KR102788518B1 - An apparatus for implementing a sense of touch by using multiple coils and a method for implementing a sense of touch using the same - Google Patents

Abstract

One embodiment of the present invention provides a technology that enables displacement/speed control of a driving unit, unlike a conventional simple displacement control method, so as to enable expression of various tactile information. A tactile display device using a multi-coil according to an embodiment of the present invention includes: a housing having a space inside; a coil formed inside the housing; a driving unit formed to penetrate the inside of the coil by being introduced into the housing, one end of which is exposed to the outside of the housing, and whose driving is controlled by a magnetic field of the coil; and a sensor unit formed inside the housing and detects a position of the driving unit or a force applied to the driving unit.

Description

Tactile display device using multiple coils and method for implementing a sense of touch using the same {An apparatus for implementing a sense of touch by using multiple coils and a method for implementing a sense of touch using the same}

The present invention relates to a tactile display device and a tactile implementation method using multiple coils, and more specifically, to a technology that enables displacement/speed control of a driving unit, unlike a conventional simple displacement control method, to express various tactile information.

Tactile displays are devices that interact with users through touch. Recently, as the application fields such as virtual reality platforms, remote medical technology support, smartphones, and games increase, the importance of tactile transmission is increasing in addition to visual and auditory, and the demand for technology with precision and safety is increasing.

From traditional haptic technology in the form of a vibration motor, it has developed into acoustic vibration using a microphone, deformation vibration technology using light-emitting elements and thermal deformation materials, and many studies have been reported using flexible materials such as electroactive polymers, shape-memory alloys, and piezoelectric elements.

However, electroactive polymers have the advantage of being easy to control displacement according to voltage and having high reactivity, but they have the disadvantages of only operating in ionic conductors such as salt water, high operating voltage of several kV, and low displacement.

In addition, in the case of temperature control methods such as shape memory alloys, there are disadvantages such as a high driving range and large output power, but low response responsivity and a separate system for cooling are required. In addition, in the case of piezoelectric elements, although they have high response responsivity and are easy to control through low voltage, there are limitations in using them as tactile displays because of the small displacement and difficulty in implementing low-frequency movements.

In U.S. Patent Publication No. 2022-0184662 (Title: Complex mass trajectories for improved haptic effect), a coil-shaped electric magnetic body is formed around a cylindrical permanent magnet, a haptic effect is implemented by controlling the magnetic force for the magnetic body, a voice coil shape is formed in which a coil in the shape of a wire wound multiple times is arranged around the cylindrical permanent magnet, and a magnetic disk under the voice coil has the feature that it is mainly used for combining other components.

Korean Patent Registration No. 10-0919974 (Title: Haptic Module) discloses a haptic module including: a plurality of piezoelectric actuators that linearly move moving bodies coupled to driving shafts that perform linear reciprocating motion according to a physical displacement caused by an applied electric field; clamps that support the piezoelectric actuators so that the moving bodies coupled to the driving shafts inserted into the holes are arranged at a predetermined interval, and a plurality of holes into which the driving shafts are inserted; and a clamp connection section that allows one or more clamps to be connected to each other.

U.S. Patent Publication No. 2022-0184662 Republic of Korea Patent No. 10-0919974

The purpose of the present invention to solve the above problems is to manufacture a tactile display device for interaction with a user by utilizing a magnetic field.

In addition, the purpose of the present invention is to enable displacement/speed control of a driving unit, unlike conventional simple displacement control methods, so as to enable expression of various tactile information.

And, the purpose of the present invention is to enable interaction by measuring displacement or force applied by a user through a sensor mounted in a tactile display device.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

In order to achieve the above object, the present invention comprises: a housing having a space inside; a coil formed inside the housing; a driving unit formed to be introduced into the housing and penetrate the inside of the coil, one end of which is exposed to the outside of the housing, and whose driving is controlled by a magnetic field of the coil; and a sensor unit formed inside the housing and detecting a position of the driving unit or a force applied to the driving unit, wherein a plurality of the coils are arranged along the longitudinal direction of the driving unit.

In an embodiment of the present invention, the driving unit may include a contact body formed at one end of the driving unit and formed such that one end is exposed to the outside of the housing; and a magnetic driving body coupled to the contact body and including a magnetic material, and formed in a magnetic field region of the coil.

