JP4473078B2 - Tactile presentation device - Google Patents

Description

  The present invention relates to a tactile sense presentation device, and more particularly to a tactile sense presentation device having a function of presenting a tactile sense by vibrating a panel for presenting a tactile sense in a direction perpendicular to a plane.

  In recent years, in a personal computer, a PDA, an ATM terminal, a POS terminal, a car navigation system, a copying machine, and the like, a touch panel that detects and inputs coordinates by pressing a flat panel surface with a pen or a finger is increasingly used. Conventional touch panel input mechanisms have a problem that there is no tactile feeling (click feeling) at the time of pressing unlike a mechanical switch and it is difficult to recognize the pressing.

  With respect to a waveform that vibrates the panel-like planar member and obtains a tactile sensation for the operator, Patent Document 1 exemplifies a tactile sense presenting waveform as shown in FIG. FIG. 1A shows a pulse generated twice with a width of 5 to 10 msec and vibrates twice instantaneously. FIG. 1B shows a sinusoidal alternating current drive voltage waveform of 20 to 30 Hz, and FIG. 1C shows an alternating drive voltage waveform with a period of several hundreds of microseconds, which generates an operation sound rather than a feeling of vibration. FIG. 1D is a combination of FIG. 1A and FIG.

Further, Patent Document 2 discloses a configuration in which two touch panels are stacked, and describes a haptic waveform shown in FIGS. 2 (a) to 2 (c).
Japanese Patent Laid-Open No. 2004-21697 JP 2002-259059 A

  However, in the waveform described in Patent Document 1 shown in FIG. 1, only two square wave pulses are generated, and the sensation of a tactile waveform such as a keyboard shown in FIG. 3 cannot be expressed.

  In addition, the configuration described in Patent Document 2 shown in FIG. 2 has the characteristics shown in FIG. 2A by overlapping two touch panels, and the height of the dot spacer of the touch panel is usually about 10 μm. . Accordingly, even when two sheets are stacked, the displacement is about 20 μm, and as described in Patent Document 2, the point of contact is not clearly understood by the user. Accordingly, it is necessary to provide tactile feedback as shown in FIG. 2B or 2C, but it is difficult to express the feeling of pressing the keyboard.

  Accordingly, an object of the present invention is to solve the above-described problems of the prior art and to realize a tactile sense presentation device that can provide various pressing feelings with high reliability.

The present invention has a panel for presenting a tactile sensation and control means for presenting the tactile sensation by vibrating the panel in a direction perpendicular to a pressed plane of the panel. In the tactile sensation presentation apparatus, the panel is vibrated so that there is an inflection point where an amplitude gradient change that increases with the passage of time is present at a rising portion in which the amplitude increases with the passage of time in the vibration waveform that has been made. is there. When a panel vibrates vertically and a person touches the panel and feels vibration, in order to obtain a feeling of pressing (the force against pressing, that is, the force with which the finger is pressed), such as when pressing a key switch on the keyboard It is effective to provide an inflection point where a gradient change occurs in the middle of the waveform. Various pressing feelings can be obtained by changing the gradient difference before and after the inflection point and the position of the inflection point. For example, in order to make the weight of the switch feel heavier, the time of the non-vibration portion is lengthened or the gradient is tightened. Further, in order to obtain a strong click feeling, the degree of gradient change should be increased.

  Here, the ideal pressing characteristics studied by the present inventors are shown in FIG. The horizontal axis in FIG. 3 is the amount of pushing (Displacement), and the vertical axis is the force (Force). As shown by the solid line in FIG. 3, the force gradually increases as it is pushed in, and when it is pushed to a certain point, the force is released. After that, the force is applied again and finally becomes infinite. The present invention realizes this pressing characteristic. In addition, the broken line of FIG. 3 has shown the return (return). The return gradually weakens, and at some point the resistance increases and weakens again. The present invention does not consider such return characteristics.

  In order to realize the pressing characteristics of FIG. 3, it further has a detection function for detecting that an object has contacted the panel, and the control means has passed through a non-vibration portion of about 50 ms or more after the object has contacted. It is preferable to vibrate the panel.

