JPH11316646A - Virtual presence feeling method and system device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the presence perception of virtual reality in a virtual experience by completely providing an interaction such as feedback in the sense of power to sight and touch in the interaction with the virtual reality. SOLUTION: This device is provided with a virtual environment presenting means 1 for presenting a virtual environment to perform the virtual experience, operating power generating means 2 for generating operating power to stimulate the touch of a hand while being mounted on the specified part of a human body, operating power generation control means 3 for controlling the generation of the relevant operating power to the operating power generating means 2 and virtual environment control means 4 for generating a virtual environment model, providing it for the virtual environment generating means 1, operating timing to generate an operating signal in response to the provided virtual environment, transferring the relevant operating signal to the operating power generating means 2, converting and generating the relevant operating signal at the operating power generating means 3 while monitoring the said timing.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a VR (Virtual Re
quality) In the field of environment, by combining technology that measures the position and orientation of a specific part of a person in real space in real time and stimulation technology that feeds back at least the visual and tactile force as an interaction with virtual space, The present invention relates to a virtual reality experience method capable of increasing a sense of realism with a virtual world, and a system device directly used for implementing the method.

[0002]

2. Description of the Related Art Conventionally, in VR technology, conversation with a virtual space is mainly performed using a head mounted display (HMD) for displaying images and a data glove equipped with a three-dimensional position sensor for operation.

[0003] An example of this application is a virtual racket ball (Toppan, Silicon Mirage Science and Art of Virtual Reality, P221-222, 1994). This is a system in which a virtual space is experienced by using a combination of a head-mounted display HMD and a data glove, a three-dimensional racket ball court synthesized by a computer, and an actual racket with a Pohimas magnetic position detection system.

[0004] Specifically, when this racket is shaken, the computer-composed racket moves in the same manner in the virtual space, and the ball is hit back with the virtual racket.
Furthermore, a phantom (PHANToM ^™ : Sens) is commercially available.
Able Technologies, Inc. ), A joystick is used as an operating device, and there are devices in which the operation range is limited, but the reaction force is felt by the operator's hand.

[0005]

In the above prior art, interaction with virtual reality is mainly visual, and interaction such as feedback of tactile haptics is inadequate. However, it is not sufficient to enhance the sense of reality of virtual reality.

Here, the main objects to be solved by the present invention are as follows. That is, a first object of the present invention is to provide a virtual reality experience method and a system apparatus for increasing and increasing the physical reality of virtual reality in a virtual experience.

A second object of the present invention is to provide a virtual realistic sensation method and a system device which complete interaction such as haptic feedback for vision and touch in interaction with virtual reality.

[0008] A third object of the present invention is to provide a virtual reality experience method and system apparatus in which the operator is not restricted by the operation of the device and free movement is not restricted.

Another object of the present invention is to provide a specification, drawings,
In particular, it will be obvious from the description of each claim in the claims.

[0010]

In order to solve the above-mentioned problems, the method of the present invention uses a small-sized tactile stimulus which can be attached to a specific part of a human body, and generates a tactile stimulus acting force on the haptic stimulus. At the same time, a method of applying force feedback without discomfort as an interaction with the virtual world by combining information of a three-dimensional tracker that can track the position and orientation of a specific part of a human body wearing the same in real time is taken.

The apparatus of the present invention enhances the sense of reality of virtual reality by means of an actuation force generating means as a small tactile stimulation means capable of generating an acting force of an arbitrary tactile stimulation and a three-dimensional position / posture detection means of a real-time three-dimensional tracker. Take system measures that cause

[0012] More specifically, in order to solve the above-mentioned problems, the present invention achieves the above object by adopting each of the novel characteristic constitution techniques or means described below.

That is, a first feature of the method of the present invention is that, when a virtual experience in a presented virtual environment is stimulated in at least one of the five senses in a real environment, the sense of sight and touch is stimulated to give a sense of reality through a sense of reality. Another object of the present invention is to adopt a configuration of a virtual reality sensation method in which an impact vibration generated by a gas impact force on a tactile stimulation means and applied to the tactile stimulation means is sensed as a force sense.

