JP3852441B2 - Keyboard force sense control device and storage medium - Google Patents

Description

  The present invention relates to a keyboard force sense control device capable of giving a good touch feeling to a key in a piano using an electronic sound source, for example, and a storage medium storing a program for causing a computer to execute keyboard force sense control.

  In an electronic piano using an electronic sound source, a key is urged in one direction by a spring or the like to generate a predetermined reaction force (touch feeling). However, with a simple reaction force by a spring or the like, there is a problem that a key touch like an acoustic piano cannot be obtained, and the performance feel becomes mechanical and it is difficult to perform a delicate performance. Therefore, various devices for applying a reaction force to the key using a solenoid or the like have been developed. In this type of conventional apparatus, a reaction force that fluctuates is applied to the key, thereby generating a performance sensation like an acoustic piano (for example, Japanese Patent Publication No. 7-111631, Japanese Patent Laid-Open No. 5-11765). Issue gazette).

  By the way, in the conventional apparatus, since the reaction force corresponding to the key pressing position is obtained using a simple physical equation, it is not possible to give a force sense like an actual acoustic piano. This is because the actual piano action has discontinuous load fluctuation reaction force, and complex phenomena such as deflection of hammer action, collision between hammer action and hammer, and biting (hammer back check, etc.) This is because the reaction force of the key cannot be reproduced with a simple equation of motion.

  The present invention has been made in view of the above-described circumstances, and has a keyboard force sense control device that can also reproduce the complex force sense of an acoustic piano key, and a program that causes a computer to execute keyboard force sense control. The object is to provide a stored storage medium.

In order to solve the above-mentioned problem, a keyboard force sense control device according to claim 1 is detected by a key behavior detecting unit that detects a physical quantity including a speed of the key with respect to the movement of the key, and the key behavior detecting unit. A determination circuit that determines whether the key is in the key pressing process or the key release process based on the physical quantity indicating the speed of the key, and a selection unit that selects the tone color of the musical tone. The tone signal generation means for electronically generating a tone generated by the tone of the selected tone and the physical quantity detected by the key behavior detection means, and the determination circuit determines Haptic characteristic imparting means for outputting a haptic control value corresponding to the key pressing process or key releasing process corresponding to the selected tone color, and a force for imparting a force based on the haptic control value to the key And a sense imparting means.
According to a second aspect of the present invention, there is provided the keyboard force sense control device according to the first aspect, wherein the table for converting the key position into an output value includes a plurality of sets according to the key speed, the key pressing process, and the key releasing process. The force sensation characteristic imparting means is a table corresponding to the physical quantity detected by the key behavior detecting means and indicating the speed of the key, in the key pressing process or the key releasing process determined by the determination circuit. The key position of the physical quantity detected by the key behavior detecting means is converted into an output value using a corresponding table, and the force control value corresponding to the output value is output.
According to a third aspect of the present invention, there is provided a storage medium comprising: a key behavior detecting unit that detects a physical quantity including a speed of a key with respect to a key movement; and the physical quantity detected by the key behavior detecting unit. A determination circuit for determining whether the key is in a key pressing process or a key releasing process based on an indication of a key speed, a selection means for selecting a tone color of a musical tone, and a pitch of an operated key. A musical tone signal generating means for electronically generating a musical tone generated by a musical tone of a selected tone color, in accordance with a physical quantity detected by the key behavior detecting means, and in a key pressing process or a key releasing process determined by the determination circuit Force function imparting means for outputting a corresponding force sense control value corresponding to a selected tone color, and force sense giving means for giving a force based on the force sense control value to the key Read the program on a computer Possible to store.

  According to the present invention, for example, if the selected tone is a piano, a musical tone signal of a piano tone is generated on the keyboard of the piano, or if the selected tone is an organ, the musical tone of the organ tone is generated. Signals can be generated by force on the keyboard of the organ, and hearing and tactile sensations make you feel as if you are playing an instrument of the selected tone.

<1: Overall configuration>
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the present embodiment.
In this figure, reference numeral 1 denotes a CPU, which controls each part of the apparatus. Note that a ROM that stores a basic program used in the CPU 1 and a RAM that serves as a working area are not shown for the sake of simplicity.

