JP2021157279A - Tactile presentation device, vibration signal, and storage medium - Google Patents

Abstract

To make a tactile sensation transmitted from a tactile presentation device to a user, more harmonious to and compatible with voice data or music.SOLUTION: A tactile presentation device comprises a DEA 11, a driver 12 which drives the DEA 11, and a controller 13 which transmits a vibration signal for vibrating the DEA 11 to the driver 12. The vibration signal includes a combination of a plurality of frequency signals for vibrating the DEA 11 at a specific frequency. All of the frequency signals are frequency signals for vibrating the DEA 11 at a harmonic frequency.SELECTED DRAWING: Figure 1

Description

The present invention relates to a tactile presentation device, a vibration signal, and a storage medium.

Patent Document 1 discloses a technique for assigning a vibration signal to input audio data.
Patent Document 2 discloses a tactile sensation presenting device that recognizes the vibration of a vibrator as a tactile sensation.

Japanese Unexamined Patent Publication No. 2016-157136 Japanese Patent No. 4247517

An object of the present invention is to improve the harmony and affinity of the tactile sensation transmitted from the tactile sensation presenting device to the user with respect to audio data and music.

The tactile sensation presenting device that solves the above problems is a tactile sensation presenting device that recognizes the vibration transmitted to the user as a tactile sensation, and is a vibrator, a driving device that drives the vibrator, and vibration for vibrating the vibrator. The vibration signal includes a control device for transmitting a signal to the drive device, and the vibration signal includes a combination of a plurality of frequency signals for vibrating the vibrator at a specific frequency, and has a frequency in the range shown in the following equation (1). When is defined as the harmonic frequency Fh, the ratio of the frequency signal for vibrating the vibrator at the harmonic frequency is 50% or more among the frequency signals included in one vibration signal.

{Fs × 2 ^{(k / 12)} } × 0.99 <Fh << {Fs × 2 ^{(k / 12)} } × 1.01 ... (1)
Fs is a reference frequency common to the frequency signals constituting one vibration signal, and k is 0, a positive integer, or a negative integer.

The harmony frequency is a frequency based on the idea of the twelve scales of music. Therefore, a vibration signal including a frequency signal for vibrating at a harmonized frequency when the tactile sensation is presented to the user by the tactile sensation presenting device in combination with content that enjoys auditory information such as voice data and music. Based on the above, the vibration and tactile sensation transmitted from the vibrator to the user have high harmony and affinity with the audio data and music.

In the tactile presentation device, it is preferable that the vibration signal includes only the frequency signal that vibrates the vibrator at a frequency of 500 Hz or less.
According to the above configuration, the user can efficiently recognize the tactile sensation based on the vibration of the vibrator.

In the tactile presentation device, the reference frequency of the harmonized frequency is preferably 55 Hz.
55Hz is the frequency of the scale of A1 (la) on the piano keyboard. Therefore, according to the above configuration, the effect of making the vibration and the tactile sensation transmitted from the tactile sensation presenting device to the user highly harmonious and compatible with the voice data and music can be obtained more remarkably.

In the tactile presentation device, the ratio of the frequency signal for vibrating the vibrator at a frequency other than the harmonic frequency is 1% or more and 50% or less among the frequency signals included in one vibration signal. Is preferable.

According to the above configuration, it is possible to express a sense of discomfort with respect to audio data and music by vibration and tactile sensation based on a frequency signal for vibrating at a frequency other than the harmonized frequency.
In the tactile presentation device, it is preferable that the control device reads the vibration signal stored in the external storage medium and transmits the read vibration signal to the drive device.

According to the above configuration, the vibration program can be easily distributed through an external storage medium or online distribution.
In the tactile presentation device, it is preferable that the control device corrects the vibration signal based on the frequency characteristic of the vibrator and transmits the corrected vibration signal to the drive device.

According to the above configuration, it is possible to suppress that the vibration of the vibrator based on the vibration signal changes for each vibrator due to the type and individual difference of the vibrator. Thereby, the vibration based on the vibration signal can be reproduced more accurately.

