Information processing device, information processing method, and program

Abstract

An information processing device according to an embodiment of the present technology is equipped with a tactile sensation control unit. The tactile sensation control unit controls a tactile sensation output signal output to the tactile sensation presentation device based on a tactile sensation presentation signal according to tactile sensation content presented to the tactile sensation presentation device and contact body information related to a contact body in contact with the tactile sensation presentation device.

Description

Technical Field

[0001] The present technology relates to an information processing device, an information processing method, and a program applicable to tactile presentation. Background Art

[0002] In recent years, technologies for presenting various tactile sensations to users have been developed. For example, by vibrating a device in a predetermined vibration pattern, a tactile sensation corresponding to the vibration pattern is presented to the user.

[0003] Patent document 1 describes a tactile device configured to be wearable on a user's body. A movable body configured to be able to vibrate in a plane by an X actuator and a Y actuator is provided to the tactile device. The movable body is vibrated based on a vibration waveform using, for example, a detection threshold of a human tactile receptor. The vibration waveform is set to include an amplitude and frequency range that is detectable or undetectable by a human. Therefore, various tactile perceptions such as friction can be presented to the user (paragraphs

[0019] ,

[0021] , and

[0030] to

[0033] of Patent document 1 and Figure 1 and Figure 3 wait).

[0004] Citation List

[0005] Patent Literature

[0006] Patent Document 1: WO 2016 / 031118 Summary of the invention

[0007] Technical issues

[0008] In the future, it is expected that technology for presenting tactile perception to users will be applied to various devices such as entertainment machines, portable devices, and wearable devices, and technology capable of presenting desired tactile perception will be desired.

[0009] In view of the circumstances as described above, an object of the present technology is to provide an information processing device, an information processing method, and a program capable of presenting desired tactile perception.

[0010] Solution to the problem

[0011] In order to achieve the above-mentioned object, an information processing device according to an embodiment of the present technology includes: a haptic control unit.

[0012] The haptic control unit controls a haptic output signal to be output to the haptic presentation device based on a haptic presentation signal according to haptic contents to be presented to the haptic presentation device and contact body information about a contact body in contact with the haptic presentation device.

[0013] In the information processing device, a tactile output signal as an output to a tactile presentation device is controlled. The control of the tactile output signal is performed based on the tactile presentation signal according to the tactile content of the tactile presentation device and the contact body information related to the contact body in contact with the tactile presentation device. Therefore, the tactile output signal can be controlled according to the contact body and the desired tactile perception is presented.

[0014] The haptic control unit may control the haptic output signal based on correction information and the haptic presentation signal, the correction information being used to correct the haptic presentation signal based on the contact body information.

[0015] This makes it possible to correct the operation of the tactile presentation device according to the contact body. Therefore, the desired tactile sensation can be presented with high accuracy.

[0016] The tactile presentation signal may be a signal representing the amplitude and frequency components of a vibration device for exciting the tactile presentation apparatus. In this case, the tactile control unit may generate correction information about at least one of the amplitude and frequency components represented by the tactile presentation signal based on the contact body information.

[0017] This makes it possible to correct the tactile presentation signal in detail. Therefore, the desired tactile sensation can be presented with high accuracy.

[0018] The contact body may include an accessory to be mounted on the tactile presentation device. In this case, the tactile control unit may acquire quality information about the quality of the accessory as the contact body information.

[0019] Therefore, even in the case where the accessory is mounted, it is possible to appropriately vibrate the tactile sense presentation device and express an excellent tactile sense effect.

[0020] The haptic control unit may calculate a rate of change of acceleration caused by the installation of the accessory, the acceleration being generated in the haptic presentation apparatus due to the vibration of the vibration device, based on the mass information.

[0021] Therefore, the change rate of the acceleration before and after the attachment is installed is calculated. Therefore, the change of the tactile perception or the like caused by the attachment installation can be appropriately corrected.

[0022] The haptic control unit may correct the magnitude of the haptic presentation signal based on the rate of change of the acceleration.

[0023] Therefore, the intensity of the vibration can be corrected with high accuracy, and the haptic content can be presented with a desired intensity.

[0024] The haptic control unit may calculate a shift amount of a resonance frequency of a vibration system including the vibration device due to the installation of the accessory based on the mass information.

[0025] Therefore, the amount of change in the resonance frequency before and after the attachment is installed is calculated. Therefore, the change in tactile perception caused by the attachment installation can be appropriately corrected.

[0026] The haptic control unit may correct a frequency component of the haptic presentation signal based on the shift amount of the resonance frequency.

[0027] For example, this makes it possible to perform tactile presentation using the resonant frequency after the attachment is installed. Thus, tactile content can be presented with sufficient intensity.

[0028] The accessory may be able to provide device information of the accessory. In this case, the haptic control unit may acquire the quality information based on the device information of the accessory.

[0029] Therefore, even in the case where an accessory is mounted, the mass of the accessory can be easily acquired with high accuracy, and a desired tactile sensation can be easily presented.

[0030] The haptic control unit may acquire the quality information based on input information input by the user.

[0031] Therefore, the tactile presentation signal can be corrected regardless of the type of accessory or the like.

[0032] The tactile presentation device may include an acceleration sensor for detecting acceleration of the tactile presentation device. In this case, the tactile control unit may calculate the quality information based on the detection result of the acceleration sensor.

[0033] Thus, for example, the mass of any accessory or the like may be calculated and the haptic presentation signal appropriately corrected.

[0034] The acceleration sensor can detect a first acceleration generated according to a predetermined vibration signal in a tactile presentation device with an accessory installed. In this case, the tactile control unit can obtain a second acceleration generated according to a predetermined vibration signal in a tactile presentation device without an accessory installed, and calculate the mass information based on the first acceleration and the second acceleration.

[0035] This makes it possible to calculate the mass of any accessory, etc. with high accuracy. Therefore, a desired tactile sensation can be presented with high accuracy.

[0036] The haptic control unit may calculate the mass information based on a temporal change in acceleration detected by the acceleration sensor.

[0037] Therefore, for example, in the case where the usage state of the tactile presentation device changes, the mass of the accessory or the like can be appropriately calculated.

[0038] The vibration device may be supported by a housing of the tactile presentation apparatus. In this case, the tactile control unit may correct the tactile presentation signal based on an interference condition regarding mechanical interference between the vibration device and the housing.

[0039] This avoids the situation where the vibration device interferes with the housing. Therefore, it is possible to suppress abnormal sounds and the like and appropriately present a desired tactile sensation.

[0040] The vibration device may be a linear vibration actuator.

[0041] Therefore, various tactile sensations can be easily presented.

[0042] The linear vibration actuator may be a voice coil motor.

[0043] Therefore, various tactile sensations can be easily presented with sufficient intensity.

[0044] The contact body may include a hand of a user holding the tactile presentation device. In this case, the tactile control unit may acquire gripping force information about the gripping force of the user holding the tactile presentation device as the contact body information.

[0045] Therefore, even when the force with which the user holds the tactile sense presentation device or the like changes, the tactile sense presentation device can be vibrated appropriately and an excellent tactile effect can be expressed.

[0046] The tactile presentation device may include an acceleration sensor for detecting acceleration of the tactile presentation device. In this case, the tactile control unit may calculate the gripping force information based on the detection result of the acceleration sensor.

[0047] This makes it possible to easily detect a change in the user's gripping force, etc. Therefore, a change in tactile perception, etc. caused by the change in the gripping force can be appropriately corrected.

[0048] An information processing method according to an embodiment of the present technology is an information processing method executed by a computer system, and the information processing method includes: controlling a tactile output signal to be output to a tactile presentation device based on a tactile presentation signal according to tactile content to be presented to the tactile presentation device and contact body information related to a contact body in contact with the tactile presentation device.

[0049] A program according to an embodiment of the present technology causes a computer system to execute the following steps:

[0050] A tactile output signal to be output to the tactile presentation device is controlled based on a tactile presentation signal according to tactile content to be presented to the tactile presentation device and contact body information related to a contact body in contact with the tactile presentation device.

[0051] Beneficial effects of the present invention

[0052] As described above, according to the present technology, a desired tactile sensation can be presented. Note that the effects described here are not necessarily restrictive, and any effects described in the present disclosure can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] [ Figure 1 ] Figure 1 : is a schematic diagram showing an overview of a tactile sense presentation system according to a first embodiment of the present technology.

[0054] [ Figure 2 ] Figure 2 It is shown Figure 1 A block diagram of an example configuration of a tactile presentation system is shown.

[0055] [ Figure 3 ] Figure 3 is a schematic diagram illustrating an example of a game controller.

[0056] [ Figure 4 ] Figure 4 is a schematic diagram showing a configuration example of a voice coil motor.

[0057] [ Figure 5 ] Figure 5 is a schematic diagram showing an example of an attachment.

[0058] [ Figure 6 ] Figure 6 : is a schematic diagram showing a vibration model of a vibration system connected to a voice coil motor.

[0059] [ Figure 7 ] Figure 7 is a graph showing an example of vibration characteristics of a vibration system connected to a voice coil motor.

[0060] [ Figure 8 ] Figure 8 is a graph showing an example of the relationship between the mass of a vibration target and the resonance frequency of a vibration system.

[0061] [ Fig. 9 ] Fig. 9 is a graph showing the relationship between the generated acceleration and the input voltage before and after the installation of the accessory.

[0062] [ Fig.10 ] Fig.10 is a flow chart illustrating an example of a process of correcting a tactile presentation signal.

[0063] [ Fig.11 ] Fig.11 is a graph for describing an example of analysis of acceleration data.

[0064] [ Fig.12] Fig.12 is a graph illustrating an example of a corrected haptic presentation signal.

[0065] [ Fig.13 ] Fig.13 is a schematic diagram illustrating another example of a tactile presentation device and accessories.

[0066] [ Fig.14 ] Fig.14 is a schematic diagram illustrating another example of a tactile presentation device and accessories.

[0067] [ Fig.15 ] Fig.15 is a schematic diagram illustrating another example of a tactile presentation device and accessories. DETAILED DESCRIPTION

[0068] Hereinafter, embodiments according to the present technology will be described with reference to the drawings.

[0069] <First Embodiment>

[0070] [Configuration of tactile presentation system]

[0071] Figure 1 : is a schematic diagram showing an overview of a tactile sense presentation system according to a first embodiment of the present technology. Figure 2 It is shown Figure 1 The tactile presentation system 100 is a system for providing game content, etc. In the tactile presentation system 100, various types of tactile content are presented to the user 1 according to the operation of the user 1 playing the game content, the progress of the content, etc.

[0072] The tactile presentation system 100 includes a game controller 10, an accessory 20, a game machine body 30, an imaging unit 50, and a display unit 51. Figure 1 In the illustrated example, the game controller 10 on which the accessory 20 is mounted is used. Hereinafter, the game controller 10 on which the accessory 20 is mounted (ie, a complex of the accessory 20 and the game controller 10) is referred to as a complex controller 21 in some cases.

[0073] For example, an image of game content generated by the game body 30 is displayed on the display unit 51. The user 1 can continue the game content by performing an input operation using the composite controller 21 (game controller 10 and accessory 20) according to the display content of the display unit 51. Note that the accessory 20 can be appropriately attached to / detached from the game controller 10 during activation of the game body 30.

[0074] Furthermore, in the tactile presentation system 100, for example, the game controller 10 vibrates to present predetermined tactile content to the user 1. More specifically, the vibration of the game controller 10 is transmitted to the user 1 via the accessory 20, thereby achieving tactile presentation (tactile presentation) corresponding to the vibration waveform (tactile content).

[0075] Note that in the present disclosure, tactile perception (tactile sensation) is a perception generated, for example, by a person touching an object. For example, tactile perception includes the feeling when touching an object, the sense of force (tactile sensation) received from the object, etc. In addition, tactile content is content representing the tactile perception mentioned above, and, for example, the waveform, intensity, duration, etc. of the vibration are set as parameters of the tactile content. For example, in a game, vibrations representing the impact when firing a gun, vibrations representing being damaged, etc. become tactile content. In addition, the present technology is applicable to any tactile content.

