Pseudo force sense generation apparatus

Abstract

For efficient presentation of pseudo force sense, a pseudo force sense generation apparatus includes: a base mechanism; and a contact mechanism that performs periodical asymmetric motion relative to the base mechanism and gives force based on the asymmetric motion to skin or mucous membrane with which the contact mechanism is in direct or indirect contact. A mass of the contact mechanism is smaller than a mass of the base mechanism, or the mass of the contact mechanism is smaller than a sum of the mass of the base mechanism and a mass of a mechanism that is attached to the base mechanism.

What is claimed is: 
     
         1 . A pseudo force sense generation apparatus comprising:
 a base mechanism;   a contact mechanism;   an intervening component; and   a second intervening component, wherein   a mass of the contact mechanism is smaller than a mass of the base mechanism, or the mass of the contact mechanism is smaller than a mass of a system supporting the contact mechanism where the system has the base mechanism and a mechanism that is attached to the base mechanism,   the base mechanism includes a body portion, a base mechanism-side component, and a second base mechanism-side component, wherein the base mechanism-side component is attached to one side surface of the intervening component, the second base mechanism-side component is attached to one side surface of the second intervening component, other side surfaces of the intervening component and the second intervening component are attached to the body portion,   the contact mechanism includes a contact mechanism-side component, a second contact mechanism-side component, and a contact portion, wherein the contact mechanism-side component and the second contact mechanism-side component are attached to the contact portion,   the contact mechanism-side component and the contact portion perform asymmetric vibration relative to the base mechanism-side component along a first axis   the second contact mechanism-side component and the contact portion perform second asymmetric vibration relative to the second base mechanism-side component along a second axis which differs from the first axis,   the contact portion gives force based on the asymmetric vibration and the second asymmetric vibration to a user with which the contact portion is in direct or indirect contact,   the intervening component gives force of the base mechanism-side component along the first axis to the contact portion and permits movement of the contact portion relative to the body portion along the second axis, and   the second intervening component gives force of the second base mechanism-side component along the second axis to the contact portion and permits movement of the contact portion relative to the body portion along the first axis.   
     
     
         2 . The pseudo force sense generation apparatus according to  claim 1 , wherein
 the intervening component is an elastic body having anisotropy of rigidity with a rigidity in a direction along the first axis being higher than a rigidity in the direction along the second axis, and   the second intervening component is an elastic body having anisotropy of rigidity with a rigidity in a direction along the second axis being higher than a rigidity in the direction along the first axis.   
     
     
         3 . A pseudo force sense generation apparatus comprising:
 a base mechanism;   a contact mechanism;   an intervening component; and   a second intervening component, wherein   a mass of the contact mechanism is smaller than a mass of the base mechanism, or the mass of the contact mechanism is smaller than a mass of a system supporting the contact mechanism where the system has the base mechanism and a mechanism that is attached to the base mechanism,   the base mechanism includes a body portion, a base mechanism-side component, and a second base mechanism-side component, wherein the base mechanism-side component and the second base mechanism-side component are attached to the body portion,   the contact mechanism includes a contact mechanism-side component, a second contact mechanism-side component, and a contact portion, wherein the contact mechanism-side component is attached to one side surface of the intervening component, the second contact mechanism-side component is attached to one side surface of the second intervening component, other side surfaces of the intervening component and the second intervening component are attached to the contact portion,   the contact mechanism-side component performs asymmetric vibration relative to the base mechanism-side component and the body portion along a first axis   the second contact mechanism-side component performs second asymmetric vibration relative to the second base mechanism-side component and the body portion along a second axis which differs from the first axis,   the contact portion gives force based on the asymmetric vibration and the second asymmetric vibration to a user with which the contact portion is in direct or indirect contact,   the intervening component gives force of the contact mechanism-side component along the first axis to the contact portion and permits movement of the contact portion relative to the body portion along the second axis, and   the second intervening component gives force of the second contact mechanism-side component along the second axis to the contact portion and permits movement of the contact portion relative to the body portion along the first axis.   
     
     
         4 . The pseudo force sense generation apparatus according to  claim 3 , wherein
 the intervening component is an elastic body having anisotropy of rigidity with a rigidity in a direction along the first axis being higher than a rigidity in the direction along the second axis, and   the second intervening component is an elastic body having anisotropy of rigidity with a rigidity in a direction along the second axis being higher than a rigidity in the direction along the first axis.   
     
