Information processing apparatus and information processing method

Abstract

The present technology relates to an information processing device and an information processing method capable of suppressing an increase in the number of sensors and improving resolution in position detection in which the number of sensors affects the resolution. On the basis of a first signal indicating a pressure applied to a plate-shaped body and a second signal indicating a tilt direction of the plate-shaped body, a position to which the pressure is applied among a plurality of positions of the plate-shaped body is detected.

Description

Technical Field

[0001] The present technology relates to an information processing device and an information processing method, and more particularly to an information processing device and an information processing method for suppressing an increase in the number of sensors and improving the resolution in position detection in which the number of sensors affects the resolution. Background Art

[0002] Patent Documents 1 and 2 disclose technologies in which a user perceives an event or the like that has occurred by using tactile information such as vibration.

[0003] Citation List

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2018-201816

[0006] Patent Document 2: Japanese Patent Application Publication No. 2015-185167 Summary of the invention

[0007] Problem that the invention aims to solve

[0008] For example, in a case where a large number of sensors are arranged on the ground to detect the user's position and an actuator at the detected position is vibrated to present tactile information to the user, if the number of sensors is increased in order to detect the user's position with high resolution, the cost increases.

[0009] The present technology has been proposed in view of such circumstances, and an object of the present technology is to suppress an increase in the number of sensors and to improve the resolution in position detection in which the number of sensors affects the resolution.

[0010] Solution to the problem

[0011] According to the first aspect of the present technology, an information processing device is an information processing device including a processing unit, which is configured to detect a position where pressure is applied among multiple positions of the plate-like body based on a first signal indicating pressure applied to the plate-like body and a second signal indicating a tilt direction of the plate-like body.

[0012] An information processing method according to a first aspect of the present technology is an information processing method, wherein the processing unit of an information processing device including a processing unit detects a position where pressure is applied among multiple positions of the plate-like body based on a first signal indicating pressure applied to the plate-like body and a second signal indicating a tilt direction of the plate-like body.

[0013] In the information processing device and information processing method according to the first aspect of the present technology, the position where the pressure is applied is detected among multiple positions of the plate-like body based on a first signal indicating the pressure applied to the plate-like body and a second signal indicating the tilt direction of the plate-like body.

[0014] According to the second aspect of the present technology, an information processing device is an information processing device, which includes a plate-like body; a first sensor, which is configured to output a first signal indicating a pressure applied to the plate-like body; and a second sensor, which is configured to output a second signal indicating a tilt direction of the plate-like body.

[0015] In the information processing apparatus according to the second aspect of the present technology, the first signal indicating the pressure applied to the plate-like body is output, and the second signal indicating the tilt direction of the plate-like body is output. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] [ Figure 1 ] is an external view illustrating the configuration of a tactile presentation panel to which the present technology is applied.

[0017] [ Figure 2 ] is a perspective view illustrating the configuration of a tactile presentation module group.

[0018] [ Figure 3 ] is a cross-sectional view illustrating the configuration of a tactile presentation module.

[0019] [ Figure 4 ] is a view illustrating nine pedaling positions that can be specified by the gyro sensor.

[0020] [ Figure 5 ] is a view illustrating the detection results of each tactile presentation module when the user steps on the pedal.

[0021] [ Figure 6 ] is a view used to describe the implementation of the stepping detection processing.

[0022] [ Figure 7 ] is a view for describing an implementation of a tilt detection process.

[0023] [ Figure 8 ] is a view for describing an implementation of a tilt detection process.

[0024] [ Fig. 9 ] is a view used to describe the implementation of the offset removal process.

[0025] [ Fig.10 ] is a view used to describe the implementation of the offset removal process.

[0026] [ Fig.11] is a view used to describe the implementation of the offset removal process.

[0027] [ Fig.12 ] is a view for describing an implementation of a vibration presentation process.

[0028] [ Fig.13 ] is a view for describing an implementation of a vibration presentation process.

[0029] [ Fig.14 ] is a view for describing an implementation of a vibration presentation process.

[0030] [ Fig.15 ] is a view used to describe the implementation of video rendering processing.

[0031] [ Fig.16 ] is a view used to describe the implementation of video rendering processing.

[0032] [ Fig.17 ] is a view used to describe the implementation of video rendering processing.

[0033] [ Fig.18 ] is a view used to describe the timing of vibration presentation.

[0034] [ Fig.19 ] is a structural diagram showing an example of the structure of a tactile presentation system.

[0035] [ Fig. 20 ] is a functional block diagram showing the functional configuration of the tactile presentation module.

[0036] [ Fig.21 ] is a flowchart illustrating the processing process of the tactile rendering system. DETAILED DESCRIPTION

[0037] Hereinafter, embodiments of the present technology will be described with reference to the drawings.

[0038] <About the Tactile Presentation Plate of the Present Embodiment>

[0039] Figure 1 is an external view illustrating the configuration of a tactile presentation board to which the present technology is applied. Figure 1In the embodiment, the tactile presentation board 11 is formed in a plate shape and arranged on the ground (ground). The tactile presentation board 11 arranged on the ground presents tactile information to the contact part of the person, animal, etc. (hereinafter referred to as the user) standing thereon. The tactile information presented is, for example, vibration, and the type of vibration (frequency, frequency distribution, intensity, etc.) is changed according to the assumed environment. The assumed environment is an environment with different ground conditions (such as snow and grass, etc.). The type of vibration changes according to the ground type. For example, when the user walks on the tactile presentation board 11, vibration is presented to the sole of the foot which is the contact part between the tactile presentation board 11 and the user, and the vibration gives the same tactile sensation as if the user is walking on snow, grass, soil, concrete, etc. which are the ground types corresponding to the assumed environment. It should be noted that the tactile information presented may be temperature, etc.

[0040] The tactile presentation board 11 includes a tactile presentation module group 12. The tactile presentation module group 12 is an aggregate of a plurality of tactile presentation modules 21 having the same structure, and has a configuration in which the plurality of tactile presentation modules 21 are arranged at the front, rear, left, and right. Figure 2 1 is a perspective view illustrating the configuration of the tactile presentation module group 12 when a part of the tactile presentation board 11 is extracted. Figure 2 In the embodiment, the tactile presentation module group 12 has a configuration in which a rectangular tactile presentation module 21 is fixed substantially without gap in the front, rear, left and right directions to be arranged on the upper surface of an integral plate-like body 13. The plate-like body 13 is, for example, a member integrally formed on the entire tactile presentation board 11, and may be an elastically deformable member or a plastically deformable member. In addition, the plate-like body 13 may be the floor itself on which the tactile presentation module group 12 is mounted. It should be noted that the arrangement of the tactile presentation module 21 is not limited to a specific form. In addition, although Figure 2 4×4 (=16) tactile presentation modules 21 are shown in FIG. 1 , but the number of tactile presentation modules 21 constituting the tactile presentation module group 12 is not limited to a specific number. In addition, the entire tactile presentation board 11 may include one tactile presentation module group 12 or may include multiple tactile presentation module groups 12.

[0041] Each tactile presentation module 21 of the tactile presentation module group 12 generates vibration when it detects that pressure is applied thereto. For example, when a user walks on the tactile presentation board 11, the tactile presentation module 21 at the position where the user steps detects the pressure and generates a vibration of a type corresponding to the assumed environment. Thus, tactile information is presented to the user's feet (sole) and provides the user with a feeling as if the user is walking in the assumed environment.