In the tactile presentation device, the control device generates the vibration signal based on the waveform information regarding the vibration waveform and the information symbolizing the combination of the frequency signals, and the generated vibration signal is used in the driving device. It is preferable to transmit.

According to the above configuration, the vibration signal can be stored in the form of information in which the combination of the waveform information and the frequency signal is symbolized. Therefore, the amount of information can be reduced as compared with the case where the vibration signal is stored in the format as it is.

The vibration signal that solves the above problems is a vibration signal used for driving the vibrator in the tactile presentation device, and includes a combination of a plurality of frequency signals for vibrating the vibrator at a specific frequency, and is described below. When the frequency in the range shown in the formula (1) is defined as the harmonic frequency Fh, the ratio of the frequency signal for vibrating the vibrator at the harmonic frequency is 50% or more.

{Fs × 2 ^{(k / 12)} } × 0.99 <Fh << {Fs × 2 ^{(k / 12)} } × 1.01 ... (1)
Fs is a reference frequency common to the frequency signals constituting one vibration signal, and k is 0, a positive integer, or a negative integer.

In the storage medium that solves the above problems, the vibration signal is recorded as it is or after being encoded.

According to the present invention, it is possible to improve the harmony and affinity of the tactile sensation transmitted from the tactile sensation presenting device to the user with respect to audio data and music.

The schematic diagram of the tactile sensation presenting device. FIG. 5 is a cross-sectional view showing a cross-sectional structure of a dielectric elastomer actuator. A table showing the relationship between the harmonized frequency signal and the harmonized frequency. A voltage waveform that embodies a vibration signal. Waveform information and vibration staff of the vibration program.

Hereinafter, an embodiment of the present invention will be described. Unless otherwise specified, the "frequency" used in the present specification is a fundamental frequency (in the case of a composite waveform, the frequency of the lowest frequency component).

As shown in FIG. 1, the tactile presentation device is a drive device that drives a DEA 11 by applying a voltage between a dielectric elastomer actuator 11 (DEA: Dielectric Elastomer Actuator) as an oscillator and a pair of electrodes of the DEA 11. 12 and a control device 13 for transmitting a vibration signal to the driving device 12.

As shown in FIG. 2, in the DEA 11, a plurality of sheet-shaped dielectric layers 20 made of a dielectric elastomer and a plurality of positive electrode electrodes 21 and negative electrode 22 as electrode layers arranged on both sides of the dielectric layer 20 in the thickness direction are laminated. It is a multi-layered structure. An insulating layer 23 is laminated on the outermost layer of the DEA 11. In the DEA 11, when a DC voltage is applied between the positive electrode 21 and the negative electrode 22, the dielectric layer 20 is compressed in the thickness direction and along the surface of the dielectric layer 20 according to the magnitude of the applied voltage. It is deformed so as to extend in the plane direction of the DEA 11 which is the vertical direction.

The dielectric elastomer constituting the dielectric layer 20 is not particularly limited, and a known dielectric elastomer used for DEA can be used. Examples of the dielectric elastomer include crosslinked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer. One of these dielectric elastomers may be used, or a plurality of types may be used in combination. The thickness of the dielectric layer 20 is, for example, 20 to 200 μm.

Examples of the material constituting the positive electrode 21 and the negative electrode 22 include a conductive elastomer, carbon nanotubes, Ketjen Black (registered trademark), and a metal vapor deposition film. Examples of the conductive elastomer include a conductive elastomer containing an insulating polymer and a conductive filler.

Examples of the insulating polymer include crosslinked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer. One of these insulating polymers may be used, or a plurality of types may be used in combination. Examples of the conductive filler include metal particles such as Ketjen Black (registered trademark), carbon black, and copper and silver. One of these conductive fillers may be used, or a plurality of types may be used in combination. The thickness of the positive electrode 21 and the negative electrode 22 is, for example, 0.1 to 100 μm.

The insulating elastomer constituting the insulating layer 23 is not particularly limited, and a known insulating elastomer used for the insulating portion of the known DEA can be used. Examples of the insulating elastomer include crosslinked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer. One of these insulating elastomers may be used, or a plurality of types may be used in combination. The thickness of the insulating layer 23 is, for example, 1 to 100 μm.

