TACTILE SENSATION REPRODUCTION APPARATUS

A tactile sensation reproduction apparatus, includes an input device; and a control unit, wherein the input device includes a plurality of operation bodies that protrude in an opposite direction from the case, a position detection device that detects a protruded position of each of the operation bodies from the case, and a motor that provides a force to each of the operation bodies, wherein when it is detected that one of the operation bodies is moved toward the case earlier than the other of the operation bodies based on the detection signal from the position detection device, the control unit drives the motor such that the other of the operation bodies is also moved toward the case.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a tactile sensation reproduction apparatus capable of feeling, when gripping an operation body provided in an input device by a finger, a reaction force that simulates holding of a virtual held object by the finger.

2. Description of the Related Art

Patent Document 1 describes an invention regarding a virtual space display device.

The virtual space display device is configured to communicate between a terminal communication unit and a server, and a touch panel including a liquid crystal display and an input unit is provided at the terminal communication unit.

An image of a shopping mall is displayed on the liquid crystal display of the touch panel by communication from the server. When a user drags the touch panel, a scene in the displayed shopping mall can be moved, and when the user taps a product (merchandise) thumbnail in the image of the shopping mall, detailed information of the product is displayed in a screen. The user can temporarily collect products planning to buy at a stock area, and can by the products by a payment process on the stocked products.

According to the virtual space display device described in Patent Document 1, the user can confirm prices and colors of products that are displayed in a store of the shopping mall, and can search a product to buy by referring to detailed information of the product.

However, as it is impossible to actually touch the product by a hand, the user cannot feel a size or texture of the product by the hand. Further, when a product is a tool that cuts a workpiece or that bends a workpiece by an operation of a hand, it is impossible to feel at what feeling the operation is performed by the hand.

SUMMARY OF THE INVENTION

The present invention is made in light of the above problems, and provides a tactile sensation reproduction apparatus capable of reproducing an operation feeling near an actual state when operating a held object that mechanically acts such as a tool by a hand.

A tactile sensation reproduction apparatus, includes an input device; and a control unit, wherein the input device includes a plurality of operation bodies that protrude in an opposite direction from the case, a position detection device that detects a protruded position of each of the operation bodies from the case, and a motor that provides a force to each of the operation bodies, wherein when it is detected that the operation body is moved by being pushed toward the case based on the detection signal from the position detection device, the control unit drives the motor to give a reaction force to the moved operation body, and wherein when it is detected that one of the operation bodies is moved toward the case earlier than the other of the operation bodies based on the detection signal from the position detection device, the control unit drives the motor such that the other of the operation bodies is also moved toward the case.

According to the tactile sensation reproduction apparatus of the disclosure, when it is determined that one of the operation bodies is moved toward the case earlier than the other of the operation bodies for greater than or equal to a predetermined distance with respect to that of the other of the operation bodies, the other of the operation bodies may be controlled to follow the preceding operation body to be moved toward the case.

According to the tactile sensation reproduction apparatus of the disclosure, when one of the operation bodies that is moved toward the case is moved in a direction protruding from the case, in accordance with this, the other of the operation bodies may be returned to a position protruding from the case by power of the motor.

The tactile sensation reproduction apparatus of the disclosure may be configured such that a thumb operation body that is pushed and operated by a thumb, and a first opposing operation body and a second opposing operation body that are individually pushed and operated by an index finger and a middle finger, are provided in the input device, and the first opposing operation body and the second opposing operation body protrude in a direction opposite to a protruding direction of the thumb operation body.

The tactile sensation reproduction apparatus of the invention may further include a display device, and it is preferable that the control unit displays an image of a virtual held object and an image of a hand in a display screen of the display device, and when the operation bodies of the input device are held by a finger, an image in which the image of the hand holds the image of the held object is displayed.

According to the tactile sensation reproduction apparatus of the disclosure, the virtual held object includes a pair of holding portions including a common fulcrum to rotate, an image in which one of the holding portions is held by the thumb and the other of the holding portions is held by the index finger and the middle finger is displayed, and when the thumb operation body is pushed by the thumb or the first opposing operation body or the second opposing operation body is pushed by the index finger or the middle finger, the image is changed such that the pair of holding portions are approaching each other in the displayed image.

For example, the held object is a cut-off tool that is operated by being sandwiched by a thumb, an index finger and a middle finger.

Alternatively, the held object is cutting pliers that are operated by being sandwiched by a thumb, an index finger and a middle finger.

Alternatively, the held object is a stapler that is operated by being sandwiched by a thumb, an index finger and a middle finger.

