JP2009175777A - Information processing apparatus and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To make a person who experiences a virtual space appropriately perceive intrusion of an intruding object to a virtual object. <P>SOLUTION: An information processing apparatus calculates a change in intrusion quantity of the intruding object to the virtual object in a predetermined time, and controls, based on the change in intrusion quantity in the predetermined time, stimulation generation of a stimulation generation means which gives stimulation to the person who experiences the virtual space. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a technique for allowing an experienced person to perceive a sense of touch of a virtual object.

  In the field of virtual reality, not only a virtual object is visually experienced but also a tactile sensation presentation apparatus that allows an experiencer to experience a tactile sensation when touching the virtual object has been proposed. Some tactile sense presentation devices experience a reaction force when touching a virtual object and a sense of the skin surface when touching the virtual object.

Patent Document 1 discloses a technique for presenting a virtual pointer indicating a hand position operated by an operator and a reaction force when the virtual pointer enters a virtual object to an experienced person using a reaction force by a manipulator. The reaction force Fv in Patent Document 1 is given as follows from the hand position and the intrusion amount dr of the virtual object.
Fv = Kdr + Bq
Here, K is a spring constant, B is a damping coefficient, and q is a time derivative of the hand position. By using the spring constant K to generate a reaction force corresponding to the intrusion amount dr and using the damping coefficient B, the sense of reaction force at the moment when the virtual pointer hits the virtual object is made more natural.
JP 08-234899

  With the technique disclosed in Patent Literature 1, it is possible to make the experience person perceive the reaction force when entering the virtual object. However, on the other hand, there is an upper limit on the stimulation intensity that a person can feel, and as the stimulation intensity increases, the difference in stimulation intensity that can be discriminated also increases, so that the experiencer cannot perceive a slight difference in stimulation intensity. . In the technique disclosed in Patent Document 1, the reaction force increases as the amount of intrusion with the virtual object increases, and thus there is a problem that it is difficult for the experiencer to present a difference in reaction force that can be discriminated.

  In particular, when the virtual pointer is moved into the virtual object and then moved in the separation direction, the reaction force with the virtual object often increases. Therefore, when the virtual pointer is moved in the leaving direction, it is difficult for the experience person to properly perceive the decrease in the reaction force according to the movement of the virtual pointer in the leaving direction.

  In view of the above problems, an object of the present invention is to allow a virtual space experience person to appropriately perceive an intrusion into a virtual object.

  The present invention provides position acquisition means for acquiring a position of a virtual object in a virtual space and a position of an intruding object that enters the virtual object at predetermined time intervals, and a position between the virtual object and the intruding object. Based on the change calculation means for calculating the change of the intrusion amount of the intruding object into the virtual object within the predetermined time, and for the experience person who experiences the virtual space based on the change of the intrusion amount within the predetermined time. And a control means for controlling the generation of the stimulus of the stimulus generating means for applying the stimulus.

  With the configuration described above, according to the present invention, it is possible to appropriately allow an experienced person in the virtual space to perceive the intrusion into the virtual object.

(First embodiment)
FIG. 1 is a diagram illustrating a configuration of a haptic presentation device for presenting a haptic sense of a virtual object in a virtual space according to the present embodiment.

  Reference numeral 101 denotes an experience person who experiences the virtual space in the present embodiment.

  Reference numeral 102 denotes a stimulus generation device that generates a stimulus in order to present a tactile sensation to the experience person 101. As shown in FIG. 1, the stimulus generator 102 is a gripping member having a shape such as a bar shape that is easy for an experienced person to grip. In addition to the rod shape, it may be a glove or band shape that is easy to attach and detach. The stimulus generator 102 functions as an intruding object that enters the virtual object. When the stimulus generator 102 is gripped by the experience person 101 and a part of the stimulus generator 102 enters a virtual object in the virtual space, the stimulus generator 102 generates a stimulus, thereby causing the experience person 101 to feel the virtual object. Can experience.

