Vibration presentation device, auxiliary vibration sensing intensity calculation method, and vibration presentation system

Abstract

A vibration presentation device is provided with a control unit that synthesizes the perceived intensity of a main vibration generated from a virtual vibration source present at an arbitrary position and the perceived intensity of a positioning auxiliary vibration different from the vibration source.

Description

Technical Field

[0001] This invention relates to a vibration alert device, an auxiliary vibration sensing intensity calculation method, and a vibration alert system.

[0002] This application claims priority based on Provisional Patent Application No. 63 / 536,941, filed in the United States on September 7, 2023, the contents of which are incorporated herein by reference. Background Technology

[0003] In recent years, due to the popularity of e-sports and virtual reality (VR), video games such as online games and social games have become increasingly popular. Along with this, there has been a growing interest in technologies that generate various vibrations, from low to high frequencies, corresponding to the game content through portable game consoles, game controllers, and VR controllers, allowing users to experience these vibrations firsthand.

[0004] There is a technique called phantom sensation, which involves placing vibrators at multiple locations on the body and making them vibrate, thereby allowing the perception of virtual vibration sources among the multiple vibrators. Additionally, there is a technique called stereoscopic vibration, which extends phantom sensation by allowing the vibration source to be perceived from the outside of the body. This, in turn, provides a sense of three-dimensional positioning.

[0005] Existing technical documents Patent documents Patent Document 1: International Publication No. 2021 / 085506 Patent Document 2: International Publication No. 2022 / 254732 Patent Document 3: International Publication No. 2022 / 254733 Patent Document 4: International Publication No. 2023 / 233491 Patent Document 5: Japanese Patent Application Publication No. 2021-047819 Patent Document 6: U.S. Patent Application Publication No. 2019 / 0187798 Non-patent literature Non-patent document 1: Waga et al.,'Multi-channel Vibrotactile Transmissionthrough a Bracelet Device based on the Intensity Segment Modulation'AsiaHaptics2022 Unauthorized literature 2: Bensmaia, S., Hollins, M. & Yau, J. Vibrotactile intensity and frequency information in the Pacinian system: A psychophysical model. Perception & Psychophysics 67, 828-841 (2005). Non-licensed Document 3: Daiki Kikuchi, Masashi Konno, and Yu Tadokoro: Generation of Illusions Using Arbitrary Waveforms of Vibration Intensity, No. 2: Evaluation of Position Control and Tactile Persistence, 26th Japan Virtual Reality Society Conference (2021). Unauthorized Document 4: Gen Ohara, Daiki Kikuchi, Masashi Konyo, and Satoshi Tadokoro, 'Stereohaptic Vibration: Out-of-Body Localization of VirtualVibration Source through Multiple Vibrotactile Stimuli on the Forearms,' IEEE Transaction on Haptics, vol.17, no.1, pp.86~91 (2024). Summary of the Invention The problem the invention aims to solve However, due to the vibration waveform of the virtual vibration source and the configuration of multiple vibrators, it may be difficult to perceive the vibration image formed by multiple vibrators. In this case, the vibration of multiple vibrators will be perceived as their own independent vibration, rather than as vibration based on the virtual vibration source.

[0006] In view of the above, the object of the present invention is to provide a technique for easily perceiving vibration images formed by a vibrator.

[0007] Solution for solving the problem One aspect of the present invention is a vibration alert device comprising a control unit that synthesizes the perceived intensity of a primary vibration generated from a virtual vibration source existing at an arbitrary location and the perceived intensity of a location-specific auxiliary vibration different from the vibration source.

[0008] Invention Effects According to the present invention, it is possible to easily perceive the position of a vibration image on or outside the body formed by the vibrator in three dimensions. Attached Figure Description

[0009] Figure 1This is an explanatory diagram illustrating the general outline of the vibration alert system 100 of this embodiment.

[0010] Figure 2 This is a diagram showing the vibrations achieved by the vibration alert system 100.

[0011] Figure 3 This is a flowchart illustrating the operation of the vibration alert device 1 and the auxiliary vibration sensing intensity calculation device 3.

[0012] Figure 4 This is a diagram illustrating an example of the hardware configuration of the vibration alert device 1 according to the embodiment.

