JP6382884B2 - Estimation apparatus, estimation method, and program - Google Patents

Description

  The present invention relates to a technique for perceiving a pseudo force sense, and more particularly to a technique for perceiving a pseudo force sense imitating a force sense given by a living organism.

  There is a technique for simulating a vibration sensation given by a living organism by symmetrical vibration of a vibrator (see, for example, Patent Document 1). There is also known a technique for simulating a force sensation given from a living body by a pseudo force sensation based on asymmetric vibration of a vibrator (see, for example, Patent Document 2 and Non-Patent Document 1). There is also a technique for expressing mechanical dynamics by asymmetric vibration of a vibrator (see, for example, Non-Patent Document 2).

JP 2001-352414 A Japanese Patent Laying-Open No. 2015-223563

Tomohiro Amemiya, Shinya Takatsuki, Sho Ito, Hiroaki Gomi, “Brunavi 3”, a device that creates a sensation of being pulled by fingers, NTT Technical Journal, Vol. 26, No. 9, pp. 23-26 . Amemiya T, Maeda T (2008) Asymmetric Oscillation Distorts the Perceived Heaviness of Handheld Objects.IEEE Transactions on Haptics 1: 9-18.

  However, there is no known design guideline for simulating a force sensation given by a living organism with a pseudo force sensation based on an asymmetric vibration of a vibrator. In order to design such a pseudo force sense control method, the designer must search for the control method by trial and error while confirming the pseudo force sense.

  An object of the present invention is to efficiently set a control method for simulating a force sense given from a living organism by a pseudo force sense based on an asymmetric vibration of a vibrator.

  In the first embodiment, a pseudo force sense perception estimated value that is an estimate of the strength of the pseudo force sense perceived based on the asymmetric vibration of the vibrator that perceives the pseudo force sense, and perceived based on the asymmetric vibration. Estimated value of vibration roughness, which is an estimate of the roughness of vibration, biological information including the attributes of the organism, and how likely the pseudo force sense is as a force sense given by the organism Based on a predetermined model evaluated by the estimated value and the vibration roughness perception estimated value, it is estimated how likely the pseudo force sense is as a force sense given from the organism.

  In the second embodiment, a pseudo force sense perception estimated value that is an estimate of the strength of the pseudo force sense perceived based on the asymmetric vibration of the vibrator that perceives the pseudo force sense, and perceived based on the asymmetric vibration. The estimated value of vibration roughness, which is an estimate of the roughness of vibration, the biological information including the type of organism, the size of the organism recognized by the simulated force sense, and The size of the organism recognized by the pseudo force sense is estimated on the basis of a predetermined model estimated by the perception estimation value.

  By using such an estimation result, it is possible to easily set a pseudo force sense suitable for simulating a force sense given from the organism. After that, a control method for realizing the set pseudo force sense may be designed. Thereby, it is possible to efficiently set a control method for simulating a force sense given from the organism by a pseudo force sense based on the asymmetric vibration of the vibrator.

FIG. 1 is a block diagram illustrating a functional configuration of the estimation apparatus according to the embodiment. 2A and 2B are diagrams for explaining the principle of the embodiment. FIG. 3 is a diagram for explaining the principle of the embodiment. 4A and 4B are conceptual diagrams for illustrating the vibrator according to the embodiment. FIG. 5A is a conceptual diagram illustrating how a vibrator is gripped by a finger, and FIG. 5B represents a relationship between a dynamic characteristic model of a vibration piece, a dynamic characteristic model of skin, and a control signal waveform and an output of an electric circuit. It is a conceptual diagram for demonstrating an electric circuit characteristic model. FIG. 6 is a diagram for illustrating a control signal. 7A to 7D are diagrams illustrating experimental results. FIG. 8A is a diagram exemplifying the relationship between the roughness of vibration and the strength of pseudo force sensation and the reality of fish pulling. FIG. 8B is a diagram illustrating the relationship between the roughness of vibration and the strength of the pseudo force sense and the size of the recognized fish. FIG. 9 is a diagram illustrating an output screen of the estimation device. FIG. 10 is a block diagram illustrating a functional configuration of the estimation apparatus according to the embodiment.

Embodiments of the present invention will be described below.
[Overview]
First, an outline of the embodiment will be described.
Living creatures (for example, animals) move by transmitting force to the outside not by wheels but by legs, wings, cocoons, and the like. Therefore, the force applied to the outside based on the movement of the living organism includes a force with intermittent vibration in the traveling direction and a force with a vibration component in a direction different from the force in the traveling direction (for example, traction force). As illustrated in FIG. 2A, when a fish swims in the water, not only the steady force in the traveling direction D1 but also the D2 direction based on the force accompanied by intermittent vibration in the traveling direction D1 and the movement of the carp. The vibration component force is also generated. In addition, a force generated from a living body due to the influence of biological noise always includes a certain noise component (Reference Document 1). Further, the strength of the force in the traveling direction and the roughness of the force of the vibration component are predicted to depend on the attributes of the organism. Therefore, if it is possible to simultaneously perceive the strength of the force in the traveling direction of the organism and the roughness of the force of the vibration component in the traveling direction, it is considered that the force sense given by the organism can be mostly simulated. In general, the larger the organism, the stronger the force in the direction of travel, and the lower the time frequency of the movement (Reference Documents 2 and 3). Therefore, the size of the organism can be expressed by adjusting the strength of the force sense perceived based on the force in the direction of movement of the organism and the roughness of vibration perceived by the movement under specific constraints. (FIG. 2B).
Reference 1: Jones KE, Hamilton AF, Wolpert DM, “Sources of signal-dependent noise during isometric force production,” J Neurophysiol 88, 2002.
Reference 2: Bainbridge R (1958), “The Speed of Swimming of Fish as Related to Size and to the Frequency and Amplitude of the Tail Beat,” Journal of Experimental Biology 35: 109-133.
Reference 3: Shinichiro Ito, “Vortices generated during flight and swimming of organisms and their reaction forces (analysis and role of flow structure in biofluid dynamics)”, Mathematical Analysis Laboratory Proceedings, 1900: 26-36, 2014 .

In other words, when simulating a force sense given by a living organism by perceiving a pseudo force sense and a vibration sensation in a predetermined direction by asymmetric vibration of the vibrator, perception based on the movement of the organism (animal perception):
・ How likely is the pseudo force sensation perceived based on the asymmetric vibration as a force sensation given by the organism (L: likeliness)
-The size of the organism recognized by the asymmetric vibration (S: size)
Is the perception of the mechanical characteristics of the asymmetric vibration (vibration perception):
・ Pseudo force sense strength perceived based on the asymmetric vibration (P: pseudo force sense strength)
・ Roughness (R: roughness) perceived based on the asymmetric vibration
It is considered that the prediction can be made by the combination of (Fig. 3). The experimental results that support this will be described later.

