive device (PSD), a CMOS image sensor (CIS), or a CCD. The light receiving element24may be configured by a linear array or a two-dimensional array of the optical receiver. The light receiving element24may be provided with an optical system such as a lens for condensing the above reflected light. Further, a band pass filter or the like that blocks light in a wavelength band different from the wavelength band of the detection light may be provided on the light receiving surface of the light receiving element24. This makes it possible to suppress the influence of disturbance light due to the external environment.

The sealing body25of the light emitter21and the sealing body26of the light receiver22each are formed by appropriately molding resin or the like having translucency with respect to the wavelength band of the detection light in the proximity sensor12. The upper surfaces of the sealing bodies25and26respectively define the heights of the light emitter21and the light receiver22, for example. Each of the sealing bodies25and26may have wavelength filter characteristics of selectively transmitting a specific wavelength band.

In the present example embodiment, the force sensor element3includes various sensor elements corresponding to a force detection method used in the force sensor13. The force sensor element3is an example of a force sensor in the present example embodiment.

The elastic member4includes, for example, the dome portion41for a force sensor, the wall portion42for a proximity sensor, and a base portion40connected to each of the dome portion41and the wall portion42. In the elastic member4, for example, the dome portion41for the force sensor and the wall portion42for the proximity sensor are arranged so as to form a groove via the base portion40. The dome portion41for the force sensor and the wall portion42for the proximity sensor need not be integrally formed by the elastic member4, and may be formed as separate bodies.

The elastic member4is made of an elastic material such as a silicone resin. The elastic member4has a hardness of, for example, Shore A20 or more and A80 or less. The elastic member4is not particularly limited to the silicone resin, and may be formed of various elastic materials, for example, an epoxy resin.

The base portion40is a portion extending downward (−Y side) in the elastic member4. The base portion40defines the bottom of a groove between the dome portion41for the force sensor and the wall portion42for the proximity sensor (seeFIG.3). The base portion40of the elastic member4may be omitted.

The dome portion41for the force sensor has a convex shape toward the upper side (+Y side) so as to cover the force sensor element3. The dome portion41for the force sensor is elastically deformed in response to application of a contact force, for example, and can be restored when the contact force is removed. The convex shape of the dome portion41for the force sensor can be formed separately from the wall portion42for the proximity sensor in particular. As such, according to the shape of the dome portion41for the force sensor, a position of the force sensor13to which the contact force is applied can be uniquely defined as a position in which the dome portion41protrudes, and thus the force of the object can be easily detected.

The dome portion41for the force sensor has, for example, a tapered shape in which the outer diameter in an XZ cross section decreases as heading toward the upper side (+Y side). InFIG.7, a truncated cone shape is illustrated as an example of the shape of the dome portion41for the force sensor, but the shape is not particularly limited thereto. The dome portion41for the force sensor may have a conical shape, a quadrangular pyramid shape, a polygonal pyramid shape, a rectangular parallelepiped shape, a semi-cylindrical shape, or the like. The inside of the dome portion41for the force sensor may be filled with the same elastic body as the elastic member4or another material.

The wall portion42for the proximity sensor defines an opening area A1for light emission and an opening area A2for light reception, for example, as illustrated inFIG.7. The opening area A1for light emission surrounds the periphery of the light emitter21so as to regulate an angular range in which light can be emitted from the light emitter21, that is, a viewing angle (or a light distribution angle). The opening area A2for light reception surrounds the periphery of the light receiver22so as to regulate the viewing angle of the light receiver22. For example, a range common to the light distribution angle of the light emitter21and the viewing angle of the light receiver22defines the detection range A10(FIG.3) by the proximity sensor12of the optical sensor1.

In the optical sensor1of the present example embodiment, the elastic member4defines an open end45on the opposite side (that is, +X side) to the force sensor13as illustrated inFIG.7. The open end45in the present example embodiment is defined by the wall portion42for the proximity sensor extending except for the +X side, and defines the opening areas A1and A2together with the wall portion42for the proximity sensor. In the present example embodiment, the open end45is located on the +X side, and thus the opening areas A1and A2reach the substrate11, that is, the height from the substrate11is the minimum on the +X side.

