JP2021065872A - Vibration control device, vibration control program and vibration control method - Google Patents

Abstract

To generate a vibration with a high-frequency band that a human is more likely to perceive.SOLUTION: A vibration control device includes: a frequency removal control unit 111 for removing a first signal component having a frequency equal to or lower than a predetermined frequency; a temporal division control unit 112 for dividing a second signal component other than the first signal component removed by the frequency removal control unit 111 for every prescribed time; and an energy control unit 113 for converting a waveform of the second signal component while maintaining energy of the second signal component for every prescribed time divided by the temporal division control unit 112.SELECTED DRAWING: Figure 1

Description

The techniques described herein relate to vibration control devices, vibration control programs and vibration control methods.

In recent years, vibration feedback has become more sophisticated in fields such as smartphones, game machines, virtual reality (VR) devices, and robot maneuvering support. Specifically, vibration devices have been developed that can define realistic tactile sensations by reproducing vibrations in a wide frequency band.

Hideto Takenouchi, Nan Cao, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro, the 2017 IEEE / SICE International Symposium on System Integration "Extracting Haptic Information from High-Frequency Vibratory signals Measured on a Remote Robot to Transmit Collisions with Environments" pp. 968- 973, December 2017 Nan Cao, Hikaru Nagano, Masashi Konyo, Shogo Okamoto, Satoshi Tadokoro "A Pilot Study: Introduction of Time-Domain Segment to Intensity-Based Perception Model of High-Frequency Vibration", June 2018 Nan Cao, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro, the 27th IEEE International Symposium on Robot and Human Interactive Communication "Sound reduction of vibration feedback by perceptually similar modulation", August 2018 Sliman Bensmaia, Mark Hollins, Jeffrey Yau, Attention, "Vibrotactile intensity and frequency information in the Pacinian system: A psychophysical model", Perception, & Psychophysics, Vol. 67, No. 5, pp 828-84, July 2005

However, for example, when trying to present a vibration having a high frequency of 300 Hz or higher, a device problem, a perceptual sensitivity problem, and an auditory noise problem may occur. Since the amplitude of the vibrator becomes small in the high frequency band, it is not easy to generate vibrations in both the high frequency band and the low frequency band in a device using resonance. Further, since humans have a weak perceptual sensitivity for vibration frequencies having a peak of 200 to 300 Hz and higher, a sufficient amplitude is required to perceive vibration. Further, when the frequency exceeds about 300 Hz, vibration can be heard as a sound. For example, if an attempt is made to generate vibration in combination with music or movie content, it may be recognized as noise that interferes with the sound source of the music or movie content.

In one aspect, the techniques described herein are aimed at producing vibrations in the high frequency band that are perceptible to humans.

In one aspect, a vibration control device that controls vibration by a vibration device with a signal, a frequency removal control unit that removes a first signal component having a frequency equal to or lower than a predetermined frequency from the signal, and a frequency removal control unit. A time division control unit that divides a second signal component in the signal other than the first signal component removed by the time division control unit at predetermined time intervals, and a time division control unit that divides the second signal component in the signal by the time division control unit. It includes an energy control unit that converts the waveform of the second signal component while maintaining the energy of the second signal component.

As one aspect, it is possible to generate vibrations in a high frequency band that are easily perceived by humans.

