JP2000020218A - Inner force sense presenting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inner force sense presenting device which is small-sized, lightweight, and inexpensive, hardly gets out of order, and never damages a user owing to a runaway. SOLUTION: This device consists of a shell member 2 formed of a flexible material, a tube 6 which is incorporated in the shell member and filled with a magnetic liquid 5, and a control means 9 which controls the flow of the magnetic liquid depending upon the movement of a body in the shell member. The fluid resistance of the magnetic liquid is varied by applying a magnetic field thereto to generates a desired reaction force and a means which applies the magnetic field to the magnetic liquid can be constituted so as to be small sized and light weight.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a novel force sense presentation device. More specifically, the present invention relates to a technique for providing a force sense presentation device that is small, lightweight, inexpensive, has few failures, and is not likely to damage a user due to runaway or the like.

[0002]

2. Description of the Related Art In a virtual world constructed as data on a computer, there is a virtual object operation system that can sense and operate a virtual object as if it were a real object.

[0003] By converting a three-dimensional position in a real space into three-dimensional coordinates of a displayed image (virtual space) using a technique such as computer graphics, a virtual hand of a user displayed in the image is converted. Correspondence between a position in the virtual space and a position in the real space can be taken, thereby enabling the user to operate the virtual object.

[0004] However, only by that, the user only visually feels that he is operating the virtual object, and cannot obtain a feeling as if he touched or grasped the virtual object.

[0005] In view of the above, in the virtual world, there have been proposed some force sense presentation devices for transmitting the above-mentioned senses to the user.

Conventionally, for example, a wire having one end fixed to a ring-shaped member fixed by using a band or the like between the joints of the fingers even if it is not glove type or a glove type is connected to a pulley or the like. A method of applying a force to each joint of a finger by winding the other end of each wire with a motor (see JP-A-6-324622), Some use an air cylinder instead of combining, and others use a vibrator.

[0007]

In a method of combining a wire and a motor or a method of using an air cylinder, a device to be mounted on a finger is not only bulky but also heavy, which is a factor that hinders free movement of a finger. In addition, it is difficult to use for a long time due to fatigue of the arms and hands. In the method using a vibrator, a so-called tactile sensation of touching a virtual object can be obtained to some extent, but a reaction force from the virtual object, that is, a force sense cannot be obtained.

Further, in these methods, since an external force is applied to the finger, if the applied force is too strong even during normal operation, or if an extremely strong force is applied due to abnormality (runaway) of the control device, etc. May cause damage to fingers.
Even if a safety device such as a limiter is provided to avoid this, it is difficult to guarantee 100% reliability of the limiter. It can also be avoided by using a motor with a small maximum torque, but in this case, the force of the user exceeds the torque of the motor, and often the original function of presenting a force sense cannot be performed. It can happen.

In order to solve the above problems,
A device that provides a reaction force to the operator by arranging a tube filled with a liquid instead of a wire around the finger and adjusting the flow resistance of the liquid may be considered. Since a mechanical solenoid valve is used as a means for adjusting the resistance, there is a possibility that a failure occurs in the solenoid valve, and the solenoid valve is large and heavy, which is burdensome to the operator. There is a problem that the shortcomings have not been overcome.

It is therefore an object of the present invention to provide a force sense presentation device which is small, lightweight, inexpensive, has few failures, and is not likely to damage a user due to runaway or the like.

[0011]

According to the present invention, there is provided a force sense presenting apparatus comprising:
In order to solve the above-described problems, an outer shell member formed of a flexible material, a tube incorporated in the outer shell member and filled with a magnetic fluid, and an outer shell member generated by movement of an object in the outer shell member. And control means for controlling the flow of the magnetic fluid.

Therefore, in the force sense presentation device of the present invention,
By applying a magnetic field to the magnetic fluid, the flow resistance can be changed to generate a desired reaction force, and the means for applying a magnetic field to the magnetic fluid can be made small and lightweight.

[0013]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a force sense presentation device according to an embodiment of the present invention. In addition,
The illustrated force sense presentation device is one in which the present invention is applied to a force sense presentation device for giving a force sense to a finger when a virtual object is operated by the finger.

