Patent Publication Number: US-2021184611-A1

Title: Operation device and vibration generating device

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application is a continuation application of International Application No. PCT/JP2019/010391 filed on Mar. 13, 2019, and designated the U.S., which claims priority to Japanese Patent Application No. 2018-160752, filed on Aug. 29, 2018, the entire contents of which are incorporated herein by reference in their entirety. 
    
    
     BACKGROUND 
     1. Field of the Invention 
     The present disclosure relates to an operation device and a vibration generating device. 
     2. Description of the Related Art 
     Operation devices such as touch pads in which an input operation can be performed by touching a control surface have been widely used in recent years. When such an operation device is operated, an operator does not have a feel of operation, such as when operating a switching device, a potentiometer, or the like. In this regard, operation devices with force feedback are proposed in which when operated, control surfaces vibrate, thereby providing a mimic feel of operation. 
     For example, Patent document 1 discloses an interface module with a built-in actuator that supports a movable core from above and below, by using preloaded two elastic portions. Patent document 2 discloses a vibration generating device that includes supports with different natural lengths, and dampers, as well as including a voice coil motor, where the supports and the dampers are provided between a vibration panel and a body. 
     CITATION LIST 
     Patent Document 
     
         
         [Patent document 1] Japanese Translation of PCT International Application Publication No. 2013-540328 
         [Patent document 2] Japanese Unexamined Patent Application Publication No. 2016-163854 
       
    
     SUMMARY 
     According to the present disclosure, an operation device includes a movable portion including an operation member to be operated by pressing the operation member, and a vibration generating unit configured to cause the movable portion to vibrate in a first direction perpendicular to a control surface of the operation member. The operation device includes a fixed portion supporting the movable portion via a first elastic support to allow the movable portion to vibrate, a detecting unit configured to detect that the operation member is operated by pressing the operation member, and a control unit configured to drive the vibration generating unit in accordance with a detected result by the detecting unit. The vibration generating unit includes a movable yoke attached to the movable portion, and a fixed yoke attached to the fixed portion and disposed facing the movable yoke in the first direction. The vibration generating unit includes a permanent magnet attached to one yoke among the movable yoke and the fixed yoke, both ends of the permanent magnet in the first direction being opposite magnetic poles created by magnetization. The vibration generating unit includes an exciting coil attached to a different yoke from the one yoke among the movable yoke and the fixed yoke, the exciting coil being configured to induce magnetic flux in response to a current flowing through the exciting coil. In an initial state in which the current is yet to flow through the exciting coil, by a magnetic attractive force of the permanent magnet, the movable yoke is configured to be energized in a direction of moving closer to the fixed yoke in the first direction, the first elastic support being compressed between the movable portion and the fixed portion. The current flowing through the exciting coil causes a repulsive force to act between the movable yoke and the fixed yoke. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a perspective view illustrating the configuration of an operation device according to an embodiment; 
         FIG. 2  is a top view illustrating the configuration of the operation device according to the embodiment; 
         FIG. 3  is a cross-sectional view illustrating the configuration of the operation device according to the embodiment; 
         FIG. 4  is a plan view illustrating the configuration of an actuator; 
         FIG. 5  is a plan view of the actuator in  FIG. 4  from which a movable yoke and a permanent magnet are removed; 
         FIGS. 6A and 6B  are cross-sectional views illustrating the configuration of the actuator; 
         FIG. 7  is a cross-sectional view of the actuator taken along the II-II line in  FIGS. 4 and 5  from which the movable yoke and the permanent magnet are removed; 
         FIG. 8  is a diagram illustrating the relation between a compression amount of each first rubber portion and a reaction force exerted on the movable yoke; 
         FIG. 9  is a diagram illustrating the configuration of a controller; 
         FIG. 10  is a flowchart illustrating a process of the controller; 
         FIGS. 11A to 11C  are cross-sectional views of rubber portions according to the modification; and 
         FIG. 12  is a diagram illustrating an example of a component of the reaction force exerted on the movable yoke. 