It is a block diagram which shows typically the configuration example of the vibration generation system as an embodiment. It is a graph which shows the waveform of the signal before and after the conversion by the vibration control device shown in FIG. It is a graph which shows the discriminative possibility of vibration by human. It is a sample waveform of the vibration used in the forced three-choice discrimination experiment carried out to judge the discrimination possibility shown in the graph shown in FIG. It is a graph which shows the waveform of the signal before and after the conversion for each segment by the vibration control device shown in FIG. It is a graph which _{shows the} amplitude threshold T f used for the calculation of the correction energy. It is a graph which shows the exponential threshold value b used in the calculation of the correction energy. It is a figure explaining the use of the window function in the vibration control apparatus shown in FIG. It is a graph explaining the synthesis example of a low frequency and a high frequency in the vibration control apparatus shown in FIG. It is a graph which shows the specific example of the waveform of the signal before and after conversion by the vibration control apparatus shown in FIG. It is a block diagram explaining the generation process of the vibration waveform in the vibration control apparatus shown in FIG. It is a block diagram explaining the details of the energy control process shown in FIG. It is a block diagram explaining the details of the energy synthesis process shown in FIG. It is a block diagram explaining the details of the generation process of the corrected vibration waveform shown in FIG. It is a block diagram which shows the structural example of DAC when a plurality of vibration devices are used in the vibration generation system shown in FIG. It is a block diagram which shows the structural example of DAC in the case of using a single vibration device in the vibration generation system shown in FIG.

Hereinafter, embodiments will be described with reference to the drawings. However, the embodiments shown below are merely examples, and there is no intention of excluding the application of various modifications and techniques not specified in the embodiments. That is, the present embodiment can be variously modified and implemented within a range that does not deviate from the purpose.

Further, each figure does not mean that it includes only the components shown in the figure, but may include other components. Hereinafter, in the drawings, the parts having the same reference numerals indicate the same or similar parts unless otherwise specified.

[A] Embodiment FIG. 1 is a block diagram schematically showing a configuration example of a vibration generation system 100 as an embodiment.

The vibration generation system 100 includes a vibration control device 1, a digital analog converter (DAC) 2, a high frequency vibration 31, a low frequency vibration 32, an earphone (L) 41, and an earphone (R) 42.

The DAC 2 may be referred to as Universal Serial Bus (USB) audio, and converts a digital signal input from the vibration control device 1 into an analog signal. Then, the DAC2 outputs the converted analog signal to the high frequency vibration 31, the low frequency vibration 32, the earphone (L) 41, and the earphone (R) 42. An amplifier (in other words, an amplifier) (not shown) for driving the high frequency vibration 31, the low frequency vibration 32, the earphone (L) 41, and the earphone (R) 42 is provided in the subsequent stage of the DAC2. You can.

The high-frequency vibration 31 is an example of the second vibration device, and generates vibration due to a signal component having a predetermined frequency or higher. The low frequency vibration 32 is an example of the first vibration device, and generates vibration due to a signal component having a frequency lower than a predetermined frequency. The low frequency vibration 32 may not be provided in the vibration generation system 100. In that case, vibration due to a signal component less than a predetermined frequency may be generated from the high frequency vibration 31, or vibration due to a signal component less than a predetermined frequency may not be generated in the vibration generation system 100.

The predetermined frequency may be a frequency in the range of 80 Hz to 400 Hz.

The earphone (L) 41 generates a sound input to the human left ear among stereo sound sources. The earphone (R) 42 generates a sound input to the human left ear among stereo sound sources. The earphone (L) 41 and the earphone (R) 42 may not be provided in the vibration generation system 100. Further, the earphone (L) 41 and the earphone (R) 42 may be shared to generate a monaural sound source. Further, in the vibration generation system 100, a speaker may be provided instead of the earphone (L) 41 and the earphone (R) 42, or a sound source having three or more channels may be output.

The vibration control device 1 includes a central processing unit (CPU) 11, a memory 12, and a storage device 13.

The vibration control device 1 in the example of the present embodiment may perform tactile signal conversion of acoustic information such as music, movies, and voice. When the frequency exceeds about 300 to 400 Hz, vibration becomes audible as sound, resulting in noise. For this reason, in the vibration experience device for music, moving images, etc. in the prior art, a low-pass filter is often applied at about several hundred Hz to cut the high frequency band. On the other hand, in the vibration control device 1 in the example of the present embodiment, the waveform in the high frequency band is converted and output.