  Reference numeral 103 denotes a stimulus generator disposed on the stimulus generator 102 and serving as a stimulus source. There are various types of stimuli that can be presented to the experience person using the stimulus generator 103. Examples of types of stimulation include mechanical stimulation, electrical stimulation, and temperature stimulation. The mechanical stimulus is given by the vibration of an object in contact with the experience person 101 or the contact of a physical object. When generating an instrumental stimulus, a mechanical stimulus can be generated by disposing an eccentric motor in the stimulus generator 103 and rotating the eccentric motor. Further, a mechanical stimulus can be generated by operating a pin in contact with the experience person 101 with a piezoelectric element or a polymer actuator. Moreover, a mechanical stimulus can be generated by pressing the skin surface of the experience person 101 with air pressure. Further, even when a voice coil or the like is used, a mechanical stimulus can be given to the experience person 101.

  In the case of generating an electrical stimulus, the electrical stimulus can be generated by passing a current through the microelectrode array in contact with the experience person 101. Moreover, when generating a temperature stimulus, it is possible to generate a temperature stimulus by generating heat in the thermoelectric element in contact with the experience person 101.

  As described above, there are a plurality of stimuli and methods for generating the stimuli, but for the tactile presentation, mechanical stimuli are desirable in the following points. (1) The stimulus generator 103 can be easily downsized and has high portability. (2) The stimulus intensity is strong and the experience person 101 can easily perceive the stimulus. (3) There is no need for the experience person 101 and the stimulus generator 103 to be in contact with each other, and the degree of freedom of arrangement of the stimulus generator 103 is high. Therefore, in the present embodiment, an eccentric motor that generates a mechanical stimulus is arranged in the stimulus generator 103.

  FIG. 2 is a diagram illustrating a state where the experience person 101 is holding the stimulus generation device 102. As shown in FIG. 2, the experience person 101 grasps the stimulus generation unit 103 and the stimulus generation part 103 is driven to generate a stimulus, so that the experience person 101 can experience tactile sensation.

  Reference numeral 104 denotes a marker arranged on the stimulus generator 102. The marker 104 is a member for representing the position and posture of the stimulus generator 102, and preferably has a characteristic color and shape. The position and orientation of the stimulus generator 102 can be calculated by detecting the marker 104 from the captured image obtained by capturing the stimulus generator 102. Further, by forming the marker 104 with a retroreflective member, the marker 104 can be detected by infrared coaxial illumination.

  Reference numeral 105 denotes an imaging device for imaging the stimulus generator 102. The captured image acquired by the imaging device 102 is used to calculate the position and orientation of the stimulus generation device 102.

  Therefore, the positional relationship between the imaging device 102 and the marker 104 is preferably a positional relationship in which the imaging device 102 can always capture the marker 104. For example, the marker 104 can always be imaged by arranging a plurality of markers 104 or by moving the imaging device 105 following the movement of the markers 104. The imaging device 105 includes a video camera that can capture general visible light.

  Reference numeral 106 denotes a video display device that displays a virtual space image to the experience person 101. The video display device 106 is configured by a display device that can be worn by the experienced person 101 such as an HMD (head mounted display). In addition to the HMD, a CRT display, a liquid crystal display, a projector projection, or the like can be substituted.

  Reference numeral 107 denotes an information processing apparatus that performs various processes and controls of the tactile sense presentation apparatus according to the present embodiment. The information processing apparatus 107 has a general PC (personal computer) configuration such as a CPU (Central Processing Unit), RAM (Random Access Memory), and HDD (Hard Disk Drive). Data and programs stored in the RAM and HDD are read out and executed by the CPU, thereby achieving processing and control necessary for this embodiment.

  The functional configuration of the information processing apparatus 107 will be described below.

  Reference numeral 108 denotes a recording device that stores data and programs used in the present embodiment. The data stored in the recording device 108 includes a marker 104 detection program, an image processing program, an intrusion determination program between the stimulus generator 102 and a virtual object in the virtual space, a control program, and the like. The storage device 108 also stores virtual space data for displaying the virtual space image on the video display device 106 for the experience person 101.

