WO2012176610A1 - Finger stimulus presentation device - Google Patents

Finger stimulus presentation device Download PDF

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Publication number
WO2012176610A1
WO2012176610A1 PCT/JP2012/064378 JP2012064378W WO2012176610A1 WO 2012176610 A1 WO2012176610 A1 WO 2012176610A1 JP 2012064378 W JP2012064378 W JP 2012064378W WO 2012176610 A1 WO2012176610 A1 WO 2012176610A1
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WO
WIPO (PCT)
Prior art keywords
finger
electrostrictive
presentation device
material layer
actuator
Prior art date
Application number
PCT/JP2012/064378
Other languages
French (fr)
Japanese (ja)
Inventor
大寺　昭三
Original Assignee
株式会社村田製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社村田製作所 filed Critical 株式会社村田製作所
Priority to JP2013521517A priority Critical patent/JP5472539B2/en
Publication of WO2012176610A1 publication Critical patent/WO2012176610A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
    • A61H7/002—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for by rubbing or brushing
    • A61H7/004—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for by rubbing or brushing power-driven, e.g. electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1664—Movement of interface, i.e. force application means linear
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1664—Movement of interface, i.e. force application means linear
    • A61H2201/1669—Movement of interface, i.e. force application means linear moving along the body in a reciprocating manner
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands
    • A61H2205/067—Fingers

Definitions

  • the present invention relates to a finger stimulation presentation device, and more particularly to a finger stimulation presentation device that applies mechanical stimulation while being worn on a finger.
  • a finger input device is known as one of devices of a type that a user wears on a finger (hereinafter also referred to as “finger-mounted type”) (see Patent Document 1).
  • This finger input device is configured to support a protruding portion in front of the tip of the finger by a frame portion extending from a fixing member fixed in the middle of the finger, and the protruding portion is a hole provided in the frame portion.
  • a contact projection is disposed outside the frame portion, and a stimulation projection is disposed inside the frame portion (to face the tip of the finger) (patent) See Figures 1 to 4 of document 1).
  • Such a finger input device is used in combination with a touch panel.
  • the frame portion can follow the side surface or upper surface (nail side) of the finger without covering the lower surface (abdomen side) of the finger, and can support the protruding portion in front of the tip of the finger. Therefore, it is possible to expose the lower surface of the finger, and there is an advantage that the user does not feel much finger binding.
  • An object of the present invention is to provide a finger stimulation presentation device capable of giving a mechanical stimulation while being worn on a finger without impairing the workability of the finger as much as possible.
  • the present inventor feels that the lower surface (abdominal side) of the finger is stimulated when the side surface of the finger is mechanically rubbed, and the force of rubbing the side surface of the finger is applied to the tip and lower surface of the finger.
  • the present invention has been completed.
  • a finger stimulation presentation device that applies mechanical stimulation while being worn on a finger, a fixing member for fixing the finger stimulation presentation device to the finger, and a tip portion of a linear actuator
  • a finger stimulation presentation device that includes at least one linear actuator supported by a securing member such that is slid along the side of the finger.
  • the tip of the linear actuator only has to slide along the side surface of the finger, and therefore the linear actuator can be arranged and supported on the side surface of the finger, so that the lower surface of the finger is exposed.
  • the linear actuator can be arranged and supported on the side surface of the finger, so that the lower surface of the finger is exposed.
  • Such a finger stimulation presentation device of the present invention uses a linear actuator to slide the tip, and thus does not require a tall actuator as in the case of using a conventional finger input device. Furthermore, even if the linear actuator is slightly deviated from the finger, the finger stimulation presenting device of the present invention can provide mechanical stimulation without substantially affecting the sliding operation. Further, since the sliding motion can be perceived by tactile sensation even if the force is weaker than the force pushing the tip or lower surface of the finger, the power consumption of the linear actuator can be kept low.
  • the finger stimulus presentation device includes two linear actuators whose sliding directions are orthogonal to each other.
  • a tactile sensation as if the lower surface of the finger is stimulated in the direction in which these forces are synthesized by driving such two linear actuators to apply mechanical stimulation to the side of the finger from two directions. Can make you feel.
  • the sliding direction is orthogonal, the direction combined can be set to an arbitrary direction.
  • the linear actuator includes an electrostrictive material layer, two electrodes respectively disposed on both sides of the electrostrictive material layer, and one side of the electrostrictive material layer via one of the electrodes.
  • An electrostrictive element comprising an electrostrictive element formed of a bonded base material, wherein the electrostrictive element is curved at least partially with one of the electrostrictive material layer and the base material as a convex side Actuator.
  • Such an electrostrictive element is an electrostrictive element having a unimorph structure.
  • the electrostrictive element is at least partially curved with either one of the electrostrictive material layer and the base as a convex side, a voltage is applied between the electrodes of the electrostrictive element.
  • the tip portion of the electrostrictive element moves to contract or extend in the longitudinal direction, and returns to its original state when the voltage is removed.
  • the movement when applying voltage is determined by the bending direction. If the electrostrictive material layer is curved with the convex side facing, it will contract in the longitudinal direction, and the substrate side will be curved with the convex side facing. When it is, it extends in the longitudinal direction.
  • Such an electrostrictive actuator is small, lightweight, and has low power consumption, and therefore can be suitably used as a linear actuator in the finger stimulus presentation device of the present invention.
  • a finger stimulus presentation device capable of minimizing the workability of a finger and applying a mechanical stimulus while attached to the finger.
  • FIG.1 is a schematic perspective view
  • FIG.1 (b) is a schematic top view
  • FIG. 2A is a schematic cross-sectional view illustrating an example of a finger stimulation presentation device in the embodiment of FIG. 1, in which FIG. 2A is a state in which no voltage is applied (non-driven state), and FIG. An applied state (driving state) is shown.
  • FIG. 2A is a schematic cross-sectional view illustrating an example of a finger stimulation presentation device in the embodiment of FIG. 1, in which FIG. 2A is a state in which no voltage is applied (non-driven state), and FIG. An applied state (driving state) is shown.
  • FIG. 2A is a schematic cross-sectional view illustrating an example of a finger stimulation presentation device in the embodiment of FIG. 1, in which FIG. 2A is a state in which no voltage is applied (non-driven state), and FIG. An applied state (driving state) is shown.
  • FIG. 2A is a schematic cross-sectional view illustrating an
  • FIG.3 (a) is a state which has not applied the voltage (non-drive state), FIG.3 (b) shows voltage. An applied state (driving state) is shown. It is a figure which shows the unimorph (sheet
  • Fig.4 (a) is an outline of a unimorph. A cross-sectional view is shown, and FIG. 4 (b) is a diagram for explaining the bending operation of the unimorph. It is a schematic top view which shows the state which mounted
  • the present embodiment relates to a finger stimulation presentation device using one electrostrictive actuator.
  • the finger stimulation presentation device 30 of the present embodiment includes a fixing member 21 for fixing the finger stimulation presentation device 30 to the finger 40 and an electrostriction actuator 23 as a linear actuator. 23 is supported by the fixing member 21 so that the tip end portion A slides along the side surface 41 of the finger 40 (in the direction indicated by the double-headed arrow P in the figure).
  • the electrostrictive actuator 23 used in the present embodiment includes one electrostrictive element 10 as illustrated in FIGS. 2 and 3.
  • the electrostrictive element 10 includes the electrostrictive material layer 1 and the electrostrictive material layer 1.
  • Two electrodes 3a and 3b arranged on both surfaces, respectively, and a base material 5 bonded to one surface of the electrostrictive material layer 1 through one of these electrodes 3a and 3b (in the illustrated embodiment, the electrode 3a) Configured, with either one of the electrostrictive material layer 1 and the base material 5 being a convex side (in the example shown in FIG. 2, the electrostrictive material layer 1 side is a convex side, and in the example shown in FIG. It is at least partially curved (with the substrate 5 side convex).
  • One end 10 a of the electrostrictive element 10 is the tip A of the electrostrictive actuator 23.
  • the electrostrictive actuator 23 is supported by the fixing member 21 at the other end 10 b of the electrostrictive element 10 and / or in the vicinity thereof.
  • the electrostrictive material layer 1 is formed from a polymer electrostrictive material.
  • the polymer electrostrictive material is not particularly limited as long as it is a polymer material having a permanent dipole.
  • the polymer electrostrictive material include PVDF (polyvinylidene fluoride), PVDF copolymer, for example, a copolymer such as P (VDF-TrFE) and P (VDF-VF), and P (VDF-TrFE).
  • -CFE P (VDF-TrFE-CTFE), P (VDF-TrFE-CDFE), P (VDF-TrFE-HFA), P (VDF-TrFE-HFP), P (VDF-TrFE-VC), etc.
  • P is poly, VDF is vinylidene fluoride, TrFE is trifluoroethylene, CFE is chlorofluoroethylene, CTFE is chlorotrifluoroethylene, CDFE is chlorodifluoroethylene, and HFA is hexa. Fluoroacetone, HFP is hexafluoropropylene, VC is vinyl chloride The, VF denotes a vinyl fluoride).
  • P VDF-TrFE-CFE
  • the thickness of the electrostrictive material layer 1 may be set as appropriate, but may be, for example, about several ⁇ m to 100 ⁇ m.
  • the two electrodes 3a and 3b may be formed from any appropriate conductive material as long as they can function as electrodes.
  • conductive materials include Ni (nickel), Pt (platinum), Pt—Pd (platinum-palladium alloy), Al (aluminum), Au (gold), Au—Pd (gold-palladium alloy), etc.
  • Metal materials PEDOT (polyethylenedioxythiophene), PPy (polypyrrole), PANI (polyaniline), etc. (these are organic sulfonic acid compounds such as polyvinyl sulfonic acid, polystyrene sulfonic acid, polyallyl sulfonic acid, polyacrylic sulfone as appropriate.
  • the thickness of the electrodes 3a and 3b may be set as appropriate according to the conductive material used, but may be about 20 nm to 10 ⁇ m, for example.
  • the electrodes 3a and 3b may have the same or different conductive materials and thicknesses.
  • the electrodes 3a and 3b respectively cover the entire surface of the electrostrictive material layer 1, but this is not necessarily required for the present invention, and the electrodes 3a and 3b are appropriately patterned. May be.
  • the electrodes 3a and 3b may cover the central portion of the electrostrictive material layer 1 so as to be separated from the one end 10a and the other end 10b.
  • the base material 5 may be formed of any appropriate flexible material as long as the curve forming described later can be performed.
  • flexible materials include PET (polyethylene terephthalate), cellophane, vinyl chloride, polyimide, polyester, and the like.
  • the thickness of the base material 5 may be set as appropriate, but may be, for example, about several ⁇ m to 100 ⁇ m.
  • Electrostrictive element 10 is at least partially curved.
  • the curved portion of the electrostrictive element 10 preferably includes a portion where the electrodes 3a and 3b are disposed.
  • the curved portion of the electrostrictive element 10 preferably has an arcuate cross-sectional shape.
  • the present invention is not limited to this, and the curved portion of the electrostrictive element 10 may be curved to a cross-sectional shape other than the arc shape (for example, a semi-elliptical shape).