  Reference numeral 2 denotes a key that is rotatably supported, and is pressed and released by a player's finger 3. Reference numeral 5 denotes a position sensor provided for each key, which detects the position of the key 2 and outputs it as a signal Sp. The position sensor 5 includes, for example, a shutter attached to the lower part of the key 2 and a photosensor whose optical path is shielded by the shutter. In this case, the shape of the shutter is set so that the light shielding amount continuously changes corresponding to the position of the key 2, and thereby the position of the key 2 is uniquely specified from the output signal of the photosensor. It has become. Note that the position sensor 5 is not limited to an optical type, and a sensor of another type may be used. In short, any sensor that can continuously detect the position of the key 2 may be used.

Reference numeral 4 denotes a drive actuator that drives the key 2, and includes a solenoid having a plunger that is interlocked with the key 2. The drive actuator 4 in the present embodiment gives a reaction force to the key 2 based on the control described later, and thereby gives the player a feel equivalent to playing an acoustic piano.
Further, the drive actuator 4 is not limited to a solenoid, and any drive actuator 4 may be used as long as it can apply a reaction force to the key 2. For example, a biasing means such as a motor (linear motor, rotary motor), a brake device, or a hydraulic or pneumatic device may be used.

  Next, the output signal Sp of the position sensor 5 described above is input to the multiplexer 6. A plurality of multiplexers 6 are provided, and each has an input terminal for 12 sounds (for one octave). Then, signals Sp corresponding to the respective keys within the same octave range are respectively input to these input terminals. That is, the multiplexer 6 is provided for each octave along the piano range, and in this embodiment, eight multiplexers 6 are provided corresponding to 88 keys of a standard piano.

  In addition, each input terminal of each multiplexer 6 is sequentially scanned, and position information of each key of the piano is sequentially detected (for example, from the low sound side to the high sound side). The signal Sp output through the multiplexer 6 is converted into a digital signal by the AD converter 7.

  On the other hand, the signal Sp for each key output from the position sensor 5 is converted into a signal Sv indicating the speed by a differentiator 9 provided for each key and input to the multiplexer 10. Similar to the multiplexer 6, a plurality of multiplexers 10 are provided corresponding to each range of the piano, and each has an input terminal for 12 tones (one octave). The input terminal of each multiplexer 10 is scanned in synchronization with the input terminal of the multiplexer 6 so that the speed information of each key of the piano is sequentially detected. The signal Sv output through the multiplexer 10 is converted into a digital signal by the AD converter 11.

  Further, the signal Sv for each key output from the differentiator 9 is converted into a signal Sa indicating acceleration by a differentiator 20 provided for each key and input to the multiplexer 21. Multiplexers 21 are provided corresponding to each range of the piano, similarly to the multiplexers 6 and 10, and each has an input terminal for 12 tones (one octave). The input terminals of the multiplexers 20 are scanned in synchronization with the input terminals of the multiplexers 6 and 10, and the acceleration information of each piano key is sequentially detected. The signal Sa output via the multiplexer 20 is converted into a digital signal by the AD converter 22.

  As described above, the signals Sp, Sv, Sa indicating the position, speed, and acceleration of each key of the piano are output in synchronization with each other, and these are converted into digital signals by the AD converters 7, 11, and 22. It has become so. The signal Sp is supplied to the CPU 1, the force sense application tables 32 and 33, and the PWM command value generation circuit 40, and is also supplied to the force sense application table 30 or 31 via the hysteresis switching circuit 25. The signal Sv is supplied to the CPU 1, the hysteresis switching circuit 25 and the force sense application table 32, and the signal Sa is supplied to the CPU 1 and the force sense provision table 33. The haptic characteristic imparting tables 30 to 33 are tables that store reaction force to be generated by the drive actuator 4, that is, haptic characteristics.