[0013] Figure 5 This is a diagram illustrating an example of the hardware configuration of the auxiliary vibration sensing intensity calculation device 3 in the implementation method.

[0014] Figure 6 This is a graph representing the experimental results.

[0015] Figure 7 This is a graph representing the experimental results.

[0016] Figure 8 This is a graph representing the experimental results. Detailed Implementation

[0017] (Implementation Method) Figure 1 This is an explanatory diagram illustrating the general outline of the vibration alert system 100 according to this embodiment. The vibration alert system 100 includes a vibration alert device 1, multiple vibrators 2-1 to 2-N, and an auxiliary vibration sensing intensity calculation device 3. Hereinafter, without distinguishing between the multiple vibrators 2-1 to 2-N, it will only be referred to as "vibrator 2". The vibrator 2 is a vibrator that vibrates under the control of the vibration alert device 1.

[0018] Vibrator 2 can be, for example, a piezoelectric vibrator or a linear resonant actuator (LRA) type vibrator.

[0019] Figure 2 This diagram illustrates the vibration implemented by the vibration alert system 100. In this embodiment, the vibration alert system 100 generates vibrations sensed at the sensing origin O by vibrating multiple vibrators 2-1 to 2-N. The vibration sensed at the sensing origin O is generated by vibration from a virtual vibration source P located at an arbitrary position, serving as the simulation object. In other words, the user of the vibration alert system 100, by vibrating multiple vibrators 2-1 to 2-N, simulates vibrations at the sensing origin O based on a virtual vibration source P located at an arbitrary position.

[0020] Information about vibrations generated from a virtual vibration source P (which serves as the simulation object) can be pre-stored in a memory such as 92 (described later), or it can be vibration information acquired by a vibration acquisition unit (not shown).

[0021] The vibration alert device 1 includes a control unit 11 that executes a program. The control unit 11 includes a processor 91 such as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), or NPU (Neural Network Processing Unit) and a memory 92 connected via a bus.

[0022] The auxiliary vibration sensing intensity calculation device 3 includes a control unit 31 and executes a program. The control unit 31 includes a processor 32 such as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), or NPU (Neural Network Processing Unit) and a memory 33 connected via a bus.

[0023] The vibration alert device 1 and the auxiliary vibration sensing intensity calculation device 3 can be integrated or separate. For example, the vibration alert device 1 may include the auxiliary vibration sensing intensity calculation device 3, and the processing performed by the control unit 11 is carried out by the control unit 31.

[0024] The control unit 11 performs processes such as frequency division, main vibration intensity calculation, allocation, vibration generation, waveform synthesis, and vibrator control through program execution.

[0025] The control unit 31 performs auxiliary vibration intensity calculation processing and sensing origin intensity calculation processing through program execution.

[0026] Frequency segmentation processing divides the vibration generated by the virtual vibration source P into high-frequency components y. high (t) and low-frequency component y low The processing of (t). Hereinafter, the vibration generated from the virtual vibration source P will be called the "principal vibration". Here, the frequency that distinguishes between high frequency and low frequency can be arbitrary. For example, frequency components above 100Hz can be defined as high frequency components, and frequency components below 100Hz can be defined as low frequency components.

[0027] The calculation and processing of the principal vibration intensity is based on the high-frequency component y of the principal vibration. high(t) The processing of calculating the perceived intensity I0 of the main vibration. The method for calculating the perceived intensity can be, for example, the method disclosed in Non-Patent Document 2 and Non-Patent Document 3. The method for calculating the perceived intensity can be, for example, the method described in Patent Documents 1 to 4.

[0028] The auxiliary vibration intensity calculation processing performed by the control unit 31 is to calculate the sensing intensity I of the auxiliary vibration. sub The processing of auxiliary vibration sensing intensity I. sub The calculation method can be the same as the calculation method for the principal vibration intensity.

[0029] The auxiliary vibration is a waveform different from the virtual vibration source P, and it exhibits excellent localization. Localization refers to the fact that the arrangement of the vibration patterns is also reflected in the near and far directions. Experiments have shown that excellent localization can be obtained by setting the auxiliary vibration, for example, as an amplitude-modulated wave with an envelope frequency between 2Hz and 20Hz. Preferably, the auxiliary vibration is an amplitude-modulated wave with an envelope frequency of approximately 5Hz. Here, the carrier frequency of the amplitude-modulated wave can also be changed according to the frequency response of the vibrator 2 and the sensitivity of human perception.