[0076] Hereinafter, the tactile perception presented by using vibration will be mainly described. In addition, in some cases, the tactile content will be referred to as tactile. In this embodiment, the game controller 10 corresponds to a tactile presentation device. In addition, the accessory 20 is an example of a contact body that contacts the tactile presentation device.

[0077] Figure 3 is a schematic diagram showing an example of the game controller 10 . Figure 3 The appearance of a stick-shaped game controller 10 is schematically shown. The game controller 10 can independently communicate with the game machine body 30 and has a function of accepting operation input by the user 1. The game controller 10 includes a grip portion 11 and a distal end portion 12.

[0078] The grip portion 11 is a stick-shaped portion for the user 1 to hold. In addition, the grip portion 11 serves as a housing 13 (exterior) of the game controller 10. The front end portion 12 has a spherical shape and is provided at one end of the grip portion 11. The front end portion 12 is configured to emit light of a predetermined color as a whole, and serves as a marker such as motion capture for detecting the motion of the user 1.

[0079] For example, the user 1 holding the game controller 10 (grip portion 11) is imaged by the imaging unit 50 described below. In addition, the game machine body 30 detects the position and movement of the distal end portion 12 emitting light of a predetermined color from the image obtained by imaging the user 1. This makes it possible to detect an operation of moving the game controller 10 by the user 1, etc. In this way, the game controller 10 is used as a marker of a motion controller that performs an operation input by the operation of the user 1.

[0080] like Figure 2 As shown, the game controller 10 further includes a communication unit 14, an input device 15, an acceleration sensor 16, and a voice coil motor 17 (VCM).

[0081] The communication unit 14 communicates with the game machine body 30. For example, the communication unit 14 receives various control signals generated by the game machine body 30, and outputs them to the respective units of the game controller 10. In addition, for example, the communication unit 14 transmits data generated by the respective units (input device 15, acceleration sensor 16, etc.) of the game controller 10 to the game machine body 30.

[0082] Furthermore, in the case where the accessory 20 capable of communicating with the game controller 10 is installed, the communication unit 14 performs communication with the accessory 20. For example, the communication unit 14 reads data or the like input by using the accessory 20, and transmits the read data or the like to the game machine body 30. Furthermore, in the case where the accessory 20 has a function of performing a predetermined operation (a light emitting function, a vibration function, etc.), the communication unit 14 receives various control signals generated by the game machine body 30, and outputs them to the respective units of the accessory 20. In this way, the accessory 20 and the game machine body 30 can communicate with each other via the communication unit 14.

[0083] The communication unit 14 (game controller 10) is generally configured to perform wireless communication with the game machine body 30 and wired communication with the accessory 20. The communication unit 14 is provided with, for example, a wireless communication module capable of performing predetermined wireless communication such as Bluetooth (registered trademark), wireless LAN, and WUSB (Wireless USB). In addition, the communication unit 14 is provided with a wired communication module for performing wired communication with the accessory 20 via a predetermined connection terminal (not shown), etc.

[0084] In addition, the specific configuration of the communication unit 14, the communication mode of the game controller 10, etc. are not limited. For example, the game controller 10 and the accessory 20 can be connected to each other through wireless communication. In addition, for example, the game controller 10 and the game machine body 30 can be connected to each other through wired communication. The communication unit 14 can be appropriately configured according to these communication modes of the game controller 10.

[0085] The input device 15 is a device for detecting the operation input of the user 1. Figure 3 As shown, a plurality of input devices 15 are provided on the surface of the game controller 10 (grip portion 11). The specific configuration of the input device 15 is not limited. For example, any input device such as a button, a switch, a joystick, and a slider may be provided. The input data input by the user 1 via each input device 15 is sent to the game console 30 via the communication unit 14.

[0086] The acceleration sensor 16 detects the acceleration of the game controller 10. The acceleration sensor 16 is fixedly located inside the housing 13 of the game controller 10 to detect the acceleration generated in the game controller 10. The specific configuration of the acceleration sensor 16 is not limited. For example, a three-axis acceleration sensor capable of detecting acceleration in three-axis directions (XYZ directions) perpendicular to each other is used. The acceleration data detected by the acceleration sensor 16 is sent to the game console 30 via the communication unit 14.

[0087] Note that the game controller 10 is also appropriately provided with a gyro sensor, an inertial sensor, etc. in addition to the acceleration sensor 16. The type of sensors provided on the game controller 10 is not limited. For example, a pressure sensor or a temperature sensor for detecting the gripping force of the user 1 may be provided. In addition, any sensor for detecting various states of the game controller 10 may be appropriately provided.

[0088] The voice coil motor 17 (VCM) is a vibration actuator for tactile presentation, and is a linear vibration actuator including a vibrator that vibrates linearly. In the linear vibration actuator, various tactile perceptions can be presented by appropriately controlling the amplitude and vibration frequency of the linearly moving vibrator. Note that as a linear vibration actuator, in addition to the voice coil motor 17, an actuator capable of providing pressure-based tactile presentation, an LRA (linear resonance actuator), an actuator using a piezoelectric element, etc. can also be used. These linear vibration actuators are examples of vibration devices according to this embodiment.

[0089] Figure 4 1 is a schematic diagram showing a configuration example of the voice coil motor 17. The voice coil motor 17 is supported on the housing 13 of the game controller 10 and is arranged inside the housing 13. The voice coil motor 17 includes a vibrator 52 and a stator 53. The voice coil motor 17 is a linear actuator that generates vibration by reciprocating the vibrator 52 in a predetermined direction relative to the stator 53. Hereinafter, the direction in which the vibrator 52 moves (the left-right direction in the figure) will be referred to as the vibration direction.

[0090] The vibrator 52 has, for example, a cylindrical shape with a vibration direction as an axis. An electric wire or the like is wound around the side of the vibrator 52 to form a coil 54. The stator 53 is fixedly arranged in the housing 13 and has a cylindrical space for accommodating the vibrator 52 that can move along the vibration direction. On the inner side surface of the cylindrical space, a magnet 55 is arranged with one of the magnetic poles (S pole or N pole) facing the vibrator 52. In addition, the vibrator 52 and the stator 53 are connected to each other via an elastic body such as a spring (not shown).

[0091] For example, by causing AC current to flow to the coil 54 of the vibrator 52, the vibrator 52 reciprocates in the vibration direction. The reaction force generated by the reciprocating motion acts on the housing 13 of the game controller 10, and the game controller 10 itself also vibrates. Therefore, for the user 1 holding the game controller 10 (grip portion 11), tactile presentation can be performed using vibration.

[0092] The voice coil motor 17 is driven, for example, by voltage driving. For example, a voltage signal (hereinafter referred to as a drive signal) for driving the voice coil motor 17 is applied to the coil 54 from a drive source (not shown). The drive signal is generated based on a control value output from the game machine body 30 described below, etc. Note that the present technology is not limited to the case where the voice coil motor 17 is driven by voltage, and, for example, a configuration in which the voice coil motor 17 is driven by current may be adopted.

[0093] In the voice coil motor 17, for example, by controlling the width and period of the reciprocating motion of the vibrator 52, vibration can be generated with an arbitrary amplitude within a wide frequency band. Therefore, the voice coil motor 17 can be said to be a broadband actuator that generates broadband vibration. Therefore, the expression of tactile perception (tactile sensation) can be greatly improved. The operation of the voice coil motor 17 will be described in detail below.

[0094] The specific configuration of the voice coil motor 17 is not limited. Figure 4 As shown, instead of a moving coil type motor having a coil 54 formed in the vibrator 52, a moving magnetic type motor having a magnet 55 arranged in the vibrator 52 or the like may be used. In addition, a configuration in which a stator 53 is provided inside the vibrator 52 or the like may be adopted. In addition, the size, shape, etc. of the voice coil motor 17 may be appropriately set according to, for example, the size of the game controller 10 to be installed or the like.

[0095] The accessory 20 is, for example, an accessory to be mounted on the game controller 10. Typically, the accessory 20 is arranged to be in contact with the game controller 10 so that the relative position to the game controller 10 is fixed.

[0096] Figure 5 is a schematic diagram showing an example of the attachment 20 . Figure 5 Parts A to D schematically show the appearance of the accessories 20a to 20d, on which the accessories 20a to 20d are mounted. Figure 3 The game controller 10 is shown. These accessories 20a to 20d serve as a composite controller 21 to which the game controller 10 is attached.

[0097] Figure 5 The accessory 20a shown in part A of the embodiment has the shape of a pistol. The accessory 20a is composed of Figure 1The accessory 20 used by the user 1 in the embodiment of the present invention. The game controller 10 is inserted into the distal end (the muzzle side) of the accessory 20a and is integrally fixed to the accessory 20a by a fixing device provided in the insertion portion. At this time, the game controller 10 is communicatively connected to the accessory 20a via a connection terminal (not shown).

[0098] In addition, the accessory 20a is provided with a trigger-type input device 15. The trigger-type input device 15 is connected to the game controller 10 via a connection terminal or the like (not shown). For example, the user 1 can perform a predetermined input operation, such as shooting, by pulling the trigger (input device 15) while holding the handle of the accessory 20a. In this way, it can be said that the accessory 20a has a function of assisting the input operation of the user 1.

[0099] Figure 5 The accessory 20b shown in part B of the game controller 10 has the shape of a grip-type handle. The game controller 10 is inserted between the two handles and integrally fixed to the accessory 20b. The accessory 20b is provided with a plurality of buttons (input device 15) for inputting, for example, a moving direction, options, etc. By using the accessory 20b, for example, input operations in a driving game or the like can be easily performed.

[0100] Figure 5 The accessory 20c shown in part C of FIG. 1 has the shape of a double pistol and is provided with a trigger-type input device 15. The game controller 10 is inserted at the end of the accessory 20c. Note that a different controller other than the game controller 10 can also be attached to the accessory 20c. In addition, Figure 5 The attachment 20d shown in the portion D of FIG. 1 is a two-handed shooting controller, and is provided with a stick type input device 15 or the like in addition to the trigger type input device 15. For example, such a configuration is also possible.

[0101] Each of the accessories 20a to 20d is an accessory 20 that is communicatively connected to the game controller 10 via the connection terminal. For example, each of the accessories 20a to 20d transmits its own device information in response to a request signal from the game controller 10. That is, these accessories 20 are capable of providing device information of the corresponding accessories 20. The device information includes, for example, information for specifying the accessory 20, such as the format, model, manufacturer, serial number, etc. of the accessory 20.

[0102] Note that the accessory 20 that does not communicate with the game controller 10 may be used. For example, the accessory 20 includes an external battery that does not have a communication function. Alternatively, the accessory 20 that is not electrically connected to the game controller 10 may be used.

[0103] For example, in the present disclosure, a housing, a cover, etc. to be mounted on the game controller 10 are also included in the accessory 20. In addition, the specific configuration of the form, type, function, etc. of the accessory 20 is not limited, and for example, any object to be mounted on the game controller 10 can be the accessory 20.

[0104] Refer again Figure 2 , the gaming machine body 30 includes a communication unit 31, a storage unit 32, and a control unit 33. Furthermore, the gaming machine body 30 is provided with an imaging unit 50 and a connection terminal for connecting a display unit 51 and the like are appropriately provided.

[0105] The communication unit 31 communicates with the game controller 10. The communication unit 31 is appropriately configured to be able to communicate with, for example, the communication unit 14 of the game controller 10. For example, a wireless communication module or the like that is able to perform communication according to a wireless communication standard similar to that of the communication unit 14 is appropriately used. The communication unit 31 includes a receiving unit 34 and a transmitting unit 35.

[0106] The receiving unit 34 receives various types of data from the game controller 10, and appropriately outputs the received data to the respective units of the game controller 10. For example, input data (button commands, etc.) input using the input device 15 of the game controller 10 or the accessory 20 or acceleration data detected by the acceleration sensor 16 is received. In addition, for example, device information of the accessory 20 is received. The sending unit 35 sends various control signals and command values ​​generated by the control unit 33 described below to the game controller 10.