In an embodiment of the present invention, the driving unit may further include a sensing magnetic body formed at the other end of the driving unit and made of a magnetic material to provide a magnetic field to the sensor unit.

In an embodiment of the present invention, the driving unit can perform linear or rotational motion.

In an embodiment of the present invention, the magnetic driving body can be formed of a magnetic material.

In an embodiment of the present invention, the magnetic driving body may include a non-magnetic body; and a magnetic body that is combined with the non-magnetic body and is formed to extend in a direction that rotates around a longitudinal central axis of the non-magnetic body.

In an embodiment of the present invention, the sensor unit can detect the position of the driving unit or the force applied to the driving unit by detecting the magnetic field strength of the sensing magnetic body.

In an embodiment of the present invention, the contact body may be formed of a material having elasticity.

In an embodiment of the present invention, the coil may be formed in a ring shape.

In an embodiment of the present invention, currents of different values can be applied to each of the plurality of coils.

In an embodiment of the present invention, the time at which current is applied to each of the plurality of coils may be different.

In an embodiment of the present invention, the housing may be formed of a material that shields a magnetic field.

The present invention for achieving the above purpose comprises a first step in which a user's body comes into contact with a driving unit; a second step in which the sensor unit detects the position of the driving unit or the force applied to the driving unit; a third step in which an electric signal is transmitted from the sensor unit to a control unit, and the control unit analyzes the electric signal to derive the position of the driving unit or the force applied to the driving unit; a fourth step in which the control unit determines a current value applied to each of a plurality of coils or a time for which the current is applied; and a fifth step in which the driving unit moves while the magnetic field of each of the plurality of coils is controlled by the control of the control unit, thereby implementing a sense of touch on the user's body by the driving unit.

In an embodiment of the present invention, in the fourth step, a control signal from the control unit is transmitted to a power supply unit that applies current to each of the plurality of coils, so that the current applied to each of the plurality of coils can be controlled.

The effect of the present invention according to the above configuration is that by controlling the current value applied to each of a plurality of coils or the time for which the current is applied, the degree of freedom in implementing tactile sensation can be significantly increased by generating tactile signals by driving the driving unit in various patterns such as acceleration/deceleration of the driving unit.

The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the detailed description of the present invention or the composition of the invention described in the claims.

FIG. 1 is a schematic diagram of the structure of a tactile display device according to an embodiment of the present invention.
FIG. 2 is an exploded perspective view of a tactile display device according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of the structure of a tactile display device according to another embodiment of the present invention.
FIG. 4 is a graph related to current application to each of a plurality of coils according to one embodiment of the present invention.
FIG. 5 is a schematic diagram of a haptic system according to one embodiment of the present invention.
FIG. 6 is a schematic diagram of equipment having a tactile display device according to one embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the attached drawings. However, the present invention can be implemented in various different forms, and therefore, it is not limited to the embodiments described herein. In addition, in order to clearly describe the present invention in the drawings, parts that are not related to the description are omitted, and similar parts are assigned similar drawing reference numerals throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, joined)" to another part, this includes not only the case where it is "directly connected" but also the case where it is "indirectly connected" with another member in between. Also, when a part is said to "include" a certain component, this does not mean that other components are excluded, unless otherwise specifically stated, but that other components can be included.

The terminology used herein is only used to describe particular embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. As used herein, the terms "comprises" or "has" and the like are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood to not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

Hereinafter, the present invention will be described in detail with reference to the attached drawings.

FIG. 1 is a schematic diagram of the structure of a tactile display device (100) according to an embodiment of the present invention, and FIG. 2 is an exploded perspective view of a tactile display device (100) according to an embodiment of the present invention. In addition, FIG. 3 is a schematic diagram of the structure of a tactile display device according to another embodiment of the present invention. In addition, the directions such as upward and downward are based on each drawing. The same applies hereinafter.