[0030] It should be noted that for auxiliary vibrations, while a wider envelope shape may produce a low-frequency feel, a high-frequency feel may sometimes remain. Therefore, narrowing the envelope shape can both produce a low-frequency feel and suppress the high-frequency feel. In experiments, setting the time width of the auxiliary vibration envelope to 10ms–40ms, preferably around 25ms, allows the auxiliary vibration to emphasize low frequencies, suppress high frequencies, and improve localization.

[0031] The auxiliary vibration can also be a sine wave obtained from a large voice coil, a piezoelectric element with a displacement amplification mechanism, etc. In this case, the frequency of the sine wave is preferably 3Hz to 10Hz. The frequency of the sine wave can vary within the frequency range of 3Hz to 10Hz. More preferably, the frequency of the sine wave is 5Hz, the same as the envelope mentioned above.

[0032] Furthermore, the peak position of the auxiliary vibration can also be configured to be the peak position of the calculated sensing intensity I0 of the main vibration or a position near it.

[0033] The intensity of the auxiliary vibration can be adjusted according to the individual differences and preferences of the user who installed the vibrator 2.

[0034] The intensity calculation and processing at the origin of the sensing point is based on the sensing intensity I0 of the primary vibration and the sensing intensity I of the auxiliary vibration. sub The process involves calculating the sensing intensity I at the sensing origin O. The sensing intensity I at the sensing origin O is calculated, for example, using equation (1) and based on I0 and I... sub It is calculated by summing the results.

[0035] [Formula 1]

[0036] In equation (1), d(r) is the attenuation function corresponding to the distance r between the vibration source P and the sensing origin O. d(r) is determined, for example, through experiments.

[0037] The sensing intensity I of the auxiliary vibration can also be adjusted based on the sensing intensity I0 of the primary vibration. sub For example, if the magnitude of the sensing intensity I0 of the primary vibration is below a specified threshold, the sensing intensity I of the auxiliary vibration can also be... sub Set it to 0.

[0038] The allocation process involves distributing the calculated sensing intensity I at the sensing origin O to each vibrator 2. Specifically, the sensing intensity I allocated to each vibrator 2 is calculated using equation (2). k .

[0039] [Formula 2]

[0040] g k It is the distribution coefficient, which is a value based on the positional relationship between the vibrator 2-k separated from the sensing origin O and the vibration source P. k The value is calculated using equation (3).

[0041] [Formula 3]

[0042] R k The value is calculated using equation (4).

[0043] [Formula 4]

[0044] In equation (4), g0 is a constant, defined as g0≤R k Values ​​≤ 1. p is the vector from the sensing origin O to the vibration source P, q k Let be the vector from the sensing origin O to the vibrator 2-k.

[0045] Vibration generation processing involves calculating the low-frequency component L of the vibration in each vibrator 2. k (t) and high-frequency component H k Processing of (t). Low-frequency component L k (t) represents the low-frequency component y of the principal vibration. low The amplitude of (t) is determined by the distribution coefficient g based on distance attenuation and direction. k Calculate the gain h kThe calculated high-frequency component H k (t) Based on perceived intensity I k And the high-frequency component H was calculated. k The calculation method for (t) is the same as that disclosed in Patent Documents 1-4, by transforming it into a form with the same sensitivity as the perceived intensity I. k Other vibration waveforms with the same perceived intensity were used to calculate the high-frequency component H. k (t). For example, by transforming it into an amplitude-modulated wave with a fixed frequency, the high-frequency component H can be calculated. k (t). That is, by performing the opposite operation to the known method of calculating perceived intensity, it is possible to determine the intensity based on the high-frequency component H. k (t) Calculate the perceived intensity I k .

[0046] Waveform synthesis processing is used to extract the low-frequency component L of the vibration in each vibrator 2. k (t) and high-frequency component H k (t) is used to synthesize and generate the vibration S of each vibrator 2. k The processing of (t).

[0047] Vibrator control processing is achieved by controlling the generated vibration S k (t) is output to each vibrator 2 to control the processing of the vibrator 2. Thus, each vibrator 2 is driven.