     
    
    
     DESCRIPTION OF THE EMBODIMENTS 
     Related art information recognized by the inventor of this application is as follows. With respect to the interface module described in Patent document 1, a pose of the movable core is not stable and consequently the magnitude of the vibration may be unstable. Also, with respect to the vibration generating device described in Patent document 2, a pose of a yoke is not stable and consequently the magnitude of the vibration may be unstable. 
     The present disclosure has an object to provide an operation device and a vibration generating device that can generate stable vibrations. 
     According to the present disclosure described below, stable vibrations can be generated. 
     One or more embodiments of the present disclosure will be specifically described hereafter with reference to the accompanied drawings. Note that in the specification and drawings, the same numbers denote the components that have substantially the same functional configurations, and duplicate description for the components may be omitted. 
       FIG. 1  is a perspective view illustrating the configuration of an operation device according to an embodiment.  FIG. 2  is a top view illustrating the configuration of the operation device according to the embodiment.  FIG. 3  is a cross-sectional view illustrating the configuration of the operation device according to the embodiment.  FIG. 3  corresponds to a cross-sectional view of the operation device taken along the I-I line in  FIG. 2 . 
     As illustrated in  FIGS. 1 to 3 , an operation device  100  according to the embodiment includes a fixed base  110 , a bezel  120  fixed on the periphery of the fixed base  110 , and a decorative panel  141  inside the bezel  120 . An electrostatic sensor  142  is provided on the decorative panel  141  toward the fixed base  110 , and a touchpad  140  is constituted by the decorative panel  141  and the electrostatic sensor  142 . A movable base  130  is provided on the touchpad  140  toward the fixed base  110 . The movable base  130  includes a flat plate portion  131  that is wider than the touchpad  140  in a plan view, and includes a wall portion  132  extending from the edge of the flat plate portion  131 , toward the fixed base  110 . The fixed base  110  includes a flat plate portion  111  that is wider than the flat plate portion  131  in a plan view, and includes a wall portion  112  extending upwardly from the edge of the flat plate portion  111 , outside the wall portion  132 . The fixed base  110  includes a flange portion  113  protruding outwardly from the wall portion  112 . A lower end of the bezel  120  contacts the flange portion  113 . 
     An actuator  160  is provided on the flat plate portion  111 . The actuator  160  contacts the flat plate portions  111  and  131 . In a plan view, the actuator  160  is centrally situated approximately between the flat plate portions  111  and  131 . Further, multiple pretensioned springs  150  each of which pulls the flat plate portions  111  and  131  towards each other are provided. The touchpad  140  is an example of an operation member, and the movable base  130  and the touchpad  140  are included in a movable portion. The fixed base  110  is an example of a fixed portion, and the actuator  160  is an example of a vibration generating unit (vibration generating device). 
     A panel guide  190  in contact with the wall portions  112  and  132  is provided between the wall portion  112  and the wall portion  132 . The panel guide  190  may have elasticity, and guide the movable base  130  inside the fixed base  110 . 
     Multiple reflection-type photoelectric sensors  170  are provided on the flat plate portion  111  of the fixed base  110 . Each photoelectric sensor  170  irradiates the flat plate portion  131  of the movable base  130  above the photoelectric sensor  170 , with light, and then receives the light reflected by the flat plate portion  131 , thereby enabling a distance to a portion of the flat plate portion  131  to which light is emitted to be detected. For example, the photoelectric sensors  170  are arranged at inner positions relative to four corners of the touchpad  140 , in a plan view. Each photoelectric sensor  170  is an example of a detecting unit. 
     Further, a controller  180  is provided on the fixed base  110 . By the process described above, the controller  180  drives the actuator  160  in accordance with an operation of the touchpad  140  to thereby provide feedback on a tactile sense of a user. The controller  180  is a semiconductor chip, for example. In the present embodiment, the controller  180  is provided on the flat plate portion  111 . However, the location at which the controller  180  is provided is not limiting. For example, the controller  180  may be provided at a location such as between the touchpad  140  and the movable base  130 . 