  “Pseudo force sensation” refers to the perception that a force that seems to move in the translational direction (for example, traction force) works even though the object (vibrator) does not actually translate. means. “Roughness of vibration” is a perceived granularity of asymmetric vibration, and the longer the period of vibration waveform and the larger the amplitude, the more perceived as rough vibration. The “pseudo force sense strength” means the perceived “pseudo force sense” clarity. “Asymmetric vibration” is a vibration for making a pseudo force sense perceived. A time-series waveform of vibration in a “predetermined direction” and a time-series waveform of vibration in the opposite direction to the “predetermined direction” exhibit an asymmetric vibration. means.

  Based on the above viewpoint, in the embodiment, the “pseudo force sense” that is an estimated value of the strength of the “pseudo force sense” perceived based on the “asymmetric vibration” of the “vibrator” that causes the “pseudo force sense” to be perceived. `` Perception estimation value '', `` vibration roughness perception estimation value '' that is an estimation value of the roughness of vibration perceived based on the `` asymmetric vibration '', `` biology information '' including an attribute of `` biology '', and Evaluate how likely the "pseudo force sensation" is as a force sensation given by the "living organism" (like the "living organism") using the "pseudo force sense perception estimation value" and "vibration roughness perception estimation value" On the basis of the predetermined model (hereinafter referred to as “evaluation model”), it is estimated how likely the “pseudo force sensation” is as a force sense given from the “living organism”. As described above, the “virtual perception” of how likely the “pseudo force sensation” perceived based on “asymmetric vibration” is as a force sensation given from “living organism” is based on the “asymmetric vibration”. And the roughness of the vibration perceived based on the “asymmetric vibration”. Therefore, by using an “evaluation model” that evaluates this “animity perception” by means of “pseudo force sense perception estimate” and “vibration roughness perception estimate”, “pseudo force sense” is given from the “living organism”. It is possible to estimate how likely it is as a sense of force to be applied. Thereby, it is possible to select a “pseudo force sensation” that is likely to be a force sensation given from the “living organism”. If "pseudo force sense" can be selected, then if a control method for realizing it is determined, it becomes a control method that perceives "pseudo force sense" that appropriately simulates the force sense given by "living creature" . The “biological information” including the attribute of “biological” may include, for example, information indicating the type of “biological” (for example, fish), may include information indicating the size of “biological”, It may include a “living” state (for example, a state where a fish is pulling a fishing line).

  A “pseudo force sense perception estimate” that is an estimate of the strength of the “pseudo force sense” perceived based on the “asymmetric vibration” of the “vibrator” that causes the “pseudo force sense” to be perceived, and the “asymmetric vibration” "Vibration roughness perception estimated value" that is an estimated value of vibration roughness perceived based on "biological information" including the type of "living organism" and the "pseudo force sense" Based on a predetermined model (hereinafter referred to as an “estimated model”) for estimating the size of the “living organism” based on the “pseudo force sense perception estimated value” and the “vibration roughness perception estimated value”, the “pseudo force sense” You may estimate the magnitude | size of the said "organism" recognized by. As described above, the size of the “living body” recognized by the “pseudo force sense” perceived based on the “asymmetric vibration” is the strength of the “pseudo force sense” perceived based on the “asymmetric vibration”. And the roughness of vibration perceived based on “asymmetric vibration”. Therefore, by using an “estimation model” that estimates this magnitude using “pseudo force sensation estimation value” and “vibration roughness perception estimation value”, the “living body” recognized by the “pseudo force sensation” The size can be estimated. This makes it possible to set a “pseudo force sensation” for recognizing a desired size of the “living organism”. If such a “pseudo force sensation” can be selected, then a control method for realizing it can be determined, and then a “pseudo force sensation” that appropriately simulates a force sense given by a “living body” of a desired size. It becomes a control method to perceive "". The “biological information” including the type of “living” may include, for example, information indicating the type of “living” (for example, fish), or the state of “living” (for example, the fish is pulling a fishing line). State). However, when estimating the size of the “living organism” recognized by the “pseudo force sense”, the “biological information” used for the processing does not include information indicating the size of the “living organism”.

  As described above, it is possible to efficiently set a control method for simulating the force sense given from the “living organism” by the “pseudo force sense” based on the “asymmetric vibration” of the vibrator.

  The “evaluation model” is, for example, (1) the strength of the “pseudo force sense” perceived based on the “asymmetric vibration” of each condition, and (2) the perception based on the “asymmetric vibration”. And (3) an index indicating how likely the “pseudo force sensation” perceived based on the “asymmetric vibration” is as a force sensation given from the “living organism” It should be set based on the indicator. For example, “pseudo force sensation estimate”, “vibration roughness perception estimate” and “biological information” are input, and “pseudo force sensation estimate” and “vibration roughness perception estimate” A map (for example, a function) that outputs a value indicating how likely the “sense” is as a force sense given from “organism” having the attribute represented by the “biological information” may be used as an “evaluation model”.

  The “estimated model” is, for example, (1) the strength of the “pseudo force sense” perceived based on the “asymmetric vibration” of each condition, and (2) perceived based on the “asymmetric vibration”. (3) An index indicating how large the “living body” is to be recognized by the “pseudo force sensation” is acquired and set based on these indices. . For example, “pseudo force sensation estimate”, “vibration roughness perception estimate” and “biological information” are input, and “pseudo force sensation estimate” and “vibration roughness perception estimate” A mapping (for example, a function) that outputs a value representing the size of the “living organism” of the type represented by “biological information” that is recognized by the “sense” may be used as the “estimated model”.

  “Drive information” including drive signal information of “vibrator” is input, and an estimated value of “vibration waveform” of “vibrator” driven based on the “drive signal” is obtained. From the estimated value, a “force sense perception estimated value” and a “vibration roughness perceived estimated value” may be obtained. Thus, from the “drive information”, how likely the “pseudo force sensation” corresponding to the “pseudo force sense” is likely to be given from the “living body” and / or the “living body” recognized by the “pseudo force sensation”. "Can be estimated. “Drive information” may be input, and “vibration roughness perception estimated value” and “force sense perception estimated value” may be obtained directly from the “drive signal”. “Drive signal information” means information for specifying a drive signal (information for specifying a time waveform of the drive signal). For example, the “second period” in which the drive signal becomes “first value” and the “second period” (the “second value” differs from the “first value”) and the “second period”. (Second time period) "and" second period "are either" first period "or" second period "," interval time "," first period ", and" second period " ”, A value representing the ratio of“ first value ”or“ second value ”, a difference or ratio between the amplitude of“ first value ”and the amplitude of“ second value ”, etc. Information ”. For example, the “first period” in which the amplitude of the drive signal is equal to or greater than the “first threshold” and the “second period” in which the amplitude is equal to or less than the “second threshold” (the “second threshold” is smaller than the “first threshold”). Is a signal that alternately repeats “interval time” that is either “first period” or “second period”, a value that represents a ratio between “first period” and “second period”, “ The difference between the maximum value of the amplitude in the “first period” and the minimum value of the amplitude in the “second period” may be used as the “drive signal information”. The “drive information” may further include “vibrator” information. Accordingly, how likely the “pseudo force sensation” perceived by the “asymmetric vibration” of various “vibrators” is likely to be a force sensation given from the “living organism” and / or the “pseudo force sensation”. The size of the “living organism” recognized by can be estimated. The “vibrator” information means information for specifying the “vibrator”. An example of the “vibrator” information may be an identifier such as a model number or a product number of the “vibrator”, or may be a parameter that specifies a physical property of the “vibrator”.

