JP2021197054A - Tactile presentation object, tactile presentation device, tactile presentation method, and program - Google Patents

Abstract

To provide a technology relating to a tactile presentation object that changes a feeling of touch of an object by its being moved in a predetermined method while kept inserted between a part of a body and an object opposite the part of the body.SOLUTION: A tactile presentation object is a plate-like object having a predetermined thickness. The plate-like object has a hole. The hole is provided in order that, while the plate-like object is kept inserted between an object (hereinafter referred to as an opposite object) having a surface that may be brought into contact with the plate-like object and a body part of a main body (hereinafter, referred to as a sensitive main body) that may be sensitive to touch of the object, the plate-like object is moved in a predetermined method so that the body part of the sensitive main body touches the plate-like object and the opposite object at an edge of the hole, thereby changing a feeling of touch of the opposite object.SELECTED DRAWING: Figure 1

Description

The present invention relates to a technique for causing velvet hand illumination.

If you slide your palm in the direction perpendicular to the gut with two guts stretched in parallel between your hands, a velvet-like smooth and soft object called velvet hand illusion will appear between your palms. There is an illusion that it feels like it exists (see Non-Patent Document 1). This illusion also occurs with the pad of the finger.

In addition, velvet hand illusion is soft with a shape and softness similar to human skin (see Non-Patent Document 2 and Non-Patent Document 3), or by adhering sponge or wood instead of matching the palms. It can also be produced by sliding the palm together with the adjusted fabric (see Non-Patent Document 4).

Further, velvet hand illumination can be generated by rubbing a piece of paper with a hole between two fingers so that the hole crosses the pad of the finger (see Non-Patent Document 5). ..

H. Mochiyama, A. Sano, N. Takasue, R. Kikuuwe, K. Fujita, S. Fukuda, K. Marui, H. Fujimoto, “Haptic Illusion Induced by Moving Line Stimuli,” Proc. Of First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems; World Haptics Conference, WHC 2005, pp.645-648, 2005. Akito Sano, Yoshihiro Tanaka, Naoki Kurokawa, Hiroki Hori, Hideo Fujimoto, "Effects of artificial fingers that express VHI facing human fingers and tilted tactile stimuli," Robotics and Mechatronics Lecture Lecture Summary, 2010, 2010. Yukiteru Doi, Takashi Tadashi, Hiroshi Fujimoto, “Experimental Study of Velvet Feeling Caused by Passive Touch,” Biomechanism Vol. 20, pp.125-134, 2010. A. Pasqualotto, C.C.J. Yin, M. Ohka, R. Kitada. “The Effect of Object Compliance on the Velvet Hand Illusion,” IEEE Trans Haptics, 2019 Nov 13, doi: 10.1109 / TOH.2019.2948603, 2019. M. Ohno, T. Miyaoka, M. Nakatani, “Two hands feel smoother than one: an exploratory study on the smoothness magnitude produced by the velvet slit tactile illusion,” EuroHaptics 2018, Work-in-Progress, Poster ID.1095, 2018.

Among the methods for causing the above illusion, the methods described in Non-Patent Documents 2 to 4 have the illusion that a velvet-like object appears between an object facing the hand (hereinafter referred to as an opposed object) and the hand. It does not change the feel of the opposing object itself. This is because, in the method described in Non-Patent Documents 2 to 4, since the catgut moves so as to cross between the facing object and the hand, the facing object cannot be touched at all times, and it is difficult to recognize the touch feeling of the facing object. It is thought that it is from.

Therefore, the present invention provides a technique relating to a tactile presentation that modulates the tactile sensation of an object by moving it in a predetermined manner while being sandwiched between a body part and an object facing the body part. The purpose.

One aspect of the present invention is a plate-shaped object having a predetermined thickness, the plate-shaped object has a hole, and the hole has a surface in contact with the plate-shaped object (hereinafter referred to as an object). , The plate-shaped object is sandwiched between the body part of the subject (hereinafter referred to as the sensory subject) that feels the touch of the object, and the sensory subject is at the edge of the hole. The purpose is to modulate the touch feeling of the opposed object by moving the plate-shaped object by a predetermined method while allowing the body portion of the body to touch the plate-shaped object and the opposed object.

