Vibration control device, storage medium storing vibration control program, and vibration control method

Abstract

A vibration control device controls the vibration generated by a vibration device through a signal. The vibration control device has an energy control unit (113) that maintains the energy of the signal while converting the waveform of the signal.

Description

Technical Field

[0001] The technology described in this specification relates to a vibration control device, a storage medium storing a vibration control program, and a vibration control method. Background Art

[0002] In recent years, the sophistication of vibration feedback has been developing in the fields of smartphones, game consoles, Virtual Reality (VR) devices, robot manipulation support, etc. Specifically, a vibration device that can reproduce wide-band vibrations to present a realistic sense of touch has been developed.

[0003] Prior art literature

[0004] Non-patent literature

[0005] Non-patent literature 1: Hideto Takenouchi, Nan Cao, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro, the 2017 IEEE / SICE International Symposium on SystemIntegration "Extracting Haptic Information from High-Frequency Vibratorysignals Measured on a Remote Robot to Transmit Collisions with Environments" pp.968-973, December 2017

[0006] Non-patent document 2: Nan Cao, Hikaru Nagano, Masashi Konyo, Shogo Okamoto, Satoshi Tadokoro, "A Pilot Study: Introduction of Time-Domain Segment to Intensity-Based Perception Model of High-Frequency Vibration", June 2018

[0007] Non-patent document 3: Nan Cao, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro, the27th IEEE International Symposium on Robot and Human Interactive Communication "Sound reduction of vibration feedback by perceptually similarmodulation", August 2018

[0008] Non-patent document 4: Sliman Bensmaia, Mark Hollins, Jeffrey Yau, Attention, "Vibrotactile intensity and frequency information in the Pacinian system: A psychophysical model", Perception, & Psychophysics, Vol. 67, No. 5, pp 828-841, July 2005 Summary of the invention

[0009] Problems to be solved by the invention

[0010] However, when you want to present high-frequency vibrations, such as above 300 Hz, problems with the device, perception sensitivity, and auditory noise may arise. Since the amplitude of the vibrator becomes smaller in the high-frequency band, it is not easy to generate vibrations in the high-frequency band and the low-frequency band together in a device that utilizes resonance. In addition, people's perception sensitivity to vibration frequencies with peak values ​​of 200 Hz to 300 Hz and above becomes weaker, so in order for people to perceive vibrations, sufficient amplitude is required. Furthermore, when the frequency exceeds about 300 Hz, the vibration can be heard in the form of sound. For example, when vibrations are generated in conjunction with music or movie content, the vibrations may be identified as noise that interferes with the sound source of the music or movie content.

[0011] In one aspect, the technology described in this specification aims to generate vibrations in a high-frequency band that is easily perceived by humans.

[0012] Means for solving problems

[0013] In one aspect, a vibration control device controls vibrations generated by a vibration device through a signal, wherein the vibration control device has an energy control unit that converts the waveform of the signal while maintaining the energy of the signal.

[0014] Effects of the Invention

[0015] As an aspect, it is possible to generate vibrations in a high frequency band that is easily perceived by humans. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a block diagram schematically showing a configuration example of a vibration generating system as an embodiment.

[0017] Figure 2 It is shown by Figure 1 The vibration control device shown is a graph of the waveform of the signal before and after conversion.

[0018] Figure 3 It is a graph showing the possibility of human discrimination of vibrations.

[0019] Figure 4 In order to judge Figure 3 The graph shown shows sample waveforms of vibrations used in three forced-choice discrimination experiments conducted to identify the likelihood of discrimination.

[0020] Figure 5 It is shown by Figure 1 The vibration control device shown is a graph showing waveforms of signals before and after conversion for each section.

[0021] Figure 6 is an amplitude threshold value T used in the calculation of the correction energy. f Graph of the curve.

[0022] Figure 7 : is a graph showing the index threshold value b used in the calculation of the correction energy.

[0023] Figure 8 Yes Figure 1 A diagram illustrating the use of a window function in a vibration control device shown.

[0024] Fig. 9 Yes Figure 1 Graph for explaining an example of synthesis of low frequencies and high frequencies in the vibration control device shown.

[0025] Fig.10 It is shown by Figure 1 Graphs showing specific examples of waveforms of signals before and after conversion by the vibration control device shown.

[0026] Fig.11 Yes Figure 1 This is a block diagram for explaining an example of the functional configuration of an Intensity Segmentation Method (ISM) unit in the vibration control device shown in FIG.

[0027] Fig.12 Yes Figure 1 1 is a block diagram for explaining a first embodiment of a vibration waveform generation process in the vibration control device shown in FIG.

[0028] Fig.13 Yes Fig.11 A block diagram illustrating the details of the energy control process shown.

[0029] Fig.14 As Figure 1 The second embodiment of the vibration waveform generation process in the vibration control device shown in FIG. Fig.11 2 is a block diagram for explaining the separation process of the low frequency component in the energy control process shown in FIG.

[0030] Fig.15 (a) to (c) are graphs for explaining an example of generating vibration according to ISM without emphasizing the waveform.

[0031] Fig.16 (a) to (c) are graphs for explaining a first example of emphasizing and separating high-frequency components of 3000 Hz or higher from a sound source.

[0032] Fig.17 (a) to (c) are graphs for explaining a second example of emphasizing and separating high-frequency components above 3000 Hz from a sound source.

[0033] Fig.18 (a) to (c) are graphs for explaining an example of emphasizing and separating low-frequency components below 1000 Hz from a sound source.

[0034] Fig.19 Yes Fig.11 A block diagram illustrating a first variation of the energy control process shown.

[0035] Fig. 20 Yes Fig.11 A block diagram illustrating a second variation of the energy control process shown.

[0036] Fig.21 Yes Fig.11 The following is a block diagram for explaining the details of the energy synthesis processing shown.

[0037] Fig. 22 Yes Fig.11 1 is a block diagram for explaining the details of the processing for generating the corrected vibration waveform shown in FIG.

[0038] Fig.23 It is shown in Figure 1 FIG. 1 is a block diagram of a configuration example of a DAC in a case where a plurality of vibration devices are used in a vibration generating system shown in FIG.

[0039] Fig.24 It is shown in Figure 1 FIG. 1 is a block diagram showing an example of the configuration of a DAC in a case where one vibration device is used in a vibration generating system shown in FIG. DETAILED DESCRIPTION

[0040] The following describes the implementation mode with reference to the accompanying drawings. However, the implementation mode shown below is only for illustration and does not exclude the application of various modifications and technologies not explicitly shown in the implementation mode. That is, the present implementation mode can be modified and implemented in various ways without departing from the scope of the present invention.

