JP7380439B2 - Tactile presentation material, tactile presentation device, tactile presentation method, program - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Act (1) ▲1▼ Website publication date November 21, 2019 ▲2▼ Website address Japanese Society of Cognitive Psychology 11th Multisensory Study Group Website http://cogpsy ．． jp/archives/4062 (2) ▲1▼Date December 14th and 15th, 2019 ▲2▼Meeting name, venue 11th Multisensory Study Group Rikkyo University Ikebukuro Campus (Buildings 4 and 8 〒171 -8501 3-34-1 Nishiikebukuro, Toshima-ku, Tokyo)

The present invention relates to a technique for creating a velvet hand illusion.

If you hold two parallel strings between your hands and slide your palms in a direction perpendicular to the strings, you will see a smooth, soft object that looks like velvet between your palms, which is called the velvet hand illusion. This creates an illusion that it feels like it exists (see Non-Patent Document 1). This illusion can also be created by using the pads of your fingers.

In addition, instead of pressing the palms together, velvet hand illusions can be created by bonding a material with a shape and softness similar to human skin (see Non-Patent Document 2 and Non-Patent Document 3), or by bonding sponge or wood. It can also occur by sliding your palms together with a fabric whose thickness has been adjusted (see Non-Patent Document 4).

Furthermore, the velvet hand illusion can also be created by holding a piece of paper with holes between two fingers and rubbing the holes across the pads of the fingers (see Non-Patent Document 5). .

H. Mochiyama, A. Sano, N. Takasue, R. Kikuuwe, K. Fujita, S. Fukuda, K. Marui, H. Fujimoto, “Haptic Illusion Induced by Moving Line Stimuli,” Proc. of First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems; World Haptics Conference, WHC 2005, pp.645-648, 2005. Akihito Sano, Yoshihiro Tanaka, Naoki Kurokawa, Hirotaka Hori, Hideo Fujimoto, “Effects of an artificial finger that faces a human finger and produces VHI and tilted tactile stimulation,” Abstracts of the Robotics and Mechatronics Conference, vol. 2010, 2010. Yukiteru Doi, Takashi Suto, and Hiroshi Fujimoto, “Experimental investigation of the velvety feeling caused by passive touch,” Biomechanism Vol. 20, pp. 125-134, 2010. A. Pasqualotto, C.C.J. Yin, M. Ohka, R. Kitada. “The Effect of Object Compliance on the Velvet Hand Illusion,” IEEE Trans Haptics, 2019 Nov 13, doi: 10.1109/TOH.2019.2948603, 2019. M. Ohno, T. Miyaoka, M. Nakatani, “Two hands feel smoother than one: an exploratory study on the smoothness magnitude produced by the velvet slit tactile illusion,” EuroHaptics 2018, Work-in-Progress, Poster ID.1095, 2018.

Among the methods for creating the above illusion, the methods described in Non-Patent Documents 2 to 4 create the illusion that a velvet-like object appears between the hand and the object facing the hand (hereinafter referred to as the "opposed object"). It does not change the feel of the opposing object itself. This is because, in the methods described in Non-Patent Documents 2 to 4, since the gut moves across the space between the object and the hand, the object cannot be constantly touched, making it difficult to recognize the feel of the object. It is thought to be from

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

One aspect of the present invention is a plate-like object having a predetermined thickness, the plate-like object having a hole, and the hole having a surface in contact with the plate-like object (hereinafter referred to as With the plate-shaped object sandwiched between the body part of the subject (hereinafter referred to as the "sensing subject") who senses the touch of the object (hereinafter referred to as the "facing object"), the sensing subject This is for modulating the feel of the opposing object by moving the plate-like object in a predetermined manner while touching the plate-like object and the opposing object.

One aspect of the present invention is a plate-like object having a predetermined thickness, the plate-like object having a hole, and the hole having a surface in contact with the plate-like object (hereinafter referred to as With the plate-shaped object sandwiched between the body part of the subject (hereinafter referred to as the "sensing subject") who senses the touch of the object (hereinafter referred to as the "facing object"), the sensing subject This is for modulating the feel of the opposing object by moving the opposing object in a predetermined manner while touching the plate-shaped object and the opposing object.

