JP2006288665A - Shaking feeling suppressing apparatus, current command value input device and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To suppress shaking feeling when getting on a vehicle by electric stimulation by providing a technique for suppressing the shaking feeling in a shaking environment in the technique of controlling an electric stimulator. <P>SOLUTION: In a shaking feeling suppressing apparatus, a current command value input device 200 detects pitching and rolling of a ship body and shaking of a user by inclination sensors 51-1 and 51-2. With output inclination 51-1a of the sensor 51-5 as a source signal, a current command signal 10 is generated. According to the current command signal 10, the electric stimulator 100 generates current between electrodes to give acceleration feeling in a direction of canceling shaking of the ship to the user. Thus, the shaking feeling sensed by the user is suppressed. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an apparatus for suppressing motion sickness (motion sickness) by electrical stimulation.

  In addition to drugs and the like, there are several known techniques for suppressing motion sickness that develops symptoms such as nausea while on a ship or other vehicle, so-called motion sickness. For example, in Patent Document 1, an electroacupuncture device is incorporated in a unit such as a wristwatch, and the user's nausea can be suppressed by applying electrical stimulation to nerves around the wrist while the unit is worn on the arm. It is described as being proven.

On the other hand, as described in Patent Document 2, a technique for giving an acceleration feeling by using electrical stimulation to a vestibular sensation is known. According to this technique, when an electrode is pasted near the back of the user's ears and a weak direct current of about several mA is applied between the electrodes to stimulate the vestibular nerve, this stimulation is transmitted to the brainstem to achieve an equilibrium sensation. Acting, it is possible to give the user a sense of acceleration in the direction from the electrode serving as the cathode toward the electrode serving as the anode. The magnitude of this acceleration sensation is positively correlated with the amount of current, and the user's sense of acceleration can be controlled without being perceived by the user by applying electrical stimulation with a current below the perception threshold.
Japanese translation of PCT publication No. 2004-51375 JP 2004-254790 A

  In general, when spatial sense is formed by integrating the senses of balance, vision, muscles, and other deep sensations in the brainstem, if you are placed in a turbulent environment, the above senses will become inconsistent and disrupt the integration process. As a result, the autonomic nervous system is considered to be one of the causes of motion sickness.

  However, the technique described in Patent Document 1 takes symptomatic measures against autonomic nervousness for motion sickness, and does not eliminate or suppress the cause of motion sickness, that is, the inconsistency of each sensation itself. Therefore, the effect seems to be limited. Also in Patent Document 2, there is no specific disclosure about suppressing the cause of the above-mentioned spatial sensation motion sickness.

  The present invention has been made in consideration of the above-described circumstances, and an object thereof is to provide a technique for suppressing a feeling of shaking in a shaking environment in a technique for controlling an electrical stimulation device.

  The present invention has been made to solve the above-described problems, and the invention according to claim 1 is fixed to a first inclination sensor mounted on a user and a vehicle on which the user rides. A second tilt sensor; a pair of electrodes attached to the left and right vestibular nerves near the user's head; and current generating means for generating a current flowing between the pair of electrodes according to a current command value; Current command value generating means for receiving the first and second tilt detection signals from the first and second tilt sensors and generating a current command value in a direction opposite to the tilt detection signals; The value generation means includes a difference calculation means for obtaining a difference between the first and second inclination detection signals, and the first and second inclinations using one of the first and second inclination detection signals as a reference signal. Previously to suppress the difference of detection signal Is upset feeling suppressing apparatus characterized by comprising a correction means for generating the current command value by correcting the reference signal.

The invention according to claim 2 is the motion sensation suppressing device according to claim 1, wherein the difference calculation means obtains a phase difference and an amplitude difference between the first and second tilt detection signals,
The correction means corrects the phase and amplitude of the reference signal so as to suppress the phase difference and the amplitude difference.

  According to a third aspect of the present invention, in the motion sensation suppressing device according to the first or second aspect, information indicating periodicity is extracted from the first and second tilt detection signals, and the first and second Signal estimation means for generating first and second inclination prediction signals by predicting two inclination detection signals, and the first and second inclination prediction signals are obtained from the first and second inclination detection signals. Instead, the fluctuation commanding apparatus is characterized in that it is input to the current command value generating means.

  According to a fourth aspect of the invention, in the motion sensation suppressing device according to the third aspect of the invention, the signal predicting means measures an average value of the phase and amplitude of the first and second inclination detection signals. An apparatus for suppressing a feeling of movement is characterized by using information indicating the periodicity.