A second feature of the method of the present invention is that the virtual experience in the presented virtual environment is used to stimulate at least the visual, auditory and tactile senses of the five senses in the real environment to enjoy a sense of realism through the sense of reality. Another object of the present invention is to adopt a configuration of a virtual reality sensation method in which an impact vibration generated by a gas impact force on a tactile stimulation means and applied to the tactile stimulation means is sensed as a force sense.

A third feature of the method of the present invention is that the virtual experience presented in the virtual environment presented in the virtual environment reflecting the behavior of the real environment stimulates at least the visual and tactile senses of the five senses in the real environment. In order to enjoy a sense of realism that combines virtual behavior and real behavior through realism, a virtual vibration that is sensed as a force sensation is generated by the impact vibration applied to the tactile stimulation means generated by the impact force of the gas on the tactile stimulation means. It is in the adoption of the configuration of the physical experience method.

A fourth feature of the method of the present invention is that the virtual experience presented by reflecting the behavior in the real environment to the virtual experience in the presented virtual environment is at least visual, auditory, or tactile sensation among the five senses in the real environment. Stimulating the sensation and experiencing the realism that combines virtual and real behaviors through the sense of reality, by experiencing the impact vibration applied to the haptic stimulus generated by the gas impact force on the haptic stimulus as a force sense The configuration of the virtual reality experience method is adopted.

A fifth feature of the method of the present invention is that the virtual experience in the first, second, third or fourth feature of the above-described method of the present invention gives a sense of realism through realism through a computer. The present invention resides in the adoption of the configuration of the realized virtual reality experience method.

According to a sixth aspect of the method of the present invention, the presentation of the virtual environment in the first, second, third, fourth or fifth aspect of the method of the present invention stimulates the sight among the five senses. The present invention resides in adoption of a configuration of a virtual reality experience method which is a screen display.

According to a seventh feature of the method of the present invention, the presentation of the virtual environment in the fifth or sixth feature of the method of the present invention is characterized in that the presentation of the virtual environment includes a computer model or the position and orientation data of a certain virtual object. The present invention resides in adopting a configuration of a virtual reality experience method performed based on the relationship.

According to an eighth aspect of the method of the present invention, the haptic stimulus according to the fifth, sixth or seventh aspect of the present invention is characterized in that at least one or more of the haptic stimulating means is applied to a specific part of a human body. After wearing, computer model or
The present invention is to adopt a configuration of a virtual reality experience method provided by generating an operation signal based on a relationship between the computer model and position / posture data of a certain virtual object.

According to a ninth feature of the method of the present invention, the impact vibration in the first, second, third, fourth, fifth, sixth, seventh or eighth feature of the method of the present invention is as described above. Another object of the present invention is to adopt a configuration of a virtual reality sensation method that is changed in accordance with a relative movement between a moving virtual object in a virtual environment model and a human body part or the tactile stimulation unit in a real environment.

A tenth feature of the method of the present invention is that the tactile sensation in the first, second, third, fourth, fifth, sixth, seventh, eighth or ninth feature of the above-described method of the present invention. A virtual realistic sensation method in which a stimulus is provided by attaching at least one or more of the tactile stimulus means to a specific portion of an operator and generating an activation signal based on position / posture data of the operator. Configuration adoption.

An eleventh feature of the method of the present invention resides in adoption of a configuration of a virtual reality sensation method in which the computer model according to the seventh or eighth feature of the present invention is displayed on a screen as a stereo image of a motion. .

According to a twelfth aspect of the method of the present invention, in the tenth aspect of the method of the present invention, when the tactile stimulation means is attached to a specific part of the operator, the tactile stimulation means is attached to the lower arm near the wrist. The present invention resides in adopting a configuration of a virtual real-world sensation method of mounting and holding by hand.

A thirteenth feature of the method of the present invention is that the screen display in the sixth, seventh, eighth, ninth, tenth, eleventh, or twelfth feature of the method of the present invention is such that a CRT display is used. The present invention is to adopt a configuration of a virtual reality experience method using any of a large projector such as a liquid crystal display and a plasma display and a head mounted display.

A fourteenth feature of the method of the present invention is that the activation signal in the eighth or tenth feature of the method of the present invention is as follows.
The present invention resides in adopting a configuration of a virtual reality experience method in which sound is converted and output in parallel with generation.