In order to realize the pressing characteristic of FIG. 3, preferably, the tactile sense presentation device further has a detection function of detecting that an object has touched the panel, and the control means has As shown in FIG.
(1) No-vibration part until the movement starts (2) A part where the moving amount gradually increases (the pressing surface moves upward (opposite to the pressing direction), that is, moves so as to push the finger) (3) A slowly moving part (4) The panel is driven so as to have a part where the amplitude gradually decreases and returns to 0, and the amount of movement per time is between (2) and (3) above. It is configured to generate a vibration having a waveform having an inflection point that changes and the degree of increase becomes moderate. In this way, the waveform is divided into four parts, and the vibrations of the parts (2) and (3) having inflection points where the degree of increase becomes gentle are generated in FIG. The load change as shown can be given and a feeling of pressing can be expressed.

In addition, the tactile sense presentation device further has a detection function for detecting that an object is in contact with the panel, and the control means is (1) a non-vibrating part until the movement starts (2) gradually after the object comes into contact. (3), (4) The panel is driven so as to have a part where the amount of movement that moves forward gradually increases (3) a part that moves slowly (4) a part where the amplitude gradually decreases and returns to zero. ) May generate a vibration having a part of a periodic function.

More specifically, the above (1) to (4) can be described as follows. That is, it further has a detection function for detecting that an object has come into contact with the panel, and the control means is (1) a non-vibrating part after the object has come into contact

という波形で表される立ち上がり部分１

Rising portion 1 represented by the waveform

という波形で表される立ち上がり部分２

Rising part 2 represented by the waveform

という波形で表される立ち下がり部分
ただし、

The falling part represented by the waveform

であり、

And

という関係が成り立つ波形y(t)からなる振動を発生させる構成である。上記式中の時刻ａ〜ｄを図４に図示する。時刻ｂに変曲点が位置する。区間（２）を特定する式（２）は、振動が指数的に大きくなることを示している。ただし、単純な指数的増大では変動が急峻でかつ大きくなり過ぎるため、最大値となるexp(b-a)で正規化して適正化している。区間（３）を特定する式（３）は、区間（２）の終点振幅値k1にその時刻ｂから始まる正弦波を足したものである。区間（３）では、区間（２）の終点振幅値k1よりもk2だけ振幅が増える。区間（４）を特定する式（４）は、区間（３）の終点振幅値k1+k2からその時刻ｃから始まる正弦波を(k1+k2)倍した値を減算するものである。なお、k1とk2に関し、k1をk2よりも小さくするといわゆるクリック感が比較的早い電解で生じ、クリック感発生後も重さが引き続きますことになる。逆にk1をk2よりも大きくすると、クリック感の発生が遅くなり、クリック感発生後はあまり重くならない。

This is a configuration that generates a vibration consisting of a waveform y (t) that satisfies the above relationship. Times a to d in the above formula are shown in FIG. An inflection point is located at time b. Equation (2) specifying the section (2) indicates that the vibration increases exponentially. However, since the fluctuation is too steep and too large for a simple exponential increase, it is normalized and optimized by exp (ba) which is the maximum value. Expression (3) for specifying the section (3) is obtained by adding the sine wave starting from the time b to the end point amplitude value k1 of the section (2). In the section (3), the amplitude increases by k2 from the end point amplitude value k1 of the section (2). The expression (4) for specifying the section (4) subtracts a value obtained by multiplying the end point amplitude value k1 + k2 of the section (3) by (k1 + k2) times the sine wave starting from the time c. Regarding k1 and k2, if k1 is smaller than k2, a so-called click feeling is generated by relatively fast electrolysis, and the weight continues after the click feeling is generated. On the other hand, if k1 is larger than k2, the click feeling is slowed down and does not become very heavy after the click feeling occurs.

Further, as another configuration, the apparatus further includes a detection function for detecting that an object is in contact with the panel, and the control means is (1) a non-vibrating portion after the object is in contact.

という波形で表される立ち上がり部分１

Rising portion 1 represented by the waveform

という波形で表される立ち上がり部分２

Rising part 2 represented by the waveform

という波形で表される立ち下がり部分
ただし、

The falling part represented by the waveform

という関係が成り立つ波形y(t)からなる振動を発生させることもできる。

It is also possible to generate a vibration consisting of a waveform y (t) that satisfies the above relationship.