As shown in FIGS. 1 and 2, the tactile display device (100) of the present invention includes a housing (140) having a space inside; a coil (110) formed inside the housing (140); a driving unit (120) formed to penetrate the inside of the coil (110) by being introduced into the housing (140), one end of which is exposed to the outside of the housing (140), and whose driving is controlled by the magnetic field of the coil (110); and a sensor unit (130) formed inside the housing (140) and detecting the position of the driving unit (120).

The housing (140) may be formed in a box shape, a space may be formed inside the housing (140), and a driving unit (120), a coil (110), etc. may be formed inside the housing (140). In addition, the driving unit (120) may perform movement inside the housing (140).

The housing (140) has a height of 6 to 12 mm, and a cross-section perpendicular to the height direction of the housing (140) has a horizontal or vertical length of 1 to 4 mm, so that the housing (140) can be formed in a small size.

The overall shape of the driving unit (120) may have a columnar shape, and the shape of the cross-section perpendicular to the longitudinal direction of the driving unit (120) may be formed in a shape such as a circle, an oval, a polygon, etc. In addition, the driving unit (120) may have magnetism in one portion in order to be driven by the magnetic field of the coil (110).

Specifically, the driving unit (120) may include a contact body (121) formed at one end of the driving unit (120) and formed such that one end is exposed to the outside of the housing (140); and a magnetic driving body (122) coupled with the contact body (121), including a magnetic material, and formed in a magnetic field region of the coil (110).

In addition, the driving unit (120) may further include a sensing magnetic body (124) formed at the other end of the driving unit (120) and formed of a magnetic material to provide a magnetic field to the sensor unit (130). In addition, a connecting body (123) may be formed between the magnetic driving body (122) and the sensing magnetic body (124), one end of which is coupled to the magnetic driving body (122) and the other end is coupled to the sensing magnetic body (124).

As the length of the driving unit (120) is extended by the connecting body (123), the distance between the magnetic driving body (122) and the sensing magnetic body (124) is increased by the connecting body (123), so that the magnetic driving body (122) and the sensing magnetic body (124) can be separated, and similarly, the coil (110) and the sensing magnetic body (124) can be separated, and accordingly, the influence of the magnetic field of the coil (110) is blocked from the sensing magnetic body (124) and transmitted only to the magnetic driving body (122), so that the driving precision of the magnetic driving body (122) by the magnetic field of the coil (110) can be improved.

The contact body (121) formed on the upper part of the driving unit (120) has an upper part exposed to the outside formed as a curved surface, and the upper part of the contact body (121) is formed in a hemisphere or a similar shape, and the user's skin can be in contact with the upper part of the contact body (121). The lower part of the contact body (121) other than the upper part of the contact body (121) can be formed in a pillar shape for coupling with the magnetic driving body (122).

When the upper part of the contact body (121) is formed in a hemispherical shape, the radius of the hemispherical shape may be 0.5 to 2.5 mm, and the upper height of the contact body (121) may be 0.6 to 0.8 mm. Since the contact body (121) is formed in a small size in this way, it may be easy to implement a delicate tactile sensation.

Here, the user's hand or foot may come into contact with the contact body (121), but the body part is not limited thereto and other body parts may also come into contact with the contact body (121).

The contact body (121) may be formed of a material having elasticity. In accordance with the operation of the magnetic actuator (122) that performs movements such as linear reciprocating motion and vibration, the contact body (121) performs movements such as linear reciprocating motion and vibration, and the tactile sensation generated by the movement of the contact body (121) and the elasticity of the contact body (121) is transmitted to the user, and accordingly, the user can feel a haptic effect, i.e., various tactile effects.

The magnetic actuator (122) can be formed in a pillar shape, and the magnetic actuator (122) can be arranged to penetrate the inside of the coil (110), and the magnetic actuator (122) can perform movement according to the change in the magnetic field of the coil (110). The shape of the cross-section perpendicular to the longitudinal direction of the magnetic actuator (122) can be formed in a shape such as a circle, an ellipse, or a polygon.

Here, the magnetic drive body (122) can perform linear or rotational motion, and accordingly, the driving unit (120) can perform linear (up and down) or up and down motion.

In order to perform linear or rotational movement according to the change in the magnetic field of the coil (110), the magnetic driving body (122) includes a magnetic material, and specifically, the magnetic driving body (122) can be formed of a mixture of a magnetic material and a synthetic resin, a mixture of a magnetic material and a metal, etc.

