阅读说明：本技术 力觉提示装置 (Force sense prompting device ) 是由 佐藤诚 本多健二 于 2019-01-24 设计创作，主要内容包括：一种力觉提示装置,其具备右手用力觉提示单元和左手用力觉提示单元,其中,右手用力觉提示单元的上方框架的一侧和左手用力觉提示单元的上方框架的一侧呈直线状结合,力觉提示装置还具备：右手用后侧结合框架,其将右手用力觉提示单元的下方框架的一侧以在俯视时呈大致T字状的方式结合于右手用力觉提示单元中的上方框架的大致中间位置处；和左手用后侧结合框架,其将左手用力觉提示单元的下方框架的一侧以在俯视时呈大致T字状的方式结合于左手用力觉提示单元中的上方框架的大致中间位置处,能够协调地操作右手用力觉提示单元的末端执行器和左手用力觉提示单元的末端执行器。(A force sense presentation device provided with a right-hand force sense presentation unit and a left-hand force sense presentation unit, wherein one side of an upper frame of the right-hand force sense presentation unit and one side of an upper frame of the left-hand force sense presentation unit are linearly coupled, the force sense presentation device further comprising: a right-hand rear-side coupling frame that couples one side of a lower frame of the right-hand force sensation presentation unit to a substantially middle position of an upper frame of the right-hand force sensation presentation unit in a substantially T-shape in plan view; and a left-hand rear coupling frame that couples one side of the lower frame of the left-hand force sensation presentation unit to a substantially middle position of the upper frame of the left-hand force sensation presentation unit in a substantially T-shape in plan view, and that is capable of operating the end effector of the right-hand force sensation presentation unit and the end effector of the left-hand force sensation presentation unit in a coordinated manner.)

1. A force sense presentation device comprising a right-hand force sense presentation means and a left-hand force sense presentation means,

each of the force sense presentation units includes:

an end effector having a 1 st line grounding point, a 2 nd line grounding point, a 3 rd line grounding point and a 4 th line grounding point;

an upper frame and a lower frame located above and below the end effector;

a 1 st motor and a 2 nd motor provided at one side and the other side of the upper frame;

a 3 rd motor and a 4 th motor provided at the one side and the other side of the upper frame;

a 5 th motor and a 6 th motor provided at one side and the other side of the lower frame;

7 th and 8 th motors provided at the one side and the other side of the lower frame;

1 st and 2 nd lines connected between the line outlets of the 1 st and 2 nd motors and the 1 st line grounding point;

a 3 rd line and a 4 th line connected between the line outlets of the 3 rd motor and the 4 th motor and the 2 nd line grounding point;

a 5 th and a 6 th line connected between the line outlets of the 5 th and 6 th motors and the 3 rd line grounding point; and

a 7 th line and an 8 th line connected between line outlets of the 7 th motor and the 8 th motor and the 4 th line grounding point,

it is characterized in that the preparation method is characterized in that,

one side of the upper frame of the right-hand force sensation presentation unit and one side of the upper frame of the left-hand force sensation presentation unit are linearly combined,

the force sense presentation device further includes:

a right-hand rear-side coupling frame that couples one side of the lower frame of the right-hand force sensation presentation unit to a substantially middle position of the upper frame in the right-hand force sensation presentation unit in a substantially T-shape in plan view; and

a left-hand rear coupling frame that couples one side of the lower frame of the left-hand force sensation presentation unit to a substantially middle position of the upper frame of the left-hand force sensation presentation unit in a substantially T-shape in plan view,

the end effector of the right-hand force sensation presentation unit and the end effector of the left-hand force sensation presentation unit can be operated in coordination.

2. The force sensation prompting device according to claim 1,

the force sense presentation device further includes a shoulder strap or an inverted U-shaped fixing member that is coupled to the right-hand rear-side coupling frame and the left-hand rear-side coupling frame, respectively.