[0041] In addition, each drawing does not mean that only the components shown in the drawing are included, and other components may be included. In the following drawings, unless otherwise specified, parts marked with the same reference numerals represent the same or similar parts.

[0042] [A] Implementation Methods

[0043] Figure 1 1 is a block diagram schematically showing a configuration example of a vibration generation system 100 according to an embodiment.

[0044] The vibration generating system 100 includes a vibration control device 1 , a Digital Analog Converter (DAC) 2 , a high-frequency vibration 31 , a low-frequency vibration 32 , an earphone (L) 41 , and an earphone (R) 42 .

[0045] The DAC 2, which may also be referred to as a Universal Serial Bus (USB) audio, converts a digital signal input from the vibration control device 1 into an analog signal. Then, the DAC 2 outputs the converted analog signal to the high-frequency vibration 31, the low-frequency vibration 32, the earphone (L) 41, and the earphone (R) 42. In addition, an amplifier (in other words, an amplifier) ​​not shown in the figure may be provided at the rear stage of the DAC 2 for driving the high-frequency vibration 31, the low-frequency vibration 32, the earphone (L) 41, and the earphone (R) 42.

[0046] Figure 1 The low-frequency vibration 32 shown is an example of a first vibration device, and generates vibration based on a signal component having a frequency lower than a predetermined frequency. Figure 1 The high-frequency vibration 31 shown is an example of a second vibration device, and generates vibration based on a signal component having a frequency higher than a predetermined frequency. In addition, the vibration generating system 100 may not include the low-frequency vibration 32. In this case, vibration based on a signal component having a frequency lower than a predetermined frequency may be generated from the high-frequency vibration 31, and vibration based on a signal component having a frequency lower than a predetermined frequency may not be generated in the vibration generating system 100.

[0047] The prescribed frequency for separating the signal component of the vibration output from the low-frequency vibration 32 and the signal component of the vibration output from the high-frequency vibration 31 may be a frequency within a range of 80 Hz to 400 Hz.

[0048] The earphone (L) 41 generates a sound input to the left ear of a person from a stereo sound source. The earphone (R) 42 generates a sound input to the right ear of a person from a stereo sound source. In addition, the vibration generating system 100 may not include the earphone (L) 41 and the earphone (R) 42. In addition, the earphone (L) 41 and the earphone (R) 42 may be shared to generate a monaural sound source. Furthermore, in the vibration generating system 100, a speaker may be provided instead of the earphone (L) 41 and the earphone (R) 42, and the output of sound sources of more than three channels may be performed.

[0049] The vibration control device 1 includes a Central Processing Unit (CPU) 11 , a memory 12 , and a storage device 13 .

[0050] A vibration control device 1 of an example of the present embodiment can convert tactile signals of sound information such as music, movies, and sounds. When the frequency exceeds about 300 Hz to 400 Hz, the vibration can be heard in the form of sound, and thus becomes noise. Therefore, in the vibration somatosensory devices of music or animation in the prior art, in many cases, a low-pass filter is applied at about hundreds of Hz to cut off the high-frequency band. On the other hand, in a vibration control device 1 of an example of the present embodiment, the waveform of the high-frequency band is converted into other frequencies in the low-frequency band and output.

[0051] In addition, the vibration control device 1 of one example of the present embodiment can modulate the high-frequency vibration generated when the robot contacts an object into a frequency band that can be perceived by humans. By transmitting the vibration when the robot contacts an object to the remote operator, the intensity and friction of the collision with the object can be grasped. Robots holding metal shells such as construction robots sometimes generate vibrations in a frequency band that cannot be perceived by humans when they contact an object. Therefore, in the vibration control device 1 of one example of the present embodiment, the frequency band of the output signal is modulated.

[0052] Furthermore, the vibration control device 1 according to an example of the present embodiment can be applied to a chair, a suit, a headphone, or the like including a vibration device.

[0053] The memory 12 is a storage device including a read-only memory (ROM) and a random access memory (RAM).

[0054] The storage device 13 is a device that stores data in a readable and writable manner, and for example, a hard disk drive (HDD), a solid state drive (SSD), or a storage class memory (SCM) can be used. The storage device 13 stores generated training data, learning models, and the like.

[0055] The CPU 11 is a processing device that performs various controls and calculations, and implements various functions by executing the Operating System (OS) and programs stored in the memory 12. Figure 1 As shown, the CPU 11 can function as a frequency removal control unit 111 , a time division control unit 112 , an energy control unit 113 , and a signal output unit 114 .

[0056] CPU 11 is an example of a computer, and illustratively controls the overall action of the vibration control device 1. The device used to control the overall action of the vibration control device 1 is not limited to CPU 11, for example, it can also be any one of MPU, DSP, ASIC, PLD, FPGA, and a dedicated processor. In addition, the device used to control the overall action of the vibration control device 1 can also be a combination of more than two of CPU, MPU, DSP, ASIC, PLD, FPGA, and a dedicated processor. In addition, MPU is the abbreviation of Micro Processing Unit, DSP is the abbreviation of Digital Signal Processor, and ASIC is the abbreviation of Application Specific Integrated Circuit. In addition, PLD is the abbreviation of Programmable Logic Device, and FPGA is the abbreviation of Field Programmable Gate Array.

[0057] The frequency removal control unit 111 removes the first signal component having a frequency equal to or lower than a predetermined frequency.

[0058] The time division control unit 112 divides the second signal component other than the first signal component removed by the frequency removal control unit 111 at a predetermined time.

[0059] The energy control unit 113 converts the waveform of the second signal component while maintaining the energy of the second signal component for each predetermined time divided by the time division control unit 112 .

[0060] The signal output unit 114 outputs the first signal component removed by the frequency removal control unit 111 in addition to the second signal component waveform-converted by the energy control unit 113 .

[0061] Figure 2 It is shown by Figure 1 The graphs shown are waveforms of signals before and after conversion by the vibration control device 1 .

[0062] Taking into account the human perception characteristics of high-frequency vibrations, in the high-frequency band, the focus is on the vibration energy related to human perception characteristics, rather than the waveform itself, and the frequency band can be changed by replacing it with another waveform with the same vibration energy. Figure 2 In the example shown, the waveform shown by reference numeral A1 is converted into the waveform shown by reference numeral A2.