First, as an example of the magnetic actuator (122), the magnetic actuator (122) itself may be formed of a magnetic material. That is, the magnetic actuator (122) may be formed of a magnetic material (122a). In this case, the magnetic actuator (122) may perform a linear motion, that is, an up-and-down motion in FIG. 1, according to a change in the magnetic field of the coil (110).

And, as another embodiment of the magnetic driving body (122), as shown in FIG. 3, the magnetic driving body (122) may include a non-magnetic body (122b); and a magnetic body (122a) that is formed by being coupled with the non-magnetic body (122b) and extending in a direction that rotates around the longitudinal central axis of the non-magnetic body (122b). Here, the non-magnetic body (122b) may be formed of a synthetic resin or a non-magnetic metal material.

As in other embodiments of the magnetic driving body (122), when the magnetic driving body (122) is formed, a belt-shaped magnetic body (122a) having a predetermined thickness is formed by being introduced inwardly from the surface of the non-magnetic body (122b) having a columnar shape, and at this time, the magnetic body (122a) can be formed in a shape that extends in a direction that rotates around the longitudinal central axis of the non-magnetic body (122b), and accordingly, the magnetic body (122a) can exhibit a spiral or vortex shape on the outer surface of the non-magnetic body (122b).

In another embodiment of the magnetic actuator (122), the magnetic actuator (122) can simultaneously perform linear motion (up and down motion) and rotational motion according to the change in the magnetic field of the coil (110).

As described above, the movement pattern of the magnetic actuator (122) can be changed according to the change in the configuration of the magnetic actuator (122), and by arranging magnetic actuators (122) with different shapes in different areas, various driving units (120) can be driven in each area, thereby implementing various tactile effects.

The magnetic actuator (122) becomes magnetic, and as the magnetic force applied to the magnetic actuator (122) changes according to the change in the magnetic field of each of the plurality of coils (110), the movement of the magnetic actuator (122) is controlled, and accordingly, the operation of the driving unit (120) can be performed as the movement of the magnetic actuator (122) changes in real time.

The sensor unit (130) may be formed by being inserted into the bottom wall of the housing (140), or may be installed by being fixed on the bottom surface of the housing (140), and the sensor unit (130) may detect the position of the driving unit (120) or the force applied to the driving unit (120) by detecting the magnetic field intensity of the sensing magnet (124). The sensor unit (130) generates an electric signal according to the change in the magnetic field intensity of the sensing magnet (124) according to the movement of the driving unit (120), and such an electric signal may be transmitted to the control unit.

As described above, the electric signal of the sensor unit (130) transmitted to the control unit has a predetermined waveform (amplitude, frequency), and the control unit can analyze the waveform of the electric signal of the sensor unit (130) to derive the position of the driving unit (120) or the force applied to the driving unit (120).

When the distance between the sensing magnet (124) and the sensor unit (130) is variable, when the speed of the sensing magnet (124) with respect to the sensor unit (130) is variable due to the force applied to the driving unit (120), or when both the distance between the sensing magnet (124) and the sensor unit (130) and the speed of the sensing magnet (124) are variable, the amplitude, frequency, etc. of the waveform of the electric signal may be formed differently.

In addition, the control unit stores sensor waveform data, which is data on the electric signal waveform of the sensor unit (130) according to the change in the distance between the sensing magnet (124) and the sensor unit (130) or the speed of the sensing magnet (124), and the control unit can compare and analyze the electric signal waveform of the sensor unit (130) and the sensor waveform data to derive the position of the driving unit (120) and the value of the force applied to the driving unit (120) when the user makes contact with the contact body (121).

As shown in FIG. 1 and FIG. 2, the coil (110) may be formed in a ring shape. At this time, the coil (110) may be formed in a shape such as a circular ring, a polygonal ring, etc. In addition, a plurality of coils (110) may be arranged along the length direction of the driving unit (120).

However, the shape of the coil (110) is not limited thereto, and the coil (110) may be formed in a shape such as a coil wound like a spring, and a plurality of coils (110) of the same shape may be arranged, or the shape of one coil (110) among the plurality of arranged coils (110) may be different from the shape of another coil (110).