[First Embodiment]
A first embodiment of the present invention will be described with reference to the drawings.
<Configuration>
As illustrated in FIG. 1, the estimation apparatus 1 of this embodiment includes an input unit 11, a vibration waveform estimation unit 12, a force sense perception estimation unit 13, a vibration roughness perception estimation unit 14, a biological likelihood perception estimation unit 15, A size perception estimation unit 16 and an output unit 17 are included. The estimation apparatus 1 is, for example, a general-purpose or dedicated computer including a processor (hardware processor) such as a CPU (central processing unit) and a memory such as random-access memory (RAM) and read-only memory (ROM). An apparatus configured by executing a predetermined program. The computer may include a single processor and memory, or may include a plurality of processors and memory. This program may be installed in a computer, or may be recorded in a ROM or the like in advance. In addition, some or all of the processing units are configured using an electronic circuit that realizes a processing function without using a program, instead of an electronic circuit (circuitry) that realizes a functional configuration by reading a program like a CPU. May be. In addition, an electronic circuit constituting one device may include a plurality of CPUs.

<Processing>
Next, the processing of this embodiment will be described.
<< Processing at Input Unit 11 (Step S11) >>
The input unit 11 receives input of drive information D and biological information C. The drive information D includes “drive signal information” for driving a vibrator (for example, an actuator) that performs asymmetric vibration. The biological information C is as described above, but the biological information C in this embodiment does not include information on the size of the “organism”. The drive information D may further include “vibrator information (for example, information for specifying an actuator)”. Details of this will be described later. The drive information D is sent to the vibration waveform estimation unit 12, and the biological information C is sent to the biological likelihood perception estimation unit 15 and the biological size perception estimation unit 16.

<< Processing in Vibration Waveform Estimation Unit 12 (Step S12) >>
The vibration waveform estimation unit 12 receives the drive information D, obtains and outputs an estimated value of the vibration waveform W of the vibrator driven based on the drive signal specified by the drive information D. The vibration waveform W of the vibrator is a time waveform representing a change in position (position of any part of the vibrator) or a change in force (force caused by any part of the vibrator) due to vibration of the vibrator. A specific example of processing of the vibration waveform estimation unit 12 will be described later. The obtained vibration waveform W is sent to the force sense perception estimation unit 13 and the vibration roughness perception estimation unit 14.

<< Processing in Force Perception Estimating Unit 13 (Step S13) >>
The force sensation perception estimation unit 13 receives the vibration waveform W and obtains a pseudo force sensation perception estimation value P that is an estimation value of the strength of the pseudo force sensation perceived based on the asymmetric vibration of the vibrator in step S12. Output. The “pseudo force sense strength” depends on the “physical quantity” corresponding to the vibration waveform W. Examples of “physical quantities” are the position at each time of the vibrator represented by the vibration waveform W, the force applied to the outside by the vibrator at each time, any time differential value thereof, or any combination thereof. is there. The pseudo force sense perception estimated value P can be obtained based on a time average of values corresponding to the “physical quantity”. For example, the pseudo force sensation perception estimation value P can be obtained based on a time average of values including the upper part of the “physical quantity” with respect to the “positive threshold value” and the lower part of the “physical quantity” with respect to the “negative threshold value”. This is because the pseudo force sense perception estimated value P depends on the asymmetry of the asymmetric vibration caused by the vibrator. However, one direction of the asymmetric vibration direction of the vibrator is “positive” and the opposite direction is “negative”. For example, the function value for S _m , _{sm_norm} , σ of the function G (S _m , _{sm_norm} , σ) can be a pseudo force sense perception estimated value P. However, S _m is a time average of the “physical quantity”, s _{m_norm} is a predetermined normalization parameter, and σ is a saturation control parameter. The function G (S _m , s _{m — norm} , σ) _outputs when the time average S _m increases in the negative direction, the output saturates or converges to the “first predetermined value”, and when the time average S _m increases in the positive direction. Is a monotonically increasing function that saturates or converges to a “second predetermined value” that is greater than the “first predetermined value”. The saturation control parameter σ is a parameter that determines the rate of change until the saturation or convergence. An example of the “first predetermined value” is 0, and an example of the “second predetermined value” is 1. For example, a function value of the following equation can be set as the pseudo force sense perception estimated value P.

Alternatively, the following function value may be set as the pseudo force sense perception estimated value P.

  The absolute values of “positive threshold” and “negative threshold” may be the same or different. At least one of “positive threshold”, “negative threshold”, and “saturation control parameter”, for example, “estimation value of clarity” is adapted to the subjective evaluation result by the subject holding “vibration part” (fitting) It is determined to do. That is, at least of a change in position and a change in force due to vibration of the vibration part, obtained by measuring the vibration part of the simulated force sense generator in a state of being held by a person or imitating a state of being held by a person In order to obtain the estimated value of the intelligibility based on the physical quantity so that the estimated value of the intelligibility of the pseudo force sense obtained based on the physical quantity corresponding to the one matches the subjective evaluation result by the subject holding the vibration part Get “parameters”. The “parameter” may be all of “positive threshold”, “negative threshold”, and “saturation control parameter”, or may be a part thereof. Thereby, “clarity” simulating the result obtained based on the subjective evaluation can be automatically estimated. The obtained pseudo force sensation perception estimation value P is sent to the organism likelihood perception estimation unit 15 and the organism size perception estimation unit 16.

<< Processing in Vibration Roughness Perception Estimation Unit 14 (Step S14) >>
The vibration roughness perception estimation unit 14 receives the vibration waveform W, obtains and outputs a vibration roughness perception estimation value R that is an estimation value of the vibration roughness perceived based on the asymmetric vibration of the vibrator in step S12. To do. As described above, the asymmetric vibration of the vibrator corresponding to the vibration waveform W is perceived as coarse vibration as the period of the vibration waveform W is longer and the amplitude is larger. Therefore, for example, the vibration roughness perception estimation unit 14 obtains and outputs the linear sum R = ω _T T + ω _A A of the period T and the amplitude A of the vibration waveform W as the vibration roughness perception estimation value R. However, ω _T and ω _A are positive weighting factors determined in advance by a prior psychological experiment or the like. These values also differ depending on whether the vibration waveform W is a time waveform representing a change in position or a time waveform representing a change in force. In addition, another function value that monotonously increases with respect to the period T and the amplitude A may be used as the vibration roughness perception estimated value R. The obtained vibration roughness perception estimation value R is sent to the biological likelihood perception estimation unit 15 and the biological size perception estimation unit 16.