  • the fixing member 21 can support the electrostrictive actuator 23 so that the tip A of the electrostrictive actuator 23 slides along the side surface of the finger 40, and can fix the entire finger stimulation presentation device 30 to the finger 40.
  • the material, shape, arrangement, support method and the like are not particularly limited.
  • the unimorph 7 includes an electrostrictive material layer 1, two electrodes 3a and 3b respectively disposed on both surfaces of the electrostrictive material layer 1, and one of these electrodes 3a and 3b.
  • the electrostrictive material layer 1 contracts in the thickness direction (electric field direction) and extends in the in-plane direction.
  • FIG. 4B a dimensional difference occurs between the base material 5 and the electrostrictive material layer 1 as the outside and the base material 5 as the inside as shown in FIG. 4B.
  • Electrodes 3 a and 3 b are formed on both surfaces of the electrostrictive material layer 1.
  • the electrode can be formed by vapor deposition or sputtering.
  • the electrode can be formed by silk screen printing, inkjet printing, brush application, or the like.
  • the electrodes 3a and 3b are formed on the entire surface of the electrostrictive material layer 1, but this is not necessarily required for the present invention, and the electrodes 3a and 3b are appropriately patterned. Also good.
  • the base material 5 is joined to one side of the electrostrictive material layer 1 with the electrodes 3a and 3b obtained in this way (via the electrode 3a in the illustrated embodiment).
  • This joining can be performed using, for example, an adhesive such as a thermosetting type or an ultraviolet curable type.
  • an adhesive such as a thermosetting type or an ultraviolet curable type.
  • the unimorph 7 is produced.
  • the manufacturing method of the unimorph 7 is not limited to such an example.
  • the electrode 3a is formed in advance on the base 5 and an electrostrictive material is applied or cast on the electrode 3a.
  • the material layer 1 may be formed, and the electrode 3 b may be formed on the electrostrictive material layer 1.
  • this unimorph 7 is curved and the electrostrictive element 10 is obtained.
  • the sheet-like unimorph 7 is bent using, for example, a mold having a semi-cylindrical surface so that one of the electrostrictive material layer 1 and the substrate 5 is on the convex side, and subjected to heat treatment as it is.
  • the base material 5 is thermoformed and then removed from the mold to perform curve forming.
  • the temperature and time of the heat treatment can be appropriately set according to the material of the substrate 5 to be used. For example, when the substrate 5 is made of PET, it can be thermoformed by heat treatment at 80 to 100 ° C. for 5 to 10 minutes.
  • the electrostrictive element 10 is obtained.
  • the dimensions, the curved shape (curvature radius), and the like of the electrostrictive element 10 can be appropriately set according to the desired size and mode of finger stimulation.
  • the lead wires 25a and 25b are connected to the electrodes 3a and 3b, respectively, whereby the electrostrictive actuator 23 is manufactured.
  • the electrostrictive actuator 23 uses the flexible (soft) electrostrictive element 10, there is an advantage that it has high impact resistance and is not easily broken.
  • the electrostrictive actuator 23 using the electrostrictive element 10 has an advantage that it is small and lightweight and has low power consumption.
  • the obtained electrostrictive actuator 23 is joined to and supported by the fixing member 21 at the other end 10b and / or its vicinity.
  • This joining can be performed using, for example, an adhesive such as a thermosetting type or an ultraviolet curable type.
  • the finger stimulus presentation device 30 is manufactured.
  • the fixing member 21 only needs to be able to fix the finger stimulation presentation device 30 to the finger 40, but may be a band that can be adjusted according to the dimension of the finger 40, for example.
  • the finger stimulus presentation device of the present invention is not limited to such a usage method.
  • the finger stimulation presentation device 30 is attached to the finger 40 by being fixed using the fixing member 21.
  • the electrostrictive actuator 23 follows the side surface 41 of the finger 40 and bends (protrudes) to the opposite side of the finger 40 (preferably at least the sliding surface of the tip A is preferably relative to the side surface 41.
  • the tip A may be very slightly separated from the side 41 of the finger 40 as long as the tip A is finally slidable along the side 41 of the finger 40.
  • the finger stimulation presentation device 30 is not illustrated in the non-driven state (state in which no voltage is applied). It takes the form shown in 2 (a).
  • the electrostrictive actuator 23 is driven by applying a voltage between the electrodes 3a and 3b, referring to FIG. 2B, the electrostrictive element 10 shows a further bending motion (shrinks in the longitudinal direction, increases in the convex direction), thereby, electrostrictive actuator 23 is contracted in the longitudinal direction, the tip portion a along the side surfaces 41 of the finger 40 slides in the direction indicated by the arrow P 1.
  • the electrostrictive element 10 shows the movement back to the original state, thereby, electrostrictive actuator 23 slides in the direction indicated by arrow P 2.
  • the finger stimulus presentation device 30 is in a non-driven state (state in which no voltage is applied).
  • the electrostrictive actuator 23 is driven by applying a voltage between the electrodes 3a and 3b, referring to FIG. 3B, the electrostrictive element 10 exhibits an extension movement (extends in the longitudinal direction and extends in the convex direction). low made),
  • the electrostrictive actuator 23 extends in the longitudinal direction, the tip portion a along the side surfaces 41 of the finger 40 slides in the direction indicated by arrow P 2.
  • the electrostrictive element 10 shows the movement back to the original state, thereby, electrostrictive actuator 23 slides in the direction indicated by the arrow P 1.
  • the electrostrictive actuator 23 performs a linear operation, and an operation (sliding operation) of sliding the tip A of the electrostrictive actuator 23 along the side surface 41 of the finger 40 is possible.
  • the movement of the tip A varies depending on the voltage to be applied.
  • the tip A can be periodically displaced by applying an AC voltage.
  • a mechanical stimulus can be given to the side surface 41 of the finger 40.
  • the finger stimulation presentation device 30 slides (rub) the tip A along the side surface 41 of the finger 40, the lower surface (abdominal side) of the finger 40 is shown as a double arrow P to the user.
  • a tactile sensation as if rubbing in a direction parallel to the direction can be felt.
  • the finger stimulation presentation device 30 can be used with the lower surface (abdominal side) of the finger 40 exposed, it is possible to touch an object with the fingertip or hold something with the finger attached. This workability is not substantially impaired.
  • the finger stimulation presentation device 30 is a surface stimulation in which the tip A of the electrostrictive actuator 23 slides along the side surface 41 of the finger 40, even if the electrostrictive actuator 23 is slightly deviated from the initial fixed position, Contact between the distal end portion A and the side surface 41 of the finger 40 can be ensured, and mounting is easy.
  • the present embodiment relates to a finger stimulus presentation device using two electrostrictive actuators.
  • the finger stimulation presentation device 31 of the present embodiment includes a fixing member 21 for fixing the finger stimulation presentation device 31 to the finger 40 and two electrostrictive actuators 27 and 29 as linear actuators.
  • the electrostrictive actuators 27 and 29 are fixed so that the tip portions B and C slide along the side surface 41 of the finger 40 (in the directions indicated by double arrows Q and R in the drawing). It is supported by the member 21.
  • These two electrostrictive actuators 27 and 29 are arranged so that their sliding directions Q and R are orthogonal to each other.
  • the electrostrictive actuators 27 and 29 bend and bend (protrude) to the opposite side of the finger 40 while approaching the side surface 41 of the finger 40 (preferably at least the sliding surfaces of the tip portions B and C thereof).
  • the tip portions B and C are in contact with the side surface 41 of the finger 40, respectively, but are preferably positioned substantially parallel to the side surface 41.
  • the present invention is not limited to this.
  • the electrostrictive actuators 27 and 29 may or may not be bent as long as the distal ends B and C can finally slide along the side surface 41 of the finger 40.
  • the electrostrictive actuators 27 and 29 may have the same configuration as the electrostrictive actuator 23 described in the first embodiment.
  • the conditions such as the material and thickness of the electrostrictive material layer, the electrode, and the substrate may be the same or different.
  • two electrostrictive actuators which are curved with the electrostrictive material layer side described above with reference to FIG. 2 curved may be used as described above with reference to FIG.
  • Two electrostrictive actuators curved with the base material side convex may be used, or these may be used in combination.
  • the fixing member 21 supports the electrostrictive actuators 27 and 29 so that the tip portions B and C of the electrostrictive actuators 27 and 29 slide in directions orthogonal to each other along the side surface 41 of the finger 40.
  • the entire finger stimulation presentation device 31 is fixed to the finger 40.
  • the finger stimulation presentation device 31 of the present embodiment can be manufactured by using two electrostrictive actuators 27 and 29 and joining and supporting the fixing member 21 in a predetermined arrangement.
  • the tip portions B and C of the electrostrictive actuators 27 and 29 can be slid (rubbed) in directions orthogonal to each other along the side surface 41 of the finger 40.
  • the user can feel a tactile sensation as if the lower surface (abdominal side) of the finger 40 is rubbed in the direction in which these forces are combined. Since these sliding directions Q and R are orthogonal to each other, in order to generate a tactile sensation as if rubbing in a certain direction, the sliding directions Q and R are decomposed into a predetermined amount of force. What is necessary is just to make it slide. Therefore, according to the present embodiment, the user can feel a tactile sensation as if the lower surface (belly side) of the finger 40 is being rubbed in an arbitrary desired direction.
  • the finger stimulus presentation device and the method of using the same in the two embodiments of the present invention have been described in detail, but the present invention can be variously modified.
  • one electrostrictive actuator includes one electrostrictive element, but one electrostrictive actuator may include a plurality of stacked electrostrictive elements. If a plurality of electrostrictive elements are stacked and used, the mechanical stimulation applied to the finger can be increased.
  • a linear actuator other than the electrostrictive actuator may be used.
  • a linear actuator include an actuator using an ion conductive polymer film (ICPF: “Ionic Conductor Polymer Film”) or a bucky gel.
  • a linear actuator can be generally produced by using an ion exchange resin layer instead of the electrostrictive material layer.
  • an ionic polymer is formed by chemically plating a metal material such as Au or Pt on both surfaces of an ion exchange resin layer (for example, “Nafion” (registered trademark) manufactured by DuPont Co., Ltd.).
  • an ion exchange resin layer for example, “Nafion” (registered trademark) manufactured by DuPont Co., Ltd.).
  • IPMC "Ionic-Polymer-Metal-Composite”
  • the ion exchange resin layer replaces the electrostrictive material layer.
  • One side of the obtained composite is joined to a base material made of PET or the like (thus, through one of the electrodes).
  • the resulting structure is molded in the same manner as the above-described curve molding method (for example, using a mold having a semi-cylindrical surface so that either the ion-exchange resin layer or the substrate is on the convex side.
  • the element can be obtained by curving and subjecting it to heat treatment as it is to thermoform the substrate. Then, this element can be joined to the fixing member at the other end and / or in the vicinity thereof with one end as a tip portion in the same manner as the joining method described above. In this case, by setting the polarity of the voltage applied between the electrodes of the element to be positive or negative, an operation of extending or contracting can be provided.