  Next, the key reaction force will be described. Prior to that, the operation of the piano action, which is the main factor causing the key reaction force, will be briefly described. FIG. 3 is an external view of the piano action. When the key 2 is depressed, the capstatan U starts to lift the action A first. Subsequently, the rear end of the keyboard pushes up the damper D. When the action A is lifted, Jack J pushes up the hammer roller HR, so that the hammer H starts to rotate toward the string S. When the key 2 is further pressed, the jack J further pushes up the hammer roller HR and then escapes (disengages from the hammer roller HR), whereby the hammer H strikes the string S. The hammer S that has finished striking the string falls due to the reaction force of the string S and its own weight. Next, when the key 2 is returned and the key release process is started, the tip of the key 2 gradually lowers the damper D and then leaves, and then the key 2 returns to the rest position, and a series of key operations is completed.

  Here, FIG. 4 is a diagram showing the characteristics of the reaction force (static reaction force) when the key is gently pressed down and then gently returned to the original position (rest position). The distance from the key rest position, the vertical axis is the reaction force. The point a shown in the figure shows a state in which the reaction force of the hammer action is applied after starting to press the key, and the point b shows a state in which the reaction force of the damper is applied. Further, b 'is a state in which the jack has begun to be removed, and point c is a state in which the jack has been removed (escaped). Then, when the hammer moves toward the string, the reaction force decreases rapidly (point d), and then when the key reaches the end position, a large reaction force is generated because it hits the shelf (point d). Next, when the key release process is started, the reaction force returns to 0 through the path indicated by the arrow e. As described above, the key gives the player's finger a reaction force corresponding to the movement of the hammer action and its own weight. Also, it can be seen that the characteristics of the reaction force generated between key depression and key release are different and have hysteresis characteristics. The broken line shown in FIG. 4 is a characteristic when the static reaction force is measured in a state where the damper pedal is stepped up and the damper is raised (the reaction force of the damper is not applied to the key).

  Next, FIG. 5 is a diagram showing the characteristics of the key reaction force in the key pressing process when the key pressing speed is changed. In the figure, curves C1 to C5 indicate the relationship between the key position and the reaction force when the key strength is changed. The characteristics shown in FIG. 5 are characteristics when the key is automatically driven by the keystroke device (automatic piano key drive solenoid mechanism), and the numerical value in parentheses next to the sign of the curve is the driving force of the keystroke device. (Unit is Newton). As can be seen from FIG. 5, the reaction force characteristic of the key varies depending on the driving force (driving speed) of the key.

As can be seen from the above, a simple equation of motion is not sufficient to reproduce the reaction force of the key, and various parameters such as key position, key speed, and key acceleration are used. It is necessary to find a suitable reaction force.
The force sense imparting tables 30 to 33 shown in FIG. 1 output reaction forces according to various parameters from such a viewpoint, and the reaction forces output from the force sense imparting tables 30 to 33 are added. Synthesized by the instruments 35, 36, and 37, thereby reproducing the reaction force equivalent to the reaction force obtained from the key of the acoustic piano.

  Here, the force sense imparting tables 30 and 31 generate a reaction force obtained from the position and speed of the key. In this case, the force sense imparting table 30 generates a reaction force in the key pressing stroke, and the force sense imparting table 31 generates a reaction force in the key releasing stroke. More specifically, in the force sense imparting tables 30 and 31, the reaction force (output data Y1) is determined using the signal Sp indicating the position and the signal Sv indicating the speed as parameters. That is, as shown in FIG. 2, the force sense imparting tables 30 and 31 have a plurality of tables 30-1 to 30-n in which the X axis is the value of the signal SP and the Y axis is the output value in the Z axis direction. Configured. Then, the value of the signal Sv is taken on the Z axis, and any one of the tables 30-1 to 30-n is selected by the signal Sv, and the output value corresponding to the signal SP is determined using the selected table. . Here, when the value of the signal Sv is between each table, two tables on both sides are selected, and the output data Y1 is determined by performing interpolation processing on the output value output from each table. Is done. Further, the force sense application table 31 has the same configuration as described above.

  One of the force sense imparting tables 30 and 31 is selected according to the output signal of the hysteresis switching circuit 25. The hysteresis switching circuit 25 determines the sign of the signal Sv, and selects the haptic application table 30 when it is positive and the haptic application table 31 when it is negative. This hysteresis switching circuit 25 detects that the speed is positive when the key 2 is pressed and in the key pressing process, and conversely that the speed becomes negative when the key 2 is released and in the key releasing process. It is the principle. The hysteresis switching circuit 25 actually provides a certain degree of dead zone (temporal dead zone) for positive and negative changes in speed to perform more appropriate control. This point will be described later.