  The virtual space data includes, for example, polygon coordinate value data for representing a virtual object in the virtual space, normal vectors and color data of each polygon, texture data, and position and orientation data of the virtual object. In the present embodiment, a virtual object is displayed on a portion that generates a stimulus on the stimulus generator 102 when the virtual object is entered. Therefore, the virtual space data includes shape data of a virtual end effector that is a virtual object indicating a portion that generates a stimulus on the stimulus generator 102 when the virtual object is invaded. By superimposing the virtual end effector on the virtual space image, the experience person 101 can visually confirm a part that generates a stimulus on the stimulus generator 102 when the virtual object enters the virtual object. The position of the virtual end effector may be the same position as the position of the stimulus generator 103. However, for example, when the stimulus generator 102 has a pencil shape as shown in FIG. 3, if the tip of the pencil shape is set to the position of the virtual end effector, the experience person can easily grasp the position of the virtual end effector. The recording device 108 is composed of a storage medium such as an HDD for storing the above data.

  Reference numeral 109 denotes a position detection unit that detects the marker 104 from the image captured by the imaging device 105. Since the marker 104 has a characteristic color and shape, the position of the marker 104 on the image can be detected by general image processing. The position of the marker 104 in the three-dimensional space can be detected from the detected position of the marker 104 on the captured image and the position and orientation of the imaging device 105 using triangulation or the like. The position detection unit 109 includes a RAM in which a detection program for the marker 104 is stored, a CPU for executing the detection program for the marker 104, and the like.

  Reference numeral 110 denotes an image output unit that outputs a virtual space image to the video display device 106. The image output unit 110 acquires the position and orientation of the video display device 106, and generates a virtual space image corresponding to the acquired position and orientation from the virtual space data of the recording device 108. Further, the image output unit 110 acquires the position and orientation of the stimulus generator 102 from the imaging device 105, and superimposes the virtual end effector image on the position of the stimulus generator 102 on the generated virtual space image. Then, the superimposed virtual space image is output to the video display device 106. Through the above processing, the experience person 101 wearing the video display device 106 can visually experience the virtual space. The image output unit 110 includes a RAM that stores an image processing program for generating a virtual space image, a CPU for executing the image processing program, and the like.

  Reference numeral 111 denotes an intrusion determination unit that determines intrusion into the stimulus generation apparatus 102 and the virtual object in the virtual space experienced by the experience person 101. First, the intrusion determination unit 111 functions as a position acquisition unit of the stimulus generation device 102 that acquires the position and orientation of the stimulus generation device 102 from the position detection unit 109. Then, the virtual object functions as virtual object position acquisition means for acquiring the position, posture and shape of the virtual object in the virtual space from the recording device 108, and the virtual object and the virtual end effector of the stimulus generator 102 enter the virtual space. Determine. There are various methods for intrusion determination. For example, it is possible to determine whether the virtual end effector has entered the virtual object by setting a representative point of the virtual end effector and determining whether the representative point is located inside the virtual object. Further, in the field of three-dimensional computer graphics, various other intrusion determination methods have been proposed, and any method may be used. The intrusion determination unit 111 also functions as a change calculating unit that calculates a change in the intrusion amount. The change in the intrusion amount will be described later. The intrusion determination unit 111 includes a RAM in which an intrusion determination program is stored, a CPU for executing the intrusion determination program, and the like.

  Reference numeral 112 denotes a control unit that controls the generation of stimulation by the stimulation generation unit 103 based on the determination result of the intrusion determination unit. Detailed processing of the control unit 112 in this embodiment will be described later. A control signal from the control unit 112 is amplified by an amplifier 113 that is supplied with power from the power source 114 and transmitted to the stimulus generation unit 103. The control unit 112 includes a RAM that stores a control program, a CPU that executes the control program, and the like.

  The position detection 109, the image output unit 110, the intrusion determination unit 111, and the control unit 112 have been described as including separate CPUs and RAMs, respectively, but it is also possible to share one or more CPUs and RAMs. It is. Also, part or all of the processing of the information processing apparatus 107 can be realized using dedicated hardware.

  The above is the system configuration of the tactile presentation device in the present embodiment. Next, detailed processing for presenting a tactile sensation in the present embodiment will be described.

  FIG. 4 is a diagram showing a detailed process for presenting a tactile sensation in the present embodiment.

  (Step 401) In step 401, the control part 112 starts the process of the tactile sense presentation system in this embodiment. The process of the tactile sense presentation system may be started by the experience person inputting a start switch (not shown in FIG. 1) and receiving the input instruction, and the control unit 112 may start the process.

  (Step 402) In step 402, the image output unit 110 causes the video display device 106 to display an image of the virtual space. The virtual space image to be displayed is generated based on the data stored in the recording device 108 and the position and orientation of the stimulus generator 102 as described above.