Further, the vibration control device 1 in the example of the present embodiment may modulate the high frequency vibration generated when the robot comes into contact with an object into a frequency band that can be perceived by humans. By transmitting the vibration when the robot comes into contact with the object to the remote control operator, it is possible to grasp the strength of the collision with the object and the state of friction. A robot that grips a metal housing, such as a construction robot, may generate vibrations in a band that cannot be perceived by humans when it comes into contact with an object. Therefore, in the vibration control device 1 in the example of the present embodiment, the frequency band of the output signal is modulated.

Further, the vibration control device 1 in the example of the present embodiment may be applied to a chair, a suit, a headset or the like including a vibration device.

The memory 12 is a storage device including a Read Only Memory (ROM) and a Random Access Memory (RAM).

The storage device 13 is a device that stores data in a readable and writable manner, and for example, a Hard Disk Drive (HDD), a Solid State Drive (SSD), or a Storage Class Memory (SCM) may be used. The storage device 13 stores the generated teacher data, the learning model, and the like.

The CPU 11 is a processing device that performs various controls and calculations, and realizes various functions by executing an Operating System (OS) or a program stored in the memory 12. That is, as shown in FIG. 1, the CPU 11 may function as a frequency removal control unit 111, a time division control unit 112, an energy control unit 113, and a signal output unit 114.

The CPU 11 is an example of a computer, and exemplarily controls the operation of the entire vibration control device 1. The device for controlling the operation of the entire vibration control device 1 is not limited to the CPU 11, and may be, for example, any one of MPU, DSP, ASIC, PLD, FPGA, and a dedicated processor. Further, the device for controlling the operation of the entire vibration control device 1 may be a combination of two or more of the CPU, MPU, DSP, ASIC, PLD, FPGA and the dedicated processor. MPU is an abbreviation for Micro Processing Unit, DSP is an abbreviation for Digital Signal Processor, and ASIC is an abbreviation for Application Specific Integrated Circuit. PLD is an abbreviation for Programmable Logic Device, and FPGA is an abbreviation for Field Programmable Gate Array.

The frequency removal control unit 111 removes the first signal component having a frequency equal to or lower than a predetermined frequency.

The time division control unit 112 divides the second signal component other than the first signal component removed by the frequency removal control unit 111 at predetermined time intervals.

The energy control unit 113 converts the waveform of the second signal component while maintaining the energy of the second signal component at predetermined time divided by the time division control unit 112.

The signal output unit 114 outputs the first signal component removed by the frequency removal control unit 111 in addition to the second signal component after the waveform is converted by the energy control unit 113.

FIG. 2 is a graph showing waveforms of signals before and after conversion by the vibration control device 1 shown in FIG.

Considering the human perceived characteristics for high-frequency vibration, in the high-frequency band, we focus on the vibration energy that correlates with the human perceived characteristics, not the waveform itself, and replace it with another waveform that has the same vibration energy. The band can be changed. In the example shown in FIG. 2, the waveform shown by reference numeral A1 is converted into the waveform shown by reference numeral A2.

By time-dividing any continuous vibration signal at appropriate intervals in consideration of human perceptual characteristics and converting each divided segment into vibration energy, the tactile sensation felt by humans can be maintained equally or , It is possible to convert to an arbitrary signal waveform so that the high frequency band that is difficult to feel can be felt.

By appropriately selecting the frequency of the vibration after conversion, it is possible to drive efficiently according to the response range of the oscillator, reduce auditory noise, and convert to an arbitrary sound source.

It is said that human perception of vibration is up to about 1 kHz. Therefore, vibrations of 1 kHz or higher are often ignored. On the other hand, it is known that even if the vibration is 1 kHz or more, the envelope component can be perceived in the case of an amplitude-modulated wave whose amplitude fluctuates in a band that can be perceived by humans.

On the other hand, a vibration energy model (see, for example, Reference 4) is known as a perceptual characteristic of human vibration for high-frequency vibration of about 100 Hz or higher. From this, it is known that the vibration cannot be separated even if the carrier frequency of the amplitude-modulated wave is replaced while maintaining the high-frequency vibration energy (see, for example, References 2 and 3). However, even if the vibration energy is maintained, as described above, the envelope component of vibration may be perceived as a difference in tactile information, and the perceived range has not been investigated. Further, in Cited Document 2, although a method of converting a signal based on vibration energy by time division has been devised, a method of maintaining a low frequency component has not been studied.