  Next, the haptic application tables 32 and 33 have the same configuration as that of the haptic application table 30 shown in FIG. The value of the signal Sp, which is a position signal, is taken on the Z axis. Further, the value of the signal Sa that is an acceleration signal is taken on the X axis of the force sense application table 33, and the value of the signal Sp that is a position signal is taken on the Z axis. That is, the force sense imparting table 32 outputs a reaction force corresponding to the speed and position of the key. This is a measure taken to express a viscous load that varies greatly depending on the position, such as a piano keyboard or action. The force sense imparting table 33 outputs a reaction force corresponding to the acceleration and position of the key. This is a measure taken to express an inertial load that varies greatly depending on the position, such as piano keys and actions.

  Next, the PWM command value generation circuit 40 generates a pulse width modulation command value (hereinafter referred to as a PWM command value) for driving the drive actuator 4 based on the combined output Sum and the signal Sp of the force sense imparting tables 30 to 33. Circuit). Specifically, a plurality of tables are provided in the Z-axis direction with the value of the combined output Sum as the X-axis and the PWM command value as the Y-axis. Then, the value of the signal Sp is taken on the Z axis, and one of the tables is selected by the signal Sp, and the PWM command value corresponding to the combined output Sum is determined using the selected table. Here, when the value of the signal Sp is between each table, two tables on both sides thereof are selected, and the PWM command value is determined by performing interpolation processing on the output value output from each table. Is done. The purpose of the PWM command value generation circuit 40 is to correct the non-linear thrust generation characteristic unique to the solenoid, in which a difference occurs in the thrust depending on the stroke position, using this table. Arbitrary thrust characteristics can be obtained by the table in the PWM command value generation circuit 40, and not only the design of the solenoid becomes easy, but also many advantages such as optimization of efficiency and reduction of cost can be obtained.

  The PWM command value output from the PWM command value generation circuit 40 is supplied to the PWM driver 50 and converted into a PWM waveform. The PWM waveform output from the PWM driver 50 is supplied to the drive actuator 4 via the current feedback circuit 51. The current feedback circuit 51 performs feedback control so that the drive current supplied to the drive actuator 4 matches the PWM command value. By this current feedback control, the change in thrust with the temperature rise of the actuator is corrected, and the target reaction force can always be reproduced.

  On the other hand, the synthesized signal Sum is converted into an analog signal by the D / A converter 45 and supplied to the monitor 46. As a result, the waveform of the composite signal Sum that changes every moment, that is, the waveform of the reaction force of the key is displayed on the monitor 46.

<2: Operation of Embodiment>
(1) Force sense imparting operation According to the configuration described above, when the key 2 is operated, a reaction force corresponding to the position, speed, and acceleration is output from the force sense imparting tables 30 to 33, and these are synthesized. The combined signal Sum. Then, a PWM command value corresponding to the composite signal Sum and the position signal Sp is output from the PWM command value generating means 50, and a drive current corresponding to the PWM command value is output via the current feedback circuit 51. As a result, the drive actuator 4 is driven, and a reaction force is applied to the finger 3.

  In this case, since each force sense imparting table 30 to 33 determines the reaction force using two parameters, it has a more complex reaction force characteristic than a table that simply determines the reaction force based on only one variable. Can be used, and is very close to an actual piano. In addition, since the force sense imparting tables 30 to 33 each use a different set of parameters, the reaction force can be individually reproduced for each factor causing the reaction force, and by using these comprehensively, The reaction force can be reproduced with extremely high fidelity.

