JP7319608B2 - Vibration Sensory Apparatus, Method, Vibration Sensory Apparatus Program, and Computer-Readable Recording Medium for Vibration Sensory Apparatus Program - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Act February 7, 2019, "Dependence of the Perceptual Discrimination of High-Frequency Vibrations on the Envelope of a Waveform Envelope and Intensity of Waveforms), IEEE Access, Vol. 7, pp. 20840-20849, IEEE

The technology described in this specification relates to a vibration sensation device, a method, a vibration sensation device program, and a computer-readable recording medium recording the vibration sensation device program .

In recent years, the sophistication of vibration feedback has progressed in fields such as smartphones, game machines, virtual reality (VR) devices, and robot operation support. Specifically, vibrating devices have been developed that can define realistic tactile sensations by reproducing vibrations in a wide frequency band.

Hideto Takenouchi, Nan Cao, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro, the 2017 IEEE/SICE International Symposium on System Integration "Extracting Haptic Information from High-Frequency Vibratory signals Measured on a Remote Robot to Transmit Collisions with Environments" pp. 968- 973, December 2017 Nan Cao, Hikaru Nagano, Masashi Konyo, Shogo Okamoto, Satoshi Tadokoro "A Pilot Study: Introduction of Time-Domain Segment to Intensity-Based Perception Model of High-Frequency Vibration", June 2018 Nan Cao, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro, the 27th IEEE International Symposium on Robot and Human Interactive Communication "Sound reduction of vibration feedback by perceptually similar modulation", August 2018 Sliman Bensmaia, Mark Hollins, Jeffrey Yau, Attention, "Vibrotactile intensity and frequency information in the Pacinian system: A psychophysical model," Perception, & Psychophysics, Vol. 67, No. 5, pp 828-84, July 2005.

However, when trying to present high-frequency vibrations of, for example, 300 Hz or higher, device problems, perceptual sensitivity problems, and auditory noise problems may occur. Since the amplitude of the vibrator becomes small in a high frequency band, it is not easy to generate vibrations in both a high frequency band and a low frequency band in a device that utilizes resonance. In addition, human beings have a weak perceptual sensitivity to vibration frequencies above 200 to 300 Hz, which requires a sufficient amplitude to perceive vibration. Furthermore, when the frequency exceeds about 300 Hz, vibrations can be heard as sounds. For example, if an attempt is made to generate vibration in combination with music or movie content, it may be perceived as noise that interferes with the sound source of the music or movie content.

In one aspect, the technology described herein aims to generate vibrations in a high frequency band that are easily perceived by humans.

In one aspect, a vibration sensation device is a vibration sensation device that controls vibration by a vibration device with an acoustic signal, wherein a first signal component having a frequency equal to or lower than a predetermined frequency of the acoustic signal is extracted from the acoustic signal. The removed second signal component having a frequency higher than the predetermined frequency is converted into a waveform having a frequency different from that of the second signal component while maintaining the energy of the second signal component every predetermined time. and a signal output unit configured to output the second signal component after waveform conversion by the energy control unit, wherein the second signal component output by the signal output unit Vibration is generated by a vibrating device.

As one aspect, it is possible to generate vibrations in a high frequency band that are easily perceived by humans.

1 is a block diagram schematically showing a configuration example of a vibration generation system as an embodiment; FIG. 2 is a graph showing waveforms of signals before and after conversion by the vibration control device shown in FIG. 1; Fig. 3 is a graph showing the discriminability of vibrations by humans; 4 is a sample vibration waveform used in a forced three-choice discrimination experiment conducted to determine the discriminability shown in the graph shown in FIG. 2 is a graph showing waveforms of signals before and after conversion for each segment by the vibration control device shown in FIG. 1; 4 is a graph showing an amplitude threshold T _f used for calculation of correction energy; FIG. 10 is a graph representing an exponential threshold b used for calculating correction energy; FIG. FIG. 2 is a diagram illustrating use of a window function in the vibration control device shown in FIG. 1; 3 is a graph for explaining an example of synthesis of low frequencies and high frequencies in the vibration control device shown in FIG. 1; 2 is a graph showing a specific example of waveforms of signals before and after conversion by the vibration control device shown in FIG. 1; 2 is a block diagram illustrating vibration waveform generation processing in the vibration control device shown in FIG. 1; FIG. 12 is a block diagram illustrating details of the energy control process shown in FIG. 11; FIG. FIG. 12 is a block diagram illustrating the details of the energy combining process shown in FIG. 11; FIG. FIG. 12 is a block diagram illustrating the details of the process of generating the corrected vibration waveform shown in FIG. 11; 2 is a block diagram showing a configuration example of a DAC when using a plurality of vibration devices in the vibration generation system shown in FIG. 1; FIG. 2 is a block diagram showing a configuration example of a DAC when using a single vibration device in the vibration generation system shown in FIG. 1; FIG.