[0107] The storage unit 32 is a nonvolatile storage device, and uses a storage device such as an HDD (Hard Disk Drive) and a flash memory. The storage unit 32 stores a control program 36 for controlling the operation of the entire gaming machine body 30 and the like.

[0108] Furthermore, a quality database 37 is stored in the storage unit 32. In the quality database 37, a list of information (format, model, etc.) for specifying each accessory 20 that can be mounted on the game controller 10 and the quality of the accessory 20 is recorded. The method of installing the control program 36 and the quality database 37 on the game machine body 30 is not limited.

[0109] The control unit 33 controls the operation of each unit of the game machine body 30, and generates various control signals (a tactile output signal described below, etc.) to be sent to the game controller 10. The control unit 33 functions as an information processing device according to this embodiment.

[0110] The control unit 33 has a hardware configuration necessary for a computer, such as a CPU (Central Processing Unit) and a memory (RAM (Random Access Memory) and ROM (Read Only Memory)). The information processing method according to the present technology is implemented by the CPU loading the control program 36 according to the present technology stored in the storage unit 32 into the RAM and executing the program.

[0111] For example, a PLD (Programmable Logic Device) such as an FPGA (Field Programmable Gate Array) or another device such as an ASIC (Application Specific Integrated Circuit) may be used as the control unit 33 .

[0112] In this embodiment, the CPU of the control unit 33 executes the control program 36, thereby realizing the content processing unit 38 and the vibration data processing unit 39 as functional blocks. Note that, in order to realize the respective functional blocks, dedicated hardware such as IC (Integrated Circuit) can be used appropriately.

[0113] The content processing unit 38 performs various processes to make the game content proceed, for example, generating video and audio of the game content based on input data input by the user 1, the result of detection of motion capture, and the like.

[0114] The content processing unit 38 generates a tactile presentation signal according to the tactile content to be presented to the game controller 10. Here, the tactile presentation signal is a signal of a vibration waveform representing the tactile content, and is generally a signal representing the amplitude and frequency components for exciting the voice coil motor 17 of the game controller 10. As the tactile presentation signal, for example, a signal including a control value (input value) for driving the voice coil motor 17 is generated. For example, a vibration of the amplitude and frequency component (vibration waveform) represented by the tactile presentation signal can be generated by driving the voice coil motor 17 with the control value included in the tactile presentation signal.

[0115] In this embodiment, the tactile presentation signal is designed so that a predetermined tactile perception can be presented to the user 1 using only the game controller 10. That is, it can be said that the tactile presentation signal is a signal representing a vibration waveform for presenting a predetermined tactile content by vibrating the game controller 10 to which the accessory 20 is not mounted. Note that the content processing unit 38 may be provided in a computer other than the control unit 33 (e.g., an external server device).

[0116] The specific configuration of the tactile presentation signal is not limited, and a signal capable of presenting a predetermined tactile content can be appropriately generated according to, for example, the configuration of the voice coil motor 17. Note that, as described below, in the tactile presentation system 100, the tactile presentation signal generated by the content processing unit 38 is corrected and used to control the voice coil motor 17. Therefore, the tactile presentation signal generated by the content processing unit 38 does not necessarily have to be used to control the voice coil motor 17 as it is.

[0117] The vibration data processing unit 39 controls the vibration of the game controller 10. In this embodiment, vibration control of the game controller 10 (driving control of the voice coil motor 17 and the like) is performed according to the accessory 20 mounted on the game controller 10.

[0118] The vibration data processing unit 39 controls a tactile output signal to be output to the game controller 10 based on a tactile presentation signal according to tactile contents to be presented to the game controller 10 and accessory information about the accessory 20 in contact with the game controller 10. The tactile output signal is, for example, a signal to be actually output to the game controller 10 in order to present the tactile contents. By controlling the tactile output signal, the vibration of the game controller 10 is controlled. In this embodiment, the vibration data processing unit 39 corresponds to a tactile control unit.

[0119] The vibration data processing unit 39 acquires accessory information about the accessory 20 in contact with the game controller 10. That is, the vibration data processing unit 39 acquires accessory information of the accessory 20 mounted on the game controller 10 and in contact with the housing 13 or the like of the game controller 10. In this embodiment, the accessory information corresponds to contact body information.

[0120] Specifically, mass data regarding the mass of the accessory 20 is acquired as the accessory information. The mass data is typically data indicating the mass (weight) of the accessory 20. In this embodiment, the mass data corresponds to the mass information.

[0121] For example, information about whether the accessory is installed or device information of the accessory 20 is acquired as the accessory information. For example, based on this information, quality data of the accessory 20 is read from the quality database 37 or the like. Alternatively, the quality data of the accessory 20 is calculated based on the detection result of the acceleration sensor 16 of the game controller 10 or the like. The method of acquiring the quality data of the accessory 20 will be described in detail below.

[0122] In addition, in this embodiment, the vibration data processing unit 39 controls the tactile output signal based on the correction information and the tactile presentation signal, and the correction information is used to correct the tactile presentation signal based on the attachment information. For example, the signal obtained by correcting the tactile presentation signal using the correction information is the tactile output signal. That is, the tactile output signal is generated by correcting the tactile presentation signal.

[0123] The correction information is information for correcting the tactile presentation signal, and is calculated, for example, based on the quality data mentioned above. As the correction information, for example, the ratio (multiplier, etc.) and the correction amount of the amplitude and frequency components represented by the tactile presentation signal are calculated to correct the tactile presentation signal. In addition, for example, a default correction amount set according to the type of accessory 20, etc., etc., can be used as the correction information. In the following, correcting the tactile presentation signal based on the correction information will be referred to as correcting the tactile presentation signal.

[0124] For example, correction information is calculated using mass data as accessory information, and the correction information is used to correct the tactile presentation signal. That is, a tactile output signal is generated to correct the vibration waveform (tactile presentation signal) of the voice coil motor 17 according to the mass of the accessory 20. The generated tactile output signal is sent to the game controller 10 via the sending unit 35 of the communication unit 31. Then, a drive signal (voltage signal) is generated based on the tactile output signal by the driving source of the voice coil motor 17, and is applied to the coil 54 of the voice coil motor 17. Therefore, the drive control of the voice coil motor 17 can be performed.

[0125] Typically, the drive signal to be applied to the voice coil motor 17 will be a signal having a waveform similar to the waveform of the tactile output signal. Therefore, it can be said that the vibration data processing unit 39 controls the waveform of the drive signal, etc. by correcting the original vibration waveform (tactile presentation signal) and controls the vibration of the voice coil motor 17. The method of calculating the correction information and the method of correcting the tactile presentation signal will be described in detail below.

[0126] The imaging unit 50 uses the game controller 10 (accessory 20) to image the user 1. The image of the user 1 is appropriately output to the game machine body 30, and is used for motion capture processing of the user 1, etc. Note that there may be a case where game content, etc. that can be played without using the imaging unit 50 is played. Even in this case, the present technology is applicable.

[0127] As the imaging unit 50, for example, a digital camera including an image sensor such as a CMOS (Complementary Metal Oxide Semiconductor) sensor and a CCD (Charge Coupled Device) sensor is used. In addition, for example, a distance sensor such as a TOF (Time of Flight) camera and a stereo camera can be used as the imaging unit 50.

[0128] The display unit 51 displays, for example, an image generated by the content processing unit 38. Figure 1 In the example shown, a fixed display is schematically shown as the display unit 51. The specific configuration of the display unit 51 is not limited. For example, an immersive or see-through HMD (Head Mounted Display) can be used as the display unit 51.

[0129] [Vibration model of voice coil motor]

[0130] Figure 6 1 is a schematic diagram showing a vibration model of a vibration system connected to the voice coil motor 17. Figure 6 The vibration model 60 shown is used to describe the vibration characteristics of the voice coil motor 17.

[0131] The vibration model 60 (vibration system) includes a vibrator 52, a spring portion 61, a damper portion 62, and a vibration target 63. The vibrator 52 is a vibrator 52 of the voice coil motor 17 (see Figure 4 ), and is a mass body (vibrator) that reciprocates in a predetermined direction. In the voice coil motor 17, an exciting force F (arrow in the figure) acts on the vibrator 52 in a predetermined direction, thereby vibrating the vibrator 52.

[0132] The spring portion 61 is an elastic body that connects the vibrator 52 and the stator 53 (housing 13 of the game controller 10) to each other. The damper portion 62 is an element that generates a damping force that damps the vibration of the vibrator 52. Figure 6 As shown, in the vibration model 60, the spring portion 61 and the damper portion 62 are arranged in parallel between the vibrator 52 and the vibration target 63. In other words, the vibrator 52 and the vibration target 63 are connected to each other through the spring portion 61 and the damper portion 62 arranged in parallel.

[0133] The vibration target 63 is an object excited by the voice coil motor 17. For example, in the case where the accessory 20 is installed, the portion obtained by removing the vibrator 52 from the game controller 10 and the accessory 20 (composite controller 21) becomes the vibration target 63. Hereinafter, the mass of the vibrator 52 is referred to as m, and the mass of the vibration target 63 is referred to as M. In addition, the spring coefficient of the spring portion 61 is referred to as k, and the damping coefficient of the damper portion 62 is referred to as c.

[0134] Figure 7 is a graph showing an example of the vibration characteristics of the vibration system connected to the voice coil motor 17. The horizontal axis of the graph represents the driving frequency f (Hz) of the voice coil motor 17, and is, for example, the vibration period of the vibrator 52. The vertical axis of the graph represents the acceleration a (G) generated in the vibration target 63. For example, Figure 7 The acceleration a generated in the vibration target 63 in each cycle of the driving signal is shown when the voice coil motor 17 is driven using a driving signal (sine wave, etc.) having a constant amplitude. Hereinafter, the acceleration a generated in the vibration target 63 is referred to as a generated acceleration a.

[0135] like Figure 7 As shown, the voice coil motor 17 has a specific resonance frequency f0 according to the vibration system. For example, by driving the voice coil motor 17 at the resonance frequency f0, the maximum vibration acceleration can be generated. That is, when the amplitude of the drive signal is constant, by setting the period of the drive signal to the resonance frequency f0, the acceleration a generated in the vibration target 63 can be maximized.

[0136] For example, in the case where a game designer presents vibration content with a strong sense of experience, a tactile presentation signal containing many components of the resonance frequency f0 is generated to vibrate the voice coil motor 17. This makes it possible to present a strong feeling of firing a gun, for example. In this way, by performing game design that takes into account the frequency characteristics of the voice coil motor 17 (actuator), excellent entertainment performance can be expressed.

[0137] For example, Figure 1 or Figure 5 As shown, when the accessory 20 for function expansion or the like is mounted on the game controller 10 equipped with the voice coil motor 17, the frequency characteristic of the vibration in the vibration system changes. As factors of the frequency characteristic change, for example, the following two factors are considered.

[0138] The first factor is a decrease in the generated acceleration a due to an increase in the mass excited by the voice coil motor 17. For example, mounting the accessory 20 on the game controller 10 increases the mass M of the vibration target 63 of the voice coil motor 17. As the mass M increases, the acceleration a generated in the vibration target 63 decreases.

[0139] The mass of the game controller 10 excluding the mass m of the vibrator 52 of the voice coil motor 17 is represented by M1, and the mass of the accessory 20 is represented by M2. For example, in the case where the accessory 20 is not installed, the mass of the vibration target 63 is M=M1. In addition, for example, in the case where the accessory 20 is installed, the mass of the vibration target 63 is M=M1+M2. Note that the total mass of the vibration system (game controller 10 and accessory 20) is M+m.

[0140] In the vibration target 63 , the acceleration a is generated by the exciting force F of the voice coil motor 17 so as to satisfy the relationship F=Ma.

[0141] Therefore, when the attachment 20 is mounted, the generated acceleration a is expressed by the following equation.

[0142] a=F / M=F / (M1+M2) (1)

[0143] As shown in equation (1), the generated acceleration a is approximately inversely proportional to the increase in the mass M to be excited. That is, when the accessory 20 is installed (M=M1+M2), the generated acceleration a is reduced to be approximately inversely proportional to the increase in mass M (M2) compared to the case where only the game controller 10 is excited (M=M1).

