JP6208715B2 - Evaluation device, parameter generation device, condition setting device, and program - Google Patents

Description

  The present invention relates to a technique for making a user perceive a pseudo force sensation, and more particularly to a technique for estimating a user's perception amount and a technique for setting a condition that gives a high perception amount.

  When a user grips a vibrator with a fingertip asymmetrically with a drive signal having a predetermined characteristic, the user can be given a feeling of traction (pseudo force sensation) in a specific direction (for example, non-patented). Reference 1 etc.). Further, it is known that changing the pattern of asymmetric vibration changes the perception sensation (eg, clarity) of the pseudo-force sensation.

Tomohiro Amemiya, Shinya Takatsuki, Sho Ito, Hiroaki Gomi, “Brunavi 3”, a device that creates a sense of being pulled when pinched with fingers, NTT Technical Journal, 2014.9

  Human perceptual characteristics are usually quantified by perceptual testing. Perceptual testing requires many subjects and is labor intensive, time consuming and costly. An object of the present invention is to automate the evaluation of the intelligibility of a pseudo force sense.

  Responding to at least one of a change in position and a change in force due to vibration of the vibration part obtained by measuring the vibration part of the pseudo force sensation generator in a state of being gripped by a person or imitating a state of being gripped by a person Based on the physical quantity obtained, an estimate of the intelligibility of the pseudo force sense is obtained.

  Thereby, the evaluation of the intelligibility of the pseudo force sense can be automated.

FIG. 1 is a conceptual diagram for explaining the configuration of the embodiment. FIG. 2 is a block diagram illustrating the configuration of the evaluation apparatus and condition setting apparatus of the embodiment. 3A and 3B are conceptual diagrams illustrating the configuration of the vibration unit of the pseudo force sense generator according to the embodiment. FIG. 4A is a waveform diagram illustrating a voltage input pattern to the drive amplifier. FIG. 4B is a diagram exemplifying a change in the position of the vibration unit of the pseudo force sense generator according to the input pattern of FIG. 4A. FIG. 4C is a diagram illustrating a change in force applied to the outside by the vibration unit of the pseudo force sense generator according to the input pattern of FIG. 4A. FIG. 5A is a waveform diagram illustrating a voltage input pattern to the drive amplifier. FIG. 5B is a diagram illustrating a change in the position of the vibration unit of the pseudo force sense generator according to the input pattern of FIG. 5A. FIG. 5C is a diagram illustrating a change in force applied to the outside by the vibration unit of the pseudo force sense device according to the input pattern of FIG. 5A. FIG. 6 is a diagram exemplifying a fixed direction selection probability for each stimulation condition obtained by a perceptual experiment. FIG. 7A is a diagram illustrating the relationship between the constant direction selection probability quantified by the perceptual experiment and the constant direction selection probability predicted from the force data. FIG. 7B is a diagram illustrating the relationship between the constant direction selection probability quantified by the perception experiment and the constant direction selection probability predicted from the position data. FIG. 8 is a block diagram illustrating the configuration of the parameter generation device according to the embodiment. FIG. 9 is a flowchart for illustrating the parameter generation processing of the embodiment.

An embodiment of the present invention will be described.
〔Overview〕
An outline will be described. In the embodiment, the positional change and force due to the vibration of the “vibration unit” obtained by measuring the vibration unit of the pseudo force sense generation device in a state of being gripped by a person or a state of being gripped by a person. Based on the physical quantity corresponding to at least one of the changes, an estimated value of the intelligibility of the pseudo force sense is obtained. The “intelligibility of the pseudo force sense” perceived by a person holding the vibration part of the pseudo force sense generator depends on a physical quantity given to the person. By using the physical quantity obtained by measuring the vibration part of the pseudo force generation device in the state of being gripped by a person or imitating the state of being gripped by a person, the “intelligibility of the pseudo force sense” Can be automatically estimated. Examples of the “physical quantity” are the position of the “vibration unit” at each time, the force applied to the outside by the “vibration unit” at each time, any time differential value thereof, or any combination thereof.

あるいは、以下の関数値を「明瞭度の推定値」としてもよい。

The “estimation value of intelligibility” can be obtained based on a time average of values corresponding to the “physical quantity”. For example, an “intelligibility estimate value” can be obtained based on a time average of values including an upper part of “physical quantity” for a positive threshold and a lower part of “physical quantity” for a negative threshold value. This is because the “intelligibility of the pseudo force sense” depends on the asymmetry of the vibration of the vibration part. For example, the function value for S _m , _{sm_norm} , σ of the function G (S _m , _{sm_norm} , σ) can be defined as “estimation value of clarity”. However, S _m is the “time average”, s _{m_norm} is a normalization parameter, and σ is a saturation control parameter. The function G (S _m , s _{m — norm} , σ) indicates that when the time average S _m increases in the negative direction, the output saturates or converges to the first predetermined value, and when the time average S _m increases in the positive direction, the output becomes “ It is a monotonically increasing function that saturates or converges to a “second predetermined value” that is larger than the “first predetermined value”. The saturation control parameter σ is a parameter that determines the rate of change until the saturation or convergence. An example of the “first predetermined value” is 0, and an example of the “second predetermined value” is 1. For example, a function value of the following expression can be used as an “intelligibility estimate value”.

Alternatively, the following function value may be used as the “intelligibility estimate value”.

  The absolute values of “positive threshold” and “negative threshold” may be the same or different. At least one of “positive threshold”, “negative threshold”, and “saturation control parameter”, for example, “estimation value of clarity” is adapted to the subjective evaluation result by the subject holding “vibration part” (fitting) It is determined to do. That is, at least of a change in position and a change in force due to vibration of the vibration part, obtained by measuring the vibration part of the pseudo force sense generation device in a state of being held by a person or imitating a state of being held by a person In order to obtain the estimated value of the intelligibility based on the physical quantity so that the estimated value of the intelligibility of the pseudo force sense obtained based on the physical quantity corresponding to the one matches the subjective evaluation result by the subject holding the vibration part Get “parameters”. The “parameter” may be all of “positive threshold”, “negative threshold”, and “saturation control parameter”, or may be a part thereof. Thereby, “clarity” simulating the result obtained based on the subjective evaluation can be automatically estimated.