Embodiments will be described below with reference to the drawings. However, the embodiments shown below are merely examples, and are not intended to exclude the application of various modifications and techniques not explicitly described in the embodiments. In other words, the present embodiment can be modified in various ways without departing from the spirit of the embodiment.

Also, each drawing is not meant to include only the components shown in the drawing, but can include other components. Hereinafter, in the drawings, parts denoted by the same reference numerals denote the same or similar parts unless otherwise specified.

[A] Embodiment FIG. 1 is a block diagram schematically showing a configuration example of a vibration generation system 100 as an embodiment.

The vibration generation system 100 includes a vibration control device 1, a Digital Analog Converter (DAC) 2, a high frequency vibration 31, a low frequency vibration 32, an earphone (L) 41 and an earphone (R) 42.

The DAC 2, which may also be referred to as Universal Serial Bus (USB) audio, converts digital signals input from the vibration control device 1 into analog signals. Then, the DAC 2 outputs the converted analog signal to the high frequency vibration 31, the low frequency vibration 32, the earphone (L) 41 and the earphone (R) 42. Note that an amplifier (in other words, an amplifier) (not shown) for driving the high-frequency vibration 31, the low-frequency vibration 32, the earphone (L) 41, and the earphone (R) 42 is provided after the DAC 2. you can

The high-frequency vibration 31 is an example of a second vibration device, and generates vibration by signal components of a predetermined frequency or higher. The low-frequency vibration 32 is an example of a first vibration device, and generates vibration by signal components with a frequency lower than a predetermined frequency. Note that the low-frequency vibration 32 does not have to be provided in the vibration generating system 100 . In that case, the high-frequency vibration 31 may generate vibrations due to signal components of less than a predetermined frequency, and vibrations due to signal components of less than a predetermined frequency may not be generated in the vibration generating system 100 .

The predetermined frequency may be a frequency within the range of 80Hz to 400Hz.

An earphone (L) 41 generates a sound input to the left ear of a person among stereo sound sources. The earphone (R) 42 generates sound from a stereo sound source that is input to the human left ear. Note that the earphone (L) 41 and the earphone (R) 42 may not be provided in the vibration generation system 100 . Also, the earphone (L) 41 and the earphone (R) 42 may be used in common to generate a monaural sound source. Furthermore, in the vibration generating system 100, speakers may be provided instead of the earphones (L) 41 and the earphones (R) 42, or three or more channels of sound sources may be output.

The vibration control device 1 includes a Central Processing Unit (CPU) 11 , a memory 12 and a storage device 13 .

The vibration control device 1 in one example of the present embodiment may perform tactile signal conversion of acoustic information such as music, movies, and voices. When the frequency exceeds about 300 to 400 Hz, the vibration becomes audible as sound and becomes noise. For this reason, in conventional vibration sensation devices for music, motion pictures, etc., a low-pass filter is applied at about several hundred Hz to cut high-frequency bands. On the other hand, the vibration control device 1 in one example of the present embodiment converts and outputs the waveform in the high frequency band.

Further, the vibration control device 1 according to the example of the present embodiment may modulate the high-frequency vibration generated when the robot contacts an object into a frequency band perceivable by humans. By transmitting vibrations when the robot contacts an object to a remote operator, it is possible to grasp the strength of the collision with the object and the state of friction. A robot that grips a metal housing, such as a construction robot, sometimes generates vibration in a band that humans cannot perceive when it comes into contact with an object. Therefore, the vibration control device 1 according to one example of the present embodiment modulates the frequency band of the output signal.

Furthermore, the vibration control device 1 in one example of this embodiment may be applied to a chair, a suit, a headset, etc., including a vibration device.

Memory 12 is a storage device that includes Read Only Memory (ROM) and Random Access Memory (RAM).

The storage device 13 is a device that stores data in a readable and writable manner, and may be, for example, a Hard Disk Drive (HDD), a Solid State Drive (SSD), or a Storage Class Memory (SCM). The storage device 13 stores generated teacher data, learning models, and the like.

