JP5352813B2 - Non-grounding type haptic device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inner force sense presentation device for presenting sensation of inertial force when the hand is moved while gripping an object to the hand of a person. <P>SOLUTION: The inner force sense presentation device 100 is configured by combining a guide 102 with a grip 104 for holding like a T shape. Pressurizing sections 110a and 110b are mounted on the guide 102 so as to move along the guide 102 by sliders 112a and 112b. The position and acceleration of the inner force sense presentation device 100 are detected by motion capture using markers 204 to 208. When the pressurizing parts 110a and 110b are brought into contact with an inner force sense application part 120 according to gripping by a user, reaction force corresponding to the inertial force with the motion of the hand from a virtual object is added to the pressurizing parts 110a and 110b by the inner force sense application part 120 thereafter. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a force sense presentation device that presents a force sense to a person, and in particular, a non-grounding type for presenting a sense of inertial force (inertial mass) received from a virtual object while holding the virtual object to a human hand. The present invention relates to a haptic device.

In recent years, research on technologies for presenting virtual reality to people has been actively conducted. Representative examples of such technologies include virtual reality and mixed reality. Virtual reality is a technology that artificially creates reality by combining computer graphics and sound effects. Mixed reality is a technology that combines interactive three-dimensional computer graphics and real space.

  These technologies for presenting virtual reality are used in, for example, game machines for business use and home use, and for example, in the field of medical education, a force sense presentation device is applied to detect a lesion by palpation. Research is being conducted for use as a practice device.

  In presenting virtual reality, it is necessary to stimulate the human senses as if there were actually objects. In particular, the presentation of force sense is important for generating virtual reality. Research on haptic presentation has been made so far, and several devices for presenting haptic have already been developed.

  FIG. 1 is a diagram illustrating an appearance of a PHANTOM (registered trademark) (see, for example, Non-Patent Document 1), which is a typical force sense presentation device. Referring to FIG. 1, PHANTOM (registered trademark) includes a pen-shaped stylus 2000. Also, PHANTOM (registered trademark) includes a motor that applies force to the stylus 2000. The force that the motor applies to the stylus 2000 is determined according to the position of the stylus 2000. Therefore, when a user of PHANTOM (registered trademark) grasps and moves the stylus 2000, the user feels a hard or soft force according to the position of the stylus.

  So far, various studies have been conducted on the presentation of virtual reality using PHANTOM (registered trademark). For example, Non-Patent Document 2 presents a sense of realism when simultaneously presenting and touching a user with haptic information presented by a haptic presentation device PHANTOM (registered trademark) and voice information generated when touching an object. There is disclosure about research to enhance. Non-Patent Document 2 discloses a program in which PHANTOM (registered trademark) detects how to touch various things and automatically generates sound suitable for the touch.

  SPIDAR is a well-known haptic device similar to PHANTOM (registered trademark) (see, for example, Non-Patent Document 3 and Non-Patent Document 4). The appearance of SPIDAR is shown in FIG. The SPIDAR includes a haptic pointer 3100 and a plurality of wires 3200 connected to the haptic pointer 3100. The SPIDAR calculates the position and posture of the force sense pointer 3100 from the length of each wire 3200 and presents the force sense corresponding to the position and posture by the tension of the wire 3200.

  Here, in Non-Patent Document 5, in order to realize a stable force sense presentation in a wire drive type force sense display such as SPIDAR, in consideration of the accuracy of the presenting force and the continuity of the wire tension, An algorithm for calculating is disclosed.

  On the other hand, devices that present rotational torque using a gyro moment (see Non-Patent Document 6), discontinuous force sense presentation devices that use perceptual nonlinearity (see Non-Patent Document 7), and the like have also been developed. ing.