3. The force sensation prompting device according to claim 1,

the force sense presentation device further includes:

a right-hand intermediate upper frame that rotatably supports the rear-side coupling frame and the upper frame in the right-hand force sensation presentation unit;

a left-hand intermediate upper frame that rotatably supports the rear-side coupling frame and the upper frame in the left-hand tactile indication unit;

a right-hand intermediate lower frame that fixedly supports the rear-side coupling frame and the lower frame in the right-hand force sensation presentation unit; and

a left-hand middle lower frame that fixedly supports the rear-side coupling frame and the lower frame in the left-hand haptic unit.

4. The force sensation prompting device according to claim 1,

the force sense prompting device further comprises a support plate, and the rear side combining frame extends downwards and is fixed on the support plate.

5. The force sensation prompting device according to claim 1,

the end effector is provided with:

a 1 st linear member provided with the 1 st line grounding point and the 2 nd line grounding point;

a 2 nd linear member provided with the 3 rd line grounding point and the 4 th line grounding point; and

a clamping member for combining the 1 st linear member and the 2 nd linear member,

the 1 st linear member and the 2 nd linear member have a cross shape substantially orthogonal to each other in a plan view.

6. The force sensation prompting device according to claim 1,

the end effector is provided with:

a 1V-shaped component provided with the 1 st line grounding point and the 2 nd line grounding point;

a 2V-shaped component which is combined with the 1V-shaped component and is provided with the 3 rd line grounding point and the 4 th line grounding point; and

a holding member coupled to the 1 st V-shaped member or the 2 nd V-shaped member,

the 1 st V-shaped member and the 2 nd V-shaped member are substantially orthogonal in a cross shape in a plan view.

7. The force sensation prompting device according to claim 1,

a distance between the 1 st motor and the 2 nd motor, a distance between the 3 rd motor and the 4 th motor, a distance between the 5 th motor and the 6 th motor, and a distance between the 7 th motor and the 8 th motor are equal to each other.

Technical Field

The invention relates to a force sense prompting device capable of being worn on a wrist.

Background

In recent years, with the development of Head Mounted Displays (HMDs), by displaying the influence in a Virtual Reality (VR) space in front of the eyes, it is possible to provide a feeling as if it were in the VR space. That is, the HMD is a wearable visual device worn on the head of a person for use, and is capable of blocking outside information and displaying only the influence of the VR space so as to be immersed in the VR space without seeing outside information.

To achieve a real-world-like experience in the sense VR space, a force sense prompting device (haptic interface) is required: it suggests a force sense of feeling a virtual object in the VR space or feeling the weight of the virtual object. This allows the user to enter the VR space by both the visual sense and the force sense, and intuitively operate and feel a virtual object existing in the VR space.

Fig. 12 is a perspective view showing the whole of a conventional force sense presentation device (see patent document 1). In fig. 12, the force sense presentation device includes a right-hand force sense presentation unit and a left-hand force sense presentation unit symmetrically connected by a rear side coupling frame FR, each force sense presentation unit including: end effectors 1R, 1L with 1 st, 2 nd, 3 rd and 4 th ground-line points PAR, PBR, PCR, PDR, PAL, PBL, PCL, PDL; upper frames F1R, F1L and lower frames F2R, F2L located above and below the end effectors 1R, 1L; 1 st and 2 nd motors M1R, M2R, M1L and M2L provided on one side and the other side of the upper frames F1R and F1L; 3 rd and 4 th motors M3R, M4R, M3L and M4L provided at one side and the other side of the upper frames F1R and F1L; 5 th and 6 th motors M5R, M6R, M5L and M6L provided at one side and the other side of the lower frames F2R and F2L; 7 th, 8 th motors M7R, M8R, M7L, M8L provided at one side and the other side of the lower frames F2R, F2L; w1, 2 nd lines W1R, W2R, W1L, W2L connected between the line outlets of the respective 1 st and 2 nd motors M1R, M2R, M1L, M2L and the 1 st line grounding points PAR, PAL; the 3 rd and 4 th lines W3R, W4R, W3L and W4L connected between the line outlets of the 3 rd and 4 th motors M3R, M4R, M3L and M4L and the 2 nd line grounding points PBR and PBL; w5, 6 th lines W5R, W6R, W5L and W6L connected between the line outlets of the 5 th and 6 th motors M5R and M6R and the 3 rd line grounding points PCR and PCL; and 7 th, 8 th wires W7R, W8R, W7L, W8L connected between the wire outlets of the 7 th, 8 th motors W7R, W8R, W7L, W8L and the 4 th wire grounding points PDR, PDL, whereby the end effector 1R of the right-hand force sensation presentation unit and the end effector 1L of the left-hand force sensation presentation unit can be operated in coordination. In fig. 12, 1 is a user and 2 is an HMD.