The drive device 12 applies a waveform voltage based on the vibration signal transmitted from the control device 13 to the DEA 11 from a power source (not shown) such as a battery.
The vibration signal is information for vibrating the DEA 11 so that the frequency of vibration changes with time according to a preset vibration program, and corresponds to a musical piece in music. The vibration signal includes waveform information and program information. The waveform information is the waveform for one cycle of the vibration of DEA 11, that is, information on the quality of vibration, and corresponds to the sound quality (timbre) in music. The program information is information for vibrating the DEA 11, for example, information for vibrating the DEA 11 so that the frequency of vibration changes with time in a preset order. The program information consists of a combination of a plurality of frequency signals for vibrating the DEA 11 at a specific frequency for a unit time, and corresponds to a melody in music.

Each frequency signal constituting the program information is preferably a signal that vibrates the DEA 11 at a frequency of 500 Hz or less, and more preferably a signal that vibrates at a frequency of 300 Hz or less. Further, each frequency signal is preferably a signal that vibrates the DEA 11 at a frequency of 1 Hz or higher.

The program information is a combination of frequency signals (hereinafter, referred to as harmonic frequency signals) for vibrating the DEA 11 at the harmonic frequency Fh, which is a frequency in the range shown in the following equation (1).

{Fs × 2 ^{(k / 12)} } × 0.99 <Fh << {Fs × 2 ^{(k / 12)} } × 1.01 ... (1)
In the formula (1), Fs is a reference frequency common to one vibration signal, that is, a harmonized frequency signal constituting one program information. The reference frequency Fs can be set arbitrarily. Examples of the reference frequency Fs include 55 Hz.

In equation (1), k is 0, a positive integer, or a negative integer.
The harmony frequency Fh is a frequency based on the idea of the twelve scales of music. More specifically, the harmonized frequency Fh is a value that becomes a division point when each frequency range in which the frequency ratio is 2: 1 is divided into 12 at an equal frequency ratio with the reference frequency Fs as the base point. It is a frequency within the range of ± 1% of the specified frequency.

The table of FIG. 3 shows the relationship between the harmonized frequency signals G1 to A # 2 when the reference frequency Fs is 55 Hz and the harmonized frequency Fh corresponding to the harmonized frequency signal. In the table of FIG. 3, the harmonized frequency signals are arranged in ascending order of the corresponding frequencies, and the specified frequencies corresponding to the harmonized frequency signals are doubled every 12 steps.

FIG. 4 shows an example of a voltage waveform embodying a vibration signal. In the voltage waveform of the vibration signal shown in FIG. 4, the waveform information is information indicating a sine wave, and the program information is a combination of a plurality of harmonic frequency signals "(A1)-> (B1)-> (A # 1)-> (A). # 1) → (A1 + B1) ”. The program information (A1 + B1) is a signal for causing the DEA 11 to simultaneously perform the vibration based on the harmonized frequency signal A1 and the vibration based on the harmonized frequency signal B1, and corresponds to a chord in music. The voltage waveform of the (A1 + B1) portion in the vibration signal is a combination of the voltage waveform of the frequency based on the harmonized frequency signal A1 and the voltage waveform of the frequency based on the harmonized frequency signal B1.

The horizontal axis of the voltage waveform shown in FIG. 4 is time t0 to t5. Further, each shape of the voltage waveform shown in FIG. 4 is exaggerated for easy understanding, and is different from the actual frequency.

As shown in FIG. 1, the control device 13 is configured as a computer including an input unit 31, a display unit 32, a storage unit 33, a reading unit 34, a signal generation unit 35, a correction unit 36, and a tactile sensation unit 37.

The input unit 31 is, for example, a pointing device such as a keyboard, a touch panel, or a mouse, and receives an operation instruction or the like from a user. The display unit 32 is, for example, a display device such as a liquid crystal display or an organic EL display.

A single or a plurality of vibration programs are stored in the storage unit 33. The vibration program is saved as a combination of waveform information constituting a vibration signal for vibrating the DEA 11 according to the vibration program and information symbolizing the program information constituting the vibration signal (hereinafter, referred to as a vibration staff). Has been done. The vibration score corresponds to a musical score in which a musical piece in music is symbolized by a performance symbol or a code.