In this way, by forming the shapes of one coil (110) and the other coil (110) differently, the magnetic fields of each of one coil (110) and the other coil (110) are formed differently, and by using this, the movements of various magnetic actuators (122) can be implemented.

Specifically, in the case of a single coil (110), the speed can be controlled according to the applied current, but the output power can be adjusted, and since the variable distance, i.e. the moving distance of the magnetic driving body (122), is determined according to the length of the magnetic driving body (122) and the height of the coil (110), it is not easy to arbitrarily control it.

Accordingly, by configuring a plurality of coils (110) and finely controlling the application time between the coils (110), the driving unit (120) can maintain linear movement and output force over time. In addition, various variable combinations of the driving unit (120) can be formed depending on the arrangement method of each coil (110) having a different thickness or number of turns (windings), and thus, various tactile effects can be implemented.

FIG. 4 is a graph related to current application to each of a plurality of coils (110) according to one embodiment of the present invention. As seen in FIG. 4, currents of different values may be applied to each of the plurality of coils (110). In addition, the time at which the current is applied to each of the plurality of coils (110) may be different.

When different currents are applied to each of the plurality of coils (110), the strength of the magnetic field received by the driving unit (120) may vary depending on the position of the driving unit (120) due to the movement of the driving unit (120).

Here, the movement of the driving unit (120) is controlled by the power of the magnetic force, and all cases in which the speed of the driving unit (120) is accelerated, decelerated, or formed constant depending on the magnetic field strength of the coil (110) and the change in the magnetic field according to the movement of the driving unit (120) can be implemented.

And, if the time at which current is applied to each of the plurality of coils (110) is different, the strength of the magnetic field received by the driving unit (120) may vary depending on the position of the driving unit (120) or a specific point in time.

As described above, by controlling the current value applied to each of the plurality of coils (110) or the time for which the current is applied, various movements of the driving unit (120) can be implemented, and at the same time, the resistance to the force applied to the driving unit (120) by the user can be varied, and as a result, various tactile effects can be implemented using the driving unit (120).

That is, the degree of freedom in implementing tactile sensation can be significantly increased by generating tactile signals by driving the driving unit (120) in various patterns such as acceleration/deceleration of the driving unit (120).

As described above, the control unit can control the current value applied to each of the plurality of coils (110) or the time for which the current is applied using the electric signal of the sensor unit (130). Specifically, in order to implement the sense of touch, the control unit can store sense of touch implementation information, which is data on the current value applied to each of the plurality of coils (110) or the time for which the current is applied, which changes in response to the position of the driving unit (120) and the force applied to the driving unit (120).

In addition, the control unit can analyze the position of the driving unit (120) and the force applied to the driving unit (120) using the electric signal of the sensor unit (130) as described above, and generate a control signal using the data and tactile implementation information.

And, the control unit transmits a control signal to a power supply unit that applies current to each of the plurality of coils (110), and accordingly, the current value applied from the power supply unit to one of the plurality of coils (110) or the time for which the current is applied can be controlled.

As a specific example, the plurality of coils (110) may include a first coil (111) positioned at the bottom, a second coil (112) positioned above the first coil (111), a third coil (113) positioned above the second coil (112), and a fourth coil (114) positioned above the third coil (113).

And, as shown in FIG. 4, by a control signal of the control unit, current can be applied only to the first coil (111) for a time (s), so that a driving voltage (V) of value A can be formed only in the first coil (111), and during a time b, current can be applied to the first coil (111), so that a driving voltage of value A can be formed in the first coil (111), and at the same time, current can be applied to the second coil (112), so that a driving voltage of value B can be formed in the second coil (112).

Here, the driving voltage is a voltage generated from the coil (110) to drive the magnetic actuator (122), and as the driving voltage increases, the magnetic field for the movement of the driving unit (120) also increases in strength. The same applies hereinafter.

In addition, during time c, current is applied only to the second coil (112), so that a driving voltage of value B can be formed only in the second coil (112), and during time d, current is applied to the second coil (112), so that a driving voltage of value B is formed in the second coil (112), and at the same time, current is applied to the third coil (113), so that a driving voltage of value C can be formed in the third coil (113).