The force sense presentation device 1 has an outer shell member 2 into which a user's hand can be inserted.

The outer shell member 2 is formed of a flexible material in a glove shape. The outer shell member 2 has a predetermined number of finger portions 3, 3,.
.. And the palm portion 4 so as to cover the fingers and palm of the operator up to the wrist. A plurality of tubes 6, 6, ... filled with magnetic fluids 5, 5, ... are incorporated in the outer shell member 2.

The outer shell members are arranged so that the tubes 6, 6,... Are positioned along the finger portions 3 on the back side (outside) and the abdomen side (inside) of the fingers of the user inserted into the finger portions 3. 2 is incorporated. Each of the tubes 6, 6,... Is hermetically sealed by the end portions 6a, 6a,... Of the finger portions 3 on the fingertip side, and the opposite end portions 6b, 6b,. And is connected to the storage tank 8. The storage tank 8 stores the magnetic fluids 5, 5,... In accordance with the state of the internal volume of the tubes 6, 6,.
, Or the magnetic fluids 5, 5,... Returned from the tubes 6, 6,.

Although these tubes 6 are formed of a flexible material, their tubes need to have a volume that does not change significantly due to the pressure received from the magnetic fluid 5 enclosed therein.

Near the wrist 7, each tube 6,
Are provided with control means 9, 9,... For controlling the flow of the magnetic fluids 5, 5,. The control means 9 includes a yoke 9 a having both ends sandwiching the tube 6 from both sides, and a coil 9 wound around the yoke 9 a.
b, a magnetic field is generated by the current flowing through the coil 9b, and the fluidity of the magnetic fluid 5 can be controlled by the magnetic field. The coils 9b, 9b,.
Are connected to a control device 10 for controlling the current flowing therethrough to adjust the strength of the generated magnetic field.

Then, the operator places his hand 11 on the wrist 1
It is used by inserting it into the outer shell member 2 up to the portion 2. At this time, the fingers 13, 13,... Of the operator are inserted into the finger portions 3, 3,. When the operator bends and stretches his / her finger 13, the outer shell member 2 and the tubes 6, 6,... Attached thereto are bent, and the inner volume of the tubes 6, 6,. With this, the magnetic fluids 5, 5, ... filled in the tubes 6, 6, ... flow. This magnetic fluid 5, 5,.
If the flow is blocked by the control means 9, 9,..., The magnetic fluids 5, 5,.
Is limited, the change in the internal volume of the tubes 6, 6,... Is also restricted, and the bending and stretching movements of the fingers 13, 13,. For example, if the flow of the magnetic fluids 5, 5, ... is completely stopped, the operator will not be able to bend and stretch the fingers 13, 13, ..., and the magnetic fluids 5, 5, ... , The operator needs a certain amount of force for bending and stretching of the fingers 13, 13,....

The fluidity of the magnetic fluids 5, 5,... Is adjusted by changing the strength of the magnetic field applied to the magnetic fluids 5, 5,. As described above, a magnetic field is generated by passing a current through the coils 9b, 9b,... If the current flowing through the coils 9b, 9b,. Fluid 5,
.. Become difficult to flow, and conversely, the coils 9b, 9b,
, The generated magnetic field is weakened, and the magnetic fluids 5, 5,... Can flow without receiving much resistance.

As described above, when the operator grasps a rigid body or a non-rigid body in the virtual space, the current flowing through the coils 9b, 9b,... By changing the fluidity of the magnetic fluids 5, 5, ... in the tubes 6, 6, ..., the degree of hardness felt by the operator's fingers 13, 13, ... can be changed. Therefore, various feelings can be given to the fingers of the operator.

In the force sense presentation device 1 described above, since an actual reaction force can be given to the operator instead of giving a pseudo force using vibration, the operator can actually operate the object. You can get the feeling as if you did.

In addition, the actual reaction force is presented not in a forced manner using a wire or the like, but in a form that hinders the operation of the operator. There is no risk of damaging the machine. Therefore, there is no need to provide a limiter for avoiding such danger, and the apparatus can be made compact and lightweight.

