JP6457433B2 - Vibration presentation device - Google Patents

Description

  The present invention relates to a technique for perceiving information and feeling by vibration.

  Devices that transmit vibration to a gripping finger and perceive information and sensation have been proposed (see, for example, Patent Document 1 and Non-Patent Document 1).

JP2015-223563

Tomohiro Amemiya, Shinya Takahata, Sho Ito, Hiroaki Gomi, “Brunavi 3”, a device that creates a sensation of being pulled by fingers, 2014, NTT Technical Journal, Vol. 26, No. 9, pp. 23-26 .

  When a “dent” that follows the surface shape of the finger is provided on the surface of such a device, the contact area of the finger with the skin increases, and it can be expected that vibration can be transmitted efficiently.

  However, there are individual differences in the shape and way of holding the hand, and the direction and position of the “dent” may not be appropriate depending on the user holding the device. In such a case, conversely, the contact area between the skin and the device is reduced, and the transmission efficiency of vibration is reduced.

  An object of the present invention is to efficiently transmit vibration to the skin regardless of individual differences in hand shape and holding method.

  The vibration presentation device of the present invention is provided with one or a plurality of vibrators that vibrate, a first gripping part having a first guide that is a depression that follows the surface shape of a finger, and the first gripping part. And a second grip portion. The vibrator is attached to at least one side of the first grip portion and the second grip portion, and can adjust at least one of the relative orientation and position of the first guide with respect to the second grip portion.

  Thus, vibration can be efficiently transmitted to the skin regardless of individual differences in hand shape and holding method.

FIG. 1 is an exploded perspective view of the vibration presentation device of the embodiment. 2A and 2B are perspective views of the vibration presentation device of the embodiment. FIG. 3A is a transparent plan view of the vibration presentation device of the embodiment. FIG. 3B is a transparent bottom view of the vibration presentation device of the embodiment. FIG. 4A is a transparent perspective view of the vibration presentation device of the embodiment. 4B is an enlarged cross-sectional view of 4B-4B in FIG. 3A. 5A and 5B are conceptual diagrams illustrating the configuration of the vibrator according to the embodiment. FIG. 6A is a diagram illustrating a usage state of the vibration presentation device of the embodiment. 6B and 6C are transparent perspective views illustrating the vibration presenting device provided with the mark. FIG. 7A is a perspective view of the vibration presentation device of the embodiment. FIG. 7B is a partially exploded perspective view of FIG. 7A. 8A and 8B are perspective views of the vibration presentation device of the embodiment. 9A and 9B are conceptual diagrams for illustrating a calibration method. FIG. 10 is a perspective view of the vibration presenting apparatus according to the embodiment. FIG. 11A is a plan view of the vibration presentation device of the embodiment. 11B is a cross-sectional view taken along 11B-11B of FIG. 11A. 12A and 12B are transparent perspective views of the vibration presentation device of the embodiment. FIG. 13A is a plan view of the grip portion of the embodiment, and FIG. 13B is a front view of FIG. 13A. 14A is a transparent perspective view of the vibration presentation device of the embodiment, and FIG. 14B is a plan view of the vibration presentation device of the embodiment. 15A is a perspective view of the vibration presentation device of the embodiment, and FIG. 15B is a transparent view of FIG. 15A. FIG. 16 is an exploded perspective view of the vibration presentation device of the embodiment.

Embodiments of the present invention will be described below.
[Overview]
First, an outline will be described. As described above, the “vibration presentation device” of the present embodiment has “first guides” that are one or more “vibrators” that vibrate and “dents” that follow the surface shape of the finger. A "first gripper" and a "second gripper" attached to the "first gripper". However, the “vibrator” is attached to at least one side of the “first gripper” and the “second gripper”, and the relative orientation and position of the “first guide” with respect to the “second gripper” At least one of them can be adjusted. Accordingly, at least one of the relative orientation and position of the “first guide” with respect to the “second grip portion” can be adjusted according to the shape and way of holding of the user's hand gripping the “vibration presentation device”. As a result, the contact area between the finger skin and the “vibration presentation device” can be increased regardless of individual differences in hand shape and holding method, and vibration can be efficiently transmitted to the skin.

  The “vibrator” may be anything as long as it vibrates to perceive information and senses. An example of the “vibrator” is a device that performs a periodic “asymmetric motion” for causing a pseudo force sense to be perceived. The periodic “asymmetric motion” is a periodic motion that causes a user holding the “first grip portion” and the “second grip portion” to perceive a pseudo force sense based on the periodic “asymmetric motion”. The periodic “asymmetric motion” is a periodic motion in which a time series waveform of motion in the “predetermined direction” and a time series waveform of motion in the direction opposite to the “predetermined direction” are asymmetric. The “asymmetric motion” may be a periodic translational motion for presenting a pseudo force sense in the translation direction, or a periodic rotational motion for presenting a pseudo force sense in the rotational direction. May be. Preferably, the “waveform pattern” of the force applied to the skin by the “first gripping portion” and the “second gripping portion” based on the “asymmetric motion” is in a predetermined direction in the “first time interval”. Represents a force whose absolute value is greater than or equal to the “first threshold value”, and in a “second time period” different from the “first time period”, the direction is opposite to the “predetermined direction” and the absolute value Represents a force within the “second threshold” smaller than the “first threshold”, and is “asymmetric motion” in which the “first time interval” is shorter than the “second time interval”. It is desirable. In other words, it is desirable that the “waveform pattern” be “asymmetrical motion” that is a rectangular pattern or a pattern that approximates a rectangular pattern. This is because a pseudo force sense can be presented more clearly. An example of periodic “asymmetric motion” is asymmetric vibration. The “asymmetric vibration” is vibration for causing a pseudo force sense to be perceived by the force applied to the skin from the “first gripping portion” and the “second gripping portion”, and the time-series waveform of the vibration in the “predetermined direction”. And a time-series waveform of vibration in the opposite direction to the “predetermined direction” means vibration that is asymmetric. The “vibrator” is, for example, a device that includes a “support portion” and a “motion member” that performs “asymmetric vibration” while being supported by the “support portion”. “Asymmetric vibration” is, for example, a time-series waveform of “physical quantity” in “predetermined direction” of “motion member” and a time-series waveform of “physical quantity” in the opposite direction of “predetermined direction” of “motion member”. This is the vibration of the “motion member” that is asymmetric. Examples of the “physical quantity” include a force applied to a “support portion” that supports the “motion member”, an acceleration, a speed, or a position of the “support portion”, a force that the “motion member” applies to the “support portion”, “ The acceleration, speed, or position of the “movement member”, the force applied to the skin from the “movement member”, or the acceleration, speed, or position of the “movement member”. Examples of periodic “asymmetric motion” and “asymmetric vibration” are disclosed in Patent Document 1, Non-Patent Document 1, Reference Document 1 (Japanese Patent No. 4551448), and the like. Examples of the “vibrator” include a linear actuator that performs translational vibration and an eccentric rotor that performs eccentric rotation.