[0042] Figure 3 2 is a cross-sectional view illustrating the configuration of the tactile presentation module 21. Figure 3In the embodiment, the tactile presentation module 21 includes a bottom plate 31, frames 32 and 33, gel parts 34 and 35, a top plate 36, a pressure-sensitive sensor 37, a sponge part 38, a vibration actuator 39, and a gyro sensor 40. The bottom plate 31 is formed in a rectangular thin plate shape and constitutes the bottom (bottom surface) of the tactile presentation module 21. The frames 32 and 33 are fixed to the upper surface side of the bottom plate 31. The frames 32 and 33 constitute the bottom surface side of the side wall part (side surface) of the tactile presentation module 21. The frames 32 and 33 may be components integrally formed in a ring shape along the four side surfaces of the tactile presentation module 21, or may be split components partially arranged at positions along the side surfaces of the tactile presentation module 21. The gel parts 34 and 35 are fixed in whole or in part to the upper surfaces of the frames 32 and 33.

[0043] The gel parts 34 and 35 constitute the upper surface side of the side wall part (side surface) of the tactile presentation module 21. The gel parts 34 and 35 can be components integrally formed as an annular shape along the four side surfaces of the tactile presentation module 21, or can be split components partially arranged at positions along the side surfaces of the tactile presentation module 21. The gel parts 34 and 35 are formed using gel. Gel is a substance having both viscosity (liquid properties) and elasticity (solid properties). Compared with the base plate 31, frames 32 and 33 and top plate 36 whose materials are not specifically specified, the gel parts 34 and 35 have a smaller rigidity (Young's modulus) and are easily deformed by external forces. However, compared with the sponge part 38, the gel parts 34 and 35 have a larger Young's modulus and are difficult to deform by external forces. The top plate 36 is fixed to the upper surface of the gel parts 34 and 35.

[0044] The top plate 36 is formed into a rectangular thin plate shape, arranged to be opposite to the bottom plate 31, and constitutes the upper part (upper surface) of the tactile presentation module 21. It should be noted that the top plate 36 is also used as a vibration plate for presenting vibration to the user. The pressure-sensitive sensor 37 is fixed to the upper surface of the bottom plate 31. The pressure-sensitive sensor 37 is arranged in the space formed between the frames 32 and 33. The pressure-sensitive sensor 37 outputs a detection signal (pressure value) of a voltage corresponding to the pressure applied from the outside. The sponge part 38 is fixed to the upper surface of the pressure-sensitive sensor 37. The sponge part 38 is formed using a sponge. The sponge is a porous soft substance. Compared with the gel parts 34 and 35, the sponge part 38 has a smaller Young's modulus and is easily deformed by external force. The vibration actuator 39 is fixed to the upper surface of the sponge part 38. The upper surface of the vibration actuator 39 is fixed to the top plate 36. It should be noted that they are fixed in a manner that the center of the upper surface of the vibration actuator 39 and the center of the plate surface of the top plate 36 substantially coincide with each other.

[0045] The vibration actuator 39 produces the vibration corresponding to the waveform of the voltage signal provided. The vibration produced by the vibration actuator 39 propagates to the top plate 36 to vibrate the top plate 36. A recess is formed at the center of the upper surface of the vibration actuator 39, and the gyro sensor 40 is arranged in the recess. It should be noted that the gyro sensor 40 can be fixed to the vibration actuator 39, or can be fixed to the lower surface of the top plate 36. The gyro sensor 40 outputs a detection signal of a voltage corresponding to the angular velocity of each of the two axes orthogonal to each other along the upper surface to the top plate 36. It should be noted that the gyro sensor 40 can be a sensor for detecting the angular velocity around the three axes orthogonal to each other, and an axis in this case is set in a direction orthogonal to the top plate 36.

[0046] according to Figure 3 In the tactile presentation module 21, when the user's foot steps on the top plate 36 and applies pressure to the top plate 36, a portion of the pressure F is applied to the pressure-sensitive sensor 37 via the vibration actuator 39 and the sponge portion 38. Therefore, whether pressure is applied to the top plate 36 and the magnitude of the applied pressure can be detected based on the detection signal of the pressure-sensitive sensor 37. It should be noted that the following description will be given assuming that the pressure applied to the top plate 36 is mainly due to the pressure caused by the user's (foot) stepping on it. It should be noted that in the present technology, the cause of the pressure applied to the top plate 36 may be pressing with hands, tools, etc., and is not limited to specific circumstances.

[0047] In addition, most of the pressure F applied to the top plate 36 is received by the gel portions 34 and 35. Thus, since the pressure f applied to the pressure-sensitive sensor 37 is not limited to a portion of the pressure F applied to the top plate 36, the upper limit of the pressure-sensitive range of the pressure-sensitive sensor 37 can be sufficiently smaller than the maximum weight of the assumed user. Therefore, a low-cost sensor can be used as the pressure-sensitive sensor 37. In addition, the degree of influence on the ease of movement of the vibration actuator 39 (the ease of vertical movement of the top plate 36) is small.

[0048] In addition, according to Figure 3 The tactile presentation module 21 measures the inclination (about 3 degrees or less) generated in the top plate 36 by the gyro sensor 40 arranged near the center of the top plate 36. When the user's stepping is detected by the pressure-sensitive sensor 37, the stepping position can be estimated with 9-resolution by measuring the direction in which the top plate 36 is tilted with the gyro sensor 40. 9-resolution means that it is possible to specify which position among the positions (areas) obtained by dividing the top plate 36 into nine parts is the stepping position. Figure 4 is a diagram illustrating nine stepped positions that can be specified by the gyro sensor 40. Figure 4In the figure, the tactile presentation module 21 is shown in a top view viewed from the top plate 36 side, and the entire plate surface of the top plate 36 is divided into nine area portions A-FL, AF, A-FR, AL, AC, AR, A-BL, AB and A-BR in a grid shape. The areas A-FL, AF, A-FR, AL, AC, AR, A-BL, AB and A-BR represent the stepped positions that can be specified by the gyro sensor 40, and are also referred to as the left front position A-FL, the front position AF, the right front position A-FR, the left position AL, the central position AC, the right position AR, the left rear position A-BL, the rear position AB and the right rear position A-BR, respectively. It should be noted that the gyro sensor 40 is not limited to 9 resolutions for estimating (specifying) the stepped position of the top plate 36.

[0049] Figure 5 2 is a diagram illustrating a detection result of each tactile presentation module 21 in a case where a user steps on a tactile presentation module group 12 including 4×4 tactile presentation modules 21. Figure 5 In the tactile presentation module group 12 in A, it is assumed that the user steps on the stepping position indicated by the shoe trace. Figure 5 As shown in the tactile presentation module group 12 in B, it is assumed that in the total of 6 tactile presentation modules 21 from the first to the third tactile presentation modules from the top in the second column and the third column from the left, the pressure-sensitive sensor 37 outputs pressure values ​​of 0.48, 0.59, 0.52, 0.51, 0.54 and 0.50 as detection signals, respectively. It should be noted that it is assumed that the pressure value of about 0 is output from the pressure-sensitive sensor 37 of the other tactile presentation modules 21 as the detection signal. By detecting the tactile presentation modules 21 in which the detection signals of the pressure values ​​of these specific values ​​or greater are output from the pressure-sensitive sensor 37, the tactile presentation module 21 stepped on by the user is detected.