Further, since there is no need to use a mechanical mechanism for controlling the fluidity of the magnetic fluid, there is little trouble and the magnetic fluid itself in the tube can play a role in regulating the flow rate. The means for adjusting the flow rate of the fluid can be reduced in size and weight, and the burden on the operator can be reduced.

In the above-described embodiment, the outer shell member has a form covering the operator's hand up to the wrist. However, depending on the purpose of use, only a part of the hand such as a finger or a palm is used. May be covered, or conversely, may cover the arm side more widely than the wrist.

The tubes may not be arranged on both the back and the ventral side of the finger, but may be arranged on one of the back side and the ventral side. Alternatively, a plurality of tubes may be provided for one finger. May be arranged. Further, the tube may be arranged at a portion other than the finger. Further, the cross-sectional shape of the tube is not limited to a circle, but may be another shape.

The storage tank may or may not be mounted on the operator. Further, the connection between each tube and the storage tank is not made individually, and some tubes may be combined or all the tubes may be combined into one and connected to the storage tank in the middle.

Although a coil is used in the above embodiment as a means for controlling the fluidity of the magnetic fluid, other magnetic field generating means may be used. Further, the number of such control means is not limited to one for one tube, and a plurality of control means may be provided for one tube.

In short, the shape or structure of each part shown in the above embodiment is merely an example of the embodiment to be carried out when carrying out the present invention, and the technical scope of the present invention is not limited thereto. Should not be interpreted restrictively.

[0030]

As is apparent from the above description, the force sense presenting device of the present invention has an outer shell member formed of a flexible material and a magnetic fluid filled in the outer shell member. It is characterized by comprising a tube and control means for controlling the flow of the magnetic fluid generated by the movement of the object in the outer shell member.

Therefore, in the force sense presentation device of the present invention,
Since an actual reaction force can be given to the operator instead of giving a pseudo force using vibration, the operator can get a feeling as if he / she actually operated the object. Moreover, the actual reaction force is presented not in a forced manner using a wire or the like, but in a form that hinders the operation of the operator. There is no danger of giving. Therefore, there is no need to provide a limiter for avoiding such danger, and the apparatus can be made compact and lightweight.

Further, since there is no need to use a mechanical mechanism for controlling the fluidity of the magnetic fluid, the number of failures is small, and the magnetic fluid itself in the tube can play a role of regulating the flow rate. The means for adjusting the flow rate of the fluid can be reduced in size and weight, and the burden on the operator can be reduced.

According to the second aspect of the present invention, since the control means changes the flow resistance by applying a magnetic field to the magnetic fluid, the control means can be made small and lightweight. The burden on the person can be reduced.

According to the third and fourth aspects of the present invention, since the outer shell member is of a glove type, it is provided as a force sense presentation device for operating a virtual object with fingers. can do.

[Brief description of the drawings]

FIG. 1 shows an embodiment of a force sense presentation device of the present invention, and FIG. 1 schematically shows the entire configuration.

FIG. 2 is an enlarged cross-sectional view showing a distal end portion of a finger portion of an outer shell member.

FIG. 3 is a plan view of an outer shell member.

FIG. 4 is a detailed diagram of a control unit.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Force presentation apparatus, 2 ... Outer shell member, 5 ... Magnetic fluid, 6 ...
Tube, 9 ... Control means

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Tomoji Takekasa 6-35 Kita-Shinagawa, Shinagawa-ku, Tokyo F-term within Sony Corporation (reference) 3H081 AA18 BB05 FF25 FF48 HH10

Claims (4)

[Claims] An outer shell member formed of a flexible material; a tube incorporated in the outer shell member and filled with a magnetic fluid; and a flow of the magnetic fluid generated by movement of an object in the outer shell member. And a control means for controlling the force sense. 2. The force sense presentation device according to claim 1, wherein said control means changes a flow resistance by applying a magnetic field to a magnetic fluid. 3. The force sensation presentation device according to claim 1, wherein the outer shell member has a glove shape. 4. The force sense presentation device according to claim 2, wherein the outer shell member has a glove shape.