  According to a fifth aspect of the present invention, in the motion sensation suppressing device according to any one of the first to fourth aspects, the current generating means is an upper limit of a current change rate that is preset as a value corresponding to a perception threshold. A motion sensation suppressing device comprising: storage means for storing a value; and current limiting means for limiting the change in the current within a range not exceeding an upper limit value of the current change rate.

  According to a sixth aspect of the present invention, there is provided a first inclination sensor that is worn by a user, a second inclination sensor that is fixed to a vehicle on which the user rides, and the first and second inclination sensors. The first and second inclination detection signals from the input signal are input to the electrical stimulation device for stimulating the user's vestibular nerve, and a current command value for instructing a current in a direction opposite to the inclination detection signal is generated. Current command value generating means, and the current command value generating means includes a difference calculating means for obtaining a difference between the first and second inclination detection signals, and any of the first and second inclination detection signals. A current command value input device comprising: a correction unit configured to generate the current command value by correcting the reference signal so as to suppress a difference between the tilt detection signals using either one as a reference signal.

  According to a seventh aspect of the present invention, there is provided a process of taking a first tilt detection signal from a first tilt sensor worn by a user, and a second tilt sensor fixed to a vehicle on which the user rides. A step of acquiring a second inclination detection signal; a step of obtaining a difference between the first and second inclination detection signals; and a current command value for instructing a current for stimulating the user's vestibular nerve, wherein the inclination detection is performed. In setting a signal for instructing a current in a direction opposite to the signal, one of the first and second tilt detection signals is used as a reference signal so as to suppress a difference between the first and second tilt detection signals. A program for causing a computer to execute a process of generating the current command value by correcting the reference signal.

  According to an eighth aspect of the present invention, there is provided a process of fetching a first tilt detection signal from a first tilt sensor worn by a user, and a second tilt sensor fixed to a vehicle on which the user rides. A process for taking in a second inclination detection signal, a process for obtaining a phase difference and an amplitude difference between the first and second inclination detection signals, and a current command value for instructing a current for stimulating the vestibular nerve of the user. In setting a signal for instructing a current in a direction opposite to the tilt detection signal, one of the first and second tilt detection signals is used as a reference signal so as to suppress the phase difference and amplitude difference of the tilt detection signal. A program for causing the computer to execute the process of generating the current command value by correcting the reference signal.

  The invention according to claim 9 causes the computer to execute a process of generating a current according to a current command value between a pair of electrodes mounted on the left and right vestibular nerves near the user's head. The program according to item 7 or 8.

  According to the present invention, there is an advantage that it is possible to suppress the fluctuation of gravity perceived by the passenger by canceling out the feeling of acceleration when the body of the passenger is tilted by the movement of the vehicle by the electrical stimulation. Therefore, it is possible to suppress the disturbance of spatial knowledge due to the continued perception of shaking, or the contradiction between the visual shaking and the shaking of other perceptions in the cabin. The effect can be expected.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the motion sensation suppressing device in this embodiment. This motion sensation suppressing device is composed of a current stimulating device 100 and a current command value input device 200.

  First, the electrical stimulation apparatus 100 will be described with reference to FIG. FIG. 2 is a block diagram illustrating a configuration of the electrical stimulation device. As shown in the figure, the electrical stimulation device 100 performs a pre-processing on the current command value 10 to control the current change amount, and controls the current change amount 20 to the electrode 44 according to the output voltage of the current change amount control unit 20. It is comprised from the constant current generation and control part 40 which outputs. The current command value 10 is an analog voltage signal that indicates the current value of the stimulation target, and is input from the current command value input device 200 (see FIG. 1). The current change amount control unit 20 suppresses the current change amount per unit time to a certain level or less. The configuration of the current change amount control unit 20 illustrated in FIG. 1 is an example, and is not limited to this configuration.

  In the current change amount control unit 20, the constant value output unit 21 outputs a constant reference voltage 21a. The reference voltage 21a is a signal indicating a threshold value v that defines the upper limit of the current change amount. Since the current perception threshold is positively correlated with the amount of change in current per unit time, this threshold v is used to keep the maximum amount of current change below the perception threshold. This threshold value v is set in advance as a value that appropriately secures a margin that takes into account variations due to individual differences in the perceptual threshold and a margin that takes into account a control error based on, for example, the average value of the perception threshold of the current change amount. .