     Hereafter, the configuration of the actuator  160  will be described.  FIG. 4  is a plan view illustrating the configuration of the actuator  160 .  FIG. 5  is a plan view of the actuator in  FIG. 4  from which a movable yoke and a permanent magnet are removed.  FIGS. 6A and 6B  are cross-sectional views illustrating the configuration of the actuator  160 .  FIG. 6A  corresponds to a cross-sectional view taken along the I-I line in  FIGS. 4 and 5 .  FIG. 6B  corresponds to a cross-sectional view taken along the II-II line in  FIGS. 4 and 5 . 
     As illustrated in  FIG. 4  to  FIG. 6B , the actuator  160  includes a fixed yoke  10 , a movable yoke  20 , an exciting coil  30 , first rubber portions  40 , second rubber portions  50 , and a permanent magnet  60 . The fixed yoke  10  includes a plate-shaped base  11  of which the planar shape is approximately rectangular. The longitudinal direction of the base  11  is given as the X direction, the short direction thereof is given as the Y direction, and the thickness direction thereof is given as the Z direction. Each first rubber portion  40  is an example of a first elastic support, and each second rubber portion  50  is an example of a second elastic support. The Z direction corresponds to a first direction, and the X direction corresponds to a second direction. 
     Further, the fixed yoke  10  includes a middle protrusion  12  protruding upright (Z direction) from the middle portion of the base  11 , and includes lateral protrusions  13  protruding upright (Z direction) from respective portions of the base  11  proximal to both ends of the base  11 , toward the longitudinal direction (X direction). Two lateral protrusions  13  are provided at a location at which the middle protrusion  12  is interposed between the lateral protrusions  13  in the X direction. The exciting coil  30  is wound around the middle protrusion  12 , between the two lateral protrusions  13 . Two first rubber portions  40  and one second rubber portion  50  are provided on each of the lateral protrusions  13 . In the Y direction, the second rubber portion  50  is situated between the two first rubber portions  40 . The middle protrusion  12  is an example of a first protrusion, and each lateral protrusion  13  is an example of a second protrusion. 
     The movable yoke  20  is plate-shaped and has an approximately rectangular planar shape. The movable yoke  20  contacts the first rubber portions  40  and the second rubber portion  50  at each end portion, in the longitudinal direction (X direction). The permanent magnet  60  is attached to the surface of the movable yoke  20  toward the fixed yoke  10 . Both ends of the permanent magnet  60  in the Z direction are opposite poles created by magnetization. For example, the face of the permanent magnet  60  toward the movable yoke  20  is an S pole, and the face of the permanent magnet  60  toward the fixed yoke  10  is an N pole. For example, the permanent magnet  60  is attached to the approximately middle portion of the movable yoke  20  in a plan view, so as to face the middle protrusion  12 . The permanent magnet  60  magnetizes the fixed yoke  10  and the movable yoke  20 , and thus the fixed yoke  10  and the movable yoke  20  are energized in a direction of coming closer to each other in the Z direction, through a magnetic attractive force. 
     When providing feedback on the tactile sense of the user, the controller  180  drives the actuator  160  such that the current in a direction in which a repulsive force between the movable yoke  20  and the fixed yoke  10  acts flows through the exciting coil  30 . For example, when the face of the permanent magnet  60  toward the fixed yoke  10  is an N pole, the controller  180  drives the actuator  160  such that a current in a direction in which a magnetic pole on the surface of the middle protrusion  12  toward the permanent magnet  60  becomes an N pole flows through the exciting coil  30 . Thus, when the current flows through the exciting coil  30 , a distance between the movable yoke  20  and the fixed yoke  10  is greater than a distance set in an initial state, and subsequently, when the current does not flow, the above distance between the movable yoke  20  and the fixed yoke  10  is again set to the distance in the initial state. In such a manner, when conduction of the current is repeatedly switched on or off, the movable yoke  20  reciprocates in the Z direction when viewed from the fixed yoke  10 . That is, by the current through the exciting coil  30 , the movable yoke  20  vibrates in the Z direction. 