[0050] In addition, in the tactile presentation module 21 where the user steps on, the inclination direction of the top plate 36 is detected based on the detection signal of the gyro sensor 40, so that the stepping position in each tactile presentation module 21 is designated as one of 9 areas A-FL, AF, A-FR, AL, AC, AR, A-BL, AB and A-BR. Figure 5 B shows a case where the area indicated by pure black is detected as the stepped position. For example, in the first to third tactile presentation modules 21 from the top in the second column from the left, the right rear position A-BR, the right position AR, and the right front position A-FR are respectively detected as the stepped position.

[0051] In this way, by using two sensors, not only is the tactile presentation module 21 stepped on by the user detected, but also the stepped position in the tactile presentation module 21 (top plate 36) is designated as one of the 9 areas, so that one tactile presentation module 21 can detect the stepped position with 9 resolutions. That is, since position detection with 9 resolutions can be performed only by two sensors (pressure-sensitive sensor 37 and gyro sensor 40), the resolution can be improved without increasing the number of sensors.

[0052] <Trampling Detection Processing>

[0053] The stepping detection process is a process of detecting the user's stepping by the pressure-sensitive sensor 37 of the tactile presentation module 21 (a process of detecting whether a stepping has been performed). Figure 6 An implementation of a stepping detection process is described. Figure 6 In A to C of FIG. 1 , time is plotted along the horizontal axis and signal value (pressure value) is plotted along the vertical axis. Figure 6 In A, the detection signal X is an example of the detection signal output from the pressure-sensitive sensor 37 within a certain period of time. Signal T1 represents the signal after the detection signal X is filtered by a low-pass filter with a cutoff frequency A1, and is represented by the function LPF(X, A1). Signal T2 represents the signal after the detection signal X is filtered by a low-pass filter with a cutoff frequency A2, and is represented by the function LPF(X, A2). Note that, assuming A1 <A2。

[0054] As a simple implementation of the stepping detection process, it is determined whether the value of the detection signal X is equal to or greater than a predetermined threshold value, thereby detecting whether stepping has been performed. It should be noted that the detection signal X includes the displacement of the top plate 36 caused by the vibration of the vibration actuator 39, etc. as noise. In addition, due to the manufacturing error of each tactile presentation module 21, the long-term change of the physical properties of the gel parts 34 and 35, etc., the initial value of the detection signal X and the value of the detection signal X when the same pressure is applied to the top plate 36 are different for each tactile presentation component 21. Therefore, in the example of the stepping detection process using a predetermined threshold value, the detection accuracy is low. Therefore, in the present implementation of the stepping detection process, the noise included in the detection signal X is removed by filtering the detection signal X with a low-pass filter, and the individual differences in the value of the detection signal X are reduced. In addition, the threshold for determining that stepping has been performed is updated in sequence as follows.

[0055] exist Figure 6 The signal T1=LPF(X, A1) and the signal T2=LPF(X, A2) obtained by filtering the detection signal X in A are shown in FIG. Figure 6 In B. Figure 6In B, the detection signal T represents a signal generated by the smaller value of the values ​​of the signals T1 and T2 at each time, and is represented by the function MIN(T1, T2). Figure 6 As shown in C, the threshold value for determining whether the pedaling has been performed is updated over time by the signal (threshold value) T+B=function MIN(T1, T2)+B. Here, B represents a predetermined constant value. Figure 6 In C, when the detection signal X is less than the threshold value T+B, it is determined that no stepping has been performed. When the detection signal X is equal to or greater than the threshold value T+B, it is determined that stepping has been performed. It should be noted that the threshold value T+B at this time is set to T0+B. When the detection signal X becomes less than the threshold value T0+B after it is determined that stepping has been performed (the user has stepped on), it is determined that the stepping has been released (the user's feet have been separated). It should be noted that the threshold for determining that the stepping has been released may not be T0+B, but may be the threshold value T+B.

[0056] Reference above Figure 6 The described implementation of the stepping detection process is an example, and the present invention is not limited thereto. For example, the threshold for determining that stepping has been performed can be updated one by one, and the parameters used for the update can be switched according to the state (for example, in response to the detection signal X exceeding or falling below the threshold, the cutoff frequency of the low-pass filter is changed).

[0057] <Tilt Detection Processing (Stepping Position Detection Processing)>

[0058] The tilt detection process is a process of detecting the tilt (stepping position) of the top plate 36 by the gyro sensor 40 of the tactile presentation module 21. Figure 7 and Figure 8 The following describes an implementation of the tilt detection process. Note that the user's stepped position of the top plate 36 of the tactile presentation module 21 is also referred to as the stepped position of the tactile presentation module 21. Figure 7 In the example, on the top plate 36 of the tactile presentation module 21, the nine stepping positions specified by the gyro sensor 40 can be similarly represented as Figure 4 9 areas A-FL, AF, A-FR, AL, AC, AR, A-BL, AB, and A-BR in FIG. Note that each area is assigned a number 1 to 9 (a number represented by a circled number), and each area is appropriately identified using the number assigned to each area.

[0059] The gyro sensor 40 is embedded in a recess formed on the upper surface of the vibration actuator 39 and is arranged in the central part of the top plate 36. The gyro sensor 40 is directly fixed to the rear surface of the top plate 36 or indirectly fixed to the rear surface of the top plate 36 via the gyro sensor 40 so as to be tilted in conjunction with the top plate 36. The gyro sensor 40 has an X-axis and a Y-axis orthogonal to each other, and the gyro sensor 40 is fixed to the top plate 36 so that the X-axis and the Y-axis are both in the direction along the plate surface of the top plate 36 and parallel to the sides of the quadrilateral top plate 36. The gyro sensor 40 outputs a signal of a voltage corresponding to the angular velocity around the X-axis (angular velocity signal) and a signal of a voltage corresponding to the angular velocity around the Y-axis (angular velocity signal) as a detection signal. It should be noted that, assuming that the angular velocity signal is integrated through internal processing of the gyro sensor 40 or processing in an external processing unit, the gyro sensor 40 outputs an angle signal θx (signal value Angle_X) of a voltage corresponding to the rotation angle around the X-axis and an angle signal θy (signal value Angle_Y) of a voltage corresponding to the rotation angle around the Y-axis.

[0060] Figure 8 A and B are examples of applying pressure to Figure 7 1 to 9 of the tactile presentation module 21. In these views, the timing of numbers 1 to 9 (numbers represented by circled numbers) represented by arrows respectively relative to the angle signal θx and the angle signal θy represents the timing of applying pressure to areas 1 to 9 of the tactile presentation module 21.

[0061] Accordingly, for example, when pressure is applied to the left front position A-FL of area 1 as the tactile presentation module 21, the angle signal θx and the angle signal θy respectively represent positive values. It should be noted that a positive value refers to a positive value equal to or greater than a predetermined threshold value. That is, when the angle signal θx is a positive value, the top plate 36 is in a tilted state relative to the left side of the x-axis lower than the right side, and when the angle signal θy is a positive value, the top plate 36 is in a tilted state relative to the front side of the y-axis lower than the rear side. Therefore, when the angle signal θx and the angle signal θy are respectively positive values, since the left front position A-FL of the top plate 36 is shifted downward, it is detected that pressure is applied to the left front position A-FL. For example, when pressure is applied to the front position AF of area 2 as the tactile presentation module 21, the angle signal θx and the angle signal θy respectively represent a zero value and a positive value. It should be noted that a zero value refers to a value of approximately 0 that is equal to or less than a predetermined threshold value. That is, when the angle signal θx is a zero value, the top plate 36 is in a non-inclined state at the same height with respect to the left and right sides of the x-axis, and when the angle signal θy is a positive value, the top plate 36 is in a tilted state with the front side lower than the rear side with respect to the y-axis. Therefore, when the angle signal θx and the angle signal θy are zero and positive values, respectively, since the front position AF of the top plate 36 is displaced downward, it is detected that pressure is applied to the front position AF.

