Mobile apparatus including two force-sense generating mechanisms

A mobile apparatus includes a casing; a first force-sense generating mechanism which selectively imparts, to the user who is carrying the casing; a force-sense of a first translation force directed toward one side in a first direction, and a force-sense of a second translational force directed toward the other side in the first direction; and a second force-sense generating mechanism which is arranged in the casing, at an opposite side of the first force-sense generating mechanism with respect to a straight line passing through a center of gravity of the mobile apparatus, and which selectively imparts a force-sense of a third translational force directed toward one side in a second direction which is substantially parallel to the first direction, and a force-sense of a fourth translational force directed toward the other side in the second direction.

CROSS-REFERENCE TO RELATED APPLICATION

The present application claims priority from Japanese Patent Application No. 2008-275251, filed on Oct. 27, 2008, the disclosure of which is incorporated herein by reference in its entirety.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a mobile apparatus that a user can carry such as, for example, a portable inkjet printer, a mobile telephone, a handset of a landline telephone, a digital still camera, a digital video camera, a portable video game console, a portable audio player, a controller of a stationary type video game console, or a TV remote controller.

2. Description of the Related Art

Such mobile apparatus includes a display unit such as a liquid-crystal panel, and a speaker, and it is possible to present information to the user by appealing to ears and eyes of the user by the abovementioned devices. For example, information indicating a status of an apparatus such as a remaining battery level, and information for teaching an operation procedure or an operating method of an apparatus is presented to the user. Moreover, in recent years, presenting information to the user by appealing to a force-sense by using an apparatus which is operated to impart a pseudo force-sense (pseudo tactile-force) when a translational force is generated in a casing has been proposed (refer to Japanese Patent Application Laid-open Nos. 2008-28774 and 2006-65665).

SUMMARY OF THE INVENTION

However, generally, mechanical components and electronic components which are necessary for operating the apparatus are already compactly arranged inside a casing of a conventional mobile apparatus, and it is difficult to arrange a force-sense generating unit newly. Under such circumstances, expanding a volume of the casing, and arranging a force-sense generating apparatus to drive into corner-portion space developed by the expansion of the volume of the casing is taken into consideration.

In this case, when the user holds a corner portion in which the force-sense generating apparatus is arranged, a direction in which a translational force generated in the casing by an operation of the force-sense generating apparatus acts may coincide with a direction of the force-sense perceived by the user. Therefore, a force-sense of the translation force in a desired direction is exerted to the user. However, when the user holds a corner portion at an opposite side thereof, there is a possibility that a force-sense by which the casing may be tilted with users hand as a supporting point is imparted to the user. When such force-sense is imparted to the user, the force-sense in the desired direction ceases to be imparted to the user, and there is a possibility that information which is about to be presented by appealing to the force-sense is not transmitted to the user accurately (appropriately).

Therefore, an object of the present invention is to stabilize a direction in which the force-sense imparted to the user who holds the casing of the mobile apparatus acts, and accordingly, to transmit the information presented upon appealing to the force-sense to the user accurately.

The present invention is made in view of the abovementioned circumstances. According to an aspect of the present invention, there is provided a mobile apparatus which is carriable by a user, including:

a casing;

a first force-sense generating mechanism which is arranged in the casing, and which selectively imparts, to the user who is carrying the casing, a force-sense of a first translation force directed toward one side in a first direction, and a force-sense of a second translational force directed toward the other side in the first direction; and

a second force-sense generating mechanism which is arranged in the casing, at an opposite side of the first force-sense generating mechanism with respect to a straight line passing through a center of gravity of the mobile apparatus, and which selectively imparts a force-sense of a third translational force directed toward one side in a second direction which is substantially parallel to the first direction, and a force-sense of a fourth translational force directed toward the other side in the second direction.

By making such a structure, by using the two force-sense generating mechanisms which generate the translational force at two locations which are mutually drawn apart (mutually separated), it is possible to impart a stable force-sense of a translational force which is not biased, to the user, irrespective of a location of holding in a case where the user is holding the casing.

As it has been described above, according to the mobile apparatus of the present invention, when the user is holding the casing, it is possible to stabilize a direction in which, the force-sense which is imparted to the user who is holding the casing acts, in a case where the user is holding the casing.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

An embodiment according to the present invention will be described below with reference to the accompanying diagrams. A mobile apparatus1shown inFIGS. 1and2is a portable electronic equipment, such as a mobile ink jet printer, a mobile telephone, a cordless handset of a land-line phone, a digital still camera, a digital video camera, a mobile game console, a mobile music player, a remote controller of a stationary game console, and a remote controller of a television. The mobile apparatus1includes a casing2which is formed of a size that is easy to carry for a user not shown in the diagram. Force-sense generating units4A and4B (a first force-sense generating mechanism and a second force-sense generating mechanism), which are operated such that a force-sense is imparted to the user who is holding the casing2, are provided in an internal space3formed in the casing2.

