WO2023233491A1 - 振動提示装置、振動発生システム、振動提示プログラム、振動提示プログラムが格納された記録媒体及び振動発生方法 - Google Patents

振動提示装置、振動発生システム、振動提示プログラム、振動提示プログラムが格納された記録媒体及び振動発生方法 Download PDF

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Publication number
WO2023233491A1
WO2023233491A1 PCT/JP2022/022009 JP2022022009W WO2023233491A1 WO 2023233491 A1 WO2023233491 A1 WO 2023233491A1 JP 2022022009 W JP2022022009 W JP 2022022009W WO 2023233491 A1 WO2023233491 A1 WO 2023233491A1
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WO
WIPO (PCT)
Prior art keywords
vibration
time
maximum value
frequency band
local maximum
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Ceased
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PCT/JP2022/022009
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English (en)
French (fr)
Japanese (ja)
Inventor
雅司 昆陽
裕也 星
諭 田所
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Tohoku University NUC
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Tohoku University NUC
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Filing date
Publication date
Application filed by Tohoku University NUC filed Critical Tohoku University NUC
Priority to EP22944780.0A priority Critical patent/EP4534214A4/en
Priority to PCT/JP2022/022009 priority patent/WO2023233491A1/ja
Priority to CN202280096520.XA priority patent/CN119278102A/zh
Priority to JP2024524552A priority patent/JP7837085B2/ja
Publication of WO2023233491A1 publication Critical patent/WO2023233491A1/ja
Priority to US18/961,610 priority patent/US20250091088A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
    • B06B1/0207—Driving circuits
    • B06B1/0223—Driving circuits for generating signals continuous in time
    • B06B1/0269—Driving circuits for generating signals continuous in time for generating multiple frequencies
    • B06B1/0276—Driving circuits for generating signals continuous in time for generating multiple frequencies with simultaneous generation, e.g. with modulation, harmonics
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/25—Output arrangements for video game devices
    • A63F13/28—Output arrangements for video game devices responding to control signals received from the game device for affecting ambient conditions, e.g. for vibrating players' seats, activating scent dispensers or affecting temperature or light
    • A63F13/285—Generating tactile feedback signals via the game input device, e.g. force feedback
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B6/00—Tactile signalling systems, e.g. tactile personal calling systems

Definitions

  • the technology described in this specification relates to a vibration presentation device, a vibration generation system, a vibration presentation program, a recording medium storing the vibration presentation program, and a vibration generation method.
  • vibration feedback has become more sophisticated in order to enhance the sense of sensation and presence (see, for example, Patent Document 1).
  • the vibrators installed in mobile terminals such as smartphones are small and have a resonance frequency of around 200Hz, which can express a frequency band of around 100 to 300Hz.
  • a linear resonant actuator (LRA) type vibrator is often installed in the device (for example, see Patent Document 2).
  • Patent Document 4 discloses that a movable body that moves between biasing means such as a spring is controlled to apply an accumulation signal and a damping signal to a coil around the movable body, thereby adjusting the amplitude of the movable body.
  • An invention has been disclosed in which the size of a movable body can be suppressed by creating a pseudo vibration formed by an envelope connecting the vertices of the vibration at a frequency that can be felt by humans, but this method depends on the structure of the vibrator, and The input of multiple signals is complicated, and it is unclear whether it can be reproduced even at frequencies below 50 Hz.
  • the technology described in this specification allows humans to control low-frequency vibrations that are difficult to present, away from the resonant frequency band of the mounted actuator, by devising control of the actuator, etc., without using an additional actuator.
  • the purpose is to present vibrations that are easily perceived (illusioned) at low frequencies.
  • the vibration presentation device of the present invention is a vibration presentation device that presents vibrations in a first frequency band using an actuator having a resonant frequency in a second frequency band that is larger than the first frequency band, the vibration presentation device including at least the second frequency band.
  • an acquisition unit that acquires a signal including vibrations in the first frequency band whose resonance frequency is lower than the frequency band of the acquisition unit; a calculation unit that calculates a local maximum time, which is the time at which the local maximum value occurs, from the value; and a calculation unit that calculates the local maximum value time, which is the time at which the local maximum value occurs, based on the local maximum value time calculated by the calculation unit, and calculates the actuator within the transition time, which is the time before and after the local maximum value time. and a control unit that controls and generates a single wave.
  • vibrations with a frequency lower than the resonant frequency band that can be presented by an actuator can be converted into vibrations that humans can easily perceive (delusion) to be at that frequency and can be presented.
  • FIG. 1 is a configuration diagram schematically showing a configuration example of a vibration generation system as an embodiment.
  • 2 is a graph illustrating the principle of the process of presenting alternative vibrations for low-frequency vibrations by the vibration generation system shown in FIG. (b) is a graph showing an example of reverberant vibrations generated in the housing (measured by a laser displacement meter).
