Sensation presentation system and control device

Abstract

A sensation presentation system (1) comprises: sensation presentation devices (3, 5) that are attached to an attachment site of a user; an operation detection device (2) that detects displacement of the attachment site; and a control device (6) that controls the sensation presentation devices on the basis of the result of detection by the operation detection device. The sensation presentation device comprises: a vibration generation unit (32, 52) that generates vibration acting on the attachment site; and a pressure sensation presentation unit (33, 53) that presents a pressure sensation to the attachment site. The control device controls the magnitude of the vibration generated by the vibration generation unit and the magnitude of a pressing force applied to the attachment site by the pressure sensation presentation unit in accordance with the displacement of the attachment site, the displacement being detected by the operation detection device.

Description

Sensory Presentation System and Control Device

[0001] The present invention relates to a sensory presentation system and a control device.

[0002] Conventionally, a tactile presentation device that presents pressure sensation and vibration to a user's finger has been known (see, for example, Patent Document 1). The tactile presentation device described in Patent Document 1 presents a tactile sensation to a part of the body such as a finger or a palm. The tactile presentation device includes an upper layer and a lower layer. The upper layer has three upper layer accommodation spaces capable of accommodating fluid and three outflow inlets through which fluid flows into and out of the corresponding upper layer accommodation spaces. Only the presentation surface formed by the wall portion that the user contacts among the wall portions exposed to the outside in the upper layer accommodation space elastically deform by the inflow and outflow of fluid. The lower layer has a lower layer accommodation space which is a space capable of accommodating fluid. An outflow inlet for supplying and discharging fluid to and from the lower layer accommodation space is provided in the lower layer accommodation space. The tactile presentation device includes a supply / discharge unit that supplies fluid to each accommodation space through an outflow inlet. For example, when fluid flows into and out of the upper layer accommodation space by the supply / discharge unit, the presentation surface elastically deforms and protrudes, and thereby, a tactile sensation is presented to the user. On the other hand, when fluid is discharged from the upper layer accommodation space by the supply / discharge unit, the presentation surface changes from a state protruding with respect to the user to a flat state.

[0003] Such a tactile presentation device can be provided in a clip-type or ring-type wearing device that can be worn on a user's finger. By wearing the wearing device so that the tactile presentation device touches the pad of the user's finger, the user can feel the tactile sensation presented by the tactile presentation device while moving the finger. And the tactile presentation device can present a pressure sensation to the user by causing the supply / discharge unit to flow fluid into and out of the lower layer accommodation space, and can also present vibration by flowing fluid into and out of the upper layer accommodation space.

[0004] Japanese Unexamined Patent Application Publication No. 2024-68348

[0005] However, in the tactile presentation device described in Patent Document 1, although pressure sensation and vibration can be presented to the user by supplying or discharging fluid to each accommodation space by the supply / discharge unit, there is a problem that pressure sensation and vibration corresponding to the user's operation cannot be presented.

[0006] A sensory presentation system according to a first aspect of the present invention comprises a sensory presentation device attached to a part of the user's body, a motion detection device for detecting the displacement of the attached part, and a control device for controlling the sensory presentation device based on the detection result of the motion detection device, wherein the sensory presentation device comprises a vibration generating unit for generating vibrations that act on the attached part, and a pressure sensation presentation unit for presenting pressure sensation to the attached part, and the control device controls the magnitude of the vibration generated by the vibration generating unit and the magnitude of the pressing force acted on the attached part by the pressure sensation presentation unit in accordance with the displacement of the attached part detected by the motion detection device.

[0007] A control device according to a second aspect of the present invention is a control device for controlling a sensory presentation device comprising a vibration generating unit that applies vibration to a part of the body to which it is attached, and a pressure sensation presentation unit that presents pressure sensation to the part of the body to which it is attached, wherein the control device controls the vibration generating unit and the pressure sensation presentation unit according to the displacement of the part of the body to which it is attached.

[0008] A block diagram showing the configuration of a sensory presentation system in one embodiment. A diagram showing the mounting locations of the first sensory presentation device, second sensory presentation device, and third sensory presentation device on the user in one embodiment. A perspective view showing the first sensory presentation device in one embodiment. A perspective view showing the first sensory presentation device in one embodiment. A front view showing the first sensory presentation device in one embodiment. A bottom view showing the first sensory presentation device in one embodiment. An exploded perspective view showing the first sensory presentation device in one embodiment. An exploded perspective view showing the first sensory presentation device in one embodiment. A cross-sectional view showing the first sensory presentation device in one embodiment. A perspective view showing the second sensory presentation device in one embodiment. A perspective view showing the second sensory presentation device in one embodiment. A plan view showing the third sensory presentation device in one embodiment. A perspective view showing the third sensory presentation device in one embodiment. A perspective view showing the third sensory presentation device in one embodiment. A block diagram showing a deformation of the first adjustment device in one embodiment. A block diagram showing a deformation of the first adjustment device in one embodiment. A block diagram showing the functional parts of the processor in one embodiment. A diagram illustrating a first control example for maintaining pressing force in one embodiment. A diagram illustrating a second control example for maintaining pressing force in one embodiment. A diagram illustrating a first control example for rapid striking in one embodiment. A diagram illustrating a second control example for rapid striking in one embodiment. A diagram illustrating a third control example for rapid striking in one embodiment. A diagram illustrating a fourth control example for rapid striking in one embodiment. A diagram illustrating a first control example for instantaneous injection in one embodiment. A diagram illustrating a second control example for instantaneous injection in one embodiment. A diagram illustrating a control example for instantaneous release in one embodiment. A diagram showing the right hand and the display content of the image display device when the right hand is in the first position in one embodiment. A diagram showing the right hand and the display content of the image display device when the right hand is in the second position in one embodiment. A diagram illustrating the processing content when presenting the user with the sensation of a beam being fired from the index finger in one embodiment. A diagram illustrating the processing content when presenting the user with the sensation of bullets being fired continuously from the index finger in one embodiment. A diagram showing the right hand and the display content of the image display device when the right hand is in the first position in one embodiment. A diagram showing the right hand and the display content of the image display device when the right hand in the first position is moved forward in one embodiment.A diagram illustrating the processing steps involved in presenting the user with the sensation of a beam being emitted from their palm in one embodiment. A diagram illustrating the processing steps involved in presenting the user with the sensation of light projectiles being continuously emitted from their palm in one embodiment.

[0009] One embodiment of the present invention will be described below. [Schematic Configuration of the Sensory Presentation System] Figure 1 is a block diagram showing the configuration of the sensory presentation system 1 according to this embodiment. As shown in Figure 1, the sensory presentation system 1 according to this embodiment includes a motion detection device 2, a first sensory presentation device 3, a second sensory presentation device 4, a third sensory presentation device 5, a control device 6, an image display device 7, and an audio output device 8. In the sensory presentation system 1, the control device 6 presents predetermined sensations to the user using the respective sensory presentation devices 3, 4, and 5 attached to the user, in response to the user's actions detected by the motion detection device 2. The configurations of the sensory presentation system 1 will be described below.

[0010] [Configuration of Image Display Device and Audio Output Device] The image display device 7 generates and displays an image corresponding to the image signal input from the control device 6. The image display device 7 can be configured, for example, as a stationary display, or as an HMD (Head Mounted Display) worn on the user's head. The audio output device 8 outputs audio corresponding to the audio signal input from the control device 6. The audio output device 8 may be, for example, a device having an audio output unit such as a speaker provided on a stationary display or HMD, or it may be headphones.

[0011] [Configuration of Motion Detection Device] The motion detection device 2 detects the movements and posture of the user to whom each of the sensory presentation devices 3 to 5 is attached. Specifically, the motion detection device 2 detects the movements and posture of the user's fingers to whom each of the sensory presentation devices 3 to 5 is attached. Examples of such motion detection devices 2 include a VR camera and a magnetic motion tracker. When the motion detection device 2 is a VR camera, the motion detection device 2 detects the movements and posture of the user's fingers in three-dimensional space using multiple cameras and sends the detected movements and postures of the fingers to the control device 6. When the motion detection device 2 is a magnetic motion tracker, the motion detection device 2, although not shown in the figure, includes a magnetic generator that generates a magnetic field around the fingers to be detected and a plurality of magnetic sensors attached to the fingers. Each of the plurality of magnetic sensors is a sensor whose resistance value changes according to the strength and direction of the magnetic field generated by the magnetic field generator, and outputs the detected strength and direction of the magnetic field to the control device 6. The control device 6 identifies the movements and postures of the fingers based on the input detection results. Possible locations for attaching the magnetic sensors include, for example, the fingertips of each finger, the back of the hand, and the palm.

[0012] [Attachment Sites of Sensory Presentation Devices] Figure 2 shows the attachment sites of the first sensory presentation device 3, the second sensory presentation device 4, and the third sensory presentation device 5 on the user. Each of the first sensory presentation device 3, the second sensory presentation device 4, and the third sensory presentation device 5 is attached to the user to present the user with sensations such as pressure. Specifically, the first sensory presentation device 3 is attached to the user's fingertip, and the second sensory presentation device 4 is attached to the base of the finger to which the first sensory presentation device 3 is attached. In the example in Figure 2, the first sensory presentation device 3 is attached to the fingertip of the index finger RH2 of the user's right hand RH, and the second sensory presentation device 4 is attached to the base of the index finger RH2. The third sensory presentation device 5 is attached across the palm RH3 and back of the hand RH4 of the user's right hand RH. The following describes each of the sensory presentation devices 3 to 5 in detail.

[0013] [Configuration of the First Sensory Presentation Device] Figure 3 is a perspective view of the first sensory presentation device 3 as seen from the fingertip side, and Figure 4 is a perspective view of the first sensory presentation device 3 as seen from the opposite side of Figure 3. Figure 5 is a front view of the first sensory presentation device 3 as seen from the fingertip side, and Figure 6 is a bottom view of the first sensory presentation device 3. The first sensory presentation device 3, under the control of the control device 6, applies pressure and vibration to the fingertips of the user to whom it is attached, presenting sensations such as pressure and vibration to the fingertips. As shown in Figures 3 to 6, the first sensory presentation device 3 includes a mounting member 31, a vibration generating unit 32, a pressure sensation presentation unit 33, and an expandable / contractible member 34. In addition, as shown in Figure 1, the first sensory presentation device 3 includes an adjustment device 35, a sensor 36, and a cold / temperature sensation presentation unit 37. The vibration generating unit 32 and the pressure sensation presentation unit 33 constitute a sensory presentation unit that presents predetermined sensations to the attachment site. The direction in which the finger is inserted into the first sensory presentation device 3 is defined as the +D1 direction, and the two directions perpendicular to the +D1 direction and mutually perpendicular are defined as the +D2 and +D3 directions. Although not shown in the diagram, the direction opposite to the +D1 direction is defined as the -D1 direction, the direction opposite to the +D2 direction is defined as the -D2 direction, and the direction opposite to the +D3 direction is defined as the -D3 direction.

[0014] [Configuration of the mounting member] The mounting member 31 supports the vibration generating unit 32 and the pressure sensation presentation unit 33 and is attached to the fingertip of one of the user's fingers. In this embodiment, the mounting member 31 is attached to the index finger of the user's right hand. As shown in Figures 3 to 6, the mounting member 31 has a cylindrical body 311 and mounting parts 314, fixing parts 315, 316, locking parts 317, 318 and positioning part 319 provided on the cylindrical body 311.

[0015] The cylindrical body 311 is shaped like a finger cot into which a fingertip is inserted, and covers the area around the inserted fingertip. The cylindrical body 311 has an insertion opening 312 and a slit 313. The insertion opening 312 is an opening in the cylindrical body 311 into which a fingertip is inserted. The slit 313 is located in the -D2 direction in the cylindrical body 311 and is a cutout in the cylindrical body 311 along the +D1 direction, which is parallel to the central axis of the cylindrical body 311. When a fingertip is inserted into the cylindrical body 311, the ends of the slit 313 move apart from each other, causing the cylindrical body 311 to expand in diameter. When a finger is removed from the cylindrical body 311, the ends of the slit 313 move closer together, causing the cylindrical body 311 to contract in diameter. This makes it possible to insert a finger into the cylindrical body 311 regardless of the size of the finger being inserted. In other words, the cylindrical body 311 is configured to be expandable and contractible by the slit 313.

[0016] Furthermore, when viewed along the central axis of the cylindrical body 311, of the portion in the +D3 direction and the portion in the -D3 direction that sandwich the slit 313, the portion in the +D3 direction is the first contact portion 311A ​​that contacts the fingertip, and the portion in the -D3 direction is the second contact portion 311B that contacts the fingertip. In other words, the cylindrical body 311 of the attachment member 31 has a first contact portion 311A ​​and a second contact portion 311B that sandwich the attachment area in the first direction, the +D3 direction, and contact the attachment area. The first expandable member 341, which will be described later, is attached to the outside of the cylindrical body 311 so as to straddle the slit 313.

[0017] The mounting portion 314 is located in the +D2 direction of the cylindrical body 311 and is the portion to which the vibration generating portion 32 is attached. The fixing portions 315 and 316 are located in the -D2 direction of the cylindrical body 311 and are the portions to which the pressure sensation presenting portion 33 is fixed. Of the fixing portions 315 and 316, fixing portion 315 is positioned in the +D3 direction relative to fixing portion 316, and fixing portions 315 and 316 are spaced apart from each other in the +D3 direction. The first pressure sensation presenting portion 331 of the pressure sensation presenting portion 33, which will be described later, is fixed to fixing portion 315, and the second pressure sensation presenting portion 332 of the pressure sensation presenting portion 33 is fixed to fixing portion 316. The locking portions 317 and 318 are the portions to which the ends of the expandable member 34 are locked. The locking portion 317 consists of two protrusions projecting from the cylindrical body 311 in the +D2 direction, and locks the first expandable member 341 of the expandable member 34. The locking portion 318 is fixed to the fixing portions 315 and 316 respectively and provided on the pressure-sensitive presentation portions 331 and 332, and locks the second expandable member 342 of the expandable member 34. The positioning portion 319 is fixed to the cylindrical body 311 so as to project from the portion in the +D1 and +D2 directions in the -D2 direction on the inner edge of the insertion opening 312. The end of the fingertip comes into contact with the positioning portion 319 when the fingertip is inserted into the insertion opening 312. This defines the position of the finger on the cylindrical body 311, that is, the position of the finger on the attachment member 31.

[0018] [Configuration of the Vibration Generating Unit] The vibration generating unit 32 generates vibrations under the control of the control device 6, providing the user with vibrations that simulate force sensation. More specifically, the vibration generating unit 32 generates eccentrically accelerated vibrations to present the user with a vibration force sensation, which is a simulated force sensation. The vibration generating unit 32 allows for individual adjustment of the magnitude of the vibration and the magnitude of the vibration force sensation. The vibration generating unit 32 is positioned at the fingernail of the fingertip in the cylindrical body 311 when the first sensory presentation device 3 is attached to the user's fingertip.

[0019] [Configuration of the pressure sensation presentation unit] The pressure sensation presentation unit 33 is fixed to fixing parts 315 and 316 provided on the cylindrical body 311 of the attachment member 31, and presses on the attachment area to which the first sensory presentation device 3 is attached, presenting pressure sensation to the user. Specifically, the pressure sensation presentation unit 33 presses on the pad of the user's fingertip. The pressure sensation presentation unit 33 has a first pressure sensation presentation unit 331 and a second pressure sensation presentation unit 332. The first pressure sensation presentation unit 331 is fixed to the fixing part 315 and presses on one end of the pad of the fingertip in the width direction. The second pressure sensation presentation unit 332 is fixed to the fixing part 316 and presses on the other end of the pad of the fingertip in the width direction. That is, the first pressure sensation presentation unit 331 is provided spaced apart from the second pressure sensation presentation unit 332 in the +D3 direction relative to the second pressure sensation presentation unit 332.

[0020] Figures 7 and 8 are exploded perspective views showing the first sensory presentation device 3 with the base 3311 of the first pressure sensation presentation unit 331 separated from the cylindrical body 311. Of these, Figure 7 is an exploded perspective view showing the first sensory presentation device 3 as seen from the -D1 direction, and Figure 8 is an exploded perspective view showing the first sensory presentation device 3 as seen from the +D1 direction. Figure 9 is a view of a cross-section of the first sensory presentation device 3 perpendicular to the +D1 direction, as seen from the +D1 direction. Note that the elastic sheet 3317 and the second expandable member 342 are not shown in Figures 7 and 8. The first pressure sensation presentation unit 331 has a base 3311 and a frame 3315 as shown in Figures 7 to 9, and also has an elastic sheet 3317 as shown in Figure 9.