Firstly, a structure of the force-sense generating units4A and4B will be described below. As shown inFIGS. 1 and 2, the force-sense generating units4A and4B include translational motion mechanisms5A and5B, actuators6A and6B which drive the translational motion mechanisms5A and5B, and a force-sense controller7which controls an operation of the actuators6A and6B installed in the internal space3of the casing2. The force-sense controller7will be indicated by blocks functionally.

In the embodiment, two force-sense generating units4A and4B are provided in the internal space3formed in the casing2. The translational motion mechanisms5A and5B, and the actuators6A and6B are provided individually for each of the force-sense generating units4A and4B, and these two sets of the translational motion mechanisms5A and5B, and the actuators6A and6B are arranged in parallel mutually, at a distance. Whereas, the force-sense controller7is in singularity, and is provided in common to the two force-sense generating units4A and4B.

The translational motion mechanisms5A and5B are provided with guide rails8A and8B which are installed on two inner-side surfaces2aand2bwhich define the internal space3of the casing2. The two inner-side surfaces2aand2bare mutually parallel, and the two guide rails8A and8B are arranged to be mutually parallel in a direction of extension thereof. Weights (Spindles)9A and9B are non-rotatably but slidably supported by the guide rails8A and8B respectively, and the weights9A and9B are reciprocatable inside the casing2, along an extending direction of the guide rails8A and8B. Mail-screw holes10A and10B are cut through the weights9A and9B, and when the weights9A and9B are supported by the guide rails8A and8B respectively, axes of the male-screw holes10A and10B respectively are directed in the extending direction of the guide rails8A and8B. Ball screws11A and11B having threads of a male screw are screwed (inserted) through the male-screw holes10A and10B. The ball screws11A and11B are rotatably supported by bearings12A and12B installed inside the casing2, and are incapable of translation (translational motion) in a rotation-axis direction.

The actuators6A and6B include an electric motor such as a servo motor and a linear motor. Output shafts13A and13B which are capable of rotating in a normal direction and a reverse direction are provided to the actuator6A and6B respectively, and the output shafts13A and13B are coupled with end portions of the ball screws11A and11B respectively, via joints14A and14B. When the actuators6A and6B are driven, the output shafts13A and13B rotate, and a rotational driving force from the output shafts13A and13B is input to the ball screws11A and11B, thereby driving the ball screws11A and11B to be rotated in a predetermined direction. When the ball screws11A and11B which are incapable of the translation rotate, the weights9A and9B which are incapable of rotating in a rotational direction and a helical direction of the ball screws11A and11B are subjected to translational motion toward one of the extending direction of the guide rails8A and8B.

The force-sense controller7is connected to the actuators6A and6B via the drivers15A and15B, and controls a direction of rotation, a rotational velocity (speed) and a rotational acceleration of the output shafts13A and13B of the actuators6A and6B by outputting a control command to the drivers15A and15B. Accordingly, the direction of rotation, the rotational velocity, and the rotational acceleration of the ball screws11A and11B of the translational motion mechanisms5A and5B are controlled, and furthermore, a position, a direction of movement, a velocity, and an acceleration of the weights9A and9B are controlled.

Next, a basic operation of the force-sense generating unit4(force-sense generating units4A and4B) will be described below. For the convenience of explanation, a direction in which the weight9(weights9A and9B) reciprocates is let to be a ‘vertical direction’ according to the diagram. The velocity when the weight9moves upward is let to be positive (a positive velocity), and a velocity when the weight9moves downward is let to be negative. Regarding the sign of the acceleration generated in the weight9and the sign of the force which acts based on the acceleration are also defined by the abovementioned relationship.

FIG. 3is a timing chart explaining the basic operation of the force-sense generating unit4shown inFIG. 1. In an initial state, it is assumed that the weight9is positioned at a lower end of a range of movement, and a velocity V of the weight9is 0. As shown inFIG. 3, when the weight9undergoes translational motion in an upward direction from the initial state, positive accelerational is generated in the weight9, and the velocity V of the weight accelerates to a positive side. When a predetermined time t1is elapsed after the weight9starts moving, the weight9reaches a predetermined position x1(a central position of the range of movement in an example shown inFIG. 3), and thereafter, a negative acceleration a2is generated in the weight9, and the velocity of the weight9goes on decreasing. When a predetermined time t2has elapsed after the acceleration “a” has changed to negative, the velocity of the weight9becomes 0, and the weight9reaches an upper end of the range of movement. Next, the negative acceleration a2is generated in the weight9and the weight9moves downward while accelerating the velocity V to a negative side. When a predetermined time t3is elapsed after the direction of movement of the weight9has changed to be downward, the weight9reaches the abovementioned predetermined position x1, and thereafter, the positive accelerational is generated in the weight9, and the velocity V of the weight9goes on decreasing. When a predetermined time t4is elapsed after the acceleration a has changed to positive, the velocity V of the weight9becomes 0, and the weight9returns to the lower end in the range of movement. The force-sense generating unit4is structured such that this series of reciprocating movements of the weight9continues.