According to the conventional force sense presentation device shown in fig. 12, since the end effector 1R of the right-hand force sense presentation means and the end effector 1L of the left-hand force sense presentation means cooperate with each other to provide force sense to both hands of the user, a wearable force sense presentation device can be realized.

Disclosure of Invention

Problems to be solved by the invention

However, the conventional force sense presentation device shown in fig. 12 has the following problems.

Fig. 13 is a perspective view showing frames F1R, F2R, F1L, and F2L of the force sense presentation device in fig. 12, and fig. 14 is a view for explaining distances between DC motors in frames F1R, F2R, F1L, and F2L in fig. 13, where (a) is a plan view and (B) is a right side view. In fig. 14, the frames F1R, F2R, F1L, F2L are inclined by 10 ° directly upward. Thereby, the user 1 can easily attach the force sense presentation device. In fig. 14, the distance between the DC motors on the frames F1R, F2R, F1L, F2L is 54 cm. In fig. 13 and 14, in order to maintain the overall rigidity, an "i" shaped front coupling frame FF is attached to the frames F1R, F2R, F1L, and F2L of fig. 12.

Fig. 15 shows a force sense expression region capable of expressing force sense from all directions in the case of the distance between DC motors on the frames F1R, F2R, F1L, F2L of fig. 14, in which (a) is a top view and (B) is a right side view. As shown in fig. 15, since the frames F1R, F2R, F1L, and F2L are inclined upward by 10 °, the force sensation expression region becomes a region in which two cubes of 38.18cm × 38.18cm × 72.68cm are inclined by 10 °.

In fig. 15, the area near the center of the user, i.e., -21.32cm < x <21.32cm, deviates from the force sensation expression area. Therefore, there is a problem that the efficiency of the force sense presentation is low.

Further, there is also a problem that: the size of the frame structure is enlarged to about 40cm × 120cm × 70cm, and the weight of the force indication device is also large. Therefore, an assistor is sometimes required to install the force presentation device.

Means for solving the problems

In order to solve the above problem, a force sense presentation device according to the present invention includes a right-hand force sense presentation unit and a left-hand force sense presentation unit, wherein each force sense presentation unit includes: an end effector having a 1 st line grounding point, a 2 nd line grounding point, a 3 rd line grounding point and a 4 th line grounding point; an upper frame and a lower frame located above and below the end effector; a 1 st motor and a 2 nd motor provided at one side and the other side of the upper frame; a 3 rd motor and a 4 th motor which are provided at one side and the other side of the upper frame; a 5 th motor and a 6 th motor provided at one side and the other side of the lower frame; 7 th and 8 th motors provided on one side and the other side of the lower frame; 1 st and 2 nd lines connected between the line outlets of the 1 st and 2 nd motors and the 1 st line grounding point; a 3 rd line and a 4 th line connected between the line outlets of the 3 rd motor and the 4 th motor and the 2 nd line grounding point; a 5 th line and a 6 th line connected between the line outlets of the 5 th motor and the 6 th motor and a 3 rd line grounding point; and a 7 th line and an 8 th line connected between the line outlets of the 7 th motor and the 8 th motor and a 4 th line grounding point, wherein one side of the upper frame of the right-hand force sensation presentation unit and one side of the upper frame of the left-hand force sensation presentation unit are linearly coupled, and the force sensation presentation device further includes: a right-hand rear-side coupling frame that couples one side of a lower frame of the right-hand force sensation presentation unit to a substantially middle position of an upper frame of the right-hand force sensation presentation unit in a substantially T-shape in plan view; and a left-hand rear coupling frame that couples one side of the lower frame of the left-hand force sensation presentation unit to a substantially middle position of the upper frame of the left-hand force sensation presentation unit in a substantially T-shape in plan view, and that is capable of operating the end effector of the right-hand force sensation presentation unit and the end effector of the left-hand force sensation presentation unit in a coordinated manner.