[0021] The base 3311, together with the frame 3315, sandwiches the elastic sheet 3317 and is fixed to the fixing part 315. The base 3311 has a flow port 3312, an annular projection 3313, and an inlet chamber 3314. A flow pipe DP2, which will be described later, is connected to the flow port 3312. The flow port 3312 penetrates the plate-shaped base 3311 and communicates with the inlet chamber 3314. The annular projection 3313 protrudes in an annular shape from the surface of the base 3311 facing the elastic sheet 3317, forming the inlet chamber 3314 inside. The tip surface of the annular projection 3313 is in contact with the elastic sheet 3317, and the inside of the annular projection 3313 is closed by the elastic sheet 3317. The inlet chamber 3314 is a space formed inside the annular projection 3313. The inlet chamber 3314 is in communication with the flow port 3312, and fluid flows into the inlet chamber 3314 from the flow pipe DP2 via the flow port 3312.

[0022] The frame 3315, together with the base 3311, holds the elastic sheet 3317. The frame 3315 has an opening 3316 that penetrates the frame 3315. The opening 3316 is an opening through which a part of the elastic sheet 3317 passes when the elastic sheet 3317 expands. When the first pressure-sensitive display unit 331 is fixed to the fixing part 315, the opening 3316 communicates with the space inside the insertion opening 312 of the cylindrical body 311. In this embodiment, the frame 3315 is integrated with the cylindrical body 311. However, it is not limited to this, and the frame 3315 may be configured separately from the cylindrical body 311 and fixed to the fixing part 315 of the cylindrical body 311.

[0023] The elastic sheet 3317 corresponds to an elastic body. The elastic sheet 3317 is sandwiched between the annular protrusion 3313 and the frame 3315, and expands from the opening 3316 in response to the pressure in the inlet chamber 3314, protruding into the insertion opening 312 and pressing against the user's fingertips. Specifically, when the pressure in the inlet chamber 3314 increases due to the fluid pumped from the pump PN via the valve VL of the adjustment device 35 (described later), the elastic sheet 3317 expands into the insertion opening 312, as shown by the dotted line in Figure 9, and presses against the user's fingertips. On the other hand, when the pressure in the inlet chamber 3314 decreases, the elastic sheet 3317 retracts from the insertion opening 312, and the pressure on the user's fingertips is released. The elastic sheet 3317 can be made of, for example, an elastomer sheet. However, it is not limited to this, and the material of the elastic sheet 3317 can be changed as appropriate. Alternatively, the elastic sheet 3317 may not be sandwiched between the base 3311 and the frame 3315, but may be adhesively fixed to the annular projection 3313 of the base 3311, or to the surface surrounding the annular projection 3313.

[0024] The second pressure-sensitive display unit 332, like the first pressure-sensitive display unit 331, has a base 3321, a frame 3325, and an elastic sheet 3327, as shown in Figure 9. The base 3321, frame 3325, and elastic sheet 3327 have the same configuration as the base 3311, frame 3315, and elastic sheet 3317 of the first pressure-sensitive display unit 331. That is, the base 3321 has a flow port 3322, an annular protrusion 3323, and an inlet chamber 3324, similar to the flow port 3312, annular protrusion 3313, and inlet chamber 3314, and the frame 3325 has an opening 3326, similar to the opening 3316. The elastic sheet 3317 may be sandwiched between the base 3321 and the frame 3325, or it may be adhesively fixed to the base 3321. In this embodiment, the base 3321 is fixed to the fixing part 316, and the frame 3315 is integrated with the cylindrical body 311.

[0025] [Structure of the expandable member] As shown in Figures 3 to 6, the expandable member 34 is formed in a strip shape from an expandable material and is arranged along the circumferential direction centered on the central axis of the cylindrical body 311. The expandable member 34 reduces the diameter of the cylindrical body 311 to fit the cylindrical body 311 to the fingertip. The expandable member 34 includes a first expandable member 341 and a second expandable member 342. The first expandable member 341 is provided on the cylindrical body 311 of the attachment member 31 and contracts the cylindrical body 311 into which the fingertip is inserted, bringing the inner surface of the cylindrical body 311 into contact with the fingertip. More specifically, the first expandable member 341 contracts the cylindrical body 311 in a direction in which the first contact portion 311A ​​and the second contact portion 311B are close to each other. The first expandable member 341 is provided on the outer circumferential surface of the cylindrical body 311 in the -D1 direction portion, so as to be wound around the cylindrical body 311. More specifically, the first expandable member 341 is provided on the outer circumferential surface of the cylindrical body 311, along the circumferential direction centered on the central axis of the cylindrical body, so as to straddle the slit 313. One end and the other end of the first expandable member 341 are locked together by the locking portion 317. Therefore, when a fingertip is inserted into the insertion opening 312, the first expandable member 341 suppresses the widening of the slit 313, thereby allowing the cylindrical body 311 to fit snugly against the fingertip.

[0026] The second expandable member 342 is provided in the +D1 direction, which is closer to the fingertip than the first expandable member 341, and is arranged along the circumferential direction centered on the central axis of the cylindrical body 311. That is, the second expandable member 342 is positioned offset from the first expandable member 341 in the +D1 direction, which is the direction of finger insertion. The second expandable member 342 is locked by two locking parts 318 and is positioned to suspend the two pressure-sensitive presentation parts 331 and 332. The expansion of the slit 313 is also suppressed by this second expandable member 342, so that the cylindrical body 311 fits the fingertip inserted into it. In this way, the expansion and contraction of each expandable member 341 and 342 wound around the outer circumferential surface of the cylindrical body 311 of the attachment member 31 allows the cylindrical body 311 to fit the inserted fingertip without hindering the insertion of the fingertip into the insertion opening 312 of the cylindrical body 311. This reduces the feeling of tightness caused by the attachment member 31, prevents the attachment member 31 from slipping off the fingertip, and can also absorb differences in the size of the inserted finger. Each of the expandable members 341 and 342 can be made of a soft material with a hardness of 75, for example, an olefin polymer. However, it is not limited to this, and each of the expandable members 341 and 342 may be made of other materials, and the material of the first expandable member 341 and the material of the second expandable member 342 may be different.

[0027] [Configuration of the Adjustment Device] As shown in Figure 1, the adjustment device 35 includes a pump PN, a valve VL, and flow pipes DP1 and DP2, and supplies fluid to the pressure sensing unit 33 to adjust the pressing force of the pressure sensing unit 33. The flow pipes DP1 and DP2 are tubular members through which fluid can flow.

[0028] Pump PN delivers the fluid supplied to the pressure sensor 33. Specifically, pump PN delivers the fluid to valve VL, which is connected via flow pipe DP1. In this embodiment, pump PN is an air pump that sucks in and delivers ambient gas. However, it is not limited to this, and pump PN may be a pump that delivers liquid, which is a fluid. Valve VL is connected to the pressure sensor 33 via flow pipe DP2 and adjusts the amount of fluid supplied from pump PN via flow pipe DP1 to the pressure sensor 33. That is, valve VL is provided in the flow path of the fluid delivered from pump PN and flowing to the inlet chambers of each pressure sensor 331, 332. Valve VL can be switched between an OPEN state and a CLOSE state. When in the OPEN state, the fluid can flow, and when in the CLOSE state, the fluid flow is restricted.

[0029] In this embodiment, the flow pipe DP2 has a branching section, and the fluid delivered from the pump PN via the valve VL is divided and distributed to the first pressure sensor 331 and the second pressure sensor 332. That is, the adjustment device 35 delivers fluid to the first pressure sensor 331 and the second pressure sensor 332, respectively. However, the configuration is not limited to this, and adjustment devices for delivering fluid to the first pressure sensor 331 and adjustment devices for delivering fluid to the second pressure sensor 332 may be provided separately. The pump PN and valve VL of such an adjustment device 35 are controlled by the control device 6.

[0030] [Sensor Configuration] Sensor 36 is a pressure sensor that detects the pressure in the inlet chambers 3314 and 3324. The placement of sensor 36 can be at least one of the following: valve VL, flow pipe DP2, and inlet chambers 3314 and 3324. Sensor 36 may also be a flow sensor that detects the flow rate of the fluid flowing into the inlet chambers 3314 and 3324. In this case as well, the pressure in the inlet chambers 3314 and 3324 can be calculated from the flow rate of the fluid flowing into the inlet chambers 3314 and 3324.

[0031] [Configuration of the Cold / Warm Sensation Presentation Unit] The cold / warm sensation presentation unit 37 presents cold / warm sensations to the fingertip to which the first sensory presentation device 3 is attached. The cold / warm sensation presentation unit 37 is composed of a thermoelectric conversion element such as a Peltier element. The cold / warm sensation presentation unit 37 may be provided, for example, on the elastic sheets 3317, 3327 of each pressure sensation presentation unit 331, 332, or it may be provided in the inflow chambers 3314, 3324. When the cold / warm sensation presentation unit 37 is provided on the elastic sheets 3317, 3327, cold / warm sensations can be directly presented to the fingertip along with the pressure on the fingertip by the elastic sheets 3317, 3327. Furthermore, if the cold / temperature sensation presenting unit 37 is provided in the inflow chambers 3314 and 3324, by cooling or heating the fluid in the inflow chambers 3314 and 3324, the cold / temperature sensation can be presented to the fingertips via the elastic sheets 3317 and 3327 without deforming the cold / temperature sensation presenting unit 37, along with the pressure on the fingertips by the elastic sheets 3317 and 3327. On the other hand, the cold / temperature sensation presenting unit 37 may be provided on the inner circumferential surface of the cylindrical body 311. In this case, the cold / temperature sensation presenting unit 37 may be positioned between the first pressure sensation presenting unit 331 and the second pressure sensation presenting unit 332. When the cold / temperature sensation presenting unit 37 is positioned in this location, the cold / temperature sensation can be presented to the user's fingertips separately from the pressure sensation presenting unit 33.

[0032] [Configuration of the Second Sensory Presentation Device] Figure 10 is a perspective view showing the second sensory presentation device 4 as seen from the fingertip side, and Figure 11 is a perspective view showing the second sensory presentation device 4 as seen from the wrist side. As described above, the second sensory presentation device 4 is attached, for example, to the base of the user's index finger and presents the user with vibration sensation. As shown in Figures 10 and 11, the second sensory presentation device 4 has a mounting member 41, a vibration generating part 42, and an expandable / contractible member 44. The direction of finger insertion into the second sensory presentation device 4 is defined as the +D4 direction, and the two directions perpendicular to the +D4 direction and mutually perpendicular are defined as the +D5 direction and the +D6 direction. Although not shown, the direction opposite to the +D4 direction is defined as the -D4 direction, the direction opposite to the +D5 direction is defined as the -D5 direction, and the direction opposite to the +D6 direction is defined as the -D6 direction.

[0033] [Configuration of the mounting member] The mounting member 41 supports the vibration generating unit 42 and is attached to the base of one of the user's fingers. In this embodiment, the mounting member 41 is attached to the base of the user's right index finger. The mounting member 41 has the same configuration as the mounting member 31, which lacks the fixing parts 315, 316, locking part 318 and positioning part 319. That is, the mounting member 41 has a cylindrical body 411, an attachment part 414 and a locking part 417.

[0034] The cylindrical body 411 is configured as a ring-like cylindrical shape into which the base of a finger is inserted, and covers the circumference of the inserted finger. The cylindrical body 411 has an insertion opening 412 and a slit 413. The insertion opening 412 is an opening in the cylindrical body 411 into which a finger is inserted, and penetrates the cylindrical body 411 in the +D4 direction along the central axis of the cylindrical body 411. The slit 413 is located in the -D5 direction in the cylindrical body 411 and is formed in the cylindrical body 411 along the central axis of the cylindrical body 411. When a finger is inserted into the cylindrical body 411, the ends of the slit 413 move apart from each other, causing the cylindrical body 411 to expand in diameter, and when a finger is removed from the cylindrical body 411, the ends of the slit 413 move closer together, causing the cylindrical body 411 to contract in diameter. This makes it possible to insert a finger into the cylindrical body 411 regardless of the size of the finger being inserted. In other words, the cylindrical body 411 is configured to be expandable and contractible by the slit 413.

[0035] Furthermore, when viewed along the central axis of the cylindrical body 411, of the portion in the +D6 direction and the portion in the -D6 direction that sandwich the slit 413, the portion in the +D6 direction is the first contact portion 411A that contacts the finger, and the portion in the -D6 direction is the second contact portion 411B that contacts the finger. In other words, the cylindrical body 411 of the attachment member 41 has a first contact portion 411A and a second contact portion 411B that sandwich the attachment area in the first direction, the +D6 direction, and contact the attachment area. The expandable member 44, which will be described later, is attached to the outside of the cylindrical body 411 so as to straddle the slit 413.

[0036] The mounting portion 414 is located in the +D5 direction on the cylindrical body 411 and is the portion to which the vibration generating portion 42 is attached. The locking portion 417 is the portion to which the end of the expandable member 44 is locked. The locking portion 417 protrudes from two locations on the outer circumferential surface of the cylindrical body 411 and locks both ends of the expandable member 44 which is positioned to straddle the slit 413. That is, one of the two locking portions 417 protrudes from a portion on the outer circumferential surface of the cylindrical body 411 facing the +D6 direction and locks one end of the expandable member 44. The other locking portion 417 protrudes from a portion on the outer circumferential surface of the cylindrical body 411 facing the -D6 direction and locks the other end of the expandable member 44.

[0037] [Configuration of Vibration Generating Unit and Expandable Member] The vibration generating unit 42, like the vibration generating unit 32, generates vibrations under the control of the control device 6 to provide the user with vibrations that simulate force sensation, and is an example of a sensory presentation unit. The expandable member 44, like the expandable member 34, is formed in a strip shape from an expandable material and is arranged on the outer circumferential surface of the cylindrical body 411 along the circumferential direction centered on the central axis of the cylindrical body 411. More specifically, the expandable member 44, like the first expandable member 341, is arranged along the outer circumferential surface of the cylindrical body 411 so as to straddle the slit 413 and is locked by two locking parts 417. The expandable member 44 contracts the cylindrical body 411 in a direction in which the first contact part 411A and the second contact part 411B move closer to each other. That is, the expandable member 44 biases the cylindrical body 411 in a direction that reduces its diameter, making the cylindrical body 411 fit to the finger.

[0038] [Configuration of the Third Sensory Presentation Device] Figure 12 is a plan view showing the third sensory presentation device 5. Figure 13 is a perspective view showing the third sensory presentation device 5 as seen from the wrist side when it is attached to the hand, and Figure 14 is a perspective view showing the third sensory presentation device 5 as seen from the fingertip side. As shown in Figure 2, the third sensory presentation device 5 is attached to the user's hand and presents sensations such as vibration and pressure to the user. As shown in Figures 13 to 15, the third sensory presentation device 5 has an attachment member 51, a vibration generating unit 52, a pressure sensation presentation unit 53, and an expandable / contractible member 54. In addition, as shown in Figure 1, the third sensory presentation device 5 has an adjustment device 55, a sensor 56, and a cold / temperature sensation presentation unit 57.

[0039] [Configuration of the mounting member] The mounting member 51 supports the vibration generating unit 52 and the pressure sensation presentation unit 53, and is mounted so as to straddle the palm RH3 and the back of the hand RH4. In this embodiment, the mounting member 51 is mounted on the user's right hand RH. The mounting member 51 has a palm-side clamping piece 511, a back-of-hand clamping piece 512, a connecting part 513, and a locking part 514. The +D7 direction is defined as the direction in which the hand is inserted into the insertion opening 51B formed by the combination of the palm-side clamping piece 511 and the back-of-hand clamping piece 512 of the mounting member 51, and the +D8 and +D9 directions are two directions that are perpendicular to the +D7 direction and are also perpendicular to each other. Of these, the +D8 direction is defined as the direction from the palm-side clamping piece 511 toward the back-of-hand clamping piece 512, and the +D9 direction is defined as the direction from the locking part 514 toward the connecting part 513. In other words, when the third sensory presentation device 5 is attached to the right hand, the direction from the wrist to the fingertips is defined as the +D7 direction, the direction from the palm to the back of the hand is defined as the +D8 direction, and the direction from the little finger to the thumb is defined as the +D9 direction. Furthermore, the direction opposite to the +D7 direction is defined as the -D7 direction, the direction opposite to the +D8 direction is defined as the -D8 direction, and the direction opposite to the +D9 direction is defined as the -D9 direction.

[0040] Each of the palmar gripping piece 511 and the dorsal gripping piece 512 extends along the +D9 direction and, when combined with each other, forms a cylindrical body 51A into which a hand can be inserted. The palmar gripping piece 511 is positioned along the palm RH3, and the dorsal gripping piece 512 is positioned along the back of the hand RH4. The ends of each of the palmar gripping piece 511 and the dorsal gripping piece 512 in the +D9 direction are connected by a connecting part 513. The ends of each of the palmar gripping piece 511 and the dorsal gripping piece 512 in the -D9 direction are locked by a locking part 514. The palmar gripping piece 511 and the dorsal gripping piece 512 grip the hand, which is the attachment site, in the +D8 direction and make contact with the hand. Therefore, the palmar gripping piece 511 corresponds to the first contact portion of the cylindrical body 51A, and the hand-side gripping piece 512 corresponds to the second contact portion of the cylindrical body 51A.