  • FIG. 2 is a diagram showing the results of a subject experiment regarding the process of presenting alternative vibrations to low-frequency vibrations by the vibration generation system shown in FIG. e) is a graph showing the response results when the original (target signal) low frequency waveforms are 10 Hz, 20 Hz, 30 Hz, and 40 Hz, respectively.
  • FIG. 1 is a graph illustrating a first example of the amplitude and timing calculation process by the vibration generation system shown in FIG. 1
  • (b) is a graph illustrating the amplitude and timing calculation process by the vibration generation system shown in FIG. It is a graph explaining the second example of. It is a graph explaining the online calculation process of the amplitude and timing of low frequency vibration.
  • FIG. 2 is a block diagram for explaining generation processing of a first vibration waveform and a second vibration waveform by the vibration generation system shown in FIG. 1.
  • FIG. (a) is a block diagram illustrating vibration generation processing when a vibrator is used by an actuator
  • (b) is a block diagram illustrating vibration generation processing when a mobile terminal is used.
  • FIG. 1 is a diagram schematically showing a configuration example of a vibration generation system 100 as an embodiment.
  • the vibration generation system 100 includes a vibration presentation device 1 and a vibration sensation device 3.
  • the vibration presentation device 1 includes a CPU 11 , a memory 12 , a storage device 13 , an input section 41 , an output section 42 , and a transmission section 43 , each of which is connected via a bus 15 .
  • the vibration sensation device 3 includes an actuator 31, a driving section 32, and a receiving section 33, and is housed in a housing 34.
  • the vibration presentation device 1 and the vibration sensation device 3 may be provided separately or may be provided integrally. Further, a part of the vibration presentation device 1 may be provided in the vibration sensation device 3. Further, the housing 34 may house the entire vibration presentation device 1 when the vibration presentation device 1 and the vibration sensation device 3 are integrated.
  • the vibration generation system 100 in an example of the present embodiment is mainly used for smartphones, game consoles, virtual reality (VR) devices, robots, etc., but may also be applied to chairs, suits, headsets, etc. that include vibration devices.
  • VR virtual reality
  • the vibration presentation device 1 includes a Central Processing Unit (CPU) 11 that performs control and driving, a memory 12 that stores programs, etc., a storage device 13, an input unit 41 that acquires information including signals to be reproduced such as original signals, and a vibration presentation device.
  • the apparatus includes an output section 42 that outputs information other than tactile sensations such as tactile sensations to the user, a transmitting section 43 that communicates information with the vibration sensation device 3, and a bus 15 that connects them.
  • the CPU 11 is a processing device that performs various controls and calculations, and realizes various functions by executing an Operating System (OS) and a vibration presentation program stored in the memory 12. That is, the CPU 11 may function as an acquisition unit 101, a calculation unit 102, and a control unit 103, as shown in FIG.
  • OS Operating System
  • the CPU 11 may function as an acquisition unit 101, a calculation unit 102, and a control unit 103, as shown in FIG.
  • the CPU 11 is an example of a computer, and exemplarily controls the operation of the vibration presentation device 1 as a whole.
  • the device for controlling the overall operation of the vibration presentation device 1 is not limited to the CPU 11, and may be, for example, any one of an MPU, a DSP, an ASIC, a PLD, an FPGA, or a dedicated processor. Further, the device for controlling the operation of the entire vibration presentation device 1 may be a combination of two or more types of CPU, MPU, DSP, ASIC, PLD, FPGA, and dedicated processor.
  • MPU is an abbreviation for Micro Processing Unit
  • DSP is an abbreviation for Digital Signal Processor
  • ASIC is an abbreviation for Application Specific Integrated Circuit
  • PLD is an abbreviation for Programmable Logic Device
  • FPGA is an abbreviation for Field Programmable Gate Array.
  • the memory 12 is a recording medium that stores an Operating System (OS) and a vibration presentation program, and is composed of Read Only Memory (ROM), Random Access Memory (RAM), and the like.
  • OS Operating System
  • RAM Random Access Memory
  • the storage device 13 is a device that stores data in a readable and writable manner, and for example, a Hard Disk Drive (HDD), Solid State Drive (SSD), or Storage Class Memory (SCM) may be used.
  • the storage device 13 stores information acquired by the input unit 41, signals and tactile signals related to vibrations to be reproduced, various data calculated by the calculation unit 102 using the vibration presentation program, and the like.
  • the input unit 41 is the vibration presentation device 1, and inputs various information including acoustic information such as sounds from music, movies, games, etc., shocks, sensations during operation, vibrations generated when the robot comes into contact with objects, etc. It is obtained online. Note that the input unit 41 may not be provided if the storage device 13 or the like stores information in advance to reproduce a tactile sensation.
  • the output unit 42 is for the vibration presentation device 1 to generate video and sound sources for presenting information other than the vibration sensation device 3 to the user. Note that the output unit 42 does not need to be provided as long as it does not present images, sound sources, etc. to the user. Further, the vibration sensation device 3 may be provided with an output section 42.