Effects of the invention

According to the present invention, the center area of the user can also be an effective force sense presentation area, and therefore, the force sense presentation efficiency can be improved. In addition, since the frame structure can be made smaller, it is possible to achieve a smaller size and a lighter weight. Therefore, the force sense presentation device can be easily attached without an assistant.

Drawings

Fig. 1 is an overall perspective view showing a force sense presentation device 1 according to an embodiment of the present invention.

Fig. 2 is a photograph of the force sensation presentation device of fig. 1 before installation.

Fig. 3 shows an outline of the force sense presentation device of fig. 1, in which (a) is a front view and (B) is a right side view.

Fig. 4 is a perspective view showing the left end effector of fig. 1.

Fig. 5 is a view illustrating translation and rotation of the end effector of fig. 1.

Fig. 6 is a diagram showing an operation state of the force sense presentation device of fig. 1.

Fig. 7 is a perspective view showing a frame of the force sense presentation device of fig. 1.

Fig. 8 is a view for explaining a distance between DC motors on the frame of fig. 7, where (a) is a top view and (B) is a right side view.

Fig. 9 shows a force sense expression region in which force sense can be expressed in all directions in the case of the distance between DC motors on the frame of fig. 8, where (a) is a plan view and (B) is a right side view.

Fig. 10 is a right side view showing a 2 nd embodiment of the force sense presenting device of the present invention.

Fig. 11 is a right side view showing the 3 rd embodiment of the force sense presenting device of the present invention.

Fig. 12 is an overall perspective view showing a conventional force sense presentation device.

Fig. 13 is a perspective view showing a frame of the force sense presentation device of fig. 12.

Fig. 14 is a view for explaining a distance between DC motors on the frame of fig. 13, where (a) is a top view and (B) is a side view.

Fig. 15 shows a force sense expression region in which force sense can be expressed in all directions in the case of the distance between DC motors on the frame of fig. 14, where (a) is a plan view and (B) is a right side view.

Detailed Description

Fig. 1 is an overall perspective view showing a 1 st embodiment of a force sense instruction device according to the present invention, fig. 2 is a photograph of the force sense instruction device of fig. 1 before installation, and fig. 3 is a schematic view of fig. 1, in which (a) is a front view and (B) is a right side view. The force sensation prompting device of fig. 1 and 3 is of a type that fixes a back frame to the chest.

In fig. 1 and 3, the right-hand force sense presentation unit constituted by the end effector 1R, the upper frame F1R, and the lower frame F2R and the left-hand force sense presentation unit constituted by the end effector 1L, the upper frame F1L, and the lower frame F2L are symmetrically joined together by the rear joining frames RFR, RFL. Shoulder straps B are coupled to the rear coupling frames RFR and RFL, and the force sensation presentation apparatus of the present invention is worn on the shoulders of the user 1 via the shoulder straps B. Instead of the shoulder straps B, the shoulder straps B may be hung on the shoulders of the user 1 by inverted U-shaped fasteners.

In the plan view, the upper frame F1R of the right-hand force sensation presentation unit and the upper frame F1L of the left-hand force sensation presentation unit are joined substantially linearly. In this case, the upper frame F1R and the upper frame F1L may be integrally formed.

In the right-hand force sensation presentation unit, the substantially middle position of the upper frame F1R and one side of the lower frame F2R are coupled to each other in a substantially T-shape by the right-hand rear coupling frame RFR in a plan view. Similarly, in the left-hand force sensation presentation unit, the substantially middle position of the upper frame F1L and the one side of the lower frame F2L are substantially T-shaped joined by the left-hand rear joining frame RFL in a plan view. In addition, the lower frame F2R and the lower frame F2L are connected by reinforcing frames F1, F2.