  The gain adjuster 22 has a variable resistor for giving an amplification factor, and adjusts and outputs the level of the reference voltage 21a with the given amplification factor. The switch 23 performs an opening / closing operation in accordance with the switch control signal, and supplies / disconnects the output voltage of the gain adjuster 22 to the integrator 24. When the switch control signal is “1”, the switch 23 is closed and “0” is closed. Sometimes open. The integrator 24 integrates and outputs the input voltage. The comparator 26 receives the current command value 10 and the integral output 24a as inputs, compares and determines the magnitude of both, and outputs a comparison result signal (a binary voltage signal “0” or “1”) 26a. The comparison result signal 26a takes a value of “1” when the integral output 24a is smaller than the current command value 10, and takes a value of “0” otherwise, and is used as the switch control signal. The gain adjuster 25 has a variable resistor for giving an amplification factor, and adjusts and outputs the level of the input voltage with the given amplification factor. The output voltage of the gain adjuster 25 is input to the constant current generation / control unit 40 as a current command value 20 a output from the current change amount control unit 20.

  With the configuration as described above, the current change amount control unit 20 controls the change amount of the current command value 10 to generate the current command value 20a. FIG. 3 is a graph showing the current command value 20a output by the current change amount control unit 20. 2 and 3, it is assumed that the input of the current command value 10 is started at time t0. Prior to time t0, the comparison result signal 26a output from the comparator 26 is “0”, and the switch 23 is open. For this reason, the integral output 24a is 0V, and the current command value 20a output from the gain adjuster 25 is also 0V.

  When the input of the current command value 10 starts at time t0, the comparison result signal 26a is rotated forward from “0” to “1”, the switch 23 is closed, and the output of the gain adjuster 22 is input to the integrator 24. . Since the output of the gain adjuster 22 is a constant voltage, the integral output 24a rises linearly, and the current command value 20a rises linearly as well. As a result, the current command value 20a rises linearly with an inclination defined by the threshold value v.

  When the voltage of the current command value 10 at this time is Vi and the time when the current command value 20a reaches the voltage Vi is t1, the comparison result signal 26a is inverted from “1” to “0” at time t1, and the switch 23 Is opened, the input of the integrator 24 becomes 0V, and the integration output 24a falls with a predetermined time constant. As a result, when the integration output 24a falls below the current command value 10, the comparison result signal 26a is again rotated forward to “1” and the integration output 24a rises. As a result, the integral output 24a is controlled to be constant with the current command value 10 as a steady value, and the current command value 20a is controlled to a constant voltage.

  By operating the variable resistor of the gain adjuster 22, the user can finely adjust the input to the integrator 24 and finely adjust the rising slope of the current command value 20a. Further, by operating the variable resistor of the gain adjuster 25, the ratio between the current command value 10 and the current command value 20a can be finely adjusted.

  Returning to FIG. 2, in the constant current generation / control unit 40, the power supply 41 supplies current to the electrode 44. The current detector 42 detects the amount of current flowing from the power source 41 to the current regulator 43 and outputs a voltage proportional to the detected amount of current to the comparator 45. The comparator 45 receives the voltage output from the current detector 42 and the current command value 20a as inputs, compares and determines the magnitude of both, and outputs a comparison result signal. The comparison result signal 45a assumes a value of “1” when the integral output 45a is smaller than the current command value 10, and takes a value of “0” otherwise. The electrode 44 includes a pair of electrodes 44a and 44b attached to the surface of the user's skin. The current regulator 43 is configured such that one of the pair of electrodes 44 (44a, 44b) is an anode and the other is a cathode in response to a current direction command signal (not shown) input from the current command input device 200 (see FIG. 1). The current is adjusted between the electrodes by using the comparison result signal 45a of the comparator 45 as a control signal.

  The constant current generation / control unit 40 causes the current to flow between the electrodes 44 (44a, 44b) in accordance with a command from the current command input device 200 (see FIG. 1). That is, the amount of current supplied from the power source 41 to the electrode 44 is detected, and the current controller 43 performs constant current control using the current command value 20a as a target value by a control loop of the current detector 42 and the comparator 45. Here, the part where the pair of electrodes 44 is attached is the part behind the user's ears, that is, the vicinity of the vestibular nerve. By stimulating the user's vestibular nerve with the current flowing between the electrodes 44a and 44b, the user can be given a sense of acceleration. As described above, the direction of acceleration is the direction of current, that is, the direction from the anode to the negative electrode, and the magnitude of the acceleration feeling correlates with the amount of current.