According to the tactile sensation reproduction apparatus of the disclosure, when one of a plurality of operation bodies protruding from an input device is pushed earlier than the other of the operation bodies, following this, the other of the operation bodies is retracted toward a case. By adopting this structure, a holding feeling same as operating various products by a hand such as a tool in which holding portions are symmetrically acting in conjunction with each other can be reproduced.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

FIG. 1AandFIG. 1Billustrate a state in which tactile sensation reproduction apparatuses (haptic reproduction devices)1A and1B of the embodiment are respectively used.

The tactile sensation reproduction apparatus1A of the first embodiment illustrated inFIG. 1Ais constituted by a device body10A and an input device20. InFIG. 1A, a single input device20is used, and the input device20is operated by a right hand.

The input device20is connected to the device body10A by an electric cord52. A display device13is provided at the device body10A. The display device13is a color liquid crystal display panel, an electroluminescent display panel and the like. The device body10A is a personal computer, a display device for demonstration having a relatively large display screen, and the like.

As illustrated inFIG. 5, a display driver14for driving the display device13and a control unit15for controlling a display form of the display driver14are provided in the device body10A. The control unit15is mainly constituted by a CPU and a memory. Further, interfaces16for transmitting signals between the control unit15and the input device20are provided.

The tactile sensation reproduction apparatus1B of the second embodiment illustrated inFIG. 1Bis constituted by a device body10B and an input device20. InFIG. 1B, two same input devices20are used, and the input devices20are operated by a right hand and a left hand, respectively.

The device body10B includes a mask-shaped main body11mounted in front of eyes, and a strap12for mounting the mask-shaped main body11on a head.

The display device13is provided at the mask-shaped main body11of the device body10B. The display device13is provided in front of eyes of an operator and is configured to be viewable. The display driver14, the control unit15, the interfaces16and the like illustrated inFIG. 5are mounted on the mask-shaped main body11.

FIG. 2Aillustrates a perspective view of an appearance of the input device20seen from an upper side, andFIG. 2Billustrates a perspective view of an appearance of the input device20seen from a lower side.FIG. 3is an exploded perspective view of the input device20.FIG. 4illustrates a structure of a first tactile sensation generation unit30A, among three tactile sensation generation units included in the input device20. An X-Y-Z coordinate that is on the basis of the input device20is illustrated in each ofFIG. 2A,FIG. 3andFIG. 4. For the input device20, a Z direction is a pushing direction of each operation body.

In a usage example illustrated inFIG. 1AandFIG. 1B, the input device20is held at an attitude in which the Y direction is extending up and down by hand(s) of a human.

As illustrated inFIG. 2AandFIG. 2B, the input device20includes a case21made of synthetic resin. The case21has a size capable of being held by a single hand. The case21is configured by a combination of an upper case22and a lower case23. As illustrated inFIG. 3, the upper case22and the lower case23are capable of being separated in the Z direction. The upper case22and the lower case23are fixed with each other by screw means or the like, and a space for housing a mechanism is formed in the two cases22and23.

A surface of the upper case22that faces in the Z direction is a first surface22a, and a surface of the lower case23that faces in the Z direction is a second surface23a. As illustrated inFIG. 3, operation holes24and24each penetrating the first surface22ain the Z direction are formed at the upper case22. An operation hole25penetrating the second surface23ain the Z direction is formed at the lower case23. The operation holes24and24are aligned in the Y direction, and the open size of the operation hole25in the Y direction is larger than that of each of the operation holes24.

A connector insertion hole26is opened at an end surface of the upper case22that faces in the Y direction, and a power supply plug insertion hole27is opened at an end surface of the lower case23that faces in the Y direction.

As illustrated inFIG. 3, a mechanism chassis28is housed in the space for housing the mechanism in the case21. The mechanism chassis28is formed by bending a metal plate, and an attachment plate portion28athat is parallel to an X-Y plane, and a partition plate portion28bthat is parallel to a Y-Z plane are formed.

The first tactile sensation generation unit30A and a second tactile sensation generation unit30B are fixed at one side of the partition plate portion28bin an X direction. The first tactile sensation generation unit30A and the second tactile sensation generation unit30B are aligned in a Y direction. A single third tactile sensation generation unit40is placed at the other side of the partition plate portion28bin the X direction.

(Structure of Tactile Sensation Generation Unit)

FIG. 4illustrates a structure of the first tactile sensation generation unit30A.

The first tactile sensation generation unit30A includes a frame31that is formed by bending a metal plate30. The first tactile sensation generation unit30A is mounted on the mechanism chassis28by fixing the frame31to the partition plate portion28b.