(2) Hysteresis characteristic imparting operation As described above, the hysteresis switching circuit 25 selectively switches the force sense imparting tables 30 and 31 to switch between the key press stroke reaction force and the key release stroke reaction force. However, it may not be appropriate to perform this switching based solely on the sign speed of the key speed. This point will be described.
FIG. 6A is a diagram showing a general key trajectory, where the horizontal axis indicates time and the vertical axis indicates the key position. Further, (b) in the figure shows the key speed corresponding to the locus in (a) in the figure. The trajectory shown in FIG. 6 (a) returns slightly from time t1 to time t2 after the key is pressed, and is pressed to the end position from time t2 to time t3. The key is continuously pressed at the end position from time t3 to t4, and the key is released from time t4 to time t5. In the portion P1 from time t1 to time t2 in this key locus, the key is slightly returned, but if this is determined as the key release process, the key pressing process must be performed again from time t2 onwards, and the table is switched. Become frequent. If the table is switched too frequently, the value of the reaction force to be applied may become discontinuous before and after the table switching, and the smooth reaction force, that is, the touch feeling will be impaired. In addition, the player often plays the portion P1 with the intention of leaving the keystroke process slightly rather than releasing the key, and it should not be determined that the key release process has been started. .

Therefore, in this embodiment, the hysteresis switching circuit 25 does not perform table switching until the speed inversion period ΔT exceeds the reference period Tf. As a result, during the period from t1 to t2, table switching is not performed, and the haptic application table 30 for the key pressing process is continuously used, and smooth haptic application is performed.
Similarly, even if there is noise superposition as shown in the part P2 in FIG. 6 (a), table switching is not performed and stable force sense is imparted.

  On the other hand, when the speed is reversed negatively from time t4 in FIG. 6 (a) and the speed inversion period ΔT exceeds the reference time Tf, the hysteresis switching circuit 25 selects the haptic application table 31 for the key release process, Giving haptic characteristics suitable for key release is started.

<3: Modification>
(1) Back check vibration reproduction The piano is provided with a back check to prevent the hammer from rampage when the hammer after striking returns to the hammer action mechanism. In this case, if there is a strong string, it will vibrate after the hammer hits the back check. The feeling of vibration is an important sensation for the pianist and is also a big difference between a live piano and an electric piano.
Here, the back check vibration will be described with reference to FIG. First, as shown in FIG. 7A, the hammer H hitting the string S collides with the back check B, and thereby vibrates as shown in FIG. The vibration of the hammer H is transmitted to the key 2 via the hammer action mechanism and further transmitted to the finger 3. The vibration transmitted to the finger 3 conveys the movement of the hammer H, and is an important sensation for the pianist, for example, when playing fast hits. Therefore, reproducing the back check vibration is important in reproducing the feel of a live piano with high accuracy.

  Next, reproduction of back check vibration will be described. FIG. 8 (a) shows the key trajectory and the force felt by the finger when there is back check vibration (see part P5). FIG. 7B shows the key locus when there is no back check vibration. As can be seen by comparing (a) and (b) in the figure, back check vibration occurs only when the key is suddenly pressed. Note that even with normal keystrokes, some shaking occurs when the jack returns, but it is negligible.

  As described above, the presence or absence of the occurrence of back check vibration can be determined by detecting whether or not the keystroke is steep. Therefore, for example, the occurrence of back check vibration is determined as follows. First, measurement points K1 to K4 are set immediately below the key at predetermined processing intervals, and the speed of the key is measured at each measurement point. These measurement points K1 to K4 are set for a normal electronic piano in order to measure the key pressing speed.

Then, the key speed at the measurement point K1 is Vel1, the key speed at the measurement point K4 is Vel2, and the ratio α = Vel2 / Vel1 is obtained. Then, the presence or absence of back check vibration is detected based on the value of α and the value of the velocity Velk at any of the measurement points.
For example,
0.2 (m / s) <Velk and 1.2 <α
If so, it is determined that there is back check vibration,
If Velk ≦ 0.2 (m / s) and α ≦ 1.2, it is determined that there is no back check.

For this determination, for example, the CPU 1 shown in FIG. 1 may recognize the measurement point from the signal Sp indicating the key position and detect the speed of the point based on the signal Sv. And what is necessary is just to obtain | require (alpha) from this detection result and to perform said determination. When it is determined that there is back check vibration, the CPU 1 outputs a force signal of back check vibration via the adder 38 at the timing when the back check vibration occurs. As a result, the back check vibration component is superimposed on the combined output Sum of the force sense application tables 30 to 33, and the back check signal is reproduced.
In this case, the CPU 1 stores back check vibration data in a predetermined memory (not shown) and outputs it at a predetermined timing of the key release process. Further, a plurality of back check vibration data may be stored according to the strength of the keystroke, and data corresponding to the key speed obtained at any of the measurement points K1 to K4 may be selected. Further, the output timing of the back check vibration data may be varied according to the key speed obtained at any of the measurement points K1 to K4, as described above.