The CPU 11 is a processing device that performs various controls and calculations, and implements various functions by executing an operating system (OS) and programs stored in the memory 12 . That is, the CPU 11 may function as a frequency removal control section 111, a time division control section 112, an energy control section 113, and a signal output section 114, as shown in FIG.

The CPU 11 is an example of a computer, and illustratively controls the operation of the vibration control device 1 as a whole. A device for controlling the operation of the entire vibration control device 1 is not limited to the CPU 11, and may be, for example, any one of MPU, DSP, ASIC, PLD, FPGA, and dedicated processor. Also, the device for controlling the operation of the entire vibration control device 1 may be a combination of two or more of CPU, MPU, DSP, ASIC, PLD, FPGA and dedicated processor. Note that MPU is an abbreviation for Micro Processing Unit, DSP is an abbreviation for Digital Signal Processor, and ASIC is an abbreviation for Application Specific Integrated Circuit. PLD is an abbreviation for Programmable Logic Device, and FPGA is an abbreviation for Field Programmable Gate Array.

The frequency removal control section 111 removes the first signal component having a frequency equal to or lower than a predetermined frequency.

The time division control section 112 divides the second signal component other than the first signal component removed by the frequency removal control section 111 every predetermined time.

Energy control section 113 converts the waveform of the second signal component while maintaining the energy of the second signal component for each predetermined time divided by time division control section 112 .

Signal output section 114 outputs the first signal component removed by frequency removal control section 111 in addition to the second signal component whose waveform has been converted by energy control section 113 .

FIG. 2 is a graph showing waveforms of signals before and after conversion by the vibration control device 1 shown in FIG.

Considering the human perceptual characteristics of high frequency vibration, in the high frequency band, instead of the waveform itself, we focus on the vibration energy that is correlated with the human perceptual characteristics, and replace it with another waveform that has the same vibration energy. Bandwidth can be changed. In the example shown in FIG. 2, the waveform indicated by symbol A1 is converted into the waveform indicated by symbol A2.

For continuous arbitrary vibration signals, by time-dividing at appropriate intervals considering human perception characteristics and converting each divided segment into vibration energy, while maintaining the same tactile sensation felt by humans, or , enables conversion to an arbitrary signal waveform so that high frequency bands that are difficult to perceive can be felt.

By appropriately selecting the frequency of the vibration after conversion, it becomes possible to efficiently drive it according to the response range of the transducer, reduce auditory noise, and convert it to any sound source.

It is said that human perception of vibration is up to about 1 kHz. Therefore, vibrations above 1 kHz are often ignored. On the other hand, it is known that even vibrations of 1 kHz or higher can be perceived as envelope components in the case of amplitude-modulated waves whose amplitude fluctuates in a band that can be sensed by humans.

On the other hand, a vibration energy model (see, for example, Cited Document 4) is known as a perceptual characteristic of human vibration with high frequency vibration of about 100 Hz or higher. From this, it is known that even if the carrier frequency of the amplitude-modulated wave is replaced while maintaining the high frequency vibration energy, the vibration cannot be discriminated (see, for example, Cited Documents 2 and 3). However, even if the vibration energy is maintained, the envelope component of the vibration may be perceived as a difference in tactile information, as described above, and the range of this perception has not been investigated. Further, in the cited document 2, although a method of converting a signal based on vibration energy in a time-division manner is devised, a method of maintaining low-frequency components is not examined.

FIG. 3 is a graph showing the discriminability of vibrations by humans. FIG. 4 is a sample vibration waveform used in the forced three-choice discrimination experiment conducted to determine the discriminability shown in the graph shown in FIG.

Assuming a conventionally known vibration energy model (see, for example, Cited Document 4), the graph shown in FIG. Symbols B1 and B2 in FIG. 4 indicate the same waveform, and symbol B3 in FIG. 4 indicates a different waveform. The subjects were asked to compare the constant amplitude motion indicated by symbols B1 and B2 in FIG. 4 with the amplitude modulated stimulus indicated by symbol B3 and to answer which amplitude modulated wave. In Fig. 3, the correct answer rate obtained in the forced three-choice discrimination experiment is represented by Sensitivity (d': d-prime), which is a discrimination performance index based on signal detection theory. This means that the rate is less than 60%.

According to the graph shown in FIG. 3, the upper limit of the frequency at which envelope components can be discriminated is about 80 to 125 Hz. Moreover, it is not necessary to maintain the envelope component above the upper frequency limit, and it is shown that if the carrier frequency of the amplitude-modulated wave is replaced while the vibration energy is maintained, the stimulus cannot be discriminated.