  Note that the “parameter” obtained so as to simulate the result obtained based on the subjective evaluation of a specific subject can be said to be a value representing the perceptual characteristic of the “subject”. For this reason, the “parameter” obtained in this way may be output as a value representing the perceptual characteristics (for example, change in sensory perception due to aging) of the “subject” who performed the subjective evaluation. In particular, the “positive threshold” and the “negative threshold” well represent perceptual characteristics such as sensitivity to dynamic stimuli. For example, at least one of “positive threshold” and “negative threshold” can be used as a value representing the perceptual characteristic of the “subject” who performed the subjective evaluation. When subjective evaluation is performed on a plurality of “subjects”, the perceptual characteristics of the plurality of “subjects” can be evaluated from at least one of “positive threshold” and “negative threshold”. ”, The perceptual characteristics of the“ subject ”can be evaluated. Alternatively, at least one of the obtained “positive threshold value” and “negative threshold value” holds the “vibration part” when acquiring the “physical quantity” to obtain the “estimated value of the intelligibility of the pseudo force sense”. It may also be used to evaluate the perceptual characteristics of “people”.

  In addition, a pseudo force sensation in a state of being gripped by a person or imitating a state of being gripped by a person is output by outputting a control signal corresponding to the stimulation condition candidate and driven by a drive signal corresponding to the “control signal”. Based on a physical quantity corresponding to at least one of a change in position and a change in force due to vibration of the `` vibration part '' obtained by measuring the vibration part of the generation device, an estimate of the intelligibility of the pseudo force sense is obtained, A stimulation condition suitable for the “pseudo force sense generating device” may be obtained based on the “estimation value of intelligibility”. Accordingly, it is possible to easily set a stimulation condition suitable for the “pseudo force sense generating device” to present a clear force sense. For example, among “stimulation condition candidates” belonging to a predetermined range, the one having the highest “intelligibility estimated value” is set as the “suitable stimulation condition”. Alternatively, among “stimulation condition candidates” belonging to a predetermined range, those having an “intelligibility estimation value” higher than a predetermined rank (for example, those having the first rank to the third rank) are “suitable” It may be a “stimulation condition”. Alternatively, a “suitable stimulation condition” may be a “stimulation condition candidate” that belongs to a predetermined range and whose height of “estimation level of clarity” is equal to or greater than a threshold value.

[First Embodiment]
First, a first embodiment will be described.
<Configuration>
As illustrated in FIG. 1, the system according to the present embodiment includes a pseudo force generation device 1, an evaluation device 2, a position measurement device 31, and a force measurement device 32. The pseudo force sense generator 1 includes a drive amplifier 11 and a vibration unit 12.

≪Evaluation equipment≫
As illustrated in FIG. 2, the evaluation device 2 controls the storage unit 21, the memory 22, the drive control unit 23, the physical quantity acquisition unit 24, the threshold processing unit 25, the time average processing unit 26, the constant direction selection probability prediction unit 27, and the control. Part 29. The evaluation device 2 is, for example, a general-purpose or dedicated computer including a processor (hardware processor) such as a CPU (central processing unit) and a memory such as a random-access memory (RAM) and a read-only memory (ROM). An apparatus configured by executing a predetermined program. The computer may include a single processor and memory, or may include a plurality of processors and memory. This program may be installed in a computer, or may be recorded in a ROM or the like in advance. In addition, some or all of the processing units are configured using an electronic circuit that realizes a processing function without using a program, instead of an electronic circuit (circuitry) that realizes a functional configuration by reading a program like a CPU. May be. In addition, an electronic circuit constituting one device may include a plurality of CPUs. The evaluation device 2 executes each process under the control of the control unit 29.

≪Vibration part 12≫
As the vibration unit 12 of the pseudo force sense generating device 1, for example, a known device disclosed in Non-Patent Document 1 or the like can be used. The structure of the vibration part 12 is illustrated.

  As illustrated in FIG. 3A and FIG. 3B, the vibration unit 12 includes, for example, a support unit 121, springs 122 and 123 (elastic body), a coil 124, a permanent magnet 125 (motion member), and a case 126. Both the case 126 and the support part 121 of this embodiment are hollow members having a shape in which both open ends of a cylinder (for example, a cylinder or a polygonal cylinder) are closed. However, the support portion 121 is smaller than the case 126 and can be accommodated in the case 126. The case 126 and the support part 121 are comprised from synthetic resins, such as ABS resin, for example. The springs 122 and 123 are, for example, a helical spring or a leaf spring made of metal or the like. The spring constants of the springs 122 and 123 are preferably the same, but may be different from each other. The permanent magnet 125 is, for example, a cylindrical permanent magnet, and one end 125a side in the longitudinal direction is an N pole, and the other end 125b side is an S pole. The coil 124 is, for example, a continuous enamel wire, and includes a first winding portion 124a and a second winding portion 124b.

  The permanent magnet 125 is accommodated in the support part 121 and supported so as to be slidable in the longitudinal direction. Although details of such a support mechanism are not shown in the drawings, for example, a straight rail along the longitudinal direction is provided on the inner wall surface of the support portion 121, and a rail support portion that slidably supports the rail on the side surface of the permanent magnet 125. Is provided. One end of the spring 122 is fixed to the inner wall surface 121a on one end side in the longitudinal direction of the support portion 121 (that is, one end of the spring 122 is supported by the support portion 121), and the other end of the spring 122 is the end of the permanent magnet 125. It is fixed to the portion 125a (that is, the end portion 125a of the permanent magnet 125 is supported by the other end of the spring 122). One end of the spring 123 is fixed to the inner wall surface 121b on the other end side in the longitudinal direction of the support portion 121 (that is, one end of the spring 123 is supported by the support portion 121), and the other end of the spring 123 is a permanent magnet. 125 is fixed to the end 125b of the 125 (that is, the end 125b of the permanent magnet 125 is supported by the other end of the spring 123).

A coil 124 is wound around the outer peripheral side of the support portion 121. However, the end portion 125a side of the permanent magnet 125 (N pole side), the first winding portion 124a are wound in the _{A 1} direction (direction toward the back to the front), the end portion 125b side (S-pole side in), a second winding portion 124b is wound in the a ₁ direction in the opposite direction to the direction of B ₁ direction (direction toward the front to the back). That is, when viewed from the end 125a side (N pole side) of the permanent magnet 125, the first winding portion 124a is wound clockwise and the second winding portion 124b is wound counterclockwise. Further, in a state where the permanent magnet 125 is stopped and the elastic forces from the springs 122 and 123 are balanced, the end portion 125a side (N pole side) of the permanent magnet 125 is disposed in the region of the first winding portion 124a. It is desirable that the 125b side (S pole side) be disposed in the region of the second winding portion 124b.

  The support portion 121, the springs 122 and 123, the coil 124, and the permanent magnet 125 arranged and configured as described above are accommodated in the case 126, and the support portion 121 is fixed inside the case 126. However, the longitudinal direction of the case 126 coincides with the longitudinal direction of the support portion 121 and the longitudinal direction of the permanent magnet 125.