     Hereafter, the first rubber portions  40  and the second rubber portions  50  will be described.  FIG. 7  is a cross-sectional view of the actuator taken along the II-II line in  FIG. 4  and  FIG. 5  in which the movable yoke  20  and the permanent magnet  60  are removed. As illustrated in  FIG. 7 , a free height (free length in the Z direction) H 1  of each first rubber portion  40  is higher than a free height (free length in the Z direction) H 2  of the second rubber portion  50 . Note, however, that each first rubber portion  40  is compressed by the movable yoke  20 , as illustrated in  FIG. 6B , because the permanent magnet  60  and the middle protrusion  12  attract each other, as described above. For example, each first rubber portion  40  has a similar height to the free height H 2  of the second rubber portion  50 , in an initial state in which the current is yet to flow through the  3 . 0  exciting coil  30 . Thus, in the initial state, each first rubber portion  40  is compressed between the movable base  130  and the fixed base  110  and exerts a reaction force in the Z direction on the movable yoke  20 . In contrast, each second rubber portion  50  is not compressed and thus a reaction force in the Z direction is not exerted on the movable yoke  20 . 
     The free height H 1  of each first rubber portion  40  is in the range in which the permanent magnet  60  can energize the movable yoke  20  in the direction of moving closer to the fixed yoke  10  by a magnetic attractive force, and the first rubber portions  40  are sandwiched between a given lateral protrusion  13  and the movable yoke  20 . That is, the first rubber portions  40  are sandwiched between the fixed yoke  10  and the movable yoke  20 . For this reason, unless intentionally disassembled, the first rubber portions  40  are held between the fixed yoke  10  and the movable yoke  20 . In contrast, although the lower end of each second rubber portion  50  is secured to the upper surface of a given lateral protrusion  13 , the upper end thereof only contacts the lower surface of the movable yoke  20  without being secured, and thus the upper end of each second rubber portion  50  can be separated from the movable yoke  20 . Note that each first rubber portion  40  may be secured to the upper surface of a given lateral protrusion  13 , the lower surface of the movable yoke  20 , or both. 
       FIG. 8  is a diagram illustrating the relation between a compression amount of each first rubber portion  40  and the reaction force exerted on the movable yoke  20 . As described above, there is a difference between the free heights of the first rubber portion  40  and the second rubber portion  50 , which indicates “H 1 −H 2 ”. In this case, as illustrated in  FIG. 8 , in the range of the compression amount (stroke) of less than “H 1 −H 2 ”, only each first rubber portion  40  exerts a reaction force on the movable yoke  20 . When the compression amount is equal to “H 1 −H 2 ”, the movable yoke  20  contacts the first rubber portions  40 , in addition to the second rubber portions  50 . Note, however, that each second rubber portion  50  is not deformed and does not exert a reaction force on the movable yoke  20 . The initial state according to the present embodiment corresponds to such a state. In the range in which the compression amount is greater than “H 1 −H 2 ”, the second rubber portions  50 , as well as the first rubber portions  40 , exert a reaction forces on the movable yoke  20 . 
     Hereafter, the driving of the actuator  160  by the controller  180  will be described. The controller  180  determines whether a load applied at an operation position of the touchpad  140  reaches a reference value causing feedback on the tactile sense. Based on a determined result, the controller  180  drives the actuator  160  to thereby provide the feedback on the tactile sense.  FIG. 9  is a diagram illustrating the configuration of the controller  180 . 
     The controller  180  includes a computer processing unit (CPU)  181 , a read only memory (ROM)  182 , a random access memory (RAM)  183 , and an auxiliary storage unit  184 . The CPU  181 , the ROM  182 , the RAM  183 , and the auxiliary storage unit  184  constitute a so-called computer. The components of the controller  180  are interconnected via a bus  185 . 
     The CPU  181  executes various programs stored in, the auxiliary storage unit  184  (for example, a program for determining a load). 
     The ROM  182  is a non-volatile main storage device. The ROM  182  stores various programs stored in the auxiliary storage unit  184 , as well as various programs, data, and the like to be required to be executed by the CPU  181 . Specifically, the ROM  182  stores a boot program and the like, such as a basic input/output system (BIOS) or an extensible firmware interface (EFI). 
     The RAM  183  is a volatile main storage device such as a dynamic random access memory (DRAM) or a static random access memory (SRAM). The RAM  183  serves as a work area to be expanded when the CPU  181  executes various programs stored in the auxiliary storage unit  184 . 