As mentioned above, even if the vibrational energy is maintained, if the energy fluctuates in the low frequency range, the fluctuation may be perceived as a difference in tactile information, and the perceptual range has not been investigated. Therefore, based on the discovery that the upper limit of perceptible low-frequency fluctuations is about 80 to 125 Hz, two measures (see measures [1] and [2] described later) are used to reduce low-frequency components. Vibrational energy is converted while maintaining

FIG. 5 is a graph showing waveforms of signals before and after conversion for each segment by the vibration control device 1 shown in FIG.

Humans' high-frequency perception is based more on vibrational energy than on the waveform itself, so if you keep the vibrational energy, you will feel the same sensation. However, if the fluctuation of vibration energy occurs below about 80 to 125 Hz, it is necessary to reproduce the fluctuation of vibration energy.

Therefore, in one example of the present embodiment, as a means for maintaining fluctuations in vibration energy below a predetermined frequency (for example, about 80 to 125 Hz), for example, vibration is time-divided in a section of about 80 to 200 Hz, and each segment , and replace it with a vibration with a different carrier frequency.

In the example shown in FIG. 5, the energy of the original vibration signal indicated by C1 and the converted signal indicated by C2 is the same as the energy of the original vibration signal within the same time segment. is converted to

The width of the time division (in other words, the division width) may be set to the extent that the energy fluctuations of 80 to 125 Hz or less can be expressed (in other words, the extent to which the peaks of the fluctuations are matched) (measure [1] ). The frequency of the division width may be 80 to 125 Hz or more, but if the division width is too short, the accuracy of estimating the vibration energy of a period longer than the division width will deteriorate. Therefore, by the following measure [2], the waveform of vibration whose energy cannot be estimated is output as it is.

Alternatively, a component with a frequency equal to or lower than a predetermined frequency may be extracted and presented as it is as stimulating vibration (countermeasure [2]). Note that the predetermined frequency may be 80 to 125 Hz or higher, and components of the predetermined frequency or higher may be expressed by the energy control section 113 of the second signal component. As a result, frequency selection can be given arbitrariness. However, if the predetermined frequency is set too high, a noise problem may occur and a wideband vibration device may be required.

According to the measures [1] and [2], the predetermined frequency may be about 80 to 400 Hz. 400 Hz is the upper limit in terms of noise issues and vibrating device performance.

The setting of the predetermined frequency also involves the selection of the carrier frequency when converting the vibration. Since the vibration frequency peak at which human perceptual sensitivity is improved is around 200 to 250 Hz, a carrier frequency of about 150 to 400 Hz is practical as a carrier frequency that does not cause noise while increasing sensitivity. The carrier frequency may be a constant multiple of the division width.

Also, the predetermined frequency that divides the low frequency and the high frequency does not necessarily have to match the division width frequency for calculating the energy.

According to Cited Document 4, the corrected energy, which is the vibrational energy corrected to improve human perceptibility, can be expressed by the following equation.

A_fは、周波数ｆの元の波形の振幅である。T_fは、振幅閾値であり、周波数ｆの信号においてヒトが感じられる最小の振幅である。bは、指数値であり、周波数ｆの信号における非線形特性である。

A _f is the amplitude of the original waveform at frequency f. T _f is the amplitude threshold, the minimum amplitude that humans can perceive in a signal of frequency f. b is an exponent value and is a nonlinear characteristic in a signal of frequency f.

FIG. 6 is a graph representing the amplitude threshold T _f used in calculating the correction energy.

As shown in FIG. 6, the amplitude threshold differs depending on the frequency. In the range of about 10 ² to 10 ³ Hz, humans can sense relatively small amplitudes, but in other ranges, humans can sense relatively large amplitudes. can't feel

FIG. 7 is a graph showing the exponent value b used to calculate the correction energy.

The exponent value b in FIG. 7 is an example of using a value obtained by linearly interpolating the conventionally reported exponent value b of 400 Hz or less.

FIG. 8 is a diagram for explaining the use of window functions in the vibration control device 1 shown in FIG.