  A “dent” that follows the surface shape of the finger can be rephrased as a “dent” having a shape along the surface shape of the finger. An example of a “dent” that follows the surface shape of a finger is a recess (a dent) that follows the surface shape of an animal's (eg, human) finger belly, and the “dent” matches, for example, the surface shape of the finger's belly. It has a shape that fits. The shape of the “dent” is anisotropic. For example, when the belly of the finger is arranged in the “first guide” so that the finger extends in a predetermined direction with respect to the “first grip part”, the finger belly fits the “first guide”. However, when the belly of the finger is arranged in the “dent” in a different direction, the finger belly may not fit in the “first guide”. For example, the “first guide” is a groove-like depression extending in a predetermined direction with respect to the “first gripping portion”, and the inner wall surface is substantially curved. The inner wall surface of the “first guide” may be further provided with a plurality of small protrusions, depressions, irregularities, and the like. Not only the “first gripper” but also the “second gripper” may be provided with a “second guide” that is a “dent” that follows the surface shape of the finger. In this case, at least one of the relative orientation and position of the “first guide” with respect to the “second guide” can be adjusted. The “second guide” is also anisotropic. For example, when the belly of the finger is arranged in the “second guide” so that the finger extends in a predetermined direction with respect to the “second gripping part”, the belly of the finger fits the “second guide”. However, if the belly of the finger is arranged on the “second guide” in a different direction, the belly of the finger may not fit the “second guide”. For example, the “second guide” is a groove-like depression extending in a predetermined direction with respect to the “second gripping portion”, and the inner wall surface is substantially curved. The inner wall surface of the “second guide” may be further provided with a plurality of small protrusions, depressions, and irregularities. The “second guide” may have the same shape as the “first guide” or a different shape.

  The relative orientation of the “first guide” with respect to the “second gripping portion” refers to the “first guide” in a coordinate system based on the “second gripping portion” (a coordinate system fixed to the “second gripping portion”). Indicates the direction of “1 guide”. The relative position of the “first guide” with respect to the “second gripper” represents the position (coordinates) of the “first guide” in the coordinate system with the “second gripper” as a reference. The “first gripper” and the “second gripper” may be, for example, a member (for example, a case) that covers the outside of the “vibrator”, or the “second gripper” is outside the “vibrator”. The “first gripper” may be a member attached outside the “second gripper”, or the “first gripper” may cover the outside of the “vibrator”. In this case, the “second grip portion” may be a member attached to the outside of the “first grip portion”.

  Preferably, at least the relative orientation and position of the “first guide” with respect to the “second gripper” without changing the relative positional relationship between the “second gripper” and the “vibrator”. One can be adjusted. As a configuration in which the vibration direction by the “vibrator” with respect to the “second gripping portion” is not changed, a configuration in which the relative positional relationship of the “vibrator” with respect to the “second gripping portion” is fixed can be exemplified. For example, the “vibrator” may be fixed to the “second grip portion”. When the “vibration presentation device” has a plurality of “vibrators”, the relative positional relationship of all the “vibrators” with respect to the “second gripping portion” may be fixed (that is, all the “vibrations”). The positional relationship between “children” is also fixed). By not changing the relative positional relationship between the “second gripping portion” and the “vibrator”, the vibration direction of the “vibrator” with respect to the “second gripping portion” is not changed. At least one of the relative orientation and position of the “first guide” with respect to the “second gripping portion” can be adjusted. That is, the relative orientation and position of the “first guide” with respect to the “second gripper” without changing the relative positional relationship between the “second gripper” and the “vibration direction of the vibrator”. Can adjust at least one of them. As a result, the contact area between the skin of the finger and the “vibration presentation device” can be increased without changing the vibration direction in the coordinate system based on the “second gripping portion”, and vibration can be transmitted efficiently. In this case, if the user can take the correspondence between the vibration in the coordinate system with reference to the “second gripping part” and the information and feeling to be presented, the “second gripping part” Even if the direction and position of the “first gripping portion” are changed, information and senses can be appropriately presented to the user.

  The “second gripper” may represent “direction or position” determined based on the vibration direction of the “vibrator” so that this correspondence can be performed based on visual observation. For example, the “direction or position” may be represented by the shape of the “second guide” included in the “second grip portion”. For example, the longitudinal direction of the “second guide” may be arranged along the vibration direction axis (vibration axis) of any “vibrator”, and the “second guide” indicates the direction of the vibration axis. The longitudinal direction of the “second guide” may be arranged along the direction in which the resultant force of the vibrations of the plurality of “vibrators” is directed, or the “second guide”. May be a shape representing the direction in which this resultant force is directed. For example, if the “vibrator” performs periodic asymmetric vibration for presenting a pseudo force sense, the longitudinal direction of the “second guide” along any pseudo force sense presentation direction. May be arranged, or the “second guide” may have a shape representing this direction. The “second grip” may be provided with “marks” representing “direction or position” determined based on the vibration direction of the “vibrator”. For example, a “mark” may be provided at a position along the vibration direction axis of any “vibrator”, or a “mark” indicating the direction of the vibration axis may be provided. A “mark” indicating a direction in which a resultant force of vibrations of a plurality of “vibrators” is directed may be provided. For example, if the “vibrator” performs periodic asymmetric vibration for presenting a pseudo force sense, the “mark” indicating one of the pseudo force sense presentation directions is “the second gripping portion”. May be provided. The “mark” may be an uneven shape on the surface of the “second gripper”, may be a mark printed on the surface of the “second gripper”, or may be the surface of the “second gripper” (For example, a label or a screwed member) may be used.

  The relative positional relationship of the “vibrator” with respect to the “second gripper” is fixed, and the “second gripper” in the vibration direction of the “vibrator” in the coordinate system with the “second gripper” as a reference. When the relative rotation of the “first guide” relative to the “part” (free rotation) or the movement of the position (free movement) is possible, the force based on the vibration of the “vibrator” escapes and the “first grip” Does not communicate efficiently to the "part". For this reason, the relative orientation of the “first guide” with respect to the “second gripper” and the direction having a direction component different from the vibration direction of the “vibrator” in the coordinate system with respect to the “second gripper” and Desirably, at least one of the positions is adjustable. More preferably, the rotation of the “first guide” relative to the “second gripper” or the movement of the position in the vibration direction of the “vibrator” in the coordinate system with respect to the “second gripper” It is desirable not to be able to. For example, the “first guide” for the “second gripper” in a direction substantially orthogonal to the vibration direction of the “vibrator” in the coordinate system based on the “second gripper” (for example, only in a direction substantially orthogonal) It is desirable to be able to adjust at least one of the relative orientation and position. An example of “substantially orthogonal” is “orthogonal”. Thereby, the force based on the vibration of the “vibrator” can be efficiently transmitted to the finger.