FIG. 5 shows an example of waveform information and a vibration score of one vibration program stored in the storage unit 33. The waveform information shown in FIG. 5 is waveform information indicating a sine wave. In the vibration chart shown in FIG. 5, the time change of the vibration frequency of DEA 11 is represented by a map in which the horizontal axis is time and the vertical axis is the type of harmonic frequency signal.

The reading unit 34 reads the vibration program stored in the external storage medium (storage medium) 38 from the external storage medium 38 such as an optical disk, a magnetic disk, a magneto-optical disk, or a semiconductor memory. The external storage medium includes a storage medium on the net.

The signal generation unit 35 is based on the operation for reproducing the vibration program by the user, and the waveform information and vibration staff of the vibration program stored in the storage unit 33, or the vibration program read from the external storage medium 38. A vibration signal as shown in FIG. 4 is sequentially generated from the waveform information and the vibration score and transmitted to the correction unit 36.

The correction unit 36 sequentially corrects the vibration signal transmitted from the signal generation unit 35 based on the frequency characteristics of the DEA 11, and transmits the vibration signal to the drive device 12. The DEA 11 may have different frequency characteristics (relationship between input and displacement at each frequency) for each type and individual. Therefore, even if the vibration signal is the same, the vibration based on the vibration signal may change slightly due to the type and individual difference of the DEA 11. The correction unit 36 corrects the vibration signal so that the influence of the frequency characteristics of the DEA 11 on the vibration is reduced.

The tactile sensation unit 37 creates the waveform information and the vibration staff of the vibration program based on the operation of the user, and stores them in the storage unit 33. Further, based on the operation of the user, the waveform information and the vibration staff of the vibration program stored in the storage unit 33 are edited. The above-mentioned vibration program creation and editing is performed, for example, by displaying the waveform information and vibration staff of the vibration program on the display unit 32 and operating the input unit 31 to change the displayed waveform and vibration staff information. realizable.

Next, the operation of this embodiment will be described.
The tactile sensation presenting device of the present embodiment is a device for recognizing the vibration transmitted to the user's skin as a tactile sensation, and is used in a state where the DEA 11 is in contact with a part of the user's skin such as a fingertip or a wrist. .. The user selects a vibration program stored in the storage unit 33 or the external storage medium 38 by using the input unit 31 with the DEA 11 in contact with the skin, and performs an operation of reproducing the vibration program.

When this operation is performed, the waveform information and vibration staff of the selected vibration program are transmitted to the signal generation unit 35. Then, the waveform information in the signal generation unit 35 and the vibration signal from the vibration staff are sequentially generated, and the vibration signal in the correction unit 36 is corrected in sequence, and the corrected vibration signal is transmitted to the drive device 12. The drive device 12 applies the waveform to the DEA 11 based on the transmitted vibration signal. As a result, the DEA 11 vibrates so that the frequency of vibration changes with time according to the selected vibration program.

The user recognizes the vibration of the DEA 11 as a tactile sensation by being transmitted. As a result, the tactile sensation is presented to the user from the tactile sensation presenting device. At this time, the frequency of the vibration of the DEA 11 changes with time according to the selected vibration program, so that the user can recognize various changing tactile sensations.

Here, in the tactile sensation presenting device of the present embodiment, the DEA 11 is vibrated by using a vibration signal including program information obtained by combining the harmonized frequency signals for vibrating the DEA 11 at the harmonized frequency Fh. The harmony frequency Fh is a frequency based on the idea of the twelve scales of music. Therefore, when the tactile sensation presentation to the user by the tactile sensation presenting device of the present embodiment is executed in combination with the content for enjoying the information from the auditory sense such as voice data and music, the tactile sensation presenting device transmits the tactile sensation to the user. The vibration and tactile sensation are highly harmonious and compatible with audio data and music.

Next, the effect of this embodiment will be described.
(1) The tactile sensation presenting device includes a DEA 11, a driving device 12 for driving the DEA 11, and a control device 13 for transmitting a vibration signal for vibrating the DEA 11 to the driving device 12. The vibration signal includes a combination of a plurality of frequency signals for vibrating the DEA 11 at a specific frequency. All frequency signals are harmonic frequency signals for vibrating the DEA 11 at a harmonic frequency.

