JP5304072B2 - Haptic control device, keyboard instrument, haptic control method and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inner force sense controlling apparatus, a keyboard musical instrument, a method for controlling an inner force sense, and a program, capable of regenerating inner force sense of a complicated key, even when using a compact solenoid of small driving force, and capable of regenerating also the inner force sense of the key in each of various keyboard musical instruments. <P>SOLUTION: This keyboard musical instrument 1 can cope with a complicated reaction characteristic, compared with the case of determining reaction based simply on only one variable, since the reaction using two parameters is determined using respective inner force sense imparting tables 30-33, and the inner force sense gets thereby to the inner force sense of the key of the musical instrument kind selected by a user. A load of actuator 4 is reduced by using combiningly a mechanical load mechanism, when regenerating the inner force sense in the keyboard musical instrument applied with a great load, and the actuator 4 is miniaturized and an electric power consumption thereof is reduced thereby. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a technique for reproducing a key force sense in each keyboard instrument.

In an electronic piano using an electronic sound source, an apparatus that applies a reaction force to a key using a solenoid or the like has been developed in order to reproduce the touch feeling (force sense) of the key of an acoustic piano. In such a device, in order to give a force sensation similar to that of an acoustic piano, complex load fluctuation reaction force, hammer action deflection, hammer action-hammer collision, biting (hammer back check, etc.), etc. An apparatus capable of reproducing the phenomenon has also been developed (for example, Patent Document 1).
JP-A-10-177378

  With the technique such as Patent Document 1, it has become possible to impart a force sense as close as possible to an acoustic piano to a key. However, depending on the movement of the key, it may be necessary to give a very large force to the key. is there. For example, immediately after the key is pressed, the reaction force corresponding to the acceleration becomes very large. Therefore, in order to reproduce this reaction force, a solenoid having a very large driving force is necessary.

  The present invention has been made in view of the above-described circumstances, and can reproduce a complex key force sense even with a small solenoid having a small driving force, and can also realize a key force sense of various keyboard instruments. It is an object to provide a haptic control device, a keyboard instrument, a haptic control method, and a program that can reproduce the above.

To solve the above problems, the present invention is to store a plurality of force control data showing the relationship between the physical quantity and the force control value relating to exercise of the steering Sakuko, the magnitude of the reaction force applied to the operator Storage means for storing reaction force control data indicating a reaction force control value to be represented corresponding to each of the force control data, and one force sense control among a plurality of force sense control data stored in the storage means Based on the selection means for selecting data, the operator behavior detection means for detecting the behavior of the operator, and the behavior of the operator detected by the operator behavior detection means, the physical quantity relating to the motion of the operator is calculated. Calculating a haptic control value from the physical quantity calculated by the calculating means, based on the haptic control data selected by the calculating means, the first haptic giving means for applying force to the manipulator, and the selecting means; Based on the force control value A first control means for controlling a force applied to the operating element by the first force sense applying means; and a second control means having a predetermined load and applying a reaction force corresponding to the load to the movement of the operating element. Based on the reaction force control value indicated by the reaction force control data corresponding to the force sense data selected by the force sense applying means and the force sense data selected by the selection means, the second force sense applying means controls the magnitude of the load of the second force sense giving means. 2 reaction means, the reaction force control data stored in the storage means further indicates a range control value for designating at least a part of the movement range of the operation element, the second control means, The first force is applied so that a reaction force corresponding to the load is applied to the operation element existing within a range specified by a range control value indicated by a reaction force control data corresponding to the force control data selected by the selection means. 2 Controlling the force sense applying means Providing a force control apparatus according to symptoms.

  In another preferable aspect, the predetermined load of the second force sense applying unit is a mechanical inertia load, and the physical quantity calculated by the calculating unit includes a position indicating a pressing amount of the operation element and the The first control means includes a position indicating a pressing amount of the operating element calculated by the calculating means based on the force control data selected by the selecting means, and a pressing speed of the operating element. A force sense control value may be calculated from the speed, and the force applied to the manipulator by the first force sense applying unit may be controlled based on the force sense control value.

  In another preferable aspect, the predetermined load of the second force sense applying unit is a mechanical load, and includes at least one of an inertial load, a viscous load, and an elastic load. Also good.

  Moreover, in another preferable aspect, the second control means is configured so that the second force sense applying means is based on a reaction force control value indicated by a reaction force control data corresponding to the force sense control data selected by the selection means. In the case of controlling the magnitude of the load to be 0, the second force sense applying unit may be invalidated.

  Further, the present invention comprises the force sense control device described above, a keyboard having a plurality of the operating elements, and a musical sound generating means for generating a musical sound in response to pressing of the operating element, wherein the storage means Data corresponding to each of the plurality of haptic control data is further stored, and the musical sound generating means is data indicating the instrument type corresponding to the haptic control data selected by the selecting means A keyboard instrument characterized by generating musical tones based on the above.

Also, the present invention includes a first force applying means for applying a force to the operating element has a predetermined load, the second force to provide a reaction force corresponding to the load to movement of said operating member A force sense control method used in an apparatus comprising an imparting means, wherein a plurality of force sense control data indicating a relationship between a physical quantity related to the motion of the manipulator and a force sense control value are stored, and a reaction force control value is obtained. A storing process for storing the reaction force control data corresponding to each of the haptic control data, and a selecting process for selecting one haptic control data among the plurality of haptic control data stored in the storing process And a manipulator behavior detection process for detecting the behavior of the manipulator, a calculation process for calculating a physical quantity related to the motion of the manipulator based on the behavior of the manipulator detected in the manipulator behavior detection process, Selected in the selection process Based on the haptic control data, a haptic control value is calculated from the physical quantity calculated in the calculation process, and based on the haptic control value, the force applied to the operator is controlled by the first haptic applying means. And controlling the magnitude of the load of the second force sense applying means based on the first control step and the reaction force control value indicated by the reaction force control data corresponding to the force control data selected in the selection step. The reaction force control data stored in the storage process further indicates a range control value that specifies at least a part of the movement range of the operating element, and in the second control process Applies a reaction force corresponding to the load to the operation element existing within a range specified by a range control value indicated by a reaction force control data corresponding to the force control data selected in the selection process. Providing a force control method characterized by controlling the second force applying means so that.

Also, the present invention includes a first force applying means for applying a force to the operating element has a predetermined load, the second force to provide a reaction force corresponding to the load to movement of said operating member A plurality of force sense control data indicating a relationship between a physical quantity related to the motion of the operation element and a force sense control value, and the reaction force control data indicating the reaction force control value is stored in the force sense A memory function that stores data corresponding to each control data, a selection function that selects one haptic control data among a plurality of haptic control data stored in the memory function, and a behavior of the operating element is detected. An operation element behavior detection function, a calculation function for calculating a physical quantity related to the movement of the operation element based on the behavior of the operation element detected by the operation element behavior detection function, and a haptic control selected by the selection function Based on data A first control function that calculates a haptic control value from the physical quantity calculated in the calculation function, and controls a force applied to the operator by the first haptic application unit based on the haptic control value; A second control function for controlling the magnitude of the load of the second force sense applying means based on the reaction force control value indicated by the reaction force control data corresponding to the force sense control data selected in the selection function; The reaction force control data stored in the storage function further indicates a range control value that specifies at least a part of the movement range of the operation element. In the second control function, the selection function The reaction force corresponding to the load is applied to the operation element existing within the range specified by the range control value indicated by the reaction force control data corresponding to the force sense control data selected in It provides a program characterized by controlling a force applying means.

  According to the present invention, it is possible to reproduce a complex key force sense using a small solenoid with a small driving force, and also to reproduce a key force sense of various keyboard instruments. A keyboard instrument, a force sense control method, and a program can be provided.

  Hereinafter, an embodiment of the present invention will be described.

<Embodiment>
A hardware configuration of the keyboard instrument 1 according to the present embodiment will be described. FIG. 1 is a block diagram showing a hardware configuration of the keyboard instrument 1.

  The keyboard instrument 1 is, for example, an electronic piano, and includes an electronic system 1a, a force sense control unit 1b, and a keyboard mechanism 100. The electronic system 1a and the keyboard mechanism 100 are connected, and the user operates the keyboard mechanism 100 to output a signal to the electronic system 1a. At this time, the force sense control unit 1b gives a force sense to the user's operation.

  The electronic system 1a includes an information generation system 1c having a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, and a RAM (Random Access Memory) 103, an actuator 4, a sensor 5, a logic circuit 6a, and a solenoid driver 50a. An electrical load unit 1d, a storage unit 104, an operation unit 105, a display unit 106, an audio output unit 107, and an interface 108 are provided, and are connected to each other by a bus 200. The electric load unit 1d is a part of the force sense control unit 1b, and gives a force sense to the user's operation by the electric load unit 1d and the mechanical load mechanism 3.

  The CPU 101 reads out a program stored in the ROM 102, loads it into the RAM 103 and executes it, thereby controlling each part of the keyboard instrument 1 via the bus 200. The RAM 103 functions as a work area when the CPU 101 processes each data stored.

  The storage unit 104 is, for example, a large-capacity storage unit such as a hard disk, and stores a plurality of haptic control data indicating a relationship between a physical quantity related to key motion and a haptic control value. The reaction force control data indicating the reaction force control value corresponding to is stored. Further, data indicating the type of musical instrument corresponding to each of the haptic control data is also stored. Details of the haptic control data and the reaction force control data will be described later.