  (Step 403) In Step 403, the intrusion determination unit 111 determines whether the virtual end effector of the stimulus generation apparatus 102 has entered the virtual object in the virtual space.

  FIG. 5 is a diagram illustrating a state in which a virtual object has entered the virtual end effector of the stimulus generation device 102.

  Reference numeral 501 denotes a virtual object displayed in the virtual space. As shown in FIG. 5, the virtual end effector is located inside the virtual object 501. As described above, when determining the intrusion between the virtual object 501 and the virtual end effector 502, the representative point of the virtual end effector 502 is set, and it is determined whether or not the representative point is located inside the virtual object 501. To do. If it is determined in this step that the virtual end effector 502 has entered the virtual object 501, the process proceeds to step 404. Conversely, if it is determined that the virtual end effector 502 has not entered the virtual object 501, the process proceeds to step 407.

  (Step 404) In step 404, the intrusion determination unit 111 determines a change in the intrusion amount of the virtual object 501 in the virtual space by the virtual end effector 502 of the stimulus generation apparatus 102. In this step, the change in the intrusion amount represents not only the increase or decrease in the intrusion amount but also the increase amount and the decrease amount.

  FIG. 6 is a diagram illustrating a method of determining the intrusion amount. In the present embodiment, in order to determine the intrusion amount, first, a reference plane 601 that passes through the point where the stimulus generator 102 has entered the virtual object 501 and is parallel to the inclination of the surface of the virtual object 501 is set. Then, a vector perpendicular to the reference plane 601 set on the virtual object is calculated from the virtual end effector 502.

  Reference numeral 602 denotes a vector indicating the calculated intrusion amount. In this step, if there is a vector 602 indicating the intrusion amount calculated before this step, the vector 602 indicating the intrusion amount calculated before this step is subtracted from the vector 602 indicating the intrusion amount calculated in this step. Calculate the difference. If the calculated difference is larger than a preset value, it is assumed that there has been a change in the intrusion amount, and the process proceeds to step 405. If the calculated difference is smaller than a predetermined value set in advance, the process proceeds to step 408 on the assumption that the intrusion amount has not changed. If there is no vector 602 indicating the intrusion amount calculated before this step, it is considered that the intrusion amount has changed, and the process proceeds to step 405. Note that by applying a low-pass filter to the difference calculated in this step, errors due to noise can be reduced and determination accuracy can be improved. Further, in this step, a vector 602 indicating the calculated intrusion amount is stored in a temporary storage medium such as a RAM for reference during the repeated processing.

  (Step 405) In step 405, the intrusion determination unit 111 determines whether or not the intrusion amount has increased. If the difference calculated in step 404 is a positive vector, it can be considered that the intrusion amount has increased, so the process proceeds to step 406. If there is no vector 602 indicating the intrusion amount calculated before step 404, the process proceeds to step 406. On the other hand, if the difference calculated in step 404 is not a positive vector, the process proceeds to step 406.

(Step 406) In Step 406, the control unit 112 controls the stimulus generation unit 103 of the stimulus generation apparatus 102. In the present embodiment, the control of the stimulus generator 103 is changed in accordance with the intrusion state of the virtual end effector 502 into the virtual object 501. In the present embodiment, the following four modes are set.
Mode 1: The virtual end effector 502 has not entered the virtual object 501.
Mode 2: The virtual end effector 502 has entered the virtual object 501, but the amount of entry into the virtual object 501 has not changed.
Mode 3: The virtual end effector 502 has entered the virtual object 501, and the amount of entry into the virtual object 501 has decreased.
Mode 4: The virtual end effector 502 has entered the virtual object 501, and the amount of entry into the virtual object 501 has increased.

  In this step, since it is determined in step 403 that there is no intrusion, the stimulus generator 103 is controlled according to mode 1. In the present embodiment, the above four modes are set, but the mode may be increased or decreased depending on the configuration of the tactile sense presentation device. By generating a stimulus according to each mode, a natural tactile sensation can be presented to the experience person 101. Detailed control of each of mode 1 to mode 4 will be described later. After controlling the stimulus generator 103 according to mode 1, the process proceeds to step 410.

