EP0626634A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Force-feedback data input device
Assignee: Panasonic Holdings Corp
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Filing: 1994-05-11
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Granted: —
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Expires: 2014-05-11
Abstract
Abstract A force sensation exhibiting device has a housing which can be grasped by a hand, at least one rotatably or linearly movable motor contained in the housing , an input section where repulsive force informations are input, and control circuit for driving and controlling said motor according to the repulsive force informations, wherein a force sensation is given to said hand by a drive of the motor.
Inventors
- 👤 Yoshiaki Doyama
- 👤 Masataka Ozeki
- 👤 Keizo Matsui
- 👤 Yoshiteru Ito
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-24 10:47
CPC Classifications
G; G06; G06F; G06F3/00; G06F3/01; G06F3/016; A; A61; A61B; A61B5/00; A61B5/22; A61B5/224; A61B5/225; G05; G05G; G05G9/00; G05G9/02; G05G9/04; G05G9/047; A61B5/45; A61B5/4528; G05G2009/0474; G06F2203/00; G06F2203/01; G06F2203/015; Y; Y10; Y10S; Y10S128/00; Y10S128/92; Y10S128/925
Claims Analysis
Total Claims: 50
Claim 1
Independent Claim
67 words
A force sensation exhibiting device comprising a housing which can be grasped by a hand, at least one rotatably or linearly movable motor contained in the housing , an input section where repulsive force informations are input, and control means for driving and controlling said motor according to the repulsive force informations, wherein a force sensation is given to said hand by a drive of said motor.
Claim 2
Dependent Claim
35 words
A force sensation exhibiting device according to claim 1, wherein a motor corresponding to a force vector is intermittently driven in a direction reverse to a force vector of the force sensation to be exhibited.
Claim 3
Dependent Claim
54 words
A force sensation exhibiting device according to claim 2, wherein a motor corresponding to a force vector is intermittently driven so that a torque is proportional to a magnitude of said vector, and in the intermittently driving, a period of turning off the motor is longer than a period until said activated motor stops.
Claim 4
Dependent Claim
92 words
A force sensation exhibiting device according to claim 2, wherein activating motion, moving in the reverse direction, and stopping motions are repeated , in which a motor corresponding to a force vector is activated so that a torque is proportional to a magnitude of said vector, and after being moved in a certain distance or a certain angle, activated in an extremely low torque in a direction reverse to that of the former activation, and after returns to a position or an angle before said activation is initiated, said motor is stopped.
Claim 5
Dependent Claim
53 words
A data input device comprising a housing which can be grasped by a hand, said housing being equipped with detection means for detecting a displacement or a pressure at a portion on which fingers are put at a time of the grasping of the hand, to make it possible to input a data.
Claim 6
Dependent Claim
36 words
A data input equipment which comprising a data input device according to claim 5, and control means for controlling bending of remote or virtual fingers or the like in response to output of said detection means.
Claim 7
Dependent Claim
53 words
A data input equipment which comprising a data input device according to claim 5, calculating means for carrying out image display calculations based on the input data thereof, and image display means for displaying a state of at least two fingers, such as positions, postures and bending on a basis of the calculations.
Claim 8
Dependent Claim
67 words
A force sensation exhibiting device comprising a housing which can be grasped by a hand, said housing being equipped with detection means for detecting a displacement or a pressure and repulsive force generating means for generating a pressure in a direction reverse to that of said detected displacement or pressure ,at a portion on which fingers are put at a time of the grasping of the hand.
Claim 9
Dependent Claim
36 words
A force sensation exhibiting device according to claim 8, wherein the repulsive force generating means can change a position of the detection means for detecting said displacement or pressure, and is equipped with control means therefor.
Claim 10
Dependent Claim
39 words
A force sensation exhibiting device according to claim 8, comprising vibrating means which can generate a vibration at a portion where a repulsive force is given when the repulsive force is required, instead of the repulsive force generating means.
Claim 11
Dependent Claim
40 words
A force sensation exhibiting device according to claim 10, wherein the vibration generated by the vibrating means is an vibration which repeats to change abruptly in a direction of said repulsive force and change moderately in a reverse direction thereof.
Claim 12
Dependent Claim
60 words
A force sensation exhibiting device comprising, a housing which can be grasped by a hand, said housing being equipped with detecting means for detecting forces of plural axes respectively and repulsive force generating means for generating a pressure in a direction reverse to the detected forces of said axes, at a portion on which fingers are put when being grasped.
Claim 13
Dependent Claim
44 words
A force sensation exhibiting device according to any one of the claims 8 to 12, comprising control means for controlling the repulsive force generating means so that the detected pressure becomes substantially equal to a desired value of a force sensation to be exhibited.
Claim 14
Dependent Claim
60 words
A data input equipment which comprising a force sensation exhibiting device according to claim 8, calculating means for calculating a force sensation value for exhibition based on output from said force sensational exhibiting device, and image display means for displaying positions, postures and bending states of at least two fingers on a basis of calculation results from said calculating means.