  • the transmitting unit 43 is a part that transmits a control signal via the receiving unit 33 of the vibration sensation device 3 by wire or wirelessly.
  • the transmitter 43 may use a communication method such as SPI, I2C, or I2S, or an analog signal such as voltage.
  • the transmitter 43 may be incorporated as a function of the CPU 11.
  • wired communication communication methods such as USB, Thunderbolt (registered trademark), Ethernet (registered trademark), and HDMI (registered trademark) may be used.
  • wireless for example, it may be a communication unit for Bluetooth (registered trademark), WiFi, or ZigBee (registered trademark), or a communication unit for wireless LAN (Local Area Network).
  • Bluetooth registered trademark
  • WiFi Wireless Fidelity
  • ZigBee registered trademark
  • wireless LAN Local Area Network
  • the acquisition unit 101, calculation unit 102, and control unit 103 of the CPU 11 will be specifically explained.
  • the acquisition unit 101 acquires acoustic information such as sounds from music, movies, games, etc. obtained from the input unit 41, as well as signals such as shocks, sensations during operation, and vibrations generated when the robot comes into contact with objects. It is.
  • a signal or a tactile signal related to the vibration to be reproduced is stored in advance in the storage device 13 or the like, the signal is read out from the storage device 13 to the acquisition unit 101 and acquired.
  • the calculation unit 102 analyzes the tactile signal acquired by the acquisition unit 101, and separates and extracts the tactile signal into a first frequency band and a second frequency band, or calculates the maximum value of vibration in the first frequency band and the maximum value of the vibration in the first frequency band. This is the part that calculates time (timing) and amplitude. The specific calculation process will be described later.
  • the control unit 103 is a unit that generates a control signal to control the actuator, and controls the actuator 31 to reproduce the second frequency band calculated by the calculation unit 102 in the first frequency band.
  • a pulse wave such as a sine wave or a rectangular wave having at least a predetermined period (hereinafter also referred to as "single wave period time") within a predetermined time including the maximum value of is generated by controlling the actuator 31. , reproduce a simulated first frequency band.
  • the waveform may be a half period, 1.5 periods, or 2 periods, or a waveform of several periods with different amplitudes may be output. .
  • reverberation can be effectively generated in the housing 34 by using a waveform with several cycles of different amplitudes.
  • the single-shot wave cycle time for generating the single-shot waveform is a time shorter than one cycle of reverberant vibration generated by the resonance system of the actuator 31 or the resonance system of the actuator 31 and the housing 34, and is, for example, a time that the user can fully experience.
  • the vibration frequency that can be generated by current actuators the time is preferably 0.002 seconds or more and 0.02 seconds or less. Alternatively, it may be determined according to the period ratio of the vibration waveform acquired by the acquisition unit 101.
  • the vibration sensation device 3 reproduces acoustic information such as sounds from music, movies, games, etc., shocks, sensations during operation, and tactile signals such as vibrations generated when the robot comes into contact with an object for the sushi user. This is the part that will be provided to the public.
  • the vibration sensation device 3 includes an actuator 31 that generates vibrations, a driving section 32, and a receiving section 33.
  • the actuator 31 is equipped with an actuator 31 that has a resonance system in a frequency band of about 50 to 350 Hz, which is a high frequency band (second frequency band) in which humans have high vibration perception sensitivity, in order to bring the reproduced tactile signal closer to reality. has been done.
  • the actuator 31 of 200Hz ⁇ 150Hz is used to reproduce a high frequency band, and the actuator 31 is further used to reproduce a low frequency band (first frequency band) of 100Hz or less (10Hz to 100Hz, especially 10Hz to 50Hz) is converted and presented in a way that humans can experience it.
  • first frequency band 100Hz or less (10Hz to 100Hz, especially 10Hz to 50Hz
  • the actuator 31 is a voice coil type actuator using a magnet and a coil, such as an LRA (linear resonance type actuator).
  • the actuator 31 may be provided within the housing 34.
  • the actuator 31 and the housing 34 constitute a resonance system.
  • the resonance frequency of the resonance system of the actuator 31 may be, for example, 200Hz ⁇ 150Hz.
  • the upper limit value of the resonance system of the actuator 31 may be, for example, 350 Hz, and the lower limit value may be 50 Hz.
  • the actuator 31 is not limited to a voice coil type actuator, and may be configured by a weight in which the actuator 31 is supported and connected to an elastic body within the casing 34.
  • the actuator 31, the elastic body, the weight, and the casing 34 A resonant system is constructed.
  • a battery or various parts inside the housing 34 may be used as the weight.
  • the driving unit 32 is a part that drives the actuator based on the digital signal or analog signal that is received by the receiving unit 33 and is generated by the control unit 103 and controls the actuator 31.