≪Drive amplifier≫
The drive amplifier 11 in FIG. 1 receives the control signal c (st) corresponding to the stimulation condition st and supplies the drive signal corresponding to the control signal c (st) to the vibration unit 12 to drive the vibration unit 12.

≪Position measuring device ・ Force measuring device≫
The position measurement device 31 in FIG. 1 is arranged along the vibration direction of the vibration unit 12, for example, and obtains and outputs a position signal p (t) that is a time-series signal indicating the position of the vibration unit 12. The force measurement device 32 is fixed to the vibration unit 12 by, for example, a double-sided tape, an adhesive, a screw, or the like, and obtains a force signal f (t) that is a time-series signal representing the force that the vibration unit 12 applies to the force measurement device 32. Output. t represents time. An example of the position measuring device 31 is a laser position measuring device, and an example of the force measuring device 32 is a force sensor. However, these are merely examples, and the types and measurement methods of the position measurement device 31 and the force measurement device 32 are not limited to this.

<Pretreatment>
As preprocessing, parameters including a threshold parameter _Sth and a saturation control parameter σ are set and stored in the memory 22. However, S _th > 0. These parameters may be arbitrary values, or may be set based on a subjective evaluation result performed in advance (details will be described later).

<Pseudo force sense intelligibility estimation process>
Next, the pseudo force sense intelligibility estimation process of this embodiment will be described.
The person 100 directly or indirectly holds the vibration unit 12 of the pseudo force sense generator 1. In FIG. 1, an example is shown in which a person 100 indirectly grips the vibration unit 12 via a force measurement device 32 fixed to the vibration unit 12. However, this does not limit the present invention. The person 100 may directly grip the vibration unit 12 or indirectly grip the vibration unit 12 via a casing or other substance.

  The drive control unit 23 in FIG. 2 outputs a control signal c (st) for driving the pseudo force sense generator 1 under a certain stimulation condition st. The control signal c (st) is supplied to the drive amplifier 11, and the drive amplifier 11 supplies a drive signal corresponding to the control signal c (st) to the vibration unit 12. The vibration unit 12 performs asymmetric vibration according to the supplied drive signal, thereby presenting a pseudo force sense. The stimulation condition st corresponds to a method of causing the vibration unit 12 to perform asymmetric vibration. For example, at least one of a period in which the drive signal supplied by the drive amplifier 11 is positive and negative, a basic period of the drive signal, and a positive / negative inversion ratio can be set as the stimulation condition st. The control signal c (st) may represent the stimulation condition st itself (for example, a positive / negative determination ratio), or may represent a time pattern (time waveform) defined by the stimulation condition st. The drive signal is a voltage or current corresponding to the control signal c (st). For example, when the control signal c (st) is the stimulation condition st itself, the drive signal is a time pattern represented by the stimulation condition st. For example, when the control signal c (st) has a time pattern defined by the stimulation condition st, the cycle of the drive signal is a time pattern that matches or approximates the cycle of the control signal c (st). When the stimulation condition st is changed, the vibration pattern of the vibration unit 12 is also changed, and the pseudo force sense presented by the vibration unit 12 is also changed.

The operation of the vibration unit 12 illustrated in FIGS. 3A and 3B will be described. The coil 124 applies an acceleration (force) according to the given drive signal to the permanent magnet 125, whereby the permanent magnet 125 performs periodic acceleration motion with respect to the support portion 121 (based on the support portion 121. (Periodic translational reciprocation with axial acceleration). That is, when an electric current is applied to the _{A 1} direction _{(B 1} direction) to the coil 124, by reaction of the Lorentz force is described in Fleming's left-hand rule, the permanent magnet 125-i _{C 1} direction (the permanent magnets 125-i A force in the direction from the north pole to the south pole (right direction) is applied (FIG. 3A). Conversely, when an electric current is applied to the coil 124 in the _{A 2} direction _{(B 2} direction), (direction toward the N pole from the S pole of the permanent magnet 125: left) _{C 2} direction to the permanent magnet 125 force is applied ( FIG. 3B). However, _{A 2} direction is opposite the direction of _{A 1} direction. By these operations, kinetic energy is given to the system including the permanent magnet 125 and the springs 122 and 123. Thereby, the position and acceleration of the permanent magnet 125 with respect to the case 126 (the position and acceleration in the axial direction with reference to the support portion 121) can be changed. Here, the period adding "drive signal" voltage flowing direction of the current applied acceleration in the desired direction to the permanent magnet 125 (C ₁ direction or C ₂ direction) to the coil 124 (time) and T1, other time periods T2 is periodically repeated. As a result, a force corresponding to the “drive signal” is applied to the permanent magnet 125. At that time, the ratio (inversion ratio) between the period T1 and the period T2 is biased to one of the periods. In other words, a periodic “drive signal” having a ratio of the period T1 in one period different from the ratio of the period T2 in the period is added to the coil 124. As a result, the permanent magnet 125 performs “asymmetric acceleration motion” with respect to the support portion 121 and a reaction force corresponding to the movement (acceleration) of the magnet is applied to the case. Can be presented. A period composed of the period T1 and the period T2 is referred to as a “basic period”.

  Such movement of the vibration unit 12 is measured by the position measuring device 31 and the force measuring device 32. 4A to 4C and 5A to 5C show the control signal c (st), the position signal p (t) obtained by the position measuring device 31, and the force signal f (t) obtained by the force measuring device 32. Illustrate. However, the horizontal axis of FIG. 4B, FIG. 4C, FIG. 5B, and FIG. 5C represents the time (Time [sec]) elapsed from the start of measurement. The vertical axis of FIG. 4B and FIG. 5B represents the position (relative position) (Pos [mm]) in the vibration direction with respect to the reference position of the vibration unit 12. Either direction of the vibration direction is positive, and the opposite direction is negative. The vertical axis in FIGS. 4C and 5C represents the force (Force [N]) in the direction along the vibration direction that the vibration unit 12 applies to the force measuring device 32. Any direction along the vibration direction of the vibration unit 12 is positive, and the opposite direction is negative.

  4B and 4C show positions when a rectangular control signal c (st) (FIG. 4A) that alternately repeats a period T1 = 7 ms for positive voltage and a period T2 = 18 ms for negative voltage is supplied to the drive amplifier 11. The time change of (Pos [mm]) and force (Force [N]) is illustrated respectively. 5B and FIG. 5C show positions when a rectangular control signal c (st) (FIG. 5A) that alternately repeats a negative voltage period T1 = 7 ms and a positive voltage period T2 = 18 ms is supplied to the drive amplifier 11. The time change of (Pos [mm]) and force (Force [N]) is illustrated respectively.