[0062] For example, when pressure is applied to the central position AC of the area 5 as the tactile presentation module 21, the angle signal θx and the angle signal θy respectively represent zero values. That is, when the angle signal θx is a zero value, the top plate 36 is in a non-tilted state at the same height relative to the left and right sides of the x-axis, and when the angle signal θy is a zero value, the top plate 36 is in a non-tilted state at the same height relative to the front and rear sides of the y-axis. In the case where the angle signal θx and the angle signal θy are zero values, there may be a situation where no pressure is applied to the tactile presentation module 21. It should be noted that in the case of detecting the stepping of the tactile presentation module 21 by the detection signal of the pressure-sensitive sensor 37, since the central position AC of the top plate 36 is shifted downward, it is detected that the pressure is applied to the central position AC. For example, when pressure is applied to the right rear position A-BR of the area 9 as the tactile presentation module 21, the angle signal θx and the angle signal θy respectively represent negative values. It should be noted that a negative value refers to a negative value equal to or less than a predetermined threshold. That is, when the angle signal θx is a negative value, the top plate 36 is in a state of being tilted lower than the left side with respect to the x-axis right side, and when the angle signal θy is a negative value, the top plate 36 is in a state of being tilted lower than the front side with respect to the y-axis rear side. Therefore, when the angle signal θx and the angle signal θy are respectively negative values, since the right rear position A-BR of the top plate 36 is displaced downward, it is detected that pressure is applied to the right rear position A-BR.

[0063] Since in these examples, the angle signals θx and θy can take three forms of positive value, zero value and negative value, respectively, there are nine combinations of the three forms of the angle signal θx and the three forms of the angle signal θy, and by detecting which of the nine combinations, it is possible to detect which area of ​​the nine areas of the top plate 36 the pressure is applied to.

[0064] <Offset Removal Processing of Gyro Sensor 40>

[0065] The offset removal process of the gyro sensor 40 is a process of removing the offset included in the detection signal output from the gyro sensor 40. Figures 9 to 11 An implementation of the offset removal process is described. Fig. 9 the upper side, for example Figure 6 In the figure, the detection signal X output from the pressure-sensitive sensor 37 is filtered by a low-pass filter to form the signal T1 = LPF (X, A1) and the signal T2 = LPF (X, A2), where time is plotted along the horizontal axis and the signal value is plotted along the vertical axis. The binary signal (stepping determination signal J1) including high values ​​and low values ​​superimposed on the signals T1 and T2 indicates that the above-mentioned stepping detection processing determines that no stepping has occurred in the low-value period, and determines that stepping has occurred in the high-value period. Fig. 9 , a detection signal (angle signal θx) output from the gyro sensor 40 is illustrated on the lower side, wherein the time corresponding to the abscissa of the graph on the upper side is plotted along the abscissa, and the signal value is plotted along the ordinate. Accordingly, at the start time of the period in which stepping is detected (i.e., the period in which the stepping determination signal J1 is a high value), the top plate 36 is not sufficiently tilted, so that when the value of the angle signal θx is small and the angle signal θx includes an offset component, if the stepping position of the top plate 36 is specified based on the value of the angle signal θx (and the angle signal θy) at this time, there is a possibility of erroneous detection.

[0066] On the other hand, each tactile presentation module 21 is one of many modules, and the time when no stepping is performed is more than the time when stepping is performed. Therefore, regardless of whether stepping is detected or not, or during a period when stepping is not detected, a correction amount is added to the angle signal θx so that the value of the angle signal θx gradually or stepwise approaches 0 over time, and the value is set as the value of the angle signal θx. Regardless of whether stepping is detected or not, the correction amount is always a value added as a component of the angle signal θx, and as time passes, the correction amount is gradually or stepwise updated to reduce the offset component. Therefore, the offset of the angle signal θx can be removed. Similar to the angle signal θx, the offset of the angle signal θy can be removed. In addition, in the above-mentioned embodiment of the tilt detection process, a case has been described in which the stepping position is detected according to a combination of which of the angle signals θx and θ is a positive value, a zero value, and a negative value. In contrast, the stepping position can also be specified by the angular velocity signals ωx and ωy obtained by differentially processing the angle signals θx and θy, respectively, around the X-axis and the Y-axis. Note that the angular velocity signals ωx and ωy are detection signals originally output by the gyro sensor 40 , and correspond to the detection signals before being subjected to integration processing in order to output the angle signals θx and θy.

[0067] exist Fig.10 On the upper side of , the angular velocity signal ωx output from the gyro sensor 40 is illustrated, where time is plotted along the abscissa and the signal value is plotted along the ordinate. Fig.10 On the lower side, a three-value signal (rotation direction determination signal J2) including a center value, a high value and a low value (high value> center value> low value) is shown, wherein the time corresponding to the time on the upper side is plotted along the abscissa, and the signal value is plotted along the ordinate. The rotation direction determination signal J2 indicates that the angular velocity signal ωx is determined to be a zero value during the center value period, the angular velocity signal ωx is determined to be a positive value during the high value period, and the angular velocity signal ωx is determined to be a negative value during the low value period. At this time, the zero value, the positive value and the negative value have similar meanings to the zero value, the positive value and the negative value of the angle signals θx and θy. In the case where the rotation direction determination signal J2 is a center value, this indicates that the angle signal θx is in a constant state. In the case where the rotation direction determination signal J2 is a high value, this indicates a state where the angle signal θx changes in the positive value direction. In the case where the rotation direction determination signal J2 is a low value, this indicates a state where the angle signal θx changes in the negative value direction. For the angular velocity signal ωy, the rotation direction determination signal is also obtained similarly to the angular velocity signal ωx.

[0068] Fig.11 Shown in an overlapping manner Fig. 9The signals T1 and T2, the stepping determination signal J1 and the rotation direction determination signal J2 in a part of the time period. Accordingly, the change direction of the angle signal θx at the moment when the stepping determination signal J1 changes from a low value to a high value (the starting moment of the high value period) is detected by the value of the rotation direction determination signal J2. Similarly, the change direction of the angle signal θy is detected. Therefore, the stepping position can be specified in any of the nine areas of the top plate 36. In the case of performing such a tilt detection process, since the angular velocity signals ωx and ωy also include an offset component, an offset removal process is performed similar to the case of the angle signal θx. That is, regardless of whether stepping is detected or not, or in a period in which stepping is not detected, a correction amount is added to the angular velocity signal ωx so that the value of the angular velocity signal ωx gradually or stepwise approaches 0 over time, and the value is set as the value of the angular velocity signal ωx. Regardless of whether stepping is detected or not, the correction amount is always a value added as a component of the angular velocity signal ωx, and the correction amount is gradually or stepwise updated over time to reduce the offset component. Therefore, the offset of the angular velocity signal ωx can be removed.Similar to the angular velocity signal ωx, the offset of the angular velocity signal ωy can be removed.

[0069] It should be noted that the angular velocity signals ωx and ωy can be subjected to offset removal processing not only in the case of performing tilt detection processing (specifying the stepping position) through the angular velocity signals ωx and ωy, but also in the case of performing tilt detection processing through the angle signals θx and θy. In this case, after the angular velocity signals ωx and ωy obtained by the gyro sensor 40 are subjected to offset removal processing, the angle signals θx and θy are subjected to integration processing to obtain the angle signals θx and θy. In addition, similarly, in the case of performing offset removal processing on the angular velocity signals ωx and ωy, the angle signals θx and θy can be subjected to offset removal processing. In addition, in the tilt detection processing, the case of performing through the angle signals θx and θy and the case of performing through the angular velocity signals ωx and θy can be used in combination.