[First Embodiment]
Next, embodiments of the present invention will be described with reference to the drawings.
<Configuration>
As illustrated in FIGS. 1 to 4, the vibration presentation device 1 according to this embodiment includes vibrators 13-1 and 13-2 and gripping units 11 and 12. In this embodiment, the grip portion 11 corresponds to a “second grip portion”, and the grip portion 12 corresponds to a “first grip portion”.

  The grips 11 and 12 are hollow case members having a substantially cylindrical shape with one open end closed (a petri dish). The edge portions 114 and 124 on the opening end side of the grip portions 11 and 12 are each formed in an annular shape, and are attached to be rotatable in the R1 direction. As illustrated in FIG. 4B, for example, on the inner wall surface side (inner wall surface side) of the edge portion 114 of the grip portion 11, the annular protrusion 114 a and the recess 114 b along the tip portion 114 c of the edge portion 114. Is provided. The convex portion 114a is convex in the inner wall surface direction, and the concave portion 114b is concave in the inner wall surface direction. The convex portion 114a and the concave portion 114b are provided one by one, and the convex portion 114a is disposed closer to the tip end portion 114c than the concave portion 114b. In addition, on the outer wall surface side (outer wall surface side) of the edge portion 124 of the grip portion 12, an annular protrusion 124 a and a recess 124 b are provided along the distal end portion 124 c of the edge portion 124. The convex portion 124a is convex toward the outer wall surface, and the concave portion 124b is concave toward the outer wall surface. The convex portion 124a and the concave portion 124b are also provided one by one, and the convex portion 124a is disposed closer to the tip portion 124c than the concave portion 124b. The bottom surface of the concave portion 124b is disposed on the inner side (center side of the gripping portions 11 and 12) than the bottom surface of the concave portion 114b, and the front end surface of the convex portion 124a is outside the front end surface of the convex portion 114a (the gripping portions 11 and 12). On the outer side). Since the convex portion 114a is disposed in the concave portion 124b and the convex portion 124a is disposed in the concave portion 114b, the grip portion 12 is fitted to the grip portion 11 so as to be rotatable in the R1 direction. The R1 direction is a rotation direction along the edge portions 114 and 124. That is, the outer wall side of the annular edge portion 124 of the grip portion 12 is fitted on the inner wall side of the annular edge portion 114 of the grip portion 11 so as to be rotatable along the edge portions 114 and 124. . By this rotation, it is possible to adjust at least one of the relative orientation and position of the guide 122 of the grip portion 12 with respect to the grip portion 11.

  A guide 112 (second guide) that is a depression that follows the surface shape of the finger is provided on the upper surface 111 that is the surface of the grip portion 11 on the closed end side. The guide 112 is a recess extending in the D1 direction along the upper surface 111. In other words, the longitudinal direction of the guide 112 is arranged along the direction D1. That is, the shape of the guide 112 has directionality. The inner wall surface of the guide 112 is a substantially curved surface. The guide 112 is a dent along a general finger shape, but may be shaped to fit a finger slightly larger than a general finger in order to improve versatility. An example of a finger shape that the guide 112 follows is a thumb or an index finger. The guide 112 is provided with a plurality of small convex portions 112a. In this embodiment, a plurality of rows composed of a plurality of convex portions 112a are arranged along the D1 direction. That is, the arrangement of the convex portions 112a is also directional.

  A guide 122 (first guide) that is a depression that follows the surface shape of the finger is provided on the lower surface 121 that is the surface on the closed end side of the grip portion 12. The guide 122 is a recess extending in the D2 direction along the lower surface 121. In other words, the longitudinal direction of the guide 122 is arranged along the direction D2. That is, the shape of the guide 122 also has directionality. The inner wall surface of the guide 122 is also substantially curved. The guide 122 is a dent along a general finger shape, but may be shaped to fit a finger slightly larger than a general finger in order to improve versatility. The shape of the finger copied by the guide 122 may be the same as or different from the shape of the finger copied by the guide 112. In the latter case, for example, (1) the guide 112 may be shaped to follow the shape of the thumb, and the guide 122 may be shaped to follow the shape of the index finger, or (2) the guide 112 may be shaped to follow the shape of the index finger, In addition, the guide 122 may have a shape that follows the shape of the thumb. The guide 122 is also provided with a plurality of small convex portions 122a. In this embodiment, a plurality of rows composed of a plurality of convex portions 122a are arranged along the D2 direction. In other words, the arrangement of the convex portions 122a is also directional.

  The gripping portions 11 and 12 may be made of any material such as synthetic resin such as ABS resin as long as the gripping portions 11 and 12 can transmit vibration and have strength as the gripping portions 11 and 12. The same applies to the material of the grip portion of the embodiment and its modification). The gripping portions 11 and 12 may be integrally formed by a known method such as an injection molding method, or may be manufactured by a 3D printer.

  Vibrators 13-1 and 13-2 are arranged inside the grip portions 11 and 12. The vibrator 13-i (where i = 1, 2) of the present embodiment is a device (for example, a linear actuator) that performs a periodic asymmetric motion along the direction D3-i (a specific example will be described later). The D3-1 direction and the D3-2 direction are different from each other, for example, substantially orthogonal to each other. The vibrators 13-1 and 13-2 of the present embodiment are fixed to the gripping part 11 side. That is, the relative positional relationship between the vibrators 13-1 and 13-2 with respect to the grip portion 11 is fixed. For example, the case of the vibrator 13-1 is fixed to the inner wall surface of the gripper 11, and the case of the vibrator 13-2 is fixed to the case of the vibrator 13-1. In this embodiment, the vibrator 13-1 is arranged along the direction D1, and the longitudinal direction of the guide 112 is arranged along the vibration direction of the vibrator 13-1. With the arrangement of the guide 112, the orientation or position determined based on the vibration direction of the vibrator 13-1 can be recognized.

  With the above configuration, without changing the relative positional relationship between the grip portion 11 and the vibrators 13-1 and 13-2, the grip portion 12 is rotated in the R <b> 1 direction with respect to the grip portion 11 and gripped. The relative orientation and position of the guide 122 relative to the portion 11 can be adjusted. In other words, at least one of the relative orientation and position of the guide 122 with respect to the grip 11 without changing the relative positional relationship between the grip 11 and the vibration directions of the vibrators 13-1 and 13-2. Can be adjusted. Furthermore, in this embodiment, the grip 112 is also provided with a guide 112, and at least one of the relative orientation and position of the guide 122 with respect to the guide 112 can be adjusted. The direction D3-i that is the vibration direction of the vibrator 13-i is substantially orthogonal to the direction R1 that is the rotation direction. That is, the gripper 11 is arranged in a direction substantially orthogonal to the D3-i direction that is the vibration direction of the vibrator 13-i (in a direction having a different direction component from the D3-i direction that is the vibration direction of the vibrator 13-i). It is possible to adjust at least one of the relative orientation and position of the guide 122 of the grip portion 12 with respect to. In this configuration, the force in the vibration direction of the vibrator 13-i does not escape due to the rotation of the grip portion 12 with respect to the grip portion 11. That is, the convex portion 114 a of the grip portion 11 is disposed in the concave portion 124 b of the grip portion 12, and the convex portion 124 a of the grip portion 12 is disposed in the concave portion 114 b of the grip portion 11, whereby the grip portion 12 is Since the grip portion 12 does not move in the radial direction with respect to the grip portion 11, the force in the vibration direction of the vibrator 13-i is efficiently transmitted to the grip portion 12. Thereby, the force based on the vibration of the vibrator 13-i can be efficiently transmitted to the grip portion 12 while at least one of the relative orientation and position of the guide 122 with respect to the guide 112 can be adjusted.