A movable member32A is provided at the frame31. The movable member32A is formed by a synthetic resin material, and a first opposing operation body33A is fixed at a front portion of the movable member32A. The first opposing operation body33A is formed by a synthetic resin material. As illustrated inFIG. 2AandFIG. 2B, the first opposing operation body33A protrudes outside from the operation hole24formed at the upper case22.

As illustrated inFIG. 1AandFIG. 1B, when the input device20is held by a right hand, the first opposing operation body33A is pushed by an index finger, and as illustrated inFIG. 1B, when the input device20is held by a left hand, the first opposing operation body33A is operated by a middle finger.

As illustrated inFIG. 4, a guide long hole31cthat extends in the Z direction is formed at a side plate portion31aof the frame31. A slidable protruding portion32ais integrally formed at a side portion of the movable member32A, and the movable member32A is movably supported on the frame31in the Z direction by sliding the slidable protruding portion32ain the guide long hole31c. The movable member32A includes a concave portion32b. A compression coil spring34is interposed between the movable member32A and a lower end portion of the frame31, inside the concave portion32b. The movable member32A is pushed upward in the Z direction, in which the first opposing operation body33A protrudes from the upper case22, by an elastic force of the compression coil spring34.

A motor35A is fixed to the sidewall portion31aof the frame31. An output gear36ais fixed to an output shaft of the motor35A. A reduction gear36bis rotatably supported at an outer surface of the sidewall portion31a, and the output gear36aand the reduction gear36bare engaging with each other. A gear box37is fixed to the sidewall portion31aof the frame31, and a reduction mechanism is housed in the gear box37. A rotary force of the reduction gear36bis reduced by the reduction mechanism in the gear box37. The reduction mechanism in the gear box37is configured by a sun gear, a planet gear and the like.

A pinion (PIN pin)37ais fixed to a reduction output shaft of the gear box37. A rack portion32cis formed at a surface of a thick portion of the movable member32A, and the pinion37aand the rack portion32care engaging with each other. A teeth portion of the pinion37aand a teeth portion of the rack portion32care inclined teeth that are inclined with respect to the Y direction that is oblique to a moving direction of the movable member32A.

By providing the compression coil spring34, backlash between the pinion37aand the rack portion32ccan be eliminated. However, the compression coil spring34may not be provided in each of the tactile sensation generation units.

A position detection device38A is fixed at another sidewall portion31bof the frame31. The position detection device38A includes a stator portion fixed to the sidewall portion31band a rotor portion facing the stator portion and rotating. A rotor shaft provided at the rotor portion rotates with the pinion37a. The position detection device38A is a resistance variation type, and an arc resistive pattern is provided at the stator portion, and a slider that slides the resistive pattern is provided at the rotor portion. Here, the position detection device38A may be a magnetic detection type in which a rotation magnet is fixed at the rotor portion, a magnetic detection element such as a GMR element is provided at the stator portion, and a rotation angle of the rotor portion is detected by the magnetic detection element. Alternatively, the position detection device38A may be an optical position detection device.

As illustrated inFIG. 3, the second tactile sensation generation unit30B is fixed at the one side in the X direction while interposing the partition plate portion28bto be aligned with the first tactile sensation generation unit30A. As a structure of the second tactile sensation generation unit30B is the same as the structure of the first tactile sensation generation unit30A, detailed explanation is not repeated.

In the second tactile sensation generation unit30B, a second opposing operation body33B is fixed at an upper portion of a movable member32B in the z side. The second opposing operation body33B has a same shape and a same size as those of the first opposing operation body33A.

Further, in the second tactile sensation generation unit30B, although a motor is indicated by “35B” and a position detection device is indicated by “38B”, these are the same as the motor35A and the position detection device38A provided in the first tactile sensation generation unit30A, respectively.

As illustrated inFIG. 1AandFIG. 1B, when the input device20is held by a right hand, the second opposing operation body33B is pushed by a middle finger. As illustrated inFIG. 1B, when the input device20is held by a left hand, the second opposing operation body33B is operated by an index finger.

As illustrated inFIG. 3, the third tactile sensation generation unit40is provided at the other side of the partition plate portion28bof the mechanism chassis28.