[0144] As described above, when the accessory 20 is mounted and the mass of the vibration target 63 increases, the acceleration a generated by the voice coil motor 17 decreases. Note that, in reality, the exciting force F of the voice coil motor 17 also changes according to the change of the resonance frequency f0 described below. Therefore, the relationship between the generated acceleration a and each mass becomes a more complicated relationship.

[0145] The second factor is the decrease in the resonance frequency f0 of the vibration system due to the increase in the mass excited by the voice coil motor 17. For example, by installing the attachment 20, the resonance frequency f0 (see Figure 7 ) are shifted to lower frequencies.

[0146] use Figure 6 The spring constant k of the spring portion 61 shown is expressed by the following equation to give the resonance frequency f0 of the vibration system excited by the voice coil motor 17 .

[0147] f0=sqrt(k / M')=(k / M')^(1 / 2) (2)

[0148] Here, M' represents a parameter called reduced mass and is expressed by M'=(m·M) / (m+M). Note that the effect of the damping force applied by the damper portion 62 for damping vibration is ignored in equation (2), and equation (2) does not include the damper coefficient c and the like.

[0149] Figure 8 : is a graph showing an example of the relationship between the mass M of the vibration target 63 and the resonance frequency f0 of the vibration system. The horizontal axis of the graph represents the mass M (kg) of the vibration target 63, and the vertical axis of the graph represents the resonance frequency f0 (Hz) of the vibration system. Figure 8 The characteristics of the resonance frequency f0 calculated based on the above-mentioned formula (2) are shown with respect to the mass M. Note that the mass m of the vibrator 52 is set to 0.03 kg, and the spring constant k of the spring portion 61 is set to 2600 N / m.

[0150] For example, in the case where the mass m of the vibrator 52 is sufficiently low relative to the mass M of the vibration target 63, the reduced mass M' can be regarded as a substantially constant value relative to the increase in the mass M. At the same time, the mass m of the vibrator 52 is set to be large in order to obtain a large generated acceleration a in the game controller 10. In this case, the mass m of the vibrator 52 cannot be ignored. Therefore, for example, Figure 8 As shown in the graph of , the resonance frequency f0 decreases with an increase in the mass M of the vibration target 63.

[0151] For example, in a case where the mass M1 of the game controller 10 excluding the vibrator 52 is 0.1 kg, the resonant frequency f0 of the game controller 10 alone is about 53.4 Hz. It is assumed that the accessory 20 is mounted on this game controller 10. In a case where the mass M2 of the accessory 20 is 0.1 kg, the mass M of the vibration target 63 is 0.2 kg. In this case, the resonant frequency f0 in the game controller 10 with the accessory 20 mounted is about 50.2 Hz. That is, in this vibration system, by adding 0.1 kg of the accessory 20, the resonant frequency f0 is reduced by about 3 Hz.

[0152] As described above, by connecting the accessory 20 to the game controller 10 equipped with the voice coil motor 17, the vibration characteristics of the system of the game controller 10 + accessory 20 are changed. That is, the generated acceleration a decreases as the mass M to be excited increases. As shown in formula (1), the generated acceleration a has a relationship that is approximately inversely proportional to the increase in mass M. In addition, the resonant frequency f0 changes due to the change in the vibration system. As shown in formula (2), as the mass M to be vibrated increases, the resonant frequency f0 of the system decreases.

[0153] Fig. 9 is a graph showing the relationship between the acceleration a and the input voltage V generated before and after the installation of the accessory 20 . Fig. 9 The upper graph of shows the time change of the drive signal 2 (input voltage) for driving the voice coil motor 17 and the acceleration a generated in the vibration target 63. The horizontal axis of the graph is time (s). In addition, the vertical axes on the left and right sides respectively represent the effective value (root mean square: rms) of the drive signal 2 (V) at each timing and the generated acceleration a (G).

[0154] For example, the orientation of the acceleration generated by vibration changes according to the vibration period, and the sign of the acceleration is constantly replaced. Fig. 9 In the upper graph of , the magnitude of the generated acceleration a is shown by plotting the effective value of the generated acceleration a within a predetermined time period. Note that both the generated acceleration a and the drive signal 2 are appropriately adjusted to be plotted with reference to a predetermined reference level (thick wavy line in the figure).

[0155] exist Fig. 9 In the upper graph of , the accessory 20 is mounted on the game controller 10 at a certain timing T0. That is, during the period satisfying the relationship of time T<T0, only the game controller 10 is excited. During the period satisfying the relationship of time T≥T0, the game controller 10 (composite controller 21) on which the accessory 20 is mounted is excited. Note that Fig. 9 , it is assumed that no correction of the drive signal 2, that is, correction of the tactile presentation signal, etc., is performed before and after the attachment 20 is installed.

[0156] For example, since the effective value (intensity) of the drive signal 2 is appropriately set according to the progress of the game content, a random time change is shown. Fig. 9 The upper curve diagram shows how the effective value of the drive signal 2 randomly changes near the reference level. Note that since correction of the drive signal 2 (tactile presentation signal) and the like are not performed, the range of values that the effective value of the drive signal 2 can take (the range of random change), etc. do not change even after the attachment 20 is installed, and vibration control similar to the vibration control before installation is performed.

[0157] When the voice coil motor 17 is driven by the drive signal 2, the generated acceleration a is generated. Therefore, the waveform of the effective value of the generated acceleration a becomes a waveform similar to the waveform of the effective value of the drive signal 2. Note that the generated acceleration a mainly changes within a range higher than the reference level during the period (T < T0) when the attachment 20 is not installed. At the same time, during the period (T ≥ T0) when the attachment 20 is installed, the range in which the generated acceleration a changes shifts to a range lower than the reference level. That is, when the attachment 20 is installed, the level of the generated acceleration a decreases.

[0158] Fig. 9 The lower curve diagram shows Fig. 9 a graph of the ratio of the generated acceleration a to the drive signal 2 (generated acceleration a / drive signal 2) in the upper curve diagram. This ratio can be said to be the ratio of converting the drive signal 2 into acceleration in the vibration system.

[0159] For example, at a time point before the attachment 20 is installed, the ratio of the generated acceleration a to the drive signal 2 has an approximately constant value. Note that changes in the gripping force of the user 1, etc. change the vibration conditions of the vibration system, etc. in some cases. In such a case, there is a possibility that the ratio of the generated acceleration a to the drive signal 2 slightly changes.

[0160] In addition, when the attachment 20 is installed, the generated acceleration a decreases compared to the acceleration before installation. Therefore, the ratio of the generated acceleration a to the drive signal 2 also decreases and converges to a predetermined level corresponding to the mass of the attachment 20, etc. As described above, when the attachment 20 is installed on the game controller 10 without controlling the level of the drive signal 2 (tactile presentation signal), there is a possibility that the generated acceleration a decreases.

[0161] [Processing for correcting the tactile presentation signal]

[0162] Fig.10 is a flowchart showing an example of the processing for correcting the tactile presentation signal. Fig.10The flowchart shown shows a loop process that is repeatedly performed, for example, during the operation of the game machine body 30. For example, the loop process is started at the same time as the game machine body 30 is activated or the game content is started. Alternatively, the loop process may be started when a mode for correcting the tactile presentation signal is selected by the user 1, etc.

[0163] It is determined whether the accessory 20 is installed (step 101). For example, it is assumed that the accessory 20 capable of communicating with the game controller 10 is installed. In this case, the game controller 10 sends a confirmation signal indicating that the communication with the accessory 20 has been established to the game machine body 30 (receiving unit 34). The fact that the accessory 20 has been installed can be determined by receiving the confirmation signal.

[0164] Furthermore, for example, a predetermined system UI (User Interface) may be displayed on the display unit 51, and the user 1 himself / herself may select the model of the accessory 20 from the system UI. That is, a configuration may be adopted in which the user 1 himself / herself may explicitly input the fact that the accessory 20 has been installed. For example, in the case where the model of the accessory 20 is selected, it is determined that the accessory 20 has been installed.

[0165] In addition, for example, based on the detection result of the acceleration a generated in the game controller 10, it is determined whether the accessory 20 has been mounted. In this case, the detection result (acceleration data) of the acceleration sensor 16 mounted on the game controller 10 is sent to the game machine body 30. Then, the vibration data processing unit 39 analyzes the acceleration data and determines whether the accessory 20 has been mounted.

[0166] Fig.11 is a graph for describing an example of analysis of acceleration data. Fig.11 Shown with Fig. 9 The vibration data processing unit 39 calculates the time average value of the ratio of the generated acceleration a to the drive signal 2 (input voltage) within a predetermined period. The period for calculating the average value is not limited and can be appropriately set according to the detection accuracy of the generated acceleration a, the noise level, etc., for example.

[0167] exist Fig.11 In FIG. 1 , five time periods Ta to Te for calculating the time average are schematically shown using arrows. The time periods Ta to Te are, for example, time periods that are consecutively arranged in this order so that the time ranges do not overlap. Fig.11 In the example shown, the accessory 20 is installed during the time period Tc. In the time periods Ta and Tb, the time average is calculated before the installation of the accessory 20. In the time periods Td and Te, the time average is calculated after the installation of the accessory 20. The time averages calculated in the time periods Ta to Te are 1.18, 1.2, 1.0, 0.6, and 0.58, respectively.

[0168] For example, in the vibration data processing unit 39, the time average value of the ratio of the generated acceleration a to the drive signal 2 changes greatly, and it is determined that the accessory 20 has been added at the timing of convergence. For example, in the case where the time average value decreases to exceed a predetermined threshold value and the level of the time average value does not return thereafter, it is determined that the accessory 20 has been installed. Fig.11 In the example, a decrease in the time average value is detected in the time period Tc or Td, and it is determined that the accessory 20 has been installed in the time period Te. Therefore, it is possible to reliably determine whether the accessory 20 has been installed.

[0169] Refer again Fig.10 When it is determined that the accessory 20 has been installed (Yes in step 101), the device information of the accessory 20 is acquired, and a process of querying the quality M2 of the accessory 20 in the quality database 37 is executed (step 102).

[0170] For example, in the case where the accessory 20 capable of communicating with the game controller 10 is connected, the device information of the connected accessory 20 obtained from the extension terminal of the game controller 10 is transmitted to the receiving unit 34 of the game machine body 30. Then, the vibration data processing unit 39 refers to the quality database 37, and performs a process of inquiring about the quality M2 of the accessory 20 corresponding to the format or model included in the device information.

[0171] Furthermore, in the case where the model of the accessory 20 is selected by the user 1 via the system UI, for example, the quality database 37 is referenced based on information about the selected model. Furthermore, the present technology is not limited to the case of referring to the quality database 37. For example, an external database connected to a predetermined network that is connectable to the gaming machine body 30 via the communication unit 31 may be appropriately referenced. Note that, as referenced Fig.11 As described, when it is determined based on the generated acceleration a and the like that the accessory 20 has been mounted, the process of inquiring about the mass M2 and the like is not performed.

[0172] In a case where it is determined that the accessory 20 is not mounted (“No” in step 101 ), inquiry of the mass M2 of the accessory 20 or the like is not performed, and step 103 is performed.

[0173] In step 103, it is determined whether there is information (quality data) of the mass M2 of the attachment 20. In a case where there is the quality data of the attachment 20 (Yes in step 103), the quality data of the attachment 20 is read and the value of the mass M2 is set (step 104).

[0174] For example, in the case where the accessory 20 corresponding to the device information exists in the mass database 37 or the like, the mass data of the accessory 20 is read by the vibration data processing unit 39, and the mass M2 of the accessory 20 is set. In this way, the vibration data processing unit 39 acquires the mass data based on the device information of the accessory 20. Therefore, the mass M2 of the accessory 20 can be easily acquired with high accuracy.