  (Step 407) In Step 407, since it is determined in Step 404 that there is no change in the intrusion amount, the control unit 112 controls the stimulus generation unit 102 according to mode 2. After the stimulus generator 103 is controlled in accordance with mode 2, the process proceeds to step 410.

  (Step 408) In Step 408, since it is determined that the intrusion amount has changed in Step 404 and the intrusion amount has not increased in Step 405, the control unit 112 performs the stimulus generation unit corresponding to mode 3. 102 is controlled. After the stimulus generator 103 is controlled according to mode 3, the process proceeds to step 410.

  (Step 409) In step 409, since it is determined that the intrusion amount has changed in step 404 and the intrusion amount has increased in step 405, the control unit 112 performs the stimulus generation unit corresponding to mode 4. 102 is controlled. After the stimulus generator 103 is controlled according to mode 4, the process proceeds to step 410.

  (Step 410) In step 410, the control unit 112 determines whether or not to stop the processing of the tactile sense presentation system. The stop of the processing of the system may be automatically performed after a certain time, or may be performed by the control unit 112 in response to an input of a stop switch by the experience person 101. If it is determined in this step that the process of the tactile sense presentation system is not stopped, the process returns to step 402. If it is determined in this step that the process of the tactile sense presentation system is to be stopped, the process proceeds to step 411.

  (Step 411) In step 411, the control unit 112 determines that the processing of the tactile presentation system is to be stopped in step 410, and therefore stops the processing of the tactile presentation system.

  By repeating the processing from step 402 to step 410 at intervals of a predetermined time, it is possible to cause the experience person 101 to visually experience the virtual space and to present an appropriate tactile sensation. The interval of the predetermined time may be appropriately set according to a request for the system. By shortening the predetermined time interval, it is possible to perform real-time control without causing the experience person 101 to feel stress.

  Next, details of the control processing of the stimulus generation unit 103 by the control unit 112 from mode 1 to mode 4 described in step 406 will be described.

  FIG. 7 is a graph showing the correspondence between the amount of penetration of the virtual end effector 502 into the virtual object 501 and time. As shown in FIG. 7, the intrusion amount changes with time, and in the present embodiment, a mode corresponding to each is applied.

  FIG. 8 is a graph showing a change in the stimulus intensity of the stimulus generator 103 corresponding to the change in the intrusion amount in FIG. As shown in FIG. 8, the period from 0 to t1 and the period from t2 to t3 correspond to mode 4, and the stimulus generator 103 generates the strongest stimulus. By making the stimulus strongest in the case of mode 4 where the intrusion amount is increasing, the experience person 101 can experience the sense that the stimulus generator 102 invades through the virtual object 501.

  Further, the period from t1 to t2 and the period from t3 to t4 correspond to mode 2, and the stimulus generator 103 generates a weaker stimulus than in the case of mode 4. By generating a stimulus that is weaker than that in mode 4, the experience person 101 can experience a sense that the stimulus generator 102 is invading the virtual object 501.

  Further, the period from t4 to t3 corresponds to mode 3, and the stimulus generator 103 generates a stimulus that is weaker than that in mode 2. By generating a stimulus that is weaker than that in mode 2, the experience person 101 can experience the feeling that the stimulus generator 102 is pulled out of the virtual object 501. Further, by making the difference in stimulus intensity between mode 2 and mode 3 smaller than the difference in stimulus amount between mode 2 and mode 4, the experience person 101 can experience a natural tactile sensation.

  Further, the period from t5 to t6 corresponds to mode 1, and the stimulus generator 103 does not generate a stimulus. By not generating the stimulus, the experience person 101 does not perceive the intrusion of the stimulus generator 102 into the virtual object 501.

  As described above, the experience person 101 can experience a more natural tactile sensation by changing the stimulus intensity of the stimulus generator 102 according to the mode.

  In addition, when the stimulus intensity of the stimulus generator 102 is increased as the amount of the stimulus generator 102 entering the virtual object 501 increases, the perceived range of the experience person 101 or the drive limit of the stimulus generator 102 may be exceeded. Is assumed. However, according to the present embodiment, as shown in FIG. 8, by changing the stimulus intensity according to the mode, the user 101 can experience a natural tactile sensation while effectively utilizing the drive limit of the stimulus generator 102. It can be made.