  • the drive unit 32 may include an amplifier (not shown) (in other words, an amplifier), a feedback circuit, etc. for driving the actuator 31.
  • the receiving unit 33 is a part that receives the control signal transmitted from the transmitting unit 43 of the vibration presentation device 1.
  • the receiving section 33 may be omitted if the signal from the transmitting section 43 is directly sent to the driving section 32.
  • FIG. 2 is a graph illustrating the principle of the process of presenting alternative vibrations for low-frequency vibrations by the vibration generation system 100 shown in FIG. 1, and (a) of FIG. This is a graph showing an example of a waveform, and (b) of FIG. 2 is a graph showing an example of reverberant vibration generated in the housing 34 (measured by a laser displacement meter).
  • the horizontal axis represents time (Time [s])
  • the vertical axis represents amplitude (Amplitude)
  • the dotted line graph represents the original signal to be reproduced at 10 Hz (reproduced with substitute vibration).
  • the solid line graph represents the pulse signal (Control pulse signal), which is a single waveform generated by controlling the actuator 31. signal).
  • a short-time pulse signal is generated as an input waveform by controlling the actuator 31 in accordance with the peak timing of the low frequency signal of the continuous target signal.
  • the pulse signal input by the actuator 31 uses a sine wave with one period. By generating a pulse signal in accordance with the peak of the low frequency signal, a characteristic low frequency period is expressed.
  • a controlling pulse signal (in other words, an alternative waveform) is generated by the following equation.
  • A is the amplitude of the original low frequency
  • f is the frequency of the substitute stimulus
  • t' is the time at which the original low frequency reaches its maximum value.
  • the horizontal axis is time (Time [s])
  • the vertical axis on the left is the voltage of the original signal and control signal (Original/Control signal [V])
  • the vertical axis on the right is It represents the displacement due to measured vibration (Measured vibration [ ⁇ m]).
  • the dotted line graph represents the original signal (target signal)
  • the thick line graph represents the pulse signal (control pulse signal) generated by controlling the actuator 31
  • the thin line graph represents the case of the vibration generation system 100. It represents the displacement (measured vibration) that occurs in the body 34 and is measured.
  • reverberant vibration is generated due to the natural vibration of the casing 34 including the actuator 31. Reverberant vibrations take time to decay. It is believed that this attenuated waveform generates a low-frequency sensation that is originally difficult to reproduce in the actuator 31.
  • FIG. 3 is a diagram showing the results of a subject experiment regarding the process of presenting alternative vibrations for low-frequency vibrations by the vibration generation system 100, in which (a) is a table showing answer options by the subjects, and (b) is a table showing the target It is a graph showing the results of the average value of the test subject's three answers when the low frequency waveform of the signal is 10 Hz, and (c) is the result of the test subject's three answers when the low frequency waveform of the target signal is 20 Hz. It is a graph showing the result of the average value of. (d) is a graph showing the results of the average value of the test subject's three answers when the low frequency waveform of the target signal is 30 Hz.
  • (e) is a graph showing the results of the average value of the test subject's three answers when the low frequency waveform of the target signal is 40 Hz.
  • (b) to (e) show the maximum and minimum values of the answer options, as well as the interquartile range and median.
  • sine waves of 10 Hz, 20 Hz, 30 Hz, and 40 Hz were set as the low-frequency vibrations used as the target signals, and sine waves of 60 Hz, 80 Hz, and 100 Hz were used as stimulations to serve as alternative vibrations.
  • the experiential experiment in order to prevent subjects from selecting answers based on information other than the vibrations they felt, they were made to experience it by having them hold a voice coil type vibrator that can present approximately 10 Hz to 100 Hz in one hand.
  • the subjects were seven men and women in their 20s.
  • the stimuli that subjects were asked to physically evaluate were the low-frequency vibration itself (Raw Wave), which is the target signal, an alternative vibration created using a 60 Hz sine wave, an alternative vibration created using an 80 Hz sine wave, and a 100 Hz sine wave.
  • Raw Wave the low-frequency vibration itself
  • an alternative vibration created using a 60 Hz sine wave an alternative vibration created using an 80 Hz sine wave
  • a 100 Hz sine wave a type of alternative vibrations created using the above were used for low frequency vibrations of 10 Hz, 20 Hz, 30 Hz, and 40 Hz as target signals, respectively.
  • the stimulus was presented repeatedly as long as the subject could produce an answer. Each type of stimulus was presented randomly to avoid order effects. Subjects conducted the experiment with their hearing blocked using white noise and soundproof earmuffs. Stimuli in the experiment were output from a voice coil vibrator (VP4, Acouve Laboratory, Inc.) held by the subject via a USB audio interface (ASUS, XONAR U7 MK II) and an audio amplifier (SMSL SA-36A PRO). .