FIG. 3 is a graph showing the possibility of discriminating vibration by humans. FIG. 4 is a sample waveform of vibration used in the forced three-choice discrimination experiment performed to determine the discrimination possibility shown in the graph shown in FIG.

Assuming a conventionally known vibration energy model (see, for example, Reference 4), the graph shown in FIG. 3 can be obtained by investigating the perceptual segregation characteristics of humans while maintaining the vibration energy. Reference numeral B1 in FIG. 4 and reference numeral B2 show the same waveform, and reference numeral B3 in FIG. 4 shows different waveforms. The subject is made to compare the constant amplitude motion shown by reference numerals B1 and B2 in FIG. 4 with the amplitude modulation stimulus shown by reference numeral B3, and is asked to answer which amplitude modulation wave is. In FIG. 3, the correct answer rate obtained in the forced three-choice discrimination experiment is represented by Sensitivity (d': d-prime), which is a discrimination performance index based on signal detection theory, and when d'is 1 or less, the correct answer is given. It means that the rate is less than about 60%.

According to the graph shown in FIG. 3, the upper limit of the frequency at which the envelope component can be discriminated is about 80 to 125 Hz. It is also shown that it is not necessary to keep the envelope component above the upper limit of the frequency, and the stimulus cannot be separated if the carrier frequency of the amplitude-modulated wave is replaced while maintaining the vibration energy.

As described above, even if the vibration energy is maintained, if the energy fluctuates in the low frequency range, the fluctuation may be perceived as a difference in tactile information, and the perceived range has not been investigated. Therefore, based on the discovery that the upper limit of perceptible low-frequency fluctuation is about 80 to 125 Hz, the low-frequency component is determined by two measures (see measures [1] and measures [2] described later). The vibration energy is converted while maintaining the vibration energy.

FIG. 5 is a graph showing the waveforms of signals before and after conversion for each segment by the vibration control device 1 shown in FIG.

Human high-frequency perception is based on vibrational energy rather than the waveform itself, so if vibrational energy is maintained, it feels the same. However, when the fluctuation of the vibration energy occurs at about 80 to 125 Hz or less, it is necessary to reproduce the fluctuation of the vibration energy.

Therefore, in one example of the present embodiment, as a means for maintaining fluctuations in vibration energy below a predetermined frequency (for example, about 80 to 125 Hz), vibration is time-divisioned in a section of, for example, about 80 to 200 Hz, and each segment is used. The vibration energy is obtained and replaced with vibration having a different carrier frequency.

In the example shown in FIG. 5, in the original vibration signal indicated by reference numeral C1 and the converted signal indicated by reference numeral C2, the energy of the converted signal is the same as the energy of the original vibration signal within the same time segment. It has been converted to be.

The time division width (in other words, the division width) may be set to such an extent that energy fluctuations of 80 to 125 Hz or less can be expressed (in other words, to the extent that the peaks of fluctuations match) (countermeasure [1]). ). The frequency of the division width may be 80 to 125 Hz or more, but if the division width is too short, the estimation accuracy of the vibration energy having a period longer than the division width deteriorates. Therefore, by the following measure [2], the waveform of the vibration whose energy cannot be estimated is output as it is.

Further, a component having a frequency lower than a predetermined frequency may be extracted and presented as a stimulus vibration as it is (countermeasure [2]). The predetermined frequency may be 80 to 125 Hz or higher, but the component of the predetermined frequency component or higher may be represented by the energy control unit 113 of the second signal component. As a result, the frequency selection can be given arbitraryness. However, if the predetermined frequency is set too high, a noise problem may occur or a wide band vibration device may be required.