http: // www. sensorable. com / products-haptic-devices. htm Juan Liu, Hiroshi Ando “Healing How You Touch: Real-Time Synthesis of Contact Sounds for Multiple Interactions 8th, IEEE Conference on Hen 8th, IEEE Conference on Hen. Akabane et al. “High-resolution haptic rendering with an update frequency of 10 kHz”, Journal of the Virtual Reality Society of Japan, Vol. 9, no. 3, pp. 217-226 (2004) Shoichi Hasegawa, Masaharu Inoue, Manabu Kinki, Makoto Sato, “Tension Calculation Method for Tension-type Force Display”, Journal of the Robotics Society of Japan, Vol. 22, no. 6, pp. 1-6 (2004) Masaharu Inoue, Shoichi Hasegawa, Manabu Kintoki, Makoto Sato, “Tension Calculation Algorithm for Wire-Driven Force Display Using Quadratic Programming”, Proceedings of the 6th Annual Conference of the Virtual Reality Society of Japan (2001 9) Month), pp. 91-94 Masae Yoshie, Hiroaki Yano, Hiroo Iwata, “Force Display Device Using Gyro Moment”, Journal of VR Society of Japan Vol.7 No.3 (2002) Tomohiro Amemiya, Hideyuki Ando, Taro Maeda, “Non-contact haptic interface using perceptual nonlinearity”, Human Interface Symposium 2005, pp.605-608

  Since the above-mentioned PHANTOM (registered trademark) and SPIDAR are stationary (grounded) devices, there is a problem that the range in which a force sense can be presented is limited to the installation location of the device. Further, it is not suitable for presenting a sense when an object is held with a plurality of fingers. It is difficult to present force sensation in a plurality of places using these devices. Each of these devices has only one location for presenting a force sense, and cannot present a force sense at a plurality of locations.

  On the other hand, a non-stationary (non-grounded) portable force sense presentation device includes a glove-type reaction force presentation device. These non-grounded devices can present a force sense that action and reaction cancel each other like a gripping sense, but cannot present a force such as gravity acting on the gravity mass of the virtual object or inertial force acting on the inertial mass.

  The present invention has been made to solve the above-described problems, and presents a sense of grasping an object to a human hand and a non-intensity for presenting an inertial force assumed to work on a virtual object. It is an object of the present invention to provide a ground-type force sense presentation device.

  Still another object of the present invention is to provide a portable non-grounded force sense presentation device.

  According to one aspect of the present invention, there is provided a non-grounding type haptic device for presenting an inertial force from a virtual object assumed to be supported by a user's hand to the user, which the user holds From the gripping unit, the motion detection means for detecting the direction and magnitude of acceleration of the force sense presentation device, the drive unit that generates the driving force that is the source of the reaction force presented to the gripping unit, and the motion detection unit Reaction force control that calculates the inertial force corresponding to the motion of the virtual object based on the acceleration information of the object and the mass information of the virtual object and controls the drive unit to generate a reaction force corresponding to the inertial force A part.

  Preferably, the gripping portion includes first and second pressing portions that respectively receive a pressing force from two fingers used by the user for gripping, and according to displacement of the first and second pressing portions due to the pressing force. A force sense presentation unit that applies reaction force to each of the first and second pressing units is further provided, and the drive unit applies different reaction forces to the first and second pressing units in response to inertial forces. In addition, a driving force that is a source of reaction force is generated.

  Preferably, the reaction force control unit calculates a reaction force applied to the first and second pressing units according to the hardness of the virtual object, and controls the driving force.

Preferably, the motion detection means is an acceleration sensor.
Preferably, the motion detection means is a motion capture device.

  In the non-grounding type haptic presentation device of the present invention, it is possible to present a sense of inertial force (inertial mass) received from a virtual object to a human hand while holding the virtual object.

It is a figure which shows the external appearance of PHANTOM (trademark). It is a figure which shows the external appearance of SPIDAR. It is a functional block diagram which shows the structure of the force sense presentation system 1000 of embodiment of this invention. It is an external view which shows the state which the user hold | gripped the force sense presentation apparatus. 2 is a block diagram showing a configuration of a computer 200. FIG. 1 is a diagram illustrating a configuration of a force sense presentation device 100. FIG. 5 is a flowchart for explaining the operation of the force sense presentation system 1000.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

(1. Overall configuration)
FIG. 3 is a functional block diagram showing a configuration of the force sense presentation system 1000 according to the embodiment of this invention.

  The force sense presentation system 1000 includes an ungrounded force sense presentation device 100, a computer 200 for controlling the system, and a position detection sensor 202 for detecting the position and motion of the force sense presentation device 100 in the space. The signal from the force sense presentation device 100 is received, converted into a signal corresponding to the computer 200 and output, and the magnitude of the reaction force presented by the force sense presentation device 100 is determined according to a control command from the computer. It includes a force sense presentation device controller 300 for controlling and a display 400 that displays a corresponding image in response to an image signal output from the computer 200. That is, the force sense presentation device control unit 300 functions as an interface device between the computer 200 and the force sense presentation device 100.