     The auxiliary storage unit  184  is an auxiliary storage device that stores various programs to be executed by the CPU  181 , as well as storing various data to be generated when the CPU  181  executes the various programs. 
     The controller  180  has the hardware configuration described above, and performs the following process.  FIG. 10  is a flowchart illustrating the process of the controller  180 . 
     First, the controller  180  detects the touchpad  140  (step S 1 ). Then, the controller  180  determines whether a finger is in contact with the touchpad  140  based on the output of the electrostatic sensor  142  (step S 2 ). If a finger is not contacted, the controller  180  cancels drift of each photoelectric sensor  170  (step S 3 ). 
     In contrast, when the controller  180  determines that a finger is in contact with the touchpad  140 , the controller  180  acquires a detected signal from each of the photoelectric sensors  170  (step S 4 ). For example, when an output signal of each photoelectric sensor  170  is an analog signal, the controller  180  acquires a digital signal into which the analog signal is converted. 
     Then, with respect to a detection position of each photoelectric sensor  170 , a displacement amount of the flat plate portion  131  in a Z-axis direction is calculated based on the detected signal of the photoelectric sensor  170  (step S 5 ). 
     Then, the controller  180  calculates a displacement amount Z of the touchpad  140  at a position where the touchpad  140  is operated, in the Z-axis direction (step S 6 ). In other words, the displacement amount Z at a given operation position, in the Z-axis direction, is calculated based on the displacement amount in the Z-axis direction, which is calculated based on detected signals by all or some photoelectric sensors among four photoelectric sensors  170 , as well as an X coordinate and a Y coordinate of the operation position that is detected by the touchpad  140 . 
     Further, the controller  180  preliminarily calculates a relation between an applied load and the displacement amount in the Z-axis direction, and stores the relation in the ROM  182 . Then, the controller  180  reads out the relation, and calculates a threshold (on-threshold) Zth with respect to the Z-axis direction, corresponding to the operation position (step S 7 ). 
     Then, it is determined whether the displacement amount Z exceeds the on-threshold Zth (step S 8 ). If the displacement amount Z exceeds the on-threshold Zth, the applied load is assumed to exceed a reference value and thus the actuator  160  is driven to provide feedback on the tactile sense (step S 9 ). In this case, the controller  180  drives the actuator  160  such that the current in a direction of a repulsive force to act between the fixed yoke  10  and the movable yoke  20  flows through the exciting coil  30 . 
     The controller  180  performs the operation described above. 
     In the operation device  100  with the configuration described above, in the initial state in which the current is yet to flow through the exciting coil  30 , by the magnetic attractive force of the permanent magnet  60 , the movable yoke  20  is energized in a direction of moving closer to the fixed yoke  10  in the Z direction, and further, the first rubber portions  40  are compressed between the movable base  130  and the fixed base  110 . Accordingly, the relative position of the movable yoke  20  with respect to the fixed yoke  10  in the Z direction is stable. 
     Also, when the touchpad  140  is pressed and operated by the user, the first rubber portions  40  and the second rubber portions  50  each exert the reaction force on the movable yoke  20 , and thus the position of the movable yoke  20  is difficult to vary. Accordingly, rattles of the actuator  160  caused by a press operation are unlikely to occur. In this regard as well, the relative position of the movable yoke  20  with respect to the fixed yoke  10  in the Z direction is easily stable. 
     In a plan view, the movable yoke  20  overlaps the middle protrusion  12  and the lateral protrusions  13 . That is, in the Z direction, the movable yoke  20  covers the middle protrusion  12  and the lateral protrusions  13 . Thus, by the magnetic attractive force of the permanent magnet  60 , the movable yoke  20  attempts to be stationary at the center of the fixed yoke  10  in each of the X direction and the Y direction, with the longitudinal direction of the movable yoke  20  aligned with the longitudinal direction of the fixed yoke  10 . Accordingly, the relative position of the movable yoke  20  with respect to the fixed yoke  10  is stable in each of the X direction and the Y direction. 
