# US 12,118,150 B2 · Control device, force sense presentation apparatus, and control method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,118,150 B2 - Document ID: US12118150B2 - Status: Granted - Kind: B2 - Application number: 17/764,739 - Filed: 2020-10-23 - Published: 2022-11-24 - Granted: 2024-10-15 - Earliest claimed: 2019-11-13 - Assignees: Sony Group Corporation - Applicants: Sony Group Corporation - Inventors: Daisuke Tajima; Yohei Fukuma; Ikuo Yamano - Web page: https://patentgrep.com/patent/US12118150B2 ## CPC - G06F 3/016: {Input arrangements with force or tactile feedback as computer generated output to the user} - G06F 3/011: {Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00)} - G06F 3/014: {Hand-worn input/output arrangements, e.g. data gloves} - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract There is provided a control device according to the present technology to improve an accuracy of force sense presentation while preventing hindrance to a free motion of a target part when a user does not touch a virtual object. The control device includes a control unit that controls a force sense presentation apparatus, which includes a first member that is displaced mechanically in conjunction with a motion of a target part of a user, a second member that is displaceable in a direction of coming into contact with or separating from the first member, and a drive part that drives the second member and performs force sense presentation with respect to the target part, such that a driving state of the second member is changed according to a positional relationship between a virtual object and the target part in a virtual space in which the virtual object is arranged. ## Claims ### Claim 1 A control device comprising: a control unit configured to control a force sense presentation apparatus, which includes a first member that is displaced mechanically in conjunction with a motion of a target part of a user, a second member that is displaceable in a direction of coming into contact with or separating from the first member, and a motor configured to drive the second member and perform force sense presentation with respect to the target part, such that the motor changes a driving state of the second member is changed according to a positional relationship between a virtual object and the target part in a virtual space in which the virtual object is arranged, wherein the control unit is implemented via at least one processor. ### Claim 2 A control device comprising: a control unit configured to control a force sense presentation apparatus, which includes a first member that is displaced mechanically in conjunction with a motion of a target part of a user, a second member that is displaceable in a direction of coming into contact with or separating from the first member, and a motor configured to drive the second member and perform force sense presentation with respect to the target part, such that a driving state of the second member is changed according to a positional relationship between a virtual object and the target part in a virtual space in which the virtual object is arranged, wherein the control unit causes the driving state to change according to a separation distance between the virtual object and the target part, and the control unit is implemented via at least one processor. ### Claim 3 (depends on 2) The control device according to claim 2, wherein the control unit is further configured to control the second member to be continuously positioned at a predetermined position separated from the first member in a case where the separation distance is larger than a threshold. ### Claim 4 (depends on 3) The control device according to claim 3, wherein the control unit is further configured to estimate presence or absence of contact of the target part with the virtual object on a basis of the separation distance, and control the second member to be brought into contact with the first member in a case where it is estimated that the contact has been made. ### Claim 5 (depends on 4) The control device according to claim 4, wherein the control unit is further configured to control the second member to be driven such that the second member follows the first member at a constant interval until it is estimated that the contact has been made after the separation distance becomes equal to or less than the threshold. ### Claim 6 (depends on 4) The control device according to claim 4, wherein the control unit is further configured to control the second member to be driven to apply a reaction force to the first member in a case where the separation distance decreases from a time point at which it is estimated that the contact has been made. ### Claim 7 (depends on 6) The control device according to claim 6, wherein the control unit is further configured to control an application characteristic of the reaction force to the first member to be changed according to a type of the virtual object. ### Claim 8 A force sense presentation apparatus comprising: a first member that is displaced mechanically in conjunction with a motion of a target part of a user; a second member that is displaceable in a direction of coming into contact with or separating from the first member; and a motor configured to drive the second member, wherein the motor is further configured to change a driving state of the second member according to a positional relationship between a virtual object and the target part in a virtual space in which the virtual object is arranged. ### Claim 9 A force sense presentation apparatus comprising: a first member that is displaced mechanically in conjunction with a motion of a target part of a user; a second member that is displaceable in a direction of coming into contact with or separating from the first member; and a motor configured to drive the second member, wherein a driving state of the second member is changed by the motor according to a positional relationship between a virtual object and the target part in a virtual space in which the virtual object is arranged, and the driving state changes according to a separation distance between the virtual object and the target part. ### Claim 10 (depends on 9) The force sense presentation apparatus according to claim 9, wherein the motor is further configured to continuously position the second member at a predetermined position separated from the first member in a case where the separation distance is larger than a threshold. ### Claim 11 (depends on 10) The force sense presentation apparatus according to claim 10, wherein the motor is further configured to bring the second member into contact with the first member in a case where it is estimated on a basis of the separation distance that contact of the target part with the virtual object has been made. ### Claim 12 (depends on 11) The force sense presentation apparatus according to claim 11, wherein the motor is further configured to drive the second member such that the second member follows the first member at a constant interval until it is estimated that the contact has been made after the separation distance becomes equal to or less than the threshold. ### Claim 13 (depends on 11) The force sense presentation apparatus according to claim 11, wherein the motor is further configured to drive the second member to apply a reaction force to the first member in a case where the separation distance decreases from a time point at which it is estimated that the contact has been made. ### Claim 14 (depends on 13) The force sense presentation apparatus according to claim 13, wherein the motor is further configured to change an application characteristic of the reaction force to the first member according to a type of the virtual object. ### Claim 15 (depends on 8) The force sense presentation apparatus according to claim 8, wherein the target part is a finger of the user. ### Claim 16 (depends on 8) The force sense presentation apparatus according to claim 8, further comprising: a wire that is interlocked with a motion of the target part, wherein the first member is a member that is mechanically interlocked with the wire. ### Claim 17 (depends on 16) The force sense presentation apparatus according to claim 16, wherein the target part is a finger of the user, and the wire is arranged along a back of the finger. ### Claim 18 (depends on 15) The force sense presentation apparatus according to claim 15, wherein the motor is arranged on a fingertip side or an arm side of a wrist of the user. ### Claim 19 (depends on 8) The force sense presentation apparatus according to claim 8, wherein the motor is further configured to stop application of a reaction force of the second member to the first member in a case where a driving torque of the second member reaches an upper limit value. ### Claim 20 (depends on 8) The force sense presentation apparatus according to claim 8, further comprising: a wire that is interlocked with a motion of the target part, wherein the first member is a member that is mechanically interlocked with the wire, and a pull-in amount of the wire does not exceed a predetermined amount. ### Claim 21 A method of controlling a force sense presentation apparatus that includes a first member that is displaced mechanically in conjunction with a motion of a target part of a user, a second member that is displaceable in a direction of coming into contact with or separating from the first member, and a motor configured to drive the second member and perform force sense presentation with respect to the target part, the method comprising: causing the motor to change a driving state of the second member according to a positional relationship between a virtual object and the target part in a virtual space in which the virtual object is arranged.