  The operation unit 105 is, for example, an operation button, a keyboard, a mouse, or the like for selecting the type of musical instrument. When the user operates the operation unit 105, data representing the operation content is output to the CPU 101.

  The display unit 106 is a display device such as a liquid crystal display that displays an image on a screen, and includes a liquid crystal display panel (LCD) 106a, a display driver (DD) 106b, a DA converter (D / D). A) It has 45 (refer FIG. 5), and is controlled by CPU101 and displays various screens, such as a menu screen.

  The sound output unit 107 has sound emission means such as a speaker, and emits a musical sound based on control by the CPU 101 in accordance with a signal output from the keyboard mechanism 100 when the user presses the key. The musical tone is emitted in the tone color of the musical instrument when the user operates the operation button on the operation unit 105 and selects the type of musical instrument. This is realized by a musical tone generating means for generating musical tones based on the type of musical instrument selected by the user by operating the operation unit 105 in response to pressing of the key. Also, the sound output unit 107 emits a musical sound based on the musical sound file when the musical sound file for automatic performance is reproduced by the CPU 101.

  The interface 108 is a connection unit for connecting to an external device, an input / output unit for inputting / outputting various data, a communication unit for transmitting / receiving data to / from a server or the like via a network, and the like.

  Next, a configuration corresponding to one key among the configurations of the keyboard mechanism 100 will be described with reference to FIGS. 2 and 3. The keyboard mechanism 100 includes a black key 2a, a white key 2b (simply referred to as key 2 in the following description), a rotation support portion 201, a housing 202, a swing stroke guide 203, and a key stopper 204. Between these, spaces 202a, 202b, 202c are formed. The stroke guide 203 has a protrusion 203 a provided on the key 2 and a guide 203 b provided at a position of the space 202 b of the housing 202. The key stopper is provided at the position of the space 202 a of the housing 202. The actuator 4 is provided at a position of the space 202 c of the housing 202.

  The key (operator) 2 is rotatably supported by a rotation support unit 201 provided in the housing 202 and is supported by a swing stroke guide 203 provided in the housing 202 so as to be swingable up and down. When the key 2 is pressed (arrow AR1), the key 2 comes into contact with the key stopper 204 provided in the housing 202, and the maximum amount of pressing is determined. In a state where the amount of pressing of the key 2 is the maximum (two-dot chain line in FIG. 2), the hammer 300 described later comes into contact with the hammer stopper 205 provided on the housing 202 (arrow AR2).

  As shown in FIGS. 2 and 3, the mechanical load mechanism (second force sense imparting means) 3 is provided on the housing, and includes a hammer stopper 205, a hammer 300, an action part 301, a reaction part 302, a fulcrum 303, and a rotating body. 304a, a stepping motor 304b, and an adjusting screw 306 are provided. The opening 202 d of the housing 202 is an opening for arranging the hammer 300 through the inside and outside of the housing 202.

  The hammer 300 is rotatably supported by a fulcrum 303 provided on the housing 202. Then, the action part 301 of the hammer 300 maintains a contact state with the key 2 via the adjusting screw 306 provided on the key 2 and moves downward along with the key depression, so that the hammer 300 becomes a fulcrum. Rotating about 303, the reaction part 302 of the hammer 300 is moved upward. The reaction part 302 has a member having a predetermined mass as a load. Thereby, when the key 2 is operated, the reaction portion 302 applies a mechanical reaction force to the key 2 via the action portion 301. Since the mechanical load mechanism 3 applies a load by the mass, the reaction force F = m · a (F: force, m: mass, a: acceleration) corresponding to the acceleration of the key 2 is set to the center of gravity of the reaction portion 302 and the fulcrum 303. A force inversely proportional to the distance ratio is given as a load on the key 2, and a force sense corresponding to the inertial load is given to the key 2. Note that the mass of the member included in the reaction portion 302 may be changed according to the pitch of the sound corresponding to the key 2, and may be heavy in the bass portion and light in the treble portion.

  The rotating body 304a of the mechanical load mechanism 3 is rotated around the shaft 305 by the pulse generator (PG) 304c driving the stepping motor 304b and rotating the rotating body 304a under the control of the CPU 101, and according to the rotational position. The load state where the mechanical load mechanism 3 applies a reaction force to the key 2 and the no-load state disabled so that the mechanical load mechanism 3 does not apply the reaction force to the key can be switched. In the no-load state, the action part 301 of the hammer 300 is separated and separated from the key 2 and is urged by the rotating body 304a so that the hammer 300 is positioned when the key 2 is pressed to the maximum depth. This is realized (see FIG. 3). In addition, about the rotary body 304, you may make it change a rotation position for every key, and may be controlled by CPU101 so that it may become the same rotation position in all the keys. That is, a rotating body 304a may be provided for each key so that the loaded state and the no-load state are different, or a bar-shaped rotating body 304a to which all the key rotating bodies 304a are connected is provided and the same for all keys. You may make it be in a state. As described above, the mechanical load mechanism 3 has a function of mechanically applying a reaction force based on an inertial load to the movement of the key 2, and also has a function of invalidating such a reaction force under the control of the CPU 101. .

  The actuator (first force sense applying means) 4 has a function of applying a load to the key 2 by control as described later. The sensor (key behavior detecting means) 5 has a function of detecting the amount of pressing of the key 2. Hereinafter, the configuration of the actuator 4 and the sensor 5 will be described with reference to FIG.

  The actuator 4 is housed in a housing 406, a coil 401 that is an electromagnetic solenoid coil disposed in a yoke 400, and a rod-like shape that is inserted into the axial center of the coil 401 so as to be capable of linear movement in both directions. And a plunger 402. The coil 401 is arranged so that its axis is in the vertical direction, and when the plunger 402 moves in the vertical direction, the upper and lower ends of the plunger 402 can pass through holes provided in the upper surface and the bottom surface of the yoke 400. A shaft 403 extends coaxially with the plunger 402 at the upper end of the plunger 402, and a shaft head 404 that contacts the key 2 is connected to the upper end of the shaft 403. The plunger 402 moves in the vertical direction by the thrust generated when current is supplied to the coil 401 from a current feedback circuit 51 of a solenoid driver 50a, which will be described later, and the shaft head 404 comes into contact with the key 2 so that the plunger A load generated by the movement of 402 is given to the key 2. Thereby, the actuator 4 gives force to the key 2 by applying force to the key 2 based on control described later.

  The sensor (operator behavior detecting means) 5 is a position sensor 5a and a speed sensor 5b installed at the lower part of the actuator 4 housed in the housings 500a and 500b, and is to be detected connected to the lower end of the plunger 402. It includes a member 501, a detection unit 502 that is a light reflection type sensor having a light emitting element and a light receiving element, and a bar-shaped magnet 504 that is connected to the lower end of the detected member 501 and is located on the axis of the spring 505. The detected member 501 is provided with a reflecting plate 503 on its side surface, and the reflecting plate 503 moves up and down as the plunger 402 moves up and down. The reflecting plate 503 is a plate whose reflectance is controlled so that the reflectance is low on the upper side of the reflecting plate 503 and the reflectance is increased on the lower side by, for example, a shading pattern. The amount of light reflected from the light emitting element of the detection unit 502 is different depending on the position in the direction. Then, the light receiving element receives this reflected light, and the reflectance is known from the amount of light received. Therefore, the detection unit 502 can detect the vertical position of the plunger 402 according to the amount of light received by the light receiving element. The pressing amount of the key 2 can be detected.

  Then, the detection unit 502 outputs a position signal Sp indicating the detected pressing amount of the key 2. Further, by using the coil 506 positioned at the lower part of the sensor 5, the magnet 504 and the coil 506 can constitute a moving magnet type speed sensor 5b, and the coil 506 is the key 2 detected by the speed sensor. A speed signal Sv indicating the speed can be further output.

  Next, the control function of the keyboard mechanism 100 realized by the CPU 101 executing the program stored in the ROM 102 will be described. FIG. 5 is a block diagram illustrating a software configuration showing functions realized by the CPU 101.

  The logic circuit 6 a includes multiplexers (MPX) 6, 10, and 21, and AD converters (A / D) 7, 11, and 22. The multiplexer 6 receives the position signal Sp output from the detection unit 502 of the position sensor 5a. A plurality of multiplexers 6 are provided, and each has an input terminal for 12 sounds (for one octave). A position signal Sp corresponding to each key within the same octave range is input to these input terminals. That is, the multiplexer 6 is provided for every octave along the piano range, and in this embodiment, eight multiplexers 6 are provided corresponding to 88 keys of a standard piano.

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

  On the other hand, the position signal Sp for each key output from the coil 506 of the speed sensor 5 b is input to the multiplexer 10. Similar to the multiplexer 6, a plurality of multiplexers 10 are provided corresponding to each tone range of the keyboard, and each has an input terminal for 12 tones (one octave). Each input terminal of the multiplexer 10 is scanned in synchronization with the input terminal of the multiplexer 6, and the speed information of each key is sequentially detected. The speed signal Sv output through the multiplexer 10 is converted into a digital speed signal DSv by the AD converter 11.

  The speed signal Sv for each key output from the coil 506 of the speed sensor 5 b is converted into an acceleration signal Sa indicating acceleration by a differentiator (DF) 20 provided for each key and input to the multiplexer 21. . A plurality of multiplexers 21 are provided corresponding to each tone range of the keyboard, similarly to the multiplexers 6 and 10, and each has an input terminal for 12 tones (one octave). Each input terminal of the multiplexer 21 is scanned in synchronization with the input terminals of the multiplexers 6 and 10 so that the acceleration information of each key of the piano is sequentially detected. The acceleration signal Sa output through the multiplexer 21 is converted into a digital acceleration signal DSa by the AD converter 22.

