Haptic information presentation system and method

摘要

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.

主权项

1. A haptic information processing device comprising:
a display member; a sensor that detects at least one operation of a finger of an operator, a palm, of the operator, a hand of the operator, a leg of the operator, a head of the operator, a body of the operator, an operation device, and a man-machine interface, which operates a virtual object which presents a haptic sensation on a surface of the display member; a control device that controls a motion of the virtual object from detection information from the sensor a haptic information presentation device that presents haptic information comprising illusion as if the operator operates real object, from the detection information from the sensor by applying a haptic sensory characteristic of the operator to the virtual object; and a transmitter and/or a receiver that perform transmission and/or reception of the haptic information, wherein the haptic sensory characteristic comprises: (i) one or more of a physical quantity being given to the operator and a physical quantity being brought by the operation of operator, and a sensory quantity to be presented to the operator, or (ii) a sensory quantity to be presented to the operator, wherein the haptic sensory characteristic is obtained by using at least one of a nonlinear characteristic, a hysteresis characteristic, a masking characteristic relating to a haptic sense, a threshold characteristic, and muscle reflection; wherein the sensory quantity comprises at least one of: 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 a sensory quantity that does not exist physically.