«Processing in organism likelihood perception estimation unit 15 (step S15)»
The biological likelihood perception estimation unit 15 receives the pseudo force sensation perception estimation value P, the vibration roughness perception estimation value R, and the biological information C, and applies them to the above-described “evaluation model” to perform pseudo force sensation perception estimation. An estimated value of how likely the pseudo force sense corresponding to the value P and the vibration roughness perception estimated value R is as a force sense given from the organism represented by the biological information C (the “living” likelihood of the pseudo force sense). Obtain and output an estimated biological likelihood value L. A specific example of the “evaluation model” will be described later. The biological likelihood estimation value L is sent to the output unit 17.

<< Processing in the organism size perception estimation unit 16 (step S16) >>
The organism size perception estimation unit 16 receives the pseudo force sense perception estimation value P, the vibration roughness perception estimation value R, and the biological information C, and applies them to the above-described “estimation model” to obtain the pseudo force sense perception estimation value. A size estimation value S that is an estimated value (estimated value of magnitude) of a living thing (the living thing represented by the living body information C) recognized by the pseudo force sense corresponding to P and vibration roughness perception estimated value R Output. A specific example of the “estimated model” will be described later. The size estimation value S is sent to the output unit 17.

<< Processing in Output Unit 17 (Step S17) >>
The output unit 17 outputs the input biological likelihood estimated value L and size estimated value S. The processing from step S11 to S16 is repeated for different driving information D and / or biological information C, or the processing from step S11 to S16 is performed in parallel for a plurality of driving information D and / or biological information C. Also good. In such a case, the biological likelihood estimated value L and the size estimated value S respectively corresponding to the plurality of driving information D and / or biological information C are output.

<Features of this embodiment>
As described above, the biological likelihood estimated value L and the size estimated value S corresponding to the driving information D and biological information C input to the input unit 11 are obtained. Thereby, the design guideline of the control method for simulating the force sense given from the living thing represented by the biological information C by the pseudo force sense based on the asymmetric vibration of the vibrator is obtained. As a result, it is possible to efficiently set a control method for perceiving a pseudo force sense that simulates a force sense given by a living thing.

  In addition, the biological likelihood estimation value L and the size estimation value S depend on the pseudo force sense perception estimation value P, the vibration roughness perception estimation value R, and the biological information C. Further, a pseudo force sense perception estimate value P, a vibration roughness perception estimate value R, and a mapping that obtains a biological likelihood estimate value L from the biological information C, a pseudo force sense perception estimate value P, a vibration roughness perception estimate value R, and The mapping for obtaining the size estimate S from the biological information C does not depend on the vibrator (FIG. 3). Therefore, if these mappings can be obtained for a certain transducer, even if different transducers are used, a control method for simulating by a pseudo force sense based on the asymmetrical vibration of the transducer is set using these mappings. it can. For example, when trying to reproduce a “living” -like sensation corresponding to the biological information C by using a pseudo force sensation by a new vibrator, how is the vibration waveform generated by supplying a specific drive signal to the vibrator? If it is possible to know whether the pseudo force sensation perception estimate P and the vibration roughness perception estimate R can be obtained, the above mapping corresponding to the biological information C already obtained (FIG. 3) is used. It is possible to predict the “living creature” -like sensation corresponding to the biological information C and the impression of the size of the “living creature” that can be generated by each vibration waveform. Therefore, it is not necessary to adjust the parameters of the drive signal by trial and error while actually driving the vibrator and confirming these feelings and impressions. Further, the pseudo force sense perception estimation value P and the vibration roughness perception estimation value R depend on the vibration waveform W. Therefore, even if the vibrators are different, if the vibration waveform W and the biological information C are the same, the biological likelihood estimated value L and the size estimated value S are the same. Therefore, a pseudo force sense that simulates a force sense from an organism specified by the biological information C for a certain vibrator (a false force sense that is likely to be a force sense from the organism and / or the organism of a desired size) If a vibration waveform W corresponding to a pseudo force sensation that perceives the force sensation) can be specified, it is necessary to obtain the vibration waveform W corresponding to the pseudo force sensation that simulates the force sensation again with another vibrator. Absent. That is, since the appropriateness of the vibration waveform W does not depend on the vibrator, if the appropriate vibration waveform W has already been obtained, only how the vibration waveform W can be realized with the identifier to be used. Just design. For example, it is assumed that a vibration waveform W (I) for realizing a pseudo force sense that perceives pulling by fish A, B, and C with the vibrator I has already been obtained. The vibration waveform W (I) for realizing the pseudo force sensation for perceiving pulling by the same fish A, B, and C with the other vibrator II is the vibration waveform W for realizing this with the vibrator I. Same as (I). Therefore, a force sense from a desired organism can be simulated by the vibrator II only by designing a control method for realizing the vibration waveform W (I) by the vibrator II. On the other hand, when a force sense from a desired organism is simulated by trial and error as in the prior art, all trial and error must be repeated from the beginning for each transducer. Also in this respect, the method of this embodiment is more efficient than the conventional method.

<Specific Example of First Embodiment>
The specific example of each element of 1st Embodiment is shown below.
≪Specific examples of vibrators≫
A specific example of the vibrator will be shown. The vibrator 120 illustrated in FIGS. 4A and 4B includes, for example, a support part 121, springs 122 and 123 (elastic body), a coil 124, a moving member 125 that is a permanent magnet, and a grip part 126 (case). The gripping part 126 and the support part 121 of this embodiment are both hollow members having a shape in which both open ends of a cylinder (for example, a cylinder or a polygonal cylinder) are closed. However, the support portion 121 is smaller than the grip portion 126 and has a size that can be accommodated in the grip portion 126. The gripping part 126 and the support part 121 are made of synthetic resin such as ABS resin, for example. The springs 122 and 123 are, for example, a helical spring or a leaf spring made of metal or the like. The elastic coefficients (spring constants) of the springs 122 and 123 are preferably the same, but may be different from each other. The motion member 125 is, for example, a cylindrical permanent magnet, and one end 125a side in the longitudinal direction is an N pole, and the other end 125b side is an S pole. The coil 124 is, for example, a continuous enamel wire, and includes a first winding portion 124a and a second winding portion 124b.