  • Bucky gel is a gel-like composite of an ionic liquid and carbon nanotubes.
  • a linear actuator can be generally produced by using a sheet using a bucky gel instead of the electrode. More specifically, first, three sheets are prepared as follows. Suspension of imidazolium-based ionic liquid (for example, 1-butyl-3-methylimidazolium bis (trifluoromethanesulfonyl) imide (BMITSI)) added with single-walled carbon nanotubes and a fluorine-based material (for example, P (VDF-HFP)) The liquid is ground with a pestle with a mortar and cast to produce two first sheets containing carbon nanotubes.
  • imidazolium-based ionic liquid for example, 1-butyl-3-methylimidazolium bis (trifluoromethanesulfonyl) imide (BMITSI)
  • BMITSI 1-butyl-3-methylimidazolium bis (trifluoromethanesulf
  • one ionic liquid and a fluorine-based material are mixed and cast to produce one second sheet made of the ionic liquid and the fluorine-based material. Then, these three sheets are overlapped in a state where the second sheet is disposed between the two first sheets, and this is hot-pressed to produce a composite sheet having a three-layer structure.
  • the second sheet replaces the electrostrictive material layer, and the two first sheets respectively disposed on both surfaces thereof replace the two electrodes. Then, one side of the composite sheet is bonded to a base material made of PET or the like (thus, through one of the electrodes).
  • the resulting structure is molded in the same manner as the above-described curve molding method (for example, using a mold having a semi-cylindrical surface so that one of the second sheet and the base is on the convex side)
  • the element can be obtained by curving and subjecting it to heat treatment as it is to thermoform the substrate. Then, this element can be joined to the fixing member at the other end and / or in the vicinity thereof with one end as a tip portion in the same manner as the joining method described above.
  • the electrostrictive material layer As the electrostrictive material layer, a layer made of P (VDF-TrFE-CFE) having a thickness of 5 ⁇ m was used, and Al was vapor-deposited on both surfaces thereof to form Al electrodes having a thickness of 20 nm.
  • An electrostrictive actuator is obtained by connecting a lead wire to each of the two electrodes of the electrostrictive element obtained as described above, and the other end side of the obtained electrostrictive actuator is attached to a fixing member composed of a band of a thermosetting type. It joined using the adhesive agent, and, thereby, the finger irritation
  • the finger stimulation presentation device of this example was worn on a human finger and the side surface of the finger was rubbed. Specifically, the tip portion of the electrostrictive actuator is brought into contact with the side surface of the finger, a voltage having an AC component of 400V 0-P is applied between the electrodes of the electrostrictive element, and the tip portion is moved along the side surface of the finger. Slid. When an AC voltage of 5 Hz was applied, the tip showed a displacement of about 1 mm in the longitudinal direction. When an AC voltage of 10 Hz or higher was applied, the tip showed a displacement of about 0.5 mm in the longitudinal direction. In either case, a tactile sensation as if the lower surface (abdominal side) of the finger was being rubbed could be felt during the sliding motion. It was confirmed that a fingerprint is present at the fingertip and that a tactile sensation can be felt by rubbing (displacement) over the interval of the fingerprint (0.1 to 0.5 mm) or more.
  • Another finger stimulation presentation device was manufactured in the same manner as described above except that the base material was curved so as to be convex from the electrostrictive material layer. Also in this case, the same results as those of the previous finger stimulation presentation device were shown.
  • the finger stimulation presentation device of the present invention is not particularly limited, but can be incorporated into a wearable tactile interface, a virtual reality device, and the like, and can be used in various medical, welfare, robot industry, entertainment industry, mechatronics, chemistry, electricity, etc. It can be widely used in the field.

Abstract

Provided is a finger stimulus presentation device capable of imparting a mechanical stimulus to a finger while mounted thereon, and minimizing loss to the usability of the finger. A finger stimulus presentation device for imparting a mechanical stimulus to a finger while mounted thereon is configured from: a fixing member (21) for fixing the finger stimulus presentation device (30) to a finger (40); and at least one linear actuator (23) supported by the fixing member (21) in a manner such that the tip part (A) of the linear actuator (23) slides along the side surface (41) of the finger (40).

Description

指刺激呈示装置Finger stimulation presentation device
　本発明は、指刺激呈示装置に関し、より詳細には、指に装着された状態で機械的刺激を与える指刺激呈示装置に関する。 The present invention relates to a finger stimulation presentation device, and more particularly to a finger stimulation presentation device that applies mechanical stimulation while being worn on a finger.
　従来、ユーザが手指に装着して使用するタイプ（以下、「指装着型」とも言う）の装置の１つとして、指入力デバイスが知られている（特許文献１を参照のこと）。この指入力デバイスは、指の中程に固定された固定部材から延びたフレーム部によって、指の先端前方にて突起部を支持するように構成され、この突起部は、フレーム部に設けた穴を通って指先方向にスライド可能に設けられ、フレーム部の外側に接触用突起部が配置され、フレーム部の内側に（指の先端に対向するように）刺激用突起部が配置される（特許文献１の図１～４を参照のこと）。かかる指入力デバイスは、タッチパネルと組み合わせて使用され、ユーザが接触用突起部でタッチパネルに触れると、位置情報（座標系列データ）がコンピュータに入力されると共に、接触用突起部がフレーム部の穴に押し込まれることによって、突起部全体が穴内でスライドし、刺激用突起部が指に向かって飛び出し、指の先端に当接して触覚を刺激し、ユーザは触覚を通じて操作感を得ることができるようになっている。このような指入力デバイスによれば、フレーム部は、指の下面（腹側）を覆うことなく、指の側面または上面（爪側）を辿って、突起部を指の先端前方にて支持できるので、指の下面を露出させることが可能となり、ユーザは指の束縛をあまり感じないという利点がある。 Conventionally, a finger input device is known as one of devices of a type that a user wears on a finger (hereinafter also referred to as “finger-mounted type”) (see Patent Document 1). This finger input device is configured to support a protruding portion in front of the tip of the finger by a frame portion extending from a fixing member fixed in the middle of the finger, and the protruding portion is a hole provided in the frame portion. Is provided so as to be slidable in the fingertip direction, and a contact projection is disposed outside the frame portion, and a stimulation projection is disposed inside the frame portion (to face the tip of the finger) (patent) See Figures 1 to 4 of document 1). Such a finger input device is used in combination with a touch panel. When a user touches the touch panel with a contact protrusion, positional information (coordinate series data) is input to the computer, and the contact protrusion is placed in a hole in the frame portion. By being pushed in, the entire projection part slides in the hole, the stimulation projection part jumps out toward the finger, abuts on the tip of the finger to stimulate the sense of touch, and the user can obtain an operational feeling through the sense of touch. It has become. According to such a finger input device, the frame portion can follow the side surface or upper surface (nail side) of the finger without covering the lower surface (abdomen side) of the finger, and can support the protruding portion in front of the tip of the finger. Therefore, it is possible to expose the lower surface of the finger, and there is an advantage that the user does not feel much finger binding.
特開２００８－２５７２９７号公報JP 2008-257297 A
　近年、バーチャルリアリティの実現のため、指の下面（腹側）を機械的に刺激してテキスチャ感などを再現することが研究されており、例えば、複数の上下動可能なピンをアレイ状に配置した触覚ディスプレイが開発されている。しかしながら、このような触覚ディスプレイは、アレイ構造が複雑である上、指に装着すると指の下面が覆われてしまうため、指を自由に使用できないという問題がある。 In recent years, in order to realize virtual reality, research has been conducted on mechanically stimulating the lower surface (abdominal side) of a finger to reproduce a texture feeling. For example, a plurality of vertically movable pins are arranged in an array. A tactile display has been developed. However, such a tactile display has a problem that the array structure is complicated and the lower surface of the finger is covered when it is attached to the finger, so that the finger cannot be used freely.
　そこで、上述した従来の指入力デバイスを利用して、指先を機械的に刺激することが考えられ得る。この指入力デバイスは、突起部の押し込みによるポイント刺激であるため、高背のアクチュエータを用いたものとなる。そして、ユーザが触覚を感じるには、突起部が指の先端に十分接触するようにスライドさせることが必要である。また、受動的触知により触覚を起こさせるには、突起部のスライド動作をアクチュエータなどで制御することが必要である。よって、突起部を指の先端に十分接触させることが可能な長ストロークのアクチュエータが求められるが、かかる要件を満たす小型で軽量のアクチュエータは知られていない。加えて、指のポイント刺激を確実に行うには、長ストロークを確保した上、突起部を十分に大きな力で押し込むことが求められ、アクチュエータの消費電力が大きくなるという難点もある。また、アクチュエータが指からずれると、突起部が指に当たらなくなり易いという難点もある。 Therefore, it is conceivable to mechanically stimulate the fingertip using the conventional finger input device described above. Since this finger input device is a point stimulus by pushing the protrusion, it uses a tall actuator. And in order for a user to feel a tactile sense, it is necessary to make it slide so that a protrusion part may contact the front-end | tip of a finger | toe enough. Further, in order to cause a tactile sensation by passive tactile sense, it is necessary to control the sliding movement of the protrusion with an actuator or the like. Therefore, a long-stroke actuator that can sufficiently bring the protrusion into contact with the tip of the finger is required, but a small and lightweight actuator that satisfies this requirement is not known. In addition, in order to reliably perform finger point stimulation, it is required to secure a long stroke and to push the protrusion with a sufficiently large force, which causes a problem that the power consumption of the actuator increases. Further, when the actuator is displaced from the finger, there is also a difficulty that the protruding portion does not easily hit the finger.
　本発明は、指の作業性をできるだけ損なうことなく、指に装着された状態で機械的刺激を与えることが可能な指刺激呈示装置を提供することを目的とする。 An object of the present invention is to provide a finger stimulation presentation device capable of giving a mechanical stimulation while being worn on a finger without impairing the workability of the finger as much as possible.
　本発明者は、指の側面を機械的に擦ると、指の下面（腹側）が刺激されているかのように感じられること、および、指の側面を擦る力は、指の先端や下面を押す力に比べて弱い力であっても触覚により知覚可能であることを独自に見出し、更なる鋭意検討を行った結果、本発明を完成するに至った。 The present inventor feels that the lower surface (abdominal side) of the finger is stimulated when the side surface of the finger is mechanically rubbed, and the force of rubbing the side surface of the finger is applied to the tip and lower surface of the finger. As a result of the original finding that even a force weaker than the pressing force can be perceived by tactile sensation and further intensive studies, the present invention has been completed.
　本発明の１つの要旨によれば、指に装着された状態で機械的刺激を与える指刺激呈示装置であって、指刺激呈示装置を指に固定するための固定部材と、リニアアクチュエータの先端部が指の側面に沿って摺動するように、固定部材によって支持される少なくとも１つのリニアアクチュエータとを含む、指刺激呈示装置が提供される。 According to one aspect of the present invention, there is provided a finger stimulation presentation device that applies mechanical stimulation while being worn on a finger, a fixing member for fixing the finger stimulation presentation device to the finger, and a tip portion of a linear actuator There is provided a finger stimulation presentation device that includes at least one linear actuator supported by a securing member such that is slid along the side of the finger.