[0070] <Vibration Presentation Processing>

[0071] The vibration presentation process is a process of vibrating the top plate 36 by the vibration actuator 39 of the tactile presentation module 21. Figure 12 to Figure 14 An implementation of a vibration presentation process is described. Fig.12 In A, B, and C of FIG. 1 , the area where the user steps on the tactile presentation module 21 (top plate 36) (the stepping position detected by the pressure-sensitive sensor 37 and the gyro sensor 40) is depicted and shown in a pattern different from other patterns on the right side of each. On the left side of each, a cross section of the top plate 36 and the vibration actuator 39 of the tactile presentation module 21 and additional information are shown. Fig.12A shows a case where the center position AC of the top plate 36 as the stepped position is stepped on with intensity 1. The stepped intensity indicates the intensity of the pressure detected by the pressure-sensitive sensor 37, and in the case of 0, no pressure is applied, and as the numerical value increases, the applied pressure becomes stronger. Assuming that the center position AC is stepped on with intensity 1, the vibration actuator 39 vibrates with intensity 1. Assuming that when the intensity of the vibration generated by the vibration actuator 39 is 0, no vibration is generated, and the larger the numerical value, the stronger the vibration.

[0072] Here, the vibration actuator 39 is installed just below the center position AC of the top plate 36. The closer the area is to the center position AC among the nine areas of the top plate 36, the easier it is for the vibration generated by the vibration actuator 39 to be transmitted to the stepping foot. Fig.12 B shows the case where the left position AL of the top plate 36 as the stepped position is stepped on with intensity 1. In this case, the vibration actuator 39 vibrates with an intensity of 1.5. Since the left position AL is farther from the vibration actuator 39 than the central position AC, and it is difficult to transmit the vibration of the vibration actuator 39, the intensity of the vibration generated by the vibration actuator 39 is set to 1.5 times. As a result, the intensity of the vibration presented to (perceived by) the foot of the user who steps on the left position AL with intensity 1 is equal to the intensity of the vibration presented to (perceived by) the foot of the user who steps on the central position AC with intensity 1. Even in the case of stepping on each of the front position AF, the right position AR and the rear position AB with intensity 1, the vibration actuator 39 vibrates with an intensity of 1.5.

[0073] Fig.12 C shows a case where the left front position A-FL of the top plate 36 as the stepped position is stepped on with intensity 1. In this case, the vibration actuator 39 vibrates with an intensity of 2.0. Since the left front position A-FL is farther from the vibration actuator 39 than the center position AC and the left position AL, and it is difficult to transmit the vibration of the vibration actuator 39, the intensity of the vibration generated by the vibration actuator 39 is set to 2.0 times. As a result, the intensity of the vibration presented to (perceived by) the foot of the user who steps on the left front position A-FL with intensity 1 is equal to the intensity of the vibration presented to (perceived by) the foot of the user who steps on the center position AC or the left position AL with intensity 1. Even in the case of stepping on each of the right front position A-FR, the right rear position A-BR, and the left rear position A-BL with intensity 1, the vibration actuator 39 vibrates with an intensity of 2.0. It should be noted that for Fig.12 In the case of A, Fig.12The intensity of vibration in each case of B and C is set to 1.5 times and 2.0 times respectively; however, the specific values ​​of these amplification factors are merely examples, and it is only necessary to adjust the intensity of vibration of the vibration actuator 39 according to the stepping position so that the same intensity of vibration is presented to the user's foot in each of the nine areas of the top plate 36 stepping on with the same intensity.

[0074] (Example 1)

[0075] Fig.13 It is shown in the application Fig.12 An explanatory diagram of Example 1 in the case of vibration presentation processing is shown. Fig.13 The case where the top plate 36 of one tactile presentation module 21 is stepped on with intensity 1 in the order of the left position AL, the center position AC, and the right position AR is shown. Fig.13 The following assumptions are made, where Fig.13 In the foot movement shown in FIG. 1 , the heel of the walking user first steps on the left position AL, then as the body moves forward, the center of the sole steps on the central position AC, and finally, the toes step on the right position AR. Fig.13 The intensity of the vibration of the vibration actuator 39 varies along the line of the graph. Fig.13 The intensity of the vibration of the vibration actuator 39 is plotted along the ordinate for the stepped position of the top plate 36 shown in the upper left corner of the figure. Accordingly, when the stepped position changes in the order of the left position AL, the center position AC, and the right position AR, the intensity of the vibration of the vibration actuator 39 changes in the order of 1.5, 1, and 1.5 along the line of the graph. Fig.13 As shown by the line in the graph, the intensity of the vibration of the vibration actuator 39 can be changed not only in discrete values ​​but also in continuous values.

[0076] (Example 2)

[0077] Fig.14 It is shown in the application Fig.12 An explanatory diagram of Example 2 in the case of vibration presentation processing is shown. Fig.14 The case where the top plates 36 of two adjacent tactile presentation modules 21 are stepped on is shown, and the case where the top plate 36 of one tactile presentation module 21 is stepped on with intensity 1 in the order of the central position AC and the right position AR, and then the top plate 36 of the other tactile presentation module 21 is stepped on with intensity 1 in the left position AL is shown. For example, Fig.14 Assume the following situation, where Fig.14In the foot movement shown in FIG. 1 , the heel of the walking user first steps on the central position AC of one top plate 36, then as the body moves forward, the center of the sole steps on the right position AR of the same top plate 36, and finally, the toe steps on the left position AL of the other top plate 36. At this time, as shown in FIG. Fig.14 The intensity of the vibration of the vibration actuator 39 varies along the line of the graph. Fig.14 For the stepping position of two adjacent top plates 36 shown in the upper left corner, the intensity of the vibration of the vibration actuator 39 is plotted along the ordinate. Accordingly, when the stepping position changes in the order of the central position AC and the right position AR of a (first) top plate 36 (the top plate 36 on the left side in the accompanying drawings), the intensity of the vibration of the first vibration actuator 39 (the vibration actuator 39 on the left side in the accompanying drawings) changes in the order of 1 and 1.5 along the line of the chart. It should be noted that at this time, another (second) vibration actuator 39 (the vibration actuator 39 on the right side in the accompanying drawings) does not vibrate. When the stepping position of the top plate 36 changes to the left position AL of the second top plate 36 (the top plate 36 on the right side in the accompanying drawings), the intensity of the vibration of the second vibration actuator 39 changes to 1.5 along the line of the chart. It should be noted that at this time, the first vibration actuator 39 does not vibrate.

[0078] <Video presentation processing>

[0079] The video presentation process is a process of presenting video information corresponding to the stepping position of the tactile presentation module 21 to the user, and is performed together with or instead of the vibration presentation. Figures 15 to 17 An implementation of a vibration presentation process is described. Fig.15 The left sides of A and B respectively show that the central position AC of the tactile presentation module 21 (top plate 36) is stepped on. Fig.15 On the right side of each of A and B of FIG. 2 , a video (also referred to as a stepping presentation image) presented at the center position AC of the top plate 36 of the tactile presentation module 21 is illustrated when the center position AC is stepped on. For example, the video can be projected on the top plate 36 by a projector, or can be displayed by the top plate 36 having a display function. For example, the stepping presentation image presented can be a graphic, a symbol, an image, etc., and is not limited to a specific type.