According to the above-mentioned measures [1] and [2], the predetermined frequency may be about 80 to 400 Hz. 400 Hz is the upper limit from the standpoint of noise problems and the performance of the vibration device.

Setting a predetermined frequency also involves selecting a carrier frequency when converting vibration. Since the peak of the vibration frequency at which human perception sensitivity is improved is around 200 to 250 Hz, it is practical to use about 150 to 400 Hz as a carrier frequency that does not cause noise while increasing the sensitivity. The carrier frequency may be a constant multiple of the division width.

Further, the predetermined frequency that separates the low frequency and the high frequency and the frequency of the division width for calculating the energy do not necessarily have to match.

According to Cited Document 4, the corrected energy, which is the vibration energy corrected to improve the human perceptibility, can be expressed by the following equation.

A_fは、周波数ｆの元の波形の振幅である。T_fは、振幅閾値であり、周波数ｆの信号においてヒトが感じられる最小の振幅である。bは、指数値であり、周波数ｆの信号における非線形特性である。

A _f is the amplitude of the original waveform at frequency f. T _f is the amplitude threshold, which is the minimum amplitude perceived by humans in a signal of frequency f. b is an exponential value and is a non-linear characteristic in the signal of frequency f.

FIG. 6 is a graph showing the _{amplitude threshold T f} used in the calculation of the correction energy.

As shown in FIG. 6, the amplitude threshold varies depending on the frequency ^{, and a human can perceive even a relatively small amplitude in the range of about 10 2} to 10 ³ Hz, but a human can feel it in the other range unless the amplitude is relatively large. Can't feel.

FIG. 7 is a graph showing the exponential value b used in the calculation of the correction energy.

The exponential value b in FIG. 7 is an example of using a conventionally reported value obtained by linearly interpolating an exponential value b of 400 Hz or less.

FIG. 8 is a diagram illustrating the use of the window function in the vibration control device 1 shown in FIG.

As shown by reference numeral D1, the high frequency signal H (t) is input. As indicated by reference numeral D2, the high-frequency signal H (t) is the frame i, i + 1, i + 2, the signal for each _{··· h i, h i + 1} , h i + 2, are respectively the frame divided as .... As shown by reference numeral D3, the signal h of each divided frame is separated into a _{plurality of base signals g 1} , g ₂ , g _{3 ... With typical frequency components.} As shown by reference numeral D4, _{the scalar values E i} , E obtained by synthesizing the correction energies of all the base signals g ₁ , g ₂ , g _{3 ... Based on the representative frequencies f 1} , f ₂ , f _{3 ... i + 1} , E _{i + 2} , ... Are output. As shown by reference numeral D5, the scalar values E _i , E _{i + 1} , E _{i + 2} , ... Of the vibration energy calculated in each frame i are converted into a vibration waveform having the same vibration energy but having a different carrier frequency. Then, a windowing process using a window function is performed on the amplitudes _ai (t), _{ai + 1} (t), _{ai + 2 (t), ... Of the waveform.} As shown by reference numeral D6, frame synthesis is performed for the 1st to Nth frames, and the amplitude A (t) of the vibration waveform is output. As indicated by reference numeral D7, amplitude A second vibration waveform S ₂ having a carrier frequency such that _(t) (t) is output.

FIG. 9 is a graph illustrating an example of synthesis of a low frequency and a high frequency in the vibration control device 1 shown in FIG.

Window second vibration waveform indicating function by using the code E1 generated from the high-frequency signal H (t) S ₂ in FIG. 8 _(t) is first indicated by reference numeral E2 of the low-frequency signal L (t) is output as it 1 It is combined with the vibration waveform S _{1 (t).} As a result, the composite waveform S ₁ (t) + S ₂ (t) shown by reference numeral E3 is output.

FIG. 10 is a graph showing a specific example of the waveform of the signal before and after the conversion by the vibration control device 1 shown in FIG.

In FIG. 10, the waveform of the violin sound before conversion (see reference numeral F1) and the waveform after conversion (see reference numeral F2) are represented by the amplitude for each time.