  As will be described in detail later, the force sense presentation device 100 presents the force received from the virtual object when the user grasps the virtual object. Here, the characteristic of the force (reaction force) applied to the user by the virtual object is determined by a mechanism that converts driving force into stress in the force sense presentation device 100.

  As the position detection sensor 202, for example, the spherical markers 204, 206, and 208 attached to the force sense presentation device 100 are photographed, and the position and movement of the force sense presentation device 100 are determined by the positions and orientations of these three markers. A motion capture device to detect can be used. The position detection sensor 202 and the position detection unit 210 that processes the signal are not necessarily limited to such a configuration as long as it is a mechanism that can detect the position, orientation, and movement of the force sense presentation device 100 in the space. Is not to be done.

  The image displayed on the display 400 includes at least an image of an object existing in the virtual space. At this time, a virtual image representing the hand of the user who intends to hold it may be displayed. In this case, the user can visually confirm the state in which the object is virtually gripped by the image of the object displayed on the display 400 and the image of the user's hand.

  Alternatively, the object image may be displayed as a stereoscopic image by a known method. At this time, the user holds the stereoscopic image of the object and his / her own real hand while visually recognizing it.

  Although the display 400 is illustrated as a flat panel display in FIG. 3, the display 400 is not necessarily limited to such a configuration. For example, the display 400 may be configured to project an image by a projector, or It may be like a head mounted display.

The operation of the computer 200 will be further described later.
FIG. 4 is an external view showing a state where the user has grasped the force sense presentation device 100.

  As will be apparent from the following description, the force sense presentation device 100 is capable of presenting the user with inertial force from a virtual object that is assumed to be supported by the user's hand and not supported by other things. It is. For this reason, the force sense presentation device 100 is not deferred and is not grounded.

  As shown in FIG. 4, in the force sense presentation device 100, a guide portion 102 and a holding handle portion 104 are combined in a T shape. The pressing portions 110a and 110b that are gripped by the user are attached to the guide portion 102 so as to be movable along the guide portion 102 by sliders 112a and 112b, respectively. Therefore, the pressing portions 110a and 110b slide using the guide portion 102 as a guide by gripping with a user's finger (in FIG. 4, forefinger and thumb).

  When the pressing units 110a and 110b come into contact with the force sense applying unit 120 according to the gripping by the user, thereafter, the force sense providing unit 120 uses a mechanism that will be described later to the pressing units 110a and 110b. A force corresponding to the reaction force from the virtual object is applied. Here, when the computer 200 determines that the force corresponding to the inertial force is applied from the virtual object to the user's finger by the motion of the force sense presentation device 100 (the motion of the user's hand), the force sense imparting unit 120 presses The force applied to the portions 110a and 110b is a non-uniform force and generates an inertial force in the direction of acceleration.

  In FIG. 4, the force sense applying unit 120 is shown in a simplified appearance for the sake of simplicity. Information regarding the pressure applied to the force sense applying unit 120 by the pressing units 110 a and 110 b is transmitted to the computer 200 via the force sense presenting device control unit 300. That is, as will be described later, a pressure sensor (not shown) for detecting pressure is provided on the surface where the side surface of the force sense applying unit 120 and the pressing units 110a and 110b are in contact with each other.

  In addition, a driving unit (not shown) for generating a driving force that is a source of the reaction force is provided inside the holding handle 104, and this driving force is a reaction force from a virtual object. Is applied from the force sense applying unit 120 to the pressing units 110a and 110b.

  Returning to FIG. 3 again, in the computer 200, the position detection unit 210 determines the direction of the force sense presentation device 100, the position in space, and the time change (the magnitude of acceleration) in accordance with the signal from the position detection sensor 202. And the positions of the pressing portions 110a and 110b are detected based on the signal from the force sense presentation device 100, respectively. The gripping object information storage unit 220 stores information on the virtual object attributes such as the shape, position, hardness, and mass of the virtual object.

  The virtual image generation unit 240 displays an image of the virtual object on the display 400 based on the information stored in the gripping object information storage unit 220. Furthermore, the virtual image generation unit 240 generates a corresponding virtual user hand image based on the position and orientation of the force sense presentation device 100 from the position detection unit 210 and the positions of the pressing units 110a and 110b, The image is displayed on the display 400.