  The position signal p (t) representing the time change of the position obtained by measuring the vibration unit 12 held by the person 100 with the position measuring device 31 and the time of the force obtained by measuring with the force measuring device 32. A force signal f (t) representing the change is sent to the evaluation device 2 via a suitable interface (not shown).

The evaluation device 2 obtains an estimated value of the “constant direction selection probability” for the set (T1, T2) of the periods T1 and T2 corresponding to the stimulation condition st as an “intelligibility estimated value”. The normal “constant direction selection probability” is a selection probability based on a subjective evaluation result in a perceptual experiment by a subject. That is, one of the mode a = 0 in which the voltage in the period T1 is positive and the voltage in the period T2 is negative, and the mode a = 1 in which the voltage in the period T1 is negative and the voltage in the period T2 is positive When the control signal c (st) of the selected mode a is supplied to the drive amplifier 11, the haptic direction R (st) ∈ {D _{1, D 2}} is the direction D in response to the mode _{a (a) ∈ {D 1} , the probability of matching the _{D 2}} is the "constant direction selection probability". However, direction D (0) is the reverse direction of direction D (1). The subject answers in two-option "or felt force in a direction _{D 1 (R (st) =} D 1), or felt force in the opposite direction _{D 2 (R (st) =} D 12) " . In the case of mode a, when a clear force sense is generated in the direction D (a), the “constant direction selection probability” becomes a value close to 1, and in the case of mode a, the direction D (a) is clearly reversed. When a strong sense of force is generated, the “constant direction selection probability” is a value close to zero. The “constant direction selection probability” based on the subjective evaluation of the subject with respect to the stimulus information st is expressed as P _e (st). The evaluation device 2 obtains the estimated value of the “constant direction selection probability” as the “estimated value of clarity” without using the subjective evaluation result of the person 100.

  The physical quantity acquisition unit 24 receives p (t) and f (t) as inputs, and obtains and outputs a physical quantity S (t, st) corresponding to at least one of a change in position and a change in force due to the vibration of the vibration unit 12. . For example, p (t), f (t), or a time differential value thereof (for example, a first-order differential value or a second-order differential value) or a function value of a combination thereof may be defined as the physical quantity S (t, st). it can. For example, the linear combination value of p (t−δ) and f (t) may be S (t, st), and the time derivative value of p (t−δ) and the linear combination of f (t) may be S ( t, st). Where δ is a real constant. Alternatively, p (t) or f (t) may be the physical quantity S (t, st), or the time differential value of p (t) or f (t) may be the physical quantity S (t, st). In addition, a linear combination of p (t) and the time differential value of p (t) may be used as the physical quantity S (t, st). For example, a linear combination of p (t) and speed v (t) that is a time differential value of p (t) may be S (t, st) = p (t) + w × v (t). Here, w is a real coefficient determined by optimization. In addition, a linear combination of f (t) and the time differential value of f (t) may be used as the physical quantity S (t, st). When at least one of p (t) and f (t) is biased, a physical quantity S (t, st) corresponding to at least one of p (t) and f (t) with these biases removed ) May be obtained.

The threshold processing unit 25 receives the physical quantity S (t, st) and the threshold parameter _Sth read from the memory 22 as input, and performs the following calculation to increase the physical quantity S (t, st) with respect to the positive threshold _Sth represented by the physical quantity S (t, st). ) _{-S th} and negative threshold _{-S th} to the physical quantity of less than min _S (t, st) ₊ S consisting _th signal _S d (t, st) the obtained output.

ただし、ｔ_ｍａｘ＞ｔ_ｍｉｎである。閉区間［ｔ_ｍｉｎ，ｔ_ｍａｘ］の定め方には限定はない。例えば、駆動制御部２３から制御信号ｃ（ｓｔ）が出力され、かつ、物理量取得部２４で物理量Ｓ（ｔ，ｓｔ）が得られるすべての時間ｔからなる時間区間を閉区間［ｔ_ｍｉｎ，ｔ_ｍａｘ］としてもよいし、このような時間区間の一部を閉区間［ｔ_ｍｉｎ，ｔ_ｍａｘ］としてもよい。 The time average processing unit 26 receives the signal S _d (t, st), and calculates the time average S _m (st) of the signal S _d (t, st) in the closed interval [t _min , t _max ] by the following calculation. And output.

However, t _max > t _min . There is no limitation on how to define the closed interval [t _min , t _max ]. For example, a time interval including all times t at which the control signal c (st) is output from the drive control unit 23 and the physical quantity S (t, st) is obtained by the physical quantity acquisition unit 24 is a closed interval [t _min , t _max ]], or a part of such a time interval may be a closed interval [t _min , t _max ].

ただし、正規化パラメータｓ_{ｍ−ｎｏｒｍ}は予め定められていてもよいし、Ｓ（ｔ，ｓｔ）に基づいて定められてもよいし、Ｓ_ｄ（ｔ，ｓｔ）に基づいて定められてもよい。ただし、ｓ_{ｍ−ｎｏｒｍ}＞０である。例えば、Ｓ（ｔ，ｓｔ）の絶対値の最大値を正規化パラメータｓ_{ｍ−ｎｏｒｍ}としてもよいし、Ｓ_ｄ（ｔ，ｓｔ）の絶対値の最大値を正規化パラメータｓ_{ｍ−ｎｏｒｍ}としてもよい。あるいは、一定方向選択確率予測部２７は、以下の計算によって、刺激条件ｓｔに対応する一定方向選択確率の推定値（予測値）Ｐ_ｍ（ｓｔ）を「明瞭度の推定値」として得て出力してもよい。

The constant direction selection probability prediction unit 27 uses the time average S _m (st), the saturation control parameter σ read from the memory 22, and the normalization parameter s _m-norm, and the constant corresponding to the stimulation condition st by the following calculation. An estimated value (predicted value) P _m (st) of the direction selection probability is obtained and output as an “intelligibility estimated value”.

However, the normalization parameter s _m-norm may be determined in advance, may be determined based on S (t, st), or may be determined based on S _d (t, st). . However, s _m-norm > 0. For example, the maximum absolute value of S (t, st) may be used as the normalization parameter s _m-norm , or the maximum absolute value of S _d (t, st) may be used as the normalization parameter s _m-norm. Good. Alternatively, the constant direction selection probability prediction unit 27 obtains and outputs an estimated value (predicted value) P _m (st) of the constant direction selection probability corresponding to the stimulation condition st as an “intelligibility estimated value” by the following calculation. May be.