According to the above configuration, when the tactile sensation presented to the user by the tactile sensation presenting device of the present embodiment is executed in combination with content that enjoys information from hearing such as voice data and music, the tactile sensation presenting device is used by the user. It is possible to improve the harmony and affinity of the tactile sensation transmitted to the voice data and music.

(2) The vibration signal consists only of a frequency signal that vibrates the DEA 11 at a frequency of 500 Hz or less.
According to the above configuration, the user can efficiently recognize the tactile sensation based on the vibration of the DEA 11.

(3) The reference frequency of the harmonized frequency is 55 Hz.
55Hz is the frequency of the scale of A1 (la) on the piano keyboard. Therefore, according to the above configuration, the effect of making the vibration and the tactile sensation transmitted from the tactile sensation presenting device to the user highly harmonious and compatible with the voice data and music can be obtained more remarkably.

(4) The control device 13 transmits the waveform information of the vibration program read from the external storage medium 38 and the vibration signal based on the vibration staff to the drive device 12.
According to the above configuration, the vibration program can be easily distributed through the external storage medium 38 or the net distribution. Further, the control device 13 has a function of storing the voice data, music, etc. in the external storage medium 38 as information in which the waveform information of the vibration program and the vibration score are synchronized, and reproducing the voice data, music, etc. This makes it easy to synchronize the reproduction of voice data, music, and the like with the reproduction of the vibration program.

(5) The control device 13 corrects the vibration signal based on the frequency characteristic of the DEA 11, and transmits the corrected vibration signal to the drive device 12.
According to the above configuration, it is possible to suppress that the vibration of the DEA 11 based on the vibration signal changes for each DEA 11 due to the type and individual difference of the DEA 11. Thereby, the vibration based on the vibration signal can be reproduced more accurately.

(6) The control device 13 generates a vibration signal from the waveform information constituting the vibration signal and the vibration score which is the information symbolizing the combination of the frequency signals constituting the vibration signal, and drives the generated vibration signal. Send to 12.

According to the above configuration, the vibration signal can be stored in the form of information in which the combination of the waveform information and the frequency signal is symbolized. Therefore, the amount of information can be reduced as compared with the case where the vibration signal is stored in the as-is format, and as a result, a longer vibration program and a larger number of vibrations are performed in a certain storage area. The program can be memorized. In addition, the user can easily create a vibration program.

In addition, this embodiment can be implemented by changing as follows. The present embodiment and the following modified examples can be implemented in combination with each other within a technically consistent range.
-The combination of frequency signals included in one vibration signal may include a harmonized frequency signal and an anharmonic frequency signal for vibrating the DEA 11 at a frequency other than the harmonized frequency. In this case, the ratio of the harmonized frequency signal to the frequency signal included in one vibration signal is set to 50% or more. As a result, the same effect as in (1) above can be obtained.

Further, in the case of a vibration signal including an anharmonic frequency signal, it is possible to express a sense of discomfort with respect to audio data and music by vibration and tactile sensation based on the anharmonic frequency signal. Therefore, when expressing eerieness, horror, etc. through tactile sensation, an anharmonic frequency signal is intentionally included in the vibration signal. In this case, the ratio of the anharmonic frequency signal to the frequency signal included in one vibration signal is preferably 1% or more and 50% or less. In addition, each of the above-mentioned ratios may be the ratio of the number of the corresponding signals, or may be the ratio of the time during which the vibration based on the corresponding signals is executed.

-In the above embodiment, the vibration signal is stored in the storage unit 33 and the external storage medium 38 in the form of information in which the combination of the waveform information and the frequency signal is symbolized, but even if the vibration signal is stored in the same format. good. In this case, the signal generation unit 35 may be omitted. Further, in this case, the vibration signal may be encoded and stored together with the audio data and the video data. In this case, it is decoded in the reading unit and restored to the original vibration signal.