A fifteenth feature of the method of the present invention resides in the adoption of a configuration of a virtual reality sensation method in which the sound according to the fourteenth feature of the present invention is variably converted and output according to the information of the operation signal. .

According to a sixteenth feature of the method of the present invention, in the twelfth feature of the method of the present invention, the tactile stimulus is given to a tactile sensation of a hand or arm holding and holding the tactile stimulation means. It consists in adopting the configuration of the method.

A seventeenth feature of the method of the present invention is that the third, fourth, fifth, sixth, seventh, ninth, tenth, and tenth aspects of the method of the present invention are described above.
The reflection of the behavior of the real environment in the eleventh, twelfth, thirteenth, fourteenth, fifteenth, or sixteenth characteristics is based on the adoption of a configuration of a virtual reality experience method performed through imaging of the behavior target.

According to an eighteenth feature of the method of the present invention, in the seventeenth feature of the present invention, the shooting of the behavior target is a shooting of the tactile stimulation means to be worn or the movement of a hand to be gripped. Configuration adoption.

A nineteenth feature of the method of the present invention resides in that the photographing of the behavior object in the seventeenth or eighteenth feature of the method of the present invention contributes to detection of a three-dimensional position / posture of the behavior object. It is in the adoption of the configuration of the physical experience method.

A twentieth feature of the method of the present invention resides in that, in the seventeenth, eighteenth, or nineteenth feature of the above-described method of the present invention, the photographing of the behavior object corresponds to the behavior object corresponding to the presented virtual environment. Another object of the present invention is to employ a configuration of a virtual reality experience method used for analysis calculation of a three-dimensional position / posture.

The first feature of the system device of the present invention is that a virtual environment presenting means for presenting a virtual environment for performing a virtual experience, and an operating force generating means for generating an operating force for stimulating a tactile sensation when worn on a specific part of a human body In response to the virtual environment presented, the operating force generation control means controls the generation of the operating force to the operating force generating force means, and the virtual environment model is generated and provided to the virtual environment presenting means. Virtual environment control means for calculating the timing of generating the generated operation signal, and converting and generating the operation signal to the operation force generation control means;
The configuration of a virtual real-world sensation system device comprising:

According to a second feature of the system device of the present invention, the virtual environment control means in the first feature of the system device of the present invention includes a virtual environment model generating means for generating the virtual environment model; Operating signal generating timing calculating means for calculating the timing of generating the operating signal generated in response to the provision of the above, and operating signal generating means for converting and generating the operating signal based on the calculated timing. The configuration of the virtual reality system is employed.

A third feature of the system device of the present invention is that the virtual environment control means in the first or second feature of the above-mentioned system device of the present invention reflects the above-mentioned operation in the movement at the time of generating the virtual environment model. Another object of the present invention is to adopt a configuration of a virtual reality experience system apparatus in which a power generation unit or a three-dimensional position / posture detection unit that detects and outputs a three-dimensional position / posture of a human body specific portion is connected.

A fourth feature of the system device of the present invention is that the virtual environment control means in the first, second or third feature of the above-described system device of the present invention outputs an operation signal and outputs the sound signal at the same time as the generation of the operation signal. The present invention is to adopt a configuration of a virtual real-world sensation system device in which sound generating means are connected to each other.

A fifth feature of the system device of the present invention is that the operating force generation control means in the first, second, third or fourth feature of the system device of the present invention operates according to the information of the operating signal. The present invention resides in the adoption of a configuration of a virtual real-world sensation system device in which the power is replaced with an operating force variable control means.

A sixth feature of the system device of the present invention is that the first, second, third, fourth or fifth of the above-described system device of the present invention.
The virtual environment control means according to the above feature is characterized in that a virtual reality system apparatus constituted by a computer is employed.

A seventh feature of the system device of the present invention is that the sound generating means in the fourth, fifth, or sixth feature of the above-described system device of the present invention makes the generated sound variable according to the information of the operation signal. In the configuration of a virtual reality experience system apparatus.