<Example of vibrator 13-i>
As illustrated in FIGS. 5A and 5B, the vibrator 13-i includes, for example, a support part 131-i, springs 132-i, 133-i (elastic body), a coil 134-i, and a motion member that is a permanent magnet. 135-i and case 136-i. Case 136-i and support part 131-i of this form are hollow members which consist of the shape which closed both the open ends of the pipe | tube (for example, a cylinder and a polygonal cylinder). However, the support portion 131-i is smaller than the case 136-i and has a size that can be accommodated in the case 136-i. Case 136-i and support part 131-i are comprised from synthetic resins, such as ABS resin, for example. The springs 132-i and 133-i are, for example, a helical spring or a leaf spring made of metal or the like. The elastic coefficients (spring constants) of the springs 132-i and 133-i are preferably the same, but may be different from each other. The motion member 135-i is, for example, a cylindrical permanent magnet, and one end 135a-i side in the longitudinal direction is an N pole, and the other end 135b-i side is an S pole. The coil 134-i is, for example, a continuous enamel wire, and includes a first winding part 134a-i and a second winding part 134b-i.

  The motion member 135-i is accommodated inside the support portion 131-i, and is supported so as to be slidable in the longitudinal direction. Although details of such a support mechanism are not shown, for example, a straight rail along the longitudinal direction is provided on the inner wall surface of the support portion 131-i, and this rail is slidably supported on the side surface of the motion member 135-i. A rail support is provided. One end of the spring 132-i is fixed to the inner wall surface 131a-i on one end side in the longitudinal direction of the support portion 131-i (that is, one end of the spring 132-i is supported by the support portion 131-i). The other end of 132-i is fixed to the end portion 135a-i of the moving member 135-i (that is, the end portion 135a-i of the moving member 135-i is supported by the other end of the spring 132-i). ). Further, one end of the spring 133-i is fixed to the inner wall surface 121b on the other end side in the longitudinal direction of the support portion 131-i (that is, one end of the spring 133-i is supported by the support portion 131-i). The other end of the spring 133-i is fixed to the end portion 135b-i of the moving member 135-i (that is, the end portion 135b-i of the moving member 135-i is supported by the other end of the spring 133-i). )

A coil 134-i is wound around the outer periphery of the support portion 131-i. However, the end portion 135a-i side of the moving member 135-i (N pole side), and the first winding portion 134a-i are wound _{A 1} direction (direction toward the back to the front), the end portion in 135b-i side (S-pole side), the second winding portion 134b-i is wound around the _{a 1} direction in the opposite direction to the direction of _{B 1} direction (direction toward the front to the back). That is, when viewed from the end portion 135a-i side (N pole side) of the moving member 135-i, the first winding portion 134a-i is wound clockwise, and the second winding portion 134b-i is counterclockwise. It is wrapped around Further, in a state where the motion member 135-i is stopped and the elastic forces from the springs 132-i and 133-i are balanced, the end portion 135a-i side (N pole side) of the motion member 135-i is the first winding. It is desirable that the end portion 135b-i (S pole side) be disposed in the region of the second winding portion 134b-i.

  The support part 131-i, the springs 132-i, 133-i, the coil 134-i, and the motion member 135-i arranged and configured as described above are accommodated in the case 136-i, and the support part 131-i. Is fixed inside the case 136-i. That is, the relative position of the case 136-i with respect to the support portion 131-i is fixed. However, the longitudinal direction of the case 136-i coincides with the longitudinal direction of the support portion 131-i and the longitudinal direction of the motion member 135-i.

The coil 134-i applies a force corresponding to the flowed current to the motion member 135-i, whereby the motion member 135-i performs a periodic asymmetric motion (asymmetric vibration: Periodic translational reciprocation with asymmetry in the axial direction with respect to the support 131-i is performed. That is, when an electric current is applied to the _{A 1} direction _{(B 1} direction) to the coil 134-i, by reaction of the Lorentz force is described in Fleming's left-hand rule, _{C 1} direction to the motion member 135-i (movement member 135- A force in the direction from the north pole of i to the south pole (right direction) is applied (FIG. 5A). Conversely, _{A 2} direction to the coil 134-i when _{(B 2} direction) electric current, _{C 2} direction movement member 135-i (the direction toward the S pole of the moving member 135-i to the N pole: left) Is applied (FIG. 5B). However, _{A 2} direction is opposite the direction of _{A 1} direction. By these operations, kinetic energy is given to the system including the moving member 135-i and the springs 132-i, 133-i. Thereby, the position and acceleration of the moving member 135-i with respect to the case 136-i (the axial position and acceleration with respect to the support portion 131-i) can be changed.

The configuration of the vibrator 13-i is not limited to that shown in FIGS. 5A and 5B. For example, the first winding portion 134a-i of the coil 134-i to the end 135a-i side of the moving member 135-i are wound _{A 1} direction, the coil 134-i is wrapped around the end 135b-i side The structure which is not carried out may be sufficient. Conversely, the second winding portion 134b-i are wound around the _{B 1} direction, the coil 134-i to the end 135a-i side of the moving member 135-i of the coil 134-i to the end 135b-i side The structure which is not wound may be sufficient. Alternatively, the first winding part 134a-i and the second winding part 134b-i may be different coils. That is, the 1st winding part 134a-i and the 2nd winding part 134b-i may not be electrically connected, and the structure to which a mutually different electric signal is given may be sufficient.

<Operation>
As illustrated in FIG. 6A, when using the vibration presentation device 1, the user holds the holding portions 11 and 12 with two fingers 101 and 102 (for example, a thumb and an index finger). One finger 101 (for example, thumb) is disposed on the guide 112 of the gripper 11, and the other finger 102 (for example, index finger) is disposed on the guide 122 of the gripper 12. When either of the two fingers 101 and 102 does not fit the guides 112 and 122, the gripping part 12 is rotated in the R1 direction with respect to the gripping part 11 so that they fit. Even if such rotation is performed, the positional relationship between the guide 112 and the vibrators 13-1 and 13-2 does not change.