According to the present invention, the tactile sensation of the object facing the body part is modulated by moving the tactile presentation object in a predetermined manner while being sandwiched between the body part and the object facing the body part. It becomes possible to do so.

1 is a diagram showing an example of the configuration of a tactile presentation object 100. FIG. FIG. 3 is a diagram showing an image of how the tactile presentation object 100 is used. 1 is a diagram showing an example of the configuration of a tactile presentation object 100. FIG. 1 is a diagram showing an example of the configuration of a tactile presentation object 100. FIG. 1 is a diagram showing an example of the configuration of a tactile presentation object 100. FIG. 1 is a diagram showing an example of the configuration of a tactile presentation object 100. FIG. 2 is a diagram illustrating an example of the configuration of a tactile presentation object 200. FIG. 2 is a diagram illustrating an example of the configuration of a tactile presentation object 200. FIG. 2 is a diagram illustrating an example of the configuration of a tactile presentation object 200. FIG. FIG. 2 is a diagram showing an image of how the tactile presentation object 200 is used. 3 is a block diagram showing an example of the configuration of a tactile presentation device 300. FIG. 3 is a flowchart illustrating an example of the operation of the tactile presentation device 300. 3 is a diagram showing an example of a table recorded in a recording unit 390. FIG. 3 is a diagram showing an example of a table recorded in a recording unit 390. FIG. 1 is a diagram illustrating an example of a functional configuration of a computer that implements each device in an embodiment of the present invention.

Embodiments of the present invention will be described in detail below. Note that components having the same functions are given the same numbers and redundant explanations will be omitted.

Prior to describing each embodiment, the notation method used in this specification will be explained.

^ (caret) represents a superscript. For example, x ^{y^z} indicates that y ^z is a superscript to x, and x _y^z indicates that y ^z is a subscript to x. Also, _ (underscore) represents a subscript. For example, x ^y_z indicates that y _z is a superscript to x, and x _{y_z} indicates that y _z is a subscript to x.

The superscripts "^" and "~" such as ^x and ~x for a certain character x should originally be written directly above "x", but due to restrictions on writing in the specification, , ^x, or ~x.

<Technical background>
In each embodiment of the present invention, a perforated plate-like object made of paper, plastic, wood, metal, etc. is placed between a hand or a finger and any object having a surface in contact with the plate-like object. By rotating the hole between the holes and stimulating the hand or fingers, it is possible to create an illusion that the touch of the object through the hole is softer, smoother, more slippery, and warmer than it actually feels. It is based on experimental results. Here, the thickness of the plate-shaped object may be 0.5 mm or less (for example, about 0.1-0.5 mm), and the hole size may be about the same size as the palm or finger pad. Further, the speed at which the plate-shaped object is rotated may be about 90 deg/sec.

Moreover, by applying the above-mentioned stimulation at each of two distant points on the skin, this illusion can be caused even in the area on the skin surrounded by the two points. For example, if you place your index finger, middle finger, and ring finger each facing an object and apply rotation stimulation to only the index finger and ring finger, this illusion will occur even with the middle finger, which is not stimulated.

<First embodiment>
First, the tactile presentation will be explained. The tactile presentation is a plate-like object having a predetermined thickness and has holes. This hole is created by inserting a plate-shaped object between an object that has a surface that comes into contact with the plate-shaped object (hereinafter referred to as the opposing object) and the body part of the subject that senses the touch of the object (hereinafter referred to as the sensing subject). By moving the plate-shaped object in a predetermined manner so that the sensing subject's body part touches the plate-shaped object and the opposing object at the edge of the hole while holding the object between them, the object can be touched by touching the object. It is meant to modulate your comfort. Here, the predetermined method refers to a circular motion in which the sensing subject's body part makes one revolution along the edge of the hole, or a circular movement of the sensing subject's body part along the edge of the hole between two predetermined points. This method involves repetitive movements in which the body parts of the body move back and forth. Note that instead of moving the plate-shaped object, the opposing object may be moved.

In the experiment explained in the technical background, the hand or finger was used as the body part, but the illusion can also be felt in other parts of the body. For example, it may be the arm, cheek, abdomen, or buttocks. In other words, it can be any part. However, in areas such as the back of the hand, where the flesh is thin and it is difficult to secure enough contact area with the opposing object, the illusion may be difficult to perceive.