In the elastic member4of the present example embodiment, the viewing angle of the proximity sensor12is directed from the Y direction to the +X side due to the opening areas A1and A2having the open end45. According to the optical sensor1of the present example embodiment, the detection range A10biased to the +X side is easily realized, and for example, in a situation in which an approaching object arrives from the +X side rather than the Y direction, proximity detection of the object can be easily performed.

The center portion of the wall portion42for the proximity sensor extends so as to separate the light emitter21and the light receiver22from each other, and blocks light between the light emitter21and the light receiver22(seeFIG.7). This can prevent direct coupling in which the detection light emitted from the light emitter21is directly incident on the light receiver22without being reflected by the object or the like, and can suppress interference between the light emitter21and the light receiver22.

In the wall portion42for the proximity sensor, portion on the −X side extends so as to partition the light emitter21and the light receiver22from the force sensor13. This makes it possible to restrict the −X side of the detection range A10of the proximity sensor12and suppress various kinds of interference caused by the object or the like in contact with the force sensor13. For example, it is possible to avoid a situation in which the dome portion41for the force sensor deformed by the contact force comes into contact with the light emitter21or the light receiver22.

In addition, in the wall portion42for the proximity sensor, a portion on the +Z side is positioned on the opposite side to the light receiver22when viewed from the light emitter21, and a portion on the −Z side is positioned on the opposite side to the light emitter21when viewed from the light receiver22. The angular width A2of the detection range A10in the Z direction can be set to be narrowed by the portions on the ±Z side of the wall portion42. For example, even when there is an adjacent external light source such as other optical sensors1arranged in the Z direction, it is possible to suppress interference between the external light source and the proximity sensor12by blocking light from the external light source.

The elastic member4in the optical sensor1as described above may be configured to have different hardnesses in the dome portion41and the wall portion42. For example, the elastic member4may be formed by two color molding using a plurality of types of materials having different hardnesses. For example, the hardness of the dome portion41for the force sensor may be set to be softer than the hardness of the wall portion42for the proximity sensor. The flexibility of the dome portion41for the force sensor can facilitate giving an intuitive sensory feedback of deformation according to pressing of the force sensor13in an application such as an HMI.

In addition, the elastic member4may have optical characteristics of reflecting the detection light from the light emitter21, and may be made of a material having a reflectance of equal to or more than about 50%, for example. This makes it possible to easily guide the detection light in the proximity sensor12.

FIG.9is a circuit diagram illustrating an electrical configuration of the optical sensor1according to the present example embodiment. The optical sensor1of the present example embodiment may further include a sensor controller15as illustrated inFIG.9, in addition to the above-described structural configuration.

The sensor controller15includes, for example, a light emission control circuit51, a light reception control circuit52, a force sensor control circuit53, and an interface circuit54, as illustrated inFIG.9.

The light emission control circuit51includes, for example, a light source driving portion electrically connected to the light emitting element23. The light source driving portion supplies a driving signal to emit the detection light to the light emitting element23. The light emission control circuit51may include a modulator such as an AM modulator. For example, the light emission control circuit51may modulate the detection light by using specific frequencies in 10 Hz to 1 MHz or the like as modulation frequencies for periodically changing the amplitudes of the light. The modulation of the detection light facilitates distinguishing the detection light and its reflected light from the ambient light.

The light reception control circuit52includes, for example, an amplifier electrically connected to the light receiving g element24and an A/D (analog/digital) converter connected to the amplifier. The light reception control circuit52performs various signal processing on the light reception signal output from the light receiving element24, and outputs the signal to, for example, the interface circuit54.

For example, the light reception control circuit52performs processing to detect the proximity of an object based on the reception amount of reflected light in the light reception signal. The proximity detection processing in the optical sensor1is not limited to the reception amount of reflected light, and may be performed based on, for example, a phase difference between the reflected light and the detection light. Further, the proximity detection processing itself need not necessarily be performed in the optical sensor1, and may be performed by an arithmetic circuit or the like outside the optical sensor1. The optical sensor1can realize proximity detection of an object such as a target object by generating a light reception signal including the reflected light of the detection light in synchronization with the driving of the light emitter21.

The light reception control circuit52may perform filtering such as a band pass filter that passes a signal component including a modulation frequency of the detection light, or may perform synchronous detection in synchronization with the light emission control circuit51. For example, the light reception control circuit52can analyze the above reflected light by being separated from the ambient light by blocking a steady DC component. The modulation frequency of the detection light can be appropriately set, avoiding frequencies used in existing external systems, such as about 38 kHz used as carriers of an infrared remote controller. This makes it possible to suppress a malfunction of the optical sensor1caused by the external system.