In this state, a drive control signal for driving the vibrator 13-i (where i = 1, 2) is supplied to the vibrator 13-i. The drive control signal may be a voltage-controlled signal or a current-controlled signal. The driving control signal, a desired direction moving member 135-i (FIGS. 5A and 5B: _{C 1} direction or _{C 2} direction) to the period T1 to flow direction of the current in the coil 134-i that gives the acceleration, otherwise Period T2 is periodically repeated. At that time, the ratio (reversal ratio) between the period (time) in which current flows in a predetermined direction and the other period (time) is biased to one of the periods. In other words, a periodic current having a ratio of the period T1 in one period different from the ratio of the period T2 in the period is supplied to the coil 134-i. Thereby, at least one of the motion members 135-i performs a periodic asymmetric vibration motion along the direction D3-i with respect to the case 136-i. The vibration based on the asymmetric motion is transmitted to the grip portions 11 and 12, and a force based on the asymmetric motion is applied to the finger gripping the guides 112 and 122. For example, when only one of the vibrators 13-i is driven, a pseudo translational force sense can be presented in any direction of the D3-i direction. When both the vibrators 13-1 and 13-2 are driven, a pseudo translational force sense can be presented in a direction between the D3-1 direction and the D3-2 direction. At this time, the direction in which the pseudo translational force sense is presented can also be adjusted by adjusting the strength of the force sense presented from each of the vibrators 13-1 and 13-2. Desirably, the waveform pattern (time-series waveform pattern) of the force applied to the skin by the vibrator 13-i is the predetermined direction DIR1 and the absolute value is the threshold value in the time interval τ1 (first time interval). This represents a force equal to or greater than TH1 (first threshold), and in a time interval τ2 (second time interval different from the first time interval), the direction is the opposite direction DIR2 of the predetermined direction and the absolute value is the threshold TH2 ( It is preferable to represent a force that is within TH2 <TH1). However, τ1 <τ2, and the time interval τ1 and the time interval τ2 are periodically repeated. As a result, a pseudo force sense can be perceived more clearly. More desirably, the waveform pattern of the force is a rectangular pattern or a pattern that approximates a rectangular pattern.

  As described above, the direction of the pseudo force sense presented from the vibration presentation device 1 is based on the positions of the vibrators 13-1 and 13-2 and their drive patterns. As described above, even if the grip portion 12 is rotated in the R1 direction with respect to the grip portion 11, the positional relationship between the guide 112 and the vibrators 13-1 and 13-2 does not change. Therefore, if the user is based on the D1 direction along the longitudinal direction of the guide 112, it is not necessary to calibrate the drive patterns of the vibrators 13-1 and 13-2 according to this rotation.

[First Modification of First Embodiment]
Since the positional relationship between the guide 112 and the vibrators 13-1 and 13-2 does not change, if the user can recognize the reference direction based on the vibration direction of the vibrators 13-1 and 13-2, the vibrator 13- It is not necessary to calibrate the drive patterns 1 and 13-2. In the first embodiment, the user grasps the positional relationship between the vibrators 13-1 and 13-2 with reference to the guide 112. However, a “mark” indicating the orientation or position determined based on the vibration direction of the vibrators 13-1 and 13-2 may be provided in the grip portion 11. In this case, the user can recognize the reference direction based on the “mark”. For example, as illustrated in FIG. 6B, a mark 113a may be provided in the vicinity of the intersection between the vibration axis L1-1 of the vibrator 13-1 and the side surface 113 of the grip portion 11. Alternatively, other positions on the side surface 113 as illustrated in FIG. 6C (for example, positions on the side surface 113 on the side where a force sense is presented when the transducers 13-1 and 13-2 are driven in the same phase) ) May be provided with a mark 113a. In addition, the orientation or position determined based on the vibration direction of the vibrators 13-1 and 13-2 may be represented by the arrangement of the plurality of convex portions 112 a provided on the guide 112. For example, the direction of presentation of the force sense by the vibrator 13-1 may be represented by the arrangement of a plurality of convex portions 112a provided on the guide 112 (for example, an arrangement in which an arrow is represented by a set of convex portions 112a), or vibration A direction in which a force sense is presented when the children 13-1 and 13-2 are driven in the same phase may be represented.

[Modification 2 of the first embodiment]
In the first embodiment and Modification 1 thereof, the vibrators 13-1 and 13-2 are fixed to the grip portion 11. However, the vibrators 13-1 and 13-2 may be fixed to the inner wall surface of the grip portion 12 without being fixed to the grip portion 11. In the case of this configuration, the grip portion 11 is opposed to the “first grip portion”, the grip portion 12 is opposed to the “second grip portion”, the guide 112 is equivalent to the “first guide”, and the guide 122 is This corresponds to the “second guide”.

[Second Embodiment]
This embodiment is a modification of the first embodiment. As illustrated in FIGS. 7 and 8, the vibration presentation device 2 according to the present embodiment includes vibrators 13-1 and 13-2, a rotation mechanism 20, and a grip unit 22. The rotation mechanism 20 includes a grip part 21, a main body 23, and a pin 24. In this embodiment, the grip portion 21 corresponds to a “first grip portion”, and the grip portion 22 corresponds to a “second grip portion”.

  As illustrated in FIGS. 7A and 7B, the grip portion 21 is a substantially disk-shaped member, and a guide 212 (first guide) that is a recess that follows the surface shape of the finger is formed on the upper surface 211 side, which is one surface thereof. ) Is provided. The shape of the guide 212 is the same as the guide 112 of the first embodiment, and the guide 212 is provided with a plurality of small convex portions 212a. As described above, the shape of the guide 212 and the arrangement of the convex portions 212a are directional. Near the center (center) of the lower surface 214 side, which is the other surface of the gripping portion 21, a substantially cylindrical shaft portion 213 that is substantially orthogonal to the lower surface 214 is projected. The shaft portion 213 is hollow, and an insertion hole 213a (concave portion) of the pin 24 is provided by opening the distal end side thereof. The main body 23 is a petri dish-shaped hollow case member in which one end of a substantially cylindrical shape is an open end 233 and most of an upper surface 231 located at the other end is closed. Near the center of the upper surface 231, a through hole 232 having a size into which the shaft portion 213 can be inserted is provided. The pin 24 includes a substantially cylindrical shaft 241 and a stopper 242 having a larger diameter than the shaft 241. The shaft portion 213 of the grip portion 21 is rotatably inserted into the through hole 232 from the upper surface 231 side of the main body 23, and the shaft 241 of the pin 24 is inserted into the insertion hole 213 a of the shaft portion 213 from the open end 233 side of the main body 23. Has been inserted. Thus, the gripping portion 21 is supported so as to be rotatable in the R2 direction with respect to the main body 23. In other words, at least one of the position and orientation of the guide 212 is rotatable with respect to the main body 23. Vibrators 13-1 and 13-2 are attached to the inner wall surface of the main body 23. That is, the relative positions of the vibrators 13-1 and 13-2 with respect to the main body 23 are fixed. As in the first embodiment, the relative positional relationship between the vibrator 13-1 and the vibrator 13-2 is fixed.