Furthermore, as another configuration, it further has a detection function of detecting that an object has contacted the panel, and the control means is (1) a non-vibrating portion after the object has contacted

という波形で表される立ち上がり部分１

Rising portion 1 represented by the waveform

という波形で表される立ち上がり部分２

Rising part 2 represented by the waveform

という波形で表される立ち下がり部分
ただし、

The falling part represented by the waveform

という関係が成り立つ波形y(t)からなる振動を発生させることでもよい。

It is also possible to generate a vibration consisting of a waveform y (t) that satisfies the above relationship.

  According to the present invention, it is possible to provide a tactile sense presentation device that can provide various pressing feelings with high reliability.

  Hereinafter, an embodiment of the present invention will be described.

  FIG. 5 is a block diagram of a tactile sense presentation device according to an embodiment of the present invention. The tactile sense presentation device includes a panel 10, a control device 20, a drive device 30, a conversion device 40, and a voltage application device 45. One structural example of the panel 10 is shown in FIG. The panel 10 includes a film 11 such as PET, an upper transparent electrode 12 such as ITO, a glass substrate 13, a lower transparent electrode 14, and a dot spacer 15. The upper transparent electrode 12 is attached to the entire inner surface of the film 11. The lower electrode 14 is attached to the entire inner surface of the glass substrate 13. The upper electrode 12 and the lower electrode 14 are connected to the input of the conversion device 40 shown in FIG. On the lower electrode 14, dot spacers 15 formed of an insulator are arranged in a matrix. As shown in the lower side of FIG. 6, when the panel 10 is pushed down with a pen or a finger 16 from above, the film 11 is deformed and the upper transparent electrode 12 comes into contact with the lower transparent electrode 14. There are several coordinate detection methods for the pressed position, and any detection method may be used. For example, using the voltage application device 45 shown in FIG. 5, a voltage is applied from both ends in the X direction of the lower transparent electrode 14 (for example, the horizontal direction on the paper), and the potential at the pressed position (corresponding to the X coordinate position) is set to the upper side. Detection is performed through the transparent electrode 12. Similarly, a voltage is applied from both ends of the lower transparent electrode 14 in the Y direction (for example, the direction perpendicular to the paper surface), and the potential at the pressed position (device at the Y coordinate position) is detected via the upper transparent electrode 12. The conversion device 40 converts the analog voltage thus obtained into a digital signal and outputs it to the control device 20. As another detection method, a voltage is applied in the X direction of the upper transparent electrode 12, and the potential at the pressing point (that is, the potential of the lower transparent electrode 14) is measured via the lower transparent electrode 14. Next, a voltage is applied in the Y direction of the lower transparent electrode 14, and the potential at the pressed point is measured via the upper transparent electrode 12. Thereby, the XY coordinate data of the pressed point can be obtained. If there is no need to detect coordinates, one of the detection operations may be performed.

  The panel 10 is provided with a panel drive mechanism 50 shown in FIG. The panel drive mechanism 50 vibrates the panel 10 and is provided in the vicinity of the opposing edge of the panel 10 in the X direction or the Y direction. The panel drive mechanism 50 may be provided on all four edges of the panel 10. One structural example of the panel drive mechanism 50 is shown in FIGS. The panel drive mechanism 50 includes a coil 51, a magnet 52, a yoke 53, a support body 55, and a bobbin 56. A magnet 52 is provided at the longitudinal center of the yoke 53 having a substantially U-shaped cross section, and a magnetic circuit 54 is formed as shown. A hollow bobbin 56 is inserted into the upper gap of the yoke 53. A coil 51 is wound around the outside of the bobbin 56. The magnetic flux traverses the coil 56 as shown. The bobbin 56 is fixed to the glass substrate 13. A bellows-like support 55 attached to the bobbin 56 supports the yoke 53. The panel 10 can be vibrated by the bobbin 56 being displaced in the vertical direction according to the direction of the current flowing through the coil 51. The coil 51 is connected to the driving device 30 shown in FIG.