     In such a manner, the operation device  100  has excellent performance for self-positioning, and the relative position of the movable yoke  20  with respect to the fixed yoke  10  is easily stable in each of the X direction, the Y direction, and the Z direction. In other words, the pose of the movable yoke  20  is easily stable when viewed from the fixed yoke  10 . Accordingly, stable vibrations can be generated when feedback on the tactile sense is provided. 
     Further, when feedback on the tactile sense of the user is provided, the actuator  160  is driven such that the repulsive force acts between the fixed yoke  10  and the movable yoke  20 . Thus, the compression amount of each first rubber portion  40  changes to be less than “H 1 −H 2 .” The second rubber portions  50  are not secured to the movable yoke  20  and can be separated from the movable yoke  20 . For this reason, when the compression amount of each first rubber portion  40  is less than “H 1 −H 2 ”, each second rubber portion  50  does not exert the force on the movable yoke  20 . As a result, the position of the movable yoke  20  easily varies, thereby enabling the vibration amount to be increased. 
     As described above, in the operation device  100 , when the touchpad  140  is operated, the actuator  160  vibrates in a direction (first direction) perpendicular to the control surface of the touchpad  140 , in accordance with a given operation position and operation load of the touchpad  140 . The user feels vibrations from the control surface and thus can recognize how a given operation performed using the operation device  100  is activated, without viewing a display device provided with the operation device  100  or the like. For example, when the operation device  100  is provided in a center console for use of various switches in an automobile, a driver can recognize, based on vibrations generated by the actuator  160 , how a given operation performed by the driver is activated, without viewing the operation device  100 . 
     Note that in the initial state, the height of each first rubber portion  40  need not be the same as the free height H 2  of the second rubber portion  50 . For example, when the second rubber portions  50  are compressed, the height of each of the first rubber portions  40  and the second rubber portions  50  in the initial state may be lower than the free height H 2  of the second rubber portion  50 . In this case, the reaction force to be exerted in the press operation, in the initial state, becomes greater and thus the relative position of the movable yoke  20  with respect to the fixed yoke  10  in the Z direction can become more stable. For example, by increasing an elastic force of each pretensioned spring  150 , the second rubber portions  50  can be compressed in the initial state. 
     Also, in the initial state, the movable yoke  20  does not contact the second rubber portions  50  and thus a gap between the movable yoke  20  and each second rubber portion  50  may exist. In this case, when the touchpad  140  is pressed and operated to define a gap exceeding a size (predetermined amount) of the gap, the second rubber portions  50  are compressed. Even in this case, in the initial state, effects of stabilizing the relative position of the movable yoke  20  with respect to the fixed yoke  10  in the Z direction can be obtained. Further, the second rubber portions  50  may not be provided. Even in this case, effects of stabilizing the relative position of the movable yoke  20  with respect to the fixed yoke  10  in the Z direction can be obtained in the initial state. 
     The compression amount of each first rubber portion  40  in the initial state depends on, for example, an elastic force of each of the first rubber portions  40 , the second rubber portions  50 , the pretensioned springs  150 , and the like, as well as the magnetic force of the permanent magnet  60 . Thus, the above compression amount can be suitably adjusted from the choice of such options. 
     The upper end and the lower end of each first rubber portion  40  may be respectively secured to the movable yoke  20  and a given lateral protrusion  13 . Alternatively, the upper end of each first rubber portion  40  is secured to the movable yoke  20 , and the lower end of each first rubber portion  40  may be only closely attached to a given lateral protrusion  13  without being secured to the lateral protrusion  13 . Also, the lower end of each first rubber portion  40  may be secured to a given lateral protrusion  13 , and the upper end of each first rubber portion  40  may be only attached closely to the movable yoke  20  without being secured to the movable yoke  20 . By simply securing one among the upper end and lower end of each first rubber portion  40  to the movable yoke  20 , as well as attaching another end of each first rubber portion  40  closely without being secured, assembly activity can be improved. 