  As described above, the position signal Sp, the speed signal Sv, and the acceleration signal Sa each indicating the position, speed, and acceleration of each key are output in synchronization with each other, and these are converted into digital signals by the AD converters 7, 11, and 22. It has been converted to.

  Then, the digital signal is periodically taken into the CPU 101, and the CPU 101 uses the position signal DSp to access the haptic application tables 32 and 33 and the PWM instruction value generation circuit 40 and also through the hysteresis switching circuit 25. To access the force sense imparting table 30 or 31. Similarly, the CPU 101 accesses the hysteresis switching circuit 25 and the force sense application table 32 using the speed signal DSv, and accesses the force sense application table 33 using the acceleration signal DSa. The haptic imparting tables 30 to 33 are tables that store reaction forces to be generated by the actuator 4, that is, haptic characteristics (relationship between physical quantities related to key motion and haptic control values). Data indicating the contents of the sense of giving tables 30 to 33 is referred to as force sense control data, and a plurality of force sense control data is stored in the storage unit 104.

  The force sense control data is data indicating the contents of the force sense imparting tables 30 to 33, and is data for reproducing the force sense of the key. It is necessary to use various parameters such as position, key speed, and key acceleration, and to find a reaction force that matches these parameters. Such reaction force, for example, for an acoustic piano is described in detail in the above-mentioned Patent Document 1 (Japanese Patent Laid-Open No. 10-177378), and is therefore omitted in this specification.

  A plurality of such haptic control data is stored in the storage unit 104 as described above, and each haptic control data is associated with data indicating the type of musical instrument. The operation unit 105 is provided with an operation button indicating the type of musical instrument. When the user presses one of the operation buttons, the CPU 101 senses a force corresponding to the type of musical instrument corresponding to the operation button. The control data is read from the storage unit 104 and assigned as force sense imparting tables 30 to 33.

  At this time, the CPU 101 reads out the reaction force control data corresponding to the force sense control data from the reaction force control data stored in the storage unit 104, and generates a control signal CTL1 as a pulse generator based on the reaction force control data. The rotating body 304a of the mechanical load mechanism 3 is rotated using the stepping motor 304b and output to 304c to switch between the loaded state and the unloaded state. That is, in the present embodiment, the reaction force control data is data indicating either a loaded state or an unloaded state. Here, reaction force control data corresponding to a musical instrument having a large inertial load such as a grand piano indicates a load state, and reaction force control data corresponding to a musical instrument such as an organ having a small inertial load indicates a no-load state.

  Here, the force giving table 33 corresponding to the acceleration of the key indicates a reaction force corresponding to the acceleration of the key as described later, and this corresponds to the inertial load. Since this inertial load is the same as the load in the mechanical load mechanism 3, if the mechanical load mechanism 3 is in a loaded state, the reaction force applied in the actuator 4 by the amount of the inertial load applied to the key by the mechanical load mechanism 3. Can be reduced. In other words, the haptic control data corresponding to the reaction force control data indicating the load state is the force sensation table 33 corresponding to the acceleration of the key. It shows the characteristics.

  With such a configuration, in a musical instrument having a large inertia load corresponding to the acceleration of the key, for example, an acoustic piano, the mechanical load mechanism 3 is in a loaded state, and the actuator 4 does not perform control corresponding to the acceleration of the key. Or you can control subtle changes in inertial load. On the other hand, in an instrument having a small inertia load corresponding to the acceleration of the key, for example, an organ, the inertia load can be applied to the actuator 4 with the mechanical load mechanism 3 being in a no-load state. Thereby, in order to reproduce the force sense of the key 2 with an inertial load that can be a relatively large force, it is not necessary to apply all the force only by the actuator 4, and thus the actuator 4 can be downsized.

  Returning to the description of FIG. The haptic provision tables 30 to 33 output values (Y1, Y2, and Y3) corresponding to reaction forces according to various parameters, and the values output from the haptic provision tables 30 to 33 are adders 35 and 36, respectively. Thus, a value corresponding to the reaction force based on the haptic control data is obtained. That is, it is possible to calculate a value indicating the reaction force corresponding to the physical quantity related to the key movement (hereinafter, referred to as a haptic control value Sum).

  Here, the force sense imparting tables 30 and 31 generate values corresponding to the reaction force obtained from the key position and speed. In this case, the force sense imparting table 30 generates a value corresponding to the reaction force in the key pressing stroke, and the force sense imparting table 31 generates a value corresponding to the reaction force in the key releasing stroke. More specifically, values (output data Y1) using the position signal DSp and the velocity signal DSv as parameters are determined in the force sense imparting tables 30 and 31. That is, as shown in FIG. 6, the force sense imparting tables 30 and 31 are tables 30-1 to 30-n indicating the relations PL1 to PL where the X axis is the value of the position signal DSp and the Y axis is the output value. Are arranged in the Z-axis direction. Then, the value of the speed signal DSv is taken on the Z axis, and any one of the tables 30-1 to 30-n is selected by the speed signal DSv, and an output value corresponding to the position signal DSp is obtained using the selected table. It is determined. This is an elastic load corresponding to the position of the key 2, and expresses an elastic load that changes depending on the speed of the keys and actions of the keyboard instrument. Here, when the value of the speed signal DSv is between the respective tables, two tables on both sides thereof are selected, and the output data Y1 is obtained by performing interpolation processing on the output values output from the respective tables. It is determined. 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 speed signal DSv, and selects the force sense imparting table 30 when it is positive and the force sense imparting 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 provides a certain degree of dead zone (temporal dead zone) for positive and negative changes in speed, and reduces the frequency of switching to reduce the occurrence of discontinuous force changes accompanying switching. It may be.

  Next, the haptic application tables 32 and 33 have the same configuration as the haptic application table 30 shown in FIG. 6, but the value of the velocity signal DSv is taken on the X axis of the haptic application table 32. A value of a position signal DSp which is a position signal is taken on the Z axis. Further, the value of the acceleration signal DSa is taken on the X axis of the force sense application table 33, and the value of the position signal DSp is taken on the Z axis. That is, the force sense provision table 32 outputs a value corresponding to the reaction force according to the speed and position of the key. This is a viscous load corresponding to the speed of the key 2, and expresses a viscous load that varies greatly depending on the position, such as keys and actions of a keyboard instrument. The force sense imparting table 33 outputs a value corresponding to the reaction force according to the acceleration and position of the key. This is an inertial load corresponding to the acceleration of the key 2, and expresses an inertial load that varies greatly depending on the position, such as keys and actions of a keyboard instrument.

  Next, the PWM instruction value generation circuit 40 instructs the pulse width modulation to drive the actuator 4 based on the force sense control value Sum calculated based on the force sense imparting tables 30 to 33 and the position signal DSp. This is a circuit for generating a value (hereinafter referred to as PWM instruction value CTL2). Specifically, a plurality of tables are provided in the Z-axis direction with the force sense control value Sum as the X-axis and the PWM instruction value as the Y-axis. The Z-axis takes the value of the position signal DSp, and one of the tables is selected by the position signal DSp, and the PWM instruction value CTL2 corresponding to the haptic control value Sum is determined using the selected table. The Here, when the value of the position signal DSp is between each table, two tables on both sides thereof are selected, and the PWM instruction value is obtained by performing interpolation processing on the output value output from each table. It is determined. The purpose of the PWM instruction 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 instruction 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 instruction value output from the PWM instruction value generation circuit 40 is supplied to the PWM driver 50b of the solenoid driver 50a and converted into a PWM waveform. The PWM waveform output from the PWM driver 50b is supplied to the coil 401 of the actuator 4 as the drive signal DR1 through the current feedback circuit 51. The current feedback circuit 51 performs feedback control so that the drive current supplied to the actuator 4 matches the PWM instruction value CTL2. By this current feedback control, the thrust change accompanying the temperature rise of the actuator is corrected, and the target reaction force can always be reproduced.

  On the other hand, the force sense control value Sum is supplied to the display unit 106, and the signal processed by the display driver 106b is converted into an analog signal by the DA converter 45 and supplied to the liquid crystal display panel 106a. As a result, the waveform of the haptic control value Sum that changes from time to time, that is, the waveform related to the load applied to the key is displayed on the liquid crystal display panel 106a of the display unit 106.

  Next, the operation of the keyboard instrument 1 according to the present embodiment will be described.

  First, the user operates the operation button of the operation unit 105 and operates the keyboard to select the type of musical instrument to be played. The CPU 101 reads force sense control data and reaction force control data corresponding to the instrument type selected in this way from the storage unit 104. Then, the CPU 101 assigns the haptic control data to the haptic provision tables 30 to 33. Further, the CPU 101 rotates the rotating body 304a of the mechanical load mechanism 3 based on the reaction force control data, and switches the mechanical load mechanism 3 to a loaded state or a no-load state.

  If the type of musical instrument selected by the user is a grand piano, the haptic control data corresponding to the grand piano is selected, and the haptic imparting table 30 showing the haptic characteristics of the keys of the grand piano is selected. ~ 33 are assigned. And based on the reaction force control data corresponding to a grand piano, when the rotary body 304a rotates, the mechanical load mechanism 3 will be in a load state. On the other hand, when the type of musical instrument selected by the user is an organ, haptic control data corresponding to the organ is selected, and the haptic imparting tables 30 to 30 showing the haptic characteristics of the organ keys are displayed. 33 is assigned. Then, the rotating body 304a rotates based on the reaction force control data corresponding to the organ, so that the mechanical load mechanism 3 enters a no-load state.