  The movement member 125 is accommodated in the support portion 121 and is supported so as to be slidable in the longitudinal direction. Although details of such a support mechanism are not shown in the drawings, for example, a straight rail along the longitudinal direction is provided on the inner wall surface of the support portion 121, and a rail support portion that slidably supports the rail on the side surface of the motion member 125. Is provided. One end of the spring 122 is fixed to the inner wall surface 121 a on one end side in the longitudinal direction of the support portion 121 (that is, one end of the spring 122 is supported by the support portion 121), and the other end of the spring 122 is the end of the motion member 125. It is fixed to the portion 125a (that is, the end portion 125a of the moving member 125 is supported by the other end of the spring 122). Further, one end of a spring 123 is fixed to the inner wall surface 121b on the other end side in the longitudinal direction of the support portion 121 (that is, one end of the spring 123 is supported by the support portion 121), and the other end of the spring 123 is an exercise member. 125 is fixed to an end portion 125b of 125 (that is, the end portion 125b of the moving member 125 is supported by the other end of the spring 123).

A coil 124 is wound around the outer peripheral side of the support portion 121. However, the end portion 125a side of the moving member 125 (N pole side), and the first winding portion 124a is wound in the _{A 1} direction (direction toward the back to the front), the end portion 125b side (S-pole side in), a second winding portion 124b is wound in the a ₁ direction in the opposite direction to the direction of B ₁ direction (direction toward the front to the back). That is, when viewed from the end 125a side (N pole side) of the moving member 125, the first winding portion 124a is wound clockwise and the second winding portion 124b is wound counterclockwise. Further, in a state where the motion member 125 is stopped and the elastic forces from the springs 122 and 123 are balanced, the end portion 125a side (N pole side) of the motion member 125 is disposed in the region of the first winding portion 124a, and the end portion It is desirable that the 125b side (S pole side) be disposed in the region of the second winding portion 124b.

  The support portion 121, the springs 122 and 123, the coil 124, and the motion member 125 arranged and configured as described above are accommodated in the grip portion 126, and the support portion 121 is fixed inside the grip portion 126. That is, the relative position of the grip part 126 with respect to the support part 121 is fixed. However, the longitudinal direction of the grip portion 126 coincides with the longitudinal direction of the support portion 121 and the longitudinal direction of the motion member 125.

The coil 124 applies a force corresponding to the flowed current to the motion member 125, whereby the motion member 125 is periodically asymmetrically moved with respect to the support portion 121 (asymmetric in the axial direction with respect to the support portion 121. Periodic translational reciprocating motion). That, S when an electric current is applied to the _{A 1} direction _{(B 1} direction) to the coil 124, by reaction of the Lorentz force is described in Fleming's left-hand rule, the _{C 1} direction (the movement member 125 N pole to the motion member 125 A force in the direction toward the pole (right direction) is applied (FIG. 4A). Conversely, when an electric current is applied to the _{A 2} direction _{(B 2} direction) to the coil 124, the motion member 125 _{C 2} direction (direction toward the S pole of the moving member 125 to the N pole: leftward) force is applied ( FIG. 4B). However, _{A 2} direction is opposite the direction of _{A 1} direction. By these operations, kinetic energy is given to the system including the moving member 125 and the springs 122 and 123. Thereby, the position and acceleration (the position and acceleration in the axial direction with reference to the support portion 121) of the motion member 125 with respect to the grip portion 126 can be changed.

The configuration of the vibrator 120 is not limited to that shown in FIGS. 4A and 4B. For example, the first winding portion 124a of the coil 124 to the end portion 125a side of the moving member 125 are wound on _{A 1} direction, it may be a configuration that is not the coil 124 is wound around the end portion 125b side. Conversely, the second winding portion 124b of the coil 124 to the end portion 125b side is wound around the _{B 1} direction, may be configured to coil 124 is not wound around the end portion 125a side of the movement member 125. Alternatively, the first winding portion 124a and the second winding portion 124b may be different coils. That is, the 1st winding part 124a and the 2nd winding part 124b may not be electrically connected, and the structure to which a mutually different electric signal is given may be sufficient.

The drive signal for driving the vibrator 120 may be a voltage-controlled signal or a current-controlled signal. This driving signal, a desired direction (FIGS. 4A and 4B: _{C 1} direction or _{C 2} direction) motion member 125 the direction of the current applied to the acceleration of the period T1 t1 [ms] applied to the coil 124, otherwise The period T2 of t2 [ms] is periodically repeated. The drive signal illustrated in FIG. 6 is voltage-controlled, and has a rectangular waveform that repeats a period T1 in which a voltage with an amplitude A [V] is applied to the coil 124 and a period T2 in which no voltage is applied to the coil 124. .

Here, the ratio (reversal ratio) between the period T1 in which current flows in a predetermined direction and the other period T2 is biased to one of the periods. In other words, a periodic current having a ratio of the period T1 occupying one period different from the ratio of the period T2 occupying the period is passed through the coil 124. Thus, perform a periodic asymmetric oscillatory motion member 125 along the C ₁ direction and C ₂ direction with respect to the grip portion 126, the user grasping the grip portion 126 is a pseudo force C ₁ direction or C ₂ Direction Perceive sense. Specifically, the user perceives a pseudo force sense in a direction in which a short and strong force is applied. In the case of the drive signal illustrated in FIG. 6, t1 <t2, and a pseudo force sense is perceived in the direction of the force applied from the grasping portion 126 to the user's skin by the current flowing through the coil 124 in the period T1.

≪System modeling≫
As illustrated in FIG. 5A, a state is assumed in which the outer side of the grip portion 126 of the vibrator 120 described above is gripped by the user's finger 100. 5A illustrates a state in which the side surface side of gripping portion 126 (outside of the side surface of transducer 120) is gripped, the end surface side of gripping portion 126 (outside of the longitudinal end surface of transducer 120) is illustrated. It may be assumed that is held.