  The control device 20 shown in FIG. 5 operates according to the flowchart of FIG. The control device 20 can be composed of, for example, a microcontroller unit. In step S11, the control device 20 drives the voltage application device 45 to apply a voltage to the upper transparent electrode 12, and detects the potential of the lower transparent electrode 14 in step S12. In steps S11 and S12, a voltage may be applied to the lower transparent electrode 14 and the potential of the upper transparent electrode 12 may be measured. In step S13, the control device 20 monitors the output of the conversion device 40 and determines whether or not a potential is detected. If the determination result of step S13 is NO, the process returns to step S12. In the case of YES, the control device 20 drives the drive device 30 to give a current to the coil 51 of the panel drive mechanism 50. The control circuit 20 controls this current to vibrate the panel 10 as shown in FIG. Specifically, the current is controlled so as to realize the configuration described in the means for solving the problem, specifically, the waveform y (t) described by the equations (1) to (9). This current control can be easily programmed if the relationship between the drive current and the vibration of the panel 10 is examined in advance.

  In this way, it is possible to realize a tactile sensation presentation apparatus that can provide various pressing feelings with high reliability.

  The embodiment of the present invention has been described above. The present invention is not limited to this embodiment, and includes other embodiments and modifications.

It is a figure for demonstrating the prior art described in patent document 1. FIG. It is a figure for demonstrating the prior art described in patent document 2. FIG. It is a figure which shows an ideal pressing feeling. It is a graph which shows the relationship between the time implement | achieved by this invention, and the amplitude of a vibration. It is a block diagram which shows the structure of the tactile sense presentation apparatus which concerns on one embodiment of this invention. It is a figure which shows one structural example of the panel shown in FIG. It is a figure for demonstrating the panel drive mechanism which the tactile sense presentation apparatus shown in FIG. 5 has. It is a figure which shows the example of 1 structure of the panel drive mechanism shown in FIG. It is a perspective view of the panel drive mechanism shown in FIG. 7, FIG. It is a flowchart which shows operation | movement of the control apparatus shown in FIG.

Explanation of symbols

10 Panel 20 Control Device 30 Drive Device 40 Conversion Device 45 Voltage Application Device 50 Panel Drive Mechanism

Claims (7)

A panel for presenting tactile sensation, and control means for presenting tactile sensation by causing the panel to vibrate in a direction perpendicular to a pressed plane of the panel, the control means including the generated vibration waveform The tactile sensation presentation apparatus is characterized in that the panel is vibrated so that there is an inflection point at which a gradient change in amplitude that increases with the passage of time occurs at a rising portion where the amplitude increases with the passage of time. It further has a detection function of detecting that an object is in contact with the panel, and the control means vibrates the panel after passing through a non-vibration portion of about 50 ms or more after the object comes into contact. The tactile sense presentation device according to claim 1. It further has a detection function for detecting that an object has come into contact with the panel, and the control means (1) a non-vibrating part until the movement starts after the object comes in contact (2) gradually moving forward. (3) Slowly moving part (4) The panel is driven to have a part in which the amplitude gradually decreases and returns to 0, and between (2) and (3) above, The tactile sensation presentation apparatus according to claim 1, wherein a vibration having a waveform having an inflection point at which the amount of movement of the movement changes and the degree of increase becomes gentle is generated. It further has a detection function for detecting that an object has come into contact with the panel, and the control means (1) a non-vibrating part until the movement starts after the object comes in contact (2) gradually moving forward. (3) The part which gradually moves (4) The panel is driven so as to have a part where the amplitude gradually decreases and returns to 0, and the waveforms of (3) and (4) are The tactile sensation presentation apparatus according to claim 1, wherein vibration comprising a part is generated. (1) a non-vibrating part after the object is in contact with the panel.

Rising portion 1 represented by the waveform

Rising part 2 represented by the waveform

The falling part represented by the waveform

And

The tactile sensation presentation apparatus according to claim 1, wherein a vibration including a waveform y (t) that satisfies the relationship is generated. (1) a non-vibrating part after the object is in contact with the panel.

Rising portion 1 represented by the waveform

Rising part 2 represented by the waveform

The falling part represented by the waveform

The tactile sensation presentation apparatus according to claim 1, wherein a vibration including a waveform y (t) that satisfies the relationship is generated. (1) a non-vibrating part after the object is in contact with the panel.

Rising portion 1 represented by the waveform

Rising part 2 represented by the waveform

The falling part represented by the waveform

The tactile sensation presentation apparatus according to claim 1, wherein a vibration including a waveform y (t) that satisfies the relationship is generated.

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