The force sensor control circuit53includes a control circuit that controls the driving of various sensor elements of the force sensor element3in the force sensor13, an amplifier for an output signal from the sensor element, and the like. The force sensor control circuit53may include a circuit configuration to generate a force detection signal indicating a detection result of force in multiple axes based on the above output signal, for example. The force sensor control circuit53is not limited to the multiple axes, and may output a force detection signal of the detection result of force in one axis.

For example, when the force detection method is a piezoelectric method, the piezoelectric effects of one or more piezoelectric elements arranged on the substrate in the force sensor13are used, stress generated in the force sensor13due to contact with the object (FIG.7) is converted into charge by the piezoelectric element, and force is sensed from a change in the charge. In the case of the optical method, one or more light emitting elements and one or more light receiving elements arranged on the substrate in the force sensor13are used, and a change in the distribution of reflected light in the force sensor13caused by deformation due to contact with the object is read by the light receiving element to perform force sensing.

The strain resistance method uses one or more strain gauges arranged on the substrate in the force sensor13, and detects, as a resistance change, a strain transmitted to the strain gauge via the inside of the force sensor13due to deformation caused by contact of the object, and performs force sensing using the change. The capacitive method uses one or more capacitive sensing electrodes on the substrate in the force sensor13, and performs force sensing from a change in coupling capacitance between a reference potential and the capacitive sensing electrode, which changes due to deformation of the force sensor13caused by contact of the object. Note that in each method, it is possible to increase the number of axes of force sensing by using a plurality of various sensor elements such as a piezoelectric element, a light emitting/receiving element, a strain gauge, and a capacitive sensing electrode, which are included in the force sensor13.

The interface circuit54is connected to the light emission control circuit51, the light reception control circuit52, and the force sensor control circuit53. The interface circuit54connects the optical sensor1to an external device to input and output various signals.

Note that the configuration described above is an example, and the optical sensor1is not particularly limited to the configuration described above. For example, in the optical sensor1of the present example embodiment, any of the circuits51to54of the sensor controller15may be configured externally, or may be provided as a module separate from the circuits51to54of the sensor controller15. Further, a portion or an entirety of the functions of the sensor controller15may be incorporated in the control circuit60of the controller6.

As described above, the controller6in the present example embodiment is an example of a user interface device to be gripped by the user with the hand7. The controller6includes the grip61having dimensions in the radial direction Dr and the circumferential direction Dθ and extending in the longitudinal direction Dz, and at least one optical sensor1provided at the grip61. The optical sensor1includes the proximity sensor12including the light emitter23and the light receiver24, and the force sensor13to detect a contact force by an object such as the finger71of the hand7. The proximity sensor12emits light from the light emitter23in the predetermined detection range A10around the force sensor13, and detects a state in which an object is in proximity to the force sensor13in accordance with a light reception result obtained by light incident from the detection range A10to be received by the light receiver24. The detection range A10is set to be biased to the +X side, which is one side of both sides in the circumferential direction De, toward the outside in the radial direction Dr from the position of the force sensor13in the grip61, and is set to be a range wider in the circumferential direction Dθ than in the longitudinal direction Dz.

According to the controller6described above, since the detection range A10of the proximity sensor12of the optical sensor1is set to be biased to the +X side and to be wider in the circumferential direction Dθ than in the longitudinal direction Dz, the state of the object such as the finger71approaching the optical sensor1from the +X side is easily detected. This makes it easy to detect the state of being gripped by the user using the optical sensor1.

In the present example embodiment, the controller6includes the plurality of optical sensors1located at positions different from each other in the longitudinal direction Dz. The detection range A10of each of the optical sensors1has a first angular width α1in the circumferential direction Dθ and a second angular width α2 smaller than the first angular width α1in the longitudinal direction Dz. This makes it easy to suppress erroneous detection such as interference between the plurality of optical sensors1. For example, it is possible to easily suppress erroneous detection in a case where the plurality of fingers71of the hand7is set as detection targets of the different optical sensors1.