The sound of high-frequency vibration such as a violin produces a large amount of auditory noise with conventional tactile vibration, and the vibration that can be perceived by humans disappears when a low-pass filter is applied. Therefore, the correction energy is calculated so that the waveform has a single wavelength having a low carrier frequency for each time.

[B] Operation Example The vibration waveform generation process in the vibration control device 1 shown in FIG. 1 will be described with reference to the block diagrams (steps S1 to S7) shown in FIG.

The signal removing unit 111a and the low frequency passing filter 111b shown in FIG. 11 correspond to the frequency removing control unit 111 shown in FIG. Further, the energy vibration conversion unit 114a, the second vibration generation unit 114b, and the first vibration generation unit 114c shown in FIG. 11 correspond to the signal output unit 114 shown in FIG.

The signal removing unit 111a removes components of a predetermined frequency or less from the acquired signal X (t) before conversion to generate a high frequency signal H (t), and inputs the high frequency signal H (t) to the time division control unit 112 (step). S1).

Time division control section 112, the high-frequency signal H (t) is split time into N frames, and inputs a signal h _i of the i-th frame is time-divided into energy control unit 113 (step S2). The number of frames N may be determined by a predetermined period and the overlap rate of the windowing process.

The energy control unit 113 calculates the correction energy e _{i for the signal h i} of the i-th frame, and inputs the calculated correction energy to the energy vibration conversion unit 114a (step S3).

The energy vibration conversion unit 114a _{generates a signal A (t) obtained by synthesizing each of the correction energies e 1 to e N} of the 1st to Nth frames, and inputs the signal A (t) to the second vibration generation unit 114b (step S4).

Second vibrating generator 114b, based on the combined signal A (t), and outputs a second vibration waveform _S 2 (t) (step S5).

On the other hand, the low frequency pass filter 111b inputs the low frequency signal L (t) obtained by overfiltering the components of a predetermined frequency or less from the acquired signal X (t) before conversion to the first vibration generation unit 114c (step). S6).

First vibrating generator 114c, based on the low-frequency signal L (t), and outputs a first vibration waveform _S 1 (t) (step S7).

Next, the details of the energy control process shown in step S3 of FIG. 11 will be described with reference to the block diagrams (steps S11 to S14) shown in FIG.

As shown in FIG. 12, the energy control unit 113 functions as a base signal separation control unit 113a, a representative frequency calculation unit 113b, an energy correction parameter calculation unit 113c, and a correction energy calculation unit 113d.

Baseband signal separation controller 113a is separated into a plurality of baseband signal g with typical frequency component signal h _i of the i-th frame, which is divided in a time input signals, separated k-th baseband signal g _k is input to the representative frequency calculation unit 113b (step S11). For example, signals may be separated by short-time Fourier analysis, wavelet analysis, Empirical Mode Decomposition (EMD) method, or the like.

Representative frequency calculator 113b, for example, by such as a discrete Fourier analysis and Hilbert Spectrum analysis, it calculates a representative frequency _{f k} of the k-th baseband signal _{g k,} and inputs to the energy correction parameter calculator 113c (step S12).

Energy correction parameter calculator 113c, based on the representative frequency _{f k,} to calculate the index values _{A k} and amplitude threshold _{T k} described with reference to FIG. 6, is input to the correction energy calculating unit 113d (step S13).

Correcting the energy calculating unit 111d, based on the index values _{A k} and amplitude threshold _{T k,} according to Equation indicated by the number 1, to calculate the corrected energy _{I pc} each baseband signal _{g k,} the correction energy of all of the baseband signal _{g k} Is output as the scalar value e _i (step S14).

Next, the details of the energy synthesis process shown in step S4 of FIG. 11 will be described with reference to the block diagrams (steps S21 to S23) shown in FIG.

The energy vibration conversion unit 114a functions as an energy equivalent conversion unit 1141a, a window hanging processing unit 1142a, and a frame synthesis unit 1143a.