  The grip portion 22 is a petri dish-shaped hollow case member with one open end of a substantially cylindrical shape closed. A guide 222 (second guide) that is a depression that follows the surface shape of the finger is provided on the lower surface 221 that is the closed end side surface of the grip portion 22. The shape of the guide 222 is the same as the guide 122 of the first embodiment, and the guide 222 is provided with a plurality of small convex portions. As described above, the shape of the guide 222 and the arrangement of the convex portions are directional. The edge portion 224 on the closed end side of the grip portion 22 is fixed to the opening end 233 side of the main body 23.

  With the above configuration, the grip portion 21 can be rotated in the R2 direction with respect to the grip portion 22, and at least one of the relative orientation and position of the guide 212 with respect to the grip portion 22 can be adjusted. In this embodiment, a guide 222 is also provided in the grip portion 22, and at least one of the relative orientation and position of the guide 212 with respect to the guide 222 can be adjusted. Further, the vibration direction D3-i of the vibrator 13-i is substantially orthogonal to the R2 direction that is the rotation direction. That is, at least one of the relative direction and position of the guide 212 of the gripper 21 with respect to the gripper 22 can be adjusted in a direction substantially orthogonal to the vibration direction D3-i of the vibrator 13-i. As in the first embodiment, the force in the vibration direction of the vibrator 13-i does not escape due to the rotation of the grip portion 21 relative to the grip portion 22. Therefore, the force based on the vibration of the vibrator 13-i can be efficiently transmitted to the grip portion 21 while at least one of the relative orientation and position of the guide 212 with respect to the guide 222 can be adjusted.

  In this embodiment, since the positional relationship between the guide 222 and the vibrators 13-1 and 13-2 does not change, if the user can recognize the reference direction based on the vibration direction of the vibrators 13-1 and 13-2, the vibration will occur. There is no need to calibrate the drive patterns of the children 13-1 and 13-2. Therefore, the orientation or position determined based on the vibration direction of the vibrators 13-1 and 13-2 is represented so that the user can recognize the reference direction based on the vibration direction of the vibrators 13-1 and 13-2. A “mark” may be provided on the main body 23 or the grip portion 22. In this case, the user can recognize the reference direction based on the “mark”.

  If the user cannot recognize the reference direction based on the vibration direction of the vibrators 13-1 and 13-2, after adjusting at least one of the position and orientation of the guide 212 with respect to the grip portion 22, the vibrators 13-1 and 13. -2 drive pattern may be calibrated. Below, this calibration method is illustrated.

<Example of calibration method>
The drive control signal given to the vibrators 13-1 and 13-2 in order for the main body 23 before adjustment to present a pseudo force sense (traction force) in a predetermined direction θ is [u1, u2] = F (θ). Express. However, u1 and u2 are drive control signals given to the vibrators 13-1 and 13-2, respectively, and θ is an angle representing a direction in which a pseudo force sense is to be presented. For example, θ is an angle representing a direction with the clockwise direction being positive with respect to the front of the user. F is a function set according to the configuration of the apparatus. For example, as illustrated in FIGS. 9A and 9B, when defining the main body 23 having two orthogonal transducers 13-1 and 13-2 and the direction θ, [u 1, u 2] = [f (t, k * Cos (θ)), f (t, k * sin (θ))] = F (θ) may be used. However, f (t, p) represents a time-series waveform pattern of a drive control signal for allowing a single vibrator to perceive a pseudo force sense having a strength of a sense amount p. However, t represents time. Specific f may be determined based on Patent Document 1 or the like. K represents the strength of the pseudo force sense perceived in each direction.

  After adjusting at least one of the position and orientation of the guide 212 with respect to the grip portion 22, a drive control signal [u1, u2] = [u1_0, u2_0] = F (0) is used as a calibration signal as the vibrator 13-1. 13-2, the user is made to answer the direction in which the user feels a pseudo force sense. As a method of answering, for example, the user moves his / her hand in a direction in which a pseudo force sense is felt, and the movement of the hand is measured by an acceleration sensor attached to the user's arm. Alternatively, the answer direction may be obtained after the information of the acceleration sensor is integrated over time to obtain speed and position information. Further, instead of the acceleration sensor, other measuring means such as a magnetic position sensor or an external camera may be used. At this time, the measurement may be performed once, or an average value may be calculated by answering a plurality of times in order to improve accuracy. Alternatively, not only θ = 0 but also, for example, pseudo force sense is perceived in other directions represented by θ = ± π [rad] (π ≠ 0), and the measured information is averaged to determine the answer direction. It may be estimated.

  It is assumed that the direction obtained as an answer is φ (FIG. 9B). However, φ is an angle representing a direction defined in the same manner as θ. Here, if it is desired to present a pseudo force sense in the rotation direction θ, [u1 ′, u2 ′] = F (θ−φ) is used as the corrected drive control signal for the vibrators 13-1, 13-2. You can enter in

[Modification 1 of the second embodiment]
In the second embodiment, the vibrators 13-1 and 13-2 are fixed to the main body 23 (the gripping part 22 side). However, the vibrators 13-1 and 13-2 may be fixed to the inner wall surface of the grip portion 22. In addition, instead of using the pin 24, an annular rail provided on the lower surface 214 of the grip portion 21 and an annular rail provided on the upper surface 231 of the main body 23 are fitted so as to be rotatable in the R2 direction. May be.

[Third Embodiment]
This embodiment is also a modification of the first embodiment. As illustrated in FIGS. 10 and 11, the vibration presentation device 3 according to the present embodiment includes a vibrator 13-1, gripping units 31-1 and 31-2, and a gripping unit 32. In this embodiment, the gripping portions 31-1 and 31-2 correspond to “first gripping portions”, and the gripping portion 32 corresponds to “second gripping portions”.

  The grip part 32 of this form is a plate-shaped member. An oscillator 13-1 that vibrates in the D 3-1 direction, which is the short direction of the grip portion 32, is fixed inside the grip portion 32. On the upper surface 321 side, which is one plate surface of the grip portion 32, a straight groove 321a is provided along the D4 direction which is the longitudinal direction of the grip portion 32. The D4 direction is substantially orthogonal to the D3-1 direction. Two rail-like convex portions 321aa and 321ab along the D4 direction are provided on the opening side of the two inner wall surfaces of the groove 321a (two side surfaces facing each other in the longitudinal direction inside the groove 321a). (FIG. 11B). Thereby, the width of the opening of the groove 321a (the width in the direction substantially orthogonal to the D4 direction) is narrower than the width of the inner bottom surface of the groove 321a.

  The grip portion 31-i (where i = 1, 2) includes a contact member 312-i, a slide member 314-i, and a pin 313-i. The contact member 312-i is a boat-shaped member having a substantially elliptical planar shape. One surface of the contact member 312-i is provided with a guide 312 a-i (first guide) that is a depression following the surface shape of the finger. The guides 312a-i are concave portions extending in the D5-i direction, which is the longitudinal direction of the contact member 312-i. In other words, the longitudinal direction of the guides 312a-i is arranged along the direction D5-i. That is, the shape of the guides 312a-i has directionality. As in the first embodiment, the guide 312a-i is a dent along a general finger shape. However, the guide 312a-i may be shaped to fit a finger slightly larger than a general finger in order to improve versatility. . An example of the finger shape that the guide 312a-1 follows is the thumb of one hand (for example, the left hand), and the example of the finger shape that the guide 312a-2 follows is the thumb of the other hand (for example, the right hand).