As illustrated in FIG. 5B, this state is represented by a mechanical property model Md of the vibrator 120 and a skin mechanical property model Ms of the finger 100 in contact with (holding) the grasping unit 126. The mechanical characteristic model Md of the vibrator 120 of this example includes mass points M ₁ and M _{2 having} masses m ₁ and m ₂ , a spring having an elastic coefficient k ₂ connecting them, and a viscosity coefficient (damping coefficient) b ₂ . dampers, and represent the dynamics characteristics of comprising periodic Lorentz force f acting on the mass point M _1, M ₂ according to the drive voltage Vout (drive signal). In the case of the configuration illustrated in FIGS. 4A and 4B, the Lorentz force f can be expressed as f = i ₂ BL ′. However, i ₂ [A] is a current flowing through the coil 124, B is a magnetic flux density by the coil 124, and L ′ [m] is a length of the coil 124 perpendicular to the magnetic flux direction penetrating the support portion 121 in the longitudinal direction. That's it. The position of the mass point _{M 1} with respect to the reference origin _{O 1} is expressed as _{x 1,} the position of the mass point _{M 2} with respect to the reference origin _{O 2} expressed as _{x 2.} However, the reference origins O ₁ and O ₂ are points at which relative positions with respect to the center of gravity of the finger 100 are fixed. Further, for both x ₁ and x ₂ , the right direction in FIG. 5A from the center of gravity of the finger 100 is positive, and the left direction in FIG. 5A from the center of gravity of the finger 100 is negative. Here, it is assumed that the center of gravity of the finger does not move with respect to the outside world. The time differential value of x ₁ and x ₂ , that is, the speed

Is written. However, in the present specification, these may be expressed as x ^· ₁ , x ^· ₂ due to restrictions on the description. A skin dynamic characteristic model Ms illustrated in FIG. 5B represents characteristics of a dynamic system including a spring having an elastic coefficient k ₁ and a damper having a viscosity coefficient b ₁ between the mass point M ₁ and the center of gravity of the finger 100. Here, the force (for example, stress) applied to the skin of the finger 100 in contact with the grip portion 126 is expressed as fs.

Expressions of the mechanical characteristic model Md of the vibrator 120 and the mechanical characteristic model Ms of the skin are expressed as follows, for example.
≪Example of mechanical property model Md≫

The dynamic system parameters m ₁ , m ₂ , k ₂ , and b ₂ of the mechanical characteristic model Md may be obtained from the design value or measurement value of the vibrator 120 or may be obtained by a method such as system identification.
≪Example of mechanical property model Ms≫
fs = k ₁ · x ₁ + b ₁ · x ^· ₁ (2)
The dynamic system parameters k ₁ and b ₁ of the dynamic characteristic model Ms may be obtained by a method such as system identification or may be a typical value.

The unknown time series parameters in the above equations (1) and (2) are f, x ₁ , x ^· ₁ , x ₂ , x ^· ₂ and fs. By erasing ₁ , x ^· ₁ , x ₂ , x ^· ₂ , the relational expression fs = F (f) between f and fs is obtained. Here, in the example of FIGS. 4A and 4B, it can be expressed as f = i ₂ BL ′. B and L ′ are obtained by a method such as design value of the vibrator 120 or system identification. From fs = F (i ₂ BL ′) = F ₂ (i ₂ ), the relational expression fs = F ₂ (i ₂ ) (3A)
Is obtained. When the resistance value of the coil 124 is R and the voltage applied to the coil 124 is Vout, i ₂ = Vout when the back electromotive force due to the relative movement of the moving member 125 (permanent magnet) and the coil 124 is sufficiently small. / R, the relational expression fs = F ₂ (Vout / R) = F _R (Vout) (4A)
Is obtained.

<< Example of electrical circuit characteristic model Me >>
It is assumed that the control voltage Vin is input to the electric circuit of the transfer function H (S), the output of the transfer function H (S) becomes the drive voltage Vout (drive signal), and the vibrator 120 is driven based on the drive voltage Vout. May be. S represents a Laplace transform variable. In this case, the following relationship is established between the control voltage Vin and the drive voltage Vout.
Vout = H (S) · Vin (5)
However, H (S) = S · T / (1 + S · T), S is a variable of Laplace transform, and T is a time constant of the filter. These characteristics may be obtained from design values or may be obtained by a method such as system identification.

<< Specific Example of Processing at the Input Unit 11 (Step S11) >>
As described above, the input unit 11 receives input of the drive information D and the biological information C. 5A and 5B, the drive information D represents the drive voltage Vout (drive signal) itself (for example, the period T1 and / or T2 [ms] and the amplitude A [V]) as “drive signal information”. Alternatively, the control voltage Vin corresponding to the drive voltage Vout may be represented. Further, the drive information D may include the parameters m ₁ , m ₂ , k ₂ , and b ₂ of the dynamic characteristic model Md in FIG. 5B as “vibrator information”, and the transfer function H of the electric circuit characteristic model Me. (S) may be included. The drive information D may include the model number of the vibrator 120 as “vibrator information”, and each parameter may be associated with the model number. The parameters k ₁ and b ₁ of the skin dynamic characteristic model Ms may be constants or values that can be set to arbitrary values.

  The biological information C may include information (for example, the type of fish) for specifying the “type of living thing”, or information for specifying the “state of the living thing” (for example, whether the fish is pulling a fishing line) Or not).

<< Specific Example of Processing (Step S12) in Vibration Waveform Estimation Unit 12 >>
As described above, the vibration waveform estimation unit 12 obtains and outputs an estimated value of the vibration waveform W of the vibrator driven based on the drive signal specified by the drive information D. 5A and 5B, the vibration waveform estimation unit 12 may use fs obtained by substituting the drive voltage Vout (drive signal) into the equation (4A) as the vibration waveform W, or i corresponding to the drive voltage Vout. Fs obtained by substituting ₂ into equation (3A) may be used as the vibration waveform W, or fs obtained by applying the control voltage Vin to equations (5) and (4A) may be used as the vibration waveform W. x ₁ corresponding to fs may be the vibration waveform W.

<< Specific Examples of Processing in Life Likelihood Perception Estimation Unit 15 (Step S15) and Processing in Life Size Perception Estimation Unit 16 (Step S16) >>
As described above, the biological likelihood perception estimation unit 15 receives the pseudo force sensation perception estimation value P, the vibration roughness perception estimation value R, and the biological information C, and applies them to the “evaluation model” described above. A likelihood estimate L is obtained and output. The organism size perception estimation unit 16 receives the pseudo force sensation perception estimation value P, the vibration roughness perception estimation value R, and the biological information C, and applies them to the aforementioned “estimation model” to obtain the size estimation value S. Output. The “evaluation model” and the “estimation model” are generated based on the following psychological experiment, for example.