[0080] Fig.15 A shows a case where the center position AC of the top plate 36 is stepped on with a strength of 0.5. On the other hand, Fig.15 B shows a case where the central position AC of the top plate 36 is stepped on with intensity 1. The stepping presentation image presented on the top plate 36 changes according to the stepping intensity. For example, Fig.15 As shown in A, the smaller the stepping intensity, the smaller the stepping image area, such as Fig.15 As shown in B, the greater the stepping intensity, the larger the stepping presentation image is presented. Therefore, the stepping intensity is presented visually. It should be noted that the color, shape, pattern, etc. of the stepping presentation image can be changed according to the stepping intensity. In addition, the stepping presentation image presented on the top plate 36 is presented with the stepping position as the center. For example, when the stepping position is the left front position A-FL, the stepping presentation image is presented with the left front position A-FL (the center position of the area A-FL) as the center. Therefore, the stepping intensity is presented visually.

[0081] (Application Example 1)

[0082] Fig.16 It is shown Fig.15 The illustration of application example 1 of the video presentation processing shown in FIG. Fig.16 , the top plate 36 of the tactile presentation module 21 is shown being stepped on in the order of the left position AL and the central position AC. In addition, it is assumed that the stepped position is transferred from the left position AL to the central position AC in a short time (substantially simultaneously), and the stepped strengths are 1 and 2, respectively. It should be noted that when the ratio (change ratio of the stepped strength) between the stepped strength G1 at the previously stepped position (front stepped position) and the stepped strength G2 at the subsequently stepped position (rear stepped position) is represented by G1:G2, Fig.16 The change ratio of the pedaling intensity in the case of is 1:2. In this case, Fig.16 As shown in the view of the tactile presentation module 21 on the right, when the left position AL as the front stepping position is stepped on, a stepping presentation image having a size corresponding to the stepping strength (1) is presented with the left position AL as the center. Subsequently, when the central position AC as the rear stepping position is stepped on, a stepping presentation image having a size corresponding to the stepping strength (1) is presented with the left position AL as the center. Fig.15In the case of the normal video presentation processing described, a stepping presentation image having a size corresponding to the stepping strength (2) is presented with the central position AC as the center. In contrast, in the present application example 1, a stepping presentation image having a size corresponding to the stepping strength (2) is presented with the center position between the center position of the left position AL as the front stepping position and the center position of the central position AC as the rear stepping position as the center. The center position represents a position divided by a line segment connecting the center position of the front stepping position and the center position of the rear stepping position according to a change ratio G1:G2 of the stepping strength, with the center position of the rear stepping position as the base point. It should be noted that, instead of the change ratio G1:G2 of the stepping strength, the center position may also be determined by using the ratio between the stepping duration at the front stepping position and the stepping duration at the rear stepping position. In addition, when the pedaling position is transferred from the front pedaling position to the rear pedaling position, a continuously changing animation can be used to transfer the pedaling presentation image presented at the previous pedaling position as the center to the pedaling presentation image presented at the center of gravity position as the center, and the effect of the pedaling presentation image expanding at the center of gravity position can be produced.

[0083] (Application Example 2)

[0084] Fig.17 It is shown Fig.15 The illustration of application example 2 of the video presentation processing shown in FIG. Fig.17 , the top plate 36 of four (2×2) tactile presentation modules 21 adjacent to each other is shown, and the position shown by the image of the sole is shown to be stepped on. In addition, it is assumed that areas A-1 to A-4 are detected as stepped positions in the four tactile presentation modules 21. Areas A-1 to A-4 are respectively the right position AR, the left position AL, the right position AR, and the left front position A-FL. In this case, when reference is made Fig.15 In the normal video presentation process described above, a single stepping presentation image is presented with each area A-1 to A-4 as the center. In contrast, in this application example 2, Fig.17 As shown in the right figure, a stepping presentation image centered at the center of gravity position of the areas A-1 to A-4 is presented in a size extending to the positions of the areas A-1 to A-4.

[0085] <Timing of Vibration Presentation>

[0086] The vibration presentation is performed when the vibration actuator 39 starts vibrating at a timing that satisfies a predetermined condition after the stepping of the tactile presentation module 21 is detected. Fig.18 Describes the timing of the vibration presentation. Fig.18The change of load when the user's foot changes in steps M1 to M4 and the stepping position is migrated is illustrated with a diagram, wherein the position of stepping on the top plate 36 is plotted along the abscissa, and the load (pressure) applied to the top plate 36 is plotted along the ordinate. The load corresponds to the stepping intensity and the value (pressure value) of the detection signal detected by the pressure-sensitive sensor 37. Accordingly, when stepping begins at step M1, the time elapsed from the start time is measured. In addition, the maximum value of the load reached when the steps M1 to M4 change is estimated based on the time series change of the load from the start time (time series change of the pressure value). The maximum value of the load can also be based on the load information of the same user as the user who is stepping on this time in the information (load information) of the load detected in the past by the tactile presentation module 21 itself and other tactile presentation modules 21, to estimate the maximum value of the load. For example, the load information of the same user can be the latest load information, load information similar to the time series change of the current load, or load information of the past stepping position of the same user specified using any information (image information, etc.). Then, when the time elapsed from the start time of the measurement reaches, for example, 100ms, or when the load detected by the pressure-sensitive sensor 37 reaches 10% of the maximum value, the vibration presentation is started by the vibration actuator 39. At least, the vibration presentation is started when the time elapsed from the start time reaches, for example, 100ms, because the allowable delay value between the posture-sensitive recognition such as the swing of the racket and the vibration presentation (the limit value at which the vibration delay is not perceived) is usually 100ms, but is not necessarily limited to the case where 100ms is the threshold. In addition, the vibration presentation is started when the detected load reaches 10% of the estimated maximum load value, because in order for the user to perceive the vibration of the tactile presentation module 21, it is necessary to apply a load of at least about 10% of the user's weight to the tactile presentation module 21, and the vibration presentation is started in this state. It should be noted that the maximum value of the load is regarded as the weight of the user. However, the vibration presentation can also be started when the detected load reaches a ratio other than 10% relative to the estimated maximum load value.

[0087] <Configuration Example of Tactile Presentation System>

[0088] Fig.19 2 is a configuration diagram showing a configuration example of the tactile presentation system 101 . Fig.19 The tactile presentation system 101 is a control system including Figures 1 to 3 The system of the tactile presentation module group 12 of the tactile presentation board 11 with a large number of tactile presentation modules 21 shown in FIG. Figure 3 The tactile presentation module 21 shown in the figure is an example, and the tactile presentation module 21 described below is not limited to Figure 3The tactile presentation system 101 includes a tactile presentation module group 12, a tactile presentation module control device 111, a content control device 112, a video presentation device 113 and an acoustic presentation device 114. The tactile presentation module group 12 is basically the same as the reference Figures 1 to 3 The configuration described in the above description is the same as that described in the above description, and therefore, a detailed description thereof is omitted. The tactile presentation module group 12 includes a tactile presentation module 21, and data communication can be connected between adjacent tactile presentation modules 21. The data communication between the tactile presentation modules 21 can be wired or wireless, and the communication scheme is not limited to a specific type. In addition, a situation where data communication can be connected between tactile presentation modules 21 that are not adjacent to each other (particularly, a situation where wireless data communication is used) is also possible.