  As illustrated in FIG. 11B, convex portions 314a-i and 314b-i protruding in opposite directions are provided on both side surfaces on one end side of the slide member 314-i. The convex portions 314a-i and 314b-i of the slide member 314-i are disposed inside the groove 321a. The grip portion 31-i is disposed on the upper surface 321 side of the grip portion 32 with the guide 312 a-i facing outward (upward). The slide member 314-i and the grip portion 31-i are connected by a pin 313-i inserted from the guide 312a-i. Thereby, the gripping portions 31-1 and 31-2 can slide in the D4 direction with respect to the gripping portion 32, and the relative positions of the guides 312a-1 and 312a-2 with respect to the gripping portion 32 can be adjusted. Further, the grip portion 31-i may be rotatable in the R3-i direction with respect to the slide member 314-i around the pin 313-i. In this case, the D5-i direction with respect to the D4 direction can be changed, and the relative orientation of the guides 312a-1 and 312a-2 with respect to the grip portion 32 can be adjusted.

  The vibration direction D3-1 of the vibrator 13-1 is substantially orthogonal to the D4 direction, which is the sliding direction of the gripping portions 31-1, 31-2, and R3- is the rotational direction of the gripping portions 31-1, 31-2. It is also substantially orthogonal to the i direction. That is, the grip portion 32 is arranged in a direction substantially orthogonal to the D3-1 direction that is the vibration direction of the vibrator 13-1 (in a direction having a different direction component from the D3-i direction that is the vibration direction of the vibrator 13-i). It is possible to adjust at least one of the relative orientation and position of the guides 312a-1 and 312a-2 of the gripping portions 31-1 and 31-2. In this configuration, the force in the vibration direction of the vibrator 13-1 does not escape due to the sliding or rotation of the gripping portions 31-1, 31-2. Thereby, at least one of the relative orientation and position of the guides 312a-1 and 312a-2 with respect to the grip portion 32 can be adjusted, but the force based on the vibration of the vibrator 13-1 can be adjusted. 3-2 can be transmitted efficiently. Note that the grip portions 31-1 and 3-2 having at least one of the orientation and the position adjusted may be fixed to the grip portion 32 by increasing the degree of fastening by the pins 313-i.

[Fourth Embodiment]
This embodiment is a modification of the third embodiment. As illustrated in FIGS. 12 and 13, the vibration presentation device 4 according to the present embodiment includes vibrators 13-1 and 13-2, gripping units 41-1 and 41-2, and a gripping unit 42. In the present embodiment, the gripping parts 41-1 and 41-2 correspond to “first gripping part”, and the gripping part 42 corresponds to “second gripping part”.

  The grip part 42 of this embodiment is a plate member. Inside the gripper 42, a vibrator 13-1 that vibrates in the direction D6-1, which is the short direction of the gripper 42, and a vibrator 13- that vibrates in the direction D6-2, which is the longitudinal direction of the gripper 42, are provided. 2 is fixed. A plurality of holes 421 a (concave portions) are provided on the upper surface 421 side which is one plate surface of the grip portion 42. The central axis of the hole 421a is substantially orthogonal to the upper surface 421, and the cross-sectional shape parallel to the opening of the hole 421a is substantially circular or polygonal.

  As illustrated in FIGS. 13A and 13B, the gripping portion 41-i (where i = 1, 2) is a boat-shaped member having a substantially elliptical planar shape. A guide 412a-i (first guide) is provided on one surface of the gripper 41-i, which is a depression that follows the surface shape of the finger. The guides 412a-i are concave portions that extend in the longitudinal direction of the grip portion 41-i. In other words, the longitudinal direction of the guides 412a-i is arranged along the longitudinal direction of the gripping portion 41-i. That is, the shape of the guides 412a-i has directionality. As in the first embodiment, the guide 412a-i is a dent along the shape of a general finger. However, in order to improve versatility, the guide 412a-i may be shaped to fit a finger slightly larger than a general finger. . An example of the finger shape that the guide 412a-1 follows is the thumb of one hand (for example, the left hand), and an example of the finger shape that the guide 412a-2 follows is the thumb of the other hand (for example, the right hand). On the other surface of the grip portion 41-i, a convex portion 412 b-i having a shape that can be inserted into the hole 421 a of the grip portion 42 described above is provided. For example, if the cross-sectional shape parallel to the opening part of the hole 421a is substantially circular, the convex part 412b-i is a substantially cylindrical shape, and if the cross-sectional shape parallel to the opening part of the hole 421a is polygonal, the convex part 412b-i. The cross-sectional shape is also the same polygon.

  The user inserts these convex portions 412b-1 and 412b-2 into any one of the holes 421a so that the gripping portions 41-1 and 41-2 are arranged at a position that fits his / her hand. Further, the grip portion 41-i in which the convex portion 412b-i is inserted into the hole 421a is rotatable in the R3-i direction. Thereby, the gripping parts 41-1 and 41-2 can be adjusted to an arbitrary position with respect to the gripping part 42, and can also be adjusted to an arbitrary direction in the R3-i direction. Thereby, at least one of the relative direction and position of the guides 412a-1 and 412a-2 with respect to the grip portion 42 can be adjusted.

  The vibration direction D6-1 of the vibrator 13-1 is the short direction of the grip portion 42, and the vibration direction D6-2 of the vibrator 13-2 is the long direction of the grip portion 42, which are substantially orthogonal to each other. Therefore, the rotation directions R3-1 and R3-2 of the gripping parts 41-1 and 41-2 are the vibration direction D6-1 of the vibrator 13-1, the vibration direction D6-2 of the vibrator 13-2, and these It is substantially orthogonal to any direction of the resultant force based on vibration. In this configuration, the force in the vibration direction of the vibrator 13-i does not escape due to the rotation of the grip portions 41-1 and 41-2. Thereby, at least one of the relative orientation and position of the guides 412a-1 and 412a-2 with respect to the grip part 42 can be adjusted, but the force based on the vibration of the vibrator 13-i can be adjusted. 41-2 can be efficiently transmitted.

[Fifth Embodiment]
This embodiment is a modification of the fourth embodiment. As illustrated in FIG. 14, the vibration presentation device 5 according to the present embodiment includes vibrators 13-1 and 13-2, gripping parts 41-1 and 41-2, and a gripping part 52. In the present embodiment, the gripping parts 41-1 and 41-2 correspond to “first gripping part”, and the gripping part 52 corresponds to “second gripping part”. The difference from the fourth embodiment is only the grip portion 52. The grip portion 52 of the present embodiment is a plate-like member, and inside the grip portion 52, vibrators 13-1 and 13-2 that vibrate in directions D7-1 and D7-2, which are short directions of the grip portion 52, are provided. Is fixed. A plurality of holes 521a (concave portions) having the same shape as the holes 421a of the fourth embodiment are also provided on the upper surface 521 side which is one plate surface of the grip portion 52. However, when the vibrators 13-1 and 13-2 are driven in opposite phases to each other, the gripper 52 rotates minutely and periodically, but the hole 521a is formed near the intersection 521d between the rotation center 521c and the upper surface 521. Is not provided.