[0041] The palmar gripping piece 511 has a flat extended portion 5111, as well as curved portions 5114, 5115, mounting portions 5116, 5117, and fixing portion 5118. The extended portion 5111 extends along a plane defined by the +D7 direction and the +D9 direction. The extended portion 5111 has a first surface 5112 facing the hand-clasping piece 512, and a second surface 5113 opposite to the first surface 5112. Of the curved portions 5114 and 5115, the curved portion 5114 is provided on the portion of the first surface 5112 in the +D9 direction, and the curved portion 5115 is provided on the portion of the first surface 5112 in the -D9 direction. The curved portion 5114 is formed in a curved shape that matches the curved shape between the thumb and index finger of the palm, and the curved portion 5115 is formed in a curved shape that matches the curved shape of the palm on the opposite side from the thumb. The curved portions 5114 and 5115 position the palm-side clamping piece 511 along the palm RH3. The mounting portions 5116 and 5117 are the parts to which the two vibration generating parts 52 are attached to the palm-side clamping piece 511. The mounting portion 5116 is provided at the end of the second surface 5113 in the +D9 direction, and the mounting portion 5117 is provided at the end of the second surface 5113 in the -D9 direction. The fixing portion 5118 is the part to which the first pressure sensation presentation part 531 is fixed, and is provided approximately in the center of the first surface 5112 in the +D9 direction.

[0042] As described above, the hand-clasping piece 512, when combined with the palm-clasping piece 511, forms a cylindrical body 51A having an insertion opening 51B into which the user's hand can be inserted, and together with the palm-clasping piece 511, it clamps the user's hand. Specifically, the hand-clasping piece 512 extends in the +D9 direction along the RH4 of the back of the hand and is positioned along the RH4 of the back of the hand. The hand-clasping piece 512 has a main body portion 5121, attachment portions 5124, 5125 and a fixing portion 5126. The main body portion 5121 is formed in a curved shape that follows the RH4 of the back of the hand. That is, the main body portion 5121 is formed in an arc shape so that its ends in the ±D9 direction are close to the palm-clasping piece 511. The main body portion 5121 has a first surface 5122 facing the palm-clasping piece 511 and a second surface 5123 opposite to the first surface 5122. Although not shown in the illustration, the first surface 5122 is provided with a cushioning material that contacts the back of the hand RH4. The mounting portions 5124 and 5125 are the parts to which the two vibration generating portions 52 are attached to the back-of-hand clamping piece 512. Mounting portion 5124 is provided at the end of the second surface 5123 in the +D9 direction, and mounting portion 5125 is provided at the end of the second surface 5123 in the -D9 direction. The fixing portion 5126 is the part to which the second pressure sensation presenting portion 532 is fixed, and is provided approximately in the center of the first surface 5122 in the +D9 direction.

[0043] The connecting portion 513 is provided at the +D9 direction ends of the palm-side clamping piece 511 and the back-side clamping piece 512, respectively. The connecting portion 513 includes a palm-side connecting portion 5131 provided at the +D9 direction end of the palm-side clamping piece 511, a back-side connecting portion 5132 provided at the +D9 direction end of the back-side clamping piece 512, and a fixing device 5133 that fixes the palm-side connecting portion 5131 and the back-side connecting portion 5132 in a connected state. The connecting portion 513 connects the palm-side clamping piece 511 and the back-side clamping piece 512 so that one of them moves away from the other. That is, the palm-side clamping piece 511 and the back-side clamping piece 512 are movable in a direction that moves them away from each other with respect to the connecting portion 513. As a result, the cylindrical body 51A can be expanded in diameter when a hand is inserted into it.

[0044] The locking part 514 is provided at the end in the -D9 direction of each of the palm-side clamping piece 511 and the nail-side clamping piece 512. The locking part 514 detachably locks the other to one of the palm-side clamping piece 511 and the nail-side clamping piece 512, locking the palm-side clamping piece 511 and the nail-side clamping piece 512. That is, when inserting the hand into the insertion port 51B, the locking part 514 separates the ends in the -D9 direction of the respective clamping pieces 511, 512 from each other, and when clamping the hand with the respective clamping pieces 511, 512, the locking part 514 locks the ends in the -D9 direction of the respective clamping pieces 511, 512.

[0045] The locking part 514 has a palm-side locking part 5141 provided at the end in the -D9 direction of the palm-side clamping piece 511 and a nail-side locking part 5143 provided at the end in the -D9 direction of the nail-side clamping piece 512. As shown in FIG. 15, the palm-side locking part 5141 has an insertion part 5142 protruding in the -D9 direction. The nail-side locking part 5143 has a configuration in which a plurality of groove parts 5144 into which the insertion part 5142 can be inserted are arranged along the +D8 direction. That is, the nail-side locking part 5143 has a plurality of groove parts 5144 arranged in the +D8 direction in which the palm-side clamping piece 511 and the nail-side clamping piece 512 face each other. When a user who has inserted the hand into the insertion port 51B inserts the insertion part 5142 into one of the plurality of groove parts 5144, the third sensory presentation device 5 can be worn on the hand. At this time, since the plurality of groove parts 5144 are arranged along the +D8 direction, by selecting the groove part 5144 into which the insertion part 5142 is inserted, the distance between the first surface 5112 of the palm-side clamping piece 511 and the first surface 5122 of the nail-side clamping piece 512 can be adjusted. Thereby, the third sensory presentation device 5 can be made to adhere closely to the hand.

[0046] [Configuration of the Vibration Generating Unit] The vibration generating unit 52, like the vibration generating units 32 and 42, generates vibrations under the control of the control device 6, providing the user with vibrations that simulate force sensation individually. The vibration generating unit 52 includes two first vibration generating units 521 and two second vibration generating units 522. The two first vibration generating units 521 are attached to the palmar gripping piece 511. Of the two first vibration generating units 521, one is attached to a mounting part 5116 provided in the +D9 direction, and the other first vibration generating unit 521 is attached to a mounting part 5117 provided in the -D9 direction. The two second vibration generating units 522 are attached to the back-of-hand gripping piece 512. Of the two second vibration generating units 522, one is attached to a mounting portion 5124 provided in the +D9 direction, and the other second vibration generating unit 522 is attached to a mounting portion 5125 provided in the -D9 direction.

[0047] [Configuration of the pressure sensation presentation unit] The pressure sensation presentation unit 53 presents pressure sensation by pressing on the back of the user's hand under the control of the control device 6. The pressure sensation presentation unit 53 includes a first pressure sensation presentation unit 531 shown in Figures 1 and 12-14, and a second pressure sensation presentation unit 532 shown in Figure 1. The first pressure sensation presentation unit 531 has a base 5311, a frame 5315, and an elastic sheet 5317. The elastic sheet 5317 corresponds to an elastic body and closes the inlet chamber 5314 of the base 5311. It has the same configuration as the elastic sheet 3317 of the first pressure sensation presentation unit 331.

[0048] The base 5311 is fixed to the fixing portion 5118 of the palm-side clamping piece 511. Although not shown in the drawings, the base 5311 has a flow port and an annular convex portion similar to the flow port 3312 and the annular convex portion 3313, and also has an inflow chamber 5314 similar to the inflow chamber 3314. In addition, if the base 5311 has a recess where fluid flows in and is covered by the elastic sheet 3317, it may not have an annular convex portion. The frame body 5315 sandwiches the elastic sheet 5317 together with the base 5311. The frame body 5315 has an opening 5316 that penetrates the frame body 5315 along the +D8 direction. The opening 5316 is an opening through which a part of the elastic sheet 5317 passes when the pressure in the inflow chamber in the base 5311 increases and the elastic sheet 5317 bulges. Note that the frame body 5315 is a different member from the palm-side clamping piece 511 that supports the first pressure sensation presenting portion 531, unlike the frame body 3315. Although detailed illustration is omitted, the second pressure sensation presenting portion 532 provided on the back-side clamping piece 512 also has the same configuration as the first pressure sensation presenting portion 531, and presses the back of the user's hand under the control of the control device 6 to present a pressure sensation.

[0049] [Configuration of the telescopic member] As shown in FIGS. 12 to 14, the telescopic member 54 is provided in a portion in the +D9 direction within the insertion port 51B so as to suspend the palm-side clamping piece 511 and the back-side clamping piece 512. That is, the telescopic member 54 suspends the first surface 5112 of the palm-side clamping piece 511 and the first surface 5122 of the back-side clamping piece 512, and is provided in a portion on the connecting portion 513 side within the insertion port 51B. The telescopic member 54 is a belt-like body that can be telescoped in the same manner as the telescopic members 341, 342, and 44, and biases the clamping pieces 511 and 512 in a direction in which the first surface 5112 and the first surface 5122 approach each other. With such a telescopic member 54, it is possible to easily bring the palm-side clamping piece 511 into close contact with the user's palm, and it is also possible to easily bring the back-side clamping piece 512 into close contact with the back of the user's hand.

[0050] [Configuration of the Adjustment Device] The adjustment device 55 shown in Figure 1, similar to the adjustment device 35 of the first sensory presentation device 3, supplies fluid to the pressure presentation units 531 and 532 and adjusts the pressing force of the pressure presentation unit 53. The adjustment device 55 includes a first adjustment device 551 that supplies fluid to the first pressure presentation unit 531 and a second adjustment device 552 that supplies fluid to the second pressure presentation unit 532. Each of the first adjustment device 551 and the second adjustment device 552 has a pump PN, a valve VL, and a flow pipe DP1, similar to the adjustment device 35, as well as a flow pipe DP3. The flow pipe DP3 of the first adjustment device 551 connects the valve VL of the first adjustment device 551 and the base 5311 of the first pressure presentation unit 531 so that fluid can flow through them. The flow pipe DP3 of the second control device 552 connects the valve VL of the second control device 552 to the base of the second pressure sensor 532 so that fluid can flow through it. Thus, the valve VL of the first control device 551 is located in the flow path of the fluid that is delivered from the pump PN of the first control device 551 and flows into the inlet chamber 5314 of the first pressure sensor 531. Similarly, the valve VL of the second control device 552 is located in the flow path of the fluid that is delivered from the pump PN of the second control device 552 and flows into the inlet chamber of the second pressure sensor 532. The pump PN and valve VL of each control device 551, 552 are controlled by the control device 6.

[0051] Figure 15 is a block diagram showing the configuration of the first control device 551A, which is a variation of the first control device 551. The number of pumps PN and valves VL in the first control device can be changed as appropriate. For example, the first control device 551A shown in Figure 15 may be used in place of the first control device 551. The first control device 551A has multiple pumps PN, one valve VL, and flow pipes DP3 and DP4. In the example in Figure 15, the first control device 551A has three pumps PN. Flow pipe DP4 connects the multiple pumps PN and valve VL so that fluid can flow through them. Therefore, the fluid sent from the multiple pumps PN flows to valve VL via flow pipe DP4. The fluid that has flowed through valve VL can flow to the first pressure sensing indicator 531 via flow pipe DP3.

[0052] With this first adjustment device 551A, the fluids sent from multiple pumps PN flow through the inlet chamber 5314 of the first pressure sensor 531, so the flow rate of the fluid flowing through the first pressure sensor 531 can be increased, and the elastic sheet 5317 of the first pressure sensor 531 can be rapidly expanded. Alternatively, small pumps can be used for each of the multiple pumps PN employed in the first adjustment device 551A. Therefore, the first adjustment device 551A can be miniaturized. This configuration of the first adjustment device 551A is also applicable to the adjustment device 35 and the second adjustment device 552.

[0053] Figure 16 is a block diagram showing the configuration of the first control device 551B, which is a variation of the first control device 551. For example, the first control device 551B shown in Figure 16 may be used in place of the first control device 551. The first control device 551B includes one pump PN, two valves VL1 and VL2, and flow pipes DP1 and DP5. Flow pipe DP5 connects the two valves VL1 and VL2 to the first pressure sensing indicator 531. More specifically, in addition to connecting valve VL1 to the first pressure sensing indicator 531, flow pipe DP5 branches off from between valve VL1 and the first pressure sensing indicator 531 and connects to valve VL2.

[0054] Of the two valves VL1 and VL2, valve VL1, which is connected to pump PN via flow pipe DP1, is a discharge valve that allows the fluid discharged from pump PN to flow to the first pressure sensing indicator 531 via flow pipe DP5. Of the two valves VL1 and VL2, valve VL2, which is connected to the first pressure sensing indicator 531 via flow pipe DP5, is a discharge valve that discharges the fluid discharged from the first pressure sensing indicator 531.

[0055] In such a first adjustment device 551B, when the fluid delivered from the pump PN is to flow to the first pressure sensing indicator 531, the discharge valve VL1 is set to the OPEN state and the discharge valve VL2 is set to the CLOSE state. This allows the fluid flowing from the discharge valve VL1 to the first pressure sensing indicator 531 to flow to the first pressure sensing indicator 531 without being discharged from the discharge valve VL2.

[0056] On the other hand, when discharging fluid from the first pressure sensor 531, the discharge valve VL1 is set to the CLOSE state and the discharge valve VL2 is set to the OPEN state. In this configuration, when discharging fluid from the first pressure sensor 531 without the discharge valve VL2, even if the discharge valve VL1 is set to the OPEN state, the flow resistance of the pump PN is large, making it difficult to quickly discharge the fluid discharged from the first pressure sensor 531 from the pump PN. In contrast, by setting the discharge valve VL2 to the OPEN state and discharging the fluid discharged from the first pressure sensor 531 to the outside through valve VL2, the fluid can be quickly discharged. At this time, by setting not only the discharge valve VL2 but also the discharge valve VL1 to the OPEN state and further stopping the pump PN, the fluid can be discharged from the first pressure sensor 531 even more quickly. This configuration of the first adjustment device 551B is also applicable to the adjustment device 35 and the second adjustment device 552.

[0057] [Sensor Configuration] The two sensors 56 shown in Figure 1 include a first sensor 561 that detects the pressure in the inlet chamber 5314 of the first pressure sensing indicator 531, and a second sensor 562 that detects the pressure in the inlet chamber of the second pressure sensing indicator 532. The placement locations of each sensor 561, 562 include at least one of the valve VL, the flow pipe DP3, and the inlet chamber. Each sensor 56 may also be a flow sensor that detects the flow rate of the fluid flowing into the inlet chamber.

[0058] [Configuration of the Thermal Sensation Presentation Unit] Each of the two thermal sensation presentation units 57 shown in Figure 1 presents thermal sensation to the hand to which the third sensory presentation device 5 is attached, and is composed of a thermoelectric conversion element such as a Peltier element. Of the two thermal sensation presentation units 57, the first thermal sensation presentation unit 571 is provided on the palmar gripping piece 511, and the second thermal sensation presentation unit 572 is provided on the back-of-hand gripping piece 512. The positions of each thermal sensation presentation unit 571 and 572 can be the same as those of the thermal sensation presentation unit 37 described above.

[0059] [Configuration of the control device] The control device 6 shown in Figure 1 controls the sensory presentation system 1. For example, the control device 6 controls the operation of each sensory presentation device 3 to 5 attached to the user's fingers based on the movement of the user's fingers detected by the motion detection device 2, and also transmits image signals to the image display device 7 and audio signals to the audio output device 8. The control device 6 has a memory 61 and at least one processor 62.

[0060] Memory 61 stores programs and data necessary for the control device 6 to control the sensory presentation system 1. For example, memory 61 stores control programs for the processor 62 to control each of the sensory presentation devices 3 to 5 and generate images to be displayed on the image display device 7 and sounds to be output to the sound output device 8.

[0061] Figure 17 is a block diagram showing the functional units of the processor 62. At least one processor 62 reads programs and data stored in the memory 61 to control the operation of the sensory presentation system 1. As shown in Figure 17, the processor 62 includes an image generation unit 621, a sound generation unit 622, a posture determination unit 623, a vibration control unit 624, a force sensation control unit 625, a temperature sensation control unit 626, and a pressure sensation control unit 627.

[0062] The image generation unit 621 generates an image signal to be output to the image display device 7. The generated image signal is output to the image display device 7, and an image based on the image signal is displayed on the image display device 7. An example of an image generated by the image generation unit 621 is an image showing virtual fingers whose movement and posture change according to the movement and posture of the user's fingers detected by the motion detection device 2. The sound generation unit 622 generates an audio signal to be output to the audio output device 8. The generated audio signal is output to the audio output device 8, and audio based on the audio signal is output by the audio output device 8. An example of an audio generated by the sound generation unit 622 is a sound effect corresponding to the movement and posture of the user's fingers detected by the motion detection device 2, and a sound effect corresponding to the image generated by the image generation unit 621.