The tactile presentation 100 will be described below with reference to FIG. FIG. 1 is a diagram showing an example of the configuration of a tactile presentation object 100. The tactile presentation 100 is a plate-shaped object having a predetermined thickness and a hole of a predetermined size. Tactile presentation 100 may be a sheet of paper, plastic, metal, etc. The thickness of the tactile presentation 100 is preferably 0.5 mm or less (for example, about 0.1-0.5 mm). This is because the larger the thickness, the smaller the contact area between the skin and the opposing object, and the less likely an illusion will occur. Further, the holes in the tactile presentation 100 can be sized to fit the palm of the hand or the pads of the fingers. Here, the size that fits means a plate-shaped object that is sandwiched between the opposing object and the sensing subject's body part (an opposing object that sandwiches the plate-shaped object between the sensing subject's body part). , meaning it is large enough to be moved along the edge of the hole. If the hole is too large or too small, the illusion is less likely to occur, so it is recommended that the hole be about 0.9 times the contact area between the skin of the site and the opposing object, for example. For example, the hole sized to fit the palm of the hand and the hole sized to fit the pad of the finger can be approximately circular with a diameter of 50-200 mm and approximately circular with a diameter of 5-20 mm, respectively. These sizes were selected to fit regardless of age or gender. Furthermore, a substantially circular shape refers to a perfect circle, an ellipse, or a figure that is approximately circular even if the circumference is distorted.

FIG. 2 is a diagram showing an image of how the tactile presentation object 100 is used. With the tactile presentation 100 sandwiched between the opposing object and the hand, the tactile presentation 100 is moved while the hand touches the tactile presentation 100 and the opposing object at the edge of the hole in the tactile presentation 100. Note that the opposing object may be any object as long as it has a surface that comes into contact with the tactile presentation object 100, and any object whose tactile sensation is desired to be changed can be used.

Furthermore, the shape of the hole in the tactile presentation object 100 does not matter. For example, it may be rectangular as shown in FIG. 3 or star-shaped as shown in FIG. 4. The size should be such that it fits the palm of the hand or the pads of the fingers.

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

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

According to an embodiment of the present invention, by moving a tactile presentation object in a predetermined manner while being sandwiched between a body part and an object facing the body part, the object facing the body part can be touched. It is possible to modulate the comfort. Specifically, it is possible to create an illusion that the touch of the opposing object is softer, smoother, more slippery, and warmer than the original touch. Additionally, the illusion can be created without the tactile presentation crossing between the body part and the opposing object, which reduces friction and reduces the energy needed to move the tactile presentation, reducing noxious stimulation to the skin. can be reduced.

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

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

Note that the shape of the hole in the tactile presentation object 200 does not matter. For example, as shown in FIG. 8, the two holes at both ends may be square.

Furthermore, the illusion can be created by targeting three points on the sensing subject's body instead of the three fingers. For example, the body part may be the arm, the three points on the arm may be point A, point B, and point C extending from the hand to the elbow, and stimulation may be applied only at point A and point C.

The tactile presentation object 200 shown in FIGS. 7 and 8 has a characteristic shape. Specifically, the tactile presentation 200 in FIGS. 7 and 8 has two holes (hereinafter referred to as a first hole and a second hole) located a predetermined distance apart; There is one hole (hereinafter referred to as the third hole) between the second hole and the second hole. The first hole and the second hole allow the sensing subject to move the tactile presentation 200 while making the body part (for example, a finger) touch the tactile presentation 200 and the opposing object at the edge of each hole. It is for. Further, the third hole is for touching the opposing object while preventing the sensing subject's body part from touching the edge of the hole.

The tactile presentation 200 may be two plate-shaped objects. For example, as shown in FIG. 9, it can be a pair of plate-like objects with approximately circular holes. The tactile presentation 200 of FIG. 9 is used in the same way as the tactile presentation 200 of FIGS. 7 and 8 by placing three fingers as shown in FIG.