A high frequency signal H(t) is input as indicated by D1. As indicated by D2, the high-frequency signal H(t) is divided into frames i, i+1, i+2, . . . as signals _hi , _hi+1 , _hi+2 , . As indicated by symbol D3, the divided signal h of each frame is separated into a plurality of base signals g ₁ , g ₂ , g ₃ . . . having representative frequency components. As indicated by symbol D4, scalar values _Ei , E obtained by synthesizing correction energies of all base signals _g1 , _g2 , g3 _, ... based on representative frequencies _f1 , _f2 , _f3, ... _i+1 , E _i+2 , . . . are output. As indicated by symbol D5, the vibration energy scalar values _Ei , Ei ₊₁ , Ei ₊₂ , . Then, the amplitudes a _i (t), a _i+1 (t), a _i+2 (t), . . . of the waveforms are windowed using a window function. As indicated by D6, frame synthesis is performed for the 1st to Nth frames, and amplitude A(t) of the vibration waveform is output. As indicated by symbol D7, a second vibration waveform _S2 (t) having a carrier frequency with an amplitude of A(t) is output.

FIG. 9 is a graph for explaining an example of synthesis of low frequencies and high frequencies in the vibration control device 1 shown in FIG.

The second vibration waveform S ₂ (t) indicated by symbol E1 generated from the high frequency signal H(t) using the window function of FIG. It is synthesized with one vibration waveform S ₁ (t). As a result, a synthesized waveform S ₁ (t)+S ₂ (t) indicated by symbol E3 is output.

FIG. 10 is a graph showing a specific example of waveforms of signals before and after conversion by the vibration control device 1 shown in FIG.

In FIG. 10, the waveform of the sound of the violin before conversion (see symbol F1) and the waveform after conversion (see symbol F2) are represented by amplitude over time.

The sound of high-frequency vibrations, such as that of a violin, produces a large amount of auditory noise with conventional tactile vibrations, and when a low-pass filter is applied, vibrations that humans can perceive disappear. Therefore, the correction energy is calculated so that the waveform has a single wavelength with a low carrier frequency for each time period.

[B] Operation Example The vibration waveform generating process in the vibration control device 1 shown in FIG. 1 will be described with reference to the block diagram (steps S1 to S7) shown in FIG.

A signal removal unit 111a and a low-pass filter 111b shown in FIG. 11 correspond to the frequency removal control unit 111 shown in FIG. 11 correspond to the signal output unit 114 shown in FIG.

The signal removal unit 111a removes components of a predetermined frequency or less from the acquired pre-conversion signal X(t) to generate a high frequency signal H(t), and inputs the high frequency signal H(t) to the time division control unit 112 (step S1).

The time division control unit 112 time-divides the high frequency signal H(t) into N frames, and inputs the time-divided i-th frame signal _hi to the energy control unit 113 (step S2). Note that the number of frames N may be determined by a predetermined cycle and the overlap rate of the windowing process.

The energy control unit 113 calculates the correction energy _ei for the signal _hi of the i-th frame, and inputs the calculated correction energy to the energy vibration conversion unit 114a (step S3).

The energy vibration conversion unit 114a generates a signal A(t) obtained by synthesizing the correction energies e ₁ to e _N of the 1st to Nth frames, and inputs the signal A(t) to the second vibration generation unit 114b (step S4).

The second vibration generator 114b outputs a second vibration waveform _S2 (t) based on the synthesized signal A(t) (step S5).

On the other hand, the low-pass filter 111b inputs the low-pass signal L(t) obtained by filtering the components of a predetermined frequency or less from the acquired pre-conversion signal X(t) to the first vibration generator 114c (step S6).

The first vibration generator 114c outputs the first vibration waveform _S1 (t) based on the low frequency signal L(t) (step S7).

Next, the details of the energy control process shown in step S3 of FIG. 11 will be described with reference to the block diagram (steps S11 to S14) shown in FIG.

As shown in FIG. 12, the energy control section 113 functions as a base signal separation control section 113a, a representative frequency calculation section 113b, an energy correction parameter calculation section 113c, and a correction energy calculation section 113d.

The base signal separation control unit 113a separates a time-divided i-th frame signal hi, which is an input signal, into a plurality of base signals _g having representative frequency components, and divides the separated k-th base signal g _k is input to the representative frequency calculator 113b (step S11). For example, signals may be separated by short-time Fourier analysis, wavelet analysis, Empirical Mode Decomposition (EMD) methods, and the like.

The representative frequency calculation unit 113b calculates the representative frequency _fk of the k-th base signal _gk by, for example, discrete Fourier analysis or Hilbert spectrum analysis, and inputs it to the energy correction parameter calculation unit 113c (step S12).

The energy correction parameter calculation unit 113c calculates the exponent value A _k and the amplitude threshold value T _k described using FIG. 6 based on the representative frequency f _k and inputs them to the correction energy calculation unit 113d (step S13).