As shown inFIG. 4A, when the positive accelerational is generated in the weight9, a negative force F1(directed downward) is generated in the casing2due to a counteraction, and a translational force in a downward direction corresponding to the force F1is exerted by the casing2, onto a hand (palm) of the user who is holding the casing2. As shown inFIG. 4B, when the negative acceleration a2is generated in the weight9, a positive force F2(directed upward) is generated in the casing2, and a translational force in an upward direction corresponding to the force F2is exerted by the casing2, onto a hand (palm) of the user who is holding the casing2. When a mass of the weight9is let to be M, it is possible to obtain the forces F1and F2shown inFIGS. 4A and 4Bby expressions F1=M·(−a1), and F2=M·(−a2).

As shown inFIG. 3, an absolute value of the positive accelerational is higher than an absolute value of the negative acceleration a2, and an absolute value of the negative force F1is higher than an absolute value of the positive force F2(|a1|>|a2| and |F1|>|F2|). The force-sense controller7is structured to control the rotational velocity and the rotational acceleration of the output shaft13such that such movement of the weight9is realized. Accordingly, two asymmetrical forces of different magnitudes continuously act alternately on the user.

Here, a human being has a sensory property of being insensitive to a moderate force. A point that the sensory property of a human being has a nonlinearity is a known phenomenon (refer to Japanese Patent Application Laid-open Nos. 2008-28774 and 2006-65665). Therefore a description in detail of this point is omitted in this patent application.

As a result, the user in such situation, derived from user's own sensory property, has an illusion (a false feeling) that only a translational force in a downward direction which is a strong force as shown in a chart at the lowest stage inFIG. 3, has been acting. In other words, the force-sense generating unit4, by driving the actuator6(the actuators6A and6B) such that at the time of making the weight9reciprocate continuously, the absolute value of the positive acceleration generated in the weight9differs from the absolute value of the negative acceleration, is capable of imparting to the user holding the casing2, a pseudo force-sense which makes the user feel that a translational force in one side of the direction in which the weight9moves has been acting from is exerted by the casing2.

Typically, the mass of the weight9is about 20 g, and a length of a stroke and a magnitude of an acceleration of the reciprocating movement of the weight is in a range of about 5 cm to 10 cm, and 1 G to 5 G, respectively. Moreover, it is preferable that a frequency of the reciprocating movement of the weight9is in a range of few Hz to few tens of Hz, and particularly, is about 10 Hz. The mass, the stroke, the acceleration, and the frequency of the reciprocating movement of the weight9are not restricted to the figure in the abovementioned example, and may be set according to a size of the casing and a magnitude of the translational force which is to be generated. Moreover, the mass of the two weights9may vary, but is desirable to be the same. When the mass of the two weights9differs mutually, it is possible to make the magnitude of the translational force generated due to the reciprocating movement of the two weights9to be the same by setting appropriately the parameters such as the acceleration and the frequency of the reciprocating movement of the weight9. However, when the mass of both the weights9is same, a complicated control is not necessary for making the magnitude of the translational force same, and the parameters (such as the acceleration and the frequency) of the reciprocating movement of the two weights may be set to be the same.

An operation pattern of the weight9shown inFIG. 3is only an example, and various modifications which fall within a range in which the pseudo force-sense is imparted, are possible. For example, when the absolute value of the negative acceleration is let to be higher than the absolute value of the positive acceleration, the direction of the translational force which is sensed virtually (pseudolly) by the user becomes opposite. Moreover, for simplifying the explanation, a pattern in which the velocity V changes linearly has been shown. However, an arrangement may be made such that the velocity V changes nonlinearly, and the absolute value of the positive acceleration and/or the absolute value of the negative acceleration change/changes as the time elapses. At this time, the weight9is to be reciprocated such that the maximum value of the absolute value of the positive acceleration generated in the weight9and the maximum value of the absolute value of the negative acceleration generated in the weight9differ. The position x1of the weight9at which the acceleration “a” changes from positive to negative and vice versa is not restricted to a central position in the range of movement, and can be modified appropriately, and the time (t1+t2+t3+t4) which is necessary for the reciprocating movement of the weight9, can be set appropriately.

Moreover, it is also possible to change appropriately the structure (configuration) of the force-sense generating unit4shown inFIGS. 1 and 2. A structure in which the ball screw11(ball screws11A and11B) rotates in synchronization with the output shaft13has been shown as an example. However, a power transmission mechanism which converts the rotational velocity, or which converts the direction of rotation, or which converts the rotation-axis direction (the direction of axis of rotation) may be interposed between the output shaft13and the ball screw11. Moreover, the translational motion mechanism5has a structure such that the rotational driving force generated by the actuator6is converted to the translational movement of the weight9by using a screw mechanism. However, any structure may be used provided that it is possible to make the weight9reciprocate by making the positive acceleration and the negative acceleration differ. For example, the translational motion mechanism5may have a linear motor, or, may have a pulley and a belt coupled with a motor.