(2) Damper pedal control As described with reference to FIG. 4, the reaction force differs between when the damper pedal is turned on and when it is turned off. Therefore, it is possible to detect the on / off of the damper pedal and switch the haptic application table to be used in accordance with the on / off.

(3) Processing to add other elements The force sense imparting table can be added other than the one described in the above embodiment. That is, if there is an element that gives the player some kind of touch, a haptic application table storing haptic data for reproducing the sensation is set, and parameters such as a key position, a key speed, and a key acceleration are set to 2 What is necessary is just to comprise so that one or more may be selected and read. A configuration example in this case is shown in FIG. Note that parameters other than those used in the embodiment may be used as parameters of the force sense imparting table to be added. Note that the force sense imparting table is not limited to three dimensions (two parameters), and may have a multidimensional configuration using more parameters.

(4) Other parameters As a parameter, a change in acceleration, that is, jerk may be used. This jerk is sometimes used as an index for riding comfort of an automobile or the like, and is known as an important factor for human senses. Therefore, the jerk may be detected and force sense control may be performed using this.
(5) In the above-described embodiment, in order to mimic the hysteresis characteristics of the key pressing process and the key releasing process, the force sense imparting tables 30 and 31 relating to the key position are selected according to the sign of the key speed. However, you may make it select by other selection information, such as the code | symbol of a key acceleration. Also, the hysteresis characteristics of the key speed or key acceleration may be imitated. In that case, a plurality of force sense tables relating to the key speed or key acceleration are provided, and selection information such as the sign of the key speed or key acceleration is provided. You may make it select according to. At this time, as in the case of the key position, it goes without saying that the switching of the force sense application table relating to the key speed or the key acceleration is performed only when the change in the selection information exceeds the reference period. Further, if the reference period can be set independently by the key position, the key speed, and the key acceleration, finer control can be performed.
(6) In the above-described embodiment, the information related to the time related to the key position is used for switching the force sense application table for imitating the hysteresis characteristics. The force sense may be controlled in accordance with the passage of time from the moment when the key is pressed or the moment when the key position / key speed / key acceleration reaches a predetermined value including 0). Thereby, for example, it is possible to control such that the reaction force is increased or decreased as the time from the predetermined timing becomes longer.
(7) In the above-described embodiment, force control is performed even in the key release process, but if there is not much problem when the key is released, the force sense only in the key pressing process may be controlled.
(8) In the above-described embodiment, an example of reproducing the force sensation of an acoustic piano has been shown. However, even if data in the force sense provision table is set so as to reproduce the force sensation of another keyboard instrument. In addition, an arbitrary force sense may be applied. In this case, a circuit for detecting on / off of the key based at least on the key position, a tone signal generating circuit for electronically generating a tone signal, and a circuit for selecting a tone color of the tone signal generated by the tone signal generating circuit And a tone signal corresponding to the operated key may be generated, and a musical tone signal of the selected tone color may be generated, and a sense of force corresponding to the selected tone color may be given. As a result, if the selected tone is a piano, the tone signal of the piano tone is generated by the piano keyboard, or if the selected tone is the organ, the tone signal of the organ tone is generated. It can be generated from the organ keyboard, and from the sense of hearing and touch, you can feel as if you are playing an instrument of the selected tone.

  In addition, it is also possible to provide a user with a program that causes a computer to execute operations such as the provision of haptic characteristics, the application of hysteresis characteristics, and the back check vibration reproduction in the above-described embodiment and the data of each table stored in a storage medium. . This will be described with reference to FIG. In addition, the same code | symbol is attached | subjected to the same component as FIG. 1, and the description is abbreviate | omitted. An electronic musical instrument with a built-in computer as shown in FIG. 9 reads a program and data stored in a CD-ROM 90a, which is a storage medium, by a CD-ROM (compact disk-read only memory) drive 90, and an HDD ( (Hard disk drive) 91 can be stored in the hard disk 91a. In this way, the above-described operation program and data are stored in the hard disk 91a, and the CPU 93 operates based on this program. Thus, the CPU 93 can output a PWM command value for driving the drive actuator 4 based on the signals Sp, Sv, Sa input via the AD converter 94 as in the above-described embodiment. This PWM command value is supplied to the drive actuator 4 via the PWM driver 50, and a reaction force is applied to the key 2. In addition to the CD-ROM drive 90, devices for using various types of media such as a floppy (registered trademark) disk device and a magneto-optical disk (MO) device may be provided.