One aspect of the present invention is a plate-shaped object having a predetermined thickness, the plate-shaped object has a hole, and the hole has a surface in contact with the plate-shaped object (hereinafter referred to as an object). , The plate-shaped object is sandwiched between the body part of the subject (hereinafter referred to as the sensory subject) that feels the touch of the object, and the sensory subject is at the edge of the hole. The purpose is to modulate the touch feeling of the opposed object by moving the opposed object by a predetermined method while allowing the body portion of the body to touch the plate-shaped object and the opposed object.

According to the present invention, the tactile presentation is moved by a predetermined method while being sandwiched between a body part and an object facing the body part, thereby modulating the touch feeling of the object facing the body part. It is possible to make it.

It is a figure which shows an example of the structure of the tactile presentation 100. It is a figure which shows the use image of the tactile presentation 100. It is a figure which shows an example of the structure of the tactile presentation 100. It is a figure which shows an example of the structure of the tactile presentation 100. It is a figure which shows an example of the structure of the tactile presentation 100. It is a figure which shows an example of the structure of the tactile presentation 100. It is a figure which shows an example of the structure of the tactile presentation material 200. It is a figure which shows an example of the structure of the tactile presentation material 200. It is a figure which shows an example of the structure of the tactile presentation material 200. It is a figure which shows the use image of the tactile presentation material 200. It is a block diagram which shows an example of the structure of the tactile presentation device 300. It is a flowchart which shows an example of the operation of the tactile presentation device 300. It is a figure which shows an example of the table to record in the recording part 390. It is a figure which shows an example of the table to record in the recording part 390. It is a figure which shows an example of the functional structure of the computer which realizes each apparatus in embodiment of this invention.

Hereinafter, embodiments of the present invention will be described in detail. The components having the same function are given the same number, and duplicate explanations are omitted.

Prior to the description of each embodiment, the notation method in this specification will be described.

^ (Caret) represents a superscript. For example, x ^{y ^ z} means that y ^z is a superscript for x, and x _{y ^ z} means that y ^z is a subscript for x. In addition, _ (underscore) represents a subscript. For example, x ^y_z means that y _z is a superscript for x, and x _{y_z} means that y _z is a subscript for x.

Subscripts "^" and "~" such as ^ x and ~ x for a certain character x should be written directly above "x", but due to the limitation of the description notation in the specification. , ^ X and ~ x.

<Technical background>
In each embodiment of the present invention, a plate-shaped object with a hole made of paper, plastic, wood, metal, etc. is placed between a hand or a finger and an arbitrary object having a surface in contact with the plate-shaped object. By rotating it while sandwiched between them and stimulating the hands or fingers, it is possible to make the feel of an object touching through a hole softer, smoother, slippery, and warmer than the original feel. It is based on the experimental results. Here, the thickness of the plate-shaped object may be 0.5 mm or less (for example, about 0.1-0.5 mm), and the size of the hole may be about the same as that of the palm or finger pad. The speed at which the plate-shaped object is rotated may be about 90 deg / sec.

Further, by giving the above stimulus at each of the two distant points on the skin, this illusion can be generated even in the range on the skin surrounded by the two points. For example, when each of the index finger, the middle finger, and the ring finger is opposed to an object and the stimulation by rotation is given only to the index finger and the ring finger, this illusion occurs even in the unstimulated middle finger.

<First Embodiment>
First, the tactile presentation will be described. The tactile presentation is a plate-like object having a predetermined thickness and has a hole. This hole is a plate-shaped object between an object having a surface in contact with a plate-shaped object (hereinafter referred to as an opposed object) and a body part of a subject (hereinafter referred to as a sensing subject) who feels the touch of the object. By moving the plate-shaped object by a predetermined method while making the part of the body that is the main body of the sensation touch the plate-shaped object and the opposing object at the edge of the hole, the touch of the opposing object is performed. It is intended to modulate the comfort. Here, the predetermined method is a circular motion in which a part of the body of the sensory subject makes one round along the edge of the hole, or a sensory subject along the edge of the hole between predetermined two points. It is a method that makes a repetitive movement in which parts of the body move back and forth. Instead of moving the plate-shaped object, the opposite object may be moved.