[0089] A specific tactile presentation module 21 or all tactile presentation modules 21 of the tactile presentation module group 12 can be connected to the tactile presentation module control device 111 for data communication via a serial bus such as I2C. Even in the case where only a specific tactile presentation module 21 can be connected to the tactile presentation module control device 111 for data communication, other tactile presentation modules 21 can indirectly communicate data with the tactile presentation module control device 111 via data communication between the tactile presentation modules 21. The data communication between the tactile presentation module control device 111 and the tactile presentation module 21 can be wired or wireless, and the communication scheme is not limited to a specific type. It should be noted that the functional configuration of each tactile presentation module 21 will be described later. The tactile presentation module control device 111 is, for example, a device implemented by implementing software including a program using a computer such as a personal computer (Personal Computer: PC), a smart phone, a Raspberry Pi (registered trademark) as hardware. The tactile presentation module control device 111 includes a data sending / receiving unit 131 and a data processing unit 132. The data sending / receiving unit 131 controls data communication with the tactile presentation module 21 of the tactile presentation module group 12 and data communication with the content control device 112. The data processing unit 132 performs the above-mentioned stepping detection processing, tilt detection processing, vibration presentation processing, video presentation processing, etc., and controls the tactile presentation module 21 (mainly the vibration actuator 39) and the content control device 112 based on the processing results.

[0090] The content control device 112 includes, for example, a device that provides tactile data, acoustic data, and video data mainly by utilizing hardware such as a PC, a smart phone, a server, etc. The content control device 112 may be a device integrated with the tactile presentation module control device 111. The content control device 112 includes a data storage unit 141. For example, the data storage unit 141 includes tactile data, acoustic data, and video data as pre-generated content data. The tactile data is data for causing the tactile presentation module 21 to generate and present various forms of tactile information (such as vibration, temperature, and force) in response to user stepping in the tactile presentation module group 12. The acoustic data is data for causing the acoustic presentation device 114 to generate and present various forms of sound in response to user stepping in the tactile presentation module group 12. The video data is data for causing the video presentation device 113 to display and present various forms of video in response to user stepping in the tactile presentation module group 12.

[0091] The video presentation device 113 is any display device such as a monitor, a video projection device (projector), and a head mounted display (HMD). The video presentation device 113 displays the video data provided from the content control device 112. For example, a projector that projects a video on the tactile presentation module group 12 is used as the video presentation device 113, and a reference image is projected based on the video data. Figures 15 to 17 The video in the video presentation process described is displayed on the tactile presentation module 21. The acoustic presentation device 114 is any acoustic output device such as a speaker and a headphone. The acoustic presentation device 114 outputs the acoustic data provided from the content control device 112. For example, when the user walks on the tactile presentation module group 12, the footsteps corresponding to the assumed environment are output from the acoustic presentation device 114.

[0092] Fig. 20 is a functional block diagram showing the functional configuration of the tactile presentation module 21. Fig.19 The functional blocks shown in the block of a tactile presentation module 21 are the same, so reference will be made to Fig. 20 The functional configuration of the tactile presentation module 21 is described. Fig. 20In the embodiment, the tactile presentation module 21 includes a tactile output unit 121, an acoustic output unit 122, a video output unit 123, a data transmission / reception unit 124, a sensor unit 125, a data processing unit 126, a data storage unit 127, and a data transmission path 128. The tactile output unit 121, the acoustic output unit 122, the video output unit 123, the data transmission / reception unit 124, the sensor unit 125, the data processing unit 126, and the data storage unit 127 send and receive data to each other via the data transmission path 128. The tactile output unit 121 presents tactile information. For example, the tactile output unit 121 includes the above-mentioned vibration actuator 39. In addition, the tactile output unit 121 includes a tactile output unit that presents tactile information not only through vibration but also through temperature, force sense, etc. The acoustic output unit 122 presents acoustic information. For example, the acoustic output unit 122 includes a speaker and the above-mentioned vibration actuator 39. The video output unit 123 presents video information. For example, the video output unit 123 includes a display mounted on the upper surface of the top panel 36. The device for presenting video information to the top panel 16 may be an external video projection device (e.g., a projector), in which case the video projection device is included in Fig.19 The video presentation device 119 is in the video presentation device 119. The data transmission / reception unit 124 controls data communication with the outside. For example, the data transmission / reception unit 124 controls data communication with the tactile presentation module control device 111 and data communication with other presentation modules 21.

[0093] For example, the data sending / receiving unit 124 sends and receives data such as control commands, data at the time of initial setting, or control data itself to the tactile presentation module control device 111 directly or indirectly via other tactile presentation modules 21 through data communication. The sensor unit 125 obtains information about human interaction (the stepping strength of the foot, the operation of the operation unit, etc.). The sensor unit 125 includes the above-mentioned pressure-sensitive sensor 37 and gyroscope sensor 40. The data processing unit 126 generates the control command itself, reads the control signal from the data storage unit 127 based on the received command, and optimizes (adjusts the output intensity, modulation frequency, etc.) based on the sensor information from the sensor unit 125. The processing performed by the data processing unit 126 may include the above-mentioned stepping detection processing, tilt detection processing, vibration presentation processing, video presentation processing, etc. The data storage unit 127 obtains and stores the acoustic data, video data, tactile data, etc. stored by the data storage unit 141 of the content control device 112 in advance from the tactile presentation module control device 111. It should be noted that the data processing unit 126 and the data storage unit 127 are not necessarily included in the tactile presentation module 21, and may be included in the tactile presentation module control device 111 and the content control device 112. In addition, the acoustic output unit 122 and the video output unit 123 are not necessarily included in the tactile presentation module 21.

[0094] <Processing of the tactile presentation system>

[0095] Fig.21 is a flowchart illustrating the processing of the tactile presentation system 101. The processing in this flowchart is mainly composed of Fig. 20 The data processing unit 126 of the tactile presentation module 21 in the embodiment of the present invention may also be used. Fig.19 The data processing unit 132 of the tactile presentation module control device 111 in the embodiment of the present invention is carried out. At step S11, the data processing unit 126 processes the time series data of the pressure value (detection data of the pressure-sensitive sensor 37) and the tilt value (detection signal of the gyro sensor 40) obtained from the sensor unit 125. At step S12, the data processing unit 126 determines whether the stepping on the tactile presentation module 21 (top plate 36) is detected based on the data obtained at step S11. In the case of a negative judgment in step S12, the processing of this flowchart ends. In the case of an affirmative judgment in step S12, the processing continues to step S13.

[0096] At step S13, the data processing unit 126 calculates the tilt direction of the top plate 36 based on the data acquired at step S11. At step S14, the data processing unit 126 estimates (specifies) the stepping position in the top plate 36 based on the pressure value acquired at step S11 and the tilt direction calculated at step S13. At step S15, the data processing unit 126 reads the content data (such as tactile data, acoustic data, video data, etc.) from the data storage unit 127 based on the current setting mode (a mode corresponding to the assumed environment, etc.). It should be noted that the tactile presentation module control device 111 can also be notified of the detection of stepping, and the content data can be acquired from the data storage unit 141 of the content control device 112 through data communication via the tactile presentation module control device 111. At step S16, the data processing unit 126 determines the output intensity and display size of the content data based on the pressure value and the stepping position, causes the tactile output unit 121, the acoustic output unit 122, the video output unit 123, etc. to output the content data, and presents the content data to the user. When the processing at step S16 ends, the processing of this flowchart ends.