Based on the exponent value A _k and the amplitude threshold value T _k , the correction energy calculation unit 111d calculates the correction energy I _pc for each base signal g _k according to the formula shown in Equation 1, and calculates the correction energy of all the base signals g _k . is output as a scalar value _ei (step S14).

Next, details of the energy combining process shown in step S4 of FIG. 11 will be described with reference to the block diagram (steps S21 to S23) shown in FIG.

The energy vibration conversion unit 114a functions as an energy equivalent conversion unit 1141a, a windowing processing unit 1142a, and a frame synthesis unit 1143a.

As shown in FIG. 13, the energy equivalent conversion unit 1141a converts the scalar value _ei of the vibration energy calculated in each frame i into a vibration waveform having the same vibration energy but a different carrier frequency. The waveform amplitude a _i (t) is output to the windowing processor 1142a (step S21).

The windowing processing unit 1142a performs windowing processing using the window function shown in FIG. 8 on the input amplitude a _i (t) of each frame i, and inputs the processing result to the frame synthesizing unit 1143a ( step S22).

The frame synthesizing unit 1143a performs frame synthesizing on the input from the windowing processing unit 1142a for the 1st to Nth frames, and outputs the amplitude A(t) of the vibration waveform (step S23).

Next, details of the process of generating the corrected vibration waveform shown in step S5 of FIG. 11 will be described with reference to the block diagram (steps S31 and S32) shown in FIG.

As shown in FIG. 14, the second vibration generation section 114b functions as an amplitude vibration conversion section 1141b and a waveform output section 1142b. The second vibration generator 114b has the input signal A(t) and outputs a sine wave having a carrier frequency. The generated waveform may be phase-controlled so that the oscillations are smoothly connected.

The amplitude/vibration converter 1141b converts the input amplitude A(t) into vibration (step S31).

The waveform output unit 1142b outputs a sine wave _S2 (t) having a carrier frequency such that the amplitude becomes A(t) (step S32).

[C] Effects According to the vibration control device 1, the signal control program, and the signal control method according to the example of the embodiment, for example, the following effects can be obtained.

The frequency removal control section 111 removes from the signal the first signal component having a frequency equal to or lower than a predetermined frequency. The time division control section 112 divides the second signal component in the signal other than the first signal component removed by the frequency removal control section 111 every predetermined time. Energy control section 113 converts the waveform of the second signal component while maintaining the energy of the second signal component for each predetermined time divided by time division control section 112 . This makes it possible to generate vibrations in a high frequency band that are easily perceived by humans. Moreover, it is possible to suppress the generation of auditory noise caused by vibrations in a high frequency band.

The lower limit of the predetermined frequency is a frequency within the range from 80 Hz to 125 Hz. As a result, it is possible to efficiently extract the high-frequency band signal components to be transformed.

Signal output section 114 outputs the first signal component removed by frequency removal control section 111 in addition to the second signal component whose waveform has been converted by energy control section 113 . As a result, the signal components in the low-frequency band that are not to be converted can be output to the vibration device as they are.

For the first signal component output by the signal output unit 114, vibration is generated by the low-frequency vibration 32 of the plurality of vibration devices. Further, vibration is generated by the high-frequency vibration 31 of the plurality of vibration devices for the second signal component output by the signal output unit 114 . As a result, a person can realistically experience the vibration in the high frequency band and the vibration in the low frequency band.

[D] Others The technology disclosed herein is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the embodiments. Each configuration and each process of each embodiment can be selected as necessary, or may be combined as appropriate.

Although the vibration generating system 100 shown in FIG. 1 includes the high-frequency vibration 31 and the low-frequency vibration 32, it is not limited to this. The number of vibrations provided in the vibration generating system 100 can be variously changed.

FIG. 15 is a block diagram showing a configuration example of the DAC 2 when using a plurality of vibration devices 310 and 320 in the vibration generation system 100 shown in FIG.

In the example shown in FIG. 15, the DAC 2 shown in FIG. 1 functions as the high frequency gain adjuster 21a, the low frequency gain adjuster 21b, the high frequency vibration device drive circuit 22a, and the low frequency vibration device drive circuit 22b. Further, the high-frequency vibration 31 and the low-frequency vibration 32 shown in FIG. 1 function as a high-frequency vibration device 310 and a low-frequency vibration device 320, respectively.

The high frequency gain adjuster 21a outputs the second vibration waveform S ₂ (t) input from the vibration control device 1 to the high frequency vibration device 310 via the high frequency vibration device drive circuit 22a. Also, the low-frequency gain adjuster 21b outputs the first vibration waveform S ₁ (t) input from the vibration control device 1 to the low-frequency vibration device 320 via the low-frequency vibration device drive circuit 22b. .