As described above, an estimated value P _m (st) that is an “estimated value of intelligibility” is obtained based on the time average S _{m of} values corresponding to the physical quantity S (t, st). The obtained estimated value P _m (st) is stored in the storage unit 21 in association with the stimulation condition st. The processing as described above may be executed for each of the plurality of stimulation conditions st, and the estimated value P _m (st) for each stimulation condition st may be obtained.

≪Example of parameter setting method based on subjective evaluation results≫
As described above, the threshold parameter S _th (positive threshold and negative threshold) and the saturation control parameter σ are determined by the estimated value P _m (st) of the constant direction selection probability (estimation of clarity) holding the vibration unit 12. It may be determined so as to conform to the subjective evaluation result by the subject. In this case, one or more types of stimulus information st = st ₁ ,..., St _N (where N is an integer greater than or equal to 1, for example, an integer greater than or equal to 2), based on the subjective evaluation of a plurality of subjects. A direction selection probability P _e (st) is generated. At the time of parameter setting, the estimated value P _m (st) of the constant direction selection probability obtained for each stimulus information st = st ₁ ,..., St _N is the constant direction selection probability P _e (st ) to select a threshold parameter S _th and saturation control parameter σ to suit. In other words, the threshold parameter S _th and the saturation control parameter σ are selected by optimization such that the estimated value P _m (st) of the constant direction selection probability becomes a value simulating the constant direction selection probability P _e (st). For example, the correlation coefficient of P _m (st) and P _e (st) is greater than or equal to a predetermined threshold value TH (where 0 <TH <1) with respect to the stimulation information st = st ₁ ,..., St _N. Thus, the threshold parameter S _th and the saturation control parameter σ are selected. For example, a value of 0.7 or more is used as the threshold value TH.

<Experimental result>
As described above, when the stimulation condition st is changed, the vibration pattern of the vibration unit 12 is also changed, and the pseudo force sense presented by the vibration unit 12 is also changed. Here, as the stimulation condition st, T1 = 1, 3, 5, 7, 9, 12, 15 [ms],
T2 = 5, 6, 7, 8, 10, 12, 18, 23, 33, 43 [ms]
A set (T1, T2) of all periods T1, T2 (where T1 <T2) is set. Under such conditions, the constant direction selection probability P _e (st) obtained based on the subjective evaluation in the perceptual experiment, and the position signal p (t) output from the position measuring device 31 and the force measuring device 32. ) And the signal f (t) and the estimated value P _m (st) of the fixed direction selection probability calculated by the evaluation device 2 are compared to show the effectiveness of the present embodiment.

≪Perception experiment based on subjective evaluation≫
FIG. 6 illustrates the relationship between the stimulation condition st = (T1, T2) and the constant direction selection probability P _e (st) obtained based on the subjective evaluation in the perceptual experiment. The two axes on the bottom of FIG. 6 represent the periods T1 and T2 [ms], respectively, and the vertical axis represents the constant direction selection probability P _e (st). P _e (st) = 1.0 indicates that all the subjects (10 persons) have the stimulation condition st = (T1, T2) and the stimulus from the vibration unit 12 driven in the mode aε {0, 1}. This indicates that the haptic direction R (st) that has been replied matches the direction D (a) corresponding to mode a. On the other hand, P _e (st) = 0.0 represents that the haptic direction R (st) answered by all the subjects is opposite to the direction D (a). These states represent that the subject clearly perceives the direction of force sense presentation (traction force direction). On the other hand, in the state of P _e (st) = 0.5, half of the haptic direction R (st) answered by the subject coincides with the direction D (a), but the other half of the answers perceive the opposite direction. Represents that This state represents that the subject cannot clearly perceive the direction of force sense presentation.

As can be seen from the experimental results in FIG. 6, the constant direction selection probability P _e (st) is high when T1 = 5, 7, 9 [ms] and T2 ≧ 18 [ms]. This means that the haptic direction in the direction D (a) can be perceived relatively clearly. When T1 = 1 to 5 [ms] and T2 ≦ T2 [ms], the constant direction selection probability P _e (st) tends to be smaller than 0.5. This means that a reverse sense of force in the direction D (a) is presented.

≪Comparison of fixed direction selection probability P _e (st) and estimated value P _m (st) of fixed direction selection probability≫
FIG. 7A illustrates a comparison result between the constant direction selection probability P _e (st) and the constant direction selection probability estimated value P _m (st). However, the estimated value P _m (st) of the constant direction selection probability here was calculated by the equations (1) to (3) using the force signal f (t) as the physical quantity S (t, st). The horizontal axis in FIG. 7A represents P _m (st), and the vertical axis represents P _e (st). The correlation coefficient between them is 0.83, and it can be seen that the constant direction selection probability can be predicted relatively well by the equations (1) to (3).

FIG. 7B illustrates a comparison result between the fixed direction selection probability P _e (st) and the fixed direction selection probability estimated value P _m (st). However, the estimated value P _m (st) of the constant direction selection probability here was calculated by the equations (1) to (3) using the position signal p (t) as the physical quantity S (t, st). The horizontal axis of FIG. 7B represents P _m (st), and the vertical axis represents P _e (st). The correlation coefficient between the two is 0.79, and the estimated value P _m (st) shown in FIG. 7A is closer to the constant direction selection probability P _e (st), but the direction is selected with a certain degree of accuracy even from the position data. It can be seen that the probability can be predicted.

<Features of this embodiment>
According to this embodiment, the evaluation of the intelligibility of the pseudo force sense presented by the pseudo force sense generating device 1 can be automated. Evaluating the intelligibility of a pseudo force sense by a perceptual test requires a large number of subjects, which takes effort, time, and cost. On the other hand, in the present embodiment, based on the physical quantity S (t, st) obtained by measuring the vibration unit 12 with one person 100 holding the vibration unit 12, the subjective evaluation of the person 100 is not used. The intelligibility of the pseudo force sense can be estimated automatically. This not only facilitates the determination of whether the stimulus is good or bad at the design stage, but also makes it possible to automate the quality check of the pseudo force sense generator in the manufacturing process.

[Variation 1 of the first embodiment]
In the first embodiment, the vibration unit 12 is measured using both the position measurement device 31 and the force measurement device 32. However, the vibration unit 12 may be measured by only one of the position measurement device 31 or the force measurement device 32, and the physical quantity S (t, st) may be obtained based on the measurement result. The force measuring device 32 can be omitted when the vibration measuring unit 12 is measured only by the position measuring device 31, and the position measuring device 31 can be omitted when measuring the vibrating unit 12 only by the force measuring device 32. is there. When the force measuring device 32 is omitted, the person 100 may directly hold the vibrating unit 12 or may hold the vibrating unit 12 via a housing or other substance.