As it has been described above, in the embodiment, one mobile apparatus1is provided with two force-sense generating units4A and4B. The two force-sense generating units4A and4B include the weights9A and9B respectively, which are reciprocatable in a mutually parallel direction, and the operation (the movement) of the two weights9A and9B is controlled independently. Consequently, at the time of operating the two weights9A and9B, broadly speaking, the weights9A and9B are to be moved by one of the four operation patterns (movement patterns) shown inFIGS. 5A,5B,6A and6B.

FIG. 5Ashows an operation pattern in which, for both the weights9A and9B at left and right, the absolute value of the positive acceleration generated in the weights9A and9B is higher than the absolute value of the negative acceleration generated in the weights9A and9B. In this case, a pseudo force-sense which makes feel that a translational forces FLand FRin a downward direction based on the positive acceleration is imparted to the user from both left and right sides of the casing2, and as a result, a pseudo force-sense which gives a feeling of being pulled downward is imparted to the user by the casing2.FIG. 5Bshows an operation pattern in a case opposite to the case shown inFIG. 5A. In this case, the pseudo force-sense which gives a feeling of being pulled upward is imparted to the user by the casing2.

FIG. 6Ashows an operation pattern in which, for the weight9A at the left side, the absolute value of the positive acceleration is higher than the absolute value of the negative acceleration, and for the weight9B at the right side, the absolute value of the negative acceleration is higher than the absolute value of the positive acceleration. In this case, a pseudo force-sense which makes feel that a translational force FLin a downward direction based on the positive acceleration has been acting from a left side of the casing2, and a translational force FRin an upward direction based on the negative acceleration has been acting from the right side of the casing2is imparted to the user. As a result, a pseudo force-sense which makes feel as if a force of rotation in a counterclockwise direction has been acting from the casing2, is imparted to the user.FIG. 6Bshows an operation pattern in a case opposite to the case inFIG. 6A. In this case, the pseudo force-sense which makes feel as if the force of rotation in a clockwise direction has been acting from the casing2, is imparted to the user.

In such manner, the force-sense of one of the four types of pseudo force-senses according to the operation pattern (movement pattern) of the weights9A and9B may be imparted to the user. The positive acceleration generated in the weights9A is different from the negative acceleration generated in the weight9A. Similarly, the positive acceleration generated in the weights9B is different from the negative acceleration generated in the weight9B. In the operation patterns shown inFIGS. 5A and 5B, the direction of the larger acceleration generated in the weight9A is the same as that of the larger acceleration generated in the weight9B. In this case, the pseudo force-sense which makes the user feel that a translational force toward one of the directions in which the weights reciprocate has been acting, is imparted to the user. Whereas, in the operation pattern shown inFIGS. 6A and 6B, the direction of the larger acceleration generated in the weight9A is opposite to that of the larger acceleration generated in the weight9B. In this case, the pseudo force-sense which makes the user feel as if a rotational force in a plane regulated by two straight lines which are trajectories of movement of the weights9A and9B has been acting, is imparted to the user.

When the acceleration of the weights9A and9B of two force-sense generating units4A and4B provided inside the casing2is controlled independently in such manner, it is possible to impart various types of force-senses to the user, at a low cost. Besides, the two force-sense generating units4A and4B are installed on the inner-side surfaces2aand2brespectively which define the internal space3of the casing2, and the weights9A and9B reciprocate at positions close to the inner-side surfaces2aand2b. Therefore, the pair of weights9A and9B reciprocates at positions separated by a distance mutually, and a translational force is generated at both sides of the casing2by the reciprocating movement of the weights9A and9B. Consequently, the direction in which the pseudo force-sense which is imparted based on the translational force generated by the casing is stabilized irrespective of the locations at which the user holds the casing2. Therefore, in presenting information to the user by appealing to the force-sense, it is possible to transmit that information to the user accurately by using the two force-sense generating units4A and4B.

A concrete structure for presenting the information to the user by appealing to the force-sense by the operation of the two force-sense generating units4A and4B will be described below by citing a plurality of examples. However, the information which can be presented by appealing to the force-sense by using the two force-sense generating units4A and4B is not restricted to the following examples.

Firstly, as a first example, a mobile ink jet printer is used as a mobile apparatus according to the present invention, and a control, in which an operating method for correcting a posture of the ink-jet printer (hereinafter, called as a ‘posture-correction control’) is presented to the user by appealing to the force-sense by the two force-sense generating units, will be described below.