  Although FIG. 8 shows a case where the stimulus intensity of the stimulus generator 102 is changed according to the mode, the experience person 101 can also experience an appropriate tactile sense by other methods.

  FIG. 9 is a diagram showing a case where the frequency of occurrence of stimulation is changed according to the mode. As shown in FIG. 9, in the case of mode 1, the occurrence frequency of the stimulus is 0, and the experience person 101 does not perceive the intrusion of the stimulus generation apparatus 102 into the virtual object 501. Further, in the case of mode 4, by reducing the frequency of occurrence of stimulation, the perception of the experience person when receiving a stimulus from the stimulus generation apparatus 102 is increased, and the experience person 101 uses the virtual object 501 for the stimulus generation apparatus 102. You can have an experience close to the sense of intrusion.

  Further, when the occurrence frequency of mode 2 is higher than that of mode 4 and the occurrence frequency of mode 3 is higher than that of mode 2, the experience person 101 can experience a natural tactile sensation.

  In the present embodiment, the four modes have been described in step 406. However, as described above, more modes may be set. For example, the modes may be further classified according to the direction in which the intrusion amount increases or decreases, the speed, the change in the intrusion state, and the like. By classifying the modes in detail and generating stimuli according to the modes, the experience person 101 can experience a more natural tactile sensation.

(Second embodiment)
In the first embodiment, the virtual end effector is treated as a point. In this embodiment, the virtual end effector has a three-dimensional solid shape. Although the shape of the virtual end effector is different from that of the first embodiment, the system configuration of the tactile sense presentation device is the same as that in FIG. 1, and the processing and control are also substantially the same as those in FIG.

  FIG. 10 is a diagram illustrating an example of a virtual end effector in the present embodiment. As shown in FIG. 10, the virtual end effector of FIG. 10 has the shape of a human hand, and is superimposed on the hand of the experience person 101 by the image output unit 110. As the virtual end effector, in addition to the shape of a human hand, for example, the shape of an elbow, a foot, or a tool can be used.

  FIG. 11 is a diagram illustrating a second example of the virtual end effector in the present embodiment. In FIG. 11, the shape of a tool is used as a virtual end effector.

  FIG. 12 is a diagram illustrating intrusion of the virtual end effector 502 into the virtual object 501 in the present embodiment. As shown in FIG. 12, the virtual end effector 502 of the present embodiment has a three-dimensional solid shape, so it is difficult to determine intrusion.

  Therefore, in the present embodiment, when a plurality of representative points on the virtual end effector 502 are arranged and intrusion between the virtual end effector 502 and the virtual object 501 is determined, the deepest portion of the plurality of representative points is determined. The point is calculated. When calculating the deepest point, for example, the barycentric point of the virtual object 501 is acquired in advance, and the point closest to the barycentric point among the plurality of representative points is set as the deepest point.

  FIG. 13 is a diagram showing the deepest point in the present embodiment. In FIG. 13, reference numeral 1301 denotes the deepest point. If the deepest point 1301 is handled as a point of the virtual end effector 502 in the first embodiment, the same processing as in FIG. 4 in the first embodiment can be performed. As in this embodiment, by using the virtual end effector 502 having a three-dimensional solid shape, the experience person 101 can experience a more natural tactile sensation.

  FIG. 14 is a diagram illustrating changes in the reference plane 601. In the process of FIG. 4, the mode is switched according to the temporal change of the vector 602 indicating the intrusion amount. As shown in FIG. 14, even when the reference plane 601 changes with time, the vector 602 indicating the intrusion amount changes.

(Third embodiment)
In the first embodiment and the second embodiment, the case where there is one stimulus generator 103 has been described. In the present embodiment, a case where a plurality of stimulus generators 103 are arranged will be described.

  FIG. 15 is a diagram illustrating a case where a plurality of stimulus generators 103 are arranged in the rod-like stimulus generator 102. By arranging a plurality of stimulus generators 103 as shown in FIG. 15, complex stimuli can be reproduced.

  FIG. 16 is a diagram illustrating a case where a plurality of stimulus generation units 103 are arranged in a stimulus generation device 102 in the shape of a human hand.