  Returning to FIG. 1, in the current command value input device 200, the inclination sensors 51-1 and 51-2 are constituted by two-axis or three-axis acceleration sensors, and the detected gravity on each axis of the acceleration sensor is set as the inclination. It is a sensor to detect. The inclination sensor 51-1 is fixedly installed on a ship on which the user is boarded, and the inclination sensor 51-2 is attached to the body of the user. The average value measuring units 52-1 and 52-2 measure the fluctuation components of the inclination detection signals 51-1a and 51-2a of the inclination sensors 51-1 and 51-2, and perform an averaging process on the phase and the amplitude, respectively. Is an average value. This makes it possible to control and excel in real time by capturing and predicting the sway of the hull whose main component is periodic motion, and is advantageous in appropriately controlling the input start time of the current command value 10 and the like. The averaged tilt detection signals are denoted by reference numerals 52-1a and 52-2a to distinguish them from others. The phase comparison device 53 compares the phases of the inclination detection signals 52-1a and 52-2a and calculates the phase difference 53a between them. The time delay unit 54 performs phase correction using the tilt detection signal 52-1a as a reference signal (original signal), and delay-corrects the phase of the tilt detection signal 52-1a based on the obtained phase difference 53a. Assuming that the current command value 10 is generated using the slope detection signal 54a delayed by the time delay unit 54, the phase comparison unit 53 and the time delay unit 54 cause the slope detection signals 52-1a, 52 to be generated. A phase-locked control loop (phase lock loop) for the fluctuation component of -2a is formed.

  The amplitude comparison unit 55 calculates the amplitude difference 55a by comparing the amplitudes of the fluctuation components of the inclination detection signals 52-1a and 52-2a. The gain adjuster 56 corrects the amplitude of the tilt detection signal 54a, and the amplitude correction amount (gain) is determined according to the amplitude difference 55a. The output of the gain adjuster 56 is input to the electrical stimulation unit 100 as the current command value 10. Assuming that the output of the gain adjuster 56 is used as the current command value 10, a control loop for converging the difference between the inclination detection signals 52-1a and 52-2a by the amplitude comparison unit 55 and the gain adjuster 56 is provided. Will be composed.

  The operation of this feeling control apparatus will be described with reference to FIGS. Here, an example is shown in which a user who gets on a ship uses it for the purpose of suppressing the shaking of the hull. First, the user installs (fixes) the inclination sensor 51-1 on the hull side, and attaches the inclination sensor 51-2 to the person's body. Furthermore, the electrodes 44a and 44b are attached to the rear part of both ears. In this state, the user starts the vibration suppression device.

  In the sway feeling suppression device, the current command value input device 200 detects the sway of the hull and the sway of the user by the tilt sensors 51-1 and 51-2, and outputs the output tilt 51-1 a of the tilt sensor 51-1 as the original signal. Current command value 10 is generated. The electrical stimulation device 100 generates a current between the electrodes 44a and 44b in accordance with the current command value 10, and gives the user a sense of acceleration in a direction that cancels the shaking of the hull. This suppresses the sense of motion perceived by the user. Here, it is known that a seasickness state (visual motion sickness) is caused in an environment where visual information and balance information etc. contradict each other, and it is said that such a contradiction is related to the cause of motion sickness. . In the state where there is no visual sway in the ship, and sway is recognized only in the sense of balance and deep sensation, the visual information and the sense of balance information are inconsistent. Such contradiction can be alleviated and an effect of suppressing the occurrence of motion sickness can be expected.

  In addition, although there are individual differences in the speed and degree of response to the hull movement, according to the present apparatus, in generating the current command value 10, the difference between the hull movement and the user's body movement (phase difference 53a · amplitude). By controlling the difference 55a) and constructing a control loop that converges the fluctuation difference, control corresponding to the response characteristics of the individual is performed. Further, the current command value can be generated using the inclination detection signal 52-2a as a reference signal (original signal). In this case, correction is performed to advance the phase of the inclination detection signal 52-2a and increase the amplitude. However, since the signal predicted by the averaging process is a processing target, the real-time property is not hindered. .