As shown inFIG. 7, a mobile ink jet printer51includes a casing52having a substantially rectangular parallelepiped shape. An ink jet head54which is configured to jet ink droplets, and an ink tank55which stores an ink to be supplied to the ink-jet head54are installed in an internal space53of the casing52. The ink tank55is structured in a cartridge form, and is detachable and replaceable. The ink tank55is connected to the ink jet head54via an ink supply channel56such as a tube.

Moreover, a main control section61which controls an overall operation of the mobile ink-jet printer51is provided in the internal space53of the casing52. The main control section61is connectable to a recording medium62which is detachably mounted from outside of the mobile ink-jet printer51, and controls a driving of the ink jet head54based on image information stored in the recording medium62. Moreover, the main control section61is driven based on an electric power supplied from a battery63.

The main control section61is connected to the force-sense controller7of the force-sense generating units4A and4B which are structured similarly as shown inFIGS. 1 and 2. The force-sense controller7controls the actuators6A and6B such that the weights9A and9B of the translational motion mechanisms5A and5B reciprocate and that a force-sense of the translational force in a direction based on a command from the main control section61is imparted to the user.

Moreover, a posture sensor64which detects a posture of the casing52is provided to the main control section61. The posture sensor64includes a reflective type photointerrupter.

FIG. 8is a diagram explaining the posture-correction control carried out by the main control section61shown inFIG. 7.FIG. 8also shows an exterior appearance of the mobile ink-jet printer51. Therefore, features of the exterior appearance of the mobile ink-jet printer51will be described below with reference toFIG. 8. As shown inFIG. 7, the posture sensors64are installed, on a lower surface of the casing52, one by one at both ends of the casing52, and detect an angle of inclination of the lower surface of the casing52with respect to a reflecting surface of a laser, by receiving a reflected light of the laser emerged from the posture sensors64.

Moreover, the ink-jet head54is mounted on the casing52to expose from the lower surface of the casing52, a nozzle opening surface54ain which nozzles for jetting ink droplets (not shown in the diagram) are formed. The user holds the casing of the mobile ink jet printer51in a hand H, and arranges the nozzle opening surface54ato face a recording medium M such as a paper which is located outside of the casing52, and scans the casing52with respect to the recording medium M, thereby making land the ink jetted from the ink jet head54at appropriate location on the recording medium M. Accordingly, it is possible to form an image, on the recording medium M, based on image information.

Since the ink jet head54jets an ink from the nozzle opening surface54ain a normal direction thereof, it is preferable that the nozzle opening surface54aand the recording medium M faces in parallel in order for forming an image accurately by making the ink land appropriately on the recording medium M. On the other hand, a memory which is not shown in the diagram is built-in in the main control section61(refer toFIG. 6), and an angle of posture, which is an angle of inclination with respect to the reflecting surface of the laser light located at the lower surface of the casing52when the nozzle opening surface54aand the recording medium M are parallel, is stored in the memory in advance as an optimum target posture for forming an image.

Next, the posture-correction control which is carried out by the main control section61of the mobile ink-jet printer51will be described below with reference toFIGS. 8A and 8B. As shown inFIG. 8A, the user, at the time of forming an image on the recording medium M, holds the casing52in the hand H such that the nozzle opening surface54afaces the recording medium M. When forming an image is assumed in such manner, the main control section51compares a current posture of the casing52(hereinafter, called simply as a ‘real posture of the casing52’) and a target posture stored in the memory which is not shown in the diagram, based on the information of angle of inclination, which is input from the posture sensor64, and finds a direction of rotation which is necessary for making the real posture of the casing52to be the target posture. However, whenFIG. 7Ais referred to, even when the casing is rotated by θ [deg] in the counterclockwise direction, or even when the casing52is rotated by (360−θ) [deg], the real posture of the casing52becomes the target posture. Therefore, the main control section61, for finding the direction of rotation which is necessary for making the real posture to be the target posture, selects a direction such that, the angle of rotation necessary for making the real posture to be the target posture becomes less than 180 [deg]. In other words, in a situation shown as an example inFIG. 8A, the counterclockwise direction is selected as this direction of rotation.

Moreover, the main control section61drives the two force-sense generating units4A and4B such that a pseudo force-sense which makes feel that a rotational force in this direction has been acting, is imparted to the user. In a situation shown as an example inFIG. 7A, the two force-sense generating units4A and4B are driven to have the operation pattern shown inFIG. 6B. The force-sense generating unit4A at the left side is driven such that a pseudo force-sense which makes feel that the translational force FLin the downward direction has been acting, is imparted to the user, and the force-sense generating unit4B at the right side is driven such that a pseudo force-sense which makes feel that the translational force FRin the upward direction has been acting, is imparted to the user.

Accordingly, the user virtually (pseudolly) feels that the rotational force in the counterclockwise direction is generated in the casing52. When the user rotates the casing52following this force-sense, as shown inFIG. 8B, the nozzle opening surface54abecomes parallel to the recording medium M, and it is possible to form an image accurately on the recording medium M.