Claim 15
Dependent Claim
38 words
A data input device comprising any one of force sensation exhibiting devices or data input devices of claims 1 to 13, and auxiliary input means for inputting state informations such as positions and postures of a whole fingers.
Claim 16
Dependent Claim
22 words
A data input device according to claim 15, wherein said auxiliary input means is composed of force detecting means of plural axes.
Claim 17
Dependent Claim
35 words
A data input device according to claim 16, wherein as inputs to said force detecting means of plural axes, changes of position and posture of the force sensation exhibiting device of claim 13 are input.
Claim 18
Dependent Claim
36 words
A data input device ,wherein the auxiliary input means and the force sensation exhibiting device or the data input device of the any one of the claims 15 to 17 are mounted on a common housing.
Claim 19
Dependent Claim
38 words
A data input device according to claim 18, wherein the force sensation exhibiting device or the data input device and said auxiliary input means are disposed so that they can be operated by separate hands of one operator.
Claim 20
Dependent Claim
108 words
A data input device which comprising a force sensation exhibiting device or a data input device according to any one of the claims 1 to 13, an arm portion and a polyaxes force sensor section, said force sensation exhibiting device or a data input device being connected to one end of said arm portion and said polyaxes force sensor section being connected to the other end of the arm portion, so that by an operation to change a whole position of said force sensation exhibiting device or the data input device, a force input corresponding to the operation to change is applied to said polyaxes force sensor section.
Claim 21
Dependent Claim
21 words
A device according to claim 5 or claim 8, wherein the shape of a section grasped by hand is substantially cylindrical.
Claim 22
Dependent Claim
51 words
A data input equipment wherein a data input device according to claim 5 is mounted at a tip of a manipulator which is possible and controllable to shift a plural degrees of freedom of positions and postures, and a repulsive force is generated to said data input device by said manipulator.
Claim 23
Dependent Claim
49 words
A force sensation exhibiting device comprising a barrel shaped leaf spring, an adjusting means for changing a radius of said beam, and control means for controlling said adjusting means, wherein a force sensation is given to fingers put on an approximately central portion of an arc of said beam.
Claim 24
Dependent Claim
58 words
A force sensation exhibiting device according to claim 23 comprising means for oscillatingly changing the radius of the spring, wherein said oscillating wave form has a wave form which repeats abruptly increasing hardness in a direction of giving a repulsive force, and moderately decreasing the hardness in a reverse direction to the direction of giving the repulsive force.
Claim 25
Dependent Claim
32 words
A data input equipment according to claim 6, 7 or 14, wherein a switch operable by fingers is provided, by which input of a change of bending of fingers is temporarily stopped.
Claim 26
Dependent Claim
56 words
A data input equipment according to claim 6, 7 or 14 comprising detecting means for detecting a position or a posture of a housing and a switch operable by fingers not participating in the grasp is provided, wherein a utilization of informations of positions or postures from said detecting means is temporarily stopped by said switch.
Claim 27
Dependent Claim
34 words
A data input equipment according to claim 15, wherein a switch operable by hand or an auxiliary input means is provided, by which input of the change of bending of fingers is temporarily stopped.
Claim 28
Dependent Claim
39 words
A data input equipment according to claim 15, wherein a switch operable by a hand or auxiliary input means is provided, and input of informations of positions or postures of the whole fingers is temporarily stopped by the switch.
Claim 29
Independent Claim
33 words
A device/equipment according to any one of the claims 5 to 28, wherein data is input based on an integral value or incomplete integral value of a force detected by the detecting means.
Claim 30
Dependent Claim
53 words
A device/equipment according to claim 29, wherein the integral value or the incomplete integral value are utilized when a value of the detected force exceeds a certain value, and when the value of the detected force is below a certain value, a data is input by the value itself of the detected force.
Claim 31
Independent Claim
45 words
A device/equipment according to any one of the claims 5 to 28, wherein a data is input by utilizing a value of a maximum value or the like of the detected force for a certain period by holding the maximum value or the like .
Claim 32
Dependent Claim
42 words
A device/equipment according to claim 31, wherein when the force value exceeds a certain value, the maximum value or the like is used and when the force value is below a certain value, a data is input by the force value itself.
Claim 33
Dependent Claim
57 words
A data input device according to claim 5 comprising a housing portion which can be grasped by a hand, wherein a data can be input by providing detecting means for detecting a displacement or a pressure at each section of the housing with which finger belly portions between each joint of a finger contacts when being grasped.
Claim 34
Dependent Claim
37 words
A data input equipment comprising a data input device according to claim 33, which controls bending of each joint of fingers or the like in a remote area, or of virtual fingers according to the detected force.