According to an embodiment of the present invention, by moving a tactile presentation object in a predetermined manner while being sandwiched between a body part and an object facing the body part, the object facing the body part can be touched. It is possible to modulate the comfort. Specifically, it is possible to create an illusion that the touch of the opposing object is softer, smoother, more slippery, and warmer than the original touch. Additionally, the illusion can be created without the tactile presentation crossing between the body part and the opposing object, which reduces friction and reduces the energy needed to move the tactile presentation, reducing noxious stimulation to the skin. can be reduced.

<Third embodiment>
The tactile presentation device 300 modulates the tactile sensation of an opposing object using the N objects that are tactile presentation objects described in the first embodiment and the second embodiment, and causes the sensing subject to experience the modulated tactile sensation. make you gain Hereinafter, the identifiers of the N objects will be expressed as Ob ₁ , ..., Ob _N.

The tactile presentation device 300 will be described below with reference to FIGS. 11 and 12. FIG. 11 is a block diagram showing an example of the configuration of the tactile presentation device 300. FIG. 12 is a flowchart showing the operation of the tactile presentation device 300. As shown in FIG. 11, the tactile presentation device 300 includes a drive information generation section 310, a drive signal generation section 320, a drive section 330, and a recording section 390. For example, information regarding objects with identifiers Ob ₁ , . . . , Ob _N is recorded in the recording unit 390 as a table as shown in FIGS. 13A and 13B. FIG. 13A shows an example of a table when the body part of the sensing subject is a finger. Further, FIG. 13B shows an example of a table when the body part of the sensing subject is the hand. The records that make up the tables in FIGS. 13A and 13B include an object identifier, object type, object thickness, size of a hole in the object, shape of the hole, movement type information specifying how to move the object, It includes the speed information of the movement and the values of eight attributes such as the degree of illusion. Candy type and business card type, which are specific values of the attribute "object type", are values indicating the tactile presentation in FIG. 6 and the tactile presentation in FIGS. 7 and 8, respectively. Further, the value of the attribute "hole shape" for the business card-shaped tactile presentation (octagon in the examples of FIGS. 13A and 13B) indicates the shapes of the two holes at both ends. For these records, it is preferable to record the optimal combination of values determined by performing an experiment in advance using each object to examine the degree of illusion and the relationship between motion type information and speed information.

The operation of the tactile presentation device 300 will be explained according to FIG. 12.

In S310, the driving information generation unit 310 receives as input the identifier of the object (hereinafter referred to as the driving target object) selected by the sensing subject from the object identifiers Ob ₁ , ..., Ob _N , and moves the driving target object. Generate and output drive information indicating the drive method. Here, the driving information is a method in which the sensing subject's body part makes one revolution along the edge of the hole in the object, or a method in which the body part of the sensing subject makes one revolution along the edge of the hole in the object, or Movement type information indicating either the method of repetitive movement in which the part of the sensing subject's body moves back and forth along the edge, and either the speed of the circular movement or the speed of the repetitive movement. and speed information indicating the speed.

Hereinafter, a case will be described in which the table of FIG. 13B is recorded in the recording unit 390. For example, when the input identifier of the drive target object is object Ob ₁ , the drive information generation unit 310 refers to the table in FIG. , drive information including "90deg/s" as speed information can be generated. Note that if the input identifier of the driving target object is object Ob ₁ , the driving information is not uniquely determined, but in this case, for example, by inputting the degree of illusion that you want the perceiving subject to perceive, , can be uniquely generated.

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

In S330, the driving unit 330 inputs the identifier of the object to be driven and the drive signal output in S320, and moves the object to be driven in accordance with the drive signal. This allows the perceiving subject to perceive an illusion.

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

<Addendum>
FIG. 14 is a diagram showing an example of the functional configuration of a computer that implements each of the above-described devices (that is, each node). The processing in each of the above-mentioned devices can be carried out by having the recording section 2020 read a program for causing the computer to function as each of the above-mentioned devices, and causing the control section 2010, input section 2030, output section 2040, etc. to operate the program.