Although the third tactile sensation generation unit40has a basic structure same as that of each the first tactile sensation generation unit30A and the second tactile sensation generation unit30B, the third tactile sensation generation unit40is formed slightly larger. In the third tactile sensation generation unit40, the movable member42is movably supported on a frame41in the Z direction, and a thumb operation body43is fixed as a front portion of the movable member42. The thumb operation body43protrudes downward in the drawing from the operation hole25of the lower case23. The movable member42is pushed by a compression coil spring44in a direction in which the thumb operation body43protrudes from the operation hole25. As described above, this compression coil spring44may be omitted.

A width of the thumb operation body43in the Y direction is formed to be larger than that of each of the first opposing operation body33A and the second opposing operation body33B, and both the first opposing operation body33A and the second opposing operation body33B are opposing the thumb operation body43in the Z direction. As illustrated inFIG. 1AandFIG. 1B, the thumb operation body43is operated by a thumb in both cases when the input device20is held by a right hand and by a left hand.

In the third tactile sensation generation unit40as well, a motor45is fixed to the frame41, and an output gear46afixed to an output shaft of the motor45engages with a reduction gear46b. A rotary force of the reduction gear46bis reduced by a reduction mechanism in a gear box47, and the reduced output is transmitted from a pinion to a rack portion formed at the movable member42. Then, the rotation of the pinion is detected by a position detection device48.

As illustrated inFIG. 3, a signal connector17and a power supply plug29are included inside the case21. The signal connector17is exposed inside the connector insertion hole26formed at the upper case22, and the power supply plug29is exposed inside the power supply plug insertion hole27formed at the lower case23.

As illustrated in the block diagram ofFIG. 5, a motor driver51is provided in each of the first tactile sensation generation unit30A, the second tactile sensation generation unit30B and the third tactile sensation generation unit40. Each of a motor35A provided in the first tactile sensation generation unit30A, a motor35B provided in the second tactile sensation generation unit30B, and a motor45provided in the third tactile sensation generation unit40is driven and rotated by the respective motor driver51.

Each of the motor drivers51is connected to the signal connector17via a respective interface17a.

As illustrated inFIG. 5, an attitude sensing unit53is provided in the case21of the input device20. The attitude sensing unit53is, for example, a magnetic sensor that detects geomagnetic or a vibrating gyro device, and can detect an attitude of the input device20in an operation space or a position of the input device20in the operation space. The attitude sensing unit53is connected to the signal connector17via the interface17a.

As illustrated inFIG. 5, the interfaces16are provided in the device body10A or10B, and a signal connector that is connected to each of the interfaces16and the signal connector17that is connected to each of the interfaces17aare connected by the electric cord52. The electric cord52includes a power supply line, and the power supply line is connected to the power supply plug29. Electric power is supplied from the device body10A or10B to the respective input device20via the power supply line.

The device body10A or10B and the respective input device20are capable of communicating with each other by an RF signal, and a battery may be included in the input device20. In such a case, the electric cord52connecting the device body10A or10B and the input device20is unnecessary.

Further, the device body10A or10B may have a communication function with a server.

Further, in each of the device body10A illustrated inFIG. 1Aand the device body10B illustrated inFIG. 1B, a sound production device is provided. The sound production device is a speaker that produces sound in a space, or a receiver that gives sound to ears of an operator.

Next, a method of operating the tactile sensation reproduction apparatus1A or1B and its operation are described.

(Operation of Input Device20and Setting of Reaction Force)

As illustrated inFIG. 2AandFIG. 2B, in the input device20, the first opposing operation body33A and the second opposing operation body33B protrude at the first surface22a, and the single thumb operation body43protrudes at the second surface22b, of the case21. The two opposing operation bodies33A and33B, and the thumb operation body43protrude in an opposite direction in the Z direction. As illustrated inFIG. 1AandFIG. 1B, the input device20is held by a single hand, the thumb operation body43is pushed and operated by a thumb, and the first opposing operation body33A and the second opposing operation body33B are pushed and operated by an index finger and a middle finger.

In the input device20, a control instruction is supplied from the control unit15to each of the motor drivers51, and the motor35A of the first tactile sensation generation unit30A, the motor35B of the second tactile sensation generation unit30B and the motor45of the third tactile sensation generation unit40are operated based on the control instruction.

By controlling rotations of the motors35A and35B and the motor45, the movable members32A and32B and the movable member42can be moved to desired positions and stopped at the positions, respectively. For example, it is possible to stop the first opposing operation body33A, the second opposing operation body33B and the thumb operation body43at positions that are protruded from the case21at the maximum, or to stop the operation bodies33A,33B and43at positions that are backslid in the case21at the maximum. Further, it is possible to stop the operation bodies33A and33B and the operation body43at desired positions between the maximum protruded positions and the maximum backslid positions, respectively.