　本発明の上記指刺激呈示装置は、リニアアクチュエータの先端部が指の側面に沿って摺動すればよく、よって、リニアアクチュエータを指の側面側に配置して支持できるので、指の下面を露出させることが可能となり、指の作業性が損なわれるのを最小限に留めることができる。かかる本発明の指刺激呈示装置を用いれば、リニアアクチュエータを駆動して指の側面に機械的刺激を与えることができ、これにより、ユーザに指の下面が刺激されているかのような触覚を感じさせることができる。 In the finger stimulation presentation device of the present invention, the tip of the linear actuator only has to slide along the side surface of the finger, and therefore the linear actuator can be arranged and supported on the side surface of the finger, so that the lower surface of the finger is exposed. Thus, it is possible to minimize the loss of finger workability. By using such a finger stimulus presentation device of the present invention, it is possible to drive the linear actuator to give a mechanical stimulus to the side surface of the finger, thereby feeling the tactile sensation as if the lower surface of the finger is being stimulated. Can be made.
　かかる本発明の指刺激呈示装置は、リニアアクチュエータを用いて先端部を摺動させているので、従来の指入力デバイスを利用した場合のように高背なアクチュエータを要することがない。更に、本発明の指刺激呈示装置は、リニアアクチュエータが指から多少ずれたとしても、摺動動作に実質的に影響せず、機械的刺激を与えることが可能である。また、摺動動作は、指の先端や下面を押す力に比べて弱い力であっても触覚により知覚可能であるので、リニアアクチュエータの消費電力を低く抑えることができる。 Such a finger stimulation presentation device of the present invention uses a linear actuator to slide the tip, and thus does not require a tall actuator as in the case of using a conventional finger input device. Furthermore, even if the linear actuator is slightly deviated from the finger, the finger stimulation presenting device of the present invention can provide mechanical stimulation without substantially affecting the sliding operation. Further, since the sliding motion can be perceived by tactile sensation even if the force is weaker than the force pushing the tip or lower surface of the finger, the power consumption of the linear actuator can be kept low.
　本発明の１つの態様において、上記指刺激呈示装置は、摺動方向が互いに直交する２つの上記リニアアクチュエータを含む。このような２つのリニアアクチュエータを駆動して指の側面に２方向から機械的刺激を与えることにより、ユーザに、これらの力が合成された方向に指の下面が刺激されているかのような触覚を感じさせることができる。そして、摺動方向が直交していることにより、合成される方向を任意の方向に設定することができる。 In one aspect of the present invention, the finger stimulus presentation device includes two linear actuators whose sliding directions are orthogonal to each other. A tactile sensation as if the lower surface of the finger is stimulated in the direction in which these forces are synthesized by driving such two linear actuators to apply mechanical stimulation to the side of the finger from two directions. Can make you feel. And since the sliding direction is orthogonal, the direction combined can be set to an arbitrary direction.
　本発明の１つの態様において、上記リニアアクチュエータは、電歪材料層と、電歪材料層の両面に各々配置された２つの電極と、いずれか一方の電極を介して電歪材料層の片面に接合された基材とにより構成された電歪素子であって、電歪材料層および基材のいずれか一方の側を凸側にして少なくとも部分的に湾曲している電歪素子を含む電歪アクチュエータである。かかる電歪素子は、ユニモルフ構造を有する電歪素子である。 In one aspect of the present invention, the linear actuator includes an electrostrictive material layer, two electrodes respectively disposed on both sides of the electrostrictive material layer, and one side of the electrostrictive material layer via one of the electrodes. An electrostrictive element comprising an electrostrictive element formed of a bonded base material, wherein the electrostrictive element is curved at least partially with one of the electrostrictive material layer and the base material as a convex side Actuator. Such an electrostrictive element is an electrostrictive element having a unimorph structure.
　上記電歪アクチュエータにおいて、電歪素子は電歪材料層および基材のいずれか一方の側を凸側にして少なくとも部分的に湾曲しているので、この電歪素子の電極間に電圧を印加すると、電歪素子の先端部は、長手方向に収縮または伸長する動きをし、電圧を除去すると元の状態に戻る。電圧印加時にいずれの動きをするかは湾曲方向によって決まり、電歪材料層の側を凸側にして湾曲している場合には長手方向に収縮し、基材の側を凸側にして湾曲している場合には長手方向に伸長する。かかる電歪アクチュエータは、小型で軽量かつ低消費電力であるので、本発明の指刺激呈示装置においてリニアアクチュエータとして好適に使用できる。 In the electrostrictive actuator, since the electrostrictive element is at least partially curved with either one of the electrostrictive material layer and the base as a convex side, a voltage is applied between the electrodes of the electrostrictive element. The tip portion of the electrostrictive element moves to contract or extend in the longitudinal direction, and returns to its original state when the voltage is removed. The movement when applying voltage is determined by the bending direction.If the electrostrictive material layer is curved with the convex side facing, it will contract in the longitudinal direction, and the substrate side will be curved with the convex side facing. When it is, it extends in the longitudinal direction. Such an electrostrictive actuator is small, lightweight, and has low power consumption, and therefore can be suitably used as a linear actuator in the finger stimulus presentation device of the present invention.
　本発明によれば、指の作業性が損なわれるのを最小限に留め、指に装着された状態で機械的刺激を与えることが可能な指刺激呈示装置が提供される。 According to the present invention, there is provided a finger stimulus presentation device capable of minimizing the workability of a finger and applying a mechanical stimulus while attached to the finger.
本発明の１つの実施形態における指刺激呈示装置を指に装着した状態を示す図であって、図１（ａ）は概略斜視図、図１（ｂ）は概略上面図である。It is a figure which shows the state with which the finger stimulation presentation apparatus in one Embodiment of this invention was mounted | worn with the finger, Comprising: Fig.1 (a) is a schematic perspective view, FIG.1 (b) is a schematic top view. 図１の実施形態における指刺激呈示装置の１つの例を示す概略断面図であって、図２（ａ）は電圧を印加していない状態（非駆動状態）、図２（ｂ）は電圧を印加した状態（駆動状態）を示す。FIG. 2A is a schematic cross-sectional view illustrating an example of a finger stimulation presentation device in the embodiment of FIG. 1, in which FIG. 2A is a state in which no voltage is applied (non-driven state), and FIG. An applied state (driving state) is shown. 図１の実施形態における指刺激呈示装置の別の例を示す概略断面図であって、図３（ａ）は電圧を印加していない状態（非駆動状態）、図３（ｂ）は電圧を印加した状態（駆動状態）を示す。It is a schematic sectional drawing which shows another example of the finger irritation | stimulation presentation apparatus in embodiment of FIG. 1, Comprising: Fig.3 (a) is a state which has not applied the voltage (non-drive state), FIG.3 (b) shows voltage. An applied state (driving state) is shown. 図１の実施形態における指刺激呈示装置の構成部材である電歪アクチュエータを製造するために使用されるユニモルフ（ユニモルフ構造を有するシート）を示す図であって、図４（ａ）はユニモルフの概略断面図を示し、図４（ｂ）はユニモルフの屈曲動作を説明する図である。It is a figure which shows the unimorph (sheet | seat which has a unimorph structure) used in order to manufacture the electrostrictive actuator which is a structural member of the finger irritation | stimulation presentation apparatus in FIG. 1, Comprising: Fig.4 (a) is an outline of a unimorph. A cross-sectional view is shown, and FIG. 4 (b) is a diagram for explaining the bending operation of the unimorph. 本発明のもう１つの実施形態における指刺激呈示装置を指に装着した状態を示す概略上面図である。It is a schematic top view which shows the state which mounted | wore the finger | toe with the finger stimulation presentation apparatus in another embodiment of this invention.
　本発明のいくつかの実施形態における指刺激呈示装置について、以下、図面を参照しながら詳述する。 DETAILED DESCRIPTION Hereinafter, finger stimulation presentation devices according to some embodiments of the present invention will be described in detail with reference to the drawings.
（実施形態１）
　本実施形態は、１つの電歪アクチュエータを用いた指刺激呈示装置に関する。 (Embodiment 1)
The present embodiment relates to a finger stimulation presentation device using one electrostrictive actuator.
　図１を参照して、本実施形態の指刺激呈示装置３０は、指刺激呈示装置３０を指４０に固定するための固定部材２１と、リニアアクチュエータとして電歪アクチュエータ２３とを含み、電歪アクチュエータ２３は、その先端部Ａが指４０の側面４１に沿って（図中、両矢印Ｐにて示す方向に）摺動するように、固定部材２１によって支持されている。 With reference to FIG. 1, the finger stimulation presentation device 30 of the present embodiment includes a fixing member 21 for fixing the finger stimulation presentation device 30 to the finger 40 and an electrostriction actuator 23 as a linear actuator. 23 is supported by the fixing member 21 so that the tip end portion A slides along the side surface 41 of the finger 40 (in the direction indicated by the double-headed arrow P in the figure).
　本実施形態において用いる電歪アクチュエータ２３は、図２および３に例示するように、１つの電歪素子１０を含み、この電歪素子１０は、電歪材料層１と、電歪材料層１の両面に各々配置された２つの電極３ａ、３ｂと、これら電極３ａ、３ｂのいずれか一方（図示する態様では電極３ａ）を介して電歪材料層１の片面に接合された基材５とにより構成され、電歪材料層１および基材５のいずれか一方の側を凸側にして（図２に示す例では、電歪材料層１の側を凸側にし、図３に示す例では、基材５の側を凸側にして）少なくとも部分的に湾曲している。電歪素子１０の一端１０ａが電歪アクチュエータ２３の先端部Ａである。電歪素子１０の他端１０ｂおよび／またはその近傍において、電歪アクチュエータ２３が固定部材２１により支持される。 The electrostrictive actuator 23 used in the present embodiment includes one electrostrictive element 10 as illustrated in FIGS. 2 and 3. The electrostrictive element 10 includes the electrostrictive material layer 1 and the electrostrictive material layer 1. Two electrodes 3a and 3b arranged on both surfaces, respectively, and a base material 5 bonded to one surface of the electrostrictive material layer 1 through one of these electrodes 3a and 3b (in the illustrated embodiment, the electrode 3a) Configured, with either one of the electrostrictive material layer 1 and the base material 5 being a convex side (in the example shown in FIG. 2, the electrostrictive material layer 1 side is a convex side, and in the example shown in FIG. It is at least partially curved (with the substrate 5 side convex). One end 10 a of the electrostrictive element 10 is the tip A of the electrostrictive actuator 23. The electrostrictive actuator 23 is supported by the fixing member 21 at the other end 10 b of the electrostrictive element 10 and / or in the vicinity thereof.