The device of the present invention includes, as a single hardware entity, an input section to which a keyboard or the like can be connected, an output section to which a liquid crystal display or the like can be connected, and a communication device (for example, a communication cable) capable of communicating with the outside of the hardware entity. A communication unit that can be connected to a CPU (Central Processing Unit, which may include cache memory, registers, etc.), RAM and ROM that are memories, external storage devices that are hard disks, and their input units, output units, and communication units. , CPU, RAM, ROM, and an external storage device. Further, if necessary, the hardware entity may be provided with a device (drive) that can read and write a recording medium such as a CD-ROM. A physical entity with such hardware resources includes a general-purpose computer.

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

In the hardware entity, each program stored in an external storage device (or ROM, etc.) and the data necessary for processing each program are read into memory as necessary, and are interpreted and executed and processed by the CPU as appropriate. . As a result, the CPU realizes a predetermined function (each of the components expressed as . . . units, . . . means, etc.).

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

As described above, when the processing functions of the hardware entity (device of the present invention) described in the above embodiments are realized by a computer, the processing contents of the functions that the hardware entity should have are described by a program. By executing this program on a computer, the processing functions of the hardware entity are realized on the computer.

A program describing the contents of this process can be recorded on a computer-readable recording medium. The computer-readable recording medium may be of any type, such as a magnetic recording device, an optical disk, a magneto-optical recording medium, or a semiconductor memory. Specifically, for example, magnetic recording devices include hard disk drives, flexible disks, magnetic tapes, etc., and optical disks include DVDs (Digital Versatile Discs), DVD-RAMs (Random Access Memory), and CD-ROMs (Compact Disc Read Only). Memory), CD-R (Recordable)/RW (ReWritable), etc. as magneto-optical recording media, MO (Magneto-Optical disc), etc. as semiconductor memory, EEP-ROM (Electronically Erasable and Programmable-Read Only Memory), etc. can be used.

Further, this program is distributed by, for example, selling, transferring, lending, etc. a portable recording medium such as a DVD or CD-ROM on which the program is recorded. Furthermore, this program may be distributed by storing the program in the 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, for example, first stores a program recorded on a portable recording medium or a program transferred from a server computer in its own storage device. When executing a process, this computer reads a program stored in its own storage device and executes a process according to the read program. In addition, as another form of execution of this program, the computer may directly read the program from a portable recording medium and execute processing according to the program, and furthermore, the program may be transferred to this computer from the server computer. The process may be executed in accordance with the received program each time. In addition, the above-mentioned processing is executed by a so-called ASP (Application Service Provider) type service, which does not transfer programs from the server computer to this computer, but only realizes processing functions by issuing execution instructions and obtaining results. You can also use it as Note that the program in this embodiment includes information that is used for processing by an electronic computer and that is similar to a program (data that is not a direct command to the computer but has a property that defines the processing of the computer, etc.).

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

The foregoing description of embodiments of the invention has been presented for purposes of illustration and description. There is no intent to be exhaustive or to limit the invention to the precise form disclosed. Modifications and variations are possible in light of the above teachings. The embodiments are intended to provide the best illustration of the principles of the invention, and those skilled in the art will be able to explain the invention in various embodiments and in various ways as appropriate for contemplated practical use. It was chosen and expressed so that it can be used with additional transformations. All such modifications and variations are within the scope of the invention as defined by the appended claims, interpreted in accordance with the breadth to which they are fairly and legally entitled.

Claims (5)