In the controller6of the present example embodiment, the force sensor13and the proximity sensor12are arranged side by side adjacent to each other in the circumferential direction De in the optical sensor1. The detection range A10of the proximity sensor12is biased to the side opposite to the force sensor13in the circumferential direction De. This makes it easy for the proximity sensor12to detect the process of the arrival of the object such as the finger71that is intended to apply the contact force to the force sensor13.

In the controller6of the present example embodiment, the optical sensor1is arranged at a position where the finger71of the hand7can contact with the optical sensor1in a state in which the grip61is gripped by the hand7. This makes it easy for the optical sensor1to detect various operations performed by the finger71of the hand7when the user of the controller6grips the grip61.

In the controller6of the present example embodiment, the proximity sensor12further includes the wall portion42, as an example of a light guide, which surrounds the light emitter23so as to guide the light emitted by the light emitter23to the detection range A10and/or surrounds the light receiver24so as to guide the light incident from the detection range A10to the light receiver24. As such, the wall portion42of the optical sensor1can easily realize the directivity of the detection range A10of the proximity sensor12.

In Example Embodiment 1, the controller6in which the directivity corresponding to the detection range A10of the optical sensor1is set by the wall portion42for the proximity sensor has been described. In Example Embodiment 2, an example in which a sealing resin of an optical sensor is used to set the above directivity will be described with reference toFIG.10andFIG.11.

FIG.10illustrates the configuration of an optical sensor1A in Example Embodiment 2.FIG.11is a cross-sectional view of the optical sensor1A taken along line A-A′ inFIG.10.

The optical sensor1A of the present example embodiment is provided at the controller6of the present example embodiment instead of the optical sensor1of Example Embodiment 1. The optical sensor1A of the present example embodiment is configured by changing the shapes of sealing bodies25A and26A of a light emitter21A and a light receiver22A from the same configuration as the optical sensor1of Example Embodiment 1, for example, as illustrated inFIG.10. In the present example embodiment, the sealing bodies25A and26A are examples of first and second translucent members, respectively.

In the present example embodiment, the sealing body25A of the light emitter21A has such a lens shape that refracts the detection light emitted from the light emitting element23(FIG.11) from a Y direction toward a +X side. For example, the sealing body25A is inclined on the upper side toward the +X side in an XY cross section as illustrated inFIG.11. According to such a lens shape, for example, the directivity such as the light distribution angle of the light emitter21A can be biased to the +X side. The inclination of the sealing body25A is not limited to a linear shape and may be a curved shape, and for example, may be a convex shape toward the +Y side.

Further, the sealing body25A may have a light condensing function of narrowing the light distribution angle of the light flux emitted to the +X side in a Z direction. The sealing body25A can be realized in a curved surface shape having a curvature in a YZ cross section as illustrated inFIG.10, for example. For example, the sealing body25A has a larger curvature in the Z direction than in an X direction. In addition, the sealing body25A is not particularly limited to a symmetrical shape as long as the sealing body25A has a curvature on the +X side where the finger71arrives, and may be configured in various shapes.

In addition, the sealing body26A of the light receiver22A can be configured similarly to the sealing body25A of the light emitter21A, for example. Note that both the sealing body25A of the light emitter21A and the sealing body26A of the light receiver22A do not have to have a lens shape as described above, and either one of them may have a lens shape.

According to the lens shapes of the sealing bodies25A and26A of the light emitter21A and the light receiver22A as described above, it is possible to improve the flexibility of the directivity control of the proximity sensor12in the optical sensor1A. Therefore, it is possible to set appropriate directivity as a configurable in accordance with various applications to which the optical sensor1A is used.

As described above, in the controller6of the optical sensor1A of the present example embodiment, the proximity sensor12of the optical sensor1A further includes at least one of the sealing body25A which is an example of the first translucent member and the sealing body26A which is an example of the second translucent member. The sealing body25A seals the light emitting element23so as to guide the light emitted by the light emitting element23to the detection range A10. The sealing body26A seals the light receiving element24so as to guide light incident from the detection range A10to the light receiving element24. According to the optical sensor1A, the directivity of the proximity sensor12can be easily controlled also in consideration of force detection by using the sealing bodies25A and26A.

In Example Embodiments 1 and 2, the controller6that controls the directivity by the configuration of the optical sensor1has been described. In Example Embodiment 3, a controller that controls the directivity by a cover for the optical sensor1will be described with reference toFIG.12toFIG.17.