  • VP4 voice coil vibrator
  • ASUS USB audio interface
  • XONAR U7 MK II XONAR U7 MK II
  • SSL SA-36A PRO an audio amplifier
  • the median scale value of the responses was created using the values answered by the subject for the low-frequency vibration itself of 10Hz, 20Hz, 30Hz, and 40Hz, and the values for 60Hz, 80Hz, and 100Hz.
  • the subjects were able to recognize the low frequency vibrations that they felt were generated by the low frequency vibrations themselves (Raw Waves) of 10Hz, 20Hz, 30Hz, and 40Hz. It is thought that the substitute vibrations created at 60Hz, 80Hz, and 100Hz provide a sensation similar to the vibration itself.
  • A-4 Method for determining the amplitude and timing of substitute vibrations from the target signal
  • target signal the ideal original signal
  • this method is used in music, games, etc.
  • the original signal (target signal) to be reproduced is a complex vibration.
  • FIG. 4 is an example of a signal such as vibrations generated by music, etc., acquired in advance by the acquisition unit 101 of the vibration generation system 100 shown in FIG. 1, or stored in advance in the storage device 13, etc.
  • FIG. 4 is a graph illustrating a first example of calculation processing of the timing of generating a single waveform by controlling the actuator 31 in the amplitude and control unit 103 in the calculation unit 102 using , is a graph illustrating a second example.
  • the vibration to be reproduced is shown as a low frequency signal (original signal (target signal)) after being separated into a high frequency signal and a low frequency signal, which will be described later.
  • the low frequency signal is a signal having a predetermined frequency or less, for example, 100 Hz or less, preferably 80 Hz or less, more preferably 60 Hz or less. It may be determined as appropriate depending on the area of the mounted actuator 31 that is difficult to reproduce.
  • the low frequency signal may be processed as the entire low frequency signal after separation, or may be further separated into each predetermined low frequency region (for example, the low frequency signal of 80 Hz or less and 10 Hz or more When acquired, the signal may be further separated into 10 Hz to 50 Hz and 50 Hz to 80 Hz, and the processing of the calculation unit 102 may be applied to the respective low frequency signals.)
  • various drive parameters of the actuator 31 such as the single wave waveform, single wave cycle time, and amplitude, for each separated frequency band, alternative vibrations that are closer to the human sensation can be generated for each frequency band. A combination of a plurality of them may be presented.
  • the calculation unit 102 calculates a plurality of local maximum values and local minimum values included in the signal waveform in the low frequency band.
  • the distance from the maximum value to the intersection point of a perpendicular line connecting multiple minimum values is the amplitude of the alternative vibration (see the double-headed arrow) (hereinafter referred to as the "local maximum value"). (sometimes referred to as "amplitude").
  • the timing and amplitude for presenting the alternative vibration are determined.
  • the calculation unit 102 calculates only a plurality of local maximum values included in the waveform in the low frequency band.
  • the selection of the local maximum value is the same as in the first example, and the position (local maximum value time) of the selected local maximum value is calculated as the timing time for presenting the alternative vibration.
  • the local maximum amplitude is calculated as the distance from the predetermined reference value to the local maximum value as the amplitude of the alternative vibration (see the double-headed arrow).
  • the first example is effective when the background noise is large and the target signal waveform in the low frequency band is small compared to the noise.
  • the second example is effective when the target signal waveform in the low frequency band is sufficiently large compared to noise.
  • the timing at which a single waveform is output does not necessarily have to be strictly at the maximum value time, but rather the time before and after the maximum value time, that is, the predetermined time transition from the maximum value time (hereinafter also referred to as "transition time”). It may also be generated by The predetermined time transition (transition time) is defined as the timing at which the housing vibration (reverberant vibration) controlled by the single-shot waveform reaches its maximum coincides with the maximum value time determined from the target signal, or is approximately the same as the maximum value time. It may be set to such an extent that humans do not feel any discomfort.
  • the transition time is determined by how much deviation a person can tolerate from the visual and auditory sensations presented from the output unit 42. According to existing research, humans have a threshold for noticing a difference of 0.04 seconds when experiencing repeated sensations, and 0.03 seconds when experiencing a single sensation. Therefore, the transition time can be set within a range of about ⁇ 0.04 seconds, for example, but in order to avoid causing discomfort to sensitive people, it is preferably set within a range of about ⁇ 0.02 seconds. is desirable.
  • the generation timing of the single-shot waveform maintains the calculated local maximum value interval time.
  • the reason why the timing does not need to be exactly the maximum value time is that even if the timing of outputting a single waveform is shifted by a certain amount, the person who feels the vibration will hardly notice it, and it will be , it is considered important to reproduce the time between the main local maxima to present alternative oscillations in the low frequency region to the user.
  • the maximum value and maximum value time are determined from the waveform, amplitude height, etc., but the invention is not limited to this. For example, it may be determined from the root mean square value, effective value, amount of change, etc. of the signal. Any method may be used as long as it can determine the maximum value and maximum value time that are the feature points of the signal.