[0175] Furthermore, for example, in the case where the model of the accessory 20 is selected by the user 1, the mass data of the selected model is read from the mass database 37 or the like. In this way, the mass data can be acquired by the vibration data processing unit 39 based on the input information input by the user 1. Therefore, for example, even in the case where an accessory 20 for which device information is not provided (an accessory 20 that does not include an attached battery or a connection terminal, etc.) is used, the mass M2 of the accessory 20 can be appropriately set.

[0176] Note that there may be a case where the mass data of the accessory 20 cannot be acquired because the accessory 20 is a non-genuine product or the like. In this case, a process of estimating the mass M2 of the accessory 20 is performed in step 105 described below. Alternatively, the connection of the accessory 20 as described above may be recognized by a UI operation of the user 1 or the like, and a default mass (e.g., 100 g) may be set as the mass M2. For example, such a process is also possible.

[0177] In the case where there is no mass data of the attachment 20 (No in step 103), a process of estimating the mass M2 of the attachment 20 is performed (step 105). Hereinafter, the process of estimating the mass M2 will be referred to as an M2 estimation procedure.

[0178] In the M2 estimation routine, mass data is calculated by the vibration data processing unit 39 based on the detection result of the acceleration sensor 16. That is, the acceleration sensor 16 in the game controller 10 is used to estimate the mass M2 of the accessory 20.

[0179] In this embodiment, test data for a case where only the game controller 10 vibrates when the accessory 20 is not installed is stored in advance. Specifically, parameters of a waveform of a test signal (test waveform) for vibrating the voice coil motor 17 and acceleration a (hereinafter referred to as pre-installation acceleration) generated only in the game controller 10 when vibrating in response to the test signal are stored as test data.

[0180] The test signal is a signal for estimating the mass M2. As a test waveform of the test signal, for example, an arbitrary waveform such as a Sin waveform and a triangular waveform is used. The shape, period, amplitude, etc. of the test waveform are not limited. For example, the pre-installation acceleration is appropriately measured before shipping the goods. In this case, the pre-installation acceleration can be measured for each game controller 10. Therefore, the influence of individual differences of the game controllers 10 can be suppressed. Alternatively, the same pre-installation acceleration can be set for the game controllers 10 of the same model.

[0181] The test data (test waveform and pre-installation acceleration) is stored in a memory or the like in the game controller 10, for example, and becomes a value known to the system when the goods are shipped. In addition, the method, timing, etc. of storing the test data are not limited. For example, the process of detecting and storing the pre-installation acceleration can be performed at any timing before the M2 estimation procedure. In this embodiment, the test signal corresponds to the predetermined vibration signal, and the pre-installation acceleration corresponds to the second acceleration.

[0182] In the M2 estimation process, when the connection of the accessory 20 is detected, a voltage signal (test signal) of a test waveform is applied to the voice coil motor 17 by the vibration data processing unit 39 for calculating the mass M2. That is, the vibration data processing unit 39 causes the voice coil motor 17 to vibrate with the test waveform.

[0183] At this time, the acceleration a (hereinafter referred to as post-installation acceleration) generated in the game controller 10 is detected by the acceleration sensor 16. Therefore, the acceleration sensor 16 detects the post-installation acceleration generated in the game controller 10 to which the accessory 20 has been installed in response to the test signal. In this embodiment, the post-installation acceleration corresponds to the first acceleration.

[0184] Furthermore, the vibration data processing unit 39 refers to the pre-stored test data in response to the test signal, and acquires the pre-installation acceleration generated in the game controller 10 without the accessory 20 installed. Then, the mass data is calculated based on the post-installation acceleration and the pre-installation acceleration.

[0185] In this embodiment, the increase in the mass of the vibration target 63 (i.e., the mass M2 of the accessory 20) before and after the attachment 20 is installed is calculated based on the inverse proportional relationship between the generated acceleration a of equation (1) and the mass of the vibration target 63. Note that it is assumed that the exciting force F generated in the voice coil motor 17 by applying the test waveform before and after the attachment 20 is installed is substantially constant. Hereinafter, a specific description will be given.

[0186] For example, assuming that a voltage of 6 Vpp (test signal) is applied to the voice coil motor 17 only when the accessory 20 is not installed, the pre-installed acceleration generated in the game controller 10 is 3 Gpp. Note that Vpp and Gpp represent the maximum amplitude from the minimum value to the maximum value in the test waveform and acceleration, for example.

[0187] Furthermore, it is assumed that when the accessory 20 has been installed, a voltage of 6 Vpp (test signal) which is the same as the voltage before installation is applied to the voice coil motor 17, and a post-installation acceleration of 2 Gpp is detected. That is, it is assumed that the mass of the vibration target 63 is increased by the installation of the accessory 20, and the generated acceleration a is reduced from the pre-installation acceleration of 3 Gpp to the post-installation acceleration of 2 Gpp.

[0188] In this case, based on equation (1), the mass of the vibration target 63 excited by the voice coil motor 17 increases by 1.5 times after the attachment 20 is installed. That is, the mass M1+M2 of the vibration target 63 after the attachment 20 is installed is 1.5×M1. Therefore, the mass M2 of the attachment 20 is calculated as M2=0.5×M1.

[0189] As described above, the mass data (mass M2) of the accessory 20 is estimated by detecting the acceleration generated by the test waveform before and after mounting the accessory 20. Therefore, for example, the mass M2 can be calculated with high accuracy for any accessory 20.

[0190] Note that, in the case where the user 1 holds the game controller 10, there may be a case where the virtual mass of the controller changes depending on the magnitude of the gripping force of the user 1. For example, depending on the strength of the gripping force, in some cases, the controller is less likely to shake, and the virtual mass increases.

[0191] To this end, as described above, it is desirable to perform a process (M2 estimation procedure) of estimating the mass M2 of the accessory 20 based on the generated acceleration a in a non-holding state in which the user 1 releases the hand from the accessory 20. Therefore, the mass M2 of the accessory 20 can be estimated with high accuracy while avoiding the effect of increasing the virtual mass due to the holding force of the user 1, for example.

[0192] Furthermore, it is assumed that the user 1 releases the hand and places the composite controller 21 (game controller 10 and accessory 20) on a hard table or the like. In this case, when the composite controller 21 vibrates, there may be a case where contact and non-contact with the table are repeated. Therefore, for example, there is a possibility that an acceleration output containing many noise components is detected in response to a voltage input of a test signal such as a Sin waveform.

[0193] Therefore, for example, it is desirable to refer to the correlation between the test signal and the generated acceleration a and estimate the mass M2 of the accessory 20 when the test signal and the generated acceleration a have similar waveforms. This is achieved in the case where the composite controller 21 is placed on a soft surface such as a sofa and a carpet, for example. Therefore, the acceleration sensor 16 can detect the acceleration corresponding to the test signal with high accuracy, and the estimation accuracy of the mass M2 can be improved, for example.

[0194] For example, when the estimation process of the M2 estimation procedure is performed, a message (voice, image, etc.) is presented to the user 1 to inform the user that he / she should release the hand from the compound controller 21 and place the compound controller 21 on a soft surface. This makes it possible to perform the M2 estimation procedure with high accuracy. It goes without saying that the M2 estimation procedure can be performed while the user 1 holds the compound controller 21.

[0195] Furthermore, as the M2 estimation routine, a process of estimating the mass M2 of the attachment 20 may be performed without generating vibration using a test signal. In this case, the vibration data processing unit 39 calculates mass data based on a temporal change in acceleration detected by the acceleration sensor 16.

[0196] For example, as referenced Fig.11 As described above, the ratio of the generated acceleration a to the drive signal 2 changes greatly before and after the attachment 20 is installed. For example, in the time period Ta when the attachment 20 is not installed, the time average value of the ratio of the generated acceleration a to the drive signal 2 (generated acceleration a / drive signal 2) is 1.18. In addition, in the time period Te when the attachment 20 is installed, the time average value is 0.58.

[0197] This can be said, for example, that the level of acceleration a generated in the composite controller 21 decreases from 1.18 to 0.58 relative to the same level of the drive signal 2 before and after the attachment 20 is installed. Therefore, the reduction rate α=(a1 / a0) of the acceleration a1 generated after the attachment 20 is installed relative to the acceleration a0 generated before the attachment 20 is installed is 0.58 / 1.18≈1 / 2.

[0198] Furthermore, according to the formula (1), the accelerations a0 and a1 generated before and after the attachment 20 is mounted are expressed as a0=F / M1 and a1=F / (M1+M2), respectively. Therefore, the reduction rate α is expressed by the following formula.

[0199] α=a1 / a0=M1 / (M1+M2) (3)

[0200] As mentioned above, in Fig.11In the example shown, α≈1 / 2. That is, (M1+M2)≈2×M1, and it can be seen that the mass M1+M2 after the attachment 20 is installed increases by twice the mass before installation. In this case, the mass M2 (increase in mass) of the installed attachment 20 is estimated to be M2≈M1.

[0201] In addition, specific processing of the M2 estimation program is not limited. For example, any processing that can estimate the mass M2 of the attachment 20 may be performed. When the estimation processing by the M2 estimation program is completed, step 104 is performed and the estimation result is set as the value of the mass M2.

[0202] When the mass M2 of the accessory 20 is set, the content processing unit 38 generates a tactile presentation signal for the voice coil motor 17 according to the progress state of the game content, and outputs the generated tactile presentation signal to the vibration data processing unit 39 (step 106 ).

[0203] As reference Figure 2 As described above, the content processing unit 38 generates a tactile presentation signal for presenting a predetermined tactile perception. For example, according to the progress of the game content, the data of the vibration waveform designed to present the predetermined tactile perception is appropriately read, and the tactile presentation signal is generated. Alternatively, the tactile presentation signal can be directly generated according to the progress of the game content.

[0204] For example, the tactile presentation signal is designed to present a tactile sensation when a bullet is fired, etc., present a tactile sensation when receiving damage in the game content, etc. Note that the tactile presentation signal is designed under the assumption that, for example, the game controller 10 is used alone. Therefore, it can be said that in the case of using the game controller 10 alone, the content processing unit 38 generates a control value (input value) of the voice coil motor 17. The generated tactile presentation signal is appropriately acquired by the vibration data processing unit 39.

[0205] When the tactile presentation signal is acquired, it is determined whether the accessory 20 has been installed (step 107). Fig.10 As shown, this determination processing is a processing for determining whether the accessory 20 has been installed in the loop processing from steps 103 to 109.

[0206] For example, determination of whether the accessory 20 is mounted is performed in the same manner as the process described in step 101. In a case where it is determined that the accessory 20 is mounted (yes in step 107), the tactile presentation signal is corrected, and a tactile output signal is generated (step 108).

[0207] Fig.12 is a graph showing an example of a corrected tactile presentation signal. Fig.12 Section A to Fig.12In part C of FIG. 3 , a tactile presentation signal 3 (dashed line) generated by the content processing unit 38 and a tactile output signal 4 (solid line) obtained by correcting the tactile presentation signal 3 are plotted. Although the tactile presentation signal 3 is represented by a Sin waveform as an example, the present technology can be applied regardless of the waveform of the tactile presentation signal 3.

[0208] As described in reference to equations (1) and (2), the installation of the accessory 20 changes the vibration properties of the vibration system including the voice coil motor 17. In this embodiment, the tactile presentation signal 3 is corrected so that for such a change in the vibration characteristics, a vibration substantially the same as the vibration before the installation of the accessory 20 is achieved. Specifically, correction information about at least one of the amplitude and frequency components represented by the tactile presentation signal 3 is generated based on attachment information such as quality data. Then, the tactile presentation signal 3 is corrected based on the correction information, and a tactile output signal 4 is generated.

[0209] exist Fig.12 In part A of FIG. 3 , a graph showing an example of a tactile output signal 4 calculated by correcting the amplitude of the tactile presentation signal 3 is shown. Hereinafter, a process of correcting the amplitude of the tactile presentation signal 3 will be described.

[0210] Typically, using the amplitude (displacement) X of the vibrator 52 and the spring constant k, the exciting force F acting on the vibration target 63 is expressed as F=k×X. Therefore, according to formula (1), the generated acceleration a=kX / M. The amplitude X of the vibrator 52 can be controlled by adjusting the amplitude of the tactile presentation signal 3. That is, by correcting the amplitude of the tactile presentation signal 3, the magnitude of the generated acceleration a can be controlled.