[0063] Any continuous vibration signal is divided into time segments at appropriate intervals that take into account human perceptual characteristics, and converted into vibration energy according to each segment. It can be converted into any signal waveform while maintaining the tactile sense felt by humans, or can be converted into any signal waveform in a way that makes it possible to feel high-frequency bands that are difficult to feel.

[0064] By appropriately selecting the frequency of the converted vibration, it is possible to efficiently drive the vibrator according to the response range of the vibrator, reduce auditory noise, or convert it into an arbitrary sound source.

[0065] Humans can perceive vibrations up to about 1kHz. Therefore, vibrations above 1kHz are often ignored. On the other hand, it is known that even if the vibration is above 1kHz, its envelope component can be perceived in the case of an amplitude modulated wave whose amplitude varies within a frequency band that humans can perceive.

[0066] On the other hand, as a human perception characteristic of high-frequency vibrations above about 100 Hz, a vibration energy model is known (for example, refer to non-patent document 4). It can be seen from this that even if the carrier frequency of the amplitude modulated wave is replaced while maintaining the high-frequency vibration energy, the vibration cannot be distinguished (for example, refer to non-patent document 2 and non-patent document 3). However, even if the vibration energy is maintained, as mentioned above, sometimes the envelope component of the vibration can be perceived as a difference in tactile information, and its perception range has not been investigated. In addition, in non-patent document 2, although a method of converting a signal based on vibration energy in a time-division manner is proposed, no method of maintaining the low-frequency component is studied.

[0067] Figure 3 is a graph showing the human ability to discern vibrations. Figure 4 In order to judge Figure 3The graph shown shows sample waveforms of vibrations used in three forced-choice discrimination experiments conducted to identify the likelihood of discrimination.

[0068] Based on the previously known vibration energy model (for example, refer to non-patent document 4), the perceptual discrimination characteristics of humans were investigated while maintaining the vibration energy, and the following results were obtained: Figure 3 The graph shown. Figure 4 The reference numerals B1 and B2 show the same waveform, Figure 4 The label B3 shows different waveforms. Let the subjects compare Figure 4 The constant amplitude vibrations shown in the labels B1 and B2 and the amplitude modulated stimulation shown in the label B3, answer which one is the amplitude modulated wave. Figure 3 In the figure, the correct answer rate obtained through the three-item forced-choice discrimination experiment is expressed by sensitivity (d': d-prime) which is a discrimination performance index based on signal detection theory. When d' is less than 1, it means that the correct answer rate is less than about 60%.

[0069] according to Figure 3 The curve shown shows that the upper limit of the frequency of the envelope component that can be distinguished is about 80Hz to 125Hz. In addition, it is shown that it is not necessary to maintain the envelope component above this frequency upper limit, and as long as the carrier frequency of the amplitude modulation wave is replaced while maintaining the vibration energy, the stimulation cannot be distinguished.

[0070] As described above, even if the vibration energy is maintained, when the energy changes in the low-frequency band, the change can sometimes be perceived as a difference in tactile information, and the perceptible range has not been investigated. Therefore, based on the discovery that the upper limit of the perceptible low-frequency change is about 80 Hz to 125 Hz, two countermeasures (see countermeasures [1] and [2] described later) are used to maintain the low-frequency component while converting the vibration energy.

[0071] Figure 5 It is shown by Figure 1 The vibration control device 1 shown is a graph showing waveforms of signals before and after conversion for each section.

[0072] Human high-frequency perception is based on vibration energy rather than the waveform itself, so as long as the vibration energy is maintained, the same sensation can be felt. However, when the vibration energy changes below 80 Hz to 125 Hz, it is necessary to reproduce the vibration energy change.

[0073] Therefore, in one example of the present embodiment, as a method for maintaining the variation of vibration energy below a specified frequency (for example, approximately 80 Hz to 125 Hz), for example, the vibration is time-divided in a range of approximately 80 Hz to 200 Hz, and the vibration energy is obtained according to each segment and replaced with a vibration having a different carrier frequency.

[0074] exist Figure 5 In the example shown, in the original vibration signal shown by reference numeral C1 and the converted signal shown by reference numeral C2, conversion is performed in such a way that the energy of the converted signal is the same as the energy of the original vibration signal in the same time segment.

[0075] The width of the time division (in other words, the division width) can be set to a level that can express energy fluctuations below 80 Hz to 125 Hz (in other words, the level of peak overlap of fluctuations) (Countermeasure [1]). The frequency of the division width can also be above 80 Hz to 125 Hz, but if the division width is too short, the accuracy of estimating the energy of vibrations with a period longer than the division width will deteriorate. Therefore, according to the following countermeasure [2], for vibrations whose energy cannot be estimated, the waveform is directly output.

[0076] In addition, components below the specified frequency can also be extracted and directly presented as stimulating vibrations (Countermeasure [2]). In addition, the specified frequency can also be above 80 Hz to 125 Hz, and the components above the specified frequency component can be expressed by the energy control unit 113 of the second signal component. In this way, the frequency selection can be made arbitrary. However, if the specified frequency is set too high, noise problems may occur, or a wide-band vibration device may be required.

[0077] According to the above-mentioned countermeasures [1] and [2], the prescribed frequency can be about 80 Hz to 400 Hz. From the viewpoint of noise problems and the performance of the vibration device, 400 Hz is the upper limit.

[0078] The setting of the specified frequency also involves the selection of the carrier frequency when converting the vibration. Since the peak of the vibration frequency at which human perception sensitivity improves is near 200Hz to 250Hz, a carrier frequency of about 150Hz to 400Hz is practical as a carrier frequency that improves sensitivity and does not become noise. The carrier frequency can be a constant multiple of the division width. In addition, the carrier frequency can also use multiple different frequencies, and can also include a high-frequency segment above 400Hz.

[0079] In addition, the predetermined frequency for dividing the low frequency and the high frequency and the frequency of the division width for calculating the energy do not necessarily have to be the same.

[0080] According to Non-Patent Document 4, the vibration energy corrected to increase the possibility of human perception, that is, the correction energy, is expressed by the following equation.

[0081] [Mathematical formula 1]

[0082]

[0083] A is the separated base signal g k The amplitude of T f is the amplitude threshold, which is the minimum amplitude that a person can feel in a signal of frequency f. f is an exponential value and is the nonlinear characteristic of the signal with frequency f.

[0084] Figure 6 is an amplitude threshold value T used in the calculation of the correction energy. f Graph of the curve.

[0085] like Figure 6 As shown, the amplitude threshold varies according to frequency and is around 10 2 Hz~10 3 Within the Hz range, humans can feel even relatively small amplitudes, but outside this range, humans cannot feel unless the amplitude is relatively large.