An eighth feature of the system device of the present invention is that the first, second, third, fourth, fifth, and fifth features of the system device of the present invention described above.
The virtual environment presentation means according to the sixth or seventh aspect,
The present invention is to adopt a configuration of a virtual real-world sensation system device which is any of a large projector such as a CRT display, a liquid crystal display, and a plasma display, and a head mounted display.

A ninth feature of the system device of the present invention is that the fourth, fifth, sixth, seventh or eighth of the system device of the present invention described above.
The sound generating means according to the above aspect is characterized by adopting a configuration of a virtual reality system apparatus which is a stereo speaker.

A tenth feature of the system device of the present invention is that the three-dimensional position / posture detection in the third, fourth, fifth, sixth, seventh, eighth, or ninth feature of the system device of the present invention described above. The means lies in the configuration and adoption of a virtual real-world sensation system device such as a CCD stereo camera or a stereo imaging tube.

An eleventh feature of the system device of the present invention is that the system device of the present invention is characterized in that the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth or tenth of the system device of the present invention. A feature of the present invention resides in that the operating force generation control means is a virtual reality experience system device which is a control box directly connected to a compressor.

A twelfth feature of the system device of the present invention is that the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, or tenth of the above-described system device of the present invention. The operating force generating means according to the eleventh aspect, wherein the gripper that grips with hand and transmits impact vibration to the touch is connected, one end is connected to the control box, and the other end is opened to one side of the gripper tip. The gas discharge pipe and the base are attached to the lower arm near the wrist, and the impact vibration when the tip is exposed to the discharge port and the gas is discharged is used as a reaction force to the gripper to generate the shock vibration. The present invention resides in the configuration and adoption of a virtual reality sensation system device which is an actuator having a generated gas reflection plate.

A thirteenth feature of the system device of the present invention is that, in the twelfth feature of the system device of the present invention, the actuator is a virtual environment in which a posture sensor such as a gyro and an infrared LED are attached to required portions of the gripper. The configuration of the sensation system device is adopted.

The fourteenth feature of the system device of the present invention is the same as that of the fifth, sixth, seventh, eighth, ninth, tenth, eleventh, twelfth, or thirteenth feature of the system device of the present invention. A virtual realistic sensation system in which the variable actuation force control means is capable of variably controlling the gas discharge pressure to change the shock vibration in accordance with the relative movement between the moving virtual object in the virtual environment model and the actuator or the human body part in the real environment. The configuration of the device is adopted.

The fifteenth feature of the system device of the present invention is that the sixth, seventh, eighth, ninth, and first features of the system device of the present invention described above.
The virtual environment control means according to the zeroth, eleventh, twelfth, thirteenth, or fourteenth feature has a function of sharing a mutual operating force and a virtual environment model and connecting to a network in a remote place so that they can be used interchangeably. The present invention is to adopt the configuration of the virtual reality experience system device.

[0048]

Embodiments of the present invention will be described below with reference to the accompanying drawings based on an apparatus example, a method example, and an example. In the present embodiment, an explanation will be given exclusively on the assumption that the human body of the operating force generating means, which is the tactile stimulation means, is gripped by the hand as the lower arm near the wrist, but the present invention is not limited to this.

(Embodiment 1) FIG. 1 is a block diagram showing the system configuration of this embodiment. The virtual reality sensation system device A of the present device example is a virtual environment presentation means 1 for presenting a virtual environment for performing a virtual experience, and an operation force generation means 2 for mounting on a specific part of a human body to generate an operation force for stimulating tactile sensation. An operating force generation control unit 3 for controlling the generation of the operating force to the operating force generating unit 2, and a virtual environment model generated and provided to the virtual environment presentation unit 1, in response to the presented virtual environment. The virtual environment control means 4 which calculates the timing of generating the generated operation signal and converts the operation signal to the operation force generation control means 3 is configured.

The virtual environment control means 4 includes a virtual environment model generation means 4a for generating a virtual environment model, and an operation signal generation timing calculation for calculating a timing for generating an operation signal generated in response to the provision of the virtual environment model. Means 4
b and an operation signal transmitting means 4c for converting and generating an operation signal generated by measuring the calculated timing. The virtual environment presentation means 1 can employ a large projector such as a CTR display, an LCD display, a PDP display, or a head mounted display.