  • the amplitude of the alternative vibration does not need to be exactly the magnitude of the maximum value amplitude determined in FIGS. 4(a) and 4(b), and may be determined by multiplying the determined maximum value amplitude by a predetermined ratio.
  • the predetermined ratio may be adjusted to the characteristics of the housing and actuator used to approximate the low frequency experience of the original signal (target signal).
  • the calculated amplitude may be adjusted by an exponential function or the like to match the nonlinear subjective intensity perceived by humans.
  • the predetermined ratio may be, for example, 80% or more and 120% or less with respect to the obtained local maximum value amplitude.
  • the amplitude of the substitute vibration may be presented as a certain amplitude in advance, such as when the maximum amplitude of the signal to be reproduced does not vary much. In this case, there is no need to find the maximum amplitude.
  • FIG. 5 information acquired by the input unit 41 in real time while online is acquired as a signal by the acquisition unit 101, and then the target low frequency vibration is extracted by separating it into high frequency vibration and low frequency vibration, and the target low frequency vibration is extracted.
  • This is a graph explaining the amplitude and timing determination process, and the horizontal axis represents the passage of time.
  • the extracted original low-frequency vibration signal (target signal) is divided by a certain period of time, and the maximum value within each divided section is calculated.
  • the predetermined divided sections may coincide with the sections necessary for processing the separated high-frequency vibrations.
  • the division interval may be 0.02 seconds or less, and may be an interval of 0.01 seconds, 0.005 seconds, or the like.
  • a section in which the maximum value changes from increasing to decreasing is detected, and the maximum value immediately before changing to decreasing is calculated as the maximum value time of the original signal.
  • time differentiation or the like may be used.
  • a local maximum value (peak value) is detected, during a predetermined time T (for example, within 0.1 seconds) determined from the above-mentioned interval time, the next peak is detected according to a predetermined rule (for example, the previous maximum value). (e.g., it is not larger than 20%).
  • a predetermined rule for example, the previous maximum value. (e.g., it is not larger than 20%).
  • the ⁇ marks in FIG. 5 indicate sections having local maximum values that were detected within a predetermined time and were not excluded, and the x marks indicate sections having local maximum values that were excluded.
  • Case #1 indicates a case where the next maximum value is not detected within the predetermined time T.
  • the maximum value among the detected values is determined as the output timing (maximum value time) of the single wave.
  • Case #2 shows a case where the next maximum value is detected within a predetermined time, but the next maximum value is not excluded because it is larger than the previous maximum value by a predetermined value.
  • the predetermined value is, for example, 20% or more larger than the previous maximum value.
  • both the detected first maximum value and the next maximum value that is 20% or more larger than the previous maximum value are determined as the output timing (maximum value time) of the single wave.
  • Case #3 shows a case where the next maximum value is detected within the predetermined time T, but is excluded because it is smaller than the previous maximum value. In this case #3, only the first maximum value detected is determined as the output timing, and the next small maximum value is excluded from the output timing of the single wave. However, giving priority to the elapsed time of the predetermined time T, the next maximum value (the first maximum value with the output timing in case #3) before the elapse of the predetermined time T in case #2 is single-shot. If it is excluded from the output timing of case #3, the next small maximum value of case #3 may be set as the output timing (maximum value time) of the single wave.
  • Whether to give priority to a point larger than a predetermined value than the previous maximum value or to give priority to the elapsed time of the predetermined time T is determined depending on the situation of the signal to be reproduced and the situation to be presented.
  • the method of calculating the local maximum value can also be diverted to calculating the local minimum value by finding the minimum value within the interval and finding the interval where the decrease changes to an increase.
  • the calculated local maximum value and local minimum value are shown in Figure 4 ( By applying the method a), it is possible to calculate the amplitude of a short-time single waveform.
  • the output timing of the single wave is as soon as possible after the amplitude of the single waveform is calculated by the method shown in FIGS. 4(a) and 4(b).
  • the amplitude of a single waveform may be calculated in advance by buffering the signal for a predetermined time T or more.
  • the output timing and amplitude are reset as the previously acquired signal according to the method shown in Figures 4(a) and (b). Good too.
  • the output timing and amplitude during online may be stored in the storage device 13, and the output timing and amplitude may be reproduced.
  • the local maximum time and local maximum amplitude calculated by the calculation unit 102 are stored in association with other visual and auditory information as time series data for reproduction. It is stored in the device 13.
  • the driving timing of the actuator 31 can be controlled from the control unit 103 along with visual and auditory information at any time, thereby providing the user with a realistic experience.
  • FIG. 6 shows how to calculate the low frequency region from the original signal such as vibrations generated in music, movies, games, etc., acquired by the acquisition unit 101 by the calculation unit 102, or from the original signal stored in advance in the storage device 13, etc.
  • FIG. 2 is a block diagram for explaining generation processing of a vibration waveform in a first frequency band and a vibration waveform in a second frequency band, which is a high frequency region.