[0086] Figure 7 is an index value b used in the calculation of the correction energy. f Graph of the curve.

[0087] Figure 7 The exponential value b f The index value b below 400 Hz reported previously is used. f Examples of values ​​obtained by linear interpolation.

[0088] Figure 8 Yes Figure 1 A diagram for explaining the use of the window function in the vibration control device 1 shown.

[0089] As shown by reference numeral D1, a high frequency signal H(t) is input. As shown by reference numeral D2, the high frequency signal H(t) is divided into signals h according to each frame i, i+1, i+2, ... i ,h i+1 ,h i+2 , .... As shown by reference numeral D3, the signal h of each divided frame is separated into a plurality of base signals g1, g2, g3, .... As shown by reference numeral D4, a scalar value E obtained by synthesizing the correction energies of all base signals g1, g2, g3, ... is outputted according to the frequencies f1, f2, f3, ... of the base signals g1, g2, g3, ... i , Ei+1 , E i+2 .... As shown in the reference numeral D5, the scalar value E of the vibration energy calculated in each frame i is i , E i+1 , E i+2 , ...converted into a vibration waveform with the same vibration energy but with a different carrier frequency, and the amplitude a of the waveform i (t), a i+1 (t), a i+2 (t), ... a windowing process using a window function is implemented. As shown by reference numeral D6, the 1st to Nth frames are frame synthesized, and the amplitude A(t) of the vibration waveform is output. As shown by reference numeral D7, a second vibration waveform S2(t) having a carrier frequency with an amplitude of A(t) is output.

[0090] Fig. 9 Yes Figure 1 This is a graph for explaining an example of combining low frequencies and high frequencies in the vibration control device 1 shown.

[0091] To use Figure 8 The second vibration waveform S2(t) shown by the reference numeral E1 generated by the high-frequency signal H(t) is synthesized with the first vibration waveform S1(t) shown by the reference numeral E2 obtained by directly outputting the low-frequency signal L(t). Thus, the synthesized waveform S1(t)+S2(t) shown by the reference numeral E3 is output.

[0092] Fig.10 It is shown by Figure 1 Graphs showing specific examples of waveforms of signals before and after conversion by the vibration control device 1 are shown.

[0093] exist Fig.10 , the waveform of the violin sound before conversion (reference symbol F1) and the waveform after conversion (reference symbol F2) are expressed as amplitudes according to time.

[0094] Regarding the sound of high-frequency vibrations such as violins, in the conventional tactile vibration, a lot of auditory noise is generated, and if a low-pass filter is applied, the vibration that can be perceived by humans disappears. Therefore, the correction energy is calculated in such a way that the waveform becomes a single wavelength with a low-frequency carrier frequency according to time.

[0095] Fig.11 Yes Figure 1 1 is a block diagram for explaining an example of a functional configuration of an ISM unit 101 in the vibration control device 1 shown in FIG.

[0096] The ISM unit 101 functions as a time division control unit 112, an energy control unit 113, an energy vibration conversion unit 114a, and a vibration generation unit 114b. In the present embodiment, the ISM unit 101 controls the vibration of the high-frequency vibration 31 including the high-frequency component according to the signal. In addition, according to the human perception characteristics of vibration energy, it is assumed that the high-frequency component of the signal X(t) is about 100 Hz or more, but the low-frequency component less than 100 Hz can also be converted. In this way, the low-frequency component can be emphasized. The method of controlling vibration based on energy time division of the present invention is generally referred to as ISM.

[0097] The time division control unit 112 divides the vibration signal X(t) into N frames, and converts the signal h of the i-th frame obtained by time division into N frames. i The frame number N is input to the energy control unit 113. The frame number N can be determined based on a predetermined period and an overlap ratio of the windowing process.

[0098] The energy control unit 113 controls the signal h of the i-th frame i Calculate the corrected energy e i , and input the calculated correction energy to the energy vibration conversion unit 114a.

[0099] The energy vibration conversion unit 114a generates the correction energies e1 to e1 of the first frame to the Nth frame. N The synthesized signal A(t) is input to the vibration generating unit 114b.

[0100] The vibration generator 114b outputs a signal waveform S(t) based on the synthesized signal A(t).

[0101] 〔B〕Action Example

[0102] according to Fig.12 The block diagram (steps S1 to S7) shown in Figure 1 A first embodiment of the vibration waveform generation process in the vibration control device 1 shown in FIG. 1 will be described.

[0103] Fig.12 The signal removal unit 111a and the low-pass filter 111b shown correspond to Figure 1 The frequency removal control unit 111 is shown. Fig.12 The energy vibration conversion unit 114a, the second vibration generation unit 114b and the first vibration generation unit 114c shown correspond to Figure 1 The signal output unit 114 is shown.

[0104] The signal removal unit 111 a removes components below a predetermined frequency from the acquired pre-conversion signal X(t) to generate a high-frequency signal H(t), and inputs the high-frequency signal to the time division control unit 112 (step S1 ).

[0105] The time division control unit 112 time-divides the high-frequency signal H(t) into N frames, and converts the signal h of the i-th frame obtained by time division into N frames. i The frame number N is input to the energy control unit 113 (step S2). The frame number N can be determined based on a predetermined period and an overlap ratio of the windowing process.

[0106] The energy control unit 113 controls the signal h of the i-th frame i Calculate the corrected energy e i , the calculated correction energy is input to the energy vibration conversion unit 114a (step S3).

[0107] The energy vibration conversion unit 114a generates the correction energies e1 to e1 of the first frame to the Nth frame. N The synthesized signal A(t) is input to the second vibration generating unit 114b (step S4).

[0108] The second vibration generator 114b outputs a second vibration waveform S2(t) based on the synthesized signal A(t) (step S5).

[0109] On the other hand, the low-pass filter 111 b filters out components below a predetermined frequency from the acquired pre-conversion signal X(t), and inputs the low-frequency signal L(t) to the first vibration generator 114 c (step S6 ).

[0110] The first vibration generator 114 c outputs the first vibration waveform S1 ( t ) based on the low-frequency signal L(t) (step S7 ).

[0111] Next, according to Fig.13 The block diagram (steps S11 to S14) shown in FIG. Fig.12 The details of the energy control processing shown in step S3 are described below.

[0112] like Fig.13 As shown, the energy control unit 113 functions as a base signal separation control unit 113 a , a frequency calculation unit 113 b , an energy correction parameter calculation unit 113 c , and a correction energy calculation unit 113 d .