  As in the fourth embodiment, the user places the convex portions 412b-1 and 412b-2 in any of the holes 521a so that the gripping portions 41-1 and 41-2 are arranged at positions that fit the user's hand. insert. Further, the grip portion 41-i in which the convex portion 412b-i is inserted into the hole 421a is rotatable in the R3-i direction. In other words, the gripping portions 41-1 and 41-2 can be adjusted to an arbitrary position with respect to the gripping portion 52, and can also be adjusted to an arbitrary direction in the R3-i direction. Thereby, at least one of the relative direction and position of the guides 412a-1 and 412a-2 with respect to the grip portion 52 can be adjusted.

  Under the control of the vibrators 13-1 and 13-2, the gripper 52 vibrates in the direction along the directions of the D 7-1 and D 7-2, or periodically rotates (rotates) around the rotation center 521 c. I do exercise. The former vibration directions D7-1 and D7-2 are substantially orthogonal to the rotation directions R3-1 and R3-2 of the gripping portions 41-1 and 41-2. Therefore, as in the fourth embodiment, the force based on the former vibration does not escape due to the rotation of the gripping portions 41-1 and 41-2. Further, no hole 521a is provided in the vicinity of the intersection 521d between the rotation center 521c and the upper surface 521 of the gripper 52, which is generated when the vibrators 13-1 and 13-2 are driven in opposite phases. Therefore, it can also be suppressed that the force based on the latter periodic rotational motion escapes due to the rotation of the gripping portions 41-1 and 41-2. Thereby, at least one of the relative orientation and position of the guides 412a-1 and 412a-2 with respect to the grip portion 52 can be adjusted, but the force based on the vibration of the vibrator 13-i can be adjusted. 41-2 can be efficiently transmitted.

[Sixth Embodiment]
This embodiment is a modification of the first to fifth embodiments. As illustrated in FIGS. 15 and 16, the vibration presentation device 6 of this embodiment includes a vibrator 13-1 and gripping portions 61 and 62. In this embodiment, the grip portion 61 corresponds to a “first grip portion”, and the grip portion 62 corresponds to a “second grip portion”.

  The gripping part 62 includes a substantially rectangular parallelepiped hollow case 621 and springs 622 and 623 each having one end fixed to an upper surface 621a which is one surface of the case 621. An oscillator 13-1 that vibrates in the direction D 8, which is the longitudinal direction of the grip portion 62, is fixed inside the grip portion 62. The gripping portion 61 is a hollow case formed to have a size that can accommodate the case 621. One surface of the grip portion 61 is an open surface 613. An area on the upper surface 621 a side of the gripping part 62 is accommodated in the gripping part 61, and the other ends of the springs 622 and 623 are fixed inside the gripping part 61. A region on the lower surface 621 b side (opposite side of the upper surface 621 a side) of the grip portion 62 is disposed outside the open surface 613 of the grip portion 61. The gripping part 61 is supported at one end by the elastic force of the springs 622 and 623 held by the gripping part 62. Thereby, the relative position with respect to the holding part 62 of the holding part 61 can be moved to D9 direction.

  A guide 612 (first guide) that is a depression that follows the surface shape of the finger is provided on the upper surface 611 side (the opposite side of the open surface 613) of the grip portion 61. The guide 612 is a recess extending in the D8 direction along the upper surface 611. In other words, the longitudinal direction of the guide 612 is arranged along the D8 direction. A plurality of small convex portions may be provided on the guide 612.

  With the above configuration, without changing the relative positional relationship between the gripping part 62 and the vibrator 13-1, the gripping part 61 is moved in the D9 direction with respect to the gripping part 62, and a guide for the gripping part 62 is thus obtained. The relative position of 612 can be adjusted. Further, the direction D8 that is the vibration direction of the vibrator 13-1 is substantially orthogonal to the direction D9 that is the movement direction of the grip portion 61 relative to the grip portion 62. In this configuration, the force in the vibration direction of the vibrator 13-1 does not escape due to the movement of the grip portion 61 relative to the grip portion 62. Thereby, while the relative position of the guide 612 with respect to the grip part 62 can be adjusted, the force based on the vibration of the vibrator 13-1 can be efficiently transmitted to the grip part 61.

[Other variations]
In addition, this invention is not limited to the above-mentioned embodiment. For example, the number of vibrators 13-i is not limited to that exemplified in the above-described embodiment, and three or more vibrators 13-i may be provided. Further, the number of gripping portions and the shape of the guide are not limited to those described above.

  When the control device that controls the vibrator described above is realized by a computer, the processing contents of the functions that the control device should have are described by a program. By executing this program on a computer, the above processing functions are realized on the computer. The program describing the processing contents can be recorded on a computer-readable recording medium. An example of a computer-readable recording medium is a non-transitory recording medium. Examples of such a recording medium are a magnetic recording device, an optical disk, a magneto-optical recording medium, a semiconductor memory, and the like.

  This program is distributed, for example, by selling, transferring, or lending a portable recording medium such as a DVD or CD-ROM in which the program is recorded. Furthermore, the program may be distributed by storing the program in a storage device of the server computer and transferring the program from the server computer to another computer via a network.

  A computer that executes such a program first stores, for example, a program recorded on a portable recording medium or a program transferred from a server computer in its own storage device. When executing the process, the computer reads a program stored in its own storage device, and executes a process according to the read program. As another execution form of the program, the computer may read the program directly from the portable recording medium and execute processing according to the program, and each time the program is transferred from the server computer to the computer. The processing according to the received program may be executed sequentially. The above-described processing may be executed by a so-called ASP (Application Service Provider) type service that realizes a processing function only by an execution instruction and result acquisition without transferring a program from the server computer to the computer. Good.

  Moreover, at least a part of the processing functions of the control device may be realized by hardware.

1-6 Vibration presenting apparatus 11, 21, 31-i, 41-i, 61 Grasping part 11-62 Grasping part 112, 122, 212, 222, 312, 412a-i, 612 Guide

Claims (2)

A vibration presentation device for perceiving vibration,
One or more vibrators that vibrate;
A first gripping portion having a first guide that is a depression that follows the surface shape of the finger;
A second gripping part to which the first gripping part is movably attached;
The vibrator is fixed to either the first gripping portion or the second gripping portion;
The vibration presenting device is attached to the second gripper so that the first gripper does not move in a vibration direction of the vibrator in a coordinate system with the second gripper as a reference . The vibration presentation device according to claim 1,
A vibration presentation device having a plurality of the vibrators .

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