In the experiments described in the technical background, the hands or fingers were targeted as body parts, but illusions can be felt in other parts as well. For example, the arms and cheeks may be used, and the abdomen and buttocks may be used. That is, any part may be used. However, since the meat is thin, such as the back of the hand, it may be difficult to feel the illusion in a part where it is difficult to secure a contact area with an opposing object.

Hereinafter, the tactile presentation 100 will be described with reference to FIG. FIG. 1 is a diagram showing an example of the configuration of the tactile presentation 100. The tactile presentation 100 is a plate-shaped object having a predetermined thickness and having a hole of a predetermined size. The tactile presentation 100 may be a sheet made of paper, plastic, metal, or the like. The thickness of the tactile presentation 100 is preferably 0.5 mm or less (for example, about 0.1-0.5 mm). This is because the larger the thickness, the smaller the contact area between the skin and the opposing object, and the less likely it is that an illusion will occur. Further, the hole of the tactile presentation 100 can be a hole having a size that fits the palm and a hole having a size that fits the finger pad. Here, the fitting size is a plate-shaped object sandwiched between the opposing object and the body part of the sensation main body (an opposing object sandwiching the plate-shaped object between the body part of the sensation main body). , Means that it is large enough to move along the edge of the hole. If the hole is too large or too small, the illusion is unlikely to occur. Therefore, for example, the contact area between the skin of the site and the opposing object may be about 0.9 times. For example, a hole sized to fit the palm and a hole sized to fit the finger pad can be a substantially circular shape with a diameter of 50-200 mm and a substantially circular shape with a diameter of 5-20 mm, respectively. These sizes are selected as the sizes that fit regardless of age or gender. A substantially circular shape is a figure that is a perfect circle, an ellipse, or a circle even if the circumference is distorted.

FIG. 2 is a diagram showing a usage image of the tactile presentation 100. With the tactile presentation 100 sandwiched between the opposite object and the hand, the tactile presentation 100 is moved while the hand touches the tactile presentation 100 and the opposite object at the edge of the hole of the tactile presentation 100. The facing object may be any object having a surface in contact with the tactile presentation 100, and any object whose tactile sensation is desired to be changed can be used.

Further, the shape of the hole of the tactile presentation 100 does not matter. For example, it may be a quadrangle as shown in FIG. 3 or a star shape as shown in FIG. The size may be such that it fits in the palm or finger pad.

Further, the shape of the outer circumference of the tactile presentation 100 does not matter. For example, it may be substantially circular as shown in FIG. 5, or may have an outer circumference shaped like a candy wrapped in a sheet as shown in FIG.

The tactile presentation 100 of FIG. 6 has a characteristic shape. Specifically, the tactile presentation 100 of FIG. 6 has one substantially circular hole, and a part of the outer circumference thereof (hereinafter referred to as the first outer circumference) and an outer circumference different from the first outer circumference. A part of the above (hereinafter referred to as a second outer circumference) is a part of a substantially circular shape centered on the center of the substantially circular hole. Further, the first outer circumference and the second outer circumference are in a positional relationship that is point-symmetrical with respect to the center of the hole, and the first outer circumference and the second outer circumference are the perceived main body along the edge of the hole. A tactile presentation in such a way that the part makes a circular motion around the circumference, or a repetitive motion in which the part of the body that is the subject of the sensation moves back and forth along the edge between predetermined two points on the edge of the hole. It is for moving 100.

According to the embodiment of the present invention, the tactile presentation is moved by a predetermined method while being sandwiched between the body part and the object facing the body part, thereby touching the object facing the body part. It is possible to modulate the comfort. Specifically, it is possible to make the touch feeling of an opposing object softer, smoother, slippery, and warmer than the original touch feeling. In addition, since the tactile presentation can cause an illusion without crossing between the body part and the opposite object, friction can be reduced, the energy for moving the tactile presentation can be reduced, and noxious stimulation to the skin can be caused. Can be reduced.