Experimental procedure:
The amplitude (Amplitude A [V]) of the drive signal for the vibrator 120 and the length t2 [ms] of the drive signal period T2 (interval time: Interval) are changed within the following ranges (FIG. 6). However, the length t1 of the period T1 is constant (for example, t1 = 5 [ms]). Subjects (10 subjects aged 22-41 years old participated) grip the vibrator 120 driven by the drive signal and recognize from the vibration of the vibrator 120 "Q1. Strength of pseudo force sense""Q2. Vibration. "Roughness", "Q3. Reality of fish pulling sensation" and "Q4. Fish size recalled from vibration" are subjectively evaluated. However, these subjective evaluations are performed by comparison with the results recognized from the vibrator 120 driven by the drive signals of A = 2.5 [V], t1 = 12 [ms], and t2 = 12 [ms]. . Note that “Q3. Reality of fish pulling sensation” corresponds to “how likely is the pseudo force sense as a force sense given by a living organism”, and “Q4. Fish size recalled from vibration” is “pseudo” Corresponds to the size of the organism recognized by the sense of force. Subjective evaluation was answered with numerical values of 1 to 6 as follows.
Study parameter range:
Drive signal amplitude A = 2.4, 2.5, 2.6 [V]
Length t2 [ms] of drive signal period T2:
t2 = 7, 12, 17, 22, 27 [ms]
Subjective evaluation: Questions and options Q1. Pseudo force sense strength (1: pretty weak, 2: weak, 3: slightly weak, 4: slightly strong, 5: strong, 6: pretty strong)
Q2. Roughness of vibration (1: fairly fine, 2: fine, 3: slightly fine, 4: slightly rough, 5: rough, 6: fairly rough)
Q3. Reality of fish pulling sensation:
(1: not clear, 2: not present, 3: not present, 4: slightly present, 5: present, 6: clearly present)
Q4. Fish size recalled from vibration:
(1: quite small, 2: small, 3: slightly small, 4: slightly large, 5: large, 6: quite large)

Experimental result:
FIG. 7A to FIG. 7D show subjective evaluations for each of the above-described periods T2 and amplitudes A. FIG. 7A shows an average subjective evaluation value (average value of subjective evaluation) of “Q1. Simulated force sense strength” for each period T2 and amplitude A, and FIG. 7B shows “Q2. 7C represents the average subjective evaluation value of “Q3. Reality of fish pulling sensation” for each period T2 and amplitude A, and FIG. 7D represents the average subjective evaluation value of “Roughness”. It represents the average subjective evaluation value of “Q4. From these results, it can be seen that by adjusting the time t2 of the period T2, the “pseudo force sense strength” and the “roughness of vibration” can be adjusted simultaneously, and the “fish pulling sensation reality” can be increased (see FIG. 7A to FIG. 7C, near t2 = 23 [ms]). For example, by keeping t1 constant and setting t2 larger than the time t2 ′ at which the continuous pseudo force sense is perceived (eg, t2 = t2 ′ to t2 ′ + 10 [ms]), It is possible to perceive a vibration sensation while maintaining the sensation, and to perceive a fish pulling sensation (force sensation from a living organism). It can also be seen that by adjusting the time t2 and the amplitude A of the period T2, “the size of the fish recalled from the vibration” can be adjusted. For example, by increasing both the time t2 and the amplitude A, a large fish pulling sensation (a pulling sensation from a large creature) can be perceived.

  As shown in FIG. 8A and FIG. 8B, the average subjective evaluation values of “fish pulling sensation reality” and “fish size recalled from vibration” are both “pseudo force sense strength” and “vibration intensity”. This can be explained by a linear sum of average subjective evaluation values of “roughness”. That is, the average subjective rating value S3 of “fish pulling sensibility” can be approximated by S3 = ω31 * S1 + ω32 * S2 + b3 (FIG. 8A), and the average subjective rating value S4 of “fish size recalled from vibration” is S4 = It can be approximated by ω41 * S1 + ω42 * S2 + b4. However, ω31, ω32, ω41, ω42 are predetermined weighting factors, b3, b4 are intercepts, S1 is an average subjective rating value of “pseudo force sense strength”, and S2 is “vibration intensity”. It is the average subjective rating of “Roughness”. The determination coefficient of S3 is 0.8, and the determination coefficient of S4 is 0.99.

  As described above, the linear sum L = ω31 * P + ω32 * R + b3 of the pseudo force sense perception estimated value P and the vibration roughness perceived estimated value R can be used as an “evaluation model” for “fish pulling sensation reality”. Similarly, the linear sum S = ω41 * P + ω42 * R + b4 of the pseudo force sense perception estimated value P and the vibration roughness perceived estimated value R can be used as an “estimated model” for “the size of the fish recalled from vibration”. Similarly, “Q3” and “Q4” for each piece of information represented by other “biological information” (for example, the type and state of a living organism) If a subjective evaluation result of “the size of a creature recognized by force sense”) is acquired and ω31, ω32, ω41, ω42, b3, b4 are set for each piece of information represented by each “biological information”, An “evaluation model” and an “estimation model” corresponding to the information represented by “information” are obtained. In addition, L = ω31 * P + ω32 * R may be set as the “evaluation model”, and S = ω41 * P + ω42 * R may be set as the “estimation model”.

  As described above, an “evaluation model” and an “estimation model” are set in advance for each piece of information represented by “biological information”. In step S15, the “evaluation model” corresponding to the information represented by the input biological information C is selected, and the pseudo force sensation perception estimation value P and the vibration roughness perception estimation value R are substituted into it, thereby estimating the biological likelihood estimation value. Get L and output. In step S15, the “estimation model” corresponding to the information represented by the input biological information C is selected, and the size estimation value S is obtained by substituting the pseudo force sense perception estimation value P and the vibration roughness perception estimation value R into it. Output.

≪Specific example of interface≫
FIG. 9 shows a specific example of the interface 1000 of the estimation apparatus.
In the interface 1000 illustrated in FIG. 9, the type of fish is displayed on the display unit 1100 as the type of “living organism”, and a plurality of types of vibrators are displayed on the display unit 1200. As an input at the input unit 11, by clicking an image of a specific fish 1110 among the fishes displayed on the display unit 1100, a mark 1010 is displayed at that position, and biological information C corresponding to the fish 1110 is input. The In addition, by clicking on an image of a specific transducer 1210 among the transducers displayed on the display unit 1200 as an input at the input unit 11, a mark 1020 is displayed at that position and corresponds to the transducer 1210. A drive signal D is input. In this example, t2 (interval) and A (Amplitude) within a predetermined range are automatically input as the drive signal D. On the display unit 1300, as the output from the output unit 17, each biological likelihood estimated value L corresponding to the set of t2 and A is displayed as a graph. Similarly, each size estimation value S corresponding to the set of t2 and A is displayed as a graph on the display unit 1400 as an output from the output unit 17.

[Second Embodiment]
The vibration waveform estimation unit 12 may be omitted, and the pseudo force sense perception estimation value P and the vibration roughness perception estimation value R may be obtained directly from the input drive information D. As illustrated in FIG. 10, the estimation apparatus 2 of the present embodiment includes an input unit 11, a force sense perception estimation unit 23, a vibration roughness perception estimation unit 24, a biological likelihood perception estimation unit 15, a biological size perception estimation unit 16, And an output unit 17. The difference from the first embodiment is only the haptic perception estimation unit 23 and the vibration roughness perception estimation unit 24. Hereinafter, only the processes of the force sense perception estimation unit 23 and the vibration roughness perception estimation unit 24 will be described. Since other configurations are the same as those of the first embodiment, the same reference numerals are used and description thereof is omitted.