  When the user operates the key 2, a position signal Sp and a speed signal Sv indicating the key pressing amount of the key 2, which is a physical quantity related to the movement of the key 2 by the operation, are output from the position sensor 5a and the speed sensor 5b. This speed signal Sv is converted into an acceleration signal Sa by the differentiator 20. And the value which shows the reaction force according to these signals is output from each force sense provision tables 30-33, these are synthesize | combined and it becomes the force sense control value Sum.

  Then, the PWM instruction value CTL2 corresponding to the force sense control value Sum and the position signal DSp is output from the PWM instruction value generating circuit 40, and the drive current DR1 corresponding to this is output via the current feedback circuit 51. As a result, the actuator 4 is driven, and a reaction force is applied to the user's finger. At this time, when the mechanical load mechanism 3 is in a loaded state, the mechanical load mechanism 3 also applies a reaction force to the user's finger, and the mechanical load mechanism 3 and the actuator 4 lock the key. Reproduce the sense of force.

  In this way, the keyboard instrument 1 determines the reaction force using the two parameters using the force sense imparting tables 30 to 33, so that the keyboard instrument 1 simply determines the reaction force based on only one variable. It can cope with complicated reaction force characteristics and is very close to the force sense of the key of the instrument type selected by the user. 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 force sense can be reproduced with extremely high fidelity. When reproducing a force sense in a keyboard instrument that requires a large load, the load on the actuator 4 can be reduced by using the mechanical load mechanism 3 in combination, and the actuator 4 can be reduced in size and power consumption. be able to. In addition, by providing a mechanical load mechanism 3 separated from the key 2, it is possible to feel "play feeling of action connecting part", "free feeling of hammer vibration", "hammer collision feeling, collision sound" which can be felt in normal piano action. The user can feel “feeling of action-type deflection” with his / her finger, so that a great effect of being able to obtain a so-called playing feeling can be obtained.

  As mentioned above, although embodiment of this invention was described, this invention can be implemented in various aspects as follows.

<Modification 1>
In the above-described embodiment, the mechanical load mechanism 3 is controlled by the CPU 101 in either a load state or a no-load state. However, the mechanical load mechanism 3 controls the magnitude of the load in the load state and gives it to the key 2. You may enable it to change the magnitude | size of reaction force. In this case, the reaction portion 302A of the mechanical load mechanism 3A in the keyboard instrument 1A may be configured as shown in FIG. The reaction portion 302A includes a frame 310a, a moving body 310b, a lead screw 311, a motor 312, and a guide member 313.

  The lead screw 311 attached to the shaft of the motor 312 is a shaft-like member for moving the moving body 310b, and a screw thread is provided on the peripheral surface thereof. The guide member 313 is a shaft-like member and is a member for guiding the moving body 310b. The moving body 310b is a metal columnar member, and is provided with a hole through which the lead screw 311 penetrates and a hole through which the guide member 313 penetrates from one end face to the other end face. In the hole through which the lead screw 311 passes, a thread that engages with the thread provided on the lead screw 311 is provided. When the lead screw 311 and the guide member 313 are penetrated, the lead screw 311 is moved to the motor 312. The movable body 310b moves in the left-right direction in the drawing along the guide member 313.

  The reaction force control data stored in the storage unit 104 indicates a reaction force control value indicating the degree of load in the mechanical load mechanism 3A. When the reaction force control value is 0, as described in the embodiment, the rotating body 304a is rotated to be in a no-load state, while when it is larger than 0 and 1 or less, it is in a loaded state. Here, when the reaction force control value is 1, the maximum load is obtained.

  The CPU 101 reads the reaction force control data from the storage unit 104, controls the rotating body 304a based on the reaction force control value of the reaction force control data, and outputs the motor 312 of the reaction unit 302A from the electronic system 1Aa. The moving body 310b is moved under the control of the drive signal DR2. At this time, when the moving body 310b is moved in the direction away from the fulcrum 303 (left direction in the figure) as indicated by the solid line, the inertial load increases, and the direction toward the fulcrum 303 as indicated by the broken line ( When it is moved in the right direction in the figure, the inertial load is reduced. In this way, the CPU 101 can also control the magnitude of the load in the mechanical load mechanism 3A based on the reaction force control data and change the reaction force applied to the key 2.

  Further, according to the control of the CPU 101, a mechanism is provided that can change the position of the fulcrum 303 in the left-right direction in the figure and change the distance from the rotation support part 201 at the position where the action part 301 contacts the key 2. For example, even if the pressing amount of the key 2 is the same amount, the moving amount of the action part 301 can be varied, so that the acceleration at which the action part 301 moves changes even if the user presses the key 2 in the same way. In other words, the reaction force can be changed.

  As a result, various load levels can be realized by the mechanical load mechanism 3A. Therefore, even if the keyboard instrument has any inertial load, the mechanical load mechanism 3A is responsible for most of the inertial load. Thus, the actuator 4 only needs to create force sense control data so as to control only subtle changes in the inertial load, and the load on the actuator 4 can be reduced. The degree of load may be the same for all keys or may be different for each key.

<Modification 2>
In the embodiment described above, the mechanical load mechanism 3 is a mechanism that mechanically applies an inertial load that is a reaction force corresponding to the acceleration of the key 2 using the hammer 300, but it is not an inertial load but a key 2. Thus, a mechanism for applying an elastic load may be used. As an example of the elastic load, the mechanical load mechanism 3B may have a configuration using a spring 320 as shown in FIG. The spring 320 is connected to the key 2 and the support plate 321. The support plate 321 is supported by the rotator 304 from the surface opposite to the spring 320, and the support plate 321 moves in the vertical direction in the figure depending on the rotational position of the rotator 304, and the key 2 is not depressed. The length of the spring 320 (hereinafter referred to as the initial length) can be changed.

  When a reaction force against the movement of the key 2 is applied using such a mechanical load mechanism 3B, a force corresponding to the expansion and contraction of the spring 320 is applied to the key 2 as a reaction force. That is, since the mechanical load mechanism 3B applies a reaction force of F = k · x (k: spring constant, x: spring expansion / contraction amount) to the key 2, the reaction force corresponding to the position of the key 2 (pressing amount) A certain elastic load is applied to the key 2.

  Further, by rotating the rotating body 304a based on the control of the CPU 101, when the initial length changes, the magnitude of the load of the spring 320 can be controlled, and the magnitude of the reaction force applied to the key 2 can be changed. Can do. Specifically, when the support plate 321 is urged upward in the figure by the rotating body 304, the spring 320 is in a contracted state and the reaction force increases, while when the support plate 321 is located in the lower part of the figure, Since the spring 320 extends, the reaction force is reduced. That is, since the magnitude of the reaction force when the key 2 is not pressed can be changed, control for adjusting the initial load of the reaction force applied to the key 2 can be performed.

  Furthermore, if the mechanism which can change the distance from the rotation support part 201 by changing the position where the spring 320 and the key 2 contact according to control of CPU101 to the left-right direction of a figure and providing the distance from the rotation support part 201 is provided. The amount of expansion and contraction of the spring 320 can be changed even when the amount is the same, and the rate of change of the reaction force that changes according to the amount of pressing of the key 2 can also be changed. That is, an effect similar to the effect of changing the spring constant k can be obtained, and control for adjusting the spring feeling can be performed.

  As a result, various types of elastic loads can be realized by the mechanical load mechanism 3B. Therefore, even with a keyboard instrument having any elastic load, most of the elastic load is borne by the mechanical load mechanism 3. By doing so, it is only necessary to create force sense control data so that the actuator 4 controls only subtle changes in the elastic load, and the load on the actuator 4 can be further reduced. The degree of load may be the same for all keys or may be different for each key.

<Modification 3>
In the second modification described above, the spring 32 is an example of the elastic load in the mechanical load mechanism 3.
Although a configuration using 0 is used, a configuration using a leaf spring 340 may be used as shown in FIG. The leaf spring 340 is in contact with the receiving plate 342, is rotatable about the rotation shaft 341a using a stepping motor 341b, and is movable within a predetermined range in the longitudinal direction of the key 2. The angle rotated by the rotating shaft 341a and the position moved are controlled by the CPU 101 based on the reaction force control value of the reaction force control data. If it does in this way, the magnitude | size of the initial load which the leaf | plate spring 340 gives to the key 2 can be changed with a rotation angle. Further, the contact position between the leaf spring 340 and the receiving plate 342 changes depending on the position in the longitudinal direction, and the amount of change of the leaf spring 340 can be changed even if the amount of pressing of the key 2 is the same amount. The same effect as changing the spring constant can be obtained. In FIG. 17, the leaf spring 340 is provided on the upper surface side of the key 2, but may be provided on the lower surface side of the key 2.

<Modification 4>
In the embodiment described above, the mechanical load mechanism 3 is a mechanism that mechanically applies an inertial load that is a reaction force corresponding to the acceleration of the key 2 using the hammer 300, but it is not an inertial load but a key 2. Alternatively, a mechanism that applies a viscous load may be used. As an example of the viscous load, the mechanical load mechanism 3C may be a cylinder including a movable member 330, a column 331, a cylindrical member 332, and an orifice diameter control unit 333, as shown in FIG. The movable member 330 is disposed inside the cylindrical member 332 so as to be movable up and down, and is connected to the key 2 via a support column 331. Thereby, the vertical movement of the key 2 and the vertical movement of the movable member 330 are interlocked. The orifice diameter control unit 333 is configured such that the diameter (orifice diameter) of the hole 333a at the bottom of the cylinder is changed by a drive signal DR3 output from the electronic system 1Ca under the control of the CPU 101. When such a cylinder is used as a viscous load, a force corresponding to the moving speed of the movable member 330 is generated, and a reaction force corresponding to the pressing speed of the key 2 is given to the key 2.