  • step 201 a signal of a predetermined frequency or lower is converted into a high frequency signal from the signal X(t) acquired by the acquisition unit 101 or stored in advance in the storage device 13 or the like (in other words, the signal to be reproduced before conversion).
  • This is a step of separating signals into a band signal H(t) and a low frequency band signal L(t).
  • the high frequency band signal H(t) uses a high frequency band pass filter such as a high pass filter to remove signals below a predetermined frequency.
  • a well-known method is used for separation and removal means.
  • the separated high frequency band signal H(t) generates a second vibration waveform S 2 (t), which is a high frequency band waveform, in a second vibration waveform generation step 202.
  • a low frequency band signal L(t) having a predetermined frequency or less is filtered from the signal X(t) using a low frequency band pass filter such as a low pass filter.
  • the single wave amplitude (maximum amplitude) A i (i is , represents the number of the single wave to be generated) and the output time (maximum value time) t i are calculated.
  • the first vibration generation step 204 generates a first vibration waveform (alternative vibration) S 1 (t), which is a waveform in a low frequency band, from the amplitude A i and output time t i of the single wave calculated in step 203 .
  • the first vibration generation step 204 determines the shape of the single wave by referring to the single wave parameters for determining the single waveform.
  • the single wave parameters may include numerical values such as a single wave period time, transition time, interval time, or amplitude ratio of a single wave.
  • FIG. 7(a) is a block diagram illustrating vibration generation processing when the actuator 31 is controlled by the control unit 103 of a general device
  • FIG. FIG. 2 is a block diagram illustrating vibration generation processing when using a device having a device-specific parameter conversion function, such as a mobile terminal such as .
  • the second vibration waveform S 2 (t) of the high frequency band signal generated in the second vibration waveform generation step 202 of FIG. Use this to adjust the high frequency gain.
  • the first vibration waveform (alternative vibration) S 1 (t) of the low frequency band signal generated in the first vibration generation step 204 of FIG. Use this to adjust the low frequency gain.
  • the gain-adjusted first vibration waveform S 1 (t) and second vibration waveform S 2 (t) are combined to form a composite wave.
  • the driving step 305 a signal is generated from the control unit 103 of the vibration generation system 100 based on the combined wave of the combining step 304, and the actuator 31 is driven.
  • the vibration generation system 100 has a parameter conversion function specific to a device such as a terminal
  • the high frequency band signal is converted to the high frequency band signal at the high frequency conversion step 402 and the second vibration waveform generation step 202 of FIG.
  • the second vibration waveform S 2 (t) of the high frequency band signal generated in is converted into a high frequency parameter series based on the conversion defined by the OS (Operating System) of the mobile terminal.
  • the signal converted as a high frequency parameter series in step 402 is converted into a time series and an amplitude series in step 403.
  • the control unit 103 drives the actuator 31 to create and reproduce a tactile pattern.
  • the single wave amplitude A i and output time (timing) t i calculated by the calculation unit 102 in calculation step 203 of FIG. 6 are converted into parameters specific to the mobile terminal in step 502. .
  • the signal converted as a parameter series is converted into a time series and an amplitude series in step 503.
  • the control unit 103 drives the actuator 31 to create and reproduce a tactile pattern.
  • vibrations in a low band of about several tens of Hz which is lower than the resonance frequency band that can be presented by an actuator, are converted into vibrations that are easily felt by humans.
  • the present invention is carried out using an LRA with a resonant frequency of around 100 Hz to 300 Hz, which is commonly installed in mobile terminals, etc., and can be used in combination with various technologies.
  • Patent Document 2 the inventors of the present application have developed a technology that uses an energy control unit to maintain the energy of a high-frequency signal, thereby converting it to approximately 200 Hz while maintaining the tactile sensation of the high frequency. Disclosed. It can be used in combination with the present invention's presentation method using alternative vibrations for low-band vibrations, and even if an LRA with a narrow frequency band is used, by combining the present invention and the technology disclosed in Patent Document 2, it is possible to reduce the frequency range from several tens of Hz to It becomes possible to present the sensation of a wide frequency band of about 400 Hz, increasing the degree of freedom in designing equipment, and making it possible to reduce the size and cost.
  • the present invention by creating an alternative vibration with the actuator 31 for vibrations with a frequency lower than the resonance frequency band of the actuator 31, it is possible to convert the vibrations into vibrations that are easily perceived by humans as a low frequency and present the vibrations.
  • mobile devices such as smartphones that use LRA as a vibrator, it has been difficult to express low frequencies of about 10Hz to 50Hz with LRA, but by using the present invention, it is possible to experience low frequencies. can be presented.