(Method Example 1) The processing procedure of the method example 1 of the present embodiment applied to the apparatus example 1 will be described with reference to FIG. First, in the virtual environment control means 4, the virtual environment model generation means 4 a generates a two-dimensional or three-dimensional virtual environment model, and presents it by the virtual environment presentation means 1. Further, in the virtual environment control means 4, the operation signal generation timing calculation means 4b calculates the generation timing of the necessary operation signal to be transferred to the operation signal generation means 4c in cooperation with the operation of the virtual environment model. Using this, the operation signal generation means 4c generates an operation signal converted to control the operation force control means 3. The operating force generating means 2 generates an instantaneous operating force through the operating force generation control means 3 according to the conversion operation signal.

(Example 1) A specific example 1 of the present embodiment to which the apparatus example 1 and the method example 1 are applied will be described in detail with reference to the drawings. FIG. 2 shows an example of the device example 1 taking a squash competition as an example of a virtual experience. An actuator 2 'for generating an operating force corresponding to the operating force generating means 2 includes a gas reflecting plate 5, a gas discharge tube 6, a grip 7, a control box 8 corresponding to the operating force generating control means 3, and a compressor 9.
It is composed of

The personal computer 10 corresponding to the virtual environment control means 4 generates an operation signal for controlling the actuator 2 ′ and presents the virtual environment model to the large projector 11 corresponding to the virtual environment presentation means 1. First, a virtual environment model 12 of a squash court and a ball is generated in the personal computer 10. In this virtual environment model 12, a ball 13 is launched from a wall. The personal computer 10 generating this model monitors the position information of the moving ball 13 in the model.

On the other hand, the actuator 2 'uses air as a working force as the working force generating means 2 to be gripped by the human hand α. The air is constantly supplied from the compressor 9 and is released by turning on and off a solenoid valve for opening and closing the air in the control box 8. The discharged air passes through the gas discharge pipe 6, and the air is instantaneously discharged to the discharge port 6.
By releasing the base from a to the closing block 5a of the gas reflecting plate 5 attached to the lower arm α1 near the wrist, impact vibration is applied to the hand α holding the grip 7 as an instantaneous reaction force.

In the personal computer 10, when the center position of the ball 13 in the virtual environment model 12 coincides with the line 14, the control box 8 generates an on / off signal of the solenoid valve. As a result, a reaction force is applied to the hand α gripping the grip 7 and the ball 13 is hit back by a virtual force.

The ball 13 is hit against the wall, bounces off the wall, returns again, and the same operation is repeated. By this series of virtual experience operations, the person having the grip 7 can experience squash in the virtual environment while realizing force feedback together with the graphics of the virtual environment model 12 projected on the large projector 11.

(Example 2 of Apparatus) FIG. 3 is a block diagram of the system configuration of an example of this apparatus. The virtual reality sensation system device B of this device example has the same configuration as the virtual environment control means 4 in FIG. 1 showing the virtual reality sensation system device A of the device example 1, and the same reference numerals are used to duplicate the description. avoided.

This example of the apparatus comprises a virtual environment presenting means 15, an operating force generating means 16, an operating force variable control means 17, a virtual environment controlling means 4, a three-dimensional position / posture detecting means 18, and a sound generating means 19. Be composed. The virtual environment presentation means 15 can employ the large projector or the head mounted display.

The virtual environment control means 4 operates the operating force generation means 1 in order to reflect the movement when the virtual environment model is generated.
6 or a three-dimensional position / posture detecting means 18 for detecting and outputting a three-dimensional position / posture of the human body specific portion, and a sound generating means 19 for varying the acoustic conversion output according to the information of the operation signal simultaneously with the generation of the operation signal conversion. Connect to the connection.

The actuation force variable control means 17 has a function of changing the actuation force according to the information of the actuation signal from the virtual environment control means 4. The operating force generating means 16 has a posture sensor at a required portion.