[0063] The posture determination unit 623 determines the user's posture based on the detection results of the motion detection device 2. For example, the posture determination unit 623 determines whether the user's posture is a first posture or a second posture. In this embodiment, the posture determination unit 623 determines whether the first posture is one in which the index finger to which the sensory presentation devices 3 and 4 are attached is raised, and also determines whether the second posture is one in which the index finger is laid flat. Furthermore, the posture determination unit 623 determines whether the first posture is one in which the palm of the hand to which the sensory presentation device 5 is attached is spread forward, and also determines whether the palm has moved forward.

[0064] The vibration control unit 624, force control unit 625, temperature sensation control unit 626, and pressure sensation control unit 627 function according to the posture of the attachment site determined by the posture determination unit 623. For example, the vibration control unit 624, force control unit 625, temperature sensation control unit 626, and pressure sensation control unit 627 function when the posture determination unit 623 determines that the posture of the fingers to which the sensory presentation devices 3 and 4 are attached is the first or second posture, when the posture of the hand to which the sensory presentation device 5 is attached is determined to be the first posture, and when it is determined that the hand in the first posture has moved forward in the first direction. The vibration control unit 624 controls the magnitude of vibrations generated by the vibration generating units 32, 42, and 52 of each sensory presentation device 3 to 5. The force control unit 625 controls the magnitude of the vibration force sensation generated by the vibration generating units 32, 42, and 52 of each sensory presentation device 3 to 5, for each vibration generating unit 32, 42, and 52.

[0065] The temperature sensation control unit 626 individually controls the operation of the cold / heat sensation presentation unit 37 of the sensory presentation device 3, the operation of the first cold / heat sensation presentation unit 571 of the cold / heat sensation presentation unit 57 of the sensory presentation device 5, and the operation of the second cold / heat sensation presentation unit 572 of the cold / heat sensation presentation unit 57. Specifically, the temperature sensation control unit 626 individually controls the Peltier elements of each cold / heat sensation presentation unit 37, 571, and 572.

[0066] The pressure control unit 627 individually controls the operation of the pressure presentation units 33 and 53 of each sensory presentation device 3 and 5. Specifically, the pressure control unit 627 controls the pump PN and valve VL of the regulating device 35 that supplies fluid to the first pressure presentation unit 331 and the second pressure presentation unit 332 of the pressure presentation unit 33, thereby controlling the operation of the first pressure presentation unit 331 and the second pressure presentation unit 332. In addition, the pressure control unit 627 controls the pump PN and valve VL of the first regulating device 551 that supplies fluid to the first pressure presentation unit 531, thereby controlling the operation of the first pressure presentation unit 531, and controls the pump PN and valve VL of the second regulating device 552 that supplies fluid to the second pressure presentation unit 532, thereby controlling the operation of the second pressure presentation unit 532.

[0067] [Pressure Control by Pressure Sensor] Below, as an example of control by the pressure sensor 627 controlling the pump PN and valve VL, the pressure sensor 627 controls the pump PN and valve VL that constitute the first adjustment device 551 of the third sensory presentation device 5 to adjust the amount of fluid flowing into the inflow chamber 5314 of the first pressure sensory presentation unit 531, thereby adjusting the pressure applied to the palm RH3, which is the attachment site. However, the same applies when the pressure sensor 627 controls the pump PN and valve VL that constitute the adjustment device 35 of the first sensory presentation device 3 to adjust the pressure applied by the pressure sensory presentation units 331 and 332 to the fingertip of the index finger RH2, which is the attachment site. Similarly, the same applies when the pressure sensor 627 controls the pump PN and valve VL that constitute the second adjustment device 552 of the third sensory presentation device 5 to adjust the pressure applied by the second pressure sensory presentation unit 532 to the back of the hand RH4, which is the attachment site.

[0068] [First Control Example for Maintaining Pressing Force] Figure 18 is a diagram illustrating an example of control of the pump PN and valve VL by the pressure sensing control unit 627, and is a diagram illustrating a first control example for maintaining the pressing force acting by the pressure sensing display unit. In Figure 18, the change in fluid delivery speed by the pump PN is shown on the left, the opening degree of the valve VL is shown in the center, and the amount of fluid flowing into the inlet chamber is shown on the right. Furthermore, a large opening degree of the valve VL indicates that the state of the valve VL is OPEN, and a small opening degree of the valve VL indicates that the state of the valve VL is CLOSE. The same applies to Figures 19 to 26 below. In the first control example for maintaining pressing force shown in Figure 18, the pressure sensing control unit 627 starts the pump PN and maintains the fluid delivery speed by the pump PN at a predetermined delivery speed, switches the valve VL from the CLOSE state to the OPEN state, and after a predetermined time has elapsed, switches it back to the CLOSE state.

[0069] While valve VL is in the OPEN state, fluid flows from pump PN through valve VL into the inlet chamber 5314 of the first pressure sensor 531. As a result, the elastic sheet 5317 covering the inlet chamber 5314 expands, and the expanded elastic sheet 5317 presses against the palm RH3. Thus, while valve VL is in the OPEN state, the amount of fluid flowing into the inlet chamber 5314 gradually increases, and the pressing force on the palm RH3 by the elastic sheet 5317 gradually increases. On the other hand, when valve VL is switched to the CLOSE state, the flow of fluid from pump PN into the inlet chamber 5314 is restricted by valve VL, and the discharge of fluid from the inlet chamber 5314 is also restricted by valve VL. Therefore, the amount of fluid flowing into the inlet chamber 5314 is maintained, and the pressing force on the attachment site by the elastic sheet 5317 remains constant. In other words, the first pressure sensor 531 can maintain a constant pressure acting on the palm RH3. When the pressure sensor control unit 627 turns off the pump PN and opens the valve VL, the fluid that has flowed into the inlet chamber 5314 is discharged from the pump PN via the valve VL. As a result, the elastic sheet 5317 returns to its pre-inflation state, and the pressure on the palm RH3, i.e., the pressure sensation on the palm RH3, is released.

[0070] [Second Control Example for Maintaining Pressing Force] Figure 19 is a diagram illustrating an example of control of the pump PN and valve VL by the pressure sensing control unit 627, and is a diagram illustrating a second control example for maintaining the pressing force acted by the pressure sensing presenter. In the second control example for maintaining pressing force shown in Figure 19, the pressure sensing control unit 627 starts the pump PN and maintains the fluid delivery speed by the pump PN at a first delivery speed for a predetermined time, and then stops the pump PN. On the other hand, when the pump PN is started, the pressure sensing control unit 627 switches the valve VL from the CLOSE state to the OPEN state, maintains the OPEN state for the same predetermined time, and then switches it back to the CLOSE state. As a result, similar to the first control example for maintaining pressing force described above, the pressing force acted on the mounting site by the first pressure sensing presenter 531 can be maintained at a constant level.

[0071] [First Control Example of Repeated Strokes] Figure 20 is a diagram illustrating an example of control of the pump PN and valve VL by the pressure sensor control unit 627, and is a diagram illustrating a first control example of repeated strokes in which the pressing force applied by the pressure sensor display unit is applied intermittently. In the first control example of repeated strokes shown in Figure 20, the pressure sensor control unit 627 switches the pump PN on and off at a predetermined cycle. That is, in the first control example of repeated strokes, the pressure sensor control unit 627 turns the pump PN on, then turns the pump PN off after a first time has elapsed, and then turns the pump PN on again after a second time has elapsed. The pressure sensor control unit 627 repeatedly performs this operation control of the pump PN. The first time and the second time may be of different lengths or of the same length. On the other hand, at the timing when the pump PN is first turned on, the pressure sensor control unit 627 switches the state of the valve VL from the CLOSE state to the OPEN state.

[0072] During the period when valve VL is in the OPEN state, fluid flows from pump PN into the inlet chamber 5314 via valve VL. As a result, fluid intermittently flows from pump PN into the inlet chamber 5314 via valve VL, and the pressure in the inlet chamber 5314 intermittently increases. Therefore, a pressing force is intermittently applied to the mounting site by the elastic sheet 5317. In other words, in the first control example, a pressure sensation similar to repeated blows is applied to the palm RH3. Note that in the first control example of repeated blows, since the state of valve VL is in the OPEN state, during the period when pump PN is off, a portion of the fluid that has flowed into the inlet chamber 5314 reaches pump PN via valve VL and is discharged to the outside from pump PN. Therefore, during the period when pump PN is off, the pressure in the inlet chamber 5314 decreases.

[0073] [Second Control Example of Repeated Strokes] Figure 21 is a diagram illustrating an example of control of pump PN and valve VL by the pressure sensing control unit 627, and is a diagram illustrating a second control example of repeated strokes in which the pressing force acted by the pressure sensing display unit is applied intermittently. In the second control example of repeated strokes shown in Figure 21, the pressure sensing control unit 627 switches pump PN on and off at a predetermined cycle, and also gradually increases the fluid delivery speed during the period when pump PN is on. That is, in the first control example of repeated strokes, the pressure sensing control unit 627 turns pump PN on, then turns pump PN off after 1 hour has elapsed, and then turns pump PN on again after 2 hours has elapsed, and increases the fluid delivery speed of pump PN to a higher level than the fluid delivery speed when it was previously on. The pressure sensing control unit 627 repeatedly performs this operation control of pump PN. On the other hand, at the timing when pump PN is first turned on, the pressure sensing control unit 627 switches the state of valve VL from the CLOSE state to the OPEN state. During the period when valve VL is in the OPEN state, fluid flows from pump PN into the inlet chamber 5314 via valve VL. As a result, fluid flows intermittently from pump PN into the inlet chamber 5314 via valve VL, and the pressure in the inlet chamber 5314 intermittently increases. Therefore, a pressing force is intermittently applied to the mounting site by the elastic sheet 5317. In other words, in the second control example, a pressure sensation similar to repeated blows is applied to the palm RH3. Note that, as in the first control example of repeated blows, the pressure in the inlet chamber 5314 decreases during the period when pump PN is off.

[0074] [Third Control Example of Rapid Strokes] Figure 22 is a diagram illustrating an example of control of pump PN and valve VL by the pressure sensing control unit 627, and illustrates a third control example of rapid strokes in which the pressing force acted by the pressure sensing display unit is applied intermittently. In the third control example of rapid strokes shown in Figure 22, the pressure sensing control unit 627 starts pump PN and maintains the fluid delivery speed by pump PN at a predetermined delivery speed. Also, at the timing when pump PN is first turned on, the pressure sensing control unit 627 switches the state of valve VL from the CLOSE state to the OPEN state, and after 1 hour has elapsed, switches from the OPEN state to the CLOSE state. Then, after a predetermined 2 hours has elapsed since switching to the CLOSE state, it switches back to the OPEN state, and after another 1 hour has elapsed, it switches back to the CLOSE state. The pressure sensing control unit 627 repeatedly performs this operation control of valve VL.

[0075] During the period when valve VL is in the OPEN state, fluid flows from pump PN into the inlet chamber 5314 via valve VL. As a result, the pressure in the inlet chamber 5314 increases in proportion to the period during which valve VL is in the OPEN state. This causes the expanded elastic sheet 5317 to intermittently apply pressure to the mounting site, thereby providing intermittent pressure sensation to the palm RH3, and also allowing the pressure acting on the palm RH3 to be gradually increased. In the third control example, since pump PN remains ON when valve VL is in the OPEN state, fluid leakage from the inlet chamber 5314 can be suppressed, and consequently, a decrease in the pressure in the inlet chamber 5314 can be suppressed.

[0076] [Fourth Control Example of Rapid Strokes] Figure 23 is a diagram illustrating an example of control of pump PN and valves VL1 and VL2 by the pressure sensing control unit 627, and is a diagram illustrating a fourth control example of rapid strokes in which the pressing force acted by the pressure sensing display unit is applied intermittently. In the fourth control example of rapid strokes shown in Figure 23, the pressure sensing control unit 627 controls an adjustment device having pump PN, delivery valve VL1 and discharge valve VL2, similar to the first adjustment device 551B shown in Figure 16, and in turn controls the first pressure sensing display unit 531 to which fluid is supplied by the adjustment device. Specifically, in the fourth control example, the pressure sensing control unit 627 starts pump PN and maintains the fluid delivery speed by pump PN at a predetermined delivery speed. Also, at the timing when pump PN is first turned on, the pressure sensing control unit 627 switches the state of delivery valve VL1 from the CLOSE state to the OPEN state, and after the first time has elapsed, switches it from the OPEN state to the CLOSE state. Then, after switching to the CLOSE state, the discharge valve VL1 is switched back to the OPEN state after two hours have elapsed, and then switched back to the CLOSE state after another one hour has elapsed. The pressure sensing control unit 627 repeatedly performs this operation control of the discharge valve VL1.

[0077] Furthermore, the pressure sensing control unit 627 controls the discharge valve VL2 so that the OPEN and CLOSE states of the supply valve VL1 are reversed compared to the OPEN and CLOSE states of the discharge valve VL2. That is, the pressure sensing control unit 627 controls the discharge valve VL2 so that when the supply valve VL1 is in the OPEN state, the discharge valve VL2 is in the CLOSE state, and when the supply valve VL1 is in the CLOSE state, the discharge valve VL2 is in the OPEN state. Specifically, the pressure sensing control unit 627 switches the state of the discharge valve VL2 from the OPEN state to the CLOSE state at the timing when the pump PN is first turned on, and switches it back from the CLOSE state to the OPEN state after the first time has elapsed. Then, after switching to the OPEN state and after the second time has elapsed, the state of the discharge valve VL2 is switched back to the CLOSE state, and after the first time has elapsed, it is switched back to the OPEN state. The pressure sensing control unit 627 repeatedly performs this operation control of the discharge valve VL2.

[0078] During the period when the delivery valve VL1 is in the OPEN state and the discharge valve VL2 is in the CLOSE state, fluid flows from the pump PN into the inlet chamber 5314 via the delivery valve VL1. As a result, the pressure in the inlet chamber 5314 increases in proportion to the period during which the valve VL is in the OPEN state, allowing a pressing force to be applied to the attachment site. Therefore, intermittent pressure sensation can be presented to the palm RH3. During the period when the delivery valve VL1 is in the CLOSE state and the discharge valve VL2 is in the OPEN state, the fluid flow from the pump PN into the inlet chamber 5314 is restricted by the delivery valve VL1, and the fluid in the inlet chamber 5314 flows to the discharge valve VL2 and is discharged to the outside by the discharge valve VL2. This allows the pressure in the inlet chamber 5314 to be instantaneously reduced, so the pressing force acting on the attachment site, i.e., the pressure sensation presented to the palm RH3, can be instantaneously released.

[0079] In the fourth control example of rapid tapping shown in Figure 23, the pump PN remains on even when the discharge valve VL1 is in the CLOSE state, and continues to supply fluid to the discharge valve VL1. Therefore, similar to the instantaneous injection control example described later, prepressurization can be applied to allow fluid to flow into the inlet chamber 5314 when the discharge valve VL1 is in the OPEN state. Consequently, the pressure in the inlet chamber 5314 can be instantaneously increased, thereby increasing the pressing force acting on the palm RH3. On the other hand, the pressure sensing control unit 627 may turn off the pump PN when the discharge valve VL1 is in the CLOSE state. Furthermore, the pressure sensing control unit 627 may turn the discharge valve VL1 into the OPEN state and also turn off the pump PN when the discharge valve VL2 is in the OPEN state. In this case, the pump PN and valves VL1 and VL2 may be controlled to more quickly discharge the fluid in the inlet chamber 5314 and to instantaneously reduce the pressure in the inlet chamber 5314.

[0080] [First Control Example of Instantaneous Injection] Figure 24 is a diagram illustrating an example of control of the pump PN and valve VL by the pressure sensation control unit 627, and illustrates a first control example of instantaneous injection in which fluid is instantaneously injected into the inlet chamber of the pressure sensation presentation unit. The pressure sensation control unit 627 controls the pump PN and valve VL to instantaneously inject fluid into the inlet chamber of the pressure sensation presentation unit and instantaneously present pressure to the attachment site. In the first control example of instantaneous injection shown in Figure 24, the pressure sensation control unit 627 starts the pump PN and maintains the fluid delivery speed by the pump PN at a predetermined delivery speed. In addition, when the pump PN is first turned on, the pressure sensation control unit 627 sets the state of valve VL to the CLOSE state, and after a predetermined time has elapsed, switches the state of valve VL to the OPEN state.