[0097] It should be noted that, unless there is a contradiction, the various techniques described in this specification can be implemented independently as a single unit. It goes without saying that any of the various techniques can be implemented in combination. For example, part or all of the techniques described in any embodiment can be implemented in combination with part or all of the techniques described in other embodiments. In addition, part or all of any of the above techniques can be implemented together with other techniques not described above.

[0098] <Configuration combination example>

[0099] Note that the present technology may also have the following configurations.

[0100] (1) An information processing device comprising:

[0101] A processing unit is configured to detect a position to which the pressure is applied among a plurality of positions of the plate-like body based on a first signal indicating the pressure applied to the plate-like body and a second signal indicating the tilt direction of the plate-like body.

[0102] (2) The information processing device according to (1) above, wherein:

[0103] The processing unit updates a threshold value for determining whether pressure is applied to the plate-like body based on the first signal.

[0104] (3) The information processing device according to (2) above, wherein:

[0105] The processing unit sets, as the threshold value, a minimum value among values ​​of a plurality of signals after the first signal is subjected to filtering processing by a plurality of filters having different characteristics.

[0106] (4) The information processing device according to (3) above, wherein:

[0107] The plurality of filters are a plurality of low-pass filters having different cutoff frequencies.

[0108] (5) The information processing device according to any one of (1) to (4) above, wherein:

[0109] The processing unit performs offset removal processing on the second signal.

[0110] (6) The information processing device according to (5) above, wherein:

[0111] The offset removal process is a process of gradually or stepwise bringing the second signal closer to 0 as time passes.

[0112] (7) The information processing device according to any one of (1) to (6) above, wherein:

[0113] The second signal is an angle signal.

[0114] (8) The information processing device according to any one of (1) to (7) above, wherein:

[0115] The second signal is an angular velocity signal.

[0116] (9) The information processing device according to any one of (1) to (8) above, wherein:

[0117] The processing unit detects an area to which the pressure is applied among areas obtained by dividing the plate-like body into nine parts as the position to which the pressure is applied.

[0118] (10) The information processing device according to any one of (1) to (9), wherein:

[0119] The processing unit controls the presentation of tactile information based on the detection result.

[0120] (11) The information processing device according to (10) above, wherein:

[0121] The processing unit changes the form of the tactile information to be presented according to the detected position.

[0122] (12) The information processing device according to any one of (1) to (11), wherein:

[0123] The processing unit controls the presentation of video information based on the detection result.

[0124] (13) The information processing device according to (12) above, wherein:

[0125] The processing unit changes the presentation position of the video information according to the detected position.

[0126] (14) The information processing device according to (12) or (13), wherein:

[0127] The processing unit changes a presentation size of the video information according to the pressure applied to the plate-like body.

[0128] (15) The information processing device according to any one of (12) to (14) above, wherein:

[0129] The processing unit sets a center of gravity position between the detected position and a position where pressure is applied to other plate-like bodies adjacent to the plate-like body as a presentation position of the video information.

[0130] (16) An information processing method of an information processing device, the information processing device comprising:

[0131] Processing unit, the information processing method comprises:

[0132] A position where the pressure is applied among a plurality of positions of the plate-like body is detected by the processing unit based on a first signal indicating the pressure applied to the plate-like body and a second signal indicating the tilt direction of the plate-like body.

[0133] (17) An information processing device comprising:

[0134] plate-shaped body;

[0135] a first sensor configured to output a first signal indicating a pressure applied to the plate-like body; and

[0136] A second sensor is configured to output a second signal indicating a tilt direction of the plate-like body.

[0137] (18) The information processing device according to (17) above, comprising:

[0138] a first member configured to support the plate-like body; and

[0139] a second member, the second member being interposed between the first sensor and the plate-like body, wherein

[0140] The Young's modulus of the first member is greater than the Young's modulus of the second member.

[0141] (19) The information processing device according to (17) or (18), wherein:

[0142] The second sensor is fixed to the plate-shaped body.

[0143] (20) The information processing device according to any one of (17) to (19) above, comprising:

[0144] an actuator configured to vibrate the plate-like body, wherein

[0145] The actuator is arranged between the plate-shaped body and the first sensor.

[0146] Reference Mark List

[0147] 11 Tactile Presentation Board

[0148] 12. Haptic Presentation Module Group

[0149] 13 plate-shaped body

[0150] 21. Tactile presentation module

[0151] 31 Base Plate

[0152] 32 Frame

[0153] 34 Gel section

[0154] 36 Top Plate

[0155] 37 Pressure sensor

[0156] 38 Sponge

[0157] 39 Vibration Actuator

[0158] 40 Gyro Sensor

[0159] 101 Tactile Presentation System

Claims

1. An information processing device, comprising: A processing unit is configured to detect a position to which the pressure is applied among a plurality of positions of the plate-like body based on a first signal indicating the pressure applied to the plate-like body and a second signal indicating the tilt direction of the plate-like body.

2. The information processing device according to claim 1, wherein: The processing unit updates a threshold value for determining whether pressure is applied to the plate-like body based on the first signal.

3. The information processing device according to claim 2, wherein: The processing unit sets, as the threshold value, a minimum value among values ​​of a plurality of signals after the first signal is subjected to filtering processing by a plurality of filters having different characteristics.

4. The information processing device according to claim 3, wherein: The plurality of filters are a plurality of low-pass filters having different cutoff frequencies.

5. The information processing device according to claim 1, wherein: The processing unit performs offset removal processing on the second signal.

6. The information processing device according to claim 5, wherein: The offset removal process is a process of gradually or stepwise bringing the second signal closer to 0 as time passes.

7. The information processing device according to claim 1, wherein: The second signal is an angle signal.

8. The information processing device according to claim 1, wherein: The second signal is an angular velocity signal.

9. The information processing device according to claim 1, wherein: The processing unit detects an area to which the pressure is applied among areas obtained by dividing the plate-like body into nine parts as the position to which the pressure is applied.

10. The information processing device according to claim 1, wherein: The processing unit controls the presentation of tactile information based on the detection result.

11. The information processing device according to claim 10, wherein: The processing unit changes the form of the tactile information to be presented according to the detected position.

12. The information processing device according to claim 1, wherein: The processing unit controls the presentation of video information based on the detection result.

13. The information processing device according to claim 12, wherein: The processing unit changes the presentation position of the video information according to the detected position.

14. The information processing device according to claim 12, wherein: The processing unit changes a presentation size of the video information according to the pressure applied to the plate-like body.

15. The information processing device according to claim 12, wherein: The processing unit sets a center of gravity position between the detected position and a position where pressure is applied to other plate-like bodies adjacent to the plate-like body as a presentation position of the video information.

16. An information processing method of an information processing device, the information processing device comprising: Processing unit, the information processing method comprises: A position where the pressure is applied among a plurality of positions of the plate-like body is detected by the processing unit based on a first signal indicating the pressure applied to the plate-like body and a second signal indicating the tilt direction of the plate-like body.

17. An information processing device, comprising: plate-shaped body; a first sensor configured to output a first signal indicative of a pressure applied to the plate-like body; as well as A second sensor is configured to output a second signal indicating a tilt direction of the plate-like body.

18. The information processing apparatus according to claim 17, comprising: a first member configured to support the plate-like body; as well as a second member, the second member being interposed between the first sensor and the plate-like body, wherein The Young's modulus of the first member is greater than the Young's modulus of the second member.

19. The information processing device according to claim 17, wherein: The second sensor is fixed to the plate-shaped body.

20. The information processing apparatus according to claim 17, comprising: an actuator configured to vibrate the plate-like body, wherein The actuator is arranged between the plate-shaped body and the first sensor.

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