　電歪素子１０において、電歪材料層１は、高分子電歪材料から形成される。高分子電歪材料は、永久双極子を有する高分子材料であれば、特に限定されない。高分子電歪材料の例としては、ＰＶＤＦ（ポリビニリデンフルオロイド）、ＰＶＤＦ系の共重合体、例えば、Ｐ（ＶＤＦ－ＴｒＦＥ）、Ｐ（ＶＤＦ－ＶＦ）などのコポリマーや、Ｐ（ＶＤＦ－ＴｒＦＥ－ＣＦＥ）、Ｐ（ＶＤＦ－ＴｒＦＥ－ＣＴＦＥ）、Ｐ（ＶＤＦ－ＴｒＦＥ－ＣＤＦＥ）、Ｐ（ＶＤＦ－ＴｒＦＥ－ＨＦＡ）、Ｐ（ＶＤＦ－ＴｒＦＥ－ＨＦＰ）、Ｐ（ＶＤＦ－ＴｒＦＥ－ＶＣ）などのターポリマーが挙げられる（Ｐはポリを、ＶＤＦはビニリデンフルオライドを、ＴｒＦＥはトリフルオロエチレンを、ＣＦＥはクロロフルオロエチレンを、ＣＴＦＥはクロロトリフルオロエチレンを、ＣＤＦＥはクロロジフルオロエチレンを、ＨＦＡはヘキサフルオロアセトンを、ＨＦＰはヘキサフルオロプロピレンを、ＶＣはビニルクロライドを、ＶＦはビニルフルオライドを意味する）。なかでも、Ｐ（ＶＤＦ－ＴｒＦＥ－ＣＦＥ）が、大きな歪みが得られる点で特に好ましい。電歪材料層１の厚さは適宜設定してよいが、例えば数μｍ～１００μｍ程度とし得る。 In the electrostrictive element 10, the electrostrictive material layer 1 is formed from a polymer electrostrictive material. The polymer electrostrictive material is not particularly limited as long as it is a polymer material having a permanent dipole. Examples of the polymer electrostrictive material include PVDF (polyvinylidene fluoride), PVDF copolymer, for example, a copolymer such as P (VDF-TrFE) and P (VDF-VF), and P (VDF-TrFE). -CFE), P (VDF-TrFE-CTFE), P (VDF-TrFE-CDFE), P (VDF-TrFE-HFA), P (VDF-TrFE-HFP), P (VDF-TrFE-VC), etc. Terpolymers (P is poly, VDF is vinylidene fluoride, TrFE is trifluoroethylene, CFE is chlorofluoroethylene, CTFE is chlorotrifluoroethylene, CDFE is chlorodifluoroethylene, and HFA is hexa. Fluoroacetone, HFP is hexafluoropropylene, VC is vinyl chloride The, VF denotes a vinyl fluoride). Among these, P (VDF-TrFE-CFE) is particularly preferable because a large distortion can be obtained. The thickness of the electrostrictive material layer 1 may be set as appropriate, but may be, for example, about several μm to 100 μm.
　また、電歪素子１０において、２つの電極３ａ、３ｂは、電極として機能し得る限り、任意の適切な導電性材料から形成してよい。かかる導電性材料の例としては、Ｎｉ（ニッケル）、Ｐｔ（白金）、Ｐｔ－Ｐｄ（白金－パラジウム合金）、Ａｌ（アルミニウム）、Ａｕ（金）、Ａｕ－Ｐｄ（金－パラジウム合金）などの金属材料、ＰＥＤＯＴ（ポリエチレンジオキシチオフェン）、ＰＰｙ（ポリピロール）、ＰＡＮＩ（ポリアニリン）など（これらは、適宜、有機スルホン酸系化合物、例えばポリビニルスルホン酸、ポリスチレンスルホン酸、ポリアリルスルホン酸、ポリアクリルスルホン酸、ポリメタクリルスルホン酸、ポリ－２－アクリルアミド－２－メチルプロパンスルホン酸、ポリイソプレンスルホン酸などのドーパントがドープされ得る）の有機導電性材料などが挙げられる。このうち、有機導電性材料は、クラックが導入され難いので好ましい。電極３ａ、３ｂの厚さは、使用する導電性材料などに応じて適宜設定してよいが、例えば２０ｎｍ～１０μｍ程度とし得る。電極３ａ、３ｂは、使用する導電性材料および厚さが、同じであっても、異なっていてもよい。また、図示する態様では、電極３ａ、３ｂは、電歪材料層１の全面をそれぞれ被覆しているが、このことは必ずしも本発明に要せず、電極３ａ、３ｂは、適宜、パターニングされていてもよい。例えば、電極３ａ、３ｂは、一端１０ａおよび他端１０ｂから離間するように、電歪材料層１の中央部を被覆するものであってよい。 Further, in the electrostrictive element 10, the two electrodes 3a and 3b may be formed from any appropriate conductive material as long as they can function as electrodes. Examples of such conductive materials include Ni (nickel), Pt (platinum), Pt—Pd (platinum-palladium alloy), Al (aluminum), Au (gold), Au—Pd (gold-palladium alloy), etc. Metal materials, PEDOT (polyethylenedioxythiophene), PPy (polypyrrole), PANI (polyaniline), etc. (these are organic sulfonic acid compounds such as polyvinyl sulfonic acid, polystyrene sulfonic acid, polyallyl sulfonic acid, polyacrylic sulfone as appropriate. Acid, polymethacrylsulfonic acid, poly-2-acrylamido-2-methylpropanesulfonic acid, polyisoprenesulfonic acid and other organic conductive materials). Among these, the organic conductive material is preferable because cracks are hardly introduced. The thickness of the electrodes 3a and 3b may be set as appropriate according to the conductive material used, but may be about 20 nm to 10 μm, for example. The electrodes 3a and 3b may have the same or different conductive materials and thicknesses. In the illustrated embodiment, the electrodes 3a and 3b respectively cover the entire surface of the electrostrictive material layer 1, but this is not necessarily required for the present invention, and the electrodes 3a and 3b are appropriately patterned. May be. For example, the electrodes 3a and 3b may cover the central portion of the electrostrictive material layer 1 so as to be separated from the one end 10a and the other end 10b.
　また、電歪素子１０において、基材５は、後述する湾曲成形を実施し得る限り、任意の適切な可撓性材料から形成してよい。かかる可撓性材料の例としては、ＰＥＴ（ポリエチレンテレフタレート）、セロファン、塩化ビニル、ポリイミド、ポリエステルなどが挙げられる。また、基材５は、上述したような電歪材料から形成してもよい。基材５の厚さは適宜設定してよいが、例えば数μｍ～１００μｍ程度とし得る。 Further, in the electrostrictive element 10, the base material 5 may be formed of any appropriate flexible material as long as the curve forming described later can be performed. Examples of such flexible materials include PET (polyethylene terephthalate), cellophane, vinyl chloride, polyimide, polyester, and the like. Moreover, you may form the base material 5 from the electrostrictive material as mentioned above. The thickness of the base material 5 may be set as appropriate, but may be, for example, about several μm to 100 μm.
　電歪素子１０は、少なくとも部分的に湾曲している。電歪素子１０の湾曲部分は、電極３ａ、３ｂが配置された部分を含むことが好ましい。電歪素子１０の湾曲部分は、円弧状の断面形状を有することが好ましい。しかしながら、本発明はこれに限定されず、電歪素子１０の湾曲部分は、円弧状以外の他の断面形状（例えば半楕円状など）に湾曲していてもよい。 Electrostrictive element 10 is at least partially curved. The curved portion of the electrostrictive element 10 preferably includes a portion where the electrodes 3a and 3b are disposed. The curved portion of the electrostrictive element 10 preferably has an arcuate cross-sectional shape. However, the present invention is not limited to this, and the curved portion of the electrostrictive element 10 may be curved to a cross-sectional shape other than the arc shape (for example, a semi-elliptical shape).
　固定部材２１は、電歪アクチュエータ２３の先端部Ａが指４０の側面に沿って摺動するように、電歪アクチュエータ２３を支持して、指刺激呈示装置３０の全体を指４０に固定し得る限り、その材料、形状、配置、支持方法などについて、特に限定されない。 The fixing member 21 can support the electrostrictive actuator 23 so that the tip A of the electrostrictive actuator 23 slides along the side surface of the finger 40, and can fix the entire finger stimulation presentation device 30 to the finger 40. As long as the material, shape, arrangement, support method and the like are not particularly limited.
　次に、かかる電歪アクチュエータ２３を用いた指刺激呈示装置３０の製造方法について説明する。 Next, a method for manufacturing the finger stimulus presentation device 30 using the electrostrictive actuator 23 will be described.
　まず、ユニモルフ構造を有する可撓性のシート（以下、本明細書において単に「ユニモルフ」と呼ぶ）を準備する。図４（ａ）を参照して、ユニモルフ７は、電歪材料層１と、電歪材料層１の両面に各々配置された２つの電極３ａ、３ｂと、これら電極３ａ、３ｂのいずれか一方（図示する態様では電極３ａ）を介して電歪材料層１の片面に接合された基材５とにより構成され、全体として可撓性を有するものとされる。なお、かかるユニモルフ７は、これら２つの電極３ａ、３ｂ間に電圧を印加すると、電歪材料層１が厚さ方向（電界方向）に縮み、面内方向で伸びるため、電歪材料層１と基材５との間で寸法差が生じて、図４（ｂ）に示すように、電歪材料層１を外側とし、基材５を内側として屈曲するものである。 First, a flexible sheet having a unimorph structure (hereinafter simply referred to as “unimorph” in the present specification) is prepared. Referring to FIG. 4A, the unimorph 7 includes an electrostrictive material layer 1, two electrodes 3a and 3b respectively disposed on both surfaces of the electrostrictive material layer 1, and one of these electrodes 3a and 3b. (In the embodiment shown in the figure, it is constituted by a base material 5 bonded to one surface of the electrostrictive material layer 1 via an electrode 3a, and has flexibility as a whole. In this unimorph 7, when a voltage is applied between these two electrodes 3a and 3b, the electrostrictive material layer 1 contracts in the thickness direction (electric field direction) and extends in the in-plane direction. As shown in FIG. 4B, a dimensional difference occurs between the base material 5 and the electrostrictive material layer 1 as the outside and the base material 5 as the inside as shown in FIG. 4B.