     
         5 . A pseudo force sense generation apparatus comprising:
 a base mechanism; and   a contact mechanism that performs periodical asymmetric motion relative to the base mechanism and gives force based on the asymmetric motion to a user with which the contact mechanism is in direct or indirect contact, wherein   a mass of the contact mechanism is smaller than a mass of the base mechanism, or the mass of the contact mechanism is smaller than a sum of the mass of the base mechanism and a mass of a mechanism that is attached to the base mechanism,   the base mechanism includes a base mechanism-side component, and   the contact mechanism includes a contact mechanism-side component that performs asymmetric vibration relative to the base mechanism-side component and a contact portion which is at least partially positioned outside the contact mechanism-side component and performs asymmetric motion based on the asymmetric vibration of the contact mechanism-side component,   the contact mechanism has a first movable mechanism which performs asymmetric vibration along the first axis relative to the base mechanism, a first leaf spring mechanism which performs the asymmetric vibration together with the first movable mechanism, and the contact portion which is at least partially positioned outside the first leaf spring mechanism and performs asymmetric motion based on the asymmetric vibration of the first leaf spring mechanism,   the first leaf spring mechanism elastically deforms in the direction along the second axis when force in the direction along the second axis having a different orientation than the first axis is given, and gives force in the direction along the first axis to the contact portion when force in the direction along the first axis is given from the first movable mechanism.   
     
     
         6 . The pseudo force sense generation apparatus according to  claim 5 , wherein
 the first leaf spring mechanism has a first leaf spring portion and a second leaf spring portion arranged in the direction along the first axis,   one end of the first movable mechanism supports one end of the first leaf spring portion, and another end of the first leaf spring portion supports the contact portion,   another end of the first movable mechanism supports one end of the second leaf spring portion, and another end of the second leaf spring portion supports the contact portion,   the other end of the first leaf spring portion and the other end of the second leaf spring portion are positioned between the one end of the first leaf spring portion and the one end of the second leaf spring portion.   
     
     
         7 . The pseudo force sense generation apparatus according to  claim 6 , wherein
 the contact mechanism further includes   a second movable mechanism which performs a second asymmetric vibration along the second axis relative to the base mechanism, and   a second leaf spring mechanism which performs the second asymmetric vibration together with the second movable mechanism,   the contact portion performs asymmetric vibration based on the second asymmetric vibration of the second leaf spring mechanism, and   the second leaf spring mechanism elastically deforms in the direction along the first axis when force in the direction along the first axis is given, and gives force in the direction along the second axis to the contact portion when force in the direction along the second axis is given from the second movable mechanism.   
     
     
         8 . The pseudo force sense generation apparatus according to  claim 7 , wherein
 the second leaf spring mechanism has a third leaf spring portion and a fourth leaf spring portion arranged in the direction along the second axis,   one end of the second movable mechanism supports one end of the third leaf spring portion, and another end of the third leaf spring portion supports the contact portion,   another end of the second movable mechanism supports one end of the fourth leaf spring portion, and another end of the fourth leaf spring portion supports the contact portion, and   the other end of the third leaf spring portion and the other end of the fourth leaf spring portion are positioned between the one end of the third leaf spring portion and the one end of the fourth leaf spring portion.   
     
     
         9 . The pseudo force sense generation apparatus according to  claim 5 , further comprising:
 a third movable mechanism which performs third asymmetric vibration along the second axis relative to the base mechanism, wherein   the contact portion is rotatably supported by a part of the third movable mechanism, is capable of rotation about a rotating shaft substantially orthogonal to the first axis and the second axis, and performs asymmetric motion that is based on at least one of the asymmetric vibration of the first leaf spring mechanism and the third asymmetric vibration of the third movable mechanism.   
     
     
         10 . The pseudo force sense generation apparatus according to  claim 5 , further comprising:
 a third movable mechanism which performs third asymmetric vibration along the second axis relative to the base mechanism; and   a connecting portion with one end thereof being rotatably supported by a part of the third movable mechanism, wherein   the contact portion is supported at another end of the connecting portion, is capable of rotation about a rotating shaft substantially orthogonal to the first axis and the second axis, and performs asymmetric motion that is based on at least one of the asymmetric vibration of the first leaf spring mechanism and the third asymmetric vibration of the third movable mechanism.   
     
     
         11 . The pseudo force sense generation apparatus according to  claim 10 , wherein the other end of the connecting portion and the contact portion are attached to a part of the first leaf spring mechanism. 
     
     
         12 . The pseudo force sense generation apparatus according to  claim 10 , wherein
 the contact portion includes a first area positioned on one surface side of the base mechanism, a second area supported at one end of the first area, and a third area supported at another end of the second area and positioned on another surface side of the base mechanism,   the first area is supported by the part of the first leaf spring mechanism, and   at least a part of the base mechanism, at least a part of the first movable mechanism, and at least a part of the first leaf spring mechanism are positioned between the first area and the third area.