[0211] In this embodiment, the amplitude of the tactile presentation signal 3 is corrected so that the acceleration a1 generated after the attachment 20 is installed becomes substantially equal to the acceleration a0 generated before the attachment 20 is installed. First, the reduction rate α of the generated acceleration a shown in equation (3) derived based on equation (1) is calculated.

[0212] For example, the reduction rate α=M1 / (M1+M2) is calculated using the mass M1 (predetermined value) of the game controller 10 excluding the mass M2 (mass data) of the vibrator 52 and the accessory 20. That is, the reduction rate α of the acceleration caused by the installation of the accessory 20 generated in the game controller 10 by the vibration of the voice coil motor 17 is calculated based on the mass data. In this embodiment, the reduction rate α corresponds to the change rate.

[0213] The amplitude of the tactile presentation signal 3 is multiplied by the inverse of the calculated reduction rate α, and thus, the amplitude of the tactile presentation signal 3 is corrected. In this case, the inverse of the reduction rate α is correction information about the size of the tactile presentation signal 3. This processing corresponds to multiplying the amplitude X of the vibrator 52 by 1 / α=(M1+M2) / M1. In this way, in this embodiment, the amplitude of the tactile presentation signal 3 is corrected by the vibration data processing unit 39 based on the reduction rate α of the acceleration.

[0214] Therefore, the generated acceleration a2 of the game controller 10 and the accessory 20 becomes a2=kX / α / (M1+M2)=kX / M1. That is, the acceleration a2 generated based on the tactile presentation signal 3 whose amplitude has been corrected is equal to the acceleration a0 generated before the accessory 20 is installed.

[0215] For example, in reference Fig.11 In the example described, the mass M2≈M1 of the accessory 20, and the rate of decrease of acceleration α=1 / 2. In this case, Fig.12 As shown in part A of FIG. 1 , the amplitude of the tactile output signal 4 is corrected to be twice that of the tactile presentation signal 3. By using the tactile output signal 4 to drive the voice coil motor 17, it is possible to generate an acceleration substantially the same as the acceleration before the attachment 20 is installed. Therefore, a vibration substantially the same as the vibration before the attachment 20 is installed is presented, and a predetermined tactile sensation can be presented with high accuracy.

[0216] Note that there may be a case where a maximum value is set for the amplitude of the tactile presentation signal 3. For example, in a system where the maximum value of the amplitude is set to 1.0, when the product of the inverse of the reduction rate α and the amplitude exceeds 1.0, the product is appropriately corrected to perform processing for setting the amplitude of the tactile output signal 4.

[0217] Alternatively, in order to avoid the harmful effect of the waveform collapsing and generating an abnormal sound when the amplitude becomes 1.0, the correction processing mentioned above can be performed by adding step-by-step calculation according to the magnitude of the amplitude of the tactile presentation signal 3. That is, the correction amount is adjusted according to the amplitude of the tactile presentation signal 3 so that the amplitude of the tactile output signal 4 falls within an appropriate range. For example, such processing is possible.

[0218] In addition, another method of increasing the generated acceleration a of the composite controller 21 (accessory 20 and game controller 10) may be used in combination. In this case, the tactile presentation signal 3 is appropriately corrected according to each method of increasing the generated acceleration a by the vibration data processing unit 39, which will be described below.

[0219] For example, a passive radiator or the like for amplifying vibration may be provided in the accessory 20. The passive radiator is appropriately designed to have a resonance frequency close to the resonance frequency of the vibration system including the accessory 20 and the game controller 10. Therefore, the vibration amount can be increased without power supply.

[0220] In addition, another vibration actuator (voice coil motor, etc.) can be installed in the accessory 20. The vibration actuator can be supplied and driven to increase the vibration amount. Note that the vibration actuator in the accessory 20 can be driven by sharing the tactile output signal 4 sent from the game console 30 to the game controller 10 via the expansion terminal.

[0221] In addition, a large VCM may be mounted on the accessory 20. In this case, the vibration system of the accessory 20 and the game controller 10 is driven by the large VCM in the accessory 20 to stop the drive of the VCM (voice coil motor 17) in the game controller 10. Therefore, the power consumption of the game controller 10 can be suppressed. In this way, the vibration actuator and the large VCM mounted on the accessory 20 are used as a vibration device for exciting the game controller 10 (tactile presentation means).

[0222] In addition, power can be supplied to the game controller 10 from the battery in the accessory 20 to suppress the power consumption of the game controller 10. In addition, for example, it is assumed that a 3.7V battery is installed on the game controller 10 and a 5.0V battery is installed on the accessory 20. For example, by supplying a voltage of 5.0V from the accessory 20 to the game controller 10, the maximum voltage applied to the voice coil motor 17 can be increased. Therefore, even in the case where the amplitude of the above-mentioned tactile output signal 4 exceeds 1.0 (maximum value), the vibration amount can be compensated by expanding the maximum value. Therefore, the desired acceleration can be easily achieved.

[0223] exist Fig.12 In part B of FIG. 3 , a graph showing an example of a tactile output signal 4 calculated by correcting the frequency component of the tactile presentation signal 3 is shown. Hereinafter, a process of correcting the frequency component of the tactile presentation signal 3 will be described.

[0224] In this embodiment, the vibration data processing unit 39 calculates the shift amount of the resonance frequency f0 of the vibration system including the voice coil motor 17 caused by the installation of the attachment 20 based on the mass data. As described above with reference to equation (2), the resonance frequency f0 of the vibration system is expressed by using the reduced mass M'.

[0225] The vibration data processing unit 39 calculates the reduced mass M' in the vibration system to which the accessory 20 is mounted based on the mass M2 (mass data) of the accessory 20. Furthermore, according to equation (2), the resonant frequency f in the vibration system to which the accessory 20 is mounted is calculated using the calculated reduced mass M'.01 .

[0226] In addition, the resonance frequency f before the attachment 20 is mounted is read. 00 Then, the shift amount Δf0 of the resonance frequency f0 caused by the installation of the accessory 20 is calculated as f0=f 00 -f 01 Based on this offset Δf0 of the resonance frequency, the frequency component of the tactile presentation signal 3 is corrected. In this case, the offset Δf0 of the resonance frequency is correction information about the frequency component of the tactile presentation signal 3. For example, processing such as a pitch shift corresponding to the offset Δf0 is performed on the tactile presentation signal 3. Note that the pitch shift is a process of shifting a frequency component by a predetermined frequency.

[0227] For example, assuming that the resonance frequency f of the voice coil motor 17 in the vibration system of only the game controller 10 without the attachment 20 is 00 In this case, the maximum acceleration (pre-installed acceleration a0) can be output by setting the 53 Hz Sin wave as the tactile presentation signal 3.

[0228] Furthermore, it is assumed that in a vibration system including the game controller 10 and the accessory 20, the resonance frequency f of the voice coil motor 17 is 01 In this case, it is considered that the acceleration output of the tactile presentation signal 3 of the Sin waveform of 53 Hz becomes smaller than the assumption of the original design.

[0229] Therefore, a pitch shift process is performed to change the tactile presentation signal 3 from a 53 Hz Sin waveform to a 50 Hz Sin waveform. That is, the tactile presentation signal 3 is corrected so that the frequency component of 53 Hz becomes the frequency component of 50 Hz. Fig.12 In part B, arrows are used to schematically show where f 00 = the period of the tactile presentation signal 3 of 53 Hz (1 / f 00 ) and where f 01 = the period of the tactile output signal 4 of 50 Hz (1 / f 01 ).

[0230] like Fig.12 As shown in part B, in the process of pitch shifting, the entire waveform on the time axis is extended. In this way, by correcting the tactile presentation signal 3, the maximum acceleration can be output as a vibration system even when the accessory 20 is connected.

[0231] Note that also in the case where the tactile presentation signal 3 is not a simple Sin waveform and is a broadband signal including a wide frequency band, the generated acceleration can be prevented from being reduced due to the change in the resonance frequency f0 by similarly adding a 3 Hz pitch shift process to the tactile presentation signal 3. This makes it possible to realize vibration according to the design intention and to present a predetermined tactile perception with high accuracy.

[0232] exist Fig.12 In part C of FIG. 3 , a graph showing an example of a tactile output signal 4 calculated by correcting both the amplitude and frequency components of the tactile presentation signal 3 is shown. Fig.12 In part C, the vibration data processing unit 39 performs reference Fig.12 Part A describes the amplitude correction and reference Fig.12 Part B describes the correction of the frequency components.

[0233] For example, the pitch shift processing corrects the frequency component of the tactile presentation signal 3 so that the maximum acceleration in the vibration system in which the accessory 20 is installed is output. In addition, the amplitude of the pitch-shifted tactile presentation signal 3 is corrected so that an acceleration substantially the same as the acceleration before the accessory 20 is installed is generated. This makes it possible to efficiently generate the desired acceleration. Therefore, a sufficiently strong tactile perception can be presented with high accuracy while suppressing energy consumption.

[0234] As described above, in the present embodiment, the voice coil motor 17 is controlled by the vibration data processing unit 39 so that the vibration of the game controller 10 with the accessory 20 mounted thereon is substantially the same as the vibration of the game controller 10 without the accessory 20 mounted thereon. Therefore, substantially the same vibration can be generated before and after mounting the accessory 20. Therefore, a reduction in the intensity of tactile perception and the like is avoided, and an excellent tactile effect can be exhibited.

[0235] Furthermore, the method of correcting the tactile sense presentation signal 3 and the like are not limited.

[0236] For example, the amplitude, frequency component, etc. of the tactile presentation signal 3 can be appropriately corrected according to the mass M2 of the installed accessory 20, so as to reproduce the predetermined tactile perception used in the game content. In addition, for example, the tactile presentation signal 3 can be corrected according to the range in which the voice coil motor 17 can vibrate appropriately.

[0237] For example, there is a possibility that the vibrator 52 of the voice coil motor 17 mechanically contacts the housing 13 or the like (mechanical contact) due to a change in the weight of the vibration system when the accessory 20 is installed. That is, there is a possibility that mechanical interference occurs between the voice coil motor 17 and the housing 13. The tactile presentation signal 3 may be corrected so that such mechanical contact does not occur.

[0238] For example, an interference condition for avoiding mechanical contact between the vibrator 52 and the housing 13 is set for the game controller 10. The interference condition is a condition including limit values ​​of the amplitude and frequency of the tactile presentation signal 3, by which contact between the vibrator 52 and the housing 13 is avoided. That is, it can be said that the game controller 10 is designed so that the amplitude and frequency specified by the interference condition have limit values ​​that do not cause mechanical contact.

[0239] For example, assuming that only the resonance frequency f of the game controller 10 00 The tactile presentation signal 3 of the Sin waveform with a frequency of 50 Hz and an amplitude of 1.0 (maximum value) is set to avoid the condition (interference condition) of the contact restriction between the vibrator 52 and the housing 13. That is, the interference condition means that even at a frequency higher than the resonant frequency f 00 The lower 3 Hz frequency component maximizes the amplitude without mechanical contact.

[0240] Assume that the accessory 20 is mounted on the game controller 10 and the resonance frequency f of the vibration system is 01 In this case, the vibration data processing unit 39 corrects the tactile presentation signal 3 having a Sin waveform of, for example, 50 Hz to a tactile output signal 4 having a Sin waveform of 47 Hz through the above-mentioned pitch shift processing. That is, according to the interference condition of only the game controller 10, the resonant frequency f after the attachment 20 is installed is changed to 50 Hz. 01 Similar frequency component correction is performed for the frequency component lower than 3 Hz.

[0241] As described above, the vibration data processing unit 39 corrects the tactile presentation signal 3 based on the interference condition of the mechanical interference between the voice coil motor 17 and the housing 13. Therefore, the problem of mechanical contact is avoided, and the generation of abnormal sound due to the collision between the vibrator 52 and the housing 13, and the generation of unexpected vibrations, etc. can be avoided.