  Further, the gain adjuster 22 can adjust the setting of the maximum change amount of the current between the electrodes 44a and 44b, and the gain adjuster 25 can adjust the setting of the maximum current value. Thus, the user can adjust and change the setting corresponding to the current perception threshold of the user. Moreover, the electrical stimulation device 100 can be linearly controlled by the current change amount control unit 20 within a range that does not exceed the maximum current change amount at the time of the current change, so that the range of the electrical stimulation below the perceptual threshold is maintained. However, it is possible to perceive a large acceleration feeling, and there is an advantage that the inclination angle range of the hull that can cancel the acceleration feeling is expanded.

  The embodiment of the present invention has been described in detail above, but the specific configuration is not limited to this embodiment, and includes design changes and the like within a scope not departing from the gist of the present invention. For example, according to the present invention, it is possible to attach a tilt sensor and a camera to a user, and generate a current command value based on a tilt detection signal or an image by them. In other words, it is possible to acquire the shaking component of the hull by acquiring the shaking component of the video by the camera by image analysis processing and superimposing the shaking component of the user's body and the shaking component of the video. Using these shaking components, the shaking control operation can be performed with the apparatus of the above embodiment. According to this embodiment, it is not necessary to install a tilt sensor on the hull side, and the present invention can be implemented simply by mounting the sensor or electrode on the user's body, so that the convenience of movement during use is improved. There are advantages.

  Further, in the above-described embodiment, the control is performed to suppress the contradiction between vision and sense of balance. For example, the second tilt detection signal (body side) is the first tilt detection signal (hull side). If the ratio is low, the user is consciously or unconsciously swaying the body so that the user adapts to the sway of the hull and cancels the sway. Then, an algorithm may be incorporated that suppresses the onset of motion sickness by allowing the user to accumulate experience in forming spatial knowledge in the motion environment.

  Moreover, what comprises the 3rd electrode for affixing on a user's forehead as an electric stimulator can also be used. In this case, it is possible to give the user a sense of acceleration in the front-rear direction by passing a current between each electrode attached to the left and right ears and the third electrode. The current command value input device detects rolling and pitching of the hull, and in response to these, the current command value in the left-right direction (between both ears) and the front-rear direction (between both ears and forehead) What is necessary is just to take the form which produces | generates an electric current command value. According to this embodiment, there is an advantage that both rolling and pitching can be canceled regardless of whether the direction in which the user is facing is the ship side direction or the bow-stern direction.

  Further, the present invention is not limited to the use for suppressing the feeling of shaking on a ship, and can be carried out for general vehicles such as buses and other passenger cars and airplanes by appropriately adjusting various parameters such as a stimulation frequency. Furthermore, the present invention can also be applied to control of a virtual game machine that allows a user to perceive an experience in a virtual space by appropriately giving input to the user's vision, hearing, balance, and the like. In this case, it is possible to suppress the onset of visual motion sickness and the like, and to improve the sense of reality.

  Further, the current change amount control unit 20 and the like have been described with reference to a configuration example using a hardware circuit. However, the apparatus according to the present invention can take a form in which an equivalent function is realized using a computer as appropriate, Which form of software is taken is a matter that can be arbitrarily selected in the design. When a computer is used, the program incorporated in the computer can be recorded and distributed on a computer-readable recording medium, and may be distributed in a form that realizes a part of the functions. For example, it may be distributed in the form of application software using basic functions provided by an OS (operation system). Further, it is possible to adopt a form in which a predetermined function can be realized in combination with a program of an existing system already recorded in a computer system, that is, a so-called differential program.

  The computer-readable recording medium includes a storage unit such as a hard disk and other nonvolatile storage devices in addition to a storage medium such as a portable magnetic disk and a magneto-optical disk. Furthermore, the form provided from another computer system via arbitrary transmission media, such as the internet and other networks, may be sufficient. In this case, the “computer-readable recording medium” includes a medium that holds a program for a certain period of time in a transmission medium such as a volatile memory inside a computer system serving as a host or client on a network.

  In addition, a system using a plurality of processors can be used as the computer, and more specifically, at least a part of the processors can be constructed by a hardware circuit such as an FPGA (Field Programmable Gate Array). The distribution of circuit program information to be incorporated into the FPGA can take various forms in the same manner as the distribution of the program.

  INDUSTRIAL APPLICABILITY The present invention is used for a control technique of an electrical stimulation apparatus that gives a user a feeling of acceleration by giving a non-perceptive stimulus to the vestibular nerve by a current below a perceptual threshold.