In this manner, according to the first example, in the mobile ink jet printer51which is structured to form an image on the recording medium M while scanning the casing52by the user, an operation technique of as to how the casing52is to be rotated for having an optimum posture for forming an image by operating the two force-sense generating units4A and4B is presented to the user by appealing to the force-sense. It is possible to correct the posture only by rotating the casing52following the force-sense imparted to the user, and the user is capable of operating the mobile ink jet printer51intuitively. It is not possible to correct the posture only by making a mere parallel movement. Since it is possible to impart virtually (pseudolly) the rotational force to the user, the posture-correction control can be realized favorably by a mobile apparatus which is provided with two force-sense generating units.

Next, as a second example, a digital still camera which is structured to be capable of taking pictures is used as a mobile apparatus according to the present invention, and the posture-correction control of the digital still camera, which is carried out by making operate two force-sense generating units, will be described below.

FIG. 9is a block diagram, showing schematically a structure of a digital still camera shown as an example of the embodiment of the mobile apparatus according to the present invention. As shown inFIG. 9, a digital still camera71includes a casing72having a substantially rectangular parallelepiped shape. A shutter button74is provided on an upper surface of the casing72, and a plurality of operating buttons75and a display unit76are provided on a rear surface of the casing72.

As shown inFIG. 9, the digital camera71includes an image forming optical system for forming an image of light reflected from an object, and an image of the object is formed on an image pickup element (an imaging element)78made of a photoelectric transducer such as a CCD (charge coupled device). A lens barrel (not shown in the diagram) in which some of optical components forming the image forming optical system77are built-in, is provided on a front-surface side of the casing72, and the image pickup element78is arranged in an internal space73of the casing72.

Moreover, a main control section81which controls an overall operation of the digital still camera71is provided in the internal space73of the casing72. The main control section81is capable of imparting commands to the image forming optical system77to make changes in a setting of parameters of the image forming optical system77, such as an exposure time and a magnification, according to pressing of operating buttons75by the user. A slot which is not shown in the diagram is provided on a lower surface of the casing, and a recording medium82for storing image information, and a battery83which is a power source of the main control section81etc. are installed in the slot.

The main control section81processes an image signal which is input from the image pickup element78, and output the processed image signal to the display unit76to display image information which is processed in real time. Therefore, the display unit76can function as a finder. When the user frames an object in the display unit76and presses the shutter button74, the main control section81processes the image signal which has been input from the image pickup element78based on this operation, and stores the processed image information in the recording medium82. By this series of operations, a picture is taken by the digital camera71.

The main control section81is connected to the force-sense controller7of the force-sense generating units4A and4B structured similarly as shown inFIGS. 1 and 2. The force-sense controller7controls the actuators6A and6B such that the weights9A and9B of the translational motion mechanisms5A and5B reciprocate and that a force-sense of a translational force in a direction based on the command from the main control section81is imparted to the user.

Moreover, a posture sensor84which detects a posture of the casing72is provided to the main control section81. The posture sensor84includes an inclination-angle sensor (an angle of inclination sensor) which detects an angle of inclination of the casing72with respect to a horizontal direction. On the other hand, a memory which is not shown in the diagram is built-in in the main control section81, and an angle of inclination (posture) when the casing72is horizontal is stored in the memory in advance as an optimum target posture for taking a picture.

Next, the posture-correction control which the main control section81of the digital still camera71carries out will be described below with reference toFIGS. 10A and 10B. As shown inFIG. 10A, at the time of taking a picture, the user holds the casing72in a hand, and frames an object89in the display unit76as a finder. When such mode of taking a picture is assumed in this manner, the main control section81which is input from the posture sensor84, compares a posture (a real posture) of the casing72and a target posture which is stored in the memory based on information of angle of inclination, and finds a direction of rotation which is necessary for making the rear posture of the casing72to be the target posture. Moreover, the main control section81drives the force-sense generating units4A and4B such that a pseudo force-sense which makes feel that a rotational force in the direction of rotation found has been acting, is imparted to the user. In an example shown inFIG. 10A, the two force-sense generating units4A and4B are to be driven to have the operation pattern shown inFIG. 6Bfor imparting virtually (pseudolly) the rotational force in the counterclockwise direction. In this case, the force-sense generating unit4A at the left side is driven such that a pseudo force-sense which makes feel that the translational force FLin the downward direction has been acting, is imparted to the user, and the force-sense generating unit4B at the right side is driven such that a pseudo force-sense which makes feel that the translational force FRin the upward direction has been acting, is imparted to the user.

Accordingly, the user virtually feels that the rotational force in the counterclockwise direction is generated in the casing72. When the user rotates the casing72following this force-sense, as shown inFIG. 10B, the object89is framed to be horizontal in the finder, and it is possible to take a picture without the object89being inclined.