  • the present invention acquires a signal including vibration in a first frequency band, which is vibration in a low frequency band, from an original signal that is a reproduction target, determines the local maximum value of the vibration in the acquired first frequency band, and
  • the calculation unit 102 calculates the local maximum time of the time that corresponds to the maximum value, and based on the calculated local maximum time, the actuator 31 is driven within a transition time that does not affect the human sensation around the local maximum time to generate a single shot.
  • the calculation unit 102 sets the interval time, which is the time interval between adjacent local maximum values, to 0.1 seconds or more, so that the alternative waveform to be presented can be easily perceived by humans.
  • the sensation it provides does not give a high-frequency vibration sensation.
  • the calculation unit 102 calculates whether the intensity of a second local maximum value immediately after the first local maximum value among the plurality of local maximum values is greater than the intensity of the first local maximum value by a predetermined percentage or more. Furthermore, even if the time interval between the first maximum value and the second maximum value is less than or equal to a predetermined time interval, the second maximum value may be calculated. As a result, in a real-time case such as online, the low-frequency experience can be reflected in real time by providing the user with an alternative waveform at a characteristic point in the original waveform.
  • the control unit 103 generates a sine wave or pulse wave with an intensity of 80% or more and 120% or less with respect to the intensity of the local maximum amplitude. As a result, the intensity of the alternative waveform can be appropriately controlled, and the sense of realism is further enhanced.
  • the actuator of the present invention uses a housing that generates reverberant vibrations, and by utilizing the reverberations, it is possible to present more realistic low-frequency alternative vibrations to the user.
  • vibration generation system 100 shown in FIG. 1 includes one actuator 31, the present invention is not limited to this.
  • the number of actuators 31 provided in the vibration generation system 100 can be changed in various ways.
  • Vibration presentation device 3 Vibration sensation device 11: CPU 12: Memory 13: Storage device 15: Bus 31: Actuator 32: Drive section 33: Receiving section 34: Housing 41: Input section 42: Output section 43: Transmission section 100: Vibration generation system 101: Acquisition section 102: Calculation section 103: Control unit

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)
  • User Interface Of Digital Computer (AREA)
PCT/JP2022/022009 2022-05-30 2022-05-30 振動提示装置、振動発生システム、振動提示プログラム、振動提示プログラムが格納された記録媒体及び振動発生方法 Ceased WO2023233491A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP22944780.0A EP4534214A4 (en) 2022-05-30 2022-05-30 VIBRATION PRESENTATION DEVICE, VIBRATION GENERATION SYSTEM, VIBRATION PRESENTATION PROGRAM, RECORDING MEDIA STORING A VIBRATION PRESENTATION PROGRAM, AND VIBRATION GENERATION METHOD
PCT/JP2022/022009 WO2023233491A1 (ja) 2022-05-30 2022-05-30 振動提示装置、振動発生システム、振動提示プログラム、振動提示プログラムが格納された記録媒体及び振動発生方法
CN202280096520.XA CN119278102A (zh) 2022-05-30 2022-05-30 振动呈现装置、振动产生系统、振动呈现程序、存储有振动呈现程序的记录介质以及振动产生方法
JP2024524552A JP7837085B2 (ja) 2022-05-30 2022-05-30 振動提示装置、振動発生システム、振動提示プログラム、振動提示プログラムが格納された記録媒体及び振動発生方法
US18/961,610 US20250091088A1 (en) 2022-05-30 2024-11-27 Vibration presentation device, vibration generation system, vibration presentation program, recording medium storing vibration presentation program, and vibration generation method

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WO2025182614A1 (ja) * 2024-02-28 2025-09-04 ソニーグループ株式会社 触覚提示装置及び情報処理方法
WO2026005035A1 (ja) * 2024-06-27 2026-01-02 国立大学法人京都大学 触覚提示方法

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WO2014207842A1 (ja) * 2013-06-26 2014-12-31 富士通株式会社 駆動装置、電子機器及び駆動制御プログラム
WO2021085506A1 (ja) * 2019-10-28 2021-05-06 国立大学法人東北大学 振動制御装置，振動制御プログラム及び振動制御方法

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JP4065769B2 (ja) * 2002-11-29 2008-03-26 アルプス電気株式会社 振動発生装置
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JP2012168775A (ja) * 2011-02-15 2012-09-06 Nikon Corp 電子装置、信号変換方法およびプログラム
WO2014207842A1 (ja) * 2013-06-26 2014-12-31 富士通株式会社 駆動装置、電子機器及び駆動制御プログラム
WO2021085506A1 (ja) * 2019-10-28 2021-05-06 国立大学法人東北大学 振動制御装置，振動制御プログラム及び振動制御方法

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
WO2025182614A1 (ja) * 2024-02-28 2025-09-04 ソニーグループ株式会社 触覚提示装置及び情報処理方法
WO2026005035A1 (ja) * 2024-06-27 2026-01-02 国立大学法人京都大学 触覚提示方法

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CN119278102A (zh) 2025-01-07
JPWO2023233491A1 (https=) 2023-12-07

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