[0048] Figure 3 This is a flowchart illustrating the operation of the vibration alert device 1 and the auxiliary vibration sensing intensity calculation device 3. The control unit 11, through frequency segmentation processing, divides the vibration generated by the virtual vibration source P to be simulated into high-frequency components y. high (t) and low-frequency component y low (t) (Step S11). The control unit 11 performs main vibration intensity calculation processing based on the high-frequency component y of the main vibration. high (t), calculate the sensing intensity I0 of the main vibration (step S12). The control unit 31 outputs the sensing intensity I0 of the main vibration to the auxiliary vibration sensing intensity calculation device 3 (step S13).

[0049] The control unit 31 calculates the sensing intensity I of the auxiliary vibration through auxiliary vibration intensity calculation processing. sub (Step S31). The control unit 31 performs intensity calculation processing based on the sensing intensity I0 of the main vibration and the sensing intensity I of the auxiliary vibration input from the vibration prompting device 1. sub The sensing intensity I at the sensing origin O is calculated. Here, the positional relationship information such as the distance and orientation between the vibration source P, the vibrator 2 and the sensing origin O can be pre-input or input from the vibration prompting device 1.

[0050] The control unit 31 outputs the sensing intensity I at the sensing origin O to the vibration alerting device 1 (step S33). The control unit 11 distributes the sensing intensity I at the sensing origin O, which is input from the auxiliary vibration sensing intensity calculation device 3, to each vibrator 2 (step S14). When these processes are performed by the same control unit, it is also possible to not input or output the main vibration intensity I0 between devices, but to process it within the control unit.

[0051] The control unit 11 calculates the low-frequency component L of the vibration of each vibrator 2. k (t) and high-frequency component H k (t) (Step S15). The control unit 11 controls the low-frequency component L of the vibration in each vibrator 2. k (t) and high-frequency component H k (t) Synthesis is performed (step S16). The control unit 11 synthesizes the generated vibration S. k (t) to control each vibrator 2 (step S17).

[0052] As described above, the auxiliary vibration sensing intensity calculation device 3 of this embodiment calculates the sensing intensity I0 of the main vibration and the sensing intensity I of the auxiliary vibration with excellent localization. sub When combined, even when it is difficult to locate the object using the main vibration alone, it can still impart a sense of direction and distance. As a result, a more clearly defined three-dimensional vibration image can be formed using the vibrator.

[0053] In the above embodiment, the sensing intensity I0 of the main vibration and the sensing intensity I of the auxiliary vibration are calculated by the sensing origin intensity calculation process. sub The sum, calculated by multiplying the attenuation function d(r) by the calculated sum, yields the perceived intensity combining the primary and secondary vibrations. However, this is based solely on the perceived intensity I0 of the primary vibration and the perceived intensity I of the secondary vibration. sub The sensing intensity at the origin O can then be calculated.

[0054] For example, the control unit 31 can be located at I0 and I1 respectively. sub The sensing intensity I at the sensing origin O is calculated and output to the vibration alerting device 1. At this time, the control unit 11 can also allocate the intensity I based on I0 and I0 in the main vibration and auxiliary vibration respectively. sub The sensing intensity I is calculated separately. At this point, in the vibration generation process, the sensing intensities I allocated to the main vibration and auxiliary vibration of each vibrator 2 are combined to calculate the low-frequency component L. k (t) and high-frequency component H k (t).

[0055] It should be noted that the frequency division processing, allocation processing, vibration generation processing, waveform synthesis processing, and vibrator control processing performed by the control unit 11 of the vibration prompting device 1 can also be the same as the main vibration intensity calculation processing, which are known processes disclosed in patent documents and non-patent documents.

[0056] (Hardware configuration) Figure 4 This diagram illustrates an example of the hardware configuration of the vibration alert device 1 according to the embodiment. As described above, the vibration alert device 1 includes a control unit 11 that executes a program. The control unit 11 includes a processor 91 (such as a CPU) and a memory 92 connected via a bus. The vibration alert device 1 functions as a device including the control unit 11, the interface unit 12, and the storage unit 13 through the execution of the program.

[0057] More specifically, the processor 91 reads the program stored in the storage unit 13 and stores the read program in the memory 92. The processor 91 executes the program stored in the memory 92, thereby enabling the vibration alert device 1 to function as a device having a control unit 11, an interface unit 12, and a storage unit 13.