<Second Embodiment>
Here, the tactile presentation 200 used to create an illusion on the finger will be described.

Hereinafter, the tactile presentation 200 will be described with reference to FIG. 7. FIG. 7 is a diagram showing an example of the configuration of the tactile presentation 200. The tactile presentation 200 is a plate-shaped object having a predetermined number of holes and having a predetermined thickness. The tactile presentation 200 may be a sheet made of paper, plastic, metal, or the like. The thickness of the tactile presentation 200 is preferably 0.5 mm or less (for example, about 0.1-0.5 mm). This is because the larger the thickness, the smaller the contact area between the skin and the opposing object, and the less likely it is that an illusion will occur. Further, the tactile presentation 200 has three holes, of which two holes at both ends (the first hole and the second hole in FIG. 7) are substantially circular with a diameter of 5-20 mm, and the rest. One hole (third hole in FIG. 7) is a hole large enough so that the edge of the hole does not touch the finger. The diameter of the two holes at both ends is 5-20 mm because it fits the finger pad regardless of age or gender. The diameters of the two holes at both ends may be larger than the above size as long as the finger can be moved while touching the edge of the hole in order to create an illusion. However, it is generally not preferable to make the diameter smaller than the above size because the skin of the finger pad does not sufficiently contact the opposing object.

The shape of the hole in the tactile presentation 200 does not matter. For example, as shown in FIG. 8, the two holes at both ends may be formed into a quadrangle.

In addition, it is possible to generate an illusion by targeting three points of the body part, which is the subject of sensation, instead of three fingers. For example, the body parts may be the arm, and the three points on the arm may be set as points A, B, and C from the hand to the elbow, and the stimulation may be given only at the points A and C.

The tactile presentation 200 of FIGS. 7 and 8 has a characteristic shape. Specifically, in the tactile presentation 200 of FIGS. 7 and 8, two holes (hereinafter referred to as a first hole and a second hole) and a first hole are provided at positions separated by a predetermined distance. There is one hole (hereinafter referred to as the third hole) between the second hole and the second hole. The first hole and the second hole move the tactile presentation 200 while allowing the body part (for example, a finger) of the sensation subject to touch the tactile presentation 200 and the opposite object at the edge of each hole. Is for. Further, the third hole is for touching an opposing object while preventing the body part of the body that is the subject of the sensation from touching the edge of the hole.

The tactile presentation 200 may be two plate-shaped objects. For example, as shown in FIG. 9, a pair of plate-shaped objects having substantially circular holes can be used. The tactile presentation 200 of FIG. 9 has three fingers placed on it as shown in FIG. 10, and is used in the same manner as the tactile presentation 200 of FIGS. 7 and 8.

According to the embodiment of the present invention, the tactile presentation is moved by a predetermined method while being sandwiched between the body part and the object facing the body part, thereby touching the object facing the body part. It is possible to modulate the comfort. Specifically, it is possible to make the touch feeling of an opposing object softer, smoother, slippery, and warmer than the original touch feeling. In addition, since the tactile presentation can cause an illusion without crossing between the body part and the opposite object, friction can be reduced, the energy for moving the tactile presentation can be reduced, and noxious stimulation to the skin can be caused. Can be reduced.

<Third Embodiment>
The tactile presentation device 300 uses N objects, which are the tactile presentations described in the first embodiment and the second embodiment, to modulate the tactile sensation of the opposite object, and the tactile sensation is felt mainly by the sense. Get it. Hereinafter, the identifiers of the above N objects are expressed _{as Ob 1} ,…, Ob _N.