  The magnitude of this viscous load changes corresponding to the orifice diameter. The smaller the orifice diameter, the larger the load, and the larger the load, the smaller the load. Therefore, by controlling the orifice diameter based on the control of the CPU 101, the magnitude of the viscous load can be controlled, and the magnitude of the reaction force applied to the key 2 can be changed.

  Furthermore, if the mechanism that can change the distance from the rotation support portion 201 by changing the position where the support column 331 and the key 2 contact in the left-right direction in the drawing according to the control of the CPU 101 is provided, the pressing amount of the key 2 Since the amount of vertical movement of the movable member 330 can be made different even when the amount of movement is the same, even if the user depresses the key 2 in the same way, the moving speed of the movable member 330 changes, and the reaction force Can also be changed.

  As a result, various magnitudes of viscous load can be realized by the mechanical load mechanism 3C, so that even if the keyboard instrument has any viscous load, most of the viscous load is borne by the mechanical load mechanism 3C. By doing so, it is only necessary to create force sense control data so that the actuator 4 controls only subtle changes in the viscous load, and the load on the actuator 4 can be further reduced. The degree of load may be the same for all keys or may be different for each key.

<Modification 5>
In the embodiment described above, when the mechanical load mechanism 3 is in a load state, the output value of the force sense imparting table 33 that outputs a value corresponding to the reaction force based on the acceleration is determined by the force sense control data. Is assigned to be a value excluding the load of the mechanical load mechanism 3. On the other hand, when the reaction force corresponding to the acceleration can be reproduced only with the load of the mechanical load mechanism 3, the output by the force sense imparting table 33 is not necessary. In this case, it may be cut off before the acceleration signal DSa is input to the force sense application table 33, or the output from the force sense application table 33 may not be input to the adder 36.

  In this case, for example, as shown in FIG. 11, a keyboard instrument 1E provided with a switch 37a may be used. This switch 37a controls the acceleration signal Ds from the AD converter 22 to the force sense application table 33 under the control of the CPU 101 according to whether or not the half force corresponding to the acceleration can be reproduced only by the load of the mechanical load mechanism 3E. It connects and blocks routes.

<Modification 6>
In the embodiment described above, the actuator 4 is an actuator using an electromagnetic solenoid coil. However, the actuator 4 is an actuator that can be electrically controlled based on a force control value calculated based on a physical quantity related to the movement of the key 2. If present, it may be a motor (linear motor, rotary motor), a brake device, or an actuator such as a hydraulic or pneumatic device.

<Modification 7>
In the above-described embodiment, the load state and the no-load state are switched by the rotation of the rotating body 304a in the mechanical load mechanism 3. However, if the load state and the no-load state can be switched, another configuration may be used. Good. For example, if the hammer 300 can be urged to the position shown in FIG. 3 in the no-load state, the hammer 300 is attached by providing a motor or a brake device at the fulcrum 303 or separately providing a hydraulic or pneumatic device. It can be realized by any structure. Similarly, the mechanical load mechanism 3 in the second and third modified examples may be provided with a mechanism for releasing the coupling state between the key 2 and the mechanical load mechanism 3 to realize a no-load state. Furthermore, in the third modification, if the position of the movable member 330 in FIG. 9 is moved downward in the drawing indicated by the broken line, no load is applied to the key 2.

<Modification 8>
In the embodiment described above, the keyboard instrument 1 for reproducing the force sense of the key has been described. However, the force sense control unit 1b and the information generation system 1c for giving a force sense to the externally connected keyboard mechanism 100 are provided. It can also be used as a force sense control device.

<Modification 9>
In the embodiment described above, the sensor 5 has the speed sensor 5b. However, the speed signal Sv may be calculated by differentiating the position signal Sp without using the speed sensor 5b. In this case, for example, as shown in FIG. 12, a keyboard instrument 1G having a differentiator 9 that differentiates the position signal Sp and outputs the velocity signal Sv to the multiplexer 10 and the differentiator 20 may be used.

<Modification 10>
In an acoustic piano, the reaction force differs depending on whether the damper pedal is turned on or 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. In this case, the haptic control data corresponding to each of the damper pedal on and off are stored in the storage unit 104, and the CPU 101 reads out the corresponding haptic control data in response to the operation of the damper pedal. What is necessary is just to allocate to a sense provision table.

<Modification 11>
The force sense imparting table can be added other than the one described in the above embodiment. In other words, if there is an element that gives the player some kind of touch, a force sense table that reproduces it is set, and two or more arbitrary parameters such as position signal Sp, speed signal Sv, acceleration signal Sa are selected as parameters. Thus, it may be configured to read. When this is applied to the configuration of the modified example 9, as shown in FIG. 13, an extension unit 60 having a multiplexer 60a and an AD converter 60b is provided in the configuration in the above-described embodiment, and an output from the extension unit 60 is provided. May be converted to the haptic application table 3x and added to the haptic control value Sum in the adder 37 to obtain a keyboard instrument 1G ′. Note that parameters other than those used in the embodiment may be used as the parameters of the force sense imparting table 3x to be added. Further, the force sense imparting table is not limited to three dimensions (two parameters), but may have a multi-dimensional configuration using more parameters, or two dimensions like the force sense imparting table 3x shown in the figure. (One parameter).

  Also, acoustic pianos are equipped with a back check to prevent the hammer from rampaging when the hammer after striking returns to the hammer action mechanism. The force sense corresponding to the back check vibration after the back check may be reproduced. In this case, an adder 38 may be provided as shown in FIG. 13 so that the CPU 101 outputs a signal at a predetermined timing and the adder 38 adds the signal to the haptic control value Sum. The predetermined timing is a timing at which the back check vibration occurs, and this can be determined by detecting whether or not the keystroke is steep. Therefore, the back check vibration is generated based on the position signal DSp and the speed signal DSv. What is necessary is just to determine timing.

<Modification 12>
In the embodiment described above, the position signal DSp, the velocity signal DSv, and the acceleration signal DSa are used as the parameters of the force sense imparting table. However, 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, force sense control may be performed by detecting jerk and setting a force sense application table using this.

<Modification 13>
In the above-described embodiment, in order to imitate the hysteresis characteristics of the key pressing process and the key releasing process, the force giving tables 30 and 31 relating to the key position are selected according to the sign of the key speed. You may make it select by other selection information, such as a code | symbol of 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 a matter of course, switching of the force sense application table regarding the key speed or the key acceleration is performed only when the change of the selection information exceeds the reference period, as in the case of the key position. 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.

<Modification 14>
In the above-described embodiment, information related to the time related to the key position is used for switching the force sense imparting table for imitating the hysteresis characteristics. However, the present invention is not limited to this. The force sensation may be controlled in accordance with the elapse of time from the moment when the key position / key velocity / key acceleration becomes 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.

<Modification 15>
In the above-described embodiment, force control is performed even in the key release process. However, if there is not much problem with the touch when the key is released, the force sense only in the key pressing process may be controlled.

<Modification 16>
Although the program executed by the CPU 101 in the above-described embodiment is a program stored in the ROM 102, the program is acquired from various recording media storing the program via the interface 108, or communicated with an external device such as a server. Or the program may be acquired from outside.

<Modification 17>
In the above-described embodiment and each modified example, the keyboard instrument 1 that gives a force sense to the key 2 of the keyboard mechanism 100 has been described as an example. However, a performance operator such as a damper pedal or a wheel, or an electronic device such as a mixer is used. You may apply to an operator. For example, when applied to a damper pedal, a keyboard instrument 1H having a pedal mechanism 600 may be used instead of or in addition to the keyboard mechanism 100 in FIG. Hereinafter, an example of the configuration of the pedal mechanism 600 will be described.

  FIG. 14 is an explanatory diagram showing the configuration of the pedal mechanism 600 from the top. The pedal mechanism 600 has a plurality of pedal parts 601-A, 601-B, 601-C (hereinafter collectively referred to as pedal parts 601), which are operators such as damper pedals used in electronic keyboard instruments. The casing 600a is rotatably provided by rotating fulcrums 602-A, 602-B, and 602-C (hereinafter collectively referred to as a rotating fulcrum 602). Reference numerals 603-A, 603-B, and 603-C denote push-up portions when a shaft 611 of the lower actuator 610 described later pushes up the pedal portion 601, and 604-A, 604-B, and 604-C are described later. A shaft 621 of the upper actuator 620 indicates a pushed-down portion when the pedal portion 601 is pushed down.

  FIG. 15 is an explanatory diagram showing a configuration corresponding to one pedal portion 601 from the lateral direction with respect to the configuration of the pedal mechanism 600. The pedal mechanism 600 includes an automatic performance unit 610 having a lower actuator 610a and a force sense control unit 1Hb. The lower actuator 610a has the function of the actuator 4 in the embodiment, and moves the shaft 611 up and down by a drive signal DR10 supplied based on the control of the CPU 101 during automatic performance or the like, with the rotation fulcrum 602 as a central axis. The pedal unit 601 is rotated counterclockwise in the drawing.