(Method 2) The processing procedure of the method 2 of the present embodiment applied to the apparatus 2 will be described with reference to FIG.
First, the virtual environment model generation means 4a creates, for example, three-dimensional models for the right eye and the left eye, and displays stereoscopic vision on, for example, a head-mounted display. 3D position
The posture detecting means 18 sequentially detects the position and posture of the user's hand α and uses this information as the operation signal generation timing calculating means 4b.
Send to

The operation signal generation timing calculating means 4b calculates the operation signal generation timing based on the position and orientation information, transfers the calculated operation signal timing to the operation signal generation means 4c, and sends a signal to the sound generation means 14 to generate an appropriate sound. generate. The operating signal converted for control is sent from the operating signal generating means 4c to the operating force variable control means 17, and the operating force is generated from the operating force generating means 16 by this control.
The operating force variable control means 17 can change the magnitude of the operating force in several steps.

(Example 2) A specific example 2 of this embodiment to which the above-described apparatus example 2 and method example 2 are applied will be described with reference to the drawings. FIG. 4 illustrates an example in which the virtual environment experience is used for a tennis competition.

The personal computer 10 corresponding to the virtual environment control means 4 generates a right-eye model and a left-eye model of the tennis virtual environment model 20 and a head-mounted display (HM) corresponding to the virtual environment presentation means 15.
D) Display at 21.

The position of the grip 7 held by the hand α
In order to determine the attitude, for example, as described in Japanese Patent Application No. 9-237370, CCD cameras 24 and 25 in which an infrared LED 22 and a small gyro 23 of an attitude sensor are attached to the grip 7 and a three-dimensional position is attached to a lens with an infrared transmission filter are provided. The gyro 23 measures posture information having three degrees of freedom by stereo processing using a pair of image pickup tubes.

When virtual tennis play starts, HMD2
The user who applies 1 shakes the grip 7 in accordance with the ball 26 moving in the tennis environment model 20 displayed on the HMD 21. At this time, the personal computer 10 acquires the position information subjected to the stereo processing by the CCD cameras 24 and 25 and the posture information from the gyro.

When the position of the ball 26 in the virtual environment model 20 matches the position of the hand α, an air control signal is sent to the control box 27. As a result, the solenoid valve opens and closes, air is supplied to the gas discharge pipe 6, the air is instantaneously sent out, and a reaction force is generated in the hand α. At the same time,
From the personal computer 10, a signal for generating an appropriate sound effect is sent to the stereo speakers 28 and 29 corresponding to the sound generating means 19.

Alternatively, by sending a sound effect to the headphone of the HMD 21, the virtual experience can be made real. Further, an operating force according to the rotation angle of the grip 7 is set in advance. The personal computer 10 sends an operation signal to the control box 27 so as to generate an operation force that matches the posture information measured from the gyro 23. In the control box 27, the impact vibration of the reaction force transmitted to the hand α can be changed by controlling the rate of opening of the solenoid valve, that is, the flow rate in accordance with each information of the operation signal.

If this embodiment is provided with a function of connecting to a network, it is possible to use the remote environment remotely by sharing the mutual operating force and the virtual environment model 20 via the network.

[0070]

According to the present invention, the visual sense has been mainly used as a means for interacting with the virtual environment, but the effect of enhancing the sense of reality of the virtual reality can be expected by adding force feedback to this.

[Brief description of the drawings]

FIG. 1 is a system configuration block diagram of an apparatus example 1 showing an embodiment of the present invention.

FIG. 2 is a system schematic diagram of the embodiment.

FIG. 3 is a system configuration block diagram of an apparatus example 2 showing an embodiment of the present invention.

FIG. 4 is a system schematic diagram of the embodiment.

[Explanation of symbols]

 A, B: virtual realistic sensation system device 1, 15: virtual environment presentation means 2, 16 ... actuation force generation means 2 ', 16' ... actuator 3: actuation force generation control means 4: virtual environment control means 4a: virtual environment model Generating means 4b Operating signal generation timing calculating means 4c Operating signal generating means 5 Gas reflecting plate 5a Closing block 6 Gas discharging pipe 6a Gas discharging port 7 Grip 8, 27 Control box 9 Compressor 10 Personal Computer 11 Large projector 12, 20 Virtual environment model 13, 26 Ball 14 Line 17 Operating force variable control unit 18 Three-dimensional position / posture detection unit 19 Sound generation unit 21 Head-mounted display (HMD) 22 ... infrared LED 23 ... small gyro 24, 25 ... CCD camera 28, 29 ... stereo Ospeaker α: Hand α1: Lower arm