FIG.12is a cross-sectional view illustrating the configuration of a controller6A according to the present example embodiment. The cross section ofFIG.12corresponds to an A-A′ cross section of Example Embodiment 2.FIG.13is a side view of the optical sensor1A in the controller6A of the present example embodiment as viewed from a +X side.

In the controller6A of the present example embodiment, for example, in the same configuration as that of Example Embodiment 2, a cover62covering the optical sensor1A includes a structure63to control the directivity of detection light. The cover62may be any of various members that cover the optical sensor1A, and may be configured integrally with the grip61, for example. In the controller6A of the present example embodiment, the optical sensor1A is arranged so as to be in contact with the cover62on the upper surface of the dome portion41for the force sensor, for example.

The cover62is made of a translucent material that is transparent to the wavelengths of the detection light emitted from the light emitting element23of the proximity sensor12in the optical sensor1A and has a refraction index larger than that of air. For example, the cover62can be made of optical glasses such as BK7, plastics such as polycarbonate and acrylic, silicone, or the like.

In the example ofFIG.12, the cover62includes a structure63defined by a portion cut so as to be inclined downwardly toward the +X side in the vicinity of the upper side of the proximity sensor12. According to the structure63of the cover62, the optical path of the detection light by the proximity sensor12is bent toward the +X side where the finger71arrives at the optical sensor1A in the controller6A, and the detection range A10is easily inclined to the +X side.

In addition, in the example ofFIG.13, the structure63of the cover has a lens shape having a curvature so as to narrow the directivity of light in a Z direction orthogonal to an X direction in which the finger71moves, above each of the light emitter21A and the light receiver22A. The structure63of the cover62may be provided only above one of the light emitter21A and the light receiver22A.

As described above, the controller6A of the present example embodiment further includes the cover62. The cover62covers the optical sensor1A so as to guide the light emitted by the light emitting element23in the optical sensor1A to the detection range A10and/or guide the light incident from the detection range A10to the light receiving element24. The cover62can also easily realize the directivity of the detection range A10of the optical sensor1A by the proximity sensor12.

Modification of Example Embodiment 3

In the controller6A of the present example embodiment, the structure to control the directivity of the detection light by the cover62is not particularly limited to the above example, and various structures may be adopted.

For example, the structure63of the cover62is not limited to the example ofFIG.12, and may have a thickness larger than that on a −X side, on the +X side from the vicinity of the upper side of the proximity sensor12, or may have a shape in which the inclination is further extended. Further, the structure63of the cover62may be provided for one of the light emitter21A and the light receiver22A.

FIG.14is a cross-sectional view illustrating the configuration of a controller6B according to Modification 1 of Example Embodiment 3.FIG.15is a side view of the optical sensor1A in the controller6B of the present modification. In the controller6B of the present modification, the structure63of the cover62may be configured in a shape that engages with the elastic member4of the optical sensor1A.

For example, as illustrated inFIG.14, according to the shape in which the structure63sandwiches the wall portion42of the proximity sensor12, the positional deviation in the X direction can be regulated. In addition, as illustrated inFIG.15, the inner diameters of the convex lens shapes of the structures63are set to be minor diameters that are fitted to the opening areas A1and A2of the proximity sensor12, and thus it is possible to suppress the movement of the cover62in a YZ plane. According to such a configuration, the structure63of the cover62functions as a positioning portion for the optical sensor1, and it is possible to eliminate the need to provide a separate positioning mechanism.

FIG.16is a cross-sectional view illustrating the configuration of a controller6C according to Modification 2 of Example Embodiment 3. In the controller6C of the present modification, the cover62includes a light diffusion portion64which is a portion functioning as a diffuser plate above the light emitter21A in the optical sensor1A. The light diffusion portion64diffuses the detection light generated in the light emitter21A of the optical sensor1when the detection light passes through the light diffusion portion64, and thus the detection light can be easily distributed in a wide range diffusively in the wide detection range A10.

The light diffusion portion64can be realized by, for example, etching (holographic diffuser) the surface of the corresponding portion of the cover62. Alternatively, the light diffusion portion64may be realized by adding a reflective filler to resin forming the cover62(white diffusion glass), or by sandblasting (ground glass) or the like.