  The force sense control unit 1Hb includes an electrical load unit 1Hd having an upper actuator 620 and a mechanical load mechanism 3H having a spring P622. The upper actuator 620 has the functions of the actuator 4 and the sensor 5 in the embodiment, and is based on the drive signal DR11 supplied in accordance with the control of the CPU 101 based on the position signal Sp output from the upper actuator 620 and the force sense application table. The shaft 621 is moved up and down, and a force is applied to the pedal by applying a force in a direction in which the pedal portion 601 is rotated clockwise around the rotation fulcrum 602 as a central axis.

  The spring Q612 and the spring R613 are a partial backup spring and a rattling prevention spring for the lower actuator 610a, respectively, have a function of improving stability, and apply a force to the shaft 611. The spring P622 corresponds to the mechanical load mechanism 3B that applies an elastic load in the second modification, and applies a force to the shaft 621. That is, the load applied to the pedal portion 601 by the upper actuator 620 can be reduced by the spring P622.

  Reduction of the load on the upper actuator 620 in such a configuration will be described with reference to FIG. FIG. 12 shows load characteristics (PL11 and PL12, respectively) indicating the pressing amount and load load when the damper pedal is depressed and returned, that is, haptic characteristics. Further, load characteristics of the spring Q612 (spring constant kq), the spring R613 (spring constant kr), and the spring P622 (spring constant kp) are also shown. As shown in the figure, the total elastic load (hereinafter referred to as spring P ′) for these springs is expressed by F = kp ′ · x (here, kp ′ = kp− (kq + kr)). The force sense imparting table may be a table in a portion obtained by removing the elastic load of the spring P ′ from the load characteristic of the damper pedal.

  For example, with respect to the damper pedal return load characteristic PL12, the upper actuator 620 only needs to apply a load that slightly changes corresponding to the shaded portion in the figure due to the elastic load of the spring P ′. In the region where the amount of pressing is large, the majority can be dealt with by the elastic load of the spring P ′, and the power consumption can be greatly reduced compared to the case where there is no elastic load of the spring P ′. As described above, the keyboard instrument 1H can give not only a force sense to the key 2 but also a force sense to various operators. Note that, as described in the above-described embodiment and each modification, it may be applied to change the degree of load or to be in a no-load state. In addition, a load member 630 having a predetermined mass as shown by hatching in FIG. 15 may be provided to apply an inertial load, or a mechanism for applying a viscous load as described in Modification 4 may be provided. . Further, as in the embodiment, the haptic application table may be changed based on the haptic control data corresponding to the type of musical instrument selected by the user operating the operation unit 105, or the spring P ′. The elastic load may be changed. As described above, the keyboard instrument 1H can control the force sense of the keyboard mechanism 100 and the pedal mechanism 600 in parallel, and may control the force sense of another type of operator at the same time.

<Modification 18>
In the embodiment described above, the position of the fulcrum 303 of the mechanical load mechanism 3 did not change, but it may be movable within a predetermined range in the longitudinal direction of the key 2 as shown in FIG. This movement is realized by the guide 350 connected to the fulcrum 303, the rotating shaft 351, and the rotating body 352 in contact with the guide 350. That is, when the rotating shaft 351 rotates, when the rotating body 352 rotates around the rotating shaft 351 and moves, the guide 350 that contacts the rotating body 352 moves along the housing 202 in the longitudinal direction of the key 2. Become. When the guide 350 moves, the mechanical load mechanism 3 moves. Thereby, the position where the key 2 and the action part 301 contact | abut changes. Therefore, even if the pressing amount of the key 2 is the same amount, the moving amount of the action part 301 can be varied. Therefore, even if the user presses the key 2 in the same way, the acceleration at which the action part 301 moves changes. In other words, the reaction force can be changed.

  At this time, by changing the position of the fulcrum 303 and changing the contact position of the action part 301 that is contacted by the key 2, the swing width of the contact position related to the action part 301 when the key 2 is pressed changes. Thus, the key pressing amount of the key 2 when the hammer 300 and the hammer stopper 205 collide changes. In order to prevent this, the configuration shown in FIG. 19 may be used. That is, in the configuration of FIG. 18 described above, the portion of the housing 202 corresponding to the movement of the guide 350 is an inclined portion 206 that is inclined. By doing in this way, even if the position where the key 2 and the action part 301 contact is changed, the swing width of the reaction part 302 is changed, while the swing width of the contact position related to the action part 301 is not changed. Thereby, the key pressing amount of the key 2 when the hammer 300 and the hammer stopper 205 collide with each other can be prevented from changing regardless of the position of the fulcrum 303.

  Further, the configuration shown in FIG. 20 may be used instead of the configuration shown in FIG. That is, in the configuration of FIG. 18 described above, the contact mode between the action unit 301 and the key 2 is changed. In this embodiment, the contact portion 360 is provided in the action portion 301, the receiving plate 207 is provided in the key 2, and the contacting portion 360 and the receiving plate 207 are in contact. By doing so, the position of the fulcrum 303 is changed, and the contact position of the receiving plate 207 that is contacted by the contact portion 360 is changed. Therefore, the swing width of the contact portion 360 can be prevented from changing, so that the key pressing amount of the key 2 when the hammer 300 and the hammer stopper 205 collide does not change regardless of the position of the fulcrum 303. Can be. In addition, depending on the shape of the key 2 and the receiving plate 207, it may be assumed that the swing width of the contact portion 360 changes depending on the position of the fulcrum 303. In this case, the hammer 300 and the hammer stopper 205 Adjust the shape of the key 2 so that the key pressing amount of the key 2 at the time of collision does not change regardless of the position of the fulcrum 303, or adjust the thickness and shape of the receiving plate 207 with respect to the longitudinal direction of the key 2 do it.

<Modification 19>
When the elastic load in the second modification described above is applied to the key 2, instead of using the spring 320, an actuator 4 with an elastic load as shown in FIG. Although not shown, the sensor 5 can be used by being connected to the elastic load actuator 450 similarly to the configuration of the actuator 4 of the embodiment. Hereinafter, the configuration of the actuator 450 with elastic load will be described with reference to FIG. The actuator with elastic load 450 includes the actuator 4 in the embodiment and an elastic load mechanism 370 that is coupled to the upper portion of the actuator 4 and can apply an elastic load.

The plunger 402 of the actuator 4 passes through the central axis of the elastic load mechanism 370 and can pass through holes provided on the upper surface and the bottom surface of the elastic load mechanism 370. The plunger 402 has an engaging portion 371. The engaging portion 371 is a concave portion provided in a part of the plunger 402, and when the plunger 373 of the auxiliary actuator 372 protrudes, the plunger 373 and the concave portion of the engaging portion 371 are engaged. . The auxiliary actuator 372 controls whether or not the plunger 373 is projected by the CPU 101. That is, the CPU 101 controls whether the plunger 373 and the engaging portion 371 are engaged or disengaged.

  The guide plate 374 is movable in the vertical direction along the plunger 402. The guide plate 374 and the auxiliary actuator 372 are coupled and urged upward by a spring 375 provided between the guide plate 374 and the actuator 4.

  Next, the operation of the actuator 450 with elastic load will be described with reference to FIGS. When the plunger 373 and the engaging portion 371 are not engaged, the elastic load mechanism 370 does not apply an elastic load to the plunger 402 even if the plunger 402 moves downward by pressing the key 2, as shown in FIG. . On the other hand, when the plunger 373 and the engaging portion 371 are engaged, as shown in FIG. 19, the spring 375 is compressed when the plunger 402 moves downward by pressing the key 2, so that the elastic load mechanism 370 is An elastic load is applied to the plunger 402, and an elastic load is also applied to the key 2 that is in contact with the plunger 402. In this way, the CPU 101 can control whether or not to apply the elastic load of the spring 375 to the key 2 by controlling whether or not the plunger 373 and the engaging portion 371 are engaged.

<Modification 20>
In the second modification described above, the elastic load is applied to the key 2 by the spring 320, and the size of the elastic load is changed by moving the support plate 321 in the vertical direction. Also good. For example, as shown in FIG. 24, the spring 320 is fixedly installed on the housing 202, and the spring 322 and the spring 322 are brought into contact with the surface opposite to the spring 320 via the key 2. It is only necessary to provide a position control unit 323 for controlling the position of the. The position control unit 323 moves in the vertical direction to bring the spring 322 and the key 2 into contact with or away from each other, and when they are in contact, compresses the spring 322 and controls the initial length. . Further, the position control unit 323 can change the contact position between the key 2 and the spring 322 by horizontally moving in the longitudinal direction of the key 2. This makes the strength acting on the key variable. The position of the position control unit 323 is controlled by the CPU 101 based on the reaction force control data. In this way, the load applied to the key 2 as a whole may be reduced by providing a load separately from the fixed load and controlling the size of the load provided separately.

<Modification 21>
The mechanical load mechanisms 3 in the above-described embodiments and modifications can be used not only independently but also in combination as appropriate. Further, the position at which the reaction force is applied to the key 2 may be any position, and the reaction force to be applied to the key 2 depending on whether it is installed near the rotation support portion 201 of the key 2 or at a distance. The effects of can be different. For example, as shown in FIG. 10, the keyboard instrument 1D may be configured by combining the configuration according to the second modification and the configuration according to the fourth modification.