Hereinafter, the tactile presentation device 300 will be described with reference to FIGS. 11 to 12. FIG. 11 is a block diagram showing an example of the configuration of the tactile presentation device 300. FIG. 12 is a flowchart showing the operation of the tactile presentation device 300. As shown in FIG. 11, the tactile presentation device 300 includes a drive information generation unit 310, a drive signal generation unit 320, a drive unit 330, and a recording unit 390. In the recording unit 390, for example, _{information about an object having identifiers Ob 1} , ..., Ob _N is recorded as a table as shown in FIGS. 13A and 13B. FIG. 13A shows an example of a table in the case where the body part of the subject of sensation is a finger. Further, FIG. 13B shows an example of a table in the case where the body part of the body that is the subject of the sensation is the hand. The records constituting the tables of FIGS. 13A and 13B include the identifier of the object, the type of the object, the thickness of the object, the size of the hole made in the object, the shape of the hole, and the motion type information that specifies how to move the object. It includes the speed information of the movement and the values of eight attributes of the degree of illusion. The candy type and the business card type, which are specific values of the attribute "type of object", are values indicating the tactile presentation of FIG. 6 and the tactile presentation of FIGS. 7 and 8, respectively. Further, the value of the attribute "hole shape" (octagonal shape in the examples of FIGS. 13A and 13B) for the tactile presentation of the business card type indicates the shape of the two holes at both ends. For these records, it is preferable to record the optimum combination of values obtained by conducting an experiment for examining the relationship between the degree of illusion and the motion type information and the speed information in advance using each object.

The operation of the tactile presentation device 300 will be described with reference to FIG.

In S310, the drive information generation unit 310 inputs the identifier of the object selected by the perceptor (hereinafter referred to as the drive target object) from _{the object identifiers Ob 1} , ..., Ob _{N, and moves the drive target object.} Generates and outputs drive information indicating the drive method. Here, the driving information corresponds to a method in which a part of the body of the subject to be perceived makes a circular motion along the edge of the hole of the object, or a predetermined point between two predetermined points of the edge of the hole of the object. Exercise type information indicating one of the methods in which the part of the body that is the subject of sensation moves back and forth along the edge, and either the speed of the circular motion or the speed of the repetitive motion. Includes speed information and.

Hereinafter, the case where the table of FIG. 13B is recorded in the recording unit 390 will be described. For example, when the input identifier of the drive target object is object Ob ₁ , the drive information generation unit 310 refers to the table of FIG. 13B recorded in the recording unit 390, and performs "circular motion" as motion type information. , "90deg / s" can be generated as driving information including speed information. If the input identifier of the drive target object is object Ob ₁ , the drive information is not uniquely determined. In this case, for example, by inputting the degree of the illusion that the perceptor wants to perceive. , Will be able to be uniquely generated.

In S320, the drive signal generation unit 320 takes the identifier of the drive target object and the drive information output in S310 as inputs, and uses the drive information to generate and output a drive signal which is a signal for moving the drive target object. ..

In S330, the drive unit 330 takes the identifier of the drive target object and the drive signal output in S320 as inputs, and moves the drive target object according to the drive signal. As a result, the sensation subject can perceive the illusion.

According to the embodiment of the present invention, by moving the tactile presentation according to the drive signal corresponding to the tactile presentation, the sensation subject can stably perceive the illusion.

<Supplementary note>
FIG. 14 is a diagram showing an example of a functional configuration of a computer that realizes each of the above-mentioned devices (that is, each node). The processing in each of the above-mentioned devices can be carried out by having the recording unit 2020 read a program for making the computer function as each of the above-mentioned devices and operating the control unit 2010, the input unit 2030, the output unit 2040, and the like.

The device of the present invention is, for example, as a single hardware entity, an input unit to which a keyboard or the like can be connected, an output unit to which a liquid crystal display or the like can be connected, and a communication device (for example, a communication cable) capable of communicating outside the hardware entity. Communication unit, CPU (Central Processing Unit, cache memory, registers, etc.) to which can be connected, RAM and ROM as memory, external storage device as hard hardware, and input, output, and communication units of these. , CPU, RAM, ROM, has a bus connecting so that data can be exchanged between external storage devices. Further, if necessary, a device (drive) or the like capable of reading and writing a recording medium such as a CD-ROM may be provided in the hardware entity. As a physical entity equipped with such hardware resources, there is a general-purpose computer or the like.