[0058] The control unit 11 controls the operation of various functional units provided by the vibration alert device 1. For example, the control unit 11 performs frequency division processing, main vibration intensity calculation processing, allocation processing, vibration generation processing, waveform synthesis processing, and vibrator control processing. Through the vibrator control processing, the vibrator 2 vibrates.

[0059] For example, the control unit 11 acquires object data input via the interface unit 12. The control unit 11 also acquires object data that has been previously stored in the storage unit 13.

[0060] The control unit 11 can also acquire information stored in the storage unit 13, for example. The process of acquiring information stored in the storage unit 13 is specifically reading.

[0061] The interface unit 12 is configured to include a communication interface for connecting the vibration alerting device 1 to an external device. The interface unit 12 communicates with the external device via wired or wireless means. The external device is, for example, a vibrator 2. In this case, the interface unit 12 controls the vibrator 2 through communication with it. The external device is, for example, an auxiliary vibration sensing intensity calculation device 3. In this case, the interface unit 12 outputs the main vibration intensity I0 and obtains the sensing origin intensity I through communication with the auxiliary vibration sensing intensity calculation device 3.

[0062] The interface unit 12 may be configured to include input devices such as a mouse, keyboard, touch panel, and microphone. The interface unit 12 may also be configured to connect these input devices to the vibration alert device 1. In this way, the interface unit 12 receives various information input to the vibration alert device 1 via input devices, either wired or wirelessly. It should be noted that the object data does not necessarily need to be input to the communication interface; it can also be input to the input device.

[0063] Interface unit 12 outputs various information. Interface unit 12 may be configured to include, for example, a display device such as a cathode ray tube (CRT) display, a liquid crystal display, or an organic electroluminescent (EL) display. Interface unit 12 may also be configured to connect these display devices to the vibration alert device 1. Interface unit 12 may output information input to a communication interface or input device.

[0064] The storage unit 13 is constructed using a computer-readable storage medium such as a magnetic hard disk drive or a semiconductor storage device. The storage unit 13 stores various information related to the vibration alert device 1. For example, the storage unit 13 stores various information generated by the operation of the control unit 11. The storage unit 13 also stores information input to the interface unit 12.

[0065] Figure 5 This diagram illustrates an example of the hardware configuration of the auxiliary vibration sensing intensity calculation device 3 according to the embodiment. As described above, the auxiliary vibration sensing intensity calculation device 3, like the vibration alert device 1, includes a control unit 31 that executes a program. This control unit 31 includes a processor 32 (such as a CPU) and a memory 33 connected via a bus. The auxiliary vibration sensing intensity calculation device 3 functions as a device including the control unit 31, the interface unit 34, and the storage unit 35 through the execution of the program.

[0066] More specifically, the processor 32 reads the program stored in the storage unit 35 and stores the read program in the memory 33. The processor 32 executes the program stored in the memory 33, thereby assisting the vibration sensing intensity calculation device 3 in functioning as a device equipped with a control unit 31, an interface unit 34, and a storage unit 35.

[0067] The control unit 31 controls the operation of various functional units provided by the auxiliary vibration sensing intensity calculation device 3. For example, the control unit 31 performs auxiliary vibration intensity calculation processing and sensing origin intensity calculation processing.

[0068] The control unit 31 can also acquire information stored in the storage unit 35, for example. Specifically, the process of acquiring information stored in the storage unit 35 involves reading it.

[0069] The interface unit 34 is configured to include a communication interface for connecting the auxiliary vibration sensing intensity calculation device 3 to an external device. The interface unit 34 communicates with the external device via wired or wireless means. The external device is, for example, the vibration alert device 1. In this case, the interface unit 34 acquires the main vibration intensity I0 through communication with the vibration alert device 1 and outputs the sensing origin intensity I.

[0070] The interface unit 34 may be configured to include input devices such as a mouse, keyboard, touch panel, and microphone. The interface unit 34 may also be configured to connect these input devices to the auxiliary vibration sensing intensity calculation device 3. In this way, the interface unit 34 receives various information input to the auxiliary vibration sensing intensity calculation device 3 via the input devices, either wired or wirelessly. It should be noted that the object data does not necessarily need to be input to the communication interface; it can also be input to the input device.