　このようなユニモルフ７は、例えば以下のようにして作製可能である。電歪材料層１の両面に電極３ａ、３ｂを形成する。電極材料に金属材料を用いる場合には、蒸着またはスパッタリングなどによって電極を形成できる。電極材料に有機導電性材料を用いる場合には、シルクスクリーン印刷、インクジェット印刷、刷毛塗布などによって電極を形成できる。図示する態様では、電極３ａ、３ｂは電歪材料層１の全面にそれぞれ形成されるものとしているが、このことは必ずしも本発明に要せず、電極３ａ、３ｂは、適宜、パターニングされていてもよい。これにより得られた電極３ａ、３ｂ付き電歪材料層１の片面に（図示する態様では電極３ａを介して）基材５を接合させる。この接合は、例えば、熱硬化型または紫外線硬化型などの接着剤を用いて実施できる。これにより、ユニモルフ７が作製される。しかしながら、ユニモルフ７の作製方法はかかる例に限定されず、例えば、基材５の上に電極３ａを予め形成しておき、その電極３ａの上に電歪材料を塗布またはキャスティングすることにより電歪材料層１を形成し、更に、その電歪材料層１の上に電極３ｂを形成してもよい。 Such a unimorph 7 can be produced, for example, as follows. Electrodes 3 a and 3 b are formed on both surfaces of the electrostrictive material layer 1. When a metal material is used as the electrode material, the electrode can be formed by vapor deposition or sputtering. When an organic conductive material is used as the electrode material, the electrode can be formed by silk screen printing, inkjet printing, brush application, or the like. In the illustrated embodiment, the electrodes 3a and 3b are formed on the entire surface of the electrostrictive material layer 1, but this is not necessarily required for the present invention, and the electrodes 3a and 3b are appropriately patterned. Also good. The base material 5 is joined to one side of the electrostrictive material layer 1 with the electrodes 3a and 3b obtained in this way (via the electrode 3a in the illustrated embodiment). This joining can be performed using, for example, an adhesive such as a thermosetting type or an ultraviolet curable type. Thereby, the unimorph 7 is produced. However, the manufacturing method of the unimorph 7 is not limited to such an example. For example, the electrode 3a is formed in advance on the base 5 and an electrostrictive material is applied or cast on the electrode 3a. The material layer 1 may be formed, and the electrode 3 b may be formed on the electrostrictive material layer 1.
　次に、このユニモルフ７を湾曲成形して、電歪素子１０を得る。具体的には、シート状のユニモルフ７を、例えば半円筒状の表面を有する型を用いて、電歪材料層１および基材５のいずれかが凸側になるように湾曲させ、そのまま熱処理に付して基材５を熱成形し、その後、型から外すことによって、湾曲成形を実施できる。熱処理の温度および時間は、使用する基材５の材料に応じて適宜設定し得る。例えば、基材５がＰＥＴから成る場合、８０～１００℃で５～１０分間の熱処理により熱成形できる。 Next, this unimorph 7 is curved and the electrostrictive element 10 is obtained. Specifically, the sheet-like unimorph 7 is bent using, for example, a mold having a semi-cylindrical surface so that one of the electrostrictive material layer 1 and the substrate 5 is on the convex side, and subjected to heat treatment as it is. Then, the base material 5 is thermoformed and then removed from the mold to perform curve forming. The temperature and time of the heat treatment can be appropriately set according to the material of the substrate 5 to be used. For example, when the substrate 5 is made of PET, it can be thermoformed by heat treatment at 80 to 100 ° C. for 5 to 10 minutes.
　これにより、電歪素子１０が得られる。電歪素子１０の寸法、湾曲形状（曲率半径）などは、所望される指刺激の大きさや態様などに応じて適宜設定し得る。 Thereby, the electrostrictive element 10 is obtained. The dimensions, the curved shape (curvature radius), and the like of the electrostrictive element 10 can be appropriately set according to the desired size and mode of finger stimulation.
　電極３ａ、３ｂに、引出し線２５ａ、２５ｂをそれぞれ接続し、これにより、電歪アクチュエータ２３が製造される。 The lead wires 25a and 25b are connected to the electrodes 3a and 3b, respectively, whereby the electrostrictive actuator 23 is manufactured.
　かかる電歪アクチュエータ２３は、可撓性の（柔らかい）電歪素子１０を用いているため、耐衝撃性が高く、壊れにくいという利点がある。また、かかる電歪素子１０を用いた電歪アクチュエータ２３は、小型で軽量、かつ低消費電力であるという利点もある。 Since the electrostrictive actuator 23 uses the flexible (soft) electrostrictive element 10, there is an advantage that it has high impact resistance and is not easily broken. In addition, the electrostrictive actuator 23 using the electrostrictive element 10 has an advantage that it is small and lightweight and has low power consumption.
　得られた電歪アクチュエータ２３を、他端１０ｂおよび／またはその近傍にて、固定部材２１に接合して支持させる。この接合は、例えば、熱硬化型または紫外線硬化型などの接着剤を用いて実施できる。 The obtained electrostrictive actuator 23 is joined to and supported by the fixing member 21 at the other end 10b and / or its vicinity. This joining can be performed using, for example, an adhesive such as a thermosetting type or an ultraviolet curable type.
　以上のようにして、指刺激呈示装置３０が製造される。固定部材２１は、指刺激呈示装置３０を指４０に固定できればよいが、例えば、指４０の寸法に応じて調整可能なバンドなどであってよい。 As described above, the finger stimulus presentation device 30 is manufactured. The fixing member 21 only needs to be able to fix the finger stimulation presentation device 30 to the finger 40, but may be a band that can be adjusted according to the dimension of the finger 40, for example.
　次に、指刺激呈示装置３０の使用方法（動作）の例について説明するが、本発明の指刺激呈示装置は、かかる使用方法に限定されるものではない。 Next, an example of a usage method (operation) of the finger stimulus presentation device 30 will be described, but the finger stimulus presentation device of the present invention is not limited to such a usage method.
　まず、図１に示すように、指刺激呈示装置３０を指４０に、固定部材２１を用いて固定することにより装着する。図示する態様では、電歪アクチュエータ２３が指４０の側面４１を辿りながら指４０と反対側に湾曲（突出）し、（好ましくは少なくともその先端部Ａの摺動面が側面４１に対して好ましくは略平行に位置して）先端部Ａが指４０の側面４１に接するようにして装着しているが、これに限定されるものではない。例えば、先端部Ａが最終的に指４０の側面４１に沿って摺動可能である限り、先端部Ａは指４０の側面４１からごく僅かに離間していてもよい。 First, as shown in FIG. 1, the finger stimulation presentation device 30 is attached to the finger 40 by being fixed using the fixing member 21. In the illustrated embodiment, the electrostrictive actuator 23 follows the side surface 41 of the finger 40 and bends (protrudes) to the opposite side of the finger 40 (preferably at least the sliding surface of the tip A is preferably relative to the side surface 41. Although it is mounted so that the tip end A is in contact with the side surface 41 of the finger 40 (positioned substantially parallel), the present invention is not limited to this. For example, the tip A may be very slightly separated from the side 41 of the finger 40 as long as the tip A is finally slidable along the side 41 of the finger 40.
　電歪材料層１が基材５よりも凸側になるように湾曲させた電歪アクチュータ２３を用いる場合、指刺激呈示装置３０は、非駆動状態（電圧を印加していない状態）では、図２（ａ）に示す形態を取っている。そして、電極３ａ、３ｂ間に電圧を印加することにより、電歪アクチュエータ２３を駆動すると、図２（ｂ）を参照して、電歪素子１０は一層屈曲する動きを示し（長手方向に縮み、凸方向に高くなる）、これにより、電歪アクチュエータ２３は、長手方向に収縮して、先端部Ａが指４０の側面４１に沿って、矢印Ｐ１にて示す方向に摺動する。電圧印加を除去すると、電歪素子１０は元の状態に戻る動きを示し、これにより、電歪アクチュエータ２３は、矢印Ｐ２にて示す方向に摺動する。 When the electrostrictive actuator 23 curved so that the electrostrictive material layer 1 is convex from the base material 5 is used, the finger stimulation presentation device 30 is not illustrated in the non-driven state (state in which no voltage is applied). It takes the form shown in 2 (a). When the electrostrictive actuator 23 is driven by applying a voltage between the electrodes 3a and 3b, referring to FIG. 2B, the electrostrictive element 10 shows a further bending motion (shrinks in the longitudinal direction, increases in the convex direction), thereby, electrostrictive actuator 23 is contracted in the longitudinal direction, the tip portion a along the side surfaces 41 of the finger 40 slides in the direction indicated by the arrow P 1. Upon removal of the voltage application, the electrostrictive element 10 shows the movement back to the original state, thereby, electrostrictive actuator 23 slides in the direction indicated by arrow P 2.
　あるいは、基材５が電歪材料層１よりも凸側になるように湾曲させた電歪アクチュータ２３を用いる場合、指刺激呈示装置３０は、非駆動状態（電圧を印加していない状態）では、図３（ａ）に示す形態を取っている。そして、電極３ａ、３ｂ間に電圧を印加することにより、電歪アクチュエータ２３を駆動すると、図３（ｂ）を参照して、電歪素子１０は伸びる動きを示し（長手方向に伸び、凸方向に低くなる）、これにより、電歪アクチュエータ２３は、長手方向に伸長して、先端部Ａが指４０の側面４１に沿って、矢印Ｐ２にて示す方向に摺動する。電圧印加を除去すると、電歪素子１０は元の状態に戻る動きを示し、これにより、電歪アクチュエータ２３は、矢印Ｐ１にて示す方向に摺動する。 Or when using the electrostriction actuator 23 curved so that the base material 5 may become the convex side rather than the electrostrictive material layer 1, the finger stimulus presentation device 30 is in a non-driven state (state in which no voltage is applied). , Takes the form shown in FIG. When the electrostrictive actuator 23 is driven by applying a voltage between the electrodes 3a and 3b, referring to FIG. 3B, the electrostrictive element 10 exhibits an extension movement (extends in the longitudinal direction and extends in the convex direction). low made), Thus, the electrostrictive actuator 23, extends in the longitudinal direction, the tip portion a along the side surfaces 41 of the finger 40 slides in the direction indicated by arrow P 2. Upon removal of the voltage application, the electrostrictive element 10 shows the movement back to the original state, thereby, electrostrictive actuator 23 slides in the direction indicated by the arrow P 1.
　以上より、いずれの場合にも、電歪アクチュエータ２３はリニアな動作をし、指４０の側面４１に沿って電歪アクチュエータ２３の先端部Ａを摺動させる動作（擦る動作）が可能である。先端部Ａの動きは、印加する電圧に応じて異なり、例えば交流電圧を印加することによって、先端部Ａを周期的に変位させることができる。 As described above, in any case, the electrostrictive actuator 23 performs a linear operation, and an operation (sliding operation) of sliding the tip A of the electrostrictive actuator 23 along the side surface 41 of the finger 40 is possible. The movement of the tip A varies depending on the voltage to be applied. For example, the tip A can be periodically displaced by applying an AC voltage.
　かかる指刺激呈示装置３０を用いれば、指４０の側面４１に機械的刺激を与えることができる。そして、指刺激呈示装置３０を用いて、指４０の側面４１に沿って先端部Ａを摺動させる（擦る）ことにより、ユーザに指４０の下面（腹側）が、両矢印Ｐにして示す方向と平行な方向に擦られているかのような触覚を感じさせることができる。指４０の側面４１を摺動する力は、指の先端や下面を押す力に比べて弱くても、知覚可能な触覚を起こさせることができる。指刺激呈示装置３０は、指４０の下面（腹側）を露出させたままで使用できるので、これを装着した状態で、指先で物に触れたり、何か物を持ったりすることができ、指の作業性が実質的に損なわれることはない。 By using such a finger stimulus presentation device 30, a mechanical stimulus can be given to the side surface 41 of the finger 40. Then, by using the finger stimulation presentation device 30 to slide (rub) the tip A along the side surface 41 of the finger 40, the lower surface (abdominal side) of the finger 40 is shown as a double arrow P to the user. A tactile sensation as if rubbing in a direction parallel to the direction can be felt. Even if the force of sliding on the side surface 41 of the finger 40 is weaker than the force of pressing the tip or lower surface of the finger, a perceptible tactile sensation can be caused. Since the finger stimulation presentation device 30 can be used with the lower surface (abdominal side) of the finger 40 exposed, it is possible to touch an object with the fingertip or hold something with the finger attached. This workability is not substantially impaired.