In this manner, according to the second example, in the digital still camera71, an operation technique of as to how the casing72is to be rotated for taking a picture without an object being inclined by operating the two force-sense generating units4A and4B is presented to the user by appealing to the force-sense. It is possible to correct the posture only by rotating the casing72following the force-sense imparted to the user.

Next, as a third example, a mobile telephone is used as a mobile apparatus according to the present invention, and an example in which a control for guiding (hereinafter, called as a ‘guidance control’) from a location at present up to a destination determined in advance by appealing to the force-sense, is carried out by operating the force-sense generating units will be described below.

FIG. 11is a block diagram, showing schematically a structure of a mobile telephone shown as an example of the embodiment of the mobile apparatus according to the present invention. As shown inFIG. 11, a mobile telephone91includes a casing92having a substantially rectangular parallelepiped shape, and a main control section101which controls an overall operation of the mobile telephone91is provided in an internal space of the casing92. The main control section101is connected to a display unit94which is provided at a front-surface upper portion of the casing92, and is capable of displaying appropriate image information on the display unit94. Moreover, the main control section101is connected to a push button95which is provided at a lower portion on a front surface of the casing92, and when the push button95is pushed, an operations signal is input to the main control section101.

Moreover, the main control section101is connected to a speaker96which is provided at an upper-end portion on the front surface of the casing92, and a microphone97which is provided at a lower-end portion on the front surface of the casing92, and is also connected to an antenna98via a transceiving section102. At the time of a call (telephonic conversation), a transceiving section102demodulates a reception frequency signal from a base station which has been received via the antenna98, and outputs to the main control section101. The main control section101processes the signal input from the transceiving section102, and outputs to the speaker96. On the other hand, the main control section101processes an audio signal input from the microphone97and outputs to the transceiving section102. The transceiving section102transmits to the antenna98upon converting to a transmission frequency signal, after modulating the signal from the main control section101.

Moreover, the main control section101is connected to a GPS (global positioning system) section105. The GPS section105receives radio waves for positioning from a GPS satellite which is not shown in the diagram, and computes information of a current location. Moreover, the GPS section105is accessible to a server at an outside, which is not shown in the diagram, and is capable of receiving map information of surrounding of the current location which is stored in the server. At least road information may be included in the map information, and information related to buildings in a surrounding area is not required to be included necessarily.

Furthermore, the main control section101is connected to the force-sense controller7of the force-sense generating units4A and4B formed similarly as shown inFIGS. 1 and 2. The force-sense controller7controls the actuators6A and6B such that the weights9A and9B of the translational motion mechanisms5A and5B reciprocate and that a force-sense of the translation force in a direction based on a command from the main control section101is imparted to the user.

Next, a guidance control which the main control section101of the mobile telephone91carries out will be described below with reference toFIG. 12. Prior to the guidance control, the user inputs position information of a destination in advance by pressing the push button95. Information of destination which has been input is stored in a memory103which is connected to the main control section101. Moreover, when the user imparts a command by pressing the push button95, the main control section101starts the guidance control. When the guidance control is started, the map information and the information of the current location which is received by the GPS section105is input successively to the main control section101.

Firstly, the main control section101generates image information based on the map information and the information of the current location received by the GPS section105, and the information of the destination stored in the memory103, and displays the image information on the display unit94. Accordingly, a road R in a vicinity of the current location is displayed based on the map information. Also a current-location indicator (index) P1is displayed by an asterisk etc., on the road R, and a destination indicator (index) P2is displayed by a flag mark etc. on the road R.

Moreover, the main control section101computes a necessary route reaching the destination from the current location based on the road information. In a situation shown as an example inFIG. 12A, a route which includes a course of action of three items namely, ‘go straight’, ‘turn left’, and ‘go straight’ is to be computed. Next, the main control section101drives the two force-sense generating units based on the information of the current location and the route which is computed.

InFIG. 12A, for the GPS section105to reach the destination from the current location, it is necessary to ‘go straight’ on the road R. In this case, the main control section101drives the two force-sense generating units such that a pseudo force-sense which makes feel that a translational force in the upward direction has been acting, is imparted to the user. In other words, the main control section101controls the two force-sense generating units such that a movement pattern is as shown inFIG. 5A, and a pseudo force-sense which makes feel as if being pulled upward by the casing92, is imparted to the user. When the user goes straight on the road following this force-sense, it is possible to move closer to the destination.

InFIG. 12B, it is necessary to take a left turn on the road R for reaching the destination from the current location. In this case, the main control section101drives the two force-sense generating units such that a pseudo force-sense which makes feel that a rotational force in the counterclockwise direction (leftward direction) has been acting, is imparted to the user. In other words, the main control section101controls the two force-sense generating units such that a movement pattern is as shown inFIG. 6B, and a pseudo force-sense which makes feel as if the casing92has been rotated leftward, is imparted to the user. When the user turns the road to left following the force-sense, it is possible to change the direction correctly toward the destination.