  Note that the virtual image generation unit 240 may update the image of the virtual object displayed on the display 400 based on the information stored in the grasped object information storage unit 220 according to the position of the force sense presentation device 100. For example, the virtual image generation unit 240 initially displays an image of the first virtual object, and displays an image of another second virtual object according to a change in the position of the force sense presentation device 100. Control may be performed.

  Further, the reaction force control unit 230 outputs the force output from the force sense applying unit 120 as a reaction force in the force sense presenting device 100 according to the information from the position detection unit 210 and the information stored in the grasped object information storage unit 220. A command for controlling the force is output to the force sense presentation device control unit 300.

  FIG. 5 shows a configuration of the computer 200 in a block diagram form. As shown in FIG. 5, in addition to the optical disk drive 50 and the FD drive 52, the computer 200 includes a CPU (Central Processing Unit) 56, a ROM (Read Only Memory) 58, and a RAM connected to the bus 66, respectively. (Random Access Memory) 60, a hard disk 54, and a communication interface 68 are included. A CD-ROM (or DVD-ROM) 62 is mounted on the optical disk drive 50. An FD 64 is attached to the FD drive 52.

  The virtual reality provided by the force sense presentation system 1000 is realized by computer hardware and software executed by the CPU 56. Generally, such software is stored and distributed in a storage medium such as a CD-ROM (or DVD-ROM) 62 or FD 64, read from the storage medium by the optical drive 50 or FD drive 52, and temporarily stored in the hard disk 54. The Alternatively, when the device is connected to the network, it is temporarily copied from the server on the network to the hard disk 54. Then, it is further read from the hard disk 54 to the RAM 60 and executed by the CPU 56. In the case of network connection, the program may be directly loaded into the RAM 60 and executed without being stored in the hard disk 54.

  In this way, the functions executed by the CPU 56 correspond to the functions of the position detection unit 210, the virtual image generation unit 240, and the reaction force control unit 230 in FIG. 3, and the gripping object information storage unit 220 is, for example, the hard disk 54 or This corresponds to a storage device such as the RAM 60.

  The computer hardware itself shown in FIG. 5 and its operating principle are general. Accordingly, in the present invention, software stored in a storage medium such as the CD-ROM (or DVD-ROM) 62, the FD 64, the hard disk 54, and the like plays a part in the process of virtually presenting the grip feeling to the user. .

(2. Force sense presentation part)
FIG. 6 is a diagram illustrating a specific detailed configuration of the force sense presentation device 100. 6 (a) is a top view, FIG. 6 (b) is a front sectional view of the section VIIa-VIIa ′ of FIG. 6 (a), and FIG. 6 (c) is FIG. 6 (a). It is sectional drawing of the side surface side of VIIb-VIIb 'cross section.

  As described above, the pressing portions (finger rests) 110a and 110b are attached to the guide portion 102 so as to be movable along the guide portion 102 by the sliders 112a and 112b, respectively.

  The force sense presentation device 100 further includes pulleys 132a and 132b that receive a force from the inner pulley via the wires 161a and 161b by the coiled spring 130, respectively. Since the sliders 112a and 112b receive a tensile force via the wires 161a and 161b by the pulleys outside the pulleys 132a and 132b, respectively, in the free state, the pressing portions 110a and 110b have a natural length of the coiled spring 130. When the user grips the pressing portions 110a and 110b with a finger, the pressing portions 110a and 110b move until they contact the force sense applying portion 120.

  On the other hand, a force sense presentation mechanism for presenting a force sense to the pressing portions 110a and 110b includes a force sense imparting portion 120, drive portions 140a and 140b provided in the holding handle portion 104, and drive portions 140a, Drive shafts 150a and 150b and pulleys 151a and 151b for transmitting the force generated in 140b to the force sense applying unit 120, and a wire 162a for transmitting the force generated in the drive units 140a and 140b to the force sense applying unit 120. And 162b.

  The wire 162a is hung on the pulley 151a, and is wound around the drive shaft 150a to transmit the force from the drive unit 140a to the slider 126a. The wire 162b is hung on the pulley 151b, and the drive shaft 150b. The force from the drive unit 140b is transmitted to the slider 126b.