In fig. 1 and 3, wires W1R, W2R, …, and W8 35 8R made of metal or fiber are provided between four wire grounding points (fixed points) PAR, PBR, PCR, and PDR of a right-hand end effector 1R attached to the right hand of a user 1 and DC motors (or coreless motors) M1R, M2R, …, and M8R with rotary encoders (to be precise, pulleys as wire outlets directly connected to these motors) provided on frames F1R and F2R. Specifically, wires W1R and W2R are provided between the wire grounding point PAR of the end effector 1R and the DC motors M1R and M2R with rotary encoders (to be precise, directly connected pulleys as wire outlets), wires W3R and W4R are provided between the wire grounding point PBR of the end effector 1R and the DC motors M3R and M4R with rotary encoders (to be precise, directly connected pulleys as wire outlets), wires W5R and W6R are provided between the wire grounding point PCR of the end effector 1R and the DC motors M5R and M6R with rotary encoders (to be precise, directly connected pulleys as wire outlets), and wires W7R and W8R are provided between the wire grounding point PDR of the end effector 1R and the DC motors M7R and M8R with rotary encoders (to be precise, directly connected pulleys as wire outlets).

Similarly, wires W1L, W2L, …, and W8L made of metal or fiber are provided between 4 wire grounding points PAL, PBL, PCL, PDL of the left-hand end effector 1L attached to the left hand of the user 1 and DC motors (or coreless motors) M1L, M2L, …, and M8L with rotary encoders (to be precise, pulleys as wire outlets directly connected to these motors) provided on the frames F1L and F2L. Specifically, wires W1L and W2L are provided between the wire grounding point PAL of the end effector 1L and the DC motors M1L and M2L with rotary encoders (to be precise, directly coupled pulleys as wire outlets), wires W3L and W4L are provided between the wire grounding point PBL of the end effector 1L and the DC motors M3L and M4L with rotary encoders (to be precise, directly coupled pulleys as wire outlets), wires W5L and W6L are provided between the wire grounding point PCL of the end effector 1L and the DC motors M5L and M6L with rotary encoders (to be precise, directly coupled pulleys as wire outlets), and wires W7L and W8L are provided between the wire grounding point PDL of the end effector 1L and the DC motors M7L and M8L with rotary encoders (to be precise, directly coupled pulleys as wire outlets).

HMD2 is mounted on the head of user 1. A large-sized screen serving as a virtual image generation unit may also be used instead of the HMD 2.

The DC motors M1R, M2R, …, M8R, M1L, M2L, …, M8L, and HMD2 with rotary encoders of the end effectors 1R, 1L are connected to a DC motor controller (not shown) provided between the two rear side combining frames RFR, RFL. In addition, HMD2 and the DC motor controller are connected to a computer (not shown).

Fig. 4 is a perspective view showing the end effector 1L of fig. 1 and 3.

In the end effector 1L of fig. 4, linear members U1, U2 made of aluminum tubes are in a cross shape substantially orthogonal to each other in a plan view, and a clamp member U3 is coupled between the members U1, U2. Therefore, the user 1 grips the left hand. In this case, as shown in the photograph of fig. 2, the members U1 and U2 may be bent upward or downward to form a V-shape to directly couple the members U1 and U2, and the holding member U3 may be coupled to the member U1 or U2. The same applies to the end effector 1R.

As shown in fig. 5, each end effector 1R (1L) of the force sense presentation apparatus of fig. 1 performs a movement of 6 degrees of freedom in total of 3-axis 3 degrees of freedom in translation and 3-axis 3 degrees of freedom in rotation through lines W1R to W8R (W1L to W8L). Therefore, by operating the end effector 1R and the end effector 1L in coordination, it is possible to realize a 6-degree-of-freedom translation and rotation operation of the virtual object P in fig. 6 in the VR space using both hands. That is, the user 1 wears the force sense presentation device on the front as a front backpack and attaches the end effectors 1R and 1L to both hands. By mounting HMD2 on the head of user 1, it is immersed in the VR space, and the virtual object P is operated with both hands. The force sense at this time is fed back to the user 1 via the end effectors 1R and 1L, and the user 1 can get a sense of grasping or moving the virtual object P.