　また、指刺激呈示装置３０は、電歪アクチュエータ２３の先端部Ａが指４０の側面４１に沿って摺動する面刺激であるため、電歪アクチュエータ２３が当初の固定位置から多少ずれても、先端部Ａと指４０の側面４１との接触を確保することができ、装着が容易である。 Further, since the finger stimulation presentation device 30 is a surface stimulation in which the tip A of the electrostrictive actuator 23 slides along the side surface 41 of the finger 40, even if the electrostrictive actuator 23 is slightly deviated from the initial fixed position, Contact between the distal end portion A and the side surface 41 of the finger 40 can be ensured, and mounting is easy.
（実施形態２）
　本実施形態は、２つの電歪アクチュエータを用いた指刺激呈示装置に関する。 (Embodiment 2)
The present embodiment relates to a finger stimulus presentation device using two electrostrictive actuators.
　図５を参照して、本実施形態の指刺激呈示装置３１は、指刺激呈示装置３１を指４０に固定するための固定部材２１と、リニアアクチュエータとして２つの電歪アクチュエータ２７、２９とを含み、電歪アクチュエータ２７、２９は、いずれも、各先端部Ｂ、Ｃが指４０の側面４１に沿って（図中、両矢印Ｑ、Ｒにてそれぞれ示す方向に）摺動するように、固定部材２１によって支持されている。これら２つの電歪アクチュエータ２７、２９は、これらの摺動方向Ｑ、Ｒが直交するように配置される。図示する態様では、電歪アクチュエータ２７、２９が折れ曲がって指４０の側面４１に近づきながら指４０と反対側に湾曲（突出）し、（好ましくは少なくともそれらの先端部Ｂ、Ｃの各摺動面が側面４１に対して好ましくは略平行にそれぞれ位置して）先端部Ｂ、Ｃが指４０の側面４１にそれぞれ接するようにして装着しているが、これに限定されるものではない。例えば、先端部Ｂ、Ｃが最終的に指４０の側面４１に沿って摺動可能である限り、電歪アクチュエータ２７、２９は折れ曲がっていても、いなくてもよい。 Referring to FIG. 5, the finger stimulation presentation device 31 of the present embodiment includes a fixing member 21 for fixing the finger stimulation presentation device 31 to the finger 40 and two electrostrictive actuators 27 and 29 as linear actuators. The electrostrictive actuators 27 and 29 are fixed so that the tip portions B and C slide along the side surface 41 of the finger 40 (in the directions indicated by double arrows Q and R in the drawing). It is supported by the member 21. These two electrostrictive actuators 27 and 29 are arranged so that their sliding directions Q and R are orthogonal to each other. In the illustrated embodiment, the electrostrictive actuators 27 and 29 bend and bend (protrude) to the opposite side of the finger 40 while approaching the side surface 41 of the finger 40 (preferably at least the sliding surfaces of the tip portions B and C thereof). Are mounted so that the tip portions B and C are in contact with the side surface 41 of the finger 40, respectively, but are preferably positioned substantially parallel to the side surface 41. However, the present invention is not limited to this. For example, the electrostrictive actuators 27 and 29 may or may not be bent as long as the distal ends B and C can finally slide along the side surface 41 of the finger 40.
　電歪アクチュエータ２７、２９は、実施形態１にて上述した電歪アクチュエータ２３と同様の構成であってよい。電歪アクチュエータ２７、２９において、電歪材料層、電極、基材について、材料および厚さなどの条件は同じであっても、異なっていてもよい。また、電歪アクチュエータ２７、２９には、図２を参照して上述した電歪材料層の側を凸側にして湾曲させた電歪アクチュエータを２つ用いても、図３を参照して上述した基材の側を凸側にして湾曲させた電歪アクチュエータを２つ用いても、あるいは、これらを１つずつ組み合わせて用いてもよい。 The electrostrictive actuators 27 and 29 may have the same configuration as the electrostrictive actuator 23 described in the first embodiment. In the electrostrictive actuators 27 and 29, the conditions such as the material and thickness of the electrostrictive material layer, the electrode, and the substrate may be the same or different. Further, as the electrostrictive actuators 27 and 29, two electrostrictive actuators which are curved with the electrostrictive material layer side described above with reference to FIG. 2 curved may be used as described above with reference to FIG. Two electrostrictive actuators curved with the base material side convex may be used, or these may be used in combination.
　固定部材２１は、電歪アクチュエータ２７、２９の各先端部Ｂ、Ｃが、指４０の側面４１に沿って、互いに直交する方向に摺動するように、電歪アクチュエータ２７、２９を支持して、指刺激呈示装置３１の全体を指４０に固定する。本実施形態の指刺激呈示装置３１は、２つの電歪アクチュエータ２７、２９を使用して、所定の配置で固定部材２１に接合して支持させることにより、製造可能である。 The fixing member 21 supports the electrostrictive actuators 27 and 29 so that the tip portions B and C of the electrostrictive actuators 27 and 29 slide in directions orthogonal to each other along the side surface 41 of the finger 40. The entire finger stimulation presentation device 31 is fixed to the finger 40. The finger stimulation presentation device 31 of the present embodiment can be manufactured by using two electrostrictive actuators 27 and 29 and joining and supporting the fixing member 21 in a predetermined arrangement.
　かかる指刺激呈示装置３１を用いれば、電歪アクチュエータ２７、２９の各先端部Ｂ、Ｃが、指４０の側面４１に沿って、互いに直交する方向に摺動させる（擦る）ことができ、これにより、ユーザに、これらの力が合成された方向に指４０の下面（腹側）が擦られているかのような触覚を感じさせることができる。これらの摺動方向Ｑ、Ｒは直交しているので、ある方向に擦られているかのような触覚を起こさせるには、摺動方向Ｑ、Ｒに分解してそれぞれ所定の大きさの力で摺動させるようにすればよい。よって、本実施形態によれば、ユーザに、任意の所望の方向に指４０の下面（腹側）が擦られているかのような触覚を感じさせることができる。 By using such a finger stimulation presentation device 31, the tip portions B and C of the electrostrictive actuators 27 and 29 can be slid (rubbed) in directions orthogonal to each other along the side surface 41 of the finger 40. Thus, the user can feel a tactile sensation as if the lower surface (abdominal side) of the finger 40 is rubbed in the direction in which these forces are combined. Since these sliding directions Q and R are orthogonal to each other, in order to generate a tactile sensation as if rubbing in a certain direction, the sliding directions Q and R are decomposed into a predetermined amount of force. What is necessary is just to make it slide. Therefore, according to the present embodiment, the user can feel a tactile sensation as if the lower surface (belly side) of the finger 40 is being rubbed in an arbitrary desired direction.
　以上、本発明の２つの実施形態における指刺激呈示装置およびその使用方法について詳述したが、本発明は種々の改変が可能であろう。 As described above, the finger stimulus presentation device and the method of using the same in the two embodiments of the present invention have been described in detail, but the present invention can be variously modified.
　例えば、実施形態１および２では、１つの電歪アクチュエータが電歪素子を１個含む構成としたが、１つの電歪アクチュエータが、複数個の積層された電歪素子を含む構成としてもよい。複数個の電歪素子を積層して用いれば、指に与える機械的刺激を増すことができる。 For example, in the first and second embodiments, one electrostrictive actuator includes one electrostrictive element, but one electrostrictive actuator may include a plurality of stacked electrostrictive elements. If a plurality of electrostrictive elements are stacked and used, the mechanical stimulation applied to the finger can be increased.
　また、例えば、電歪アクチュエータ以外の他のリニアアクチュエータを使用してよい。かかるリニアアクチュエータとしては、イオン導電性高分子膜（ICPF: Ionic Conductive Polymer Film）や、バッキーゲルなどを利用したアクチュエータが挙げられる。 Also, for example, a linear actuator other than the electrostrictive actuator may be used. Examples of such a linear actuator include an actuator using an ion conductive polymer film (ICPF: “Ionic Conductor Polymer Film”) or a bucky gel.
　イオン導電性高分子膜を利用する場合、概略的には、上記電歪材料層に代えて、イオン交換樹脂層を用いることにより、リニアアクチュエータを作製することができる。より詳細には、イオン交換樹脂層（例えば、デュポン株式会社製の「ナフィオン」（登録商標）など）の両面にＡｕ、Ｐｔなどの金属材料を化学めっきして電極を形成して、イオン性ポリマー－金属複合体（IPMC: Ionic Polymer Metal Composite）を得る。ここで、イオン交換樹脂層が電歪材料層に代わるものである。得られた複合体の片面を（よって、いずれか一方の電極を介して）ＰＥＴなどから成る基材に接合する。これにより得られる構造体を上述した湾曲成形方法と同様にして成形する（例えば半円筒状の表面を有する型を用いて、イオン交換樹脂層および基材のいずれか一方が凸側になるように湾曲させ、そのまま熱処理に付して基材を熱成形する）ことによって、素子を得ることができる。そして、この素子を、上述した接合方法と同様にして、一端を先端部とし、他端および／またはその近傍にて固定部材に接合することができる。この場合、素子の電極間に印加する電圧の極性を正または負とすることにより、伸びる動作または縮む動作を提供することができる。 In the case of using an ion conductive polymer film, a linear actuator can be generally produced by using an ion exchange resin layer instead of the electrostrictive material layer. More specifically, an ionic polymer is formed by chemically plating a metal material such as Au or Pt on both surfaces of an ion exchange resin layer (for example, “Nafion” (registered trademark) manufactured by DuPont Co., Ltd.). -Obtain a metal composite (IPMC: "Ionic-Polymer-Metal-Composite"). Here, the ion exchange resin layer replaces the electrostrictive material layer. One side of the obtained composite is joined to a base material made of PET or the like (thus, through one of the electrodes). The resulting structure is molded in the same manner as the above-described curve molding method (for example, using a mold having a semi-cylindrical surface so that either the ion-exchange resin layer or the substrate is on the convex side. The element can be obtained by curving and subjecting it to heat treatment as it is to thermoform the substrate. Then, this element can be joined to the fixing member at the other end and / or in the vicinity thereof with one end as a tip portion in the same manner as the joining method described above. In this case, by setting the polarity of the voltage applied between the electrodes of the element to be positive or negative, an operation of extending or contracting can be provided.