<Modification 22>
The configuration in the embodiment and the modified example described above can also be applied to an automatic performance keyboard instrument having an actuator that drives the key 2 corresponding to sound generation during automatic performance. In such a case, a mechanism for driving the key 2 at the time of automatic performance is provided, and at the time of automatic performance, the user does not operate the key 2 and there is no need to give a force sense. The CPU 101 may control the load so as to be as small as possible, and it is preferable that the load be in a no-load state. In this way, it is possible to reduce the load on the actuator that drives the key 2 during automatic performance, and to save power. Note that the actuator that drives the key 2 corresponding to sound generation may be the actuator 4, or another actuator (not shown) may be provided to drive the key 2. Further, the present invention can also be applied to the pedal portion 601 as shown in the modified example 17.

  On the other hand, by using both the force sense drive actuator and the automatic performance drive actuator at the same time, the following becomes possible. First, the key swing can be reproduced during a force sense operation. For example, it is possible to accurately reproduce the operation of an acoustic piano, such as when the finger is released, the key is shaken by the return of the hammer. Second, the servo gain can be greatly improved by differentially driving the actuator. This has an important role and effect in stabilizing servo control, such as being able to suddenly stop the driving key during automatic performance.

  Such a keyboard instrument has an automatic performance mode in which automatic performance based on performance data is performed, and a normal performance mode in which performance by a user is performed without performing automatic performance. Either mode is selected by the operation of the operation unit 105 by the user. When the normal performance mode is selected, the operation is performed according to the configuration of the above-described embodiment and modification. When the automatic performance mode is selected, the load on the mechanical load mechanism 3 is as small as possible as described above. It is controlled to become. Then, the key 2 corresponding to the sound generation based on the performance data may be driven by the actuator that drives the key 2 during automatic performance. Note that when the load on the mechanical load mechanism 3 is reduced, the load may not be the minimum load, and power saving can be achieved as long as the load is reduced compared to the load in the normal performance mode.

  In addition, such a configuration that reduces the load during automatic performance can also be applied to an acoustic piano or the like. Hereinafter, a plurality of specific examples will be described.

  For example, in the configuration of a damper pedal mechanism used in an acoustic piano as shown in FIG. 22, the actuator 702 that drives the pedal unit 701 during automatic performance is the actuator 450 with an elastic load in the modification 19, and the plunger 402 and the protruding shaft 703 are used. And should be connected. This damper pedal mechanism is configured such that when the pedal portion 701 is pressed and the thrust shaft 703 moves upward, the pedal lever 704 moves upward to move the lifter 707 and the damper head 708. The pedal lever 704 and the housing A spring 706 is provided between the 705 and the 705. The thrust shaft 703 is urged downward by the elastic load of the spring 706 and the pedal lever 704, the lifter 707, and the damper head 708, and becomes a load when the pedal portion 701 is pressed.

  Here, when the actuator 702 drives the pedal portion 701 during automatic performance, a driving force opposite to the downward biasing force of the thrust shaft 703 is required, but the actuator 702 applies an elastic load upward. If the elastic load generated above the spring 375 is generated by engaging the plunger 373 and the engaging portion 371 of the actuator 450 with the elastic load in the modified example 19, the elastic load of the spring 706 is reduced. Can be made. On the other hand, when it is not during automatic performance, the elastic load when the pedal portion 701 is pressed is not reduced by not generating the elastic load upward of the actuator 702. As a result, during automatic performance, it is possible to reduce the elastic load on the pedal portion 701 when it is not during automatic performance. Therefore, the pedal portion 701 can be driven even if the driving force of the actuator 702 is small.

  In addition, the actuator 702 may be provided with another means for reducing the elastic load as an actuator not provided with the elastic load mechanism 370. For example, as shown in FIG. 26, a compression / extension unit 709 configured by a geared motor or the like that adjusts the initial length of the spring 706 may be provided so that the initial load of the spring 706 can be changed. Then, the spring 706 may be extended to reduce the initial load during automatic performance, and the spring 706 may be compressed to increase the initial load at times other than automatic performance.

  Further, as shown in FIG. 27, a spring 710 may be provided on the opposite side via the spring 706 and the pedal lever 704, and a position control unit 711 capable of controlling the position of the spring 710 may be provided. This configuration is the same as the configuration in Modification 20, and the position at which the pedal lever 704 and the spring 710 abut, and the initial length is controlled by compressing the spring 710, and the pedal lever 704 of the spring 710 is controlled. The magnitude of the elastic load applied to the can be changed. At the time of automatic performance, the elastic load due to the spring 706 can be reduced by applying the elastic load due to the spring 710 to the pedal lever 704.

  25, 26, and 27, when the elastic load on the pedal lever 704 is reduced during automatic performance, another rampage prevention (not shown) is performed to stabilize the position of the pedal lever 704. A spring may be provided. In addition, in order to cancel the weight of the plunger of the actuator 702 and bring it closer to the original force sense when the user depresses the pedal portion 701, a cancellation force that applies an upward biasing force according to the weight of the plunger is cancelled. A spring may be provided. Further, when the compression / extension unit 709 compresses / extends the spring 706, and when the position control unit 711 controls the position and initial length of the spring 710, in order to avoid generation of noise and swinging of the pedal unit 701, a predetermined speed is set. It is desirable to control at a slower speed.

<Modification 23>
In the embodiment described above, the rotating body 304a of the mechanical load mechanism 3 has a load state in which the mechanical load mechanism 3 applies a reaction force to the key 2 according to the rotational position, and the mechanical load mechanism 3 applies to the key. The non-load state that has been invalidated so as not to apply the reaction force has been switched. However, in the movement range accompanying the key depression of the key 2, the load range is set in a predetermined range and the no-load state is set in other ranges. It may be. In this case, the following configuration may be used.

  The reaction force control data stored in the storage unit 104 further indicates a range control value that specifies at least a part of the movement range of the key 2. Then, when reading the reaction force control data stored in the storage unit 104, the CPU 101 rotates the rotating body 304a based on the range control value indicated by the reaction force control data. At this time, as shown in FIG. 28, the rotational position of the rotating body 304a is controlled to a position between the loaded state and the unloaded state in the embodiment.

  In this way, when the key pressing amount of the key 2 is small, the key 2 and the action part 301 of the hammer 300 are in a separated state and are in a no-load state, while when the key pressing amount becomes large, The key 2 and the action part 301 of the hammer 300 are in contact with each other and are in a loaded state. The CPU 101 only has to control the rotation angle of the rotator 304 so that the range of the key pressing amount in such a load state is within the range specified by the range control value. If it does in this way, when the key 2 exists in the range designated by the range control value among the movement ranges accompanying key depression of the key 2, it will be in a load state, and when it exists out of the range, it will be in a no-load state. It can be. Note that, when the key pressing amount of the key 2 in the loaded state is further increased and the key pressing amount is further increased, the CPU 101 detects the position signal Sp output from the detection unit 502 of the position sensor 5a. When the key 2 is detected outside the range specified by the range control value, the rotational position of the rotating body 304a may be controlled to the position shown in FIG. Thus, the CPU 101 may detect whether or not the key 2 exists within the range specified by the range control value from the position signal Sp.

<Modification 24>
In each modification described above, when the load of the mechanical load mechanism 3 can be changed, the load is changed according to the reaction force control value indicated by the reaction force control data. You may make it change the magnitude | size of load according to the pressing amount of the key 2. FIG. In this case, the reaction force control data stored in the storage unit 104 is data indicating the relationship between the reaction force control value and the pressing amount of the key 2, and the CPU 101 is output from the detection unit 502 of the position sensor 5a. The key pressing amount may be detected from the position signal Sp, and the load of the mechanical load mechanism 3 may be changed based on the reaction force control value corresponding to the detected key pressing amount.

