Tactile presentation apparatus and tactile presentation system
A tactile presentation apparatus including: an operation unit operated by a user; a vibration unit that presents a vibration of an operation target of the operation unit; a contact unit that transmits the vibration by the vibration unit to the user; and an installation unit coupled to the operation unit, over the contact unit provided via an elastic body.
1. A tactile presentation apparatus comprising:
an operation structure operated by a user;
the operation structure includes a vibrator that generates a vibration corresponding to an operation target;
the operation structure includes a contact structure that transmits the vibration by the vibrator to the user; and
an installation structure that is coupled to the contact structure via an elastic body, wherein the installation structure is also coupled to the operation structure, wherein
the contact structure has a first contact surface to be in contact with a finger of the user,
the vibrator transmits the vibration to the finger of the user via the first contact surface,
the installation structure has a second contact surface with which the finger of the user comes into contact and an opening that penetrates between a side of the second contact surface and back side of the second contact surface, and
the contact structure is provided to be inserted through the opening from the back side of the second contact surface.
2. The tactile presentation apparatus according to claim 1 , wherein the first contact surface and the second contact surface coincide or substantially coincide with each other in a vibration direction of the vibrator, with the vibrator being stopped.
3. The tactile presentation apparatus according to claim 2 , wherein a shortest distance in the vibration direction between the first contact surface and an end of the second contact surface that forms the opening is within a range of a value corresponding to amplitude of the vibrator.
4. The tactile presentation apparatus according to claim 1 , wherein the vibrator vibrates in a direction corresponding to a direction in which the elastic body expands and contracts.
5. The tactile presentation apparatus according to claim 4 , wherein the vibrator vibrates in a direction coincident or substantially coincident with the direction in which the elastic body expands and contracts.
6. The tactile presentation apparatus according to claim 1 , wherein the first contact surface has concavity and convexity.
7. The tactile presentation apparatus according to claim 1 , wherein
the tactile presentation apparatus further comprises
a force sensor that measures force inputted to the operation structure, and
a signal processor that removes a component of the vibration presented by the vibrator from the force measured by the force sensor.
8. The tactile presentation apparatus according to claim 7 , wherein the signal processor reduces an influence of a vibration noise correlated with force of the user by using an adaptive filter for the vibration.
9. The tactile presentation apparatus according to claim 7 , wherein the signal processor uses a filter to remove, from the vibration, a frequency component other than a frequency component corresponding to a human tactile sense or a predetermined frequency component stored in advance.
10. The tactile presentation apparatus according to claim 1 , wherein
the operation structure is rotatable along a predetermined rotational axis, and
the contact structure is rotatable along the predetermined rotational axis independently of the operation structure.
11. The tactile presentation apparatus according to claim 10 , wherein the vibrator vibrates in a direction corresponding to a direction of the predetermined rotational axis.
12. The tactile presentation apparatus according to claim 10 , wherein the vibrator, the contact structure, and the installation structure are provided on a distal end side of the operation structure.
13. The tactile presentation apparatus according to claim 10 , wherein
an outer circumferential surface of the contact structure constitutes a third contact surface, and
the vibrator transmits the vibration to the user via the third contact surface.
14. The tactile presentation apparatus according to claim 13 , wherein an outer circumference on distal end side of the contact structure is larger than an outer circumference on proximal end side of the contact structure.
15. The tactile presentation apparatus according to claim 10 , wherein the operation structure includes therein a force sensor.
16. The tactile presentation apparatus according to claim 13 , wherein the third contact surface has a protruded part protruded along a rotational direction of the contact structure or a recessed part recessed along the rotational direction of the contact structure.
17. The tactile presentation apparatus according to claim 10 , wherein wiring lines inside the vibrator and the operation structure are electrically coupled to each other via a slip ring.
18. The tactile presentation apparatus according to claim 1 , wherein the opening is circular or polygonal.