FIG. 16 is a block diagram showing a configuration example of a DAC when using a single vibration device in the vibration generation system 100 shown in FIG.

In the example shown in FIG. 15, the DAC 2 shown in FIG. Also, the high-frequency vibration 31 and the low-frequency vibration 32 shown in FIG. 1 function as the vibration device 30 .

The high-frequency gain adjuster 21a and the low-frequency gain adjuster 21b respectively convert the second vibration waveform S ₂ (t) and the first vibration waveform S ₁ (t) input from the vibration control device 1 into common vibration device driving signals. Output via circuit 22 to a common vibration device 30 .

100: Vibration generation system 1: Vibration control device 11: CPU
111: frequency removal control unit 111a: signal removal unit 111b: low-pass filter 111d: correction energy calculation unit 112: time division control unit 113: energy control unit 113a: base signal separation control unit 113b: representative frequency calculation unit 113c: Energy correction parameter calculation unit 113d: Correction energy calculation unit 114: Signal output unit 114a: Energy vibration conversion unit 114b: Second vibration generation unit 114c: First vibration generation unit 1141a: Energy equivalent conversion unit 1142a: Windowing processing unit 1143a: Frame synthesizing unit 1141b: Amplitude vibration converting unit 1142b: Waveform output unit 12: Memory 13: Storage device 2: DAC
21a: High frequency gain adjuster 21b: Low frequency gain adjuster 22: Vibration device drive circuit 22a: High frequency vibration device drive circuit 22b: Low frequency vibration device drive circuit 30: Vibration device 31: High frequency vibration 32: Low frequency Vibration 310: Vibration device for high frequencies 320: Vibration device for low frequencies

Claims (16)

