Method for evaluating tactile sensation or physical properties, and device for evaluating tactile sensation or physical properties

Abstract

To provide a method that calculates an index indicating correlation between at least two kinds of feature quantities among multiple kinds of feature quantities, and evaluates tactile sensation of an object that changes over time based on the calculated index, or physical properties producing the tactile sensation, and a device for evaluating tactile sensation or physical properties.SOLUTION: An evaluation method comprises: an acquisition step of repeatedly operating a moving body in contact with an object to which a predetermined agent has been applied, to acquire time series data of mechanical physical quantities generated between the object and the moving body; a feature calculation step of calculating multiple types of feature quantities for each predetermined period from the acquired time series data of the mechanical physical quantities; an index calculation step of calculating an index indicating the correlation between at least two types of feature quantities out of the multiple types of feature quantities; and an evaluation step of evaluating tactile sensation of the object that changes over time or physical properties producing the tactile sensation based on the calculated index.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a method for evaluating the tactile feel or physical properties of a specific agent, and an apparatus for evaluating the tactile feel or physical properties of a specific agent. [Background technology]

[0002] There is an evaluation method in which a moving object is moved while being brought into contact with a cosmetic applied to the skin, etc., to detect vibrations generated, and the tactile sensation of the cosmetic when used is evaluated based on the change over time in the frequency spectrum of the detected vibrations (Patent Document 1). There is also a method for evaluating the condition of the skin using the correlation between the average friction coefficient and / or the coefficient of variation of the average friction coefficient on the surface of the skin and a sensory evaluation of the skin (Patent Document 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2019 / 039466 [Patent Document 2] JP 2003-24282 A Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 merely quantifies the change in vibration intensity over time, and is unable to properly evaluate the characteristics of the tactile sensation and its changes. Patent Document 2 describes the correlation between the average friction coefficient and the sensory evaluation, and the correlation between the coefficient of variation of the average friction coefficient and the sensory evaluation, but does not consider the correlation between the feature quantities.

[0005] The present invention has been made in consideration of the above-mentioned problems, and relates to a method for evaluating the tactile feel or physical properties of an object that change over time based on the calculated index, by calculating an index indicating the correlation between at least two types of feature quantities out of multiple types of feature quantities calculated from time series data of mechanical physical quantities that arise between an object to which a specified agent has been applied and a moving body, and an apparatus for evaluating the tactile feel or physical properties. [Means for solving the problem]

[0006] The present invention relates to an evaluation method including an acquisition step of repeatedly operating a moving body in contact with an object to which a predetermined agent has been applied to acquire time series data of mechanical physical quantities occurring between the object and the moving body, a feature calculation step of calculating multiple types of feature quantities at predetermined time periods from the acquired time series data of mechanical physical quantities, an index calculation step of calculating an index indicating a correlation between at least two types of feature quantities among the multiple types of feature quantities, and an evaluation step of evaluating the tactile sensation of the object that changes over time or the physical properties that produce the tactile sensation based on the calculated index.

[0007] The present invention also relates to an evaluation device that includes an acquisition means for acquiring time series data of mechanical physical quantities occurring between an object to which a predetermined agent has been applied and the moving body by repeatedly operating a moving body in contact with the object, the object, the moving body, a feature calculation means for calculating multiple types of feature quantities from the acquired time series data of the mechanical physical quantities at predetermined intervals, an index calculation means for calculating an index indicating a correlation between at least two types of feature quantities among the multiple types of feature quantities, and an evaluation process for evaluating the tactile sensation of the object that changes over time or the physical properties that produce the tactile sensation based on the calculated index. Effect of the Invention

[0008] According to the method provided by the present invention, an index showing the correlation between multiple types of feature quantities calculated from time series data of mechanical physical quantities occurring between an object and a moving body is calculated, and the calculated index can be used to evaluate the characteristics of the tactile sensation and their changes, or the physical properties that produce the tactile sensation. Furthermore, according to the device provided by the present invention, it is possible to calculate an index showing the correlation between multiple types of feature quantities calculated from the time series data of mechanical physical quantities occurring between an object and a moving body, and to use the calculated index to evaluate the characteristics of the tactile sensation and their changes, or the physical properties that produce the tactile sensation. [Brief description of the drawings]