Then, by controlling electric power supplied to each of the motors35A and35B and the motor45, rotors of the motors35A,35B and45can be retained by strong forces so that the operation bodies33A,33B and40protruded from the case21are not moved.

Under a state in which each of the movable members32A,32B and42is movable, when one of the first opposing operation body33A, the second opposing operation body33B and the thumb operation body43is pushed, and the respective movable member32A,32B or42is moved in a pushdown direction, a moved position is detected by the respective position detection device38A or38B, or the position detection device48and a detection output is supplied to the control unit15. The control unit15stores data regarding a line of action of a reaction force (coefficient of action of a reaction force) that indicates a relationship between a moved distance and a reaction force, and the motor35A or35B, or the motor45generates a torque in accordance with the pushed down position of the operation body33A,33B or43corresponding to the line of action of a reaction force. With this, a reaction force is given to an index finger and a middle finger pushing the opposing operation bodies33A and33B, and a thumb pushing the thumb operation body43.

FIG. 8AtoFIG. 8Cillustrate an example of data of a line of action of a reaction force (coefficient of action of a reaction force) stored in the memory in the control unit15. In each of the drawings, an axis of abscissas indicates a pushed down amount (pushed down position) of the operation body33A,33B or43, and the pushed down amount increases toward a right direction in each of the drawings.

An axis of ordinates indicates locomotion given by the motors35A,35B and45to the movable members32A,32B and42, respectively, and the locomotion becomes the reaction force given to each finger from the opposing operation body33A or33B, or the thumb operation body43. As a positive number of the axis of ordinates becomes larger, a force to protrude the opposing operation body33A or33B, or the thumb operation body43from the case21becomes larger, and a reaction force felt by a finger becomes larger. A number of the axis of ordinates of a chart illustrated in each ofFIG. 8AtoFIG. 8Cis a numerical value for controlling for setting a driving torque of the motor, and does not mean a physical unit of a force.

A solid line in a graph of each ofFIG. 8AtoFIG. 8Cindicates variation of a force given to each of the movable members32A,32B and42when each of the operation bodies33A,33B and43is pushed down and moved toward the case. A dashed line in the graph indicates variation of a force given to each of the movable member32A,32B and42when each of the operation bodies33A,33B and43is moved back in a direction protruding from the case21.

For example, in each ofFIG. 8AtoFIG. 8C, a chart of a solid line includes a horizontal linear line portion. This means that a reaction force felt by a finger is constant regardless of the pushed down position at which each of the operation bodies33A,33B and43is pushed toward the case21.

In each ofFIG. 8AtoFIG. 8C, there is an area where the solid line in the graph is increasing rightward substantially in accordance with a linear function. This means that, when pushing each of the operation bodies33A,33B and43toward the case21, a reaction force felt by a finger increases in proportion to the pushed down amount, and inclination of the solid line at this time corresponds to an elastic coefficient of the virtual held object when being pushed.

(Tactile Sensation Reaction Force when Operating Virtual Cut-Off Tool)

The tactile sensation reproduction apparatus1A or1B can make a hand of an operator feel a reaction force simulating situations of holding plural types of virtual held objects by a hand. Data of a line of action of a reaction force (coefficient of action of a reaction force) of each of plural types of virtual held objects is stored in the memory provided in the control unit15. Image data stored in the control unit15is supplied to the display driver14, images of the plural types of virtual held objects can be selectable to be displayed by the display device13illustrated inFIG. 1AorFIG. 1B, and an image of a hand is also displayed. These are displayed by computer graphics.

FIG. 6illustrates a state in which a cut-off tool60is displayed as a virtual held object in a display screen13aof the display device13. The cut-off tool60is a nipper and includes a pair of handles61and61and a cutting portion62for cutting by an operation to the handles61and61. A workpiece63that is cut by the cut-off tool60is illustrated in the display screen13a. The workpiece63is an image of a metal wire.

An image of a hand “H” is displayed in the display screen13a, and by a predetermined operation, the display is changed such that the image of the hand “H” presented in the display screen13amoves, and an image of the handles61and61of the cut-off tool60is held by the image of the hand “H”. For example, when moving the input device20while holding by a hand, the moved attitude is detected by the attitude sensing unit53and data regarding the attitude is provided to the control unit15. With this data, the display driver14is controlled, and the image of the hand “H” displayed in the display screen13ais moved to grip the handles61and61. Alternatively, by selecting the cut-off tool60as the held object by another operation member such as a keyboard, the display is changed such that the hand “H” presented in the display screen13aholds the image of the cut-off tool60.