[0081] When valve VL is in the CLOSE state and pump PN is ON, fluid continues to be supplied from pump PN to valve VL. As a result, the fluid supplied from pump PN during the predetermined time between pump PN being turned ON and valve VL being opened is compressed and accumulates between pump PN and valve VL. In this state, when valve VL is turned OPEN, the fluid accumulated between pump PN and valve VL can be instantaneously circulated into the inlet chamber 5314. In other words, fluid can be instantaneously injected into the inlet chamber 5314. This allows the pressure in the inlet chamber 5314 to be instantaneously increased, thereby providing an instantaneous pressure sensation to the palm RH3.

[0082] [Second Control Example of Instantaneous Injection] Figure 25 is a diagram illustrating an example of control of pump PN and valve VL by the pressure sensing control unit 627, and illustrates a second control example of instantaneous injection in which fluid is instantaneously injected into the inlet chamber of the pressure sensing display unit. In the second control example of instantaneous injection shown in Figure 25, the pressure sensing control unit 627 starts pump PN and maintains the fluid delivery speed by pump PN at a predetermined delivery speed. In addition, when pump PN is first turned on, the pressure sensing control unit 627 sets the state of valve VL to the CLOSE state, switches the state of valve VL to the OPEN state after a predetermined time has elapsed, and then switches the state of valve VL back to the CLOSE state.

[0083] This allows the fluid accumulated between the pump PN and the valve VL to be instantaneously circulated into the inlet chamber 5314, similar to the first control example of instantaneous injection. In other words, fluid can be instantaneously injected into the inlet chamber 5314. This allows the pressure in the inlet chamber 5314 to be instantaneously increased, thereby providing an instantaneous pressure sensation to the application site. Furthermore, since the state of the valve VL switches from the OPEN state to the CLOSE state, the pressing force acting on the application site can be maintained, and the same strength of pressure sensation can be continuously provided.

[0084] [Example of Instantaneous Release Control] Figure 26 is a diagram illustrating an example of control of the pump PN and valve VL by the pressure sensation control unit 627, and illustrates an example of instantaneous release control in which the fluid injected into the inlet chamber of the pressure sensation display unit is instantaneously discharged. The pressure sensation control unit 627 controls the pump PN, the delivery valve VL1 and the discharge valve VL2 to instantaneously discharge the fluid from the inlet chamber of the pressure sensation display unit, thereby instantaneously releasing the pressure sensation that was presented at the attachment site. In the instantaneous release control example shown in Figure 26, the pressure sensation control unit 627 starts the pump PN and maintains the fluid delivery speed by the pump PN at a predetermined delivery speed. Also, at the timing when the pump PN is first turned on, the pressure sensation control unit 627 switches the state of the delivery valve VL1 from the CLOSE state to the OPEN state. At this time, the state of the discharge valve VL2 remains in the CLOSE state. As a result, the fluid delivered from the pump PN flows into the inlet chamber 5314 via the delivery valve VL1.

[0085] Then, after a predetermined time has elapsed since the discharge valve VL1 was in the OPEN state, and the pressure in the inlet chamber 5314 has reached a predetermined value, the pressure sensor control unit 627 switches the discharge valve VL1 to the CLOSE state and switches the discharge valve VL2 to the OPEN state. As a result, the fluid in the inlet chamber 5314 is instantaneously discharged and the pressure in the inlet chamber 5314 decreases, so the pressure sensor presented at the attachment site is instantaneously released. Note that the pump PN may be turned off at the timing when the discharge valve VL1 is switched to the CLOSE state.

[0086] [Control of sensory presentation devices in response to displacement of the attachment site] In the sensory presentation system 1 according to this embodiment, the control device 6 controls the sensory presentation devices 3 to 5 in response to the displacement of the right hand RH to which the sensory presentation devices 3 to 5 are attached, and presents sensations such as pressure, vibration, force, and temperature to the attachment site to which the sensory presentation devices 3 to 5 are attached to the user. An example of the control of sensory presentation devices 3 to 5 in response to displacement of the attachment site will be described below.

[0087] [Beam from the finger] Figure 27 shows the right hand RH and the display content of the image display device 7 when the posture of the right hand RH is the first posture, and Figure 28 shows the right hand RH and the display content of the image display device 7 when the posture of the right hand RH is the second posture. As shown in Figures 27 and 28, the sensory presentation system 1 has the image generation unit 621 of the control device 6 generate an image DP that includes a virtual right hand VRH which is the attachment site of the sensory presentation devices 3 to 5, and displays the image DP on the image display device 7. The posture of the right hand VRH included in the image DP corresponds to the posture of the right hand RH detected by the motion detection device 2. For example, as shown in Figure 27, when the posture of the right hand RH is the first posture with the index finger RH2, to which the sensory presentation devices 3 and 4 are attached, the sensory presentation system 1 gives the user the sensation that virtual energy EN1 is stored in the index finger RH2. At this time, the control device 6 operates the sensory presentation devices 3 and 4 in the first mode and displays an image DP on the image display device 7 that shows energy EN1 accumulating at the tip of the index finger of a virtual right hand VRH. The sound generation unit 622 generates sounds such as sound effects corresponding to the image DP.

[0088] For example, as shown in Figure 28, when the posture of the right hand RH changes from the first posture to a second posture in which the index finger RH2 is laid flat, the sensory presentation system 1 gives the user the sensation that a beam BM1 is being emitted from the fingertip of the index finger RH2. At this time, the control device 6 operates the sensory presentation devices 3 and 4 in the second mode and displays an image DP on the image display device 7 showing a beam BM1 being emitted from the fingertip of the index finger in the virtual right hand VRH of the second posture towards the character CH. The first and second modes implemented when presenting the sensation of a beam BM1 being emitted from the fingertip of the index finger RH2 will be described below.

[0089] Figure 29 illustrates the processing steps involved when presenting the user with the sensation of a beam being emitted from the index finger RH2. When the posture determination unit 623 determines that the posture of the right hand RH, the attachment site, is the first posture with the index finger RH2 extended, the processor 62 of the control device 6 operates the sensory presentation devices 3 and 4 in the first mode, as shown in Figure 29. Specifically, the vibration control unit 624 generates a small level of vibration in the vibration generating units 32 and 42 of the sensory presentation devices 3 and 4. That is, the vibration control unit 624 sets the magnitude of the vibration generated by the vibration generating units 32 and 42 to a small level. The small level corresponds to the first vibration level. The small level vibration is the smallest vibration, the large level vibration is the largest vibration, and the medium level vibration is a vibration of magnitude between the small level vibration and the large level vibration. Furthermore, the pressure sensation control unit 627 controls the pump PN and valve VL of the adjustment device 35 to supply fluid to the respective inlet chambers of the pressure sensation presentation units 331 and 332, gradually increasing the pressing force acting on the fingertip of the index finger RH2 by each of the pressure sensation presentation units 331 and 332. As a result, the pressure sensation presented to the fingertip of the index finger RH2 is gradually increased. In other words, the pressure sensation control unit 627 increases the magnitude of the pressing force acting on the index finger RH2 by the pressure sensation presentation units 331 and 332 over time, but within a range that does not reach the first pressing pressure level.

[0090] If the posture determination unit 623 determines that the posture of the right hand RH has changed from the first posture to the second posture, the processor 62 of the control device 6 operates the sensory presentation devices 3 and 4 in the second mode. As shown in the drawing content in Figure 29, the image generation unit 621 generates an image DP in which the beam BM1 is emitted from the fingertip of the index finger of the virtual right hand VRH for the duration of the beam emission period, which corresponds to the time when the system switches from the first mode to the second mode and during the beam emission period. Furthermore, the image generation unit 621 generates an image DP in which the beam BM1 has weakened towards the end of the beam emission period, and generates an image DP in which the beam BM1 is hidden after the beam emission period has elapsed.

[0091] The vibration control unit 624 sets the magnitude of vibrations generated by the vibration generating units 32 and 42 to a medium level at the timing of switching from the first mode to the second mode. In other words, the vibration control unit 624 generates medium-level vibrations in the vibration generating units 32 and 42. The medium level corresponds to the second vibration level. During the beam emission period, the vibration control unit 624 sets the magnitude of vibrations generated by the vibration generating units 32 and 42 to a large level. In other words, the vibration control unit 624 generates large-level vibrations in the vibration generating units 32 and 42. The large level corresponds to the third vibration level, and the beam emission period corresponds to the first period. After the beam emission period has elapsed, the vibration control unit 624 gradually reduces the magnitude of vibrations generated by the vibration generating units 32 and 42, and finally stops the vibrations. In other words, the vibration control unit 624 fades out the vibration generation by the vibration generating units 32 and 42.

[0092] Furthermore, at the timing of switching from the first mode to the second mode, the force sensation control unit 625 generates a large level of force sensation in the vibration generation unit 32. That is, the force sensation control unit 625 generates a large level of force sensation in the vibration generation unit 32 in the direction from the fingernail to the pad of the fingertip. The large level of force sensation is the greatest force sensation, the small level of force sensation is the smallest force sensation, and the medium level of force sensation is a force sensation of magnitude between the large level and the small level of force sensation. During the beam emission period, the force sensation control unit 625 generates a medium level of vibration in the vibration generation units 32 and 42. The direction of the force sensation generated in the vibration generation units 32 and 42 during the beam emission period is the same as described above. After the beam emission period has elapsed, the force sensation control unit 625 gradually reduces the magnitude of the force sensation generated in the vibration generation units 32 and 42 over time, releasing the force sensation acting on the index finger RH2. In other words, the force sensor control unit 625 fades out the force sensor generation by the vibration generating units 32 and 42.

[0093] Furthermore, at the moment of switching from the first mode to the second mode, the pressure control unit 627 applies a predetermined amount of pressure to the fingertip of the index finger RH2 using the pressure presentation units 331 and 332, and begins applying pressure to the fingertip. The pressure control unit 627 continues to apply pressure to the fingertip using the pressure presentation units 331 and 332 for the duration of the beam emission period. In other words, the pressure control unit 627 continues to generate pressure using the pressure presentation units 331 and 332 from the moment of switching from the first mode to the second mode until the duration of the beam emission period. Then, once the beam emission period has elapsed, the pressure control unit 627 releases the pressure applied to the attachment site by the pressure presentation units 331 and 332. In other words, the pressure control unit 627 releases the pressure applied to the fingertip of the index finger RH2 by the pressure presentation unit 33.

[0094] In this way, the processor 62 of the control device 6 controls the sensory presentation devices 3 and 4 to present the user with the sensation of a beam being emitted from the fingertip of the index finger RH2. Note that the sensory presentation device 4 is not required, and the presentation of sensations by the sensory presentation device 4 is not required.

[0095] [Bullets from the finger] Figure 30 illustrates the processing involved when presenting the user with the sensation of bullets being continuously fired from the index finger RH2. For example, when the posture of the right hand RH changes from the first posture to the second posture, the sensory presentation system 1 provides the user with the sensation of bullets being continuously fired from the fingertip of the index finger RH2, as shown in the drawing of Figure 30. The first and second modes implemented when presenting the sensation of bullets being fired from the finger will be described below.

[0096] If the posture determination unit 623 determines that the posture of the right hand RH, the part to be worn, is the first posture with the index finger RH2 extended, the processor 62 of the control device 6 operates the sensory presentation devices 3 and 4 in the first mode, as shown in Figure 29. In the first mode, the vibration control unit 624 reduces the magnitude of vibrations generated by the vibration generating units 32 and 42 of the sensory presentation devices 3 and 4 to a low level, generating low-level vibrations in the vibration generating units 32 and 42. In the first mode, the pressure sensation control unit 627 gradually increases the pressure acting on the fingertip of the index finger RH2 by the respective pressure sensation presentation units 331 and 332. As a result, the pressure sensation presented to the fingertip of the index finger RH2 is gradually increased. In the first mode, the temperature sensation control unit 626 presents a warm sensation to the fingertip of the index finger RH2 by the cold / warm sensation presentation unit 37. Specifically, the temperature sensation control unit 626 gradually heats the fingertip of the index finger RH2 using the cold / heat sensation presentation unit 37, thereby gradually strengthening the sensation of warmth acting on the fingertip of the index finger RH2. In the first mode, as shown in the drawing content of Figure 30, the image generation unit 621 generates an image DP that includes an effect that makes it appear as if energy is accumulating at the fingertip of the index finger of the virtual right hand VRH.

[0097] If the posture determination unit 623 determines that the posture of the right hand RH has changed from the first posture to the second posture, the processor 62 of the control device 6 operates the sensory presentation devices 3 and 4 in the second mode. As shown in the drawing content in Figure 30, the image generation unit 621 generates an image DP in which a bullet is fired from the fingertip of the index finger of the virtual right hand VRH from the moment the switch from the first mode to the second mode until the bullet firing period. After the bullet firing period has elapsed, the image generation unit 621 generates an image DP in which the bullet is hidden.

[0098] The vibration control unit 624, at the timing of switching from the first mode to the second mode, increases the magnitude of the vibrations generated in the vibration generating units 32 and 42 to a high level, generating high-level vibrations in the vibration generating units 32 and 42. Subsequently, the vibration control unit 624 gradually decreases the magnitude of the vibrations generated in the vibration generating units 32 and 42 over time, and finally stops the vibrations. In other words, the vibration control unit 624 fades out the vibrations generated by the vibration generating units 32 and 42.

[0099] The force sensation control unit 625 generates a force sensation at a high level in the vibration generating unit 32 in the direction from the fingernail to the pad of the fingertip when switching from the first mode to the second mode. After that, the force sensation control unit 625 stops the generation of force sensation by the vibration generating unit 32.

[0100] The pressure control unit 627 releases the pressure on the fingertips by the pressure sensor 331 and 332, i.e., the pressure applied by each pressure sensor 331 and 332, at the moment of switching from the first mode to the second mode. Specifically, the pressure control unit 627 instantaneously discharges the fluid in the inlet chambers of the pressure sensor 331 and 332. During the subsequent bullet firing period, the pressure control unit 627 repeatedly alternates between applying pressure to the fingertips by the pressure sensor 331 and 332 and releasing the pressure. The timing of the pressure during the bullet firing period may coincide with the timing of the bullet's ejection. Once the bullet firing period has elapsed, the pressure control unit 627 releases the pressure on the attachment site by the pressure sensor 331 and 332. In other words, the pressure control unit 627 releases the pressure on the fingertips of the index finger RH2 by the pressure sensor 33.

[0101] The temperature sensation control unit 626 causes the cold / heat sensation presentation unit 37 to present a warm sensation at the timing of switching from the first mode to the second mode. During the subsequent bullet firing period, the temperature sensation control unit 626 repeatedly alternates between heating the fingertip by the cold / heat sensation presentation unit 37 and stopping the heating. The timing of heating during the bullet firing period may coincide with the timing of bullet ejection. Alternatively, the temperature sensation control unit 626 may repeatedly alternate between heating and cooling. Once the bullet firing period has elapsed, the temperature sensation control unit 626 stops heating the attachment site by the cold / heat sensation presentation unit 37. As a result, the temperature of the fingertip of the index finger RH2, which is the attachment site, returns to its normal temperature.

[0102] In this way, the processor 62 of the control device 6 controls the sensory presentation devices 3 and 4 to present the user with the sensation of bullets being continuously fired from the fingertip of the index finger RH2. Note that sensory presentation device 4 is not required, and the presentation of sensations by sensory presentation device 4 is not required.

[0103] [Beam from the palm] Figure 31 shows the right hand RH and the display content of the image display device 7 when the right hand RH is in a first position, and Figure 32 shows the right hand RH and the display content of the image display device 7 when the right hand RH in the first position is moved forward in a first direction. In the sensory presentation system 1 according to this embodiment, as described above, the sensory presentation device 5 can be controlled not only in response to changes in the position of the index finger RH2 to which the sensory presentation devices 3 and 4 are attached, but also in response to the movement of the right hand RH to which the sensory presentation device 5 is attached, to present sensations such as pressure, vibration, force, and temperature to the palm and back of the right hand RH. For example, as shown in Figure 31, when the palm of the right hand RH to which the sensory presentation device 5 is attached is in a first position with the palm extended forward, the sensory presentation system 1 gives the user the sensation that virtual energy is being stored in the palm of the right hand RH. At this time, the control device 6 operates the sensory presentation device 5 in the first mode and displays an image DP on the image display device 7 that shows energy EN2 accumulating in the palm of the virtual right hand VRH. For example, as shown in Figure 32, when the right hand RH in the first posture is moved forward, the sensory presentation system 1 gives the user the sensation that a beam BM2 is emitted from the palm RH3 of the right hand RH. At this time, the control device 6 operates the sensory presentation device 5 in the second mode and displays an image DP showing a beam BM2 being emitted from the palm of the virtual right hand VRH towards the character CH. The first and second modes, which are implemented when presenting the sensation of a beam being emitted from the palm, will be described below.