[Modification 2 of the first embodiment]
In the first embodiment, the vibration unit 12 is measured in a state where the person 100 holds the vibration unit 12. However, even if the person 100 does not actually hold the vibration part 12, the vibration part 12 is measured in a state imitating the state where the person 100 holds the vibration part 12, and the position signal p (t) obtained thereby is obtained. Further, a physical quantity S (t, st) corresponding to at least one of the force signal f (t) may be obtained. Note that the “state simulating a state in which the person 100 grips the vibration unit 12” needs to be a state close to a state simulating the state in which the person 100 grips the vibration unit 12. For example, the physical quantity S (t, st) may be obtained by measuring the vibration part 12 in a state where the vibration part 12 is supported by an elastic body or plastic body having the same shape as a human finger. Examples of such elastic or plastic materials include soft gels (urethane resin, isobutylene resin, silicon resin, etc., for example, seismic gel TG-009 made by ELECOM) used as an earthquake-resistant tool, and ultra-soft urethane molding. Resin for use (for example, human skin gel manufactured by Exeal Corporation) can be used.

[Second Embodiment]
In the first embodiment, the threshold parameter S is set so that the estimated value P _m (st) of the constant direction selection probability becomes a value simulating the constant direction selection probability P _e (st) obtained in the perception experiment by the “subject”. An example of selecting _th and the saturation control parameter σ has been shown. The parameters thus obtained represent the perceptual characteristics of the “subject”. Therefore, such parameters can be used for perceptual characteristic evaluation of the “subject” (for example, evaluation of changes in sensory perception due to aging). For example, the threshold parameter _Sth obtained in this way may be output as an index for perceptual characteristic evaluation. Alternatively, the parameter obtained as described above represents the perceptual characteristic of the person 100 holding the vibration unit 12 at the time of measurement of the vibration unit 12 to obtain the estimated value P _m (st) of the constant direction selection probability. I can say that. Therefore, such parameters may be used for the perceptual characteristic evaluation of the person 100. In the present embodiment, an embodiment in which such parameters are generated and output will be described. In the following, differences from the items described so far will be mainly described, and the already described items will be simplified by quoting the reference numbers used so far.

<Configuration>
As illustrated in FIG. 1, the system of this embodiment is obtained by replacing the evaluation device 2 of the first embodiment with a parameter generation device 5. As illustrated in FIG. 8, the parameter generation device 5 of this embodiment includes a storage unit 51, a parameter setting unit 52, a drive control unit 23, a physical quantity acquisition unit 24, a threshold processing unit 25, a time average processing unit 26, and a fixed direction selection. A probability prediction unit 27 and an evaluation unit 58 are included. The parameter generation device 5 is, for example, a device configured by the above-described computer executing a predetermined program.

<Pretreatment>
Instead of the preprocessing described in the first embodiment, the following preprocessing is performed.
First, a constant direction selection probability P _e (st) for stimulus information st = st ₁ ,..., St _N is obtained by a perceptual experiment by a plurality of subjects. The obtained constant direction selection probability P _e (st) is associated with the stimulus information st and stored in the storage unit 51.

<Parameter generation processing>
Next, the parameter generation processing of this embodiment will be described using FIG.
As described in the first embodiment, the person 100 directly or indirectly grips the vibration unit 12 of the pseudo force sense generator 1. The following processing is executed in that state. First, the control unit 29 sets n: = 1. However, “α: = β” means that α is β (step S201).

The parameter setting unit 52 selects the threshold parameter S _th and the saturation control parameter σ. These selections may be performed in a predetermined order or may be performed randomly. The selected threshold parameter S _th is sent to the threshold processing unit 25, and the saturation control parameter σ is sent to the constant direction selection probability prediction unit 27 (step S202).

The drive control unit 23 sets st: = st _n (step S203), and outputs a control signal c (st) for driving the pseudo force sense generator 1 under the stimulation condition st. The control signal c (st) is supplied to the drive amplifier 11, and the drive amplifier 11 supplies a control signal corresponding to the control signal c (st) to the vibration unit 12. The vibration unit 12 performs asymmetric vibration in accordance with the supplied drive signal, thereby presenting a pseudo force sense (step S204).

  The position signal p (t) representing the time change of the position measured by the position measurement device 31 and the force signal f (t) representing the time change of the force measured by the force measurement device 32 are sent to the parameter generation device 5. . The physical quantity acquisition unit 24 receives p (t) and f (t) as inputs, and obtains and outputs a physical quantity S (t, st) corresponding to at least one of a change in position and a change in force due to the vibration of the vibration unit 12. (Step S205).

Threshold processing unit 25 receives as input the physical quantity S (t, st) and the threshold parameter _{S th,} and outputs the resulting signal _S d (t, st) as in equation (1). The time average processing unit 26 receives the signal S _d (t, st), obtains and outputs the time average S _m (st) of the signal S _d (t, st) as shown in Equation (2). The constant direction selection probability prediction unit 27 uses the time average S _m (st), the saturation control parameter σ, and the normalization parameter s _m-norm, and uses the estimated value P _m (constant direction selection probability P _m ( st) is obtained and output as an “intelligibility estimate”. The estimated value P _m (st) is stored in the storage unit 51 (step S206).

The control unit 29 determines whether n = N (step S207). If n = N is not satisfied, the control unit 29 sets n: = n + 1 and returns the process to step S203. On the other hand, if n = N, the evaluation unit 58 reads the estimated value P _m (st) of the constant direction selection probability and the constant direction selection probability P _e (st) from the storage unit 51 (where st = st ₁ , .., St _N ) and the estimated value P _m (st) are determined to match the constant direction selection probability P _e (st). For example, evaluation unit 58, irritation information _{st = st 1, ..., st} N relative to _P m (st) and _P e threshold correlation coefficient is given (st) TH (However, 0 <TH < 1) It is determined whether or not the correlation coefficient is equal to or greater than a predetermined threshold TH, and it is determined that P _m (st) is suitable for P _e (st) (step S209). Here, when P _m (st) does not conform to P _e (st), the control unit 29 sets all estimated values P _m (st) (where st = st ₁ ,..., St _N ). Discard and return to step S201. On the other hand, when P _m (st) is suitable for P _e (st), the evaluation unit 58 outputs τ: = S _th (step S210).