A tactile presentation that is a plate-like object having a predetermined thickness for causing a velvet hand illusion ,
The plate-shaped object has one approximately circular hole ,
The hole is formed between an object having a surface in contact with the plate-shaped object (hereinafter referred to as an opposing object) and a body part of a subject (hereinafter referred to as a sensing subject) that senses the touch of the object. moving the plate-shaped object in a predetermined manner while holding the object between them, so that the body part of the sensing subject touches the plate-shaped object and the opposing object at the edge of the hole; This is for modulating the touch feel of the opposing object,
A part of the outer periphery of the plate-shaped object (hereinafter referred to as the first outer periphery) and a part of the outer periphery of the plate-shaped object different from the first outer periphery (hereinafter referred to as the second outer periphery), Each is a part of a substantially circular shape centered on the center of the hole,
The first outer periphery and the second outer periphery are in a positional relationship that is point symmetrical with respect to the center of the hole,
The first outer periphery and the second outer periphery are defined by a circular motion of the sensing subject's body part along the edge of the hole, or a movement between two predetermined points on the edge of the hole. The object is for moving the plate-like object in such a way that the sensing subject's body parts move back and forth along the edges in a repetitive motion.
Tactile presentation. A tactile presentation that is a plate-like object having a predetermined thickness for causing a velvet hand illusion ,
The plate-shaped object has two holes (hereinafter referred to as a first hole and a second hole) located a predetermined distance apart, and a hole between the first hole and the second hole. One hole (hereinafter referred to as the third hole) is open,
The first hole, the second hole, and the third hole are connected to an object having a surface in contact with the plate-shaped object (hereinafter referred to as an opposing object) and a body that senses the touch of the object (hereinafter referred to as a sensing object). With the plate-shaped object sandwiched between the body part of the sensing subject (referred to as the sensing subject), the body part of the sensing subject touches the plate-shaped object and the opposing object at the edge of the hole. while moving the plate-shaped object in a predetermined manner to modulate the touch feeling of the opposing object ,
The first hole and the second hole are arranged so that the body part of the sensing subject touches the plate-like object and the opposing object at the edge of each hole, while the plate-like object is inserted into the plate-like object. It is meant to move,
The third hole is for touching the opposing object while preventing the body part of the sensing subject from touching the edge of the hole.
Tactile presentation. A tactile presentation that is a plate-like object having a predetermined thickness for causing a velvet hand illusion of an object, the plate-like object having a hole in it, the hole comprising: The plate-shaped object is sandwiched between an object having a surface that comes into contact with the plate-shaped object (hereinafter referred to as the opposing object) and a body part of a subject that senses the touch of the object (hereinafter referred to as the sensing subject). In this state, by moving the plate-shaped object in a predetermined manner while touching the body part of the sensing subject to the plate-shaped object and the opposing object at the edge of the hole, As a tactile presentation that modulates the tactile sensation of objects,
Let Ob ₁ , …, Ob _N be identifiers of the objects ,
The identifier of the object ( hereinafter referred to as the driving target object) selected by the sensing subject from among the object identifiers Ob ₁ , ..., Ob _N is input, and driving information indicating a driving method for moving the driving target object is generated. a drive information generation section;
a drive signal generation unit that uses the drive information to generate a drive signal that is a signal for moving the drive target object;
including;
The driving information may be provided in such a way that the sensing subject's body part makes one circular motion along the edge of the hole in the object, or in a manner that moves between two predetermined points on the edge of the hole in the object. movement type information indicating either of the methods that result in a repetitive movement in which the body part of the sensing subject moves back and forth along the circular movement; and either the speed of the circular movement or the speed of the repetitive movement. A tactile presentation device comprising speed information indicating speed information. A tactile presentation that is a plate-like object having a predetermined thickness for causing a velvet hand illusion of an object, the plate-like object having a hole in it, the hole comprising: The plate-shaped object is sandwiched between an object having a surface that comes into contact with the plate-shaped object (hereinafter referred to as the opposing object) and a body part of a subject that senses the touch of the object (hereinafter referred to as the sensing subject). In this state, by moving the plate-shaped object in a predetermined manner while touching the body part of the sensing subject to the plate-shaped object and the opposing object at the edge of the hole, As a tactile presentation that modulates the tactile sensation of objects,
Let Ob ₁ , …, Ob _N be identifiers of the objects ,
The tactile presentation device inputs the identifier of the object selected by the sensing subject from among the object identifiers Ob ₁ , ..., Ob _N (hereinafter referred to as the driving target object), and indicates a driving method to move the driving target object. a driving information generation step of generating driving information;
a drive signal generation step in which the tactile presentation device uses the drive information to generate a drive signal that is a signal for moving the drive target object;
including;
The driving information may be provided in such a way that the sensing subject's body part makes one circular motion along the edge of the hole in the object, or in a manner that moves between two predetermined points on the edge of the hole in the object. movement type information indicating either of the methods that result in a repetitive movement in which the body part of the sensing subject moves back and forth along the circular movement; and either the speed of the circular movement or the speed of the repetitive movement. A tactile presentation method comprising speed information indicating speed information. A program for causing a computer to function as the tactile presentation device according to claim 3 .

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