[0104] Figure 33 illustrates the processing steps involved in presenting the user with the sensation of a beam being emitted from the palm RH3. When the posture determination unit 623 determines that the palm RH3 of the right hand RH, which is the attachment site, is in a first posture with the palm extended forward, the processor 62 of the control device 6 operates the third sensory presentation device 5 in the first mode, as shown in Figure 33. In the first mode, the vibration control unit 624 reduces the magnitude of the vibration generated by the first vibration generating unit 521 to a low level, and generates a low level of vibration in the first vibration generating unit 521. The vibration control unit 624 may also operate the second vibration generating unit 522, which is located on the back of the hand RH4 side, similar to the first vibration generating unit 521. In the first mode, the pressure sensation control unit 627 controls the pump PN and valve VL of the first adjustment device 551 to supply fluid to the inlet chamber 5314 of the first pressure sensation presentation unit 531, and gradually increases the pressing force acting on the palm RH3 by the first pressure sensation presentation unit 531. This gradually increases the pressure sensation presented to the palm RH3. The pressure sensation control unit 627 may also operate the second adjustment device 552 located on the back of the hand RH4 side, similar to the first adjustment device 551. In the first mode, the temperature sensation control unit 626 gradually cools the palm RH3 with the first cold / warm sensation presentation unit 571, gradually increasing the cold sensation acting on the palm RH3. The temperature sensation control unit 626 may also operate the second cold / warm sensation presentation unit 572 located on the back of the hand RH4 side, similar to the first cold / warm sensation presentation unit 571.

[0105] If the posture determination unit 623 determines that the right hand RH in the first posture has moved forward in the first direction, the processor 62 of the control device 6 operates the third sensory presentation device 5 in the second mode. As shown in the drawing content in Figure 32, the image generation unit 621 generates an image DP in which the beam BM2 is emitted from the palm of the virtual right hand VRH from the moment of switching from the first mode to the second mode until the beam emission period, which corresponds to the period during which the beam BM2 is emitted. Furthermore, the image generation unit 621 generates an image DP in which the beam BM2 has weakened towards the end of the beam emission period, and after the beam emission period has elapsed, it generates an image DP in which the beam BM2 is hidden.

[0106] The vibration control unit 624, at the timing of switching from the first mode to the second mode, sets the magnitude of the vibration generated by the first vibration generating unit 521 to a medium level, and generates medium-level vibrations in the first vibration generating unit 521. From the above timing until the beam emission period, the vibration control unit 624 sets the magnitude of the vibration generated by the first vibration generating unit 521 to a large level, and generates large-level vibrations in the first vibration generating unit 521. Then, after the beam emission period has elapsed, the vibration control unit 624 gradually reduces the magnitude of the vibration generated by the first vibration generating unit 521 over time, and finally stops the vibration. In other words, the vibration control unit 624 fades out the vibration generation by the first vibration generating unit 521.

[0107] At the timing of switching from the first mode to the second mode, the force sensation control unit 625 generates a large level of force sensation in the first vibration generating unit 521 in the direction from the back of the hand RH4 to the palm RH3. From the above timing until the beam emission period, the force sensation control unit 625 sets the magnitude of the force sensation generated by the first vibration generating unit 521 to a medium level and generates a medium level vibration in the first vibration generating unit 521. The direction of the force sensation generated by the first vibration generating unit 521 during the beam emission period is the same as above. After the beam emission period has elapsed, the force sensation control unit 625 gradually decreases the magnitude of the force sensation generated by the first vibration generating unit 521 over time, and cancels the force sensation acting on the palm RH3. In other words, the force sensation control unit 625 fades out the force sensation generation by the first vibration generating unit 521. Furthermore, the vibration control unit 624 and the force control unit 625 may operate the second vibration generating unit 522 in the same manner as the first vibration generating unit 521 in the second mode.

[0108] The pressure control unit 627 controls the first adjustment device 551 in one of the first to fifth control examples of rapid tapping described above, from the timing of switching from the first mode to the second mode until the beam emission period, to intermittently press the palm RH3 with the first pressure presentation unit 531 on the palm RH3 side. That is, the pressure control unit 627 rapidly taps the palm RH3 with the first pressure presentation unit 531. Then, when the beam emission period has elapsed, the pressure control unit 627 turns off the pump PN of the first adjustment device 551 and sets the valve VL to the OPEN state, releasing the pressing force acting on the palm RH3 by the first pressure presentation unit 531. In other words, the pressure control unit 627 releases the pressing force on the palm RH3 by the first pressure presentation unit 531. At this time, the pressure control unit 627 may perform the same processing as the instantaneous release control example described above. The pressure sensation control unit 627 may also operate the second pressure sensation presentation unit 532 in the same way as the first pressure sensation presentation unit 531 in the second mode.

[0109] When the temperature sensation control unit 626 switches from the first mode to the second mode, it cools the palm RH3 with the first cold / heat sensation presenter 571 to present a cold sensation. During the subsequent beam emission period, the temperature sensation control unit 626 repeatedly alternates between cooling the palm RH3 with the cold / heat sensation presenter 37 and stopping the cooling. This repeated alternation of cooling and stopping the cooling is referred to as cold pulsation in this specification. The temperature sensation control unit 626 may also repeatedly alternate between cooling and heating with the cold / heat sensation presenter 37. After the beam emission period has elapsed, the temperature sensation control unit 626 stops the cooling of the palm RH3 by the first cold / heat sensation presenter 571. As a result, the temperature of the palm RH3 returns to its normal temperature. The temperature sensation control unit 626 may also operate the second cold / heat sensation presenter 572 in the same way as the first cold / heat sensation presenter 571 in the second mode. In this way, the processor 62 of the control device 6 controls the third sensory presentation device 5, thereby presenting the user with the sensation of a beam being emitted from the palm RH3.

[0110] [Light Bullets from the Palm] Figure 34 illustrates the processing involved when presenting the user with the sensation of light bullets being continuously fired from the palm RH3. For example, when the right hand RH in a first posture with the palm RH3 extended forward is moved forward, the sensory presentation system 1 gives the user the sensation of light bullets being continuously fired from the palm RH3, as shown in the drawing of Figure 34. The first and second modes implemented when presenting the sensation of light bullets being continuously fired from the palm RH3 will be described below.

[0111] When the posture determination unit 623 determines that the posture of the right hand RH, which is the attachment site, is the first posture, the processor 62 of the control device 6 operates the third sensory presentation device 5 in the first mode, as shown in Figure 33. In the first mode, the vibration control unit 624 sets the magnitude of the vibration generated by the first vibration generation unit 521 to a low level, and generates a low level of vibration in the first vibration generation unit 521. In the first mode, the pressure sensation control unit 627 controls the pump PN and valve VL of the first adjustment device 551 to gradually increase the pressing force generated by the first pressure sensation presentation unit 531 and acting on the palm RH3. As a result, the pressure sensation presented to the palm RH3 is gradually increased. In the first mode, as shown in the drawing content in Figure 34, the image generation unit 621 generates an image DP that includes an effect that makes it appear as if energy is accumulating in the palm of the virtual right hand VRH.

[0112] When the posture determination unit 623 determines that the right hand RH in the first posture has moved forward in the first direction, the processor 62 of the control device 6 operates the third sensory presentation device 5 in the second mode, as shown in the mode column of Figure 33. As shown in the drawing content of Figure 34, the image generation unit 621 generates an image DP in which light bullets are continuously fired from the palm of the virtual right hand VRH from the moment of switching from the first mode to the second mode until the light bullet firing period in which the light bullets are fired. The image generation unit 621 also generates an image DP in which the light bullets are hidden once the light bullet firing period has elapsed.

[0113] The vibration control unit 624, at the timing of switching from the first mode to the second mode, increases the magnitude of the vibration generated by the first vibration generating unit 521 to a large level, generating a large level of vibration in the first vibration generating unit 521. Subsequently, the vibration control unit 624 gradually decreases the magnitude of the vibration generated by the first vibration generating unit 521 over time, and finally stops the vibration. In other words, the vibration control unit 624 fades out the vibration generation by the first vibration generating unit 521.

[0114] At the moment of switching from the first mode to the second mode, the force sensation control unit 625 generates a force sensation at a high level in the first vibration generating unit 521 in the direction from the back of the right hand RH4 to the palm RH3. After this, the vibration control unit 624 cancels the generation of force sensation by the first vibration generating unit 521. The vibration control unit 624 and the force sensation control unit 625 may also operate the second vibration generating unit 522 in the same way as the first vibration generating unit 521 in the second mode.

[0115] The pressure control unit 627 repeatedly causes the first pressure presentation unit 531 to release and apply pressure from the moment of switching from the first mode to the second mode until the light bullet emission period. For example, the pressure control unit 627 controls the first adjustment device 551 in one of the first to fifth control examples of rapid tapping described above, and intermittently presses the palm RH3 with the first pressure presentation unit 531 on the palm RH3 side. That is, the pressure control unit 627 repeatedly taps the palm RH3 with the first pressure presentation unit 531. The timing of the rapid tapping may coincide with the timing of the light bullet emission from the palm RH3. After the light bullet emission period has elapsed, the pressure control unit 627 turns off the pump PN of the first adjustment device 551 and sets the valve VL to the OPEN state, releasing the pressure acting on the palm RH3 by the first pressure presentation unit 531. In other words, the pressure control unit 627 releases the pressure on the palm RH3 by the first pressure presentation unit 531. At this time, the pressure control unit 627 may perform the same processing as in the instantaneous release control example described above. The pressure control unit 627 may also operate the second pressure presentation unit 532 in the same way as the first pressure presentation unit 531 in the second mode. In this way, the processor 62 of the control device 6 controls the third sensory presentation device 5 to present the user with the sensation that light bullets are being continuously fired from the palm RH3.

[0116] [Effects of the Embodiment] The sensory presentation system 1 according to the embodiment described above has the following effects. The sensory presentation system 1 comprises sensory presentation devices 3 and 5 attached to the attachment site of the user, an motion detection device 2 that detects the displacement of the attachment site, and a control device 6 that controls the sensory presentation devices 3 and 5 based on the detection results of the motion detection device 2. The first sensory presentation device 3 comprises a vibration generating unit 32 that generates vibrations that act on the fingertip of the index finger RH2, which is the attachment site, and a pressure sensation presentation unit 33 that presents pressure sensation to the fingertip of the index finger RH2. The third sensory presentation device 5 comprises a vibration generating unit 52 that generates vibrations that act on the palm RH3 and back of the hand RH4 of the right hand RH, which is the attachment site, and a pressure sensation presentation unit 53 that presents pressure sensation to the palm RH3 and back of the hand RH4. For example, the control device 6 controls the magnitude of vibration generated by the vibration generating unit 32 and the magnitude of the pressing force applied to the index finger RH2 by the pressure sensation presentation unit 33, in accordance with the displacement of the index finger RH2 detected by the motion detection device 2. Alternatively, the control device 6 controls the magnitude of vibration generated by the vibration generating unit 52 and the magnitude of the pressing force applied to the right hand RH by the pressure sensation presentation unit 53, in accordance with the displacement of the right hand RH detected by the motion detection device 2.

[0117] With this configuration, the sensory presentation devices 3 and 5 can provide the user with vibrations and pressure sensations corresponding to the movement of the area where they are attached. Therefore, for example, in VR or AR, the user can be given feedback that corresponds to their movements. Consequently, the user of the sensory presentation system 1 can be presented with sensations that correspond to their movements.

[0118] In the sensory presentation system 1, the control device 6 operates the vibration generating unit 32 and the pressure sensation presentation unit 33 in a first mode when the position of the index finger RH2 is a first position, and operates the vibration generating unit 32 and the pressure sensation presentation unit 33 in a second mode when the position of the index finger RH2 switches from the first position to a second position. With this configuration, the control device 6 can make the user aware of the difference in position by operating the vibration generating unit 32 and the pressure sensation presentation unit 33 in each mode according to the position of the attached part. In addition, during the execution of an action game in which a character is controlled according to the position of the attached part, the user can be given feedback according to the operation content. Therefore, the versatility of the sensory presentation system 1 can be increased.

[0119] In the sensory presentation system 1, the first sensory presentation device 3 is attached to the fingertip of the index finger RH2. That is, the fingertip of the index finger RH2 is the attachment site for the first sensory presentation device 3. The first posture is the posture of the right hand RH with the fingertip of the index finger RH2 raised. The second posture is the posture of the right hand RH with the fingertip of the index finger RH2 laid flat. With this configuration, when the posture of the fingertip of the index finger RH2 is changed, the control device 6 changes the operation of the vibration generating unit 32 and the pressure sensation presentation unit 33 of the first sensory presentation device 3. This allows for, for example, providing feedback to the user when a virtual button is pressed. It also allows for, for example, providing the fingertip with a sensation of releasing energy accumulated in the fingertip. Therefore, a sensory presentation system usable in games can be constructed.

[0120] In the sensory presentation system 1, in the first mode, the control device 6 sets the magnitude of vibrations generated by the vibration generation unit 32 to a small level, which is the first vibration level, and increases the magnitude of the pressing force applied to the attachment site by the pressure sensation presentation unit 33 over time. From the time the control device 6 switches to the second mode until the beam emission period, which is the first period, the magnitude of vibrations generated by the vibration generation unit 32 is set to a medium level, which is greater than the small level, and causes the pressure sensation presentation unit 33 to present pressure to the attachment site. After the beam emission period has elapsed, the control device 6 decreases the magnitude of vibrations generated by the vibration generation unit 32 over time, and also decreases the magnitude of the pressing force generated by the pressure sensation presentation unit 33 over time. With this configuration, by operating the vibration generation unit 32 and the pressure sensation presentation unit 33 in the first mode, the control device 6 can impart a sensation to the fingertip of the index finger RH2 as if energy is accumulating there. Furthermore, by changing the posture of the index finger RH2 to a second posture and having the control device 6 operate the vibration generating unit 32 and the pressure sensation presentation unit 33 in the second mode, the fingertip can be given the sensation of a beam BM1 being emitted from the fingertip.

[0121] In the sensory presentation system 1, when the control device 6 switches to the second mode, it sets the magnitude of the vibration generated by the vibration generating unit 32 to a medium level as the second vibration level, and then to a large level which is greater than the medium level. The large level corresponds to the third vibration level. With this configuration, it is possible to apply a vibration to the fingertip of the index finger RH2 that is greater than the timing of the change to the second posture. This makes it possible to give the fingertip a sensation as if a stronger beam is being emitted from that fingertip.

[0122] In the sensory presentation system 1, the first sensory presentation device 3 has a vibration generating unit 32 as a force sensation presentation unit that applies force sensation to the fingertip of the index finger RH2. In the first mode, the control device 6 does not generate force sensation in the vibration generating unit 32, and in the second mode, after generating force sensation in the vibration generating unit 32, it reduces the magnitude of the force sensation over time. With this configuration, for example, when the vibration generating unit 32 applies force sensation to the fingertip in an outward direction from the fingertip, a stronger sensation as if a beam BM1 were being emitted from the fingertip can be given to the fingertip.

[0123] In the sensory presentation system 1, in the first mode, the control device 6 sets the magnitude of vibrations generated by the vibration generation unit 32 to a small level, which is the first vibration level, and increases the magnitude of the pressing force applied to the fingertip of the index finger RH2 by the pressure presentation unit 33 over time. During the first period after transitioning to the second mode, which is the bullet firing period, the control device 6 sets the magnitude of vibrations generated by the vibration generation unit 32 to a large level, which is the second vibration level, which is greater than the small level, and then decreases it over time, and after decreasing the magnitude of the pressing force applied by the pressure presentation unit 33, increases the magnitude of the pressing force. In other words, the compression and pressing by the pressure presentation unit 33 are released once and then performed again. With this configuration, by operating the vibration generation unit 32 and the pressure presentation unit 33 in the first mode, the control device 6 can impart a sensation to the fingertip of the index finger RH2 as if energy is accumulating there. Furthermore, when the position of the index finger RH2 is changed to a second position, and the control device 6 operates the vibration generating unit 32 and the pressure sensation presentation unit 33 in the second mode, the fingertip of the index finger RH2 can be given the sensation of a bullet being fired from the fingertip, as well as the sensation of the next round being loaded.

[0124] In the sensory presentation system 1, the control device 6, in the second mode, causes the pressure sensation presentation unit 33 to repeatedly perform the actions during the bullet firing period. With this configuration, the fingertips can be given the sensation that bullets are being continuously fired from them.

[0125] In the sensory presentation system 1, the vibration generating unit 32 of the first sensory presentation device 3 also functions as a force presentation unit that applies force sensation to the fingertip of the index finger RH2. In the second mode, the control device 6 applies force sensation to the vibration generating unit 32. With this configuration, as described above, for example, when the vibration generating unit 32 applies force sensation to the fingertip in an outward direction from the fingertip, a stronger sensation as if a bullet had been fired from that fingertip can be given to the fingertip.