  FIG. 17 is a diagram illustrating the intrusion into the virtual object 501 of the stimulus generator 102 in which a plurality of stimulus generators 103 are arranged. As shown in FIG. 17, when a plurality of stimulus generators 103 are arranged, if the stimulus generators 103 are not appropriately controlled, an unnatural tactile sensation is given to the experience person 101.

  FIG. 18 is a diagram showing a first control method of the tactile presentation device in the present embodiment. The control method in FIG. 18 is the same as the control method in the second embodiment. As in the second embodiment, the deepest portion 1301 is set, and the same control processing is performed on the plurality of stimulus generators 103 based on the position of the deepest portion 1301.

In addition, as a method for controlling the plurality of stimulus generators 103 based on the position of the deepest portion 1301, the following method is also available. First, the plurality of stimulus generators 103 are classified into the following three types A to B. A: Stimulus generator 103 located near the deepest point 1301, B: Stimulus generator 103 located near the surface of the virtual object 501, C: Stimulus generator not corresponding to any of A and B 103. And according to the said mode 1-mode 4, the irritation | stimulation generation | occurrence | production part 103 classified into three types of AB is controlled as follows, respectively.
Mode 1: All stimulus generators 103 do not generate a stimulus.
Mode 2: All stimulus generators 103 generate stimuli in intensity.
Mode 3: The stimulus generation unit 103 classified as A or B generates a stimulus in intensity. The stimulus generator 103 classified as C generates a stimulus with a low intensity.
Mode 4: The stimulus generator 103 classified as A generates a strong stimulus. The stimulus generator 103 classified as B or C generates a stimulus in intensity.

  By controlling as described above, for example, in mode 3, in order to reduce the stimulation of the stimulus generation unit 103 other than the vicinity of the deepest point 1301 and the vicinity of the surface of the virtual object 501, the experience person 101 has a natural feeling of withdrawal. It can be experienced.

  FIG. 19 is a diagram illustrating a second control method in the present embodiment. The control method in FIG. 19 is a method in which the positions of the plurality of stimulus generators 103 are regarded as the positions of the end effector 502 in the first embodiment, and the plurality of stimulus generators 103 are independently controlled. By controlling each of the plurality of stimulus generators 103 independently, partial intrusion of the stimulus generator 102 into the virtual object 501 can also be reproduced, so that a natural tactile sensation can be presented by the experience person 101. .

(Fourth embodiment)
According to the first embodiment, when the intrusion amount of the stimulus generator 103 into the virtual object 501 is increased, the mode 4 is applied, and the stimulus generator 103 generates a strong stimulus. However, as described above, mode 4 may be further classified according to the penetration speed.

FIG. 20 is a diagram showing the correspondence between the passage of time and the change in the intrusion amount d by enlarging the period from time 0 to time t1 in FIG. As can be seen from FIG. 20, the intrusion speed is relatively high from time 0 to time t01 and from time t02 to time t1, and mode 4.1 is applied. The intrusion speed is relatively small from time t01 to time t02, and mode 4.2 is applied. The classification of mode 4 in this embodiment is as follows.
Mode 4.1: The penetration speed is relatively high, and the stimulus intensity of the stimulus generator 103 is increased with time.
Mode 4.2: The penetration speed is relatively small, and the stimulus intensity of the stimulus generator 103 does not change.

  FIG. 21 is a diagram showing the correspondence between the passage of time and the stimulation intensity S according to the classification of mode 4 described above. As can be seen from FIG. 21, in the case of mode 4.1, the stimulation intensity increases with time, and in the case of mode 4.2, the stimulation intensity does not change. In this way, by further classifying the modes, the experience person 101 can experience a more natural tactile sensation. Further, not only mode 4 but also modes 1 to 3 may be further classified according to intrusion speed and intrusion amount d.