[0113] The base signal separation control unit 113a divides the input signal into the i-th frame signal h i Separate into multiple basis signals g, and separate the kth basis signal g k The signal is input to the frequency calculation unit 113b (step S11). For example, the signal can be separated by short-time Fourier analysis, wavelet analysis, Empirical Mode Decomposition (EMD) method, or the like.

[0114] The frequency calculation unit 113b calculates the kth basis signal g by, for example, discrete Fourier analysis or Hilbert Spectrum analysis. k The frequency f k , and input it to the energy correction parameter calculation unit 113c (step S12).

[0115] The energy correction parameter calculation unit 113c calculates the energy correction parameter based on the frequency f k To calculate the use Figure 6 The indicated index value b k and amplitude threshold T k , and input to the correction energy calculation unit 113d (step S13).

[0116] The correction energy calculation unit 113d calculates the energy of the k and amplitude threshold T k According to the formula shown in Mathematical Formula 1, for each base signal g k Calculate the corrected energy I pc , and output all the base signals g k The scalar value e is obtained by adding the corrected energy i (Step S14).

[0117] Next, as Figure 1 The second embodiment of the vibration waveform generation process in the vibration control device 1 shown in FIG. Fig.14 The block diagram (steps S101 to S105) shown in FIG. Fig.11 The separation process of the low-frequency component in the energy control process shown will be described.

[0118] like Fig.14 As shown, the energy control unit 113 can function as a base signal separation control unit 113a, a frequency calculation unit 113b, an energy correction parameter calculation unit 113c and a correction energy calculation unit 113d, and has a function of separating the low frequency component to a low frequency component synthesis unit 113g.

[0119] The base signal separation control unit 113a divides the input signal into the i-th frame signal h i Separate into multiple basis signals g, and separate the kth basis signal g k The signal is input to the frequency calculation unit 113b (step S101). For example, the signal can be separated by short-time Fourier analysis, wavelet analysis, EMD method, etc.

[0120] The frequency calculation unit 113b calculates the kth basis signal g by, for example, discrete Fourier analysis or Hilbert Spectrum analysis. k The frequency fk , and input it to the energy correction parameter calculation unit 113c (step S102).

[0121] The energy correction parameter calculation unit 113c calculates the energy correction parameter based on the frequency f k To calculate the use Figure 6 The indicated index value b k and amplitude threshold T k , and input to the correction energy calculation unit 113d (step S103).

[0122] The correction energy calculation unit 113d calculates the energy of the k and amplitude threshold T k According to the formula shown in Mathematical Formula 1, for each base signal g k Calculate the corrected energy I pc , and output all the base signals g k The scalar value e is obtained by adding the corrected energy i (Step S104).

[0123] The low-frequency component synthesizing unit 113g synthesizes the base signal g k The frequency f k The base signal having a frequency lower than a predetermined frequency is synthesized to generate a low-frequency component L(t) (step S105).

[0124] For a sound source that contains signals in multiple frequency bands, you may want to emphasize the vibration energy in a specific frequency band and present it as vibration. In this case, use Figures 15 to 20 Energy control units 1131 and 1132 which are modified examples applied when waveform conversion is performed by adjusting the energy of a base signal existing in a predetermined frequency band will be described.

[0125] Fig.15 (a) to (c) are graphs for explaining an example of generating vibration according to ISM without emphasizing the waveform. Fig.15 In FIG. 1 , the frequency band corresponding to the waveform of the cymbals (drums) of the high frequency components in the piano trio music and the frequency band corresponding to the waveform of the piano and bass are shown. Fig.15 In (a) to (c), the horizontal axis represents time [s] and the vertical axis represents frequency [Hz]. A dense spectrum indicates a large power, and a light spectrum indicates a small power.

[0126] exist Fig.15 In (a), as the distribution of the sound source spectrum, the waveform of the cymbal, which is a high-frequency component, is shown by the dotted line, and the waveform of the piano and bass, which are low-frequency components, are shown by the single-dot chain line.

[0127] exist Fig.15(b) shows the spectrum distribution (centered at 200 Hz) when converted according to ISM. Fig.15 In (b), due to the effect of ISM, the cymbals, piano, and bass are all extracted in the form of intensity.

[0128] exist Fig.15 (c) shows an example in which the signal is converted into a signal having a frequency of 200 Hz instead of being converted into a signal based on the intensity, but is converted into a signal using the representative frequency of the base signal. This allows visualization of which frequency band is emphasized.

[0129] Fig.16 (a) to (c) are graphs for explaining the first example of emphasizing and separating high-frequency components from a sound source. Fig.16 In FIG. 1 , an example of emphasizing and separating the high-frequency components of the cymbals (drums) from a piano trio music is shown. Fig.16 In (a) to (c), the horizontal axis represents time [s] and the vertical axis represents frequency [Hz]. A dense spectrum indicates a large power, and a light spectrum indicates a small power.

[0130] exist Fig.16 In (a), as the distribution of the sound source spectrum, the waveform of the cymbal, which is a high-frequency component, is shown by the dotted line, and the waveform of the piano and bass, which are low-frequency components, are shown by the single-dot chain line.

[0131] exist Fig.16 (b) shows the spectrum distribution (centered at 200 Hz) when converted according to ISM. Fig.16 In (b), only the intensity above 3000 Hz is amplified by +20 dB (100 times).

[0132] exist Fig.16 (c) shows an example of converting to a signal with a frequency of 200 Hz instead of converting to a signal based on intensity, but using the representative frequency of the base signal. This visualizes which frequency band is emphasized. Fig.16 In (c), the power of the cymbal's frequency spectrum becomes larger.

[0133] Fig.17 (a) to (c) are graphs for explaining the second example of emphasizing and separating high-frequency components from a sound source. Fig.17 In FIG. 1 , an example of emphasizing and separating the high-frequency components of the cymbals (drums) from a piano trio music is shown. Fig.17 In (a) to (c), the horizontal axis represents time [s] and the vertical axis represents frequency [Hz]. A dense spectrum indicates a large power, and a light spectrum indicates a small power.

[0134] exist Fig.17In (a), as the distribution of the sound source spectrum, the waveform of the cymbal, which is a high-frequency component, is shown by the dotted line, and the waveform of the piano and bass, which are low-frequency components, are shown by the single-dot chain line.

[0135] exist Fig.17 (b) shows the spectrum distribution when converted according to ISM (centered at 200 Hz). Fig.17 In (b), the intensity above 3000 Hz is gained by +20 dB (100 times), while the intensity below 1000 Hz is gained by -10 dB (1 / 10 times).