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification code FI G09B 9/00 G09B 9/00 Z

Claims (35)

[Claims] 1. A virtual experience in a presented virtual environment is stimulated by at least the senses and sensations of the five senses in a real environment to give a sense of realism through a sense of reality, and is caused by the impact force of gas on the tactile stimulation means. A virtual real-world sensation method, characterized in that an impact vibration applied to the generated tactile stimulation means is sensed as a force sense. 2. A method for stimulating at least visual, auditory, and tactile sensations among the five senses in a real environment to provide a sense of realism through a sense of reality in a virtual environment presented in a virtual environment. A virtual realistic sensation method, characterized in that the user senses the impact vibration applied to the tactile stimulus means caused by the force sense as a force sense. 3. The virtual experience presented in the virtual environment in which the behavior of the real environment is reflected by reflecting the behavior of the real environment to stimulate at least the visual and tactile sensations of the five senses in the real environment to realize the virtual behavior and the reality through the sense of reality. A virtual reality sensation method, characterized in that, in order to enjoy a realistic sensation that fuses actions, a shock sensed by a tactile stimulation means generated by an impact force of gas on the tactile stimulation means is sensed as a force sense. 4. A virtual experience presented by reflecting a behavior in a real environment to a presented virtual bodily sensation in a virtual environment, and stimulates at least visual, auditory, and tactile sensations among the five senses in the real environment to virtualize through the real sensation. A virtual immersive experience characterized in that, in order to enjoy a realistic sensation that combines action and real action, the impact vibration applied to the tactile stimulus generated by the impact force of the gas on the tactile stimulus is sensed as a force sense. Method. 5. The virtual reality sensation method according to claim 1, wherein the realization of the virtual experience through the realism is realized via a computer. 6. The virtual reality sensation method according to claim 1, wherein the presentation of the virtual environment is a screen display that stimulates the sense of sight among the five senses. 7. The virtual environment according to claim 5, wherein the presentation of the virtual environment is performed based on a computer model or a relationship between the computer model and position / posture data of a certain virtual object. Realistic experience method. 8. The tactile stimulus according to claim 1, wherein at least one of said haptic stimulus means is attached to a specific part of a human body, and a computer model or a relation between said computer model and position / posture data of a certain virtual object is provided. The virtual reality experience method according to claim 5, 6 or 7, wherein the method is provided by generating an activation signal based on: 9. The method according to claim 1, wherein the impact vibration is changed in accordance with a relative movement between a moving virtual object in the virtual environment model and a human body part or the tactile stimulus means in a real environment. The virtual reality experience method according to 2, 3, 4, 5, 6, 7, or 8. 10. The haptic stimulus is obtained by attaching at least one or more of the haptic stimulating means to a specific part of an operator and generating an operation signal based on position / posture data of the operator. , Wherein: 1, 2, 3, 4, 5, 6, 7,
10. The virtual reality experience method according to 8 or 9. 11. The virtual realistic sensation method according to claim 7, wherein the computer model displays a motion as a stereo image on a screen. 12. The apparatus according to claim 10, wherein said tactile stimulus means is mounted on a specific part of an operator, and said tactile stimulus means is mounted on a lower arm near a wrist and gripped by hand. The virtual reality experience method described. 13. The screen display according to claim 6, wherein one of a large projector such as a CRT display, a liquid crystal display, and a plasma display and a head mounted display is used. The virtual reality experience method according to 11 or 12. 14. The virtual reality sensation method according to claim 8, wherein the operation signal is converted into sound and output in parallel with the generation. 15. The virtual realistic sensation method according to claim 14, wherein the sound is variably converted and output according to information of the operation signal. 16. The virtual reality sensation method according to claim 12, wherein the tactile stimulus is given to a tactile sensation of a hand or arm holding and holding the tactile stimulus means. 17. The method according to claim 3, wherein the reflection of the behavior of the real environment is performed through photographing of the behavior target.