As described above, in the controller6C of the present example embodiment, the cover62may include the light diffusion portion64that diffuses the light emitted by the light emitting element23and guides the light to the detection range A10. This makes it easy to widely distribute the detection light of the optical sensor1A in the detection range A10.

FIG.17is a side view illustrating the configuration of a controller6D according to Modification 3 of Example Embodiment 3. In the controller6D of the present modification, the cover62includes a transparent portion65that transmits the detection light from the proximity sensor12and a light shielding portion66that does not transmit the detection light. The transparent portion65is provided, for example, above the light emitter21A and above the light receiver22A.

The light shielding portion66is provided so as to define a slit-shaped transmission region as the transparent portion65in the cover62, and shields light in the wavelength band of the detection light outside the transmission region. The transmission region has, for example, a relatively narrow width in the Z direction and a relatively wide width in the X direction. The light shielding portion66may define the transmission region of one of the light emitter21A and the light receiver22A.

The light shielding portion66of the cover62is realized by adding an absorptive filler to the resin forming the cover62, applying an absorptive coating material to the surface of the cover62, adhering, or the like. According to the cover62of the present example embodiment, the detection range A10is easily regulated, and for example, it is possible to easily suppress erroneous detection between the plurality of optical sensors1or the plurality of fingers by the transmission region which is narrow in the Z direction.

As described above, in the controller6D of the present example embodiment, the cover62may include the light shielding portion66that shields the light emitted from the light emitting element23to the outside of the detection range A10and shields the light incident on the light receiving element24from the outside of the detection range A10. This makes it easy to regulate the detection range A10of the optical sensor1A.

In Example Embodiment 4, an example in which the optical method is adopted as a force detection method of an optical sensor in a controller will be described with reference toFIG.18toFIG.20.

FIG.18is a perspective view of an optical sensor1B in Example Embodiment 4.FIG.19is a cross-sectional view of the optical sensor1B taken along line B-B′ inFIG.18. The B-B′ cross section is a cross section passing through a force sensor13B along an XY plane.

In the optical sensor1B of the present example embodiment, for example, in the same configuration as the optical sensor1A of Example Embodiment 2, the force sensor13B is configured by the optical method. The optical force sensor13B includes, for example, as illustrated inFIG.19, a light emitting element31and a light receiving element32as a force sensor element3B. The light emitting element31and the light receiving element32may be sealed by a sealing body33made of, for example, a transparent resin.

Further, in the optical force sensor13B, the inside of the dome portion41for the force sensor may have a hollow structure or may be filled with, for example, a transparent plastic more flexible than the sealing body33. In addition, the inside of the dome portion41is configured to be able to reflect light from the light emitting element31, for example.

In the optical force sensor13B, the light emitting element31includes a light emitting source such as a single or multi-emitter VCSEL. For example, the light emitting element31emits light having a predetermined wavelength band such as an infrared region, and emits the light as detection light for force detection. The light emitting element31is not limited to the VCSEL, and may include various solid-state light source elements such as an LD or an LED. The light emitting element31may include a plurality of light source elements. The light emitting element31may be provided with an optical system such as a lens and a mirror that collimate light from the light emitting element.

The light receiving element32includes an optical receiver such as a PD, and is configured by arranging a plurality of optical receivers so as to surround the periphery of the light emitting element31, for example. The light receiving element32receives light such as reflected light of the detection light in the optical receiver and generates a light reception signal indicating, for example, the amount of received light as a light reception result. The light receiving element32is not limited to the PD, and may include various types of optical receivers such as a phototransistor, a PSD, a CIS, or a CCD.

The dome portion41for the force sensor includes, for example, an elastic member having a light shielding property with respect to the frequency band of the detection light from the light emitting element31.

The optical force sensor13B configured as described above detects the contact force of the object by using the fact that the receiving state of the reflected light by the light receiving element32is changed according to force from the object in contact, the detection light emitted from the light emitting element31being reflected by a reflector35. As a method of measuring the contact force in the optical method, a known technique can be appropriately applied.

According to the optical force sensor13B, it can be collectively formed by using the same manufacturing process as that of the proximity sensor12, and thus, the manufacturing of the optical sensor1B can be facilitated. For example, the sealing bodies25A and26A in the proximity sensor12and the sealing body33of the light emitting element31and the light receiving element32in the force sensor13B may be formed in the same process.