[0136] exist Fig.17 (c) shows an example of converting to a signal with a frequency of 200 Hz instead of converting to a signal based on intensity, but using the representative frequency of the base signal. This visualizes which frequency band is emphasized. Fig.17 In (c), the power of the cymbal's frequency spectrum becomes larger.

[0137] Fig.18 (a) to (c) are graphs illustrating an example of emphasizing and separating low-frequency components from a sound source. Fig.18 In FIG. 1 , an example of emphasizing and separating the low-frequency components of piano and bass from a piano trio music is shown. Fig.18 In (a) to (c), the horizontal axis represents time [s] and the vertical axis represents frequency [Hz]. A dense spectrum indicates a large power, and a light spectrum indicates a small power.

[0138] exist Fig.18 In (a), as the distribution of the sound source spectrum, the waveform of the cymbal, which is a high-frequency component, is shown by the dotted line, and the waveform of the piano and bass, which are low-frequency components, are shown by the single-dot chain line.

[0139] exist Fig.18 (b) shows the spectrum distribution (centered at 200 Hz) when converted according to ISM. Fig.18 In (b), the intensity below 1000 Hz is amplified by +10 dB (10 times).

[0140] exist Fig.18 (c) shows an example of converting to a signal with a frequency of 200 Hz instead of converting to a signal based on intensity, but using the representative frequency of the base signal. This visualizes which frequency band is emphasized. Fig.18 In (c), the power of the piano and bass spectra becomes larger.

[0141] in accordance with Fig.19 The block diagram (steps S41 to S45) shown in FIG. Fig.11 A first variation of the energy control process shown will be described.

[0142] like Fig.19 As shown, the energy control unit 1131 Fig.13 In addition to the base signal separation control unit 113a, the frequency calculation unit 113b, the energy correction parameter calculation unit 113c, and the correction energy calculation unit 113d shown, the controller also functions as a gain calculation unit 113e.

[0143] The base signal separation control unit 113a divides the input signal into the i-th frame signal h i Separate into multiple basis signals g, and separate the kth basis signal g k The signal is input to the frequency calculation unit 113b (step S41). For example, the signal can be separated by short-time Fourier analysis, wavelet analysis, EMD method, etc.

[0144] The frequency calculation unit 113b calculates the kth basis signal g by, for example, discrete Fourier analysis or Hilbert Spectrum analysis. k The frequency f k , and input it to the energy correction parameter calculation unit 113c (step S42).

[0145] The energy correction parameter calculation unit 113c calculates the energy correction parameter based on the frequency f k To calculate the use Figure 6 The indicated index value b k and amplitude threshold T k , and input it to the correction energy calculation unit 113d (step S43).

[0146] The gain calculation unit 113e calculates the base signal g according to the calculated base signal g. k The frequency f k The output is a predetermined gain value G divided by frequency band. k (Step S44). If you want to emphasize energy, set G k >1, if you want to suppress energy, set it to 0≤G k <1. Energy adjustment by emphasis or suppression may be performed on one frequency band or on a plurality of frequency bands. In addition, energy adjustment may be performed on the entire frequency band input to the energy control unit 1131 .

[0147] The correction energy calculation unit 113d calculates the separated base signal g k The amplitude A of the base signal g is calculated according to the following formula 2: k Calculate the corrected energy I after gain adjustment pc , and output all the base signals g k The scalar value e is obtained by adding the corrected energyi (Step S45).

[0148] [Mathematical formula 2]

[0149]

[0150] according to Fig. 20 The block diagram (steps S51 to S55) shown in FIG. Fig.11 A second variation of the energy control process shown will be described.

[0151] like Fig. 20 As shown, the energy control unit 1132 Fig.13 In addition to the base signal separation control unit 113a, the frequency calculation unit 113b, the energy correction parameter calculation unit 113c, and the correction energy calculation unit 113d shown, it also functions as a gain calculation unit 113e and a signal source identification unit 113f.

[0152] The base signal separation control unit 113a divides the input signal into the i-th frame signal h i Separate into multiple basis signals g, and separate the kth basis signal g k The signal is input to the frequency calculation unit 113b (step S51). For example, the signal can be separated by short-time Fourier analysis, wavelet analysis, EMD method, etc.

[0153] The frequency calculation unit 113b calculates the kth basis signal g by, for example, discrete Fourier analysis or Hilbert Spectrum analysis. k The frequency f k , and input it to the energy correction parameter calculation unit 113c (step S52).

[0154] The energy correction parameter calculation unit 113c calculates the energy correction parameter based on the frequency f k To calculate the use Figure 6 The indicated index value b k and amplitude threshold T k , and input it to the correction energy calculation unit 113d (step S53).

[0155] The signal source identification unit 113f detects the input signal h based on the set signal characteristics. i and h i The history of the candidate is used to infer the recognition and identify the base signal g k The signal source identification unit 113f can also prepare an identifier in advance by machine learning or the like. For example, it can learn the characteristics of multiple musical instruments through deep learning and infer the characteristics of the current input signal h. i(or when the input signal h i If it is too short, the input signal h i history) contains which instrument or candidate group (e.g., piano, bass, drums), identifying the base signal g k Which instrument is included?

[0156] The gain calculation unit 113e outputs a predetermined gain value G divided by frequency band according to the ID determined by the signal source identification unit 113f. k (Step S55). If you want to emphasize energy, set it to G k >1, set to 0≤G if you want to suppress energy k <1. Energy adjustment by emphasis or suppression may be performed on one frequency band or on a plurality of frequency bands. In addition, energy adjustment may be performed on the entire frequency band input to the energy control unit 1132.

[0157] The correction energy calculation unit 113d calculates the separated base signal g k The amplitude A of the base signal g is calculated according to the formula shown in Mathematical Formula 2. k Calculate the corrected energy I after gain adjustment pc , and output all the base signals g k The scalar value e is obtained by adding the corrected energy i (Step S56).

[0158] Next, according to Fig.21 The block diagram (steps S21 to S23) shown in FIG. Fig.11 The details of the energy synthesis processing shown in step S4 will be described.

[0159] The energy vibration conversion unit 114a functions as an energy equivalent conversion unit 1141a, a windowing processing unit 1142a, and a frame synthesis unit 1143a.

[0160] like Fig.21 As shown, the energy equivalent conversion unit 1141a converts the scalar value e of the vibration energy calculated in each frame i into i Convert it into a vibration waveform with the same vibration energy but with another carrier frequency, and change the amplitude of the waveform to i (t) Output to the windowing processing unit 1142a (step S21).