     The first rubber portions  40  and the second rubber portion  50  may be integrated.  FIGS. 11A to 11C  are cross-sectional view illustrating rubber portions according to the modification. As illustrated in  FIG. 11A , a rubber portion  70  with first portions  71  at both ends, each of which has a height lower than a height of a second portion  72  in the middle portion of the rubber, may be used instead of a combination of two first rubber portions  40  and one second rubber portion  50 . 
     As illustrated in  FIG. 11B , a rubber portion  80  having a height that is varied in three steps may be used. The rubber portion  80  includes first portions  81  at both ends, a second portion  82  in the middle portion of the rubber, and third portions  83  each of which is between a given first portion  81  and the second portion  82 . The first portions  81  are at the highest, and the second portion  82  is at the lowest. When the rubber portion  80  is used, for example, in an initial state, the first portions  81  and the third portions  83  are compressed by the movable yoke  20  and thus a gap is provided between the movable yoke  20  and the second portion  82 . An upper surface of the second portion  82  can be used as a receiving surface for an excessive pressing force. 
     As illustrated in  FIG. 11C , a rubber portion  90  with a continuously varying area to contact the movable yoke  20  may be used. If the area to contact the movable yoke  20  varies discontinuously (gradually), a user might feel a gradual change at a timing at which the area is varied. However, when the rubber portion  90  is used, such a feel of the gradual change can be mitigated. The rubber portion  90  has first portions  91  at both ends, a second portion  92  in the middle portion of the rubber, and third portions.  93  each of which is between a given first portion  91  and the second portion. The first portions  91  are the highest, and the second portion  92  is the lowest. Also, the height of each third portion  93  varies continuously between a given first portion  91  and the second portion  92 . When the rubber portion  90  is used, for example, in an initial state, the first portions  91  and the third portions  93  are compressed by the movable yoke  20  and thus a gap is provided between the movable yoke  20  and the second portion  92 . An upper surface of the second portion  92  can be used as a receiving surface for an excessive pressing force. 
     A compression amount of a given rubber portion in the initial state depends on, for example, an elastic modulus and height of each pretensioned spring  150 , the magnetic force of the permanent magnet  60 , and the like. Thus, the above compression amount can be suitably adjusted from the choice of such options.  FIG. 12  illustrates an example of a component of the reaction force exerted on the movable yoke  20 . For example, as illustrated in  FIG. 12 , the compression amount of each first rubber portion  40  can be adjusted by the sum of an elastic force F 1  of each pretensioned spring  150  and a magnetic force F 2  of the permanent magnet  60 . 
     Note that when the fixed base  110  supports the movable base  130  to allow the movable base  130  to vibrate and the first rubber portions  40  are compressed in the initial state between the fixed base  110  and the movable base  130 , the first rubber portions  40  may be provided outside the actuator  160 . Note, however, that in order to make the operation device compact, the first rubber portions  40  are preferably sandwiched between the movable yoke  20  and the fixed yoke  10 . 
     The operation member is not limited to an operation panel member such as the touchpad  140 . The operation member may be a push button having a control surface. 
     Note that one or more non-contact position detecting sensors such as electrostatic sensors may be used instead of the photoelectric sensors  170 . Also, a pressure-sensitive sensor may be used to detect pressure that is applied to the touchpad  140 . 
     In the above embodiments, the permanent magnet  60  is attached to the movable yoke  20 , and the exciting coil  30  is attached to the fixed yoke  10 . However, the permanent magnet  60  is attached to the fixed yoke  10 , and the exciting coil  30  may be attached to the movable yoke  20 . The second rubber portions  50  may be also secured to the movable yoke  20 , instead of the lateral protrusions  13 . 
     The operation device in the present disclosure is particularly suitable for an operation device provided in a center console in an automobile. The center console is provided with respect to a portion between a driver&#39;s seat and a front passenger&#39;s seat, and a given operation device provided in the center console may have a complicated planar shape. According to the operation device in the present disclosure, a magnitude of the vibration from a given control surface is stable, and feedback on the tactile sense can be suitably provided, even when a given operation member has a complicated planar shape. 
     The preferred embodiments have been described above in detail. However, the embodiments are not limiting. Various modifications and substitutions to the embodiments can be made without departing from a scope set forth in the claims.