[0071] Interface section 34 outputs various information. Interface section 34 may be configured to include, for example, a display device such as a cathode ray tube (CRT) display, a liquid crystal display, or an organic electroluminescent (EL) display. Interface section 34 may also be configured to connect these display devices to the auxiliary vibration sensing intensity calculation device 3. Interface section 34 may output information input to a communication interface or input device.

[0072] The storage unit 35 is constructed using a computer-readable storage medium such as a magnetic hard disk drive or a semiconductor storage device. The storage unit 35 stores various information related to the auxiliary vibration sensing intensity calculation device 3. For example, the storage unit 35 stores various information generated by the operation of the control unit 31. The storage unit 35 also stores information input to the interface unit 34.

[0073] (Experiment 1) The experiment is described below. Two vibrators 2 were installed on the forearm to test whether hallucinations were produced. The distance between the two vibrators 2 was varied. The distance between the two vibrators 2 was changed to 50 mm, 100 mm, and 150 mm. Furthermore, the frequency of the envelope of the auxiliary vibration was changed. The frequency of the envelope was changed to 1 Hz, 3 Hz, 5 Hz, 10 Hz, and 15 Hz.

[0074] Figure 6This is a graph representing the experimental results. The horizontal axis represents the frequency of the envelope of the auxiliary vibration, and the vertical axis represents the proportion of subjects who experienced hallucinations with vibrators mounted on their forearms. When the distance between the two vibrators 2 was 50 mm and 100 mm, it was observed that the higher the frequency of the envelope, the lower the proportion of subjects experiencing hallucinations. Therefore, the preferred frequency of the envelope is 1 Hz, 3 Hz, or 5 Hz, which is lower than 10 Hz or 15 Hz.

[0075] (Experiment 2) The following describes other experiments. Two vibrators 2 were also installed on the forearm to test whether hallucinations were produced. Five modes with different vibration intensity ratios of the two vibrators 2 were prepared for each location of the virtual vibration source P. In addition, four envelope frequencies of auxiliary vibrations—2, 5, 10, and 20 Hz—were prepared. The auxiliary vibrations were amplitude-modulated waves with a carrier frequency of 800 Hz.

[0076] The distance between the two vibrators 2 is 6 cm. Vibrators 2 are stimulated twice for 1 second at 1-second intervals. Subjects are asked to indicate the location of a virtual vibration source P, and the accuracy rate of the responses is calculated. The change in the accuracy rate of responses is investigated by varying the envelope frequency of the auxiliary vibration.

[0077] Figure 7 This is a graph representing the experimental results. The horizontal axis represents the frequency of the envelope of the auxiliary vibration, and the vertical axis represents the accuracy of the position of the virtual vibration source P. When the frequency of the envelope of the auxiliary vibration is 5 Hz, the accuracy of the response is significantly higher compared to other frequencies. Therefore, the optimal frequency of the envelope of the auxiliary vibration is 5 Hz.

[0078] (Experiment 3) The following describes other experiments. Here, a wristband with four vibrators 2 arranged at 90-degree intervals was mounted on the forearm. The position of the virtual vibration source P was set to 8 modes, and the sensing intensity I of the auxiliary vibration was... sub The proportion relative to the perceived intensity I0 of the primary vibration varies in four modes, based on the perceived intensity I of the auxiliary vibration. sub By investigating the different proportions of the perceived intensity I0 of the primary vibration, the accuracy of the location of the virtual vibration source P in the subjects was determined. This led to the investigation of the contribution of the auxiliary vibration.

[0079] The virtual vibration source P is located in eight directions offset by 45 degrees from the center of the wristband. Furthermore, I0+I in equation (1) sub In this experiment, it is Equation (5).

[0080] [Formula 5]

[0081] In equation (5), the perceived intensity I of the auxiliary vibration is changed by altering α to 0%, 16.7%, 33.3%, and 50%. sub The ratio of the perceived intensity I0 relative to the main vibration. The vibration of a virtual vibration source P from one of eight directions is reproduced by four vibrators, allowing the subject to select the direction of vibration to feel from 16 directions, each offset from the center of the wristband by 22.5 degrees, including the eight directions mentioned above.

[0082] In this experiment, the virtual vibration source P is the damped vibration of the collision (the recording of a basketball), and the auxiliary vibration is a wave whose intensity varies at 5 Hz.