When the cut-off tool60is selected as the virtual held object, each of the motors35A,35B and45is controlled, and an initial position of the opposing operation body33A or33B, or the thumb operation body43is set. When the virtual held object is the cut-off tool60, as illustrated inFIG. 7A, each of the opposing operation bodies33A and33B, and the thumb operation body43is set at an initial position at which they are protruded from the case21at the maximum.

The control unit15reads out the data of a line of action of a reaction force (coefficient of action of a reaction force) illustrated inFIG. 8AtoFIG. 8Cfrom the memory. Then, the control unit15controls each of the motors35A,35B and45based on the data of the line of action of a reaction force.FIG. 8Aillustrates a line of action of a reaction force given to the movable member42and the thumb operation body43from the motor45in the third tactile sensation generation unit40,FIG. 8Billustrates a line of action of a reaction force given to the movable member32A and the first opposing operation body33A from the motor35A in the first tactile sensation generation unit30A, andFIG. 8Cillustrates a line of action of a reaction force given to the movable member32B and the second opposing operation body33B from the motor35B in the second tactile sensation generation unit30B.

When an image in which the hand “H” holds the handles61and61of the cut-off tool60in the display screen13aas illustrated inFIG. 6, and when pushing the thumb operation body43, the first opposing operation body33A and the second opposing operation body33B of the input device20held by a right hand by a thumb, an index finger, and a middle finger, respectively, as illustrated inFIG. 1A, a display in the display screen13ais changed such that the handles61and61gripped by a thumb F1, an index finger F2and a middle finger F3of an image of the hand “H” are moving closer to each other. Then, when the handles61and61approach to a certain extent, an image is changed such that the linear workpiece63is cut by the cutting portion62.

During this series of operations, variation of a reaction force “Fa” (seeFIG. 7A) given to the thumb operation body43is as illustrated by a solid line inFIG. 8A, and a reaction force “Fa” indicated by a numerical value approximately “190” is felt by the thumb at a beginning of pushing. By further pushing the thumb operation body43, the reaction force “Fa” felt by the thumb is increased by substantially linear function. Then, when the handles61and61approach to a certain distance and the workpiece63is cut by the cutting portion62in the display screen13aillustrated inFIG. 6, the reaction force “Fa” acting on the thumb operation body43rapidly decreases from the maximum value and a numerical value of the reaction force becomes “0”. Thereafter, in order to reproduce a resistance force that acts on the thumb F1that grasps the handles61and61, the reaction force Fa acting on the thumb operation body43is recovered.

Variation of a reaction force “Fb” given to the first opposing operation body33A is as illustrated by a solid line inFIG. 8B, and basic variation of the reaction force is the same as that inFIG. 8A. However, an initial reaction force “Fb” at a beginning of pushing the first opposing operation body33A by an index finger is “0”. Further, the reaction force “Fb” given to the first opposing operation body33A is set to be smaller than the reaction force Fa given to the thumb operation body43from the beginning of pushing by the index finger until the reaction force becomes the maximum value right before the cutting operation.

Variation of a reaction force “Fc” given to the second opposing operation body33B is as illustrated by a solid line inFIG. 8C. Basic variation of the reaction force is the same as that inFIG. 8AandFIG. 8B. A numerical value of an initial reaction force “Fc” at a beginning of pushing the second opposing operation body33B by a middle finger is “approximately 110”, that is larger than the initial value of the reaction force “Fb” to the index finger and smaller than the initial value of the reaction force “Fa” to the thumb. Further, the maximum value of the reaction force “Fc” right before the cutting operation is almost the same value as the maximum value of the reaction force “Fb” that acts on the index finger illustrated inFIG. 8B.

According to the above described control of the reaction force, when pushing the thumb operation body43by the thumb, pushing the first opposing operation body33A by the index finger and pushing the second opposing operation body33B by the middle finger, tactile sensation can be obtained in which the reaction force generated when gripping the handles61and61of the cut-off tool60illustrated in the display screen13aofFIG. 6becomes larger and the reaction force after cutting the workpiece63is drastically lowered.

Here, when performing the cutting operation of the workpiece by gripping actual handles of the cut-off tool60by an actual hand, one of the handles61is pushed only by the thumb and the other of the handles61is pushed by a plurality of fingers such as the index finger and the middle finger, and the reaction forces are given between the thumb and the other plurality of fingers. Thus, in an actual operation, the reaction force that is larger than that on the index finger or the middle finger acts on the thumb. Further, for the middle finger and the index finger pushing the same handle61, as the middle finger strongly pushes the handle61, a reaction force larger than that on the index finger tends to act on the middle finger.