In addition, during time e, current is applied only to the third coil (113), so that a driving voltage of value C can be formed only in the third coil (113), and during time f, current is applied to the third coil (113), so that a driving voltage of value C is formed in the third coil (113), and at the same time, current is applied to the fourth coil (114), so that a driving voltage of value D can be formed in the fourth coil (114).

And, during the f time, current is applied only to the fourth coil (114), so that a driving voltage of value D can be formed only in the fourth coil (114).

As described above, the current values sequentially applied to each coil (110) are controlled to be different over time depending on the position of the driving unit (120) according to the force applied to the driving unit (120) by the user, and accordingly, it is easy to implement precise and diverse forms of tactile sensation.

FIG. 5 is a schematic diagram of a haptic system according to one embodiment of the present invention.

As shown in FIG. 5, the haptic system of the present invention includes a tactile display device (100) formed as described above; a support unit (200) that supports and combines a plurality of tactile display devices (100) using multiple coils (110); and a control unit that transmits a control signal to each of the tactile display devices (100) using multiple multi-coils (110). In addition, the haptic system of the present invention may include a power supply unit that applies current to each of the multiple coils (110).

The housing (140) may be formed of a material that shields a magnetic field. For this purpose, the housing (140) may include a high-permeability metal such as iron, nickel, or cobalt. Specifically, a high-permeability metal layer as described above may be formed on the outside of the housing (140) formed of a synthetic resin to add magnetic field shielding performance to the housing (140).

In addition, the housing (140) itself can be formed of a high-permeability metal as described above. In addition, by mixing particles of the high-permeability metal and a synthetic resin and using this to form the housing (140), a magnetic field shielding performance can be formed in the housing (140).

The haptic system of the present invention includes a plurality of tactile display devices (100) of the present invention, and each tactile display device (100) can be arranged in close proximity.

At this time, the magnetic field shielding function of the housing (140) prevents the phenomenon in which the magnetic field formed in one tactile display device (100) affects another tactile display device (100), so that the magnetic field formed in each tactile display device (100) only affects the driving unit (120) of the corresponding tactile display device (100), and thus the precision of tactile implementation using the tactile display device (100) of the present invention can be improved.

As described above, a plurality of tactile display devices (100) of the present invention can be formed in the haptic system, and by controlling a control signal from the control unit, the power supply unit controls the current applied to each of the plurality of coils (110) formed in each of the plurality of tactile display devices (100), thereby implementing a tactile effect by the haptic system of the present invention.

Figure 6 is a schematic diagram of equipment having a tactile display device (100) according to one embodiment of the present invention. Specifically, the tactile display device (100) of the present invention can be installed in a glove (1) for virtual reality experience, and a device layer (12) in which the tactile display device (100) of the present invention and a circuit for supplying current are formed can be formed on the outer surface of the outer shell (11) of the glove (1).

And, when the tactile display device (100) of the present invention is inserted and fixed into the outer shell (11) and the device layer (12), the user can feel a specific tactile sensation through the glove (1) when wearing the glove (1) and touching a predetermined object, regardless of the surface of the object.

Hereinafter, a tactile implementation method using the tactile display device (100) of the present invention will be described.

First, in the first step, the user's body can come into contact with the driving unit (120). Then, in the second step, the sensor unit (130) can detect the position of the driving unit (120) or the force applied to the driving unit (120).

Next, in the third step, an electric signal is transmitted from the sensor unit (130) to the control unit, and the control unit can analyze the electric signal to derive the position of the driving unit (120) or the force applied to the driving unit (120). Then, in the fourth step, the control unit can determine the current value applied to each of the plurality of coils (110) or the time for which the current is applied.

In the fourth step, a control signal from the control unit is transmitted to a power supply unit that applies current to each of the plurality of coils (110), so that the current applied to each of the plurality of coils (110) can be controlled.

After that, in the fifth step, the driving unit (120) moves while the magnetic field of each of the plurality of coils (110) is controlled by the control unit, so that a sense of touch can be implemented on the user's body by the driving unit (120).

The remaining details of the tactile implementation method of the present invention are the same as those described in the tactile display device (100) of the present invention described above.