Fig. 7 is a perspective view showing frames F1R, F2R, F1L, and F2L of the force sense presentation device of fig. 1, and fig. 8 is a view for explaining distances between DC motors on frames F1R, F2R, F1L, and F2L of fig. 7, (a) is a plan view, and (B) is a right side view. In fig. 8, the distance between the DC motors on the frames F1R, F2R, F1L, F2L is 54 cm.

Fig. 9 shows a force sense expression region in which force sense can be expressed from all directions in the case of the distance between the DC motors on the frames F1R, F2R, F1L, and F2L of fig. 8. As shown by oblique lines in fig. 9, the force sensation expression region RR is a rectangular parallelepiped region of about 54cm × 108cm × 77 cm. In fig. 9, a region near the center of the user is also included in the force sensation expression region RR. Therefore, the force sense presentation efficiency increases. Further, the size of the frame structure is reduced to about 54cm × 108cm × 77cm, and the weight of the force indication device becomes smaller. Therefore, no assistant is required to install the force sense prompting device.

In the above embodiment 1, the translational force, the torque, and the responsiveness equal to or more than those of the conventional art can be obtained.

Fig. 10 is a right side view showing a 2 nd embodiment of the force sense presenting device of the present invention, in which (a) shows a state before mounting and (B) shows a state after mounting. The force sense presentation device of fig. 10 is a back frame type that is worn on the back, and the upper frame is rotatable.

In fig. 10, the upper frames F1R, F1L are rotatably supported with respect to the axis a of the rear side joining frames RFR, RFL via intermediate upper frames IF1R, IF 1L. On the other hand, the lower frames F2R, F2L are fixed to the rear side bonding frames RFR, RFL via intermediate lower frames IF2R, IF 2L.

The operation of attaching the force sense presentation device of fig. 10 will be described. First, as shown in fig. 10 (a), in a state where the intermediate upper frames IF1R, IF1L are rotated upward and the upper frames F1R, F1L are positioned upward, the user 1 carries the rear coupling frames RFR, RFL of the force presentation device on the rear back side. Next, as shown in fig. 10 (B), intermediate upper frames IF1R and IF1L are rotated downward, and upper frames F1R and F1L are lowered. In the case where the force sensation presentation device of fig. 10 is to be detached, this may be done in the reverse order.

Fig. 11 is a right side view showing the 3 rd embodiment of the force sense presenting device of the present invention. The force sense presentation device of fig. 11 is of the ground fixation type.

In fig. 11, rear coupling frames RFR ', RFL' and support plates PL extending to the floor and fixed are provided instead of the rear coupling frames RFR, RFL of fig. 1. Therefore, the rear side coupling frames RFR ', RFL' are fixed to the support plate PL and can be fixed to the ground. In this case, since the wearing operation is not required, the shoulder strap B or the inverted U-shaped fastener is not required.

The present invention can be applied to any modification within the scope apparent from the above-described embodiments.

Description of the reference symbols

1: user' s

1R: right-hand end effector

1L: left-hand end effector

F1R, F2R, F1L, F2L: frame structure

RFR, RFL, RFR ', RFL': rear side combined frame

F1, F2: reinforced frame

IF1R, IF 1L: middle upper frame

IF2R, IF 2L: middle lower frame

M1R, M2R, …, M8R, M1L, M2L, …, M8L: DC motor with rotary encoder

W1R, W2R, …, W8R, W1L, W2L, …, W8L: thread

PAR, PBR, PCR, PDR, PAL, PBL, PCL, PDL: wire grounding point

2: head Mounted Display (HMD)

P: virtual object

PL: supporting plate

RR: area of force sense prompt