As shown in FIG. 13, the energy equivalent conversion unit 1141a converts the scalar value e _i of the vibration energy calculated in each frame i into a vibration waveform having the same vibration energy but having a different carrier frequency, and the scalar value e i is converted. The amplitude _ai (t) of the waveform is output to the window-hanging processing unit 1142a (step S21).

The window-hanging processing unit 1142a performs window-hanging processing using the window function shown in FIG. 8 on _{the amplitude ai (t) of each input frame i, and inputs the processing result to the frame compositing unit 1143a (} Step S22).

The frame synthesizing unit 1143a synthesizes frames for the input from the window hanging processing unit 1142a for the 1st to Nth frames, and outputs the amplitude A (t) of the vibration waveform (step S23).

Next, the details of the corrected vibration waveform generation process shown in step S5 of FIG. 11 will be described with reference to the block diagrams (steps S31 and S32) shown in FIG.

As shown in FIG. 14, the second vibration generation unit 114b functions as the amplitude vibration conversion unit 1141b and the waveform output unit 1142b. The second vibration generation unit 114b has an input signal A (t) and outputs a sine wave having a carrier frequency. The phase of the generated waveform may be controlled so that the vibrations are smoothly connected.

The amplitude-vibration conversion unit 1141b converts the input amplitude A (t) into vibration (step S31).

_{The waveform output unit 1142b outputs a sine wave S 2} (t) having a carrier frequency so that the amplitude becomes A (t) (step S32).

[C] Effect According to the vibration control device 1, the signal control program, and the signal control method in the example of the embodiment, for example, the following effects can be obtained.

The frequency removal control unit 111 removes the first signal component having a frequency equal to or lower than a predetermined frequency from the signal. The time division control unit 112 divides the second signal component in the signal other than the first signal component removed by the frequency removal control unit 111 at predetermined time intervals. The energy control unit 113 converts the waveform of the second signal component while maintaining the energy of the second signal component at predetermined time divided by the time division control unit 112. This makes it possible to generate vibrations in a high frequency band that are easily perceived by humans. In addition, it is possible to suppress the generation of auditory noise generated by vibration in the high frequency band.

The lower limit of the predetermined frequency is a frequency in the range of 80 Hz to 125 Hz. As a result, the signal component in the high frequency band to be converted can be efficiently extracted.

The signal output unit 114 outputs the first signal component removed by the frequency removal control unit 111 in addition to the second signal component after the waveform is converted by the energy control unit 113. As a result, the signal component in the low frequency band, which is not the conversion target, can be output to the vibration device as it is.

For the first signal component output by the signal output unit 114, vibration is generated by the low frequency vibration 32 of the plurality of vibration devices. Further, with respect to the second signal component output by the signal output unit 114, vibration is generated by the high frequency vibration 31 of the plurality of vibration devices. This makes it possible for humans to experience the vibration in the high frequency band and the vibration in the low frequency band in a realistic manner.

[D] Other The disclosed techniques are not limited to the above-described embodiments, and can be variously modified and implemented without departing from the spirit of each embodiment. Each configuration and each process of each embodiment can be selected as necessary, or may be appropriately combined.

The vibration generation system 100 shown in FIG. 1 is provided with high-frequency vibration 31 and low-frequency vibration 32, but is not limited thereto. The number of vibrations provided in the vibration generation system 100 can be varied.

FIG. 15 is a block diagram showing a configuration example of DAC2 when a plurality of vibration devices 310 and 320 are used in the vibration generation system 100 shown in FIG.

In the example shown in FIG. 15, the DAC2 shown in FIG. 1 functions as a high-frequency gain adjuster 21a, a low-frequency gain adjuster 21b, a high-frequency vibration device drive circuit 22a, and a low-frequency vibration device drive circuit 22b. Further, the high frequency vibration 31 and the low frequency vibration 32 shown in FIG. 1 function as a high frequency vibration device 310 and a low frequency vibration device 320, respectively.