The virtual reality sensation method according to 0, 11, 12, 13, 14, 15, or 16. 18. The virtual realistic sensation method according to claim 17, wherein the photographing of the behavior target is a photograph of a movement of the tactile stimulation unit to be worn or a hand to be gripped. 19. The virtual reality experience method according to claim 17, wherein the photographing of the behavior object contributes to detection of a three-dimensional position / posture of the behavior object. 20. The imaging of the behavior object, wherein the imaging of the behavior object is provided for an analysis operation of a three-dimensional position / posture of the behavior object corresponding to the presented virtual environment. The virtual reality experience method described in 4. 21. A virtual environment presenting means for presenting a virtual environment for providing a virtual experience, an operating force generating means mounted on a specific part of a human body to generate an operating force for stimulating tactile sensation, and Operating force generation control means for controlling generation of the operating force; anda timing for generating a virtual environment model and providing the virtual environment model to the virtual environment presentation means and generating an operation signal generated in response to the presented virtual environment. A virtual environment control means for calculating and converting and generating the operation signal to the operation force generation control means. 22. The virtual environment control means, comprising: a virtual environment model generation means for generating the virtual environment model; and an operation signal generation for calculating a timing of generating an operation signal generated in response to provision of the virtual environment model. 22. The virtual real-world sensation system device according to claim 21, comprising: timing operation means; and operation signal generation means for converting and generating an operation signal based on the calculated timing. 23. A three-dimensional position / posture detection unit for detecting and outputting a three-dimensional position / posture of the operating force generating unit or the human body specific portion in order to reflect the motion in generating the virtual environment model. 23. The virtual reality system according to claim 21, wherein the means is connected to the virtual reality system. 24. The virtual environment according to claim 21, 22 or 23, wherein said virtual environment control means is connected to a sound generation means for sound-converting and outputting said operation signal simultaneously with generation of said operation signal. Experience system device. 25. The operating force generation control means according to claim 21, 22, 23, or 24, wherein said operating force generation control means is replaced with an operating force variable control means capable of changing an operating force according to information of said operation signal. Virtual reality experience system device. 26. The virtual environment control means according to claim 21, wherein the virtual environment control means comprises a computer.
6. The virtual reality sensation system device according to 5. 27. The virtual reality sensation system according to claim 24, wherein the sound generating means changes a generated sound in accordance with information of the operation signal. 28. The virtual environment presenting means is one of a large projector such as a CRT display, a liquid crystal display, and a plasma display and a head mounted display.
28. The virtual reality sensation system device according to 5, 26 or 27. 29. The sound generator according to claim 24, wherein said sound generator is a stereo speaker.
8. The virtual reality sensation system device according to 8. 30. The three-dimensional position / posture detecting means is a CCD stereo camera, a stereo imaging tube, or the like.
30. The virtual reality sensation system device according to 7, 28 or 29. 31. The operating force generation control means is a control box directly connected to a compressor.
The virtual reality sensation system device according to 5, 26, 27, 28, 29 or 30. 32. The operating force generating means, comprising: a gripper which is gripped by hand and transmits an impact vibration to a tactile sensation; one end of which is connected to the control box, and the other end of which is opened at one end of the gripper. A gas discharge tube and a base are attached to the lower arm near the wrist, and the impact vibration when the tip is exposed to the discharge port and the gas is discharged is used as a reaction force to the gripper to generate the shock vibration. And a gas reflecting plate that is generated.
The virtual reality sensation system device according to 5, 26, 27, 28, 29, 30 or 31. 33. The virtual real-world sensation system device according to claim 32, wherein the actuator is provided with a posture sensor such as a gyro and an infrared LED at required positions of the gripper. 34. The variable operating force control means is capable of variably controlling the gas discharge pressure in order to change impact vibration in accordance with the relative movement between a moving virtual object in a virtual environment model and an actuator or a human body part in a real environment. 25, 26, 27, 28, 2 characterized by the following.
The virtual reality sensation system device according to 9, 30, 31, 32, or 33. 35. The virtual environment control means according to claim 26, wherein the virtual environment control means has a function of sharing a mutual operating force and a virtual environment model and connecting to a network so as to be freely used at a remote place. , 28, 29, 3
The virtual reality sensation system device according to 0, 31, 32, 33 or 34.