<Features of this embodiment>
As described above, the parameter generation device 5 is obtained by measuring the vibration unit 12 of the pseudo force sense device 1 in a state of being gripped by a person or a state of being gripped by a person. The estimated value P _m (st) of the pseudo force sense intelligibility obtained based on the physical quantity S (t, st) corresponding to at least one of the position change and the force change due to the vibration of the Parameter τ for obtaining P _m (st) (estimated value of intelligibility) based on physical quantity S (t, st) so as to conform to P _e (st) which is a subjective evaluation result by the subject: τ: = S _th And output. This parameter τ can evaluate the perceptual characteristics of the subject or person 100.

[Modification 1 of Second Embodiment]
Similarly to the first modification of the first embodiment, the vibration unit 12 may be measured by only one of the position measurement device 31 or the force measurement device 32, and the physical quantity S (t, st) may be obtained based on the measurement result. .

[Modification 2 of the second embodiment]
As in the second modification of the first embodiment, instead of measuring the vibration unit 12 with the person 100 holding the vibration unit 12, the vibration unit 12 is simulated in a state in which the person 100 holds the vibration unit 12. May be measured. In this case, it is possible to perform the perceptual characteristic evaluation of the subject who performed the subjective evaluation.

[Modification 3 of the second embodiment]
In the parameter generation process, an optimal threshold parameter S _th and saturation control parameter σ may be set using a nonlinear optimization algorithm. Alternatively, the parameter S that _maximizes the evaluation function value (for example, the correlation coefficient between P _m (st) and P _e (st)) by brute _{force the} threshold parameter S _th and the saturation control parameter σ belonging to a predetermined range. _th and σ may be selected.

When the nonlinear optimization algorithm is used, the parameter setting unit 52 replaces the above-described step S202 with the evaluation function value (for example, the correlation coefficient between P _m (st) and P _e (st)) in the previous step S206. A threshold parameter S _th and a saturation control parameter σ that are expected to be larger than those corresponding to the obtained P _m (st) are selected. For example, when the evaluation function value is larger each time increasing the threshold parameter S _th and saturation control parameter σ is a σ large threshold parameter S _th and saturation control parameter than those selected in the previous step S202 select. On the other hand, when the evaluation function value corresponding to the previous threshold parameter S _th and the saturation control parameter σ is smaller than before, the threshold parameter S _th and the saturation control smaller than those selected in the previous step S202 are used. Select the parameter σ. In the first step S202, a predetermined threshold parameter _Sth and saturation control parameter σ are selected.

Further, when using the nonlinear optimization algorithm, the evaluation unit 58 generates the evaluation function value corresponding to P _m (st) generated in the previous step S206 and the current step S206 instead of the above-described step S209. It is determined whether the difference from the evaluation function value corresponding to the calculated P _m (st) is equal to or smaller than the threshold value TH2, and if it is equal to or smaller than the threshold value TH2, P _m (st) generated in the previous step S206 is equal to P _e. It is determined that (st) is met. The rest is the same as in the second embodiment.

[Third Embodiment]
In the third embodiment, the condition setting device uses P _m (st ″) corresponding to the stimulation condition candidate st ″, and the stimulation force st ′ suitable for the pseudo force sense generating device to present a clear force sense. Set.

<Configuration>
As illustrated in FIG. 1, the system of this embodiment is obtained by replacing the evaluation device 2 of the first embodiment with a condition setting device 6. As illustrated in FIG. 2, the condition setting device 6 of the present embodiment includes a storage unit 21, a memory 22, a drive control unit 63, a physical quantity acquisition unit 24, a threshold processing unit 25, a time average processing unit 26, and a constant direction selection probability prediction. A unit 27 (prediction unit) and a condition setting unit 68. The condition setting device 6 is, for example, a device configured by the above-described computer executing a predetermined program.

<Pretreatment>
As preprocessing, parameters including a threshold parameter _Sth and a saturation control parameter σ are set and stored in the memory 22. These parameters may be arbitrary values, or may be set based on the aforementioned subjective evaluation results. For example, the parameters may be set by the method described in the second embodiment or its modification.

<Appropriate stimulation condition st 'setting method>
Next, a method for setting the stimulation condition st ′ of this embodiment will be described.
Drive control unit 63 of FIG. 2, the set of candidates for the stimulation conditions _{{st 1, ..., st M} } of one of the candidate _{st "∈ {st 1, ...} , st M} selected. However, M is an integer greater than or equal to ₁ , for example, an integer greater than or equal to 2. The set {st ₁ , ..., st _M } is used when setting the threshold parameter S _th and the saturation control parameter σ based on the subjective evaluation result. May be the same as or different from the set of stimulus information {st ₁ ,..., St _N } used for the pseudo force sense generator 1, and the threshold parameter S _th and saturation control It may be the same as or different from the pseudo force sense generator used when setting the parameter σ.

The drive control unit 63 outputs a control signal c (st ″) corresponding to the stimulation condition candidate st ″.
The control signal c (st ″) is supplied to the drive amplifier 11, and the drive amplifier 11 supplies a drive signal corresponding to the control signal c (st ″) to the vibration unit 12. The vibration unit 12 performs (drives) asymmetric vibration according to the supplied drive signal, thereby presenting a pseudo force sense. This operation is the same as that of the first embodiment, for example, except that st = st ″.

  The position signal p (t) representing the time change of the position obtained by measuring the vibration unit 12 held by the person 100 with the position measuring device 31 and the time of the force obtained by measuring with the force measuring device 32. A force signal f (t) representing the change is sent to the condition setting device 6 via an appropriate interface (not shown).

The physical quantity acquisition unit 24 of the condition setting device 6 (FIG. 2) receives p (t) and f (t) as inputs, and the physical quantity S (according to at least one of a change in position and a change in force due to vibration of the vibration unit 12. t, st ″) is obtained and output. Thereafter, the processing (however, st = st ″) by the threshold processing unit 25, the time average processing unit 26, and the constant direction selection probability prediction unit 27 described in the first embodiment is performed. . Accordingly, the constant direction selection probability prediction unit 27 outputs an estimated value of the fixed direction selection probability (estimated value of the intelligibility of the pseudo force sense) P _m (st ″) corresponding to the stimulation condition candidate st ″. P _m (st ″) is stored in the storage unit 21.

The above processing set _{{st 1, ..., st M} } the elements of _{st "∈ {st 1, ...} , st M} be performed _{for, st" = st 1, ...} , st M P _m (st ₁ ),..., P _m (st _M ) corresponding to are stored in the storage unit 21.