InFIG. 12, an example of a situation in which the user comes near an intersection is shown, and it is necessary to go straight on the road R for reaching the destination from the current location. In this case, the main control section101controls the two force-sense generating units similarly as shown in the example inFIG. 12A, and a pseudo force-sense which makes feel as if being pulled upward by the casing is imparted to the user. When the user goes straight on the road following the force-sense, it is possible to move correctly toward the destination.

In such manner, in this example, the user can reach the destination determined in advance from the current location only by moving in a direction in which the force imparted virtually from the casing of the mobile telephone acts.

As it has been described above, in the embodiment, it is possible to present the information not by appealing to eyes or ears, but by appealing to the force-sense. Therefore, the user can omit a troublesome task of interpreting information which is presented by appealing to the eyes and ears, and operating an equipment based on that interpretation, and can operate intuitively following the force-sense which is imparted to the user. Accordingly, an operability of the equipment is improved, and even when the user is not accustomed to handling electronic equipments, it is possible to operate easily.

In the embodiment described above, the two force-sense generating units have weights which are used exclusively for carrying out reciprocating movement for generating the force-sense. However, the present invention is not restricted to the weights, and, some other component which is assembled in the casing for some other application (for example, a battery) may also be used.

In the embodiment described above, as shown inFIG. 13A, two force-sense generating units201and202are arranged to be mutually parallel at almost two ends of a casing200. In other words, the two force-sense generating units201and202are arranged to be mutually parallel at symmetrical positions with respect to a centroidal line C which passes through a center of gravity of the casing200. However, the present invention is not restricted to such structure. For instance, as shown inFIG. 13B, the two force-sense generating units201and202may be arranged to be substantially parallel, at symmetrical positions with respect to the centroidal line C of the casing200. Moreover, as shown inFIG. 13C, the two force-sense generating units201and202may be arranged in parallel, at asymmetrical positions with respect to the centroidal line C of the casing200. Or, as shown inFIG. 13D, the two force-sense generating units201and202may be arranged to be substantially parallel, at asymmetrical positions with respect to the centroidal line C of the casing200. In such manner, in the present invention, the two force-sense generating units may be arranged on two sides of the center of gravity, sandwiching the center of gravity line of the casing. Moreover, the two force-sense generating units may not be necessarily arranged to be in parallel, and may be arranged to be substantially parallel. The shape of the casing is not restricted to a box-shape, and may be an arbitrary shape. Moreover, the two force-sense generating units are not required to be arranged necessarily in the internal space formed in the casing, and may be arranged on an outer side of the casing.

In the embodiment described above, the description is made by citing an example of a case in which the user holds the casing by hands. However, the present invention is not restricted to this case. For instance, as shown inFIG. 14A, the present invention is also applicable to a backpack navigation apparatus220in which a shoulder strap211is provided to a casing210having a box-shape, and which user can carry on shoulder. Here, a force-sense generating unit similar to the above-mentioned force-sense generating unit is incorporated in the casing210. The user, in a state of carrying the backpack navigation apparatus220on the shoulder, is capable of obtaining information related to direction, accurately through the force-sense. Therefore, the backpack navigation apparatus220according to the present invention is capable of guiding the user accurately from the current location to the destination which is determined in advance.

Moreover, as shown inFIG. 14B, the present invention is applicable to a head-mounted display230of a spectacle type. The head-mounted display230includes a display section231which is arranged at a position corresponding to a lens portion of spectacles, and which covers eyes of the user when user has worn the head-mounted display230, and two frame-rod sections232which are extended from the display section231. When the user has worn the head-mounted display230, the two frame-rod sections232extended to be pinching a side-head portion (temples) of the user, are placed on ears of the user. Here, the force-sense generating units similar to the force-sense generating units described above are incorporated in the two frame-rod portions232. The user, in a state of the head-mounted display230worn, is capable of obtaining correctly, the information related to directions through the force-sense.

In such manner, the mobile apparatus of the present invention, without being restricted to an apparatus to be carried by the user by hands, is also applicable to an apparatus which is to be carried by the user by wearing on a body.

The mobile apparatus according to the present invention is capable of letting the user obtain correctly the information related to directions. Therefore, the user carrying the mobile apparatus of the present invention is capable of carrying out an operation intuitively based on the information imparted by the force-sense. The mobile apparatus of the present invention is applicable favorably to various mobile apparatuses such as a mobile ink-jet printer, a mobile telephone, a cordless handset of a land-line telephone, a digital still camera, a digital video camera, a mobile game console, a mobile music player, an operating device of a stationary game console, and an operating device of a television. Moreover, the present invention is also applicable to a portable navigation apparatus which includes a display unit capable of displaying the current position together with the map, by using a GPS mechanism and a gyro mechanism, and by finding the current location by using the GPS mechanism and the gyro mechanism.