It is a figure which shows the structure of the tactile sense presentation apparatus for presenting the tactile sense of the virtual object in virtual space in 1st embodiment. It is a figure which shows the state in which the experience person is holding the stimulus generator. It is a figure which shows the pencil-shaped irritation | stimulation generator. It is a figure which shows the detailed process for the tactile sense presentation apparatus in 1st embodiment. It is a figure which shows the state which the virtual end effector of the stimulus generator has penetrate | invaded into the virtual object. It is a figure which shows the determination method of the penetration | invasion amount to the virtual object of the virtual end effector of a stimulus generator. It is a figure which shows the correspondence of the amount of penetration | invasion of the virtual end effector to a virtual object, and time. It is a figure which shows the change of the stimulus intensity | strength of the stimulus generator corresponding to the intrusion amount change of FIG. It is a figure which shows the case where the generation frequency of a stimulus is changed according to the mode based on intrusion amount change. It is a figure which shows the virtual end effector in 2nd embodiment. It is a figure which shows the virtual end effector in 2nd embodiment. It is a figure which shows the penetration | invasion to the virtual object of the virtual end effector in 2nd embodiment. It is a figure which shows the point of the deepest part of the virtual end effector in 2nd embodiment. It is a figure which shows the change of the reference plane on the virtual end effector in 2nd embodiment. It is a figure which shows the case where a some stimulus generation part is arrange | positioned at the rod-shaped stimulus generator in 3rd embodiment. It is a figure which shows the case where a some stimulus generation part is arrange | positioned at the stimulus generator of the shape of a human hand. It is a figure which shows the penetration | invasion to the virtual object of the stimulus generator with which the some stimulus generation part is arrange | positioned. It is a figure which shows the 1st control method of the tactile sense presentation apparatus in 3rd embodiment. It is a figure which shows the 2nd control method of the tactile sense presentation apparatus in 3rd embodiment. It is the figure which showed the response | compatibility with progress of time and the change of the penetration | invasion amount d in 4th embodiment. It is a figure which shows a response | compatibility with the time passage in the fourth embodiment, and the stimulus intensity S.

Claims (10)

Position acquisition means for acquiring the position of the virtual object in the virtual space and the position of the intruding object entering the virtual object at a predetermined time interval;
Change calculating means for calculating a change in the intrusion amount of the intruding object into the virtual object within the predetermined time based on the positions of the virtual object and the intruding object;
An information processing apparatus comprising: a control unit that controls generation of a stimulus by a stimulus generation unit that gives a stimulus to an experience person who experiences the virtual space based on a change in the intrusion amount within the predetermined time. The intruding object is a gripping member gripped by the experience person,
The information processing apparatus according to claim 1, wherein the stimulus generation unit presents a tactile sensation of the virtual object to the experience person by vibrating the gripping member.   The information processing apparatus according to claim 1, wherein the intrusion amount is a difference in position between a deepest point of the intruding object with respect to the virtual object and a reference plane set on the virtual object. . The stimulus generating means is disposed on the body of the experience person,
The information processing apparatus according to claim 1, wherein the intruding object is a part of the body of the experience person.   The control means changes the stimulus generation of the stimulus generation means at least when the intrusion amount has not changed, when the intrusion amount has increased, and when the intrusion amount has decreased. The information processing apparatus according to claim 1, wherein:   6. The control unit according to claim 5, wherein when the change in the intrusion amount is smaller than a predetermined value, the control unit regards that the intrusion amount has not changed, and controls the stimulus generation of the stimulus generation unit. The information processing apparatus described.   The information processing apparatus according to claim 1, wherein the stimulus generation unit includes an eccentric motor, and generates a mechanical stimulus by rotating the motor. The stimulus generator is composed of a plurality of stimulus generators,
The information processing apparatus according to claim 1, wherein the control unit controls the generation of each of the plurality of stimulus generation units based on a change in the intrusion amount at each position of the plurality of stimulus generation units. . A position acquisition step in which the position acquisition means acquires the position of the virtual object in the virtual space and the position of the intruding object entering the virtual object at a predetermined time interval;
A change calculating step for calculating a change of the intruding object to the virtual object within the predetermined time based on a position of the virtual object and the intruding object;
And a control step of controlling a stimulus generation of a stimulus generation unit that gives a stimulus to an experience person experiencing the virtual space based on a change in the intrusion amount within the predetermined time. Method. Computer
Position acquisition means for acquiring the position of the virtual object in the virtual space and the position of the intruding object entering the virtual object at a predetermined time interval;
Change calculating means for calculating a change in the intrusion amount of the intruding object into the virtual object within the predetermined time based on the positions of the virtual object and the intruding object;
A program for functioning as a control means for controlling a stimulus generation of a stimulus generating means for giving a stimulus to an experience person experiencing the virtual space based on a change in the intrusion amount within the predetermined time.

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