Claim 35
Dependent Claim
23 words
A data input device according to claim 21 comprising diameter-adjusting means for adjusting a size of a diameter of said substantially cylindrical shape.
Claim 36
Dependent Claim
29 words
A data input device according to claim 35, comprising said diameter-adjusting means is provided at a portion with which a hand does not contact when being grasped by hand.
Claim 37
Dependent Claim
38 words
A data input device according to claim 35, wherein when being grasped by a hand, said diameter-adjusting means is so provided as to be in outer side than between a thumb and a little finger of the fingers.
Claim 38
Dependent Claim
35 words
A data input device according to claim 35, wherein said diameter is adjusted by a plastic body equipped in a part of a portion where a hand is located when being grasped by a hand.
Claim 39
Dependent Claim
62 words
A data input device comprising a housing portion which can be grasped by a hand, and detecting means for detecting a displacement or a pressure being provided respectively in respective parts with which each finger belly portion contact when being grasped, wherein the detecting value is to be a difference between the detected values of two detecting means among respective detecting means.
Claim 40
Dependent Claim
33 words
A data input device according to claim 5, wherein a low-pass filter is provided against the detected displacement or pressure and a value passed through the filter is to be the input data.
Claim 41
Dependent Claim
53 words
A data input device according to claim 5, wherein means for calculating a dead zone is provided which regards as there is no input when the detected displacement or pressure is below a certain value, and value passed through said means for calculating the dead zone is to be as the input data.
Claim 42
Dependent Claim
103 words
A data input device comprising a housing portion which can be grasped by a hand, detecting means for detecting a displacement or a pressure provided at a portion of the housing portion on which fingers are put when being grasped, a low-pass filter through which the detected displacement or the pressure being made to pass , and means for calculating a dead zone which regards as there is no input when the displacement or the pressure passed through the filter is below a certain value, wherein value passed through the means for calculating the dead zone is to be the input value .
Claim 43
Dependent Claim
75 words
A data input device according to claim 5, which subtracts a detected resulting value which is a minimum but not zero among the detected resulting values of the plural detecting means which are provided at such portions of the housing with which finger belly portions between each joint of the fingers contact at a time of grasping , from the respective detected resulting values , and makes the subtracted value to be the input data.
Claim 44
Dependent Claim
71 words
A data input device according to claim 5, which subtracts a sum of the detected resulting values which are below a certain value , from the respective detected resulting values of the plural detecting means which are provided at such portions of the housing with which finger belly portions between each joint of the fingers contact at a time of grasping, and makes the subtracted value to be the input data.
Claim 45
Dependent Claim
86 words
A data input device according to claim 5, which subtracts a sum of the detected resulting values which are below a certain value which is obtained from a maximum displacement or pressure detected by the plural detecting means which are provided at such portions of the housing with which finger belly portions between each joint of the fingers contact at a time of grasping, from the respective detected resulting values of the plural detecting means , and makes the subtracted value to be the input data.
Claim 46
Dependent Claim
89 words
A data input device according to claim 5, which identifies in advance an interrelationship between the detected resulting value of the displacement or pressure and an intention to bend fingers of a person who grasps , by using a neural network calculating means in which the detecting resulting value is to be an input and the intention is to be an output, and inputs the detected resulting values to the identified neural network to take out fingers bending informations as an output to use it as the input data.
Claim 47
Dependent Claim
103 words
A force sensation exhibiting device which is equipped with an ultrasonic vibration motor comprising an electric-mechanical transducing element and an elastic body sticked thereon which generates a force in a same face as a finger belly portion face , at such portions with which the finger belly portion contacts at a time of grasping, and also equipped with detecting means for detecting a displacement or a pressure in a vertical direction against the face of the finger belly portion at a lower part of said ultrasonic vibration motor, and drives said ultrasonic vibration motor by using the detected output of the detecting means.
Claim 48
Dependent Claim
83 words
A force sensation exhibiting device according to claim 47, which comprises a reciprocal converting means for detecting a displacement or a pressure in the vertical direction against the face of the finger belly portion to determine a reciprocal of the displacement or the pressure, and means for determining a product of an objective value of a force to be given in the face of the finger belly portion and said reciprocal , and drives said ultrasonic vibration motor in proportion to the product.
Claim 49
Dependent Claim
21 words
A force sensation exhibiting device according to claim 47 or claim 48, wherein the electric-mechanical transducing element is an piezoelectric ceramics.
Claim 50
Dependent Claim
94 words
A force sensation exhibiting device which is equipped with an ultrasonic vibration motor comprising an electric-mechanical transducing element and an elastic body sticked thereon which generates a force in a same face as a finger belly portion face , at such portions with which the finger belly portion contacts at a time of grasping, and makes an average current of the ultrasonic vibration motor to be a magnitude of a force in a contacting face of said finger belly portion ,, and drives said ultrasonic vibration motor based on the magnitude of the force.
References Cited (Backward Citations)
No citation records indexed.
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