The condition setting unit 68 selects a stimulation condition st ′ suitable for the pseudo force sense generator 1 based on P _m (st ₁ ),..., P _m (st _M ) stored in the storage unit 21. Output. For example, the condition setting unit 68 sets the maximum P _m (st _m ) (where m∈ {1,..., M}) among P _m (st ₁ ),..., P _m (st _M ). the st _m corresponding outputs as a stimulus condition st 'in). Alternatively, the condition setting unit 68 outputs st _m corresponding to those of P _m (st ₁ ),..., P _m (st _M ) up to a predetermined rank in magnitude as the stimulation condition st ′. it may be, may output st _m corresponding to more than a predetermined threshold value _{P m} (st m) as a stimulus condition st '. Thereby, the stimulation condition st ′ for the pseudo force sense generating device 1 to clearly present the force sense can be easily set.

[Modification 1 of Third Embodiment]
Similarly to the first modification of the first embodiment, even if the vibration unit 12 is measured by only one of the position measurement device 31 or the force measurement device 32 and the physical quantity S (t, st ″) is obtained based on the measurement result. Good.

[Modification 2 of the third embodiment]
As in the second modification of the first embodiment, instead of measuring the vibration unit 12 with the person 100 holding the vibration unit 12, the vibration unit 12 is simulated in a state in which the person 100 holds the vibration unit 12. May be measured.

[Other variations]
The present invention is not limited to the above-described embodiment. For example, in the above-described embodiment, the absolute value of the positive threshold value and the negative threshold value is S _th and the positive and negative threshold values are S _th and −S _th , respectively. The absolute value of may be different. For example, the positive threshold value and the negative threshold value may be set independently, the negative threshold value may be determined based on the positive threshold value, or the positive threshold value may be determined based on the negative threshold value. .

In the second embodiment, the parameter τ: = S _th is output, but the parameter τ: = (S _th , σ) may be output. Alternatively, the parameter τ: = σ may be output.

  As the pseudo force sense generating device 1, Reference 1 “Patent No. 4413105”, Reference 2 “Patent No. 4551448”, Reference 3 “Patent No. 46588983”, Reference 4 “Patent No. 5158879” You may use what was disclosed. Further, the pseudo force sense generator 1 rotates in a direction opposite to the specific rotation direction as disclosed in Reference 5 “Patent No. 5458005” and Reference 6 “JP 2012-143054”. You may use the pseudo force sense generator which presents such pseudo force senses (rotation force sense).

  The various processes described above are not only executed in time series according to the description, but may also be executed in parallel or individually as required by the processing capability of the apparatus that executes the processes. Needless to say, other modifications are possible without departing from the spirit of the present invention.

  When the above-described evaluation device and parameter generation device are realized by a computer, the processing content of functions that each device should have is described by a program. By executing this program on a computer, the above processing functions are realized on the computer. The program describing the processing contents can be recorded on a computer-readable recording medium. An example of a computer-readable recording medium is a non-transitory recording medium. Examples of such a recording medium are a magnetic recording device, an optical disk, a magneto-optical recording medium, a semiconductor memory, and the like.

  This program is distributed, for example, by selling, transferring, or lending a portable recording medium such as a DVD or CD-ROM in which the program is recorded. Furthermore, the program may be distributed by storing the program in a storage device of the server computer and transferring the program from the server computer to another computer via a network.

  A computer that executes such a program first stores, for example, a program recorded on a portable recording medium or a program transferred from a server computer in its own storage device. When executing the process, this computer reads a program stored in its own recording device and executes a process according to the read program. As another execution form of the program, the computer may read the program directly from the portable recording medium and execute processing according to the program, and each time the program is transferred from the server computer to the computer. The processing according to the received program may be executed sequentially. The above-described processing may be executed by a so-called ASP (Application Service Provider) type service that realizes a processing function only by an execution instruction and result acquisition without transferring a program from the server computer to the computer. Good.

  In the above embodiment, the processing functions of the apparatus are realized by executing a predetermined program on a computer. However, at least a part of these processing functions may be realized by hardware.

2 Evaluation device 5 Parameter generation device

Claims (7)

At least one of a change in position and a change in force due to the vibration of the vibration part obtained by measuring the vibration part of the pseudo force sense device that is held by a person or imitating a state held by a person An evaluation device that obtains an estimate of the intelligibility of a pseudo force sense based on a corresponding physical quantity ,
An evaluation device that obtains an estimate of the clarity based on a time average of values including an upper part of the physical quantity with respect to a positive threshold and a lower part of the physical quantity with respect to a negative threshold . The evaluation device according to claim 1 ,
S _m is the time average, s _{m_norm} is a normalization parameter, σ is a saturation control parameter, and the intelligibility estimate is a function value of the function G (S _m , s _{m_norm} , σ),
The function _{G (S m, s m_norm,} σ) is, when the time average S _m is larger in the negative direction, the output is saturated or converges to a first predetermined value, when the time average S _m is larger in the positive direction, An evaluation apparatus, wherein the output is a monotonically increasing function that saturates or converges to a second predetermined value that is larger than the first predetermined value, and the saturation control parameter σ is a parameter that determines a rate of change until the saturation or convergence. An evaluation apparatus according to claim 2 , wherein
The evaluation apparatus, wherein at least one of the positive threshold value, the negative threshold value, and the saturation control parameter is determined so that the estimated value of the clarity is adapted to a subjective evaluation result by a subject holding the vibration unit.   At least one of a change in position and a change in force due to vibration of the vibration part, obtained by measuring the vibration part of the pseudo force generation device in a state of being held by a person or imitating a state of being held by a person The estimated value of the intelligibility is obtained based on the physical quantity so that the estimated value of the intelligibility of the pseudo force sense obtained based on the physical quantity according to the condition matches the subjective evaluation result by the subject holding the vibration unit. A parameter generation device for generating parameters for The parameter generation device according to claim 4 ,
The intelligibility estimate is a value based on a time average of values including an upper part of the physical quantity relative to a positive threshold and a lower part of the physical quantity relative to a negative threshold;
The parameter generation device, wherein the parameter includes at least one of the positive threshold and the negative threshold. A drive control unit that outputs a control signal corresponding to the stimulation condition candidate;
The vibration part obtained by measuring the vibration part of the pseudo force sense device that is driven by a drive signal corresponding to the control signal and is imitated by a person or a person. A prediction unit that obtains an estimated value of intelligibility of a pseudo force sense based on a physical quantity corresponding to at least one of a change in position and a change in force due to vibration;
A condition setting unit for obtaining a stimulation condition suitable for the pseudo force sense device based on the estimated value of the clarity;
I have a,
The prediction unit
A condition setting device that obtains an estimate of the clarity based on a time average of values including an upper part of the physical quantity with respect to a positive threshold and a lower part of the physical quantity with respect to a negative threshold . A program for causing a computer to function as the evaluation device according to any one of claims 1 to 3 , the parameter generation device according to claim 4 or 5 , or the condition setting device according to claim 6 .

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