-The correction unit 36 may be omitted.
-The symbolized vibration signal may include at least a combination of frequency signals. The vibration signal may include a plurality of multiplication components in addition to the fundamental frequency component. For example, when the vibration waveform is fixed, or when the vibration waveform is configured to be selectable by the user from a plurality of waveforms, the vibration signal does not include the waveform information. Further, it may be a vibration signal including other information other than the combination of the waveform information and the frequency signal. Other information includes, for example, information on vibration time, amplitude and its change.

-If the music to be harmonized deviates from the original frequency due to tuning during performance, it is desirable to change the reference frequency according to the music.
The DEA 11 may be changed to another oscillator. Examples of other transducers include other electroactive polymer actuators (EPAs) such as ion exchange polymer metal composites (IPMCs), eccentric motors, and piezoelectric elements.

Next, the technical idea that can be grasped from the above-described embodiment and modification is described below.
(B) A method for driving an oscillator used in a tactile sensation presenting device that recognizes vibration transmitted to a user as a tactile sensation, including a combination of a plurality of frequency signals for vibrating the oscillator at a specific frequency, and having a frequency. Vibration characterized by driving using a vibration signal in which the ratio of the frequency signal for vibrating the vibrator at the harmonic frequency in the range shown in the above equation (1) in the combination of signals is 50% or more. How to drive the child.

11 ... Dielectric elastomer actuator (DEA) 11
12 ... Drive device 13 ... Control device

Japanese Unexamined Patent Publication No. 2016-157136 Japanese Patent Application Laid-Open No. 2014-510346

Claims (9)

It is a tactile sensation presenting device that recognizes the vibration transmitted to the user as a tactile sensation.
Oscillator and
The drive device that drives the vibrator and
A control device for transmitting a vibration signal for vibrating the vibrator to the drive device is provided.
The vibration signal includes a combination of a plurality of frequency signals for vibrating the vibrator at a specific frequency.
When the frequency in the range shown in the following formula (1) is defined as the harmonized frequency Fh,
{Fs × 2 ^{(k / 12)} } × 0.99 <Fh << {Fs × 2 ^{(k / 12)} } × 1.01 ... (1)
(Fs is a reference frequency common to the frequency signals constituting one vibration signal, and k is 0, a positive integer, or a negative integer.)
A tactile presentation device characterized in that the ratio of the frequency signal for vibrating the vibrator at the harmonic frequency is 50% or more among the frequency signals included in the vibration signal. The tactile sensation presenting device according to claim 1, wherein the vibration signal includes only the frequency signal that vibrates the vibrator at a frequency of 500 Hz or less. The tactile presentation device according to claim 1 or 2, wherein the reference frequency of the harmonized frequency is 55 Hz. Any of claims 1 to 3 in which the ratio of the frequency signal for vibrating the vibrator at a frequency other than the harmonic frequency is 1% or more and 50% or less among the frequency signals included in the vibration signal. The tactile sensation presenting device according to item 1. The tactile sensation presenting device according to any one of claims 1 to 4, wherein the control device reads the vibration signal stored in an external storage medium and transmits the read vibration signal to the drive device. The tactile sensation presenting device according to any one of claims 1 to 5, wherein the control device corrects the vibration signal based on the frequency characteristic of the vibrator and transmits the corrected vibration signal to the drive device. The control device generates the vibration signal based on the waveform information regarding the vibration waveform and the information symbolizing the combination of the frequency signals, and transmits the generated vibration signal to the drive device. The tactile sensation presenting device according to any one of 6. A vibration signal used to drive the vibrator in the tactile sensation presenting device according to any one of claims 1 to 7.
Includes a combination of multiple frequency signals to vibrate the oscillator at a particular frequency.
When the frequency in the range shown in the following formula (1) is defined as the harmonized frequency Fh,
{Fs × 2 ^{(k / 12)} } × 0.99 <Fh << {Fs × 2 ^{(k / 12)} } × 1.01 ... (1)
(Fs is a reference frequency common to the frequency signals constituting one vibration signal, and k is 0, a positive integer, or a negative integer.)
A vibration signal characterized in that the ratio of the frequency signal for vibrating the vibrator at the harmonic frequency is 50% or more. A storage medium in which the vibration signal according to claim 8 is recorded as it is or encoded.

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