[0242] Refer again Fig.10 , the corrected tactile presentation signal 3 (tactile output signal 4) is sent to the game controller 10 (step 109). That is, when it is determined in step 107 that the accessory 20 is installed, the tactile output signal 4 is sent to the game controller 10 as a control signal for controlling the voice coil motor 17.

[0243] Note that, in the case where it is determined that the accessory 20 is not mounted (No in step 107), for example, because the accessory 20 is removed while the game content is being played, no correction processing is performed on the tactile presentation signal 3. In this case, in step 109, the tactile presentation signal 3 generated by the content processing unit 38 for vibrating only the game controller 10 is sent as is as a control signal for controlling the voice coil motor 17.

[0244] When the tactile presentation signal 3 is transmitted, the process of step 103 and the subsequent steps are performed again. Note that, for example, as long as the accessory 20 is not removed, in the subsequent loop process, the mass M2 of the accessory 20 estimated in step 105 is also used to correct the tactile presentation signal 3, etc. Therefore, the loop process for correcting the tactile presentation signal 3 can be smoothly performed.

[0245] As described above, in the control unit 33 according to this embodiment, the voice coil motor 17 of the game controller 10 is controlled to be vibrated. The control of the voice coil motor 17 is performed based on the tactile presentation signal 3 for driving the voice coil motor 17 and the accessory information about the accessory 20 in contact with the game controller 10. This makes it possible to perform vibration control of the game controller 10 according to the accessory 20 and present a desired tactile perception.

[0246] When an accessory for function expansion or the like is mounted on a device that presents tactile perception, it is considered that the frequency characteristics of the vibration system or the like change. For example, when an accessory having a gun shape or the like is connected to a grip-type stick controller, there is a possibility that the vibration originally intended by the game designer does not occur.

[0247] In this embodiment, regarding the accessory 20 to be mounted on the game controller 10, information regarding the presence or absence of mounting of the accessory 20, the mass M2, etc. is acquired. Then, the haptic presentation signal of the voice coil motor 17 is corrected based on the acquired information of the accessory 20.

[0248] For example, the mass M2 of the accessory 20 is read based on the device information of the accessory 20. As described above, by using a mechanism for detecting the connection state of the accessory 20, the tactile presentation signal 3 can be accurately corrected according to the type of the accessory 20. Therefore, it is possible to generate a desired acceleration and present a desired tactile sensation to the user 1 with high accuracy.

[0249] Furthermore, for example, the mass M2 of the accessory 20 is estimated based on the generated acceleration α of the game controller 10. Therefore, even in the case of using an accessory 20 whose device information, mass, etc. are unknown, an accessory 20 that does not have a communication function with the game controller 10, etc., the tactile presentation signal 3 can be appropriately corrected. Therefore, regardless of the type of the accessory 20, the desired tactile perception can be appropriately presented.

[0250] Furthermore, in this embodiment, the amplitude and frequency components of the tactile presentation signal 3 are corrected according to the additional information. Therefore, it is possible to present a desired tactile sensation with high accuracy regardless of the waveform of the tactile presentation signal 3 or the like.

[0251] It is expected that the function of tactile presentation (tactile presentation) in the game controller 10, etc. will become more common and sophisticated in the future. In this embodiment, the size and frequency components of the tactile presentation signal 3 can be corrected with high accuracy according to the vibration model of the voice coil motor 17. Therefore, even when the accessory 20, etc. is installed, detailed tactile perception can be presented with sufficiently high accuracy, and excellent tactile effects can be expressed.

[0252] <Second Embodiment>

[0253] A tactile presentation system according to a second embodiment of the present technology will be described. In the following description, descriptions of configurations and effects similar to those in the tactile presentation system 100 described in the above-mentioned embodiment will be omitted or simplified.

[0254] In the present embodiment, the process of correcting the tactile presentation signal 3 is performed according to the increase or decrease of the holding force of the user 1 holding the game controller 10. Hereinafter, the case where the user 1 uses only the game controller 10 will be described as an example. In this embodiment, the hand of the user 1 holding the game controller 10 is an example of a contact body that contacts the tactile presentation device.

[0255] When the force (gripping force) with which the user 1 holds the game controller 10 changes, the degree to which the game controller 10 is excited changes. For example, when the user 1 holds the game controller 10 strongly, the game controller 10 is less likely to shake, and the acceleration a generated in the game controller 10 decreases.

[0256] For example, in Figure 6 In the physical model shown, a state in which the generated acceleration a decreases due to an increase in the gripping force can be regarded as a state in which the mass M of the vibration target 63 substantially increases. That is, it can be said that only the virtual mass of the game controller 10 changes with the change in the gripping force of the user 1. As a factor for increasing or decreasing the gripping force, for example, factors such as changes in conditions due to excitation conditions of individual users and the like and changes in the user 1 are considered.

[0257] For example, in Fig. 9In the area 5 surrounded by the dotted line in the lower graph of FIG. 1 , only the ratio of the acceleration a generated in the game controller 10 to the drive signal 2 (generated acceleration a / drive signal 2) changes in the state where the accessory 20 is not installed. Such a change is considered to be caused by a change in the gripping force of the user 1 holding the game controller 10.

[0258] In this embodiment, the vibration data processing unit 39 acquires gripping force information related to the gripping force of the user 1 holding the game controller 10. Here, the gripping force information is, for example, information capable of indicating the gripping force of the user 1. Generally, data indicating a change in gripping force or the like is used as the gripping force information. In this embodiment, the gripping force information corresponds to the contact body information.

[0259] As described above, the ratio of the generated acceleration a to the drive signal 2 detected when the accessory 20 or the like is not installed is data indicating a change in the gripping force. For example, the vibration data processing unit 39 appropriately receives the acceleration data detected by the acceleration sensor 16 of the game controller 10, and calculates the ratio of the raw acceleration a to the drive signal 2 as data indicating a change in the gripping force. In this way, in the vibration data processing unit 39, the gripping force information is calculated based on the result of detecting the acceleration sensor 16 mounted on the game controller 10.

[0260] Note that the specific type of gripping force information is not limited. For example, a configuration may be adopted in which a pressure sensor or the like for detecting gripping force is provided in the grip portion 11 (housing 13) of the game controller 10 and the gripping force of the user 1 is directly detected. In addition, any data that can represent the amount of change in gripping force or the like may be appropriately used.

[0261] When the gripping force information (for example, the ratio of the generated acceleration a to the driving signal 2) is obtained, the tactile presentation signal 3 is corrected based on the gripping force information, and the voice coil motor 17 is controlled based on the corrected tactile presentation signal 3 (tactile output signal 4). For example, in the case where the generated acceleration a decreases, the vibration felt by the user 1 has been weakened by an amount corresponding thereto. To this end, in order to compensate for this, a process of increasing the amplitude of the tactile presentation signal 3, a process of shifting the frequency component of the tactile presentation signal 3, etc. is performed (see Fig.12 wait).

[0262] The method of correcting the tactile presentation signal 3 is not limited. For example, based on the ratio of the generated acceleration α to the drive signal 2, the increase in the virtual mass of the game controller 10 caused by the increase in the grip force of the user 1 is calculated. The increase in virtual mass corresponds to the mass M2 of the accessory 20 in the first embodiment. For example, the amplitude and frequency components of the tactile presentation signal 3 can be appropriately corrected based on the increase. In addition, feedback processing for changing the amplitude and frequency components of the tactile presentation signal 3 (drive signal 2) can be appropriately performed so that the ratio of the generated acceleration a to the drive signal 2 is maintained at a predetermined level.

[0263] In this way, in this embodiment, the voice coil motor 17 of the game controller 10 is controlled to vibrate based on the tactile presentation signal 3 and the gripping force information about the gripping force of the user 1 holding the game controller 10. Even in the case where the force with which the user 1 holds the game controller 10 has changed, the game controller 10 can be appropriately vibrated and an excellent tactile effect can be exhibited.

[0264] Note that the process of correcting the drive signal 2 based on the gripping force information is not limited to the case where the game controller 10 is used alone, and can be applied to the case where the game controller 10 (composite controller 21) with the accessory 20 installed is used. In this case, the composite controller 21 corresponds to a tactile presentation device. For example, the amplitude and frequency components of the tactile presentation signal 3 are appropriately corrected according to the gripping force of the user 1, so that the acceleration a (post-installation acceleration a1) generated in the composite controller 21 is maintained at a predetermined level.

[0265] In addition, processing of correcting the tactile presentation signal 3 accompanying the installation of the accessory 20 and processing of correcting the tactile presentation signal 3 accompanying the change of the gripping force of the user 1 may be performed. For example, the tactile presentation signal corrected based on the mass M2 of the accessory 20 or the like may be corrected based on the change of the gripping force of the user 1 (increase or decrease of the virtual mass). Such processing may be performed.

[0266] <Other Implementation Methods>

[0267] The present technology is not limited to the above-mentioned embodiments, and various other embodiments can be implemented.

[0268] Figures 13 to 15 2 are schematic diagrams showing examples of a tactile presentation device and an accessory, respectively. Fig.13 2 is a schematic diagram showing the appearance of a two-handed game controller 80 and its attachment 20. Fig.13 In part A of FIG. 8 , a two-handed game controller 80 equipped with a vibration actuator (voice coil motor, etc.) is shown. The two-handed game controller 80 is used as a tactile presentation device.

[0269] The game controller 80 includes right and left grips 81, and, for example, a vibration actuator is installed inside each grip 81. The user 1 holds the right and left grips 81 with the right and left hands, and operates a selection button, an analog stick, etc. to perform an input operation for making the game content proceed. In addition, the vibration actuator vibrates appropriately to present a predetermined tactile sensation to the right and left hands of the user 1.

[0270] Fig.13 The accessory 20e shown in part B is an external battery, which prolongs the operating time of the two-handed game controller 80. In addition, Fig.13 The accessory 20 f shown in the portion C of the display is an external keyboard for inputting characters, and supports character input and the like by the user 1 . The accessories 20 e and 20 f are installed between the right and left grip portions 81 .

[0271] For example, in the case where the accessories 20e and 20f are configured to be able to communicate with the two-handed game controller 80, the device information of each accessory 20 is acquired, and the mass of each accessory 20 is read from a database or the like. Alternatively, in the case where an acceleration sensor or the like is mounted on the game controller 80, a process of estimating the mass of each accessory 20 or the like may be performed. Then, the tactile presentation signal 3 in the case of using only the two-handed game controller 80 is corrected based on the mass of the accessory 20.

[0272] Fig.14 2 is a schematic diagram showing the appearance of a mobile terminal 82 and its accessories 20. Fig.14 In part A of the present invention, a mobile terminal 82 equipped with a vibration actuator and an acceleration sensor is shown. The mobile terminal 82 is, for example, a smart phone, a tablet computer, etc., and is a terminal device that can be used by the user 1 with one hand or two hands. In addition, the type of the mobile terminal 82 is not limited. The mobile terminal 82 is used as a tactile presentation device.

[0273] Fig.14 The accessory 20g shown in part B of is a cover of the mobile terminal 82. The accessory 20g is mounted on the mobile terminal 82 so that, for example, the display of the mobile terminal 82 can be seen, and the display of the mobile terminal 82 has a function of protecting the mobile terminal 82, etc. The shape of the cover (accessory 20g) and the like are not limited. The mobile terminal 82 estimates the mass of the accessory 20g by, for example, vibrating with a predetermined test waveform. Alternatively, the mass of the accessory 20g and the like can be set by the user 1. The tactile presentation signal 3 for presenting a predetermined tactile perception is corrected based on the mass of the accessory 20g and the like.

[0274] Fig.15 is a schematic diagram showing the appearance of the wearable device 83 and its accessory 20. Fig.15A smart watch type wearable device 83 is shown in part A of FIG. The wearable device 83 is used by being worn on the arm of the user 1, for example. In addition, the type and the like of the wearable device 83 are not limited, and any device configured to be wearable on every part of the body of the user 1 can be used.