[0161] The windowing processing unit 1142a uses Figure 8 The window function shown performs windowing processing on the amplitude ai(t) of each input frame i, and inputs the processing result to the frame synthesis unit 1143a (step S22).

[0162] The frame synthesis unit 1143a performs frame synthesis on the inputs of the first to Nth frames from the windowing processing unit 1142a, and outputs the amplitude A(t) of the vibration waveform (step S23).

[0163] Next, according to Fig. 22 The block diagram (step S31 and step S32) shown in Fig.11 The details of the processing for generating the corrected vibration waveform shown in step S5 will be described below.

[0164] like Fig. 22 As shown, the second vibration generating unit 114b functions as an amplitude vibration converting unit 1141b and a waveform outputting unit 1142b. The second vibration generating unit 114b has an input signal A(t) and outputs a sine wave having a carrier frequency. The phase of the generated waveform can be controlled in such a way that the vibrations are smoothly connected.

[0165] The amplitude-to-vibration conversion unit 1141 b converts the input amplitude A(t) into vibration (step S31 ).

[0166] The waveform output unit 1142b outputs a sine wave S2(t) having a carrier frequency so that the amplitude becomes A(t) (step S32).

[0167] 〔C〕Effect

[0168] According to the vibration control device 1 , the signal control program, and the signal control method according to an example of the embodiment, for example, the following effects can be achieved.

[0169] The time division control unit 112 divides the signal for controlling the vibration of the vibration device according to a specified time. The energy control units 1131 and 1132 convert the waveform of the second signal component according to each specified time divided by the time division control unit 112. The energy control units 1131 and 1132 adjust the energy and perform waveform conversion for signals in a specific frequency band, and on the other hand, maintain the energy while performing waveform conversion for signals outside the specific frequency band. In addition, it is also possible that the energy control units 1131 and 1132 adjust the energy and perform waveform conversion for signals extracted based on specific signal features, and on the other hand, maintain the energy while converting signals that are not extracted based on specific signal features into waveforms having a frequency different from that of the signal. Thus, vibrations in a high-frequency band that are easily perceived by humans can be generated, and vibrations corresponding to any signal source can be emphasized or suppressed and output. In addition, energy adjustment can be implemented according to individual sensitivity and preferences to vibrations. In addition, the generation of auditory noise caused by vibrations in the high-frequency band can be suppressed.

[0170] The energy control units 1131 and 1132 adjust the energy of the signal in a specific frequency band by multiplying the gain value determined according to the specific frequency band. This makes it possible to easily emphasize or suppress vibration corresponding to an arbitrary signal source.

[0171] The gain value may be determined not only based on the frequency but also based on other characteristics of the signal such as ID, etc. Thus, it is possible to easily emphasize or suppress the vibration corresponding to a specific signal source.

[0172] The frequency of the predetermined division period of the time division control unit 112 is an arbitrary value with 80 Hz as the lower limit. Thus, the signal component of the high frequency band to be converted can be efficiently extracted.

[0173] The signal output unit 114 outputs a first signal component in which the waveform conversion of the signal below the predetermined frequency included in the vibration is not performed by the energy control units 1131 and 1132, and a second signal component in which the waveform conversion is performed by the energy control units 1131 and 1132. Thus, the signal component of the low-frequency band that is not the object of conversion can be directly output to the vibration device.

[0174] The predetermined frequency for separating the first signal component and the second signal component is in the range of 80 Hz to 400 Hz. This allows the waveform of the high-frequency component to be appropriately converted.

[0175] For the first signal component output by the signal output unit 114, vibration is generated by the low-frequency vibration 32 among the multiple vibration devices. In addition, for the second signal component output by the signal output unit 114, vibration is generated by the high-frequency vibration 31 among the multiple vibration devices. In this way, people can realistically experience the vibrations in the high-frequency band and the vibrations in the low-frequency band. In addition, the low-frequency vibration 32 may not be included in the vibration generating system 100. In this case, vibrations based on signal components with a frequency lower than a specified frequency may be generated from the high-frequency vibration 31, and vibrations based on signal components with a frequency lower than a specified frequency may not be generated in the vibration generating system 100.

[0176] 〔D〕Other

[0177] The disclosed technology is not limited to the above-mentioned embodiments, and can be implemented with various modifications within the scope of the gist of the embodiments. The structures and processes of the embodiments can be selected or discarded as needed, or can be combined appropriately.

[0178] exist Figure 1 The vibration generating system 100 shown in the figure has the high-frequency vibration 31 and the low-frequency vibration 32, but the present invention is not limited thereto. The number of vibrations provided in the vibration generating system 100 can be changed in various ways.

[0179] Fig.23It is shown in Figure 1 1 is a block diagram of a configuration example of a DAC 2 when a plurality of vibration devices 310 and 320 are used in the vibration generating system 100 shown.

[0180] exist Fig.23 In the example shown, Figure 1 The DAC 2 shown in the figure functions as a high-frequency gain adjuster 21a, a low-frequency gain adjuster 21b, a high-frequency vibration device driving circuit 22a, and a low-frequency vibration device driving circuit 22b. Figure 1 The high-frequency vibration 31 and the low-frequency vibration 32 shown function as a high-frequency vibration device 310 and a low-frequency vibration device 320, respectively.

[0181] The high-frequency gain adjuster 21a outputs the second vibration waveform S2(t) input from the vibration control device 1 to the high-frequency vibration device 310 via the high-frequency vibration device drive circuit 22a. In addition, the low-frequency gain adjuster 21b outputs the first vibration waveform S1(t) input from the vibration control device 1 to the low-frequency vibration device 320 via the low-frequency vibration device drive circuit 22b.

[0182] Fig.24 It is shown in Figure 1 1 is a block diagram of a configuration example of a DAC in a case where one vibration device is used in the vibration generating system 100 shown.

[0183] exist Fig.24 In the example shown, Figure 1 The DAC 2 shown in the figure functions as a high-frequency gain adjuster 21a, a low-frequency gain adjuster 21b, and a vibration device driving circuit 22. Figure 1 The high-frequency vibration 31 and the low-frequency vibration 32 shown function as a vibration device 30 .

[0184] The high-frequency gain adjuster 21 a and the low-frequency gain adjuster 21 b output the second vibration waveform S2 ( t ) and the first vibration waveform S1 ( t ) input from the vibration control device 1 to the common vibration device 30 via the common vibration device drive circuit 22 .