Further, as a thumb is short while an index finger and a middle finger are long according to a structure of a hand of a human, even though it is recognized that each finger is operated by a same force, actually, a force acts on the held object from the thumb becomes larger than that on the held object from the index finger or the middle finger.

Thus, as illustrated inFIG. 8AtoFIG. 8C, the reaction force “Fa” acting on the thumb operation body43is set to be larger than each of the reaction force “Fb” acting on the first opposing operation body33A and the reaction force “Fc” acting on the second opposing operation body33B from a beginning of pushing to reach the maximum value. This means that the reaction force given to the thumb from the thumb operation body43is set to be larger than the reaction force given from each of the two opposing operation bodies33A and33B to the index finger and the middle finger, respectively. By providing a difference in reaction forces as such, a feeling of a reaction force similar to a feeling actually grasping the handles61and61can be felt by a hand of a human.

Further, as illustrated inFIG. 8BandFIG. 8C, an initial value of the reaction force “Fc” acting on the second opposing operation body33B is set to be larger than an initial value of the reaction force “Fb” acting on the first opposing operation body33A. With this, an initial value of a reaction force given from the second opposing operation body33B to the middle finger becomes slightly larger than an initial value of a reaction force given from the first opposing operation body33A to the index finger. With this as well, an operation feeling as if actually operating the cut-off tool60can be felt by the thumb, the index finger and the middle finger that are operating the input device20.

Further, operations of fingers to the operation bodies33A,33B and43and variation of the image of the hand “H” in the display screen13aillustrated inFIG. 6are engaging with each other, and by generating a cutting sound such as a snapping sound or a clicking sound from a sound production unit when cutting the workpiece63by the cutting portion62, the operator can easily recognize a feeling as if actually operating the cut-off tool60.

When the cutting operation by the cutting portion62is completed, and pushing forces given to the operation bodies33A,33B and43from fingers are removed, as illustrated by a dashed line in each ofFIG. 8A,FIG. 8BandFIG. 8C, return locomotion is given from each of the motors35A,35B and45to each of the movable members32A,32B and42, and each of the operation bodies33A,33B and43is returned to an initial position that is protruded from the case21. As illustrated by the dashed line in each ofFIG. 8A,FIG. 8BandFIG. 8C, return forces given from the motors35A,35B and45to the movable members32A,32B and42, respectively, are controlled to be the same numerical value “80”.

(Tactile Sensation Reaction Force when Operating Held Object Including Pair of Holding Portions Approaching Each Other)

The nipper illustrated inFIG. 6is to grip the opposing handles61and61by a hand, and as a virtual held object that is operated by similarly gripping by a hand, a snip for cutting a metal, a scissors for cutting a paper, a scissors for cutting a plant and the like that are categorized into the same cut-off tool are exemplified. Further, as an object for giving an operation feeling of sandwiching a workpiece, pliers that are used to sandwich and bend a workpiece are exemplified. Further, as an object for operating by sandwiching by a thumb, an index finger and a middle finger, a stapler and the like is exemplified.

Each of these objects includes holding portions (handles or operating portions) such as the handles61and61illustrated inFIG. 6, that are symmetrically moved with respect to a common fulcrum as a center. For each of them, when one of the holding portions is pushed by a thumb, or the other of the holding portions is pushed by an index finger and a middle finger, the two holding portions are moved to approach each other. In other words, when one of the holding portions is pushed toward the other of the holding portions, inevitably, a distance between the holding portions becomes shorter.

Thus, in order to easily obtain an operation feeling stimulating such a held object, when either of the position detection devices38A,38B and48detects that either of the operation bodies33A,33B and43is pushed, it is possible to control to move the other of the operation bodies toward the case21for a same amount.

For example, as illustrated inFIG. 6, under a state in which the cut-off tool60is illustrated in the display screen13a, a thumb touches the thumb operation body43, an index finger touches the first opposing operation body33A and a middle finger touches the second opposing operation body33B, and the thumb operation body43is pushed down to a pushdown position “Sa” illustrated inFIG. 7Bby the thumb earlier than by other fingers. When this is detected by the position detection device48, the control unit15controls the motors35A and35B to automatically move the first opposing operation body33A to a position “Sb” that is closer to the case21, and the second opposing operation body33B to a position “Sc” that is closer to the case21. Protruding positions from the case21of the positions “Sa”, “Sb” and “Sc” of the operation bodies are the same.