FIG.20is a circuit diagram illustrating an electrical configuration of the optical sensor1B according to Example Embodiment 4. In Example Embodiment 1, in the sensor controller15of the optical sensor1, the force sensor control circuit53is configured separately from the light emission control circuit51and the light reception control circuit52to control the proximity sensor12. A sensor controller15B of the optical sensor1B of the present example embodiment has the same configuration as that of Example Embodiment 1, but instead of the separate force sensor control circuit53(FIG.9), the control function of the force sensor13B is provided to a light emission control circuit51B and a light reception control circuit52B of the proximity sensor12.

For example, as illustrated inFIG.20, the light emission control circuit51B of the present example embodiment is configured to include, for example, a switch matrix or the like so as to control the light emitting element23of the proximity sensor12and the light emitting element31of the force sensor13B. Further, the light reception control circuit52B of the present example embodiment is configured to include, for example, a switch matrix or the like so as to control the light receiving element24of the proximity sensor12and the light receiving element32of the force sensor13B. This allows the control functions of both the proximity sensor12and the force sensor13B to be configured by the same circuit technology, which can reduce the number of components of the optical sensor1B and facilitate the integration of the circuit.

For example, the sensor controller15B of the optical sensor1B of the present example embodiment can be configured by a single IC or the like that is shared by the control function of the proximity sensor12and the control function of the force sensor13B. As described above, the optical sensor1B of the present example embodiment can be reduced in size and cost.

As described above, in the optical sensor1B of the present example embodiment, the optical force sensor13B includes, as the force sensor element3B, the light emitting element31different from the light emitting element23of the proximity sensor12and the light receiving element32different from the light receiving element24of the proximity sensor12. The sensor controller15B of the optical sensor1B includes the light emission control circuit51B that controls the light emitter21of the proximity sensor12and the light emitting element31of the force sensor13B, and the light reception control circuit52B that controls the light receiver22of the proximity sensor12and the light receiving element32of the force sensor13B. By optically configuring the proximity sensor12and the force sensor13B of the optical sensor1B, the manufacturing of the sensor structure is facilitated, in addition, the circuit configuration can be simplified, and the manufacturing of the optical sensor1B can be facilitated.

Other Example Embodiments

In the above example embodiments, the optical sensor1in which the wall portion42for the proximity sensor has the open end45has been described. In the present example embodiment, the wall portion42for the proximity sensor need not have the open end45, and may surround the entire circumference of the light emitter21and the light receiver22. Even in such a case, the detection range A10can be set to be inclined by a means different from the open end45. Such a modification will be described with reference toFIG.21.

FIG.21is a cross-sectional view illustrating a modification of an optical sensor1C in a controller. The optical sensor1C of the present modification example includes a flexible substrate11C in the same configuration as that of the optical sensor1of Example Embodiment 1 described above, for example.

In the optical sensor1C of the present modification, the substrate11C is, for example, a flexible substrate or a rigid flexible substrate. The substrate11C is configured to be bendable at a portion or the like corresponding to a groove between the dome portion41for the force sensor and the wall portion42for the proximity sensor. In addition, in the present modification, the elastic member4also has a hardness that allows bending at least at the base portion40corresponding to the above groove.

According to the optical sensor1C, as illustrated inFIG.21, the direction of the detection range A10of the proximity sensor12can be inclined to a +X side or the like with respect to the force sensor13, for example, by bending the substrate11C. Thus, for example, in a situation where an object to approach the force sensor13arrives from the +X side, the proximity sensor12can easily detect the approaching state before the object comes into contact with the force sensor13.

As described above, in the optical sensor1C of the present example embodiment, the substrate11C may have flexibility at least at a position between the dome portion41for the force sensor and the wall portion42for the proximity sensor in the elastic member4. This makes it possible to change the direction of viewing angle of the proximity sensor12with respect to the arrangement of the force sensor13, and to easily achieve both force detection and proximity detection.

Alternatively, in the optical sensor1of the present example embodiment, the wall portion42for the proximity sensor may be configured to have a height lower than other portions on the +X side. This also makes it possible to set the detection range A10of the optical sensor1to be inclined to the +X side. Further, in the optical sensor1of the present example embodiment, the wall portion42may be configured to surround one of the light emitter21and the light receiver22, or may be omitted.