[0185] Description of symbols

[0186] 100: vibration generating system; 1: vibration control device; 11: CPU; 101: ISM unit; 111: frequency removal control unit; 111a: signal removal unit; 111b: low-pass filter; 111d: correction energy calculation unit; 112: time division control unit; 113, 1131, 1132: energy control unit; 113a: base signal separation control unit; 113b: frequency calculation unit; 113c: energy correction parameter calculation unit; 113d: correction energy calculation unit; 113e: gain calculation unit; 113f: signal source identification unit; 113g: low-frequency component synthesis unit; 114: signal output unit; 114a: energy vibration conversion unit ;114b: second vibration generating unit;114c: first vibration generating unit;1141a: energy equivalent conversion unit;1142a: window processing unit;1143a: frame synthesis unit;1141b: amplitude vibration conversion unit;1142b: waveform output unit;12: memory;13: storage device;2: DAC;21a: high frequency gain adjuster;21b: low frequency gain adjuster;22: vibration device driving circuit;22a: high frequency vibration device driving circuit;22b: low frequency vibration device driving circuit;30: vibration device;31: high frequency vibration;32: low frequency vibration;310: high frequency vibration device;320: low frequency vibration device.

Claims

1. A vibration control device, which controls the vibration generated by a vibration device through a signal, wherein: The vibration control device has: an energy control unit that converts the waveform of the signal while maintaining the energy of the signal, and converts the waveform of the signal into a waveform having a frequency band different from that of the signal; as well as a time division control unit, the time division control unit divides the components of the signal according to a specified time, The energy control section converts the waveform of the signal at each of the predetermined times divided by the time division control section.

2. A vibration control device, which controls the vibration generated by a vibration device through a signal, wherein: The vibration control device has: A time division control unit, which divides the signal according to a specified time; as well as an energy control section that converts the waveform of the signal according to each of the prescribed times divided by the time division control section, The energy control unit adjusts the energy of a signal in a specific frequency band among the frequency components of the signal to convert the waveform, and on the other hand, converts a signal outside the specific frequency band into a waveform having a frequency different from that of the signal while maintaining the energy.

3. A vibration control device, which controls the vibration generated by a vibration device through a signal, wherein: The vibration control device has: A time division control unit, which divides the signal according to a specified time; as well as an energy control section that converts the waveform of the signal according to each of the prescribed times divided by the time division control section, The energy control unit adjusts the energy of the signal extracted based on the specific signal feature in the signal to convert the waveform. On the other hand, for the signal not extracted based on the specific signal feature, the energy control unit converts it into a waveform having a frequency different from that of the signal while maintaining the energy.

4. The vibration control device according to claim 2 or 3, wherein: The energy control unit performs the adjustment by multiplying the energy of the signal in the specific frequency band by a gain value determined according to the specific frequency band.

5. The vibration control device according to claim 4, wherein: The gain value is determined based on an identifier determined for each of the specific frequency bands.

6. The vibration control device according to any one of claims 1 to 3, wherein: The predetermined division cycle of the time division control unit is a frequency having 80 Hz as a lower limit.

7. The vibration control device according to any one of claims 1 to 3, wherein: The vibration control device further includes a frequency removal control unit that removes a first signal component having a frequency equal to or lower than a predetermined frequency from the signal. The energy control unit converts the waveform of the signal with respect to a second signal component other than the first signal component removed by the frequency removal control unit in the signal.

8. The vibration control device according to claim 7, wherein: The vibration control device further includes a signal output unit that outputs the first signal component whose waveform is not converted by the energy control unit and the second signal component whose waveform is converted by the energy control unit.

9. The vibration control device according to claim 7, wherein: The predetermined frequency for separating the first signal component and the second signal component is in the range of 80 Hz to 400 Hz.

10. The vibration control device according to claim 8, wherein: The first signal component outputted by the signal output unit generates vibration by a first vibration device among the plurality of vibration devices. The second signal component output by the signal output unit generates vibration by a second vibration device among the plurality of vibration devices.

11. A storage medium storing a vibration control program, the vibration control program causing a computer that controls vibrations generated by a vibration device through a signal to perform the following processing: while maintaining the energy of the signal, converting the waveform of the signal into a waveform having a frequency band different from that of the signal, dividing the components of the signal according to a specified time, The process of converting the waveform of the signal converts the waveform of the signal for each of the divided predetermined times.

12. A storage medium storing a vibration control program, the vibration control program causing a computer that controls vibrations generated by a vibration device through a signal to perform the following processing: Segmenting the signal according to a specified time; and The waveform of the signal is converted according to each of the divided prescribed times, Regarding the process of converting the waveform, for a signal in a specific frequency band among the frequency components of the signal, the energy is adjusted to convert the waveform, and on the other hand, for a signal outside the specific frequency band, the energy is maintained while converting it into a waveform having a frequency different from that of the signal.

13. A storage medium storing a vibration control program, the vibration control program causing a computer that controls vibrations generated by a vibration device through a signal to execute the following processing: Segmenting the signal according to a specified time; and The waveform of the signal is converted according to each of the divided prescribed times, Regarding the process of converting the waveform, for a signal extracted based on a specific signal feature in the signal, the energy is adjusted to convert the waveform. On the other hand, for a signal not extracted based on the specific signal feature, the energy is maintained while converting it into a waveform having a frequency different from that of the signal.

14. A vibration control method, wherein the vibration generated by a vibration device is controlled by a signal, wherein: while maintaining the energy of the signal, converting the waveform of the signal into a waveform having a frequency band different from that of the signal, dividing the components of the signal according to a specified time, The process of converting the waveform of the signal converts the waveform of the signal for each of the divided predetermined times.

15. A vibration control method, wherein the vibration generated by a vibration device is controlled by a signal, wherein: The signal is segmented according to the specified time, The waveform of the signal is converted according to each of the divided prescribed times, Regarding the process of converting the waveform, for a signal in a specific frequency band among the frequency components of the signal, the energy is adjusted to convert the waveform, and on the other hand, for a signal outside the specific frequency band, the energy is maintained while converting it into a waveform having a frequency different from that of the signal.

16. A vibration control method, wherein the vibration generated by a vibration device is controlled by a signal, wherein: The signal is segmented according to the specified time, The waveform of the signal is converted according to each of the divided prescribed times, Regarding the process of converting the waveform, for a signal extracted based on a specific signal feature in the signal, the energy is adjusted to convert the waveform. On the other hand, for a signal not extracted based on the specific signal feature, the energy is maintained while converting it into a waveform having a frequency different from that of the signal.

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