Haptic information presentation system and method

Patent metadata

Field	Value
Publication number	US-10216278-B2
Application number	US-201615293609-A
Country	US
Kind code	B2
Filing date	Oct 14, 2016
Priority date	Nov 20, 2003
Publication date	Feb 26, 2019
Grant date	Feb 26, 2019

Abstract

A system and method are disclosed in which in a conventional non-grounding man-machine interface having no reaction base on the human body and for giving the existence of a virtual object and the impact force of a collision to a person, a haptic sensation of a torque, a force and the like can be continuously presented in the same direction, which cannot be presented by only the physical characteristic of a haptic sensation presentation device. In a haptic presentation device, the rotation velocity of at least one rotator in the haptic presentation device is controlled by a control device, and a vibration, a force or a torque as the physical characteristic is controlled, so that the user is made to conceive various haptic information of the vibration, force, torque or the like.

First claim

What is claimed is:

1. A method of controlling a motion of a virtual object to present a haptic information to (1) a medium device or a medium apparatus, and/or (2) a user, as if (1) the medium device or the medium apparatus, and/or (2) the user operates a real object, the method comprising:
applying a haptic sensory characteristic and/or an illusion of (1) the medium device or the medium apparatus, and/or (2) the user to the virtual object; and
controlling a physical quantity and/or a sensory quantity utilizing the haptic sensory characteristic and/or the illusion of (1) the medium device or the medium apparatus and/or (2) the user;
wherein the haptic sensory characteristic and/or an illusion of (1) the medium device or the medium apparatus, and/or (2) the user controls a physical quantity of a driving device provided in a haptic presentation device, and the haptic presentation device comprises at least one of an input device, an output device, a display device, video member, or the medium device, or the medium apparatus;
wherein the haptic sensory characteristic comprises at least one of a nonlinear characteristic, a hysteresis characteristic, a masking characteristic, a threshold characteristic, or a muscle reflection;
wherein the control of the motion of the virtual object comprises at least one of (1) controlling a frequency and intensity of vibration and/or vibration sensation, (2) utilizing a masking effect to continuously or intermittently control at least one haptic information of vibration sensation, force sensation, and a torque sensation in an arbitrary direction, (3) analyzing input information from a controller to control a motor so as to control a movement in a direction of haptic presentation device, (4) analyzing input information from an acceleration sensor to control a motor, (5) controlling rotation of an eccentric rotator, (6) adjusting a spatial intensity distribution of a resting force, (7) accelerating and/or decelerating a velocity of a body having an inertia moment, (8) rotating a rotation body around an axis orthogonal to the rotation axis, or (9) controlling a posture of a gyroscope.

2. The method according to claim 1 , wherein the haptic sensory characteristic comprises (i) a physical quantity provided to at least one of the medium device, the medium apparatus and the user by one or two way out of being given to at least one of the medium device, the medium apparatus, and the user and being bought by motion of at least one of the medium device, the medium apparatus, and the user; and (ii) a sensory quantity to be presented to at least one of the medium device, the medium apparatus, and the user, wherein the haptic sensory characteristic represents a relationship between the physical quantity to be applied to at least one of the medium device, the medium apparatus, and the user, and the sensory quantity to be perceived by at least one of the medium device, the medium apparatus, and the user.

3. The method according to claim 1 , wherein the sensory quantity comprises at least one of (i) a sensory quantity where an integral value of the sensory quantity does not become zero even if a further integral value of the physical quantity becomes zero; and/or (ii) a sensory quantity that does not exist physically.

4. The method according to claim 1 , wherein the sensory quantity characteristic comprises (i) one or more of physical quantity being given to the medium device or medium apparatus, and physical quantity being brought by operation of the medium device or the medium apparatus, or (ii) a sensory quantity to be presented to the medium device or the medium apparatus.

5. The method according to claim 1 , wherein the motion of the virtual object is controlled to present the haptic information on a surface of a display member.

6. The method according to claim 1 , wherein the motion of the virtual object is controlled to present the haptic information at a space around a surface of a display member.

7. The method according to claim 1 , wherein the motion of the virtual object is controlled to present the haptic information around a surface of a display member.

8. The method according to claim 1 , wherein the motion of the virtual object is controlled to present the haptic information around of a display member.

9. The method according to claim 1 , wherein the controlling of the motion of the virtual object comprises controlling at least one of a motor, a vibration, a torque, a sound, a video, an air pressure, a force, a piezoelectric element, a magnet, a speaker, a rotator, an eccentric rotator, or a rotation unit.

10. The method according to claim 1 , wherein the controlling of the motion of the virtual object comprises:
analyzing input information from at least one of a posture sensor or a touch panel sensor; and
controlling a motor to give a movement in a direction such that a feeling such as to operate an actual scroll wheel or joystick is presented in spite of a virtual wheel on the touch panel.

11. The method according to claim 1 , wherein the haptic information comprises at least one physical quantity of a motion due to at least one of a button operation, an input operation, a switch operation, a dial operation, an operation with respect to a display member, a scroll operation with respect to the display member, a touch operation with respect to the display member, an acceleration or deceleration operation with respect to the display member, an acceleration or deceleration operation with respect to the display member, an operation for grasping the display member, an operation for rubbing the display member, an operation for pressing the display member, an operation for pulling the display member, an operation for moving the display member, an operation with respect to a virtual object, a scroll operation with respect to the virtual object, a touch operation with respect to the virtual object, an acceleration or deceleration operation with respect to the virtual object, an operation for grasping the virtual object, an operation for rubbing the virtual object, an operation for pressing the virtual object, or an operation for pulling the virtual object based on a haptic sensory characteristic of an operator.

12. A method of controlling a motion of a virtual object to present a haptic information to (1) a medium device or a medium apparatus, and/or (2) a user, as if (1) the medium device or the medium apparatus, and/or (2) the user operates a real object, the method comprising:
applying a haptic sensory characteristic and/or an illusion of (1) the medium device or the medium apparatus, and/or (2) the user to the virtual object;
sensing by a sensor the physical quantity which operates the virtual object; and
controlling a physical quantity and/or a sensory quantity utilizing the haptic sensory characteristic and/or the illusion of (1) the medium device or the medium apparatus, and/or (2) the user;
wherein the haptic sensory characteristic and/or an illusion of (1) the medium device or medium apparatus, and/or (2) the user controls a physical quantity of a driving device provided in a haptic presentation device, and the haptic presentation device comprises at least one of an input device, an output device, a display device, video member, or the medium device or the medium apparatus;
wherein the haptic sensory characteristic comprises at least one of a nonlinear characteristic, a hysteresis characteristic, a masking characteristic, a threshold characteristic, or a muscle reflection;
wherein the control of the motion of the virtual object comprises at least one of (1) controlling a frequency and intensity of vibration and/or vibration sensation, (2) utilizing a ma

Assignees

• Aist
• Miraisens Inc

Inventors

• Nakamura Norio
• Fukui Yukio
• Sakai Masataka

Classifications

• G08B6/00

  Tactile signalling systems, e.g. tactile personal calling systems · CPC title

• G06F3/011

  Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00) · CPC title

• G10K15/04

  Sound-producing devices (G10K15/02 takes precedence) · CPC title

• G06F3/016 Primary

  Input arrangements with force or tactile feedback as computer generated output to the user · CPC title

• G06F3/014

  Hand-worn input/output arrangements, e.g. data gloves · CPC title