  More specifically, the haptic imparting unit 120 applies a force parallel to the direction toward the pressing unit 110a to the pressing unit 110a when the pressing unit 110a comes into contact with the driving force generated from the driving unit 140a. When the pressing unit 110b comes into contact with the force sense presentation unit 122a and the driving force generated from the driving unit 140b, a force parallel to the direction toward the pressing unit 110b is exerted on the pressing unit 110b. And a force sense presentation unit 122b. Here, the driving force of the driving unit 140a and the driving force of 140b are independently controlled by a command from the computer 200. As a result, the force exerted on the pressing portion 110a and the force exerted on the pressing portion 110b can be non-uniform depending on the magnitude of the virtual inertia force derived in the reaction force control unit 230. .

  The force sense presentation units 122a and 122b are attached to the guide unit 102 so as to be movable along the guide unit 102 by sliders 126a and 126b, respectively. The sliders 126a and 126b are configured to receive the driving force from the driving units 140a and 140b by the wires 162a and 162b, respectively.

  Pressure sensors 124a and 124b are provided on the surfaces of the force sense presentation units 112a and 112b, respectively. The detection results of the pressure sensors 124 a and 124 b are transmitted to the computer 200 via the force sense presentation device control unit 300.

  In FIG. 3, the direction and magnitude of the acceleration of the force sense presentation device 100 has been described as a configuration derived by the position detection unit 210 based on a signal from the position detection sensor 202 functioning as a motion capture. An acceleration sensor 170 may be provided in the force sense presentation device 100 and the position detection unit 210 may detect the direction and magnitude of acceleration of the force sense presentation device 100 based on a signal from the acceleration sensor 170.

  FIG. 7 is a flowchart for explaining the operation of the force sense presentation system 1000 in the configuration as described above.

  Referring to FIG. 7, when the process is started, first, a system initialization process is performed (step S100).

  Subsequently, the virtual image generation unit 240 displays a virtual object and a virtual hand image on the display 400 (step S102).

  The position detection unit 210 detects the position and orientation in the space of the force sense presentation device 100 based on the signal from the position detection sensor 202 (step S104), and based on the signal from the force sense presentation device control unit 300 Then, the positions of the pressing portions 110a and 110b are detected (step S106).

  The position detection unit 210 derives the direction and magnitude of acceleration of the force sense presentation device 100 (step S108).

  The reaction force control unit 230 is based on the position and orientation information of the force sense presentation device 100 from the position detection unit 210 and the direction and magnitude information of the acceleration of the force sense presentation device 100, and the force sense presentation unit 122a. , 122b is calculated, a driving force corresponding to the reaction force is derived (step S110), and a command for controlling the driving units 140a and 140b with the derived driving force is given as a force sense presentation device. It outputs to the control part 300 (step S112).

  For example, if the force sense presentation device 100 is in a substantially stationary state and the user is applying pressure to the pressing portions 110a and 110b with a finger, the reaction force control unit 230 may hold the gripping object information. Based on the information about the attributes of the virtual object such as the shape, position, and hardness of the virtual object and the information on the position and orientation of the force sense presentation device 100 stored in the storage unit 220, the virtual that the user is holding Calculate the reaction force from the object. On the other hand, when the force sense presentation device 100 is moving, the reaction force due to the inertial force is also calculated so as to be superimposed on the reaction force in a stationary state as described above. That is, a vector of inertial force can be calculated from information on the direction and magnitude of acceleration of the force sense presentation device 100 and the mass of the grasped virtual object. The force applied to the pressing portions 110a and 110b with respect to the component of the inertia force vector in the direction of the guide portion 102 becomes a superposed reaction force.

At this time, the magnitude of the inertial force is expressed by the following equation.
F (presenting inertial force) = m (inertial mass of virtual object) × a (acceleration)
When it is determined that the inertial force due to the exercise is superior when the force sense presentation device 100 is exercising, that is, when the magnitude of the inertial force exceeds a predetermined threshold value, The reaction force may be derived based only on the inertial force.

  Further, since the virtual object is supported only by the user's hand, no steady output is required from the force sense presentation device 100. For this reason, when t is set as time and the force F to be presented is integrated from the movement start time to the movement end time, it becomes zero. That is, the following equation is also established.

∫ F (t) dt = 0
As can be understood from the above description, the force sense presentation device 100 can present a reaction force corresponding to the inertial force acting on the virtual object, and the force sense presentation device 100 is not aware of the reaction force against the gravity acting on the gravitational mass. Do not present. Therefore, when the user moves the virtual object, for example, when the user shakes, the force sense presentation device 100 presents a reaction force corresponding to the inertial force.