<< Processing in the Force Perception Estimation Unit 23 (Step S23) >>
The haptic perception estimation unit 23 receives the driving information D, obtains and outputs a pseudo haptic perception estimation value P. For example, after obtaining the vibration waveform W from the drive information D as in step S12, the force sense perception estimation unit 23 obtains and outputs a pseudo force sense perception estimation value P as in step S13. Alternatively, a map for obtaining the pseudo force sensation perception estimation value P from the drive information D is set in advance, and the force sensation perception estimation unit 23 applies this mapping to the input drive information D to generate the pseudo force sensation perception estimation value. P may be obtained and output. Such a mapping may be generated from the processing contents of steps S12 and S13, or may be generated based on a psychological experiment result.

<< Processing in Vibration Roughness Perception Estimation Unit 24 (Step S24) >>
The vibration roughness perception estimation unit 24 receives the drive information D as input, and obtains and outputs a vibration roughness perception estimation value R. For example, after obtaining the vibration waveform W from the drive information D as in step S12, the vibration roughness perception estimation unit 24 obtains and outputs the vibration roughness perception estimated value R as in step S14. Alternatively, a map for obtaining the vibration roughness perception estimation value R from the drive information D is set in advance, and the vibration roughness perception estimation unit 24 applies this mapping to the input drive information D to estimate the vibration roughness perception. The value R may be obtained and output. Such a mapping may be generated from the processing contents of steps S12 and S14, or may be generated based on a psychological experiment result.

[Other variations]
The present invention is not limited to the embodiment described above. For example, each part of the estimation device may not be present in the same casing, and each part of the estimation device may be distributed on the network and information may be transferred via the network. Alternatively, the estimation device may include only one of the organism likelihood perception estimation unit 15 and the organism size perception estimation unit 16, and only one of the organism likelihood estimation value L and the size estimation value S may be generated. The vibrator that perceives the pseudo force sense is not limited to FIG. 4A and FIG. 4B, and for example, the vibration described in Reference 4 (Japanese Patent No. 4551448) and Reference 5 (Japanese Patent Laid-Open No. 2015-226388). Processing assuming a child or the like may be performed. “Living organisms” are not limited to animals, and may be plants that move by themselves, such as carnivorous plants, or plants that move by external forces such as wind.

  The various processes described above are not only executed in time series according to the description, but may also be executed in parallel or individually as required by the processing capability of the apparatus that executes the processes. Needless to say, other modifications are possible without departing from the spirit of the present invention.

  When the above configuration is realized by a computer, the processing contents of the functions that each device should have are described by a program. By executing this program on a computer, the above processing functions are realized on the computer. The program describing the processing contents can be recorded on a computer-readable recording medium. An example of a computer-readable recording medium is a non-transitory recording medium. Examples of such a recording medium are a magnetic recording device, an optical disk, a magneto-optical recording medium, a semiconductor memory, and the like.

  This program is distributed, for example, by selling, transferring, or lending a portable recording medium such as a DVD or CD-ROM in which the program is recorded. Furthermore, the program may be distributed by storing the program in a storage device of the server computer and transferring the program from the server computer to another computer via a network.

  A computer that executes such a program first stores, for example, a program recorded on a portable recording medium or a program transferred from a server computer in its own storage device. When executing the process, the computer reads a program stored in its own storage device, and executes a process according to the read program. As another execution form of the program, the computer may read the program directly from the portable recording medium and execute processing according to the program, and each time the program is transferred from the server computer to the computer. The processing according to the received program may be executed sequentially. The above-described processing may be executed by a so-called ASP (Application Service Provider) type service that realizes a processing function only by an execution instruction and result acquisition without transferring a program from the server computer to the computer. Good.

  In the above embodiment, the processing functions of the apparatus are realized by executing a predetermined program on a computer. However, at least a part of these processing functions may be realized by hardware.

  For example, when trying to apply a vibrator that perceives a pseudo force sense to a game or an attraction, a demand for expressing an interaction with a virtual creature is expected. The present invention provides a design guideline for a method for controlling a vibrator in such an application, for example.

1, 2 Estimator

Claims (8)

  A pseudo force sense perception estimated value that is an estimate of the strength of the pseudo force sense perceived based on the asymmetric vibration of the vibrator that perceives a pseudo force sense, and a roughness of the vibration perceived based on the asymmetric vibration. The estimated value of vibration roughness perception, the biological information including the attributes of the organism, and the likelihood that the pseudo force sensation is given as a force sensation from the organism are the pseudo force sensation perception estimation value and the vibration. An estimation device that estimates how likely the pseudo force sensation is as a force sensation given from the organism based on a predetermined model evaluated by a roughness perception estimation value.   A pseudo force sense perception estimated value that is an estimate of the strength of the pseudo force sense perceived based on the asymmetric vibration of the vibrator that perceives a pseudo force sense, and a roughness of the vibration perceived based on the asymmetric vibration. The estimated vibration roughness perception value, the biological information including the type of organism, the size of the organism recognized by the simulated force sense, the simulated force sense perception estimation value and the vibration roughness perception estimation value. An estimation device that estimates the size of the living thing recognized by the pseudo force sense based on a predetermined model estimated by. An estimation device according to claim 1 or 2, wherein
From drive information including information on the drive signal of the vibrator, obtain an estimated value of the vibration waveform of the vibrator driven based on the drive signal,
An estimation apparatus that obtains the haptic perception estimation value and the vibration roughness perception estimation value from the estimation value of the vibration waveform. The estimation device according to any one of claims 1 to 3,
An estimation device that obtains the force sense perception estimated value and the vibration roughness perception estimated value from drive information including information on a drive signal of the vibrator.   A pseudo force sense perception estimated value that is an estimate of the strength of the pseudo force sense perceived based on the asymmetric vibration of the vibrator that perceives a pseudo force sense, and a roughness of the vibration perceived based on the asymmetric vibration. The estimated value of vibration roughness perception, the biological information including the attributes of the organism, and the likelihood that the pseudo force sensation is given as a force sensation from the organism are the pseudo force sensation perception estimation value and the vibration. An estimation method for estimating how likely the pseudo force sensation is as a force sensation given from the organism based on a predetermined model evaluated by a roughness perception estimation value.   A pseudo force sense perception estimated value that is an estimate of the strength of the pseudo force sense perceived based on the asymmetric vibration of the vibrator that perceives a pseudo force sense, and a roughness of the vibration perceived based on the asymmetric vibration. The estimated vibration roughness perception value, the biological information including the type of organism, the size of the organism recognized by the simulated force sense, the simulated force sense perception estimation value and the vibration roughness perception estimation value. An estimation method for estimating a size of the living organism recognized by the pseudo force sense based on a predetermined model estimated by   A program for causing a computer to function as the estimation apparatus according to claim 1.   A program for causing a computer to function as the estimation apparatus according to claim 2.