The tactile display device (100) of the present invention as described above can be manufactured by 3D printing, and by manufacturing each component formed in a small size as described above by 3D printing, the manufacturing precision of each component of the tactile display device (100) of the present invention can be improved, while also improving the operating precision of the tactile display device (100) of the present invention.

The above description of the present invention is for illustrative purposes, and those skilled in the art will understand that the present invention can be easily modified into other specific forms without changing the technical idea or essential features of the present invention. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. For example, each component described as a single component may be implemented in a distributed manner, and likewise, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the claims described below, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention.

1: Gloves 11: Outer shell
12: Device layer
100 : Tactile display device 110 : Coil
111: 1st coil 112: 2nd coil
113: 3rd coil 114: 4th coil
120: Drive unit 121: Contact body
122 : Magnetic drive body 122a : Magnetic body
122b: Non-magnetic 123: Connecting body
124: Sensing magnet 130: Sensor part
140 : Housing 200 : Support

Claims (15)

A housing having a space inside;
A coil formed inside the above housing;
A driving unit formed to penetrate the inside of the coil by being inserted into the housing, one end of which is exposed to the outside of the housing, and whose driving is controlled by the magnetic field of the coil; and
A sensor part formed inside the housing and detecting the position of the driving part or the force applied to the driving part;
Including,
The above coils are arranged in multiple numbers along the length direction of the driving unit,
The above driving part,
A contact formed at one end of the driving unit and formed so that one end is exposed to the outside of the housing; and
A magnetic driving body is provided, which is combined with the above contact body and includes a magnetic material, and is formed in the magnetic field region of the coil;
A tactile display device using a multi-coil, characterized in that the driving unit further comprises a sensing magnetic body formed at the other end of the driving unit and formed of a magnetic material to provide a magnetic field to the sensor unit.
delete delete In claim 1,
A tactile display device using a multi-coil, characterized in that the above driving unit performs linear or rotational motion.
In claim 1,
A tactile display device using a multi-coil, characterized in that the magnetic driving body is formed of a magnetic substance.
In claim 1,
The above magnetic drive body is,
Non-magnetic; and
A tactile display device using a multi-coil, characterized in that it comprises a magnetic body that is formed by being combined with the non-magnetic body and extending in a direction that rotates around the longitudinal central axis of the non-magnetic body.
In claim 1,
A tactile display device using a multi-coil, characterized in that the sensor unit detects the position of the driving unit or the force applied to the driving unit by detecting the magnetic field strength of the sensing magnet.
In claim 1,
A tactile display device using a multi-coil, characterized in that the above contact body is formed of a material having elasticity.
In claim 1,
A tactile display device using multiple coils, characterized in that the coils are formed in a ring shape.
In claim 1,
A tactile display device using multiple coils, characterized in that different values of current are applied to each of the plurality of coils.
In claim 1,
A tactile display device using multiple coils, characterized in that the times at which current is applied to each of the plurality of coils are different.
In claim 1,
A tactile display device using a multi-coil, characterized in that the housing is formed of a material that shields a magnetic field.
A tactile display device using a multi-coil according to any one of claims 1, 4 to 12;
A support unit that supports a plurality of tactile display devices using multi-coils; and
A haptic system characterized by including a control unit that transmits a control signal to each of the tactile display devices using the plurality of multi-coils.
In a method for implementing tactile sensation using a tactile display device using a multi-coil of claim 1,
The first stage where the user's body comes into contact with the driving unit;
A second step of detecting the position of the driving unit or the force applied to the driving unit in the sensor unit;
A third step in which an electric signal is transmitted from the sensor unit to the control unit, and the control unit analyzes the electric signal to derive the position of the driving unit or the force applied to the driving unit;
A fourth step of determining the current value applied to each of the plurality of coils in the above control unit or the time for which the current is applied; and
A tactile implementation method characterized by including a fifth step in which the driving unit moves while the magnetic field of each of the plurality of coils is controlled by the control of the control unit, thereby implementing a sense of touch on the user's body by the driving unit.
In claim 14,
A tactile implementation method characterized in that, in the fourth step, a control signal of the control unit is transmitted to a power supply unit that applies current to each of the plurality of coils, thereby controlling the current applied to each of the plurality of coils.