The external storage device of the hardware entity stores a program required to realize the above-mentioned functions and data required for processing of this program (not limited to the external storage device, for example, reading a program). It may be stored in a ROM, which is a dedicated storage device). Further, the data obtained by the processing of these programs is appropriately stored in a RAM, an external storage device, or the like.

In the hardware entity, each program stored in the external storage device (or ROM, etc.) and the data required for processing of each program are read into the memory as needed, and are appropriately interpreted and executed and processed by the CPU. .. As a result, the CPU realizes a predetermined function (each component represented by the above, ... section, ... means, etc.).

The present invention is not limited to the above-described embodiment, and can be appropriately modified without departing from the spirit of the present invention. Further, the processes described in the above-described embodiment are not only executed in chronological order according to the order described, but may also be executed in parallel or individually as required by the processing capacity of the device that executes the processes. ..

As described above, when the processing function in the hardware entity (device of the present invention) described in the above embodiment is realized by the computer, the processing content of the function that the hardware entity should have is described by the program. Then, by executing this program on the computer, the processing function in the above hardware entity is realized on the computer.

The program describing the processing content can be recorded on a computer-readable recording medium. The recording medium that can be read by a computer may be, for example, a magnetic recording device, an optical disk, a photomagnetic recording medium, a semiconductor memory, or the like. Specifically, for example, a hard disk device, a flexible disk, a magnetic tape or the like as a magnetic recording device, and a DVD (Digital Versatile Disc), a DVD-RAM (Random Access Memory), a CD-ROM (Compact Disc Read Only) as an optical disk. Memory), CD-R (Recordable) / RW (ReWritable), etc., MO (Magneto-Optical disc), etc. as a magneto-optical recording medium, EEP-ROM (Electronically Erasable and Programmable-Read Only Memory), etc. as a semiconductor memory. Can be used.

Further, the distribution of this program is performed, for example, by selling, transferring, renting, or the like a portable recording medium such as a DVD or a CD-ROM in which the program is recorded. Further, the program may be stored in the storage device of the server computer, and the program may be distributed by transferring the program from the server computer to another computer via the network.

A computer that executes such a program first temporarily stores, for example, a program recorded on a portable recording medium or a program transferred from a server computer in its own storage device. Then, when the process is executed, the computer reads the program stored in its own storage device and executes the process according to the read program. Further, as another execution form of this program, a computer may read the program directly from a portable recording medium and execute processing according to the program, and further, the program is transferred from the server computer to this computer. You may execute the process according to the received program one by one each time. In addition, the above-mentioned processing is executed by a so-called ASP (Application Service Provider) type service that realizes the processing function only by the execution instruction and the result acquisition without transferring the program from the server computer to this computer. May be. The program in this embodiment includes information used for processing by a computer and equivalent to the program (data that is not a direct command to the computer but has a property that regulates the processing of the computer, etc.).

Further, in this form, the hardware entity is configured by executing a predetermined program on the computer, but at least a part of these processing contents may be realized in terms of hardware.

The description of the embodiment of the present invention described above is presented for purposes of illustration and description. There is no intention to be exhaustive and no intention to limit the invention to the exact form disclosed. Deformations and variations are possible from the above teachings. The embodiments are various embodiments and various embodiments of the invention to provide the best illustration of the principles of the invention and to be suitable for practical use considered by those skilled in the art. It is selected and expressed so that it can be used by adding transformations. All such variations and variations are within the scope of the invention as defined by the appended claims, interpreted according to the width given fairly, legally and impartially.