Similarly, when the first opposing operation body33A is pushed down to the position “Sb” earlier, following this, the second opposing operation body33B is retracted to the position “Sc” and the thumb operation body43is retracted to the position “Sa”. Similarly, when the second opposing operation body33B is pushed down to the position “Sc” earlier, following this, the first opposing operation body33A is retracted to the position “Sb” and the thumb operation body43is retracted to the position “Sa”.

This means that the control unit15monitors position detection outputs from the three position detection devices38A,38B and48, and determines whether one of the operation bodies33A,33B and43is pushed earlier than the rest of the operation bodies for greater than or equal to a certain distance with respect to the other of the operation bodies. When it is determined that one of the operation bodies is pushed earlier for greater than or equal to a predetermined distance, following it, the rest of the operation bodies are retracted toward the case21.

Here, at this time, the reaction force based on the line of action of a reaction force (coefficient of action of a reaction force) illustrated inFIG. 8A,FIG. 8BorFIG. 8Cis given to the one, among the operation bodies33A,33B and43, that is pushed earlier.

Next, after all of the operation bodies are retracted, when the pushing force by either of the fingers is released, a reaction force is generated based on the line of action of a reaction force (coefficient of action of a reaction force) illustrated inFIG. 8A,FIG. 8BorFIG. 8C, and the operation body from which the pushing force is released is returned in a direction protruding from the case21earlier than the other of the operation bodies. At this time, the rest of the operation bodies follow this, and are returned in the direction protruding from the case21.

For example, when a predetermined period has passed after all of the operation bodies33A,33B and43are retracted in a direction approaching the case21by the motors, and thereafter, when one of the operation bodies is pushed, a reaction force is given to the operation body based on the line of action of a reaction force (coefficient of action of a reaction force) illustrated inFIG. 8A,FIG. 8BorFIG. 8C. Thus, thereafter, when a force of either of the fingers is weakened, the operation body at which that finger touches is returned. This returning motion is detected by the position detection device, the motors to drive the other operation bodies are started, and the other operation bodies are automatically moved in a direction departing from the case21by powers of the motors, and all of the operation bodies are returned to the initial position illustrated inFIG. 7A.

For example, by describing with reference to a state in which the cut-off tool60is displayed as illustrated inFIG. 6as an example, when the thumb operation body43is pushed by the thumb earlier than the other of the operation bodies, following this, the two opposing operation bodies33A and33B are retracted toward the case21. In accordance with this, the handles61and61, that are a pair of holding portions, approach each other in an image displayed in the display screen13aillustrated inFIG. 6, and a cutting operation is performed. When a force pushing the thumb operation body43by the thumb is released, the thumb operation body43is returned to a direction departing from the case21, and in accordance with, the two opposing operation bodies33A and33B are returned in a direction departing from the case21. Then, in the display screen13aillustrated inFIG. 6, the cutting operation is completed, and images of the handles61and61are moved in a direction departing from each other.

Next, when the opposing operation body33A or33B is pushed by the index finger or the middle finger earlier than the other of the operation bodies, following this, the late side opposing operation body and the thumb operation body43are retracted toward the case21, and the images of the handles61and61approach each other in the display screen13aillustrated inFIG. 6, and the cutting operation is performed.

However, at this time, even when one of the index finger and the middle finger is released from the respective opposing operation body33A or33B, while the opposing operation body is pushed by the other, all of the operation bodies do not protrude in a direction departing from the case21. When the position detection devices38A and38B detect that both of the index finger and the middle finger are moving away from the opposing operation bodies33A and33B, and the opposing operation bodies33A and33B are moved in a protruding direction, the first opposing operation body33A and the second opposing operation body33B are moved in a direction departing from the case21by the motors35A and35B, and in conjunction with this, the thumb operation body43is returned in a direction departing from the case21by the motor45.

By controlling as described above, an operation feeling similar to holding and operating a tool in which two holding portions are operated to rotate with a common fulcrum such as the nipper illustrated inFIG. 6by a hand can be obtained. Further, this simulation operation can be used for simulations and the like of any machines, devices and tools as long as the virtual held object includes moving potions that are symmetrically moved.1A,1B tactile sensation reproduction apparatus10A,10B device body11mask-shaped main body13display device15control unit20input device21case28mechanism chassis30A first tactile sensation generation unit30B second tactile sensation generation unit32A,32B movable member33A first opposing operation body33B second opposing operation body35A,35B motor38A,38B position detection device40third tactile sensation generation unit42movable member43thumb operation body45motor48position detection device