  Based on the information from the position detection unit 210, the virtual image generation unit 240 displays the virtual hand image, the current position and orientation in the space of the force sense presentation device 100, and the positions of the pressing units 110a and 110b. (Step S114).

  When the predetermined time has elapsed (step S116) and the process has not ended (S124), the process returns to step 104. On the other hand, when it is determined in step S124 that the process has ended (for example, due to an end instruction from the user), force sense presentation system 1000 stops the process.

  As described above, the force sense presentation device 100 according to the present embodiment has sufficient performance to present a gripping sensation.

  The force sense presentation device 100 includes two pressing portions (finger rests) 110a and 110b that are gripped by two fingers. The force sense presenting portions 122a and 122b that present force sense to the pressing portions 110a and 110b can be driven with different driving forces by the driving portions 140a and 140b, which are driving force generation sources, respectively. The force (reaction force) applied to the user is not only based on information such as the hardness of the virtual object, but also when the user moves the hand while holding the virtual object. It is possible to control in consideration of the information of the inertial force to be applied.

  The force sense presentation device 100 is smaller and lighter than conventional devices such as PHANTOM (registered trademark) and SPIDAR. The force sense presentation device 100 is a portable device that has a limited movement range in space. Therefore, the force sense presentation device 100 can present the hardness of the virtual object anywhere where the arm can be moved.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  DESCRIPTION OF SYMBOLS 100 Force sense presentation apparatus, 110a, 110b Press part, 112a, 112b Slider, 120 Force sense provision part, 122a, 122b Force sense presentation part, 124a, 124b Pressure sensor, 126a, 126b Slider, 130 Coil spring, 132a, 132b Pulley, 140a, 140b Drive unit, 150a, 150b Drive shaft, 151a, 151b Pulley, 160a, 160b, 161a, 161b, 162a, 162b Wire, 200 Computer, 202 Position detection sensor, 210 Position detection unit, 220 Gripping object information storage Unit, 230 reaction force control unit, 240 virtual image generation unit, 300 force sense presentation device control unit, 400 display.

Claims (4)

A non-grounding type haptic device for presenting to the user an inertial force from a virtual object assumed to be supported by the user's hand,
A storage unit for storing information on the attribute of the virtual object, including information on the mass of the virtual object and information on the hardness of the virtual object;
A gripping unit for accepting gripping of the non-grounding type force sense presentation device from the user and presenting a reaction force to the user at a portion where the gripping is accepted ;
Motion detection means for detecting the direction and magnitude of acceleration of the non-grounding type haptic device;
A driving unit that generates a driving force that is a source of the reaction force presented to the gripping unit;
A first reaction force indicating a reaction force from the virtual object caused by the user gripping the virtual object in a stationary state is calculated according to the hardness of the virtual object, and is detected by the motion detection unit. Based on the acceleration information and the mass information of the virtual object stored in the storage unit, an inertial force corresponding to the motion of the virtual object is calculated, and a second reaction force corresponding to the inertial force is calculated. And a reaction force control unit that controls the drive unit so as to generate a reaction force obtained by superimposing the second reaction force on the first reaction force. . It said gripping portion includes a first pressing portion for the user receives a pressing force from one of the two fingers for use in gripping the ungrounded Haptic device,
A second pressing portion for receiving a pressing force from the other of the two fingers;
A force sense presentation unit that applies force to the first and second pressing units,
The force sense presentation unit presents a reaction force to the user at the first and second pressing units by applying a force according to the reaction force to the first and second pressing units,
The first and second pressing portions are arranged at opposing positions,
The first pressing portion presents the reaction force in a first direction, the second pressing portion presents the reaction force in a second direction that is the reverse direction of the first direction,
The drive unit is
A first driving force that is a source of reaction force for presenting to the user in the first pressing portion, and a second that is a source of reaction force for presenting to the user in the second pressing portion. Control the driving force independently,
The reaction force control unit
In response to the calculated inertial force, a reaction force is generated in the first pressing portion and the second pressing portion so that the first driving force and the second driving force are not uniform. The non-grounding type force sense presentation device according to claim 1, wherein the driving unit is controlled to present a reaction force corresponding to the inertial force to the user .   The non-grounding type force sense presentation device according to claim 1, wherein the motion detection means is an acceleration sensor.   The non-grounding type haptic device according to claim 1, wherein the motion detection means is a motion capture device.