High frequency gain adjuster 21a is a second vibration waveform S ₂ input from the vibration control apparatus 1 _(t), through the high-frequency vibration device driving circuit 22a, and outputs the high-frequency vibration device 310. The low frequency gain adjuster 21b is a first vibration waveform S ₁ inputted from the vibration control apparatus 1 _(t), through the low-frequency vibration device driving circuit 22b, outputs a low-frequency vibration device 320 ..

FIG. 16 is a block diagram showing a configuration example of a DAC when a single vibration device is used in the vibration generation system 100 shown in FIG.

In the example shown in FIG. 15, the DAC2 shown in FIG. 1 functions as a high-frequency gain adjuster 21a, a low-frequency gain adjuster 21b, and a vibration device drive circuit 22. Further, the high frequency vibration 31 and the low frequency vibration 32 shown in FIG. 1 function as the vibration device 30.

The high-frequency gain adjuster 21a and the low-frequency gain adjuster 21b drive the second vibration waveform S ₂ (t) and the first vibration waveform S ₁ (t) input from the vibration control device 1 into a common vibration device, respectively. It is output to the common vibration device 30 via the circuit 22.

100: Vibration generation system 1: Vibration control device 11: CPU
111: Frequency removal control unit 111a: Signal removal unit 111b: Low frequency pass filter 111d: Correction energy calculation unit 112: Time division control unit 113: Energy control unit 113a: Base signal separation control unit 113b: Representative frequency calculation unit 113c: Energy correction parameter calculation unit 113d: Correction energy calculation unit 114: Signal output unit 114a: Energy vibration conversion unit 114b: Second vibration generation unit 114c: First vibration generation unit 1141a: Energy equivalent conversion unit 1142a: Windowing processing unit 1143a: Frame synthesis unit 1141b: Amplitude vibration conversion unit 1142b: Waveform output unit 12: Memory 13: Storage device 2: DAC
21a: High frequency gain adjuster 21b: Low frequency gain regulator 22: Vibration device drive circuit 22a: High frequency vibration device drive circuit 22b: Low frequency vibration device drive circuit 30: Vibration device 31: High frequency vibration 32: Low frequency Vibration 310: High-frequency vibration device 320: Low-frequency vibration device

Claims (6)

It is a vibration control device that controls the vibration of the vibration device by a signal.
A frequency removal control unit that removes a first signal component having a frequency equal to or lower than a predetermined frequency from the signal,
A time division control unit that divides a second signal component in the signal other than the first signal component removed by the frequency removal control unit at predetermined time intervals, and a time division control unit.
An energy control unit that converts the waveform of the second signal component while maintaining the energy of the second signal component at each predetermined time divided by the time division control unit.
A vibration control device. The predetermined frequency is a frequency in the range of 80 Hz to 400 Hz.
The vibration control device according to claim 1. Claim 1 or 2 further includes a signal output unit that outputs the first signal component removed by the frequency removal control unit in addition to the second signal component after the waveform is converted by the energy control unit. The vibration control device according to. With respect to the first signal component output by the signal output unit, vibration is generated by the first vibration device among the plurality of vibration devices.
With respect to the second signal component output by the signal output unit, vibration is generated by the second vibration device among the plurality of vibration devices.
The vibration control device according to claim 3. For computers that control vibrations caused by vibration devices using signals
The first signal component having a frequency equal to or lower than a predetermined frequency is removed from the signal, and the signal is removed.
The second signal component in the signal other than the removed first signal component is divided at predetermined time intervals.
The waveform of the second signal component is converted while maintaining the energy of the second signal component at each of the divided predetermined times.
Vibration control program. It is a vibration control method that controls the vibration of the vibration device by a signal.
The first signal component having a frequency equal to or lower than a predetermined frequency is removed from the signal, and the signal is removed.
The second signal component in the signal other than the removed first signal component is divided at predetermined time intervals.
The waveform of the second signal component is converted while maintaining the energy of the second signal component at each of the divided predetermined times.
Vibration control method.

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