  The electronic musical instrument has a communication interface 95. The communication interface 95 is connected to a communication network such as a LAN (local area network), the Internet, or a telephone line, and is connected to the server computer 96 via the communication network. In this case, the electronic musical instrument transmits the above-described operation program and a command for requesting data download to the server computer 96 via the communication interface 95 and the communication network. Upon receiving this command, the server computer 96 distributes the requested operation program and data to the electronic musical instrument via the communication network. Then, the electronic musical instrument receives these programs and data via the communication interface 95 and downloads them to the hard disk 91a. The CPU 93 is controlled based on this program. Accordingly, operations such as the provision of haptic characteristics, the application of hysteresis characteristics, and the back check vibration reproduction similar to the above-described embodiment can be performed.

In the present invention, the following keyboard force sense control device may be used.
That is, as the first keyboard force sense control device, a key behavior detecting means for detecting a physical quantity related to the movement of the key, and determining whether the key pressing stroke or the key releasing stroke is based on the physical quantity detected by the key behavior detecting means, The haptic characteristic giving means for outputting a haptic control value according to the determination result and the physical quantity, the haptic giving means for giving force to the key, and the haptic control value outputted by the haptic characteristic giving means. And a control means for controlling the applying force of the force sense applying means based on the above.
In addition, as a second haptic control device for a keyboard, a key behavior detecting means for detecting a physical quantity related to a key motion, a haptic control value is output based on the physical quantity detected by the key behavior detecting means and a change time of the physical quantity. Haptic characteristic imparting means, haptic imparting means for imparting force to the key, and control means for controlling the imparting force of the haptic imparting means based on the haptic control value output by the haptic characteristic imparting means The structure which comprises may be sufficient.
Further, as a third haptic control device for a keyboard, key behavior detecting means for detecting two or more physical quantities including at least the key speed with respect to the movement of the key, and a haptic sense based on the physical quantity detected by the key behavior detecting means. A force sense imparting means for outputting a control value, a force sense imparting means for imparting a force to the key, and an imparting force of the force sense imparting means based on the force sense control value output by the force sense characteristic imparting means. Control means for controlling, back check determination means for determining the presence or absence of back check vibration from the key speed detected by the key behavior detection means, and when the back check determination means determines that there is back check vibration, It may be configured to include back check control means for outputting a force sense control value corresponding to back check vibration to the control means.

In the present invention, the following keyboard force sense control method may be used.
That is, as a first keyboard force sense control method, a first step of detecting a physical quantity related to the movement of a key and a key pressing stroke or a key releasing stroke are determined based on the physical quantity detected in the first step, A second process of outputting a haptic control value according to the determination result and the physical quantity, and a third process of applying a force to the key based on the haptic control value output in the second process. You may have.
In addition, as a second haptic control method for a keyboard, a haptic control value is output based on a first process for detecting a physical quantity related to key movement, a physical quantity detected in the first process, and a change time of the physical quantity. And a third step of applying a force to the key based on the force control value output in the second step.
Further, as a third haptic control method for a keyboard, a haptic control is performed based on the first process for detecting two or more physical quantities including at least the key speed, and the physical quantities detected in the first process regarding the movement of the key. A second step of outputting a value, a third step of determining the presence or absence of back check vibration from the key speed detected in the first step, and a case of determining that there is back check vibration in the third step Is based on the fourth process of outputting a haptic control value corresponding to a predetermined back check vibration, the haptic control value output in the second process, and the haptic control value output in the fourth process. And a fifth step of applying force to the key.