It is a block diagram which shows the structure of the sense of movement suppression apparatus in embodiment of this invention. 1 is a block diagram showing a configuration of an electrical stimulation device 100. FIG. It is a graph which shows the electric current command value 20a which the electric current variation control part 20 outputs.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Current command value output part 20 ... Current change amount control part 21 ... Constant value output parts 22, 25 ... Gain adjuster 23 ... Switch 24 ... Integrator 26 ... Comparator 27 ... User stimulus adjustment knob 30 ... Pre-processing filter part DESCRIPTION OF SYMBOLS 31 ... Low pass filter 32 ... Gain regulator 40 ... Constant current generation and control part 41 ... Power supply 42 ... Current detector 43 ... Current regulator 44 (44a, 44b) ... Electrode 45 ... Comparator 51-1, 51-2 ... Inclination sensors 52-1, 52-2 ... average value measurement unit 53 ... phase comparison unit 54 ... time delay unit 55 ... amplitude comparison unit 100 ... electrical stimulation device 200 ... current command value input device

Claims (9)

A pair of first inclination sensors worn by the user, a second inclination sensor fixed to the vehicle on which the user rides, and a pair of left and right vestibular nerve adjacent parts of the user's head The first and second tilt detection signals from the first and second tilt sensors as inputs, and current detection means for generating a current flowing between the pair of electrodes according to a current command value. Current command value generating means for generating a current command value in a direction opposite to the signal,
The current command value generation means uses a difference calculation means for obtaining a difference between the first and second inclination detection signals, and one of the first and second inclination detection signals as a reference signal. And a correction means for generating the current command value by correcting the reference signal so as to suppress the difference between the two inclination detection signals. The difference calculation means calculates a phase difference and an amplitude difference between the first and second inclination detection signals,
The motion sensation suppressing device according to claim 1, wherein the correction unit corrects the phase and amplitude of the reference signal so as to suppress the phase difference and the amplitude difference.   Signal predicting means for generating first and second inclination prediction signals by extracting information indicating periodicity from the first and second inclination detection signals and predicting the first and second inclination detection signals. The first and second slope prediction signals are input to the current command value generation means instead of the first and second slope detection signals. Sway suppression device.   The motion sensation according to claim 3, wherein the signal predicting unit measures the average value of the phase and amplitude of the first and second tilt detection signals to obtain information indicating the periodicity. Suppression device.   The current generating means stores storage means for storing an upper limit value of a current change rate set in advance as a value corresponding to a perceptual threshold, and a current for limiting the change of the current within a range not exceeding the upper limit value of the current change rate. The motion sensation suppressing device according to any one of claims 1 to 4, further comprising a limiting unit. A first inclination sensor mounted on a user; a second inclination sensor fixed to a vehicle on which the user rides; and first and second inclination detections by the first and second inclination sensors. A current command value generating means for generating a current command value for commanding a current in a direction opposite to the tilt detection signal, which is an input signal to an electrical stimulation device that stimulates the user's vestibular nerve using the signal as an input And
The current command value generation means includes a difference calculation means for obtaining a difference between the first and second inclination detection signals, and one of the first and second inclination detection signals as a reference signal. A current command value input device comprising: correction means for generating the current command value by correcting the reference signal so as to suppress the difference. Capturing a first tilt detection signal from a first tilt sensor worn by a user;
Capturing a second tilt detection signal from a second tilt sensor fixed to the vehicle on which the user is boarded;
Obtaining a difference between the first and second tilt detection signals;
In setting a current command value for commanding a current for stimulating the user's vestibular nerve and commanding a current in a direction opposite to the tilt detection signal, any of the first and second tilt detection signals is set. A step of generating the current command value by correcting the reference signal so as to suppress a difference between the first and second tilt detection signals using either one as a reference signal;
A program characterized by causing a computer to execute. Capturing a first tilt detection signal from a first tilt sensor worn by a user;
Capturing a second tilt detection signal from a second tilt sensor fixed to the vehicle on which the user is boarded;
Obtaining a phase difference and an amplitude difference between the first and second tilt detection signals;
In setting a current command value for commanding a current for stimulating the user's vestibular nerve and commanding a current in a direction opposite to the tilt detection signal, any of the first and second tilt detection signals is set. A process of generating the current command value by correcting the reference signal so as to suppress the phase difference and the amplitude difference of the tilt detection signal using either one as a reference signal;
A program characterized by causing a computer to execute. 9. The program according to claim 7, which causes a computer to execute a process of generating a current according to a current command value between a pair of electrodes mounted on the left and right vestibular nerves near a user's head. .

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