[0275] The wearable device 83 includes: a main body 84 on which a vibration actuator and an acceleration sensor are mounted; and a mounting belt 85 for mounting the main body 84 on the body (arm, etc.) of the user 1. Fig.15 In the example shown, the main body 84 is used as a tactile presentation device. In addition, the mounting belt 85 is an accessory 20h configured to be attachable / detachable to the main body 84.

[0276] Fig.14 Part B of FIG. 8 shows a wearable device 83 on which a Fig.14 The mounting belt 85 shown in part A is different from the belt (accessory 20i). Therefore, even when the mounting belt 85 (accessory 20h, 20i, etc.) is replaced, a predetermined tactile perception can be presented by appropriately correcting the tactile presentation signal 3 for vibrating the main body 84 (vibration actuator) according to the mass of the mounting belt 85, etc.

[0277] As described above, the tactile presentation signal 3 for driving the vibration actuator can be appropriately corrected by using the present technology regardless of the types of the tactile presentation device and the accessory 20. Therefore, a predetermined tactile perception intended by a designer or the like can be presented with high accuracy. Note that the present technology is not limited to the examples mentioned above, and is applicable to the case where any tactile presentation device or accessory 20 is used.

[0278] In the above description, information about the mass of the accessory 20 has been acquired as the accessory information. The present technology is not limited to this. For example, information about the shape, material, rigidity, etc. of the accessory 20 may be acquired, and processing such as correcting the tactile presentation signal 3 may be performed based on the information.

[0279] For example, in the case where the distance between the portion held by the user 1 and the vibration actuator (VCM, etc.) is separated, a process of correcting the amplitude of the tactile presentation signal 3 to be larger can be performed. In addition, for example, in the case where the material of the accessory 20 is soft, a process of correcting the amplitude of the tactile presentation signal 3 to be larger can be performed. Therefore, even in the case where it is difficult to transmit vibration, a predetermined tactile perception can be appropriately presented.

[0280] In the above description, the process of correcting the tactile presentation signal 3 has been performed based on the mass of the accessory 20, etc. For example, in a case where the accessory 20 is installed, the process of increasing the amplitude of the tactile presentation signal 3 by a predetermined ratio (default value) may be performed regardless of the type of the accessory 20, etc. Therefore, the computational cost required for the process of correcting the tactile presentation signal 3 may be reduced. For example, such a process may be performed.

[0281] In the above, the case of using a linear vibration actuator such as a voice coil motor has been described. Another vibration actuator (vibration device) can be used instead of the linear vibration actuator. For example, the present technology is applicable to the case where a rotary vibration device such as an eccentric motor is used as a vibration actuator. In this case, by appropriately adjusting the rotation speed and rotation mode of the eccentric motor, the reduction of the generated acceleration can be suppressed. In addition, the present technology is applicable to a tactile presentation device using an arbitrary vibration actuator.

[0282] At least two of the above-mentioned features according to the present technology can be combined. Specifically, the various features described in each embodiment can be arbitrarily combined without distinguishing the embodiments from each other. In addition, the above-mentioned various effects are only examples and not restrictive, and additional effects can be exerted.

[0283] Note that the present technology can also take the following configurations.

[0284] (1) An information processing device comprising:

[0285] A haptic control unit controls a haptic output signal to be output to the haptic presentation device based on a haptic presentation signal according to haptic contents to be presented to the haptic presentation device and contact body information related to a contact body in contact with the haptic presentation device.

[0286] (2) The information processing device according to (1), wherein:

[0287] The tactile control unit controls the tactile output signal based on correction information and the tactile presentation signal, wherein the correction information is used to correct the tactile presentation signal based on the contact body information.

[0288] (3) The information processing device according to (2), wherein:

[0289] The tactile presentation signal is a signal representing the amplitude and frequency components of the vibration device used to excite the tactile presentation device,

[0290] The haptic control unit generates correction information regarding at least one of the amplitude and the frequency component represented by the haptic presentation signal based on the contact body information.

[0291] (4) The information processing device according to (3), wherein:

[0292] The contact body comprises an attachment to be mounted on the tactile presentation device, and

[0293] The haptic control unit acquires mass information about the mass of the accessory as the contact body information.

[0294] (5) The information processing device according to (4), wherein:

[0295] The haptic control unit calculates a rate of change of acceleration caused by mounting of the accessory, the acceleration being generated in the haptic presentation apparatus due to vibration of the vibration device, based on the mass information.

[0296] (6) The information processing device according to (5), wherein:

[0297] The haptic control unit corrects a magnitude of the haptic presentation signal based on a rate of change of the acceleration.

[0298] (7) The information processing device according to any one of (4) to (6), wherein:

[0299] The haptic control unit calculates a shift amount of a resonance frequency of a vibration system including the vibration device caused by the attachment being mounted based on the mass information.

[0300] (8) The information processing device according to (7), wherein:

[0301] The haptic control unit corrects a frequency component of the haptic presentation signal based on a shift amount of the resonance frequency.

[0302] (9) The information processing device according to any one of (4) to (8), wherein:

[0303] The accessory is capable of providing device information of the accessory, and

[0304] The haptic control unit acquires the quality information based on device information of the accessory.

[0305] (10) The information processing device according to any one of (4) to (9), wherein:

[0306] The haptic control unit acquires the quality information based on input information input by a user.

[0307] (11) The information processing device according to any one of (4) to (10), wherein:

[0308] The tactile presentation device comprises an acceleration sensor for detecting acceleration of the tactile presentation device, and

[0309] The haptic control unit calculates the mass information based on a detection result of the acceleration sensor.

[0310] (12) The information processing device according to (11), wherein:

[0311] The acceleration sensor detects a first acceleration generated according to a predetermined vibration signal in the tactile presentation device on which the accessory is installed, and

[0312] The tactile sense control unit acquires a second acceleration generated according to the predetermined vibration signal in the tactile sense presentation device to which the accessory is not mounted, and calculates the mass information based on the first acceleration and the second acceleration.

[0313] (13) The information processing device according to (11) or (12), wherein:

[0314] The haptic control unit calculates the mass information based on a temporal change in the acceleration detected by the acceleration sensor.

[0315] (14) The information processing device according to any one of (3) to (13), wherein:

[0316] The vibration device is supported by a housing of the tactile presentation apparatus, and

[0317] The haptic control unit corrects the haptic presentation signal based on an interference condition regarding a mechanical interference between the vibration device and the housing.

[0318] (15) The information processing device according to any one of (3) to (14), wherein:

[0319] The vibration device is a linear vibration actuator.

[0320] (16) The information processing device according to (15), wherein:

[0321] The linear vibration actuator is a voice coil motor.

[0322] (17) The information processing device according to any one of (1) to (16), wherein:

[0323] The contact body includes a hand of a user holding the tactile presentation device, and

[0324] The tactile sense control unit acquires gripping force information regarding a gripping force of the user gripping the tactile sense presentation device as the contact body information.

[0325] (18) The information processing device according to (17), wherein:

[0326] The tactile presentation device comprises an acceleration sensor for detecting acceleration of the tactile presentation device, and

[0327] The tactile control unit calculates the gripping force information based on a detection result of the acceleration sensor.

[0328] (19) An information processing method executed by a computer system, comprising:

[0329] A tactile output signal to be output to the tactile presentation device is controlled based on a tactile presentation signal according to tactile content to be presented to the tactile presentation device and contact body information related to a contact body in contact with the tactile presentation device.

[0330] (20) A program causing a computer system to execute the following steps:

[0331] A tactile output signal to be output to the tactile presentation device is controlled based on a tactile presentation signal according to tactile content to be presented to the tactile presentation device and contact body information related to a contact body in contact with the tactile presentation device.

[0332] Reference numerals list

[0333] 1 User

[0334] 3 Tactile presentation signals

[0335] 4 Tactile output signal

[0336] 10.80 Game Controller

[0337] 13 Housing

[0338] 16 Accelerometer

[0339] 17 Voice Coil Motor

[0340] 20, 20a to 20i Accessories

[0341] 21. Composite Controller

[0342] 30 Game console

[0343] 36 Control Program

[0344] 37 Quality Database

[0345] 38 Content Processing Unit

[0346] 39 Vibration data processing unit

[0347] 63 Vibration Target

[0348] 100 Haptic Presentation System

Claims

1. An information processing device, comprising: a tactile control unit that controls a tactile output signal to be output to the tactile presentation device based on a tactile presentation signal according to tactile content to be presented to the tactile presentation device and contact body information related to a contact body in contact with the tactile presentation device; in, The contact body includes an attachment mounted on the tactile presentation device; The tactile presentation device comprises an acceleration sensor for detecting acceleration of the tactile presentation device; The acceleration sensor detects a first acceleration generated in the tactile presentation device on which the accessory is installed according to a predetermined vibration signal stored in a memory; The tactile control unit is further configured to: acquiring from the memory a second acceleration generated according to the predetermined vibration signal in the tactile presentation device without the accessory installed, and Mass information about the mass of the accessory is calculated as the contact body information based on the first acceleration and the second acceleration.

2. The information processing device according to claim 1, wherein: The tactile control unit controls the tactile output signal based on correction information and the tactile presentation signal, wherein the correction information is used to correct the tactile presentation signal based on the contact body information.

3. The information processing device according to claim 1, wherein: The tactile presentation signal is a signal representing the amplitude and frequency components of the vibration device for exciting the tactile presentation device; The haptic control unit generates correction information regarding at least one of the amplitude and the frequency component represented by the haptic presentation signal based on the contact body information.

4. The information processing device according to claim 3, wherein: The haptic control unit calculates a rate of change of acceleration caused by mounting of the accessory, the acceleration being generated in the haptic presentation apparatus due to vibration of the vibration device, based on the mass information.

5. The information processing device according to claim 4, wherein: The haptic control unit corrects a magnitude of the haptic presentation signal based on a rate of change of the acceleration.

6. The information processing device according to claim 3, wherein: The haptic control unit calculates a shift amount of a resonance frequency of a vibration system including the vibration device caused by the attachment being mounted based on the mass information.

7. The information processing device according to claim 6, wherein: The haptic control unit corrects a frequency component of the haptic presentation signal based on a shift amount of the resonance frequency.

8. The information processing device according to claim 3, wherein: The vibration device is supported by a housing of the tactile presentation apparatus, and The haptic control unit corrects the haptic presentation signal based on an interference condition regarding a mechanical interference between the vibration device and the housing.

9. The information processing device according to claim 3, wherein: The vibration device is a linear vibration actuator.

10. The information processing device according to claim 9, wherein: The linear vibration actuator is a voice coil motor.

11. An information processing method executed by a computer system, comprising: The tactile output signal to be output to the tactile presentation device is controlled based on the tactile presentation signal according to the tactile content to be presented to the tactile presentation device and the contact body information related to the contact body in contact with the tactile presentation device, wherein The contact body includes an attachment mounted on the tactile presentation device; The tactile presentation device comprises an acceleration sensor for detecting acceleration of the tactile presentation device; The acceleration sensor detects a first acceleration generated in the tactile presentation device on which the accessory is installed according to a predetermined vibration signal stored in a memory; acquiring from the memory a second acceleration generated according to the predetermined vibration signal in the tactile presentation device without the accessory installed therein, and Mass information about the mass of the accessory is calculated as the contact body information based on the first acceleration and the second acceleration.

12. A storage unit storing a program, wherein the program causes a computer system to execute the following steps: The tactile output signal to be output to the tactile presentation device is controlled based on the tactile presentation signal according to the tactile content to be presented to the tactile presentation device and the contact body information related to the contact body in contact with the tactile presentation device, wherein The contact body includes an attachment mounted on the tactile presentation device; The tactile presentation device comprises an acceleration sensor for detecting acceleration of the tactile presentation device; The acceleration sensor detects a first acceleration generated in the tactile presentation device on which the accessory is installed according to a predetermined vibration signal stored in a memory; acquiring from the memory a second acceleration generated according to the predetermined vibration signal in the tactile presentation device without the accessory installed therein, and Mass information about the mass of the accessory is calculated as the contact body information based on the first acceleration and the second acceleration.

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