[0083] The experiment was conducted on four subjects. For one subject, eight vibrations were applied for each combination of the virtual vibration source P's position and α's pattern, for a total of 256 vibrations, and the subject was asked to answer the direction of the vibrations they felt.

[0084] Figure 8 This is a graph representing the experimental results. The larger the auxiliary vibration rate α, the higher the accuracy of the subjects' responses regarding the direction of the virtual vibration source P. Furthermore, the standard deviation of the response accuracy is smallest when α = 50%. This suggests that auxiliary vibration improves localization.

[0085] The control unit 11 can also be deployed using multiple information processing devices that are connected via a network. In this case, the various functional units of the control unit 11 can also be distributed across multiple information processing devices. The same applies to the control unit 31.

[0086] It should be noted that all or part of the functions of the vibration alert device 1, the auxiliary vibration perception intensity calculation device 3, and the vibration alert system 100 can be implemented using hardware such as application-specific integrated circuits (ASICs), programmable logic devices (PLDs), and field-programmable gate arrays (FPGAs). The program can be recorded on a computer-readable recording medium. Such media include removable media such as floppy disks, optical disks, ROMs, CD-ROMs, and hard drives built into the computer system. The program can also be transmitted via telecommunications lines.

[0087] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the specific configuration is not limited to these embodiments, and also includes designs made within the scope of the present invention without departing from the spirit of the invention.

[0088] Explanation of reference numerals in the attached figures 100: Vibration alert system; 1: Vibration alert device; 2: Vibrator; 3: Auxiliary vibration sensing intensity calculation device; 11, 31: Control unit; 91, 32: Processor; 92, 33: Memory; 0: Sensing origin; P: Virtual vibration source; 12, 34: Interface unit; 13, 35: Storage unit.

Claims

1. A vibration alert device, The device includes a control unit that synthesizes the sensing intensity of a primary vibration generated from a virtual vibration source existing at any location and the sensing intensity of a location-specific auxiliary vibration that is different from the vibration source.

2. The vibration alert device according to claim 1, wherein, The control unit calculates the sensing intensity of the auxiliary vibration based on the auxiliary vibration, which is generated based on the positional relationship between the vibration source and the sensing origin.

3. The vibration alerting device according to claim 1 or 2, wherein, The control unit distributes the sensed intensity of the synthesized main vibration and the sensed intensity of the auxiliary vibration to multiple vibrators.

4. The vibration alerting device according to claim 1 or 2, wherein, The auxiliary vibration is an amplitude-modulated wave with an envelope having a frequency of 2 Hz or higher and 20 Hz or lower.

5. The vibration alerting device according to claim 4, wherein, The auxiliary vibration is an amplitude-modulated wave with an envelope having a frequency of 5 Hz.

6. The vibration alerting device according to claim 1 or 2, wherein, The auxiliary vibration is a vibration represented by a sine wave with a frequency of 3Hz to 10Hz.

7. The vibration alerting device according to claim 6, wherein, The auxiliary vibration is represented by a sine wave with a frequency of 5 Hz.

8. The vibration alerting device according to claim 1 or 2, wherein, The magnitude of the auxiliary vibration is adjusted in a manner independent of the vibration source.

9. The vibration alerting device according to claim 1 or 2, wherein, The magnitude of the auxiliary vibration is adjusted according to the magnitude of the vibration from the vibration source.

10. A method for calculating the intensity of vibration sensing aids. The perceived intensity of the main vibration generated from a virtual vibration source existing at any location and the perceived intensity of the location-specific auxiliary vibration different from the vibration source are synthesized and calculated.

11. A vibration alert system, It features: a vibration alert device with multiple vibrators; and an auxiliary vibration sensing intensity calculation device. In the auxiliary vibration sensing intensity calculation device, the sensing intensity of the main vibration generated from a virtual vibration source existing at any location and the sensing intensity of the auxiliary vibration with localization, which is different from the vibration source, are synthesized and calculated. The vibration alert system distributes the sensed intensity of the synthesized main vibration and the sensed intensity of the auxiliary vibration as vibration information to each of the plurality of vibrators. Based on the vibration information assigned to the plurality of vibrators, the vibration prompting device provides a vibration alert.

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