A vibration sensory device for controlling vibration by a vibration device with an acoustic signal,
A second signal component having a frequency greater than the predetermined frequency obtained by removing a first signal component having a frequency equal to or lower than a predetermined frequency from the acoustic signal, and generating the second signal at predetermined time intervals. an energy control unit that converts to a waveform having a frequency different from that of the second signal component while maintaining the energy of the component;
a signal output unit that outputs the second signal component after waveform conversion by the energy control unit;
with
A vibratory sensation device in which vibration is generated by the vibration device with respect to the second signal component output by the signal output unit. a frequency removal controller that removes the first signal component from the acoustic signal;
a time division control unit that divides the second signal component in the acoustic signal other than the first signal component removed by the frequency removal control unit by the predetermined time;
further comprising
2. The energy control unit according to claim 1, wherein the energy control unit transforms the waveform of the second signal component while maintaining the energy of the second signal component for each of the predetermined times divided by the time division control unit. vibration bodily sensation device. A vibration sensory device for controlling vibration by a vibration device on the side of a remote operator of a robot by a signal generated when the robot contacts an object,
With respect to a second signal component having a frequency greater than the predetermined frequency obtained by removing a first signal component having a frequency equal to or lower than a predetermined frequency of the signal, the second signal component having a frequency greater than the predetermined frequency is regenerated at predetermined time intervals. an energy control unit that converts to a waveform having a frequency different from that of the second signal component while maintaining energy;
a signal output unit that outputs the second signal component after waveform conversion by the energy control unit;
with
A vibratory sensation device in which vibration is generated by the vibration device with respect to the second signal component output by the signal output unit. a frequency removal controller that removes the first signal component from the signal;
a time division control unit that divides the second signal component in the signal other than the first signal component removed by the frequency removal control unit for each predetermined time;
further comprising
4. The energy control unit according to claim 3, wherein the energy control unit converts the waveform of the second signal component while maintaining the energy of the second signal component for each of the predetermined times divided by the time division control unit. vibration bodily sensation device. A method for controlling vibration by a vibration device with an acoustic signal,
A second signal component having a frequency greater than the predetermined frequency obtained by removing a first signal component having a frequency equal to or lower than a predetermined frequency from the acoustic signal, and generating the second signal at predetermined time intervals. converting to a waveform having a different frequency than the second signal component while maintaining the energy of the component;
further outputting the second signal component after waveform conversion;
The method of generating vibrations by the vibration device for the output second signal component. removing the first signal component from the acoustic signal;
dividing the second signal component in the acoustic signal other than the removed first signal component by the predetermined time;
transforming the waveform of the second signal component while maintaining the energy of the second signal component every divided predetermined time;
6. The method of claim 5. A method for controlling vibration by a vibration device on the side of a remote operator of a robot by a signal generated when the robot contacts an object,
With respect to a second signal component having a frequency greater than the predetermined frequency obtained by removing a first signal component having a frequency equal to or lower than a predetermined frequency of the signal, the second signal component having a frequency greater than the predetermined frequency is regenerated at predetermined time intervals. Converting to a waveform having a different frequency than the second signal component while maintaining energy;
further outputting the second signal component after waveform conversion;
The method of generating vibrations by the vibration device for the output second signal component. removing the first signal component from the signal;
dividing the second signal component in the signal other than the removed first signal component by the predetermined time;
transforming the waveform of the second signal component while maintaining the energy of the second signal component every divided predetermined time;
8. The method of claim 7. In the computer for the vibration sensation device that controls the vibration by the vibration device with an acoustic signal,
A second signal component having a frequency greater than the predetermined frequency obtained by removing a first signal component having a frequency equal to or lower than a predetermined frequency from the acoustic signal, and generating the second signal at predetermined time intervals. converting to a waveform having a different frequency than the second signal component while maintaining the energy of the component;
further outputting the second signal component after waveform conversion;
A program for a vibration sensory device that causes the vibration device to generate vibrations for the output second signal component. to the computer;
removing the first signal component from the acoustic signal;
dividing the second signal component in the acoustic signal other than the removed first signal component by the predetermined time;
transforming the waveform of the second signal component while maintaining the energy of the second signal component every divided predetermined time;
10. The vibrating sensation device program according to claim 9, which causes a process to be executed. A computer for a vibration sensation device that controls the vibration of the vibration device on the remote operator side of the robot by a signal generated when the robot comes into contact with an object,
With respect to a second signal component having a frequency greater than the predetermined frequency obtained by removing a first signal component having a frequency equal to or lower than a predetermined frequency of the signal, the second signal component having a frequency greater than the predetermined frequency is regenerated at predetermined time intervals. Converting to a waveform having a different frequency than the second signal component while maintaining energy;
further outputting the second signal component after waveform conversion;
A program for a vibration sensory device that causes the vibration device to generate vibrations for the output second signal component. to the computer;
removing the first signal component from the signal;
dividing the second signal component in the signal other than the removed first signal component by the predetermined time;
transforming the waveform of the second signal component while maintaining the energy of the second signal component every divided predetermined time;
12. The vibrating sensation apparatus program according to claim 11, which causes the process to be executed. In the computer for the vibration sensation device that controls the vibration by the vibration device with an acoustic signal,
A second signal component having a frequency greater than the predetermined frequency obtained by removing a first signal component having a frequency equal to or lower than a predetermined frequency from the acoustic signal, and generating the second signal at predetermined time intervals. converting to a waveform having a different frequency than the second signal component while maintaining the energy of the component;
further outputting the second signal component after waveform conversion;
A computer-readable recording medium recording a program for a vibration sensory device for executing processing for generating vibration by the vibration device for the output second signal component. to the computer;
removing the first signal component from the acoustic signal;
dividing the second signal component in the acoustic signal other than the removed first signal component by the predetermined time;
converting the waveform of the second signal component while maintaining the energy of the second signal component for each of the divided predetermined times;
further outputting the second signal component after waveform conversion;
14. The computer-readable recording medium according to claim 13, which records a program for a vibrating sensation device according to claim 13, which causes the vibrating device to generate vibration on the output second signal component. A computer for a vibration sensation device that controls the vibration of the vibration device on the remote operator side of the robot by a signal generated when the robot comes into contact with an object,
With respect to a second signal component having a frequency greater than the predetermined frequency obtained by removing a first signal component having a frequency equal to or lower than a predetermined frequency of the signal, the second signal component having a frequency greater than the predetermined frequency is regenerated at predetermined time intervals. Converting to a waveform having a different frequency than the second signal component while maintaining energy;
further outputting the second signal component after waveform conversion;
A computer-readable recording medium recording a program for a vibration sensory device for executing processing for generating vibration by the vibration device for the output second signal component. to the computer;
removing the first signal component from the signal;
dividing the second signal component in the signal other than the removed first signal component by the predetermined time;
converting the waveform of the second signal component while maintaining the energy of the second signal component for each of the divided predetermined times;
further outputting the second signal component after waveform conversion;
16. The computer-readable recording medium according to claim 15, which records a program for a vibrating sensation device according to claim 15, which causes the vibrating device to generate vibration on the output second signal component.

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