　バッキーゲルは、イオン性液体とカーボンナノチューブとのゲル状複合体である。バッキーゲルを利用する場合、概略的には、上記電極に代えて、バッキーゲルを利用したシートを用いることにより、リニアアクチュエータを作製することができる。より詳細には、まず、３つのシートを次のようにして準備する。イミダゾリウム系イオン液体（例えば１－ブチル－３－メチルイミダゾリウムビス（トリフルオロメタンスルホニル）イミド（ＢＭＩＴＦＳＩ））に単層カーボンナノチューブおよびフッ素系材料（例えばＰ（ＶＤＦ－ＨＦＰ））を加えた懸濁液を乳鉢で、乳棒を使ってすり潰し、これをキャスティングすることにより、カーボンナノチューブを含んだ第１のシートを２つ作製する。また、イオン液体およびフッ素系材料を混合し、これをキャスティングすることにより、イオン液体およびフッ素系材料からなる第２のシートを１つ作製する。そして、これら３つのシートを、２つの第１のシートの間に第２のシートを配置した状態で重ね合わせ、これを熱プレスすることにより、三層構造を有する複合シートを作製する。ここで、第２のシートが電歪材料層に代わるものであり、その両面に各々配置された２つの第１のシートが２つの電極に代わるものである。そして、この複合シートの片面を（よって、いずれか一方の電極を介して）ＰＥＴなどから成る基材に接合する。これにより得られる構造体を上述した湾曲成形方法と同様にして成形する（例えば半円筒状の表面を有する型を用いて、第２のシートおよび基材のいずれか一方が凸側になるように湾曲させ、そのまま熱処理に付して基材を熱成形する）ことによって、素子を得ることができる。そして、この素子を、上述した接合方法と同様にして、一端を先端部とし、他端および／またはその近傍にて固定部材に接合することができる。 Bucky gel is a gel-like composite of an ionic liquid and carbon nanotubes. When a bucky gel is used, a linear actuator can be generally produced by using a sheet using a bucky gel instead of the electrode. More specifically, first, three sheets are prepared as follows. Suspension of imidazolium-based ionic liquid (for example, 1-butyl-3-methylimidazolium bis (trifluoromethanesulfonyl) imide (BMITSI)) added with single-walled carbon nanotubes and a fluorine-based material (for example, P (VDF-HFP)) The liquid is ground with a pestle with a mortar and cast to produce two first sheets containing carbon nanotubes. Also, one ionic liquid and a fluorine-based material are mixed and cast to produce one second sheet made of the ionic liquid and the fluorine-based material. Then, these three sheets are overlapped in a state where the second sheet is disposed between the two first sheets, and this is hot-pressed to produce a composite sheet having a three-layer structure. Here, the second sheet replaces the electrostrictive material layer, and the two first sheets respectively disposed on both surfaces thereof replace the two electrodes. Then, one side of the composite sheet is bonded to a base material made of PET or the like (thus, through one of the electrodes). The resulting structure is molded in the same manner as the above-described curve molding method (for example, using a mold having a semi-cylindrical surface so that one of the second sheet and the base is on the convex side) The element can be obtained by curving and subjecting it to heat treatment as it is to thermoform the substrate. Then, this element can be joined to the fixing member at the other end and / or in the vicinity thereof with one end as a tip portion in the same manner as the joining method described above.
　電歪材料層として、厚さ５μｍのＰ（ＶＤＦ－ＴｒＦＥ－ＣＦＥ）から成る層を用い、その両面にＡｌを蒸着して、厚さ２０ｎｍのＡｌ電極をそれぞれ形成した。電極を形成した電歪材料層の片面に、厚さ１２μｍのＰＥＴから成る基材を、熱硬化型の接着剤を用いて接合した。これにより、幅８ｍｍ、長さ２０ｍｍのユニモルフを得た。このユニモルフを、約５ｍｍの曲率半径を有する半円筒状の表面を有する型を用いて、電歪材料層が基材よりも凸側になるように湾曲させた。そのまま８０℃の空気雰囲気中に５分間維持し、その後、自然冷却して、型から外して、電歪素子を得た。上記のようにして得られた電歪素子の２つの電極にそれぞれ引出し線を接続して電歪アクチュエータとし、得られた電歪アクチュエータの他端側を、バンドから成る固定部材に熱硬化型の接着剤を用いて接合し、これにより、本実施例の指刺激呈示装置を作製した。 As the electrostrictive material layer, a layer made of P (VDF-TrFE-CFE) having a thickness of 5 μm was used, and Al was vapor-deposited on both surfaces thereof to form Al electrodes having a thickness of 20 nm. A base material made of PET having a thickness of 12 μm was bonded to one side of the electrostrictive material layer on which the electrodes were formed using a thermosetting adhesive. As a result, a unimorph having a width of 8 mm and a length of 20 mm was obtained. This unimorph was curved using a mold having a semi-cylindrical surface having a radius of curvature of about 5 mm so that the electrostrictive material layer was on the convex side of the substrate. It was kept in an air atmosphere at 80 ° C. for 5 minutes as it was, and then naturally cooled and removed from the mold to obtain an electrostrictive element. An electrostrictive actuator is obtained by connecting a lead wire to each of the two electrodes of the electrostrictive element obtained as described above, and the other end side of the obtained electrostrictive actuator is attached to a fixing member composed of a band of a thermosetting type. It joined using the adhesive agent, and, thereby, the finger irritation | stimulation presentation apparatus of a present Example was produced.
　本実施例の指刺激呈示装置を人間の指に装着して、指の側面を擦ってみた。具体的には、電歪アクチュエータの先端部を指の側面に接触させ、電歪素子の電極間に４００Ｖ０－Ｐの交流成分を持つ電圧を印加して、先端部を指の側面に沿って摺動させた。５Ｈｚの交流電圧を印加した場合には、先端部は長手方向に１ｍｍ程度の変位を示した。１０Ｈｚ以上の交流電圧を印加した場合には、先端部は長手方向に０．５ｍｍ程度の変位を示した。いずれの場合にも、摺動動作の間、指の下面（腹側）が擦られているような触覚を感じることができた。指先には指紋が存在し、指紋の間隔（０．１～０．５ｍｍ）以上に亘って擦る（変位させる）ことにより、触覚が感じられることが確認された。 The finger stimulation presentation device of this example was worn on a human finger and the side surface of the finger was rubbed. Specifically, the tip portion of the electrostrictive actuator is brought into contact with the side surface of the finger, a voltage having an AC component of 400V 0-P is applied between the electrodes of the electrostrictive element, and the tip portion is moved along the side surface of the finger. Slid. When an AC voltage of 5 Hz was applied, the tip showed a displacement of about 1 mm in the longitudinal direction. When an AC voltage of 10 Hz or higher was applied, the tip showed a displacement of about 0.5 mm in the longitudinal direction. In either case, a tactile sensation as if the lower surface (abdominal side) of the finger was being rubbed could be felt during the sliding motion. It was confirmed that a fingerprint is present at the fingertip and that a tactile sensation can be felt by rubbing (displacement) over the interval of the fingerprint (0.1 to 0.5 mm) or more.
　基材が電歪材料層よりも凸側になるように湾曲させたこと以外は上記と同様にして、もう１つの指刺激呈示装置を作製した。この場合にも、先の指刺激呈示装置と同様の結果を示した。 Another finger stimulation presentation device was manufactured in the same manner as described above except that the base material was curved so as to be convex from the electrostrictive material layer. Also in this case, the same results as those of the previous finger stimulation presentation device were shown.
　本発明の指刺激呈示装置は、特に制限されるものではないが、ウェアラブル触覚インターフェース、バーチャルリアリティ機器などに組み込まれ得、医療、福祉、ロボット産業、エンターテイメント産業、メカトロニクス、化学、電気などの様々な分野において幅広く利用され得る。 The finger stimulation presentation device of the present invention is not particularly limited, but can be incorporated into a wearable tactile interface, a virtual reality device, and the like, and can be used in various medical, welfare, robot industry, entertainment industry, mechatronics, chemistry, electricity, etc. It can be widely used in the field.
　　１　電歪材料層
　　３ａ、３ｂ　電極
　　５　基材
　　７　ユニモルフ
　　１０　電歪素子
　　１０ａ　一端
　　１０ｂ　他端
　　２１　固定部材
　　２３、２７、２９　電歪アクチュエータ（リニアアクチュエータ）
　　２５ａ、２５ｂ　引出し線
　　３０、３１　指刺激呈示装置
　　４０　指
　　４１　側面
　　Ａ、Ｂ、Ｃ　先端部
　　Ｐ、Ｑ、Ｒ　摺動方向 DESCRIPTION OF SYMBOLS 1 Electrostrictive material layer 3a, 3b Electrode 5 Base material 7 Unimorph 10 Electrostrictive element 10a One end 10b Other end 21 Fixed member 23, 27, 29 Electrostrictive actuator (linear actuator)
25a, 25b Lead wire 30, 31 Finger stimulation presentation device 40 Finger 41 Side face A, B, C Tip part P, Q, R Sliding direction

Claims (3)

  1. 　指に装着された状態で機械的刺激を与える指刺激呈示装置であって、指刺激呈示装置を指に固定するための固定部材と、リニアアクチュエータの先端部が指の側面に沿って摺動するように、固定部材によって支持される少なくとも１つのリニアアクチュエータとを含む、指刺激呈示装置。 A finger stimulation presentation device that applies mechanical stimulation in a state of being worn on a finger, wherein a fixing member for fixing the finger stimulation presentation device to the finger and a tip portion of the linear actuator slide along a side surface of the finger And at least one linear actuator supported by a securing member.
  2. 　摺動方向が互いに直交する２つの前記リニアアクチュエータを含む、請求項１に記載の指刺激呈示装置。 The finger stimulation presentation device according to claim 1, comprising two linear actuators whose sliding directions are orthogonal to each other.
  3. 　前記リニアアクチュエータは、電歪材料層と、電歪材料層の両面に各々配置された２つの電極と、いずれか一方の電極を介して電歪材料層の片面に接合された基材とにより構成された電歪素子であって、電歪材料層および基材のいずれか一方の側を凸側にして少なくとも部分的に湾曲している電歪素子を含む電歪アクチュエータである、請求項１または２に記載の指刺激呈示装置。 The linear actuator includes an electrostrictive material layer, two electrodes disposed on both sides of the electrostrictive material layer, and a base material bonded to one side of the electrostrictive material layer via one of the electrodes. The electrostrictive element comprising: an electrostrictive element that is at least partially curved with one of the electrostrictive material layer and the base as a convex side. 3. The finger stimulation presentation device according to 2.
PCT/JP2012/064378 2011-06-22 2012-06-04 Finger stimulus presentation device WO2012176610A1 (en)

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JP2021168137A (en) * 2017-08-29 2021-10-21 アップル インコーポレイテッドApple Inc. Systems for modifying finger sensations during finger press input events
US11762429B1 (en) 2017-09-14 2023-09-19 Apple Inc. Hinged wearable electronic devices
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US11755107B1 (en) 2019-09-23 2023-09-12 Apple Inc. Finger devices with proximity sensors
US11709554B1 (en) 2020-09-14 2023-07-25 Apple Inc. Finger devices with adjustable housing structures
US11714495B2 (en) 2020-09-14 2023-08-01 Apple Inc. Finger devices with adjustable housing structures
US11287886B1 (en) 2020-09-15 2022-03-29 Apple Inc. Systems for calibrating finger devices

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