Claims (8)

It is a plate-shaped object with a predetermined thickness.
The plate-shaped object has a hole,
The hole is formed between a plate-shaped object having a surface in contact with the plate-shaped object (hereinafter referred to as an opposed object) and a body portion of a subject (hereinafter referred to as a sensing subject) who feels the touch of the object. The plate-shaped object is moved by a predetermined method while the body part of the sensing main body touches the plate-shaped object and the opposing object at the edge of the hole while sandwiching the object. A tactile presentation that is intended to modulate the tactile sensation of the opposing object. The tactile presentation according to claim 1.
The predetermined method is a circular motion in which a part of the body of the sensing subject makes one revolution along the edge of the hole, or the sensing is performed along the edge between predetermined two points on the edge of the hole. A tactile presentation characterized by a method in which the body parts of the subject are repetitive movements back and forth. The tactile presentation according to claim 1.
The plate-shaped object has one substantially circular hole.
A part of the outer circumference of the plate-shaped object (hereinafter referred to as the first outer circumference) and a part of the outer circumference of the plate-shaped object different from the first outer circumference (hereinafter referred to as the second outer circumference) are Both are part of a substantially circular shape centered on the center of the hole.
The first outer circumference and the second outer circumference are in a positional relationship that is point-symmetrical with respect to the center of the hole.
The first outer circumference and the second outer circumference are a circular motion in which a part of the body of the sensation subject makes one revolution along the edge of the hole, or between two predetermined points on the edge of the hole. A tactile presentation characterized in that the plate-shaped object is moved in such a way that the body part of the sensory subject moves back and forth along the edge. The tactile presentation according to claim 1.
In the plate-shaped object, there are two holes (hereinafter referred to as a first hole and a second hole) at positions separated by a predetermined distance, and between the first hole and the second hole. There is one hole (hereinafter referred to as the third hole),
In the first hole and the second hole, the plate-shaped object is formed while the body portion of the sensing subject touches the plate-shaped object and the opposing object at the edge of each hole. It ’s for moving,
The third hole is a tactile presentation characterized in that the third hole is for touching the opposite object while preventing the body portion of the sensation subject from touching the edge of the hole. It is a plate-shaped object with a predetermined thickness.
The plate-shaped object has a hole,
The hole is formed between a plate-shaped object having a surface in contact with the plate-shaped object (hereinafter referred to as an opposed object) and a body portion of a subject (hereinafter referred to as a sensing subject) who feels the touch of the object. By moving the facing object by a predetermined method while the body part of the sensing main body touches the plate-shaped object and the facing object at the edge of the hole while sandwiching the object. A tactile presentation for modulating the tactile sensation of the opposite object. Ob ₁ , ..., Ob _N are used as identifiers of the objects of the tactile presentation according to claim 1.
Object identifier Ob ₁ , ..., Ob _N , the identifier of the object selected by the subject (hereinafter referred to as the drive target object) is input, and the drive information indicating the drive method for moving the drive target object is generated. Information generator and
A drive signal generation unit that generates a drive signal, which is a signal for moving the drive target object, using the drive information.
Including
The driving information is a method in which a part of the body of the subject to be perceived makes a circular motion along the edge of the hole of the object, or the edge is between predetermined two points of the edge of the hole of the object. Exercise type information indicating one of the methods in which a part of the body that is the subject of feeling is a repetitive motion that moves back and forth along the line, and either the speed of the circular motion or the speed of the repetitive motion. A tactile presenter characterized by including speed information indicating. Ob ₁ , ..., Ob _N are used as identifiers of the objects of the tactile presentation according to claim 1.
The tactile presenting device inputs the identifier of the object (hereinafter referred to as the drive target object) selected by the sensory subject from _{the object identifiers Ob 1} , ..., Ob _{N, and indicates the drive method for moving the drive target object.} Driven information generation steps to generate information, and
A drive signal generation step in which the tactile presentation device uses the drive information to generate a drive signal which is a signal for moving the drive target object.
Including
The driving information is a method in which a part of the body of the subject to be perceived makes a circular motion along the edge of the hole of the object, or the edge is between predetermined two points of the edge of the hole of the object. Exercise type information indicating one of the methods in which a part of the body that is the subject of feeling is a repetitive motion that moves back and forth along the line, and either the speed of the circular motion or the speed of the repetitive motion. A tactile presentation method characterized by including speed information indicating. A program for operating a computer as the tactile presentation device according to claim 6.

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