[0126] In the sensory presentation system 1, the control device 6 operates the first vibration generating unit 521 and the first pressure sensation presentation unit 531 in a first mode when the posture of the right hand RH, which is the mounting site for the third sensory presentation device 5, is in a first posture. When the posture of the right hand RH is in the first posture and the right hand RH is moved in a first direction, which is forward, the control device 6 operates the first vibration generating unit 521 and the first pressure sensation presentation unit 531 in a second mode. With this configuration, the first vibration generating unit 521 and the first pressure sensation presentation unit 531 can be operated in different modes by moving the right hand RH. Therefore, the versatility of the sensory presentation system 1 can be increased.

[0127] In the sensory presentation system 1, the third sensory presentation device 5 is attached to the right hand RH, which is the attachment site. The first posture is the posture of the right hand RH when the palm RH3 is spread open, and the first direction is the forward direction for the user. With this configuration, the mode of the first vibration generating unit 521 and the first pressure sensation presentation unit 531 can be changed by pushing out the right hand RH with the palm RH3 spread open. Also, for example, it is possible to give the palm RH3 a sensation such as releasing energy accumulated in the palm RH3. Thus, a sensory presentation system 1 that can be used in games can be constructed.

[0128] In the sensory presentation system 1, in the first mode, the control device 6 sets the magnitude of vibrations generated by the first vibration generation unit 521 to a low level and increases the magnitude of the pressing force applied to the palm RH3 by the first pressure sensation presentation unit 531 over time. Furthermore, from the time of transition to the second mode until the first period, which is the beam emission period, the control device 6 sets the magnitude of vibrations to a medium level greater than the low level, and then to a high level greater than the medium level, causing the first pressure sensation presentation unit 531 to intermittently apply pressing force to the palm RH3. The low level corresponds to the first vibration level, the medium level corresponds to the second vibration level, and the high level corresponds to the third vibration level. With this configuration, by operating the first vibration generation unit 521 and the first pressure sensation presentation unit 531 in the first mode, the control device 6 can impart to the palm RH3 a sensation as if energy is being stored in the palm RH3. Furthermore, by moving the palm RH3 and having the control device 6 operate the first vibration generating unit 521 and the first pressure sensation presentation unit 531 in the second mode, the palm RH3 can be given the sensation that a beam BM2 is being continuously emitted from the palm RH3.

[0129] In the sensory presentation system 1, the control device 6 gradually reduces the magnitude of vibrations generated by the first vibration generating unit 521 over time after the beam emission period has elapsed, causing the first pressure sensation presentation unit 531 to release the pressure on the palm RH3. With this configuration, the after-effects of the beam BM2 emitted from the palm RH3 can be imparted to the palm RH3.

[0130] In the sensory presentation system 1, the first vibration generating unit 521 of the third sensory presentation device 5 functions as a force presentation unit that applies force sensation to the palm RH3. The control device 6 reduces the magnitude of the force sensation generated by the first vibration generating unit 521 during the beam emission period. Specifically, the force sensation control unit 625 of the control device 6 sets the magnitude of the force sensation to a high level and then to a medium level during the beam emission period. Furthermore, the force sensation control unit 625 fades out the force sensation after the beam emission period has elapsed. With this configuration, for example, when the first vibration generating unit 521 applies force sensation to the palm RH3 in an outward direction from the palm RH3, a stronger sensation as if a beam BM2 were emitted from the palm RH3 can be applied to the palm RH3.

[0131] In the sensory presentation system 1, the third sensory presentation device 5 has a first cold / warm sensation presentation unit 571 as a temperature sensation presentation unit that presents either cold or warm sensation to the palm RH3. In the second mode, the control device 6 causes the first cold / warm sensation presentation unit 571 to perform cold pulsation, presenting cold sensation to the palm RH3 at predetermined intervals. With this configuration, the palm RH3 can be given a sensation as if a beam of ice BM2 has been fired. On the other hand, by having the cold / warm sensation presentation unit 571 present warmth, the palm RH3 can be given a sensation as if a flame has been fired. Therefore, the versatility of the sensory presentation system 1 can be increased.

[0132] In the sensory presentation system 1, in the first mode, the control device 6 sets the magnitude of the vibration generated by the first vibration generator 521 to a small level, which is the first vibration level, and increases the pressing force applied to the palm RH3 by the first pressure sensation presentation unit 531 over time. On the other hand, in the second mode, the control device 6 sets the magnitude of the vibration to a large level, which is greater than the small level, at the time of transition to the second mode, and then decreases the magnitude of the vibration over time. At the time of transition to the second mode, it decreases the magnitude of the pressing force, and then increases the magnitude of the pressing force. In other words, the compression and pressing by the first pressure sensation presentation unit 531 are released and then performed again. The small level corresponds to the first vibration level, and the large level corresponds to the second vibration level. With this configuration, by operating the first vibration generator 521 and the first pressure sensation presentation unit 531 in the first mode, the control device 6 can impart to the palm RH3 a sensation of rising energy, or a sensation of elements constituting a bullet gathering together. Furthermore, by moving the right hand RH, including the palm RH3, forward, and by the control device 6 operating the first vibration generating unit 521 and the first pressure sensation presentation unit 531 in the second mode, the palm RH3 can be given the sensation of a bullet being fired from the palm RH3.

[0133] In the sensory presentation system 1, the first vibration generating unit 521 of the third sensory presentation device 5 also functions as a force presentation unit that applies force sensation to the palm RH3. The control device 6 applies force sensation to the palm RH3 by the first vibration generating unit 521 when it transitions to the second mode. With this configuration, similar to the above, for example, by having the first vibration generating unit 521 apply force sensation to the palm RH3 in a direction outward from the palm RH3, a stronger sensation of a bullet being fired from the palm RH3 can be given to the palm RH3.

[0134] In the sensory presentation system 1, the pressure sensation presentation unit 33 of the first sensory presentation device 3 has an inlet chamber 3314 into which fluid can flow, and an elastic sheet 3317 which is an elastic body that expands in response to the pressure in the inlet chamber 3314 and presses against the application area. The first sensory presentation device 3 includes a pump PN for dispensing fluid and a valve VL provided in the fluid flow path of the fluid that is dispensed from the pump PN and flows into the inlet chamber 3314. The first pressure sensation presentation unit 531 of the third sensory presentation device 5 has an inlet chamber 5314 into which fluid can flow, and an elastic sheet 5317 which is an elastic body that expands in response to the pressure in the inlet chamber 5314 and presses against the palm RH3. The third sensory presentation device 5 includes a pump PN for dispensing fluid and a valve VL provided in the fluid flow path of the fluid that is dispensed from the pump PN and flows into the inlet chamber 5314. The control device 6 controls the pump PN and valve VL of each sensory presentation device 3, 5. With this configuration, the pressure applied to the attachment site where each sensory presentation device is attached can be adjusted.

[0135] The control device 6 controls a first sensory presentation device 3, which includes a vibration generating unit 32 that applies vibration to the index finger RH2 on the body, and a pressure sensation presentation unit 33 that presents pressure sensation to the index finger RH2. The control device 6 controls the vibration generating unit 32 and the pressure sensation presentation unit 33 according to the displacement of the index finger RH2. The control device 6 also controls a third sensory presentation device 5, which includes a first vibration generating unit 521 that applies vibration to the palm RH3 on the body, and a first pressure sensation presentation unit 531 that presents pressure sensation to the palm RH3. The control device 6 controls the first vibration generating unit 521 and the first pressure sensation presentation unit 531 according to the displacement of the palm RH3. With this configuration, the same effects as the sensory presentation system 1 described above can be achieved.

[0136] [Modifications of Embodiments] The present invention is not limited to the above embodiments, and modifications and improvements that can achieve the objectives of the present invention are included in the present invention. In the above embodiments, the adjustment device 35 is provided with one pump PN and one valve VL for two pressure sensing units 331 and 332. The first adjustment device 551 is provided with one pump PN and one valve VL for the first pressure sensing unit 531. However, it is not limited thereto. As described above, the number of pump PNs and the number of valve VLs can be changed as appropriate.

[0137] In the above embodiment, the sensory presentation system 1 is said to include a first sensory presentation device 3, a second sensory presentation device 4, and a third sensory presentation device 5. However, it is not limited to this, and the sensory presentation system 1 may include at least one of the sensory presentation devices 3 to 5, or it may include multiple sensory presentation devices of at least one of the sensory presentation devices 3 and 4. Furthermore, the sensory presentation system 1 is said to include a motion detection device 2, an image display device 7, and an audio output device 8. However, it is not limited to this, and the sensory presentation system 1 may not include at least one of the motion detection device 2, the image display device 7, and the audio output device 8.

[0138] Furthermore, the mounting site for the first sensory presentation device 3 was defined as the fingertip of one finger on the hand, the mounting site for the second sensory presentation device 4 was defined as the base of one finger on the hand, and the mounting site for the third sensory presentation device 5 was defined as the palm and back of the hand. However, the mounting sites for each sensory presentation device 3 to 5 are not limited to the above. For example, the mounting sites for the first sensory presentation device 3 and the second sensory presentation device 4 may be the toes, arms, or legs. The mounting site for the third sensory presentation device 5 may be the soles and tops of the feet, arms, or legs. Note that the arms include the upper arms and forearms, and the legs include the thighs, lower legs, and calves. In other words, each sensory presentation device 3 to 5 can be attached to any part of the user's body. Moreover, each sensory presentation device 3 to 5 is not limited to being attached to one hand; each sensory presentation device 3 to 5 may be attached to different parts of the body. For example, the first sensory presentation device 3 and the second sensory presentation device 4 may be attached to different fingers, and the third sensory presentation device 5 may be attached to a different hand or a different body part than the hand to which the sensory presentation devices 3 and 4 are attached. In other words, the sensory presentation system of the present invention only needs to include at least one sensory presentation device attached to a part of the body, and the number of sensory presentation devices included in the sensory presentation system and the attachment sites can be changed as appropriate.

[0139] In the above embodiments, the first sensory presentation device 3 and the second sensory presentation device 4 are positioned on the outside of the mounting members 31 and 41. However, the invention is not limited to this, and the expandable member 34 may be provided inside the cylindrical body 311 of the mounting member 31, along the inner circumferential surface of the cylindrical body 311, and the expandable member 44 may be provided inside the cylindrical body 411 of the mounting member 41, along the inner circumferential surface of the cylindrical body 411. In the third sensory presentation device 5, the expandable member 54 is positioned inside the cylindrical body 51A of the mounting member 51. However, the invention is not limited to this, and the expandable member 54 may be provided outside the cylindrical body 51A, along the outer circumferential surface of the cylindrical body 51A, so as to straddle the locking portion 514.

[0140] In the above embodiment, the mounting members 31 and 41 are assumed to have cylindrical bodies 311 and 411 and slits 313 and 413 provided in the cylindrical bodies 311 and 411. However, the embodiment is not limited to this, and depending on the material of the cylindrical bodies 311 and 411, for example, the slits 313 and 413 may not be necessary.

[0141] In the above embodiment, the first sensory presentation device 3 is provided with a first pressure sensation presentation unit 331 and a second pressure sensation presentation unit 332 arranged side by side in the +D3 direction. However, the device is not limited to this, and the first sensory presentation device 3 may also provide one pressure sensation presentation unit provided according to the center of the fingertip instead of the first pressure sensation presentation unit 331 and the second pressure sensation presentation unit 332, or it may provide three or more pressure sensation presentation units. Furthermore, the first pressure sensation presentation unit 331 and the second pressure sensation presentation unit 332 may be arranged side by side in the +D1 direction, or they may be arranged adjacent to each other.

[0142] In the above embodiment, the first sensory presentation device 3 is provided with a first expandable member 341 and a second expandable member 342. However, it is not limited to this, and the first sensory presentation device 3 may be provided with only one of the first expandable member 341 and the second expandable member 342. The second sensory presentation device 4 is provided with an expandable member 44. However, it is not limited to this, and the second sensory presentation device 4 may be provided with multiple expandable members.

[0143] In the above embodiment, the mounting member 51 of the third sensory presentation device 5 comprises a palmar clamping piece 511 as a first clamping piece, a back-of-the-hand clamping piece 512 as a second clamping piece, a connecting portion 513, and a locking portion 514. However, the mounting member 51 is not limited to this, and may be made of an expandable material and include a cylindrical body 51A without a locking portion 514.

[0144] In the above embodiment, the palmar gripping piece 511 has an insertion portion 5142, and the back-of-hand gripping piece 512 has a plurality of grooves 5144. However, the embodiment is not limited to this, and the palmar gripping piece 511 may have a plurality of grooves 5144, and the back-of-hand gripping piece 512 may have an insertion portion 5142. Furthermore, the locking portion 514, which can adjust the spacing between each gripping piece 511, 512, is not limited to the above and may have other configurations.

[0145] In the above embodiment, the pressure sensation presentation unit 53 of the third sensory presentation device 5 includes a first pressure sensation presentation unit 531 provided on the palmar gripping piece 511 and a second pressure sensation presentation unit 532 provided on the dorsal gripping piece 512. However, the third sensory presentation device 5 is not limited to this, and may include only one of the first pressure sensation presentation unit 531 and the second pressure sensation presentation unit 532, and the number of first pressure sensation presentation units 531 provided on the palmar gripping piece 511 and the number of second pressure sensation presentation units 532 provided on the dorsal gripping piece 512 can be changed as appropriate.

[0146] In the above embodiment, each pressure-sensing display unit 331, 332 of the pressure-sensing display unit 33 and each pressure-sensing display unit 531, 532 of the pressure-sensing display unit 53 expands an elastic sheet, which is an elastic body, in response to the pressure in the inlet chamber through which fluid can flow, and presses the attachment site with the expanded elastic sheet. However, the configuration of the pressure-sensing display unit is not limited to this, as long as it is capable of providing pressure sensation to the attachment site.

[0147] In the above embodiment, the sensory presentation units were described as vibration generating units 32, 42, and 52, and pressure sensation presentation units 33 and 53. However, the sensory presentation units are not limited to these, and may also include thermal sensation presentation units 37 and 57 that present thermal sensations to the attachment site. In addition, other sensory presentation units that present other sensations to the attachment site may also be used.

[0148] In the above embodiment, the vibration generating unit 32 of the first sensory presentation device 3 also functions as a force feedback unit, and the vibration generating units 521 and 522 of the third sensory presentation device 5 also function as force feedback units. However, the embodiment is not limited to this, and at least one of the sensory presentation devices 3 and 5 may have a force feedback unit in addition to the vibration generating unit.

[0149] In the above embodiment, the pressure sensor has an inlet chamber into which fluid flows, and an elastic body that expands due to the pressure in the inlet chamber and presses against the attachment site. However, the pressure sensor is not limited to this, and the pressure sensor may also have a plunger that moves by an actuator and presses against the attachment site. In other words, the configuration of the pressure sensor is not limited to the above.

[0150] In the above embodiment, the sensory presentation devices 3 to 5 are attached to the user's right hand. However, the sensory presentation devices 3 to 5 are not limited to this and may be attached to the user's left hand, or to other parts of the user's body.

[0151] [Summary of the present invention] The following is a summary of the present invention. [1] A sensory presentation system comprising: a sensory presentation device attached to a part of the user's body; an motion detection device for detecting the displacement of the part of the body; and a control device for controlling the sensory presentation device based on the detection result of the motion detection device, wherein the sensory presentation device comprises: a vibration generating unit for generating vibrations that act on the part of the body; and a pressure sensation presentation unit for presenting pressure sensation to the part of the body; and the control device controls the magnitude of the vibrations generated by the vibration generating unit and the magnitude of the pressure force applied to the part of the body by the pressure sensation presentation unit in accordance with the displacement of the part of the body detected by the motion detection device.

[0152] With this configuration, the sensory feedback device can provide the user with vibrations and pressure sensations that correspond to the movement of the area where it is attached. Therefore, for example, in VR (Virtual Reality) or AR (Augmented Reality), the user can be given feedback that corresponds to their movements. Consequently, the sensory feedback system can provide users with sensations that correspond to their movements.

[0153] [2] The sensory presentation system described in [1], wherein the control device operates the vibration generating unit and the pressure sensation presentation unit in a first mode when the posture of the attachment site is a first posture, and operates the vibration generating unit and the pressure sensation presentation unit in a second mode when the posture of the attachment site switches from the first posture to a second posture. With such a configuration, the control device can make the user aware of the difference in posture by operating the vibration generating unit and the pressure sensation presentation unit in each mode according to the posture of the attachment site. In addition, during the execution of an action game in which a character is controlled according to the posture of the attachment site, the user can be given feedback according to the content of the operation.Therefore, the versatility of the sensory presentation system can be increased.