It is a block diagram which shows the structure of the keyboard musical instrument which concerns on embodiment. It is explanatory drawing which shows a structure when the mechanical load mechanism which concerns on embodiment is a load state. It is explanatory drawing which shows a structure when the mechanical load mechanism which concerns on embodiment is a no-load state. It is explanatory drawing which shows the structure of the actuator and sensor which concern on embodiment. It is explanatory drawing which shows the structure of the software of the keyboard musical instrument which concerns on embodiment, and the flow of each signal. It is explanatory drawing of the force sense provision table which concerns on embodiment. It is explanatory drawing which shows the structure of the mechanical load mechanism which concerns on the modification 1. FIG. It is explanatory drawing which shows the structure of the mechanical load mechanism which concerns on the modification 2. It is explanatory drawing which shows the structure of the mechanical load mechanism which concerns on the modification 4. 22 is an explanatory diagram showing a configuration of a mechanical load mechanism according to Modification 21. FIG. It is explanatory drawing which shows the structure of the software of the keyboard musical instrument which concerns on the modification 5, and the flow of each signal. It is explanatory drawing which shows the structure of the software of the keyboard musical instrument which concerns on the modification 9, and the flow of each signal. FIG. 22 is an explanatory diagram showing a configuration of software of a keyboard instrument according to a modification 11 and a flow of each signal. FIG. 25 is an explanatory diagram showing a configuration of a pedal mechanism according to Modification 17; FIG. 25 is an explanatory diagram showing a configuration of a pedal mechanism according to Modification 17; It is explanatory drawing which shows the load characteristic of the damper pedal which concerns on the modification 17. It is explanatory drawing which shows the structure of the mechanical load mechanism which concerns on the modification 3. It is explanatory drawing which shows the structure of the mechanical load mechanism which concerns on the modification 18. It is explanatory drawing which shows the structure of the mechanical load mechanism which concerns on the modification 18. It is explanatory drawing which shows the structure of the mechanical load mechanism which concerns on the modification 18. 22 is an explanatory diagram showing a configuration of an actuator according to Modification 19. FIG. 22 is an explanatory diagram showing a configuration of an actuator according to Modification 19. FIG. 22 is an explanatory diagram showing a configuration of an actuator according to Modification 19. FIG. 22 is an explanatory diagram showing a configuration of a mechanical load mechanism according to Modification 20. FIG. FIG. 22 is an explanatory diagram showing a configuration of a damper pedal mechanism according to Modification 22. FIG. 22 is an explanatory diagram showing a configuration of a damper pedal mechanism according to Modification 22. FIG. 22 is an explanatory diagram showing a configuration of a damper pedal mechanism according to Modification 22. FIG. 25 is an explanatory diagram showing a configuration of a mechanical load mechanism according to Modification 23.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Keyboard instrument, 1a ... Electronic system, 1b ... Force sense control part, 1c ... Information generation system, 1d ... Electric load part, 2 ... Key, 2a ... Black key, 2b ... White key, 3 ... Mechanical load mechanism, 4 ... Actuator, 5 ... Sensor, 5a ... Position sensor, 5b ... Speed sensor, 6a ... Logic circuit, 6, 10, 21, 60a ... Multiplexer, 7, 11, 22, 60b ... AD converter, 9, 20 ... Differentiator , 30 to 33, 3x ... force application table, 30-1 to 30-n ... table, 35 to 38 ... adder, 37a ... switch, 40 ... PWM indication value generation circuit, 45 ... DA converter, 50 ... PWM Driver 50a ... Solenoid driver 51 ... Current FB circuit 60 ... Extension unit 100 ... Keyboard mechanism 101 ... CPU 102 ... ROM 103 ... RAM 104 ... Storage unit 105 ... Operation unit 106 ... Display 106a ... Liquid crystal display panel, 106b ... Display driver, 107 ... Audio output part, 108 ... Interface, 200 ... Bus, 201 ... Rotation support part, 202 ... Housing, 202a, 202b, 202c ... Space, 202d ... Opening part, DESCRIPTION OF SYMBOLS 203 ... Swing stroke guide, 203a ... Projection part, 203b ... Guide part, 204 ... Key stopper, 205 ... Hammer stopper, 206 ... Inclination part, 207 ... Receptacle, 300 ... Hammer, 301 ... Action part, 302 ... Reaction part , 303: fulcrum, 304a ... rotating body, 304b ... stepping motor, 304c ... pulse generator, 305 ... shaft, 306 ... adjusting screw, 310a ... frame, 310b ... moving body, 311 ... lead screw, 312 ... motor, 313 ... guide Member, 320... Spring, 321... Support plate, 32 ... Spring, 323 ... Position controller, 330 ... Movable member, 331 ... Strut, 332 ... Cylindrical member, 333 ... Orifice diameter controller, 333a ... Hole, 340 ... Leaf spring, 341 ... Rotating shaft, 350 ... Guide, 351 Rotating shaft, 352, rotating body, 360, contact portion, 370, elastic load mechanism, 371, engaging portion, 372, auxiliary actuator, 373, plunger, 374, guide plate, 375, spring, 400, yoke, 401 ... Coil, 402 ... Plunger, 403 ... Shaft, 404 ... Shaft head, 406 ... Housing, 410 ... Bearing, 450 ... Actuator with elastic load, 500a, 500b ... Housing, 501 ... Detected member, 502 ... Detector, 503 ... Reflector, 504 ... magnet, 505 ... spring, 506 ... coil, 600 ... pedal mechanism, 600a ... casing , 601-A, 601-B, 601-C... Pedal part, 602-A, 602-B, 602-C... Fulcrum, 603-A, 603-B, 603-C. , 604-B, 604-C ... pushed down part, 610 ... automatic performance part, 610a ... lower actuator, 611 ... shaft, 612 ... spring Q, 613 ... spring R, 620 ... upper actuator, 621 ... shaft, 622 ... spring P , 630 ... Load member, 701 ... Pedal part, 702 ... Actuator, 703 ... Projection shaft, 704 ... Pedal lever, 705 ... Housing, 706 ... Spring, 707 ... Lifter, 708 ... Damper head, 709 ... Compression / extension part, 710: Spring, 711: Position control unit

Claims (7)

A plurality of force sense control data indicating the relationship between a physical quantity related to the motion of the operator and the force sense control value are stored, and the reaction force control data indicating the reaction force control value indicating the magnitude of the reaction force applied to the operator is stored in the reaction force control data. Storage means for storing corresponding to each of the haptic control data;
A selection unit that selects one haptic control data among the plurality of haptic control data stored in the storage unit;
An operator behavior detecting means for detecting the behavior of the operator;
Calculation means for calculating a physical quantity related to the movement of the operating element based on the behavior of the operating element detected by the operating element behavior detecting means;
First force sense imparting means for imparting force to the manipulator;
Based on the haptic control data selected by the selection means, a haptic control value is calculated from the physical quantity calculated by the calculating means, and based on the haptic control value, the first haptic giving means performs the operation element. First control means for controlling the force applied to
A second force sense imparting means having a predetermined load and applying a reaction force corresponding to the load to the movement of the manipulator;
Second control means for controlling the load of the second force sense applying means based on the reaction force control value indicated by the reaction force control data corresponding to the force sense data selected by the selection means; And
The reaction force control data stored in the storage means further indicates a range control value that specifies at least a partial range of the movement range of the operator,
The second control means responds to the operation element corresponding to the load with respect to the operation element existing within a range specified by a range control value indicated by a reaction force control data corresponding to the force control data selected by the selection means. The force sense control device controls the second force sense imparting means to apply force. The predetermined load of the second force sense applying means is a mechanical inertia load,
The physical quantity calculated by the calculating means includes a position indicating the pressing amount of the operating element and a pressing speed of the operating element,
The first control means calculates a haptic control value from the position indicating the pressing amount of the operating element calculated by the calculating means and the pressing speed of the operating element based on the haptic control data selected by the selecting means. and, based on the force control value, force control apparatus according to claim 1, characterized in that to control the force applied to the operating element by the first force applying means. The predetermined load has second force applying means, a mechanical load, the inertia load, viscous load, of the elastic load, according to claim 1, characterized in that it comprises at least any one Haptic control device. The second control means sets the magnitude of the load of the second force sense applying means to 0 based on the reaction force control value indicated by the reaction force control data corresponding to the force sense control data selected by the selection means. The force sense control device according to any one of claims 1 to 3 , wherein when controlling, the second force sense imparting means is invalidated. A force sense control device according to any one of claims 1 to 4 ,
A keyboard having a plurality of the controls;
A musical sound generating means for generating a musical sound in response to pressing of the operation element,
The storage means further stores data indicating the type of musical instrument corresponding to each of the plurality of force control data,
The keyboard musical instrument characterized in that the musical tone generating means generates a musical tone having a timbre based on data indicating the type of musical instrument corresponding to the force control data selected by the selecting means. An apparatus comprising: first force sense imparting means for imparting force to the manipulator; and second force sense imparting means that has a predetermined load and applies a reaction force corresponding to the load to the motion of the manipulator. A force control method used for
A plurality of force control data indicating the relationship between the physical quantity related to the movement of the operator and the force control value is stored, and reaction force control data indicating a reaction force control value is stored in association with each of the force control data. Memory process to
A selection process of selecting one haptic control data from the plurality of haptic control data stored in the storing process;
An operator behavior detection process for detecting the behavior of the operator;
A calculation process for calculating a physical quantity related to the movement of the operating element based on the behavior of the operating element detected in the operating element behavior detecting process;
Based on the haptic control data selected in the selection process, a haptic control value is calculated from the physical quantity calculated in the calculation process, and based on the haptic control value, the first haptic application means performs the haptic control value. A first control process for controlling the force applied to the manipulator;
A second control step for controlling the magnitude of the load of the second force sense applying means based on the reaction force control value indicated by the reaction force control data corresponding to the force sense control data selected in the selection step. Prepared,
The reaction force control data stored in the storing process further indicates a range control value for designating at least a part of the moving range of the operation element,
In the second control process, the operation element in the range specified by the range control value indicated by the reaction force control data corresponding to the haptic control data selected in the selection process is determined according to the load. The haptic control method, wherein the second haptic application means is controlled so as to apply a reaction force. A computer that controls first force sense imparting means for imparting force to the operator and second force sense imparting means that has a predetermined load and applies a reaction force corresponding to the load to the motion of the operator. In addition,
A plurality of force control data indicating the relationship between the physical quantity related to the movement of the operator and the force control value is stored, and reaction force control data indicating a reaction force control value is stored in association with each of the force control data. Memory function to
A selection function for selecting one haptic control data among the plurality of haptic control data stored in the storage function;
An operator behavior detection function for detecting the behavior of the operator;
A calculation function for calculating a physical quantity related to the movement of the operating element based on the behavior of the operating element detected by the operating element behavior detecting function;
Based on the haptic control data selected in the selection function, a haptic control value is calculated from the physical quantity calculated in the calculation function, and based on the haptic control value, the first haptic imparting means performs the haptic control value. A first control function for controlling the force applied to the operator;
A second control function for controlling the magnitude of the load of the second force sense applying unit based on the reaction force control value indicated by the reaction force control data corresponding to the force sense control data selected in the selection function; Realized,
The reaction force control data stored in the storage function further indicates a range control value for designating at least a part of the movement range of the operation element,
In the second control function, the operation element present in the range specified by the range control value indicated by the reaction force control data corresponding to the haptic control data selected in the selection function depends on the load. A program for controlling the second force sense applying means so as to apply a reaction force.

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