Furthermore, in the present invention, the following storage medium may be used.
That is, as a first storage medium, a first process for determining a key pressing stroke or a key releasing stroke based on a physical quantity related to a key movement, and outputting a force control value according to the determination result and the physical quantity; A program for causing the computer to execute a second process for controlling the force applied to the key based on the force control value output in the first process may be stored.
Further, as the second storage medium, based on a physical quantity related to the movement of the key and a haptic control value based on the change time of the physical quantity, based on the haptic control value output in the first process. A program for causing the computer to execute a second process for controlling the force applied to the key may be stored.
Further, as a third storage medium, a first process for outputting a haptic control value based on two or more physical quantities including at least the key speed regarding the movement of the key, and determining the presence or absence of back check vibration from the key speed A second process that outputs a haptic control value corresponding to a predetermined back check vibration when it is determined that there is a back check vibration in the second process, and the first process. A program for causing a computer to execute a fourth process for controlling the force applied to the key based on the force control value output in step 3 and the force control value output in the third process. good.

It is a block diagram which shows the whole structure of one Embodiment of this invention. It is a conceptual diagram which shows the structure of the force sense provision table used in the embodiment. It is a side view which shows the hammer action mechanism of a general piano. It is a characteristic view which shows the static reaction force characteristic of a hammer action mechanism. It is a characteristic view which shows the dynamic reaction force characteristic of a hammer action function. It is a figure which shows the relationship between the locus | trajectory of a key, and reaction force. It is explanatory drawing for demonstrating generation | occurrence | production of a back check vibration. It is a figure which shows the locus | trajectory of a key with and without a back check vibration. It is a block diagram which shows schematic structure of the electronic musical instrument which incorporates the computer which performs the storage medium which memorize | stored the operation program of the force sense control for keyboards concerning the said embodiment.

Explanation of symbols

1 ... CPU (control means, back check determination means, back check control means), 4 ... drive actuator (force sense imparting means), 5 ... position sensor (key behavior detection means), 9, 20 ... differentiator (Key behavior detecting means), 25... Hysteresis switching circuit (force characteristic imparting means), 30 to 33... Force sense characteristic imparting table (force sense characteristic imparting means), 40. ), 50... PWM driver (control means), 51... Current feedback circuit (control means).

Claims (3)

A key behavior detecting means for detecting a physical quantity including the speed of the key with respect to the movement of the key;
A judgment circuit for judging whether the key is in a key pressing process or a key releasing process based on the physical quantity detected by the key behavior detecting means based on the physical quantity indicating the speed of the key;
A selection means for selecting the tone of the musical sound;
A musical tone signal generating means for electronically generating a musical tone generated by the musical tone of the selected tone, which is the pitch of the operated key;
Giving a haptic characteristic that outputs a haptic control value corresponding to the key depression process or key release process determined by the determination circuit according to the physical quantity detected by the key behavior detection means, corresponding to the selected tone color. Means,
A force sense control device for keyboard, comprising force sense imparting means for imparting force based on the force sense control value to the key. A table for converting the position of the key into an output value, a plurality of sets according to the speed of the key, according to the key pressing process and the key releasing process
The haptic property imparting means includes
A table corresponding to the physical quantity detected by the key behavior detecting means and indicating the speed of the key, and using the table corresponding to the key pressing process or the key releasing process determined by the determination circuit, the key behavior 2. The keyboard force sense control device according to claim 1, wherein the key position of the physical quantity detected by the detection unit is converted into an output value, and the force sense control value corresponding to the output value is output. Computer
A key behavior detecting means for detecting a physical quantity including a speed of the key with respect to a key movement;
A determination circuit for determining whether the key is in the key pressing process or the key release process based on the physical quantity detected by the key behavior detecting means based on the physical quantity indicating the speed of the key;
A selection means for selecting the tone of the musical sound,
A musical tone signal generating means for electronically generating a musical tone generated by the musical tone of the selected tone, which is the pitch of the operated key; and
Giving a haptic characteristic that outputs a haptic control value corresponding to the key pressing process or the key releasing process determined by the determination circuit according to the physical quantity detected by the key behavior detecting means, corresponding to the selected tone color. means,
And a computer-readable storage medium storing a program for causing the key to apply a force based on the force sense control value.

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