[0154] The sensory presentation system described in [3] and [2] is characterized in that the sensory presentation device is attached to the fingertip of the hand, the fingertip is the attachment site, the first posture is the posture of the fingertip when the fingertip is raised, and the second posture is the posture of the fingertip when the fingertip is laid flat. With this configuration, when the posture of the fingertip is changed, the control device changes the operation of the vibration generating part and the pressure sensation presenting part of the sensory presentation device. This makes it possible to present feedback to the user when, for example, a virtual button is pressed. It also makes it possible to give the fingertip a sensation of releasing energy accumulated in the fingertip. Thus, a sensory presentation system that can be used in games can be constructed.

[0155] A sensory presentation system as described in [4], [2], or [3], wherein the control device, in the first mode, sets the magnitude of the vibration to a first vibration level, increases the magnitude of the pressing force over time, sets the magnitude of the vibration to a second vibration level greater than the first vibration level during a first period after transitioning to the second mode, causes the pressure sensation presentation unit to present pressure to the attachment site, and after the first period has elapsed, decreases the magnitude of the vibration over time, and decreases the magnitude of the pressing force over time. With such a configuration, the control device can make the attachment site feel as if energy is accumulating there by operating the vibration generation unit and the pressure sensation presentation unit in the first mode. Furthermore, when the posture of the attachment site is changed to a second posture, and the control device operates the vibration generation unit and the pressure sensation presentation unit in the second mode, the attachment site can feel as if a beam is being emitted from there.

[0156] The sensory presentation system described in [5] and [4], wherein the control device, upon transitioning to the second mode, sets the magnitude of the vibration to the second vibration level, and then to a third vibration level that is greater than the second vibration level. With this configuration, a vibration greater than the timing at which the posture of the attachment site changes to the second posture can be applied to the attachment site. This makes it possible to give the attachment site the sensation that a stronger beam is being emitted from the attachment site.

[0157] A sensory presentation system according to [6], [4], or [5], wherein the sensory presentation device has a force sensation presentation unit that applies force sensation to the attachment site, and the control device, in the first mode, stops the force sensation presentation unit, and when transitioning to the second mode, applies the force sensation to the attachment site with the force sensation presentation unit, and then decreases the magnitude of the force sensation over time. With such a configuration, for example, when the force sensation presentation device applies force sensation to the attachment site in a direction outward from the attachment site, a stronger sensation as if a beam is being emitted from the attachment site can be given to the attachment site.

[0158] A sensory presentation system according to [7], [2], or [3], wherein the control device, in the first mode, sets the magnitude of the vibration to a first vibration level, increases the magnitude of the pressing force over time, and during the first period after transitioning to the second mode, sets the magnitude of the vibration to a second vibration level which is greater than the first vibration level, then decreases it over time, decreases the magnitude of the pressing force, and then increases the magnitude of the pressing force. With such a configuration, the control device can make the wearing site feel as if energy is accumulating there by operating the vibration generating unit and the pressure presentation unit in the first mode. Furthermore, when the posture of the wearing site is changed to a second posture, and the control device operates the vibration generating unit and the pressure presentation unit in the second mode, the wearing site can be made to feel as if a bullet is being fired from it, as well as as if the next bullet has been loaded.

[0159] A sensory presentation system as described in [8] and [7], wherein the control device causes the pressure sensation presentation unit to repeatedly perform the operation in the first period in the second mode. With such a configuration, the sensation of bullets being continuously fired from the attachment site can be given to the attachment site.

[0160] A sensory presentation system according to [9], [7], or [8], wherein the sensory presentation device has a force sensation presentation unit that applies force sensation to the attachment site, and the control device, in the second mode, applies the force sensation to the force sensation presentation unit. With such a configuration, similar to the above, for example, when the force sensation presentation device applies force sensation to the attachment site in a direction outward from the attachment site, a stronger sensation of a bullet being fired from the attachment site can be given to the attachment site.

[0161] A sensory presentation system as described in

[10] [1], wherein the control device operates the vibration generating unit and the pressure sensation presentation unit in a first mode when the posture of the attachment site is a first posture, and operates the vibration generating unit and the pressure sensation presentation unit in a second mode when the attachment site is moved in a first direction while the posture of the attachment site is the first posture. With such a configuration, the vibration generating unit and the pressure sensation presentation unit can be operated in different modes by moving the attachment site. Therefore, the versatility of the sensory presentation system can be increased.

[0162] The sensory presentation system described in

[11] and

[10] is characterized in that the sensory presentation device is attached to the hand, which is the attachment site, the first posture is the posture of the hand with the palm open, and the first direction is the forward direction for the user. With such a configuration, the mode of the vibration generation unit and the pressure sensation presentation unit can be changed by pushing out the hand with the palm open. For example, it is possible to give the palm a sensation of releasing energy accumulated in the palm. Thus, a sensory presentation system that can be used in games can be constructed.

[0163] A sensory presentation system according to

[12] ,

[10] , or

[11] , wherein the control device, in the first mode, sets the magnitude of the vibration to a first vibration level, increases the magnitude of the pressing force over time, and for a first period from the timing of transitioning to the second mode, sets the magnitude of the vibration to a second vibration level which is greater than the first vibration level, then to a third vibration level which is greater than the second vibration level, and intermittently applies the pressing force to the attachment site to the pressure sensation presentation unit. With such a configuration, by operating the vibration generation unit and the pressure sensation presentation unit in the first mode, the attachment site can be given the sensation that energy is being stored in the attachment site. Furthermore, by moving the attachment site and operating the vibration generation unit and the pressure sensation presentation unit in the second mode, the attachment site can be given the sensation that a beam is being continuously emitted from the attachment site.

[0164] A sensory presentation system according to

[13] and

[12] , wherein the control device, after the elapsed time of the first period, reduces the magnitude of the vibration over time and causes the pressure presentation unit to release the pressure on the attachment site. With such a configuration, the after-effects of the beam being emitted from the attachment site can be imparted to the attachment site.

[0165] A sensory presentation system according to

[14] ,

[12] , or

[13] , wherein the sensory presentation device has a force sensation presentation unit that applies force sensation to the attachment site, and the control device reduces the magnitude of the force sensation during the first period. With such a configuration, similar to the above, for example, when the force sensation presentation device applies force sensation to the attachment site in a direction outward from the attachment site, a stronger sensation as if a beam were emitted from the attachment site can be given to the attachment site.

[0166] A sensory presentation system according to any one of

[15] ,

[12] to

[14] , wherein the sensory presentation device has a temperature sensation presentation unit that presents one of the temperature sensations, cold or warm, to the attachment site, and the control device, in the second mode, causes the temperature sensation presentation unit to present the one of the temperature sensations at predetermined intervals. With such a configuration, the temperature sensation presentation unit can, for example, present cold to give the attachment site a sensation as if a beam of ice has been emitted. Also, the temperature sensation presentation unit can, for example, present warm to give the attachment site a sensation as if a flame has been emitted. Therefore, the versatility of the sensory presentation system can be increased.

[0167] A sensory presentation system according to

[16] ,

[10] , or

[11] , wherein the control device, in the first mode, sets the magnitude of the vibration to a first vibration level and increases the pressing force over time; in the second mode, at the time of transition to the second mode, sets the magnitude of the vibration to a second vibration level greater than the first vibration level, then decreases the magnitude of the vibration over time, and at the time of transition to the second mode, decreases the magnitude of the pressing force, then increases the magnitude of the pressing force. With such a configuration, by operating the vibration generating unit and the pressure presentation unit in the first mode, the control device can impart to the attachment site a sensation of heightened energy or a sensation of elements constituting a bullet gathering together. Furthermore, by moving the attachment site and operating the vibration generating unit and the pressure presentation unit in the second mode, the attachment site can impart to the attachment site a sensation of a bullet being fired from the attachment site.

[0168] The sensory presentation system described in

[17] and

[16] is characterized in that the sensory presentation device has a force sensation presentation unit that applies force sensation to the attachment site, and the control device applies the force sensation by the force sensation presentation unit at the timing of transitioning to the second mode. With such a configuration, similar to the above, for example, by having the force sensation presentation device apply force sensation to the attachment site in a direction outward from the attachment site, a stronger sensation of a bullet being fired from the attachment site can be given to the attachment site.

[0169] A sensory presentation system according to any one of [1] to

[17] , wherein the pressure presentation unit comprises an inlet chamber into which a fluid can flow, and an elastic body that expands in response to the pressure in the inlet chamber and presses against the attachment site, the sensory presentation device comprises a pump for discharging the fluid, and a valve provided in the flow path of the fluid that is discharged from the pump and flows into the inlet chamber, and the control device controls the pump and the valve. With such a configuration, the control device can adjust the pressing force acting on the attachment site by controlling the pump and the valve.

[0170]

[19] A control device for controlling a sensory presentation device comprising a vibration generating unit that applies vibration to a part of the body to which it is attached, and a pressure sensation presenting unit that presents pressure sensation to the part of the body to which it is attached, characterized in that the control device controls the vibration generating unit and the pressure sensation presenting unit in accordance with the displacement of the part of the body to which it is attached. With such a configuration, the same effects as the sensory presentation system described above can be achieved.

[0171] 1...Sensory presentation system, 2...Motion detection device, 3...First sensory presentation device (sensory presentation device), 31...Mounting member, 311...Cylindrical body, 312...Insertion port, 313...Slit, 32...Vibration generating part, 33...Pressure sensation presentation part, 331...First pressure sensation presentation part, 3311...Base, 3312...Flow port, 3313...Annular protrusion, 3314...Inflow chamber, 3315...Frame, 3316...Opening, 3317...Elastic sheet (elastic body), 332...Second pressure sensation presentation part, 3321...Base, 3322...Flow port, 3323...Ring 3324...Inlet chamber, 3325...Frame, 3326...Opening, 3327...Elastic sheet (elastic body), 34...Stretchable member, 341...First stretchable member, 342...Second stretchable member, 35...Adjustment device, 36...Sensor, 37...Cold / thermal sensation presentation unit, 4...Second sensory presentation device, 41...Attachment member, 411...Cylindrical body, 412...Insertion port, 413...Slit, 42...Vibration generating unit, 44...Stretchable member, 5...Third sensory presentation device (sensory presentation device), 51...Attachment member, 511...Palm-side clamping piece, 512...Back-side clamping Piece, 513...Connecting part, 514...Locking part, 5142...Insertion part, 5144...Groove part, 51A...Cylindrical body, 51B...Insertion opening, 52...Vibration generating part, 521...First vibration generating part, 522...Second vibration generating part, 53...Pressure sensing part, 531...First pressure sensing part, 5311...Base, 5314...Inflow chamber, 5315...Frame body, 5316...Opening, 5317...Elastic sheet (elastic body), 532...Second pressure sensing part, 54...Expandable member, 55...Adjustment device, 551...First adjustment device, 552...Second adjustment device, 56 ...sensor, 561...first sensor, 562...second sensor, 57...temperature sensation display unit (temperature sensation display unit), 571...first temperature sensation display unit, 572...second temperature sensation display unit, 6...control device, 61...memory, 62...processor, 621...image generation unit, 622...sound generation unit, 623...posture determination unit, 624...vibration control unit, 625...force sensation control unit, 626...temperature sensation control unit, 627...pressure sensation control unit, DP1, DP2, DP3, DP4, DP5...flow pipe, PN...pump, VL...valve.

Claims

1. A sensory presentation system comprising: a sensory presentation device attached to a part of the user's body; a motion detection device for detecting the displacement of the attached part; and a control device for controlling the sensory presentation device based on the detection result of the motion detection device, wherein the sensory presentation device comprises: a vibration generating unit for generating vibrations that act on the attached part; and a pressure sensation presentation unit for presenting pressure sensation to the attached part, and the control device controls the magnitude of the vibrations generated by the vibration generating unit and the magnitude of the pressure force applied to the attached part by the pressure sensation presentation unit in accordance with the displacement of the attached part detected by the motion detection device.

2. A sensory presentation system according to claim 1, wherein the control device operates the vibration generating unit and the pressure sensation presentation unit in a first mode when the posture of the attachment site is a first posture, and operates the vibration generating unit and the pressure sensation presentation unit in a second mode when the posture of the attachment site switches from the first posture to a second posture.

3. The sensory presentation system according to claim 2, wherein the sensory presentation device is attached to the fingertip of the hand, the fingertip is the attachment site, the first posture is the posture of the fingertip when the fingertip is raised, and the second posture is the posture of the fingertip when the fingertip is laid flat.

4. A sensory presentation system according to claim 2 or claim 3, wherein the control device, in the first mode, sets the magnitude of the vibration to a first vibration level and increases the magnitude of the pressing force over time, sets the magnitude of the vibration to a second vibration level greater than the first vibration level during a first period after transitioning to the second mode, causes the pressure sensation presentation unit to present pressure sensation to the attachment site, and after the first period has elapsed, decreases the magnitude of the vibration over time and decreases the magnitude of the pressing force over time.

5. A sensory presentation system according to claim 4, wherein when the control device transitions to the second mode, it sets the magnitude of the vibration to the second vibration level, and then to a third vibration level that is greater than the second vibration level.

6. A sensory presentation system according to claim 4, wherein the sensory presentation device has a force feedback unit that applies force to the attachment site, and the control device, in the first mode, stops the force feedback unit, and when transitioning to the second mode, applies force to the attachment site with the force feedback unit, and then decreases the magnitude of the force over time.

7. A sensory presentation system according to claim 2 or claim 3, wherein the control device, in the first mode, sets the magnitude of the vibration to a first vibration level, increases the magnitude of the pressing force over time, and during the first period after transitioning to the second mode, sets the magnitude of the vibration to a second vibration level which is greater than the first vibration level, then decreases it over time, and after decreasing the magnitude of the pressing force, increases the magnitude of the pressing force.

8. A sensory presentation system according to claim 7, wherein the control device causes the pressure sensation presentation unit to repeatedly perform the operation in the first period in the second mode.

9. A sensory presentation system according to claim 7, wherein the sensory presentation device has a force sensation presentation unit that applies force sensation to the attachment site, and the control device, in the second mode, applies the force sensation to the force sensation presentation unit.

10. A sensory presentation system according to claim 1, wherein the control device operates the vibration generating unit and the pressure sensation presentation unit in a first mode when the posture of the attachment site is a first posture, and operates the vibration generating unit and the pressure sensation presentation unit in a second mode when the attachment site is moved in a first direction while the posture of the attachment site is a first posture.

11. A sensory presentation system according to claim 10, wherein the sensory presentation device is attached to the hand, which is the attachment site, the first posture is the posture of the hand with the palm open, and the first direction is the forward direction for the user.

12. A sensory presentation system according to claim 10 or claim 11, wherein the control device, in the first mode, sets the magnitude of the vibration to a first vibration level, increases the magnitude of the pressing force over time, and for a first period from the timing of transitioning to the second mode, sets the magnitude of the vibration to a second vibration level which is greater than the first vibration level, then to a third vibration level which is greater than the second vibration level, and intermittently applies the pressing force to the pressure presentation unit.

13. A sensory presentation system according to claim 12, wherein the control device, after the elapsed time of the first period, reduces the magnitude of the vibration over time and releases the pressure on the attachment site to the pressure presentation unit.

14. A sensory presentation system according to claim 12, wherein the sensory presentation device has a force sensation presentation unit that applies force sensation to the attachment site, and the control device reduces the magnitude of the force sensation during the first period.

15. A sensory presentation system according to claim 12, wherein the sensory presentation device has a temperature sensation presentation unit that presents one of the temperature sensations, cold or warm, to the attachment site, and the control device causes the temperature sensation presentation unit to present the one of the temperature sensations at predetermined intervals in the second mode.

16. A sensory presentation system according to claim 10 or claim 11, wherein the control device, in the first mode, sets the magnitude of the vibration to a first vibration level and increases the pressing force over time; in the second mode, at the time of transition to the second mode, sets the magnitude of the vibration to a second vibration level which is greater than the first vibration level, then decreases the magnitude of the vibration over time, and at the time of transition to the second mode, decreases the magnitude of the pressing force and then increases the magnitude of the pressing force.

17. A sensory presentation system according to claim 16, wherein the sensory presentation device has a force sensation presentation unit that applies force sensation to the attachment site, and the control device applies the force sensation by the force sensation presentation unit at the timing of transitioning to the second mode.

18. A sensory presentation system according to claim 1, wherein the pressure sensation presentation unit comprises an inlet chamber into which a fluid can flow, and an elastic body that expands in response to the pressure in the inlet chamber and presses against the attachment site, the sensory presentation device comprises a pump for discharging the fluid, and a valve provided in the flow path of the fluid that is discharged from the pump and flows into the inlet chamber, and the control device controls the pump and the valve.

19. A control device for controlling a sensory presentation device comprising a vibration generating unit that applies vibration to a part of the body to which it is attached, and a pressure sensation presenting unit that presents pressure sensation to the part of the body to which it is attached, characterized in that the control device controls the vibration generating unit and the pressure sensation presenting unit in accordance with the displacement of the part of the body to which it is attached.

Images