[0009] [Figure 1] (1) is an image of a finger with a sensor attached touching the surface of the evaluator's skin during washing, and (2) is an image of a finger with a sensor attached touching the surface of the evaluator's skin during rinsing. [Diagram 2] 13A is a diagram showing a time-series waveform signal of Sample 1, and FIG. 13B is a diagram showing a time-series waveform signal of Sample 3. FIG. [Diagram 3] 1 is a conceptual diagram illustrating calculation of a plurality of types of feature amounts from a time-series waveform signal. [Figure 4] 13A is a diagram for explaining the spike signal amount of Sample 1, FIG. 13B is a diagram for explaining the spike signal amount of Sample 2, and FIG. 13C is a diagram for explaining the spike signal amount of Sample 3. FIG. [Diagram 5] (1) is a graph showing the correlation between the average value and variation of Sample 1, (2) is a graph showing the correlation between the average value and variation of Sample 2, (3) is a graph showing the correlation between the average value and variation of Sample 3, and (4) is a graph showing the correlation between the average value and variation of Sample 4. [Figure 6] FIG. 13 is a diagram showing the distance from the origin of each plot. [Figure 7] FIG. 1 is a diagram showing a coordinate system in which the horizontal axis represents x' values ​​and the vertical axis represents y'' values. [Figure 8](1) is a graph using the coordinate system of FIG. 7 (beginning of rinsing (first period)), and (2) is a graph using the coordinate system of FIG. 7 (first half of rinsing (fourth period)). [Figure 9] (1) is a graph using the coordinate system of FIG. 7 (middle rinsing stage (fifth period)), and (2) is a graph using the coordinate system of FIG. 7 (late rinsing stage (seventh period)). [Figure 10] 8 is a graph (end of rinsing (ninth period)) using the coordinate system of FIG. 7. [Figure 11] (1) is a diagram summarizing Figures 8 to 10 of Sample 1, (2) is a diagram summarizing Figures 8 to 10 of Sample 2, (3) is a diagram summarizing Figures 8 to 10 of Sample 3, and (4) is a diagram summarizing Figures 8 to 10 of Sample 4. [Figure 12] (1) is a conceptual diagram of a time variation graph with the x' value as the representative, and (2) is a time variation graph with the x' value as the representative. [Figure 13] FIG. 13 is a diagram for explaining the amount of deviation of the variation from the regression line. [Figure 14] (1) is a graph using a coordinate system with the horizontal axis being the x' value and the vertical axis being the y value (beginning of rinsing (first period)), and (2) is a graph using a coordinate system with the horizontal axis being the x' value and the vertical axis being the y value (first half of rinsing (fourth period)). [Figure 15] (1) is a graph using a coordinate system with the horizontal axis being the x' value and the vertical axis being the y value (middle of rinsing (5th period)), and (2) is a graph using a coordinate system with the horizontal axis being the x' value and the vertical axis being the y value (late rinsing (7th period)). [Figure 16] This is a graph (end of rinsing (9th period)) using a coordinate system with the x' value on the horizontal axis and the y value on the vertical axis. [Figure 17] 1 is a flowchart of an evaluation method. [Figure 18] FIG. 2 is a block diagram of an evaluation device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. The drawings of the present embodiment are all intended to explain the technical concept, configuration, and operation of the present invention, and are not intended to specifically limit the configuration. In addition, in all drawings, similar components are given similar reference numerals, and duplicated descriptions are omitted as appropriate.

[0011] The evaluation method in this embodiment (hereinafter, sometimes referred to as this method) will be outlined below. The evaluation method of this embodiment includes an acquisition step, a feature amount calculation step, an index calculation step, and an evaluation step. The "acquisition process" is a process of repeatedly moving a moving object that has been brought into contact with an object to which a specified agent has been applied, thereby acquiring time series data of the mechanical physical quantities occurring between the object and the moving object. The term "predetermined agent" refers to a liquid (including mist), paste, solid, or powder, etc., that is applied to an object. Examples of the agent include external skin agents, cosmetics, sheet-type skin care cosmetics, dishwashing detergent, household detergent, body cleansing agent, face wash, hair cleansing agent, and other cleansing agents, and examples thereof include skin care cosmetics such as lotion, milky lotion, cream, beauty essence, massage, pack, lip cream, eye care sheet, mouth sheet, pack mask, sheet-type lotion, sheet-type makeup remover, etc.; makeup cosmetics such as foundation, makeup base, liquid foundation, oily foundation, powder foundation, concealer, control color, eye shadow, blusher, lipstick, lip gloss, lip liner, and body decollete; UV protection cosmetics such as sunscreen milky lotion, sunscreen gel, and sunscreen cream, body cleansing agent; solid soap, hand soap, and body soap, but are not limited thereto. The term "object" refers to the surface of human skin, the surface of artificial skin, hair, and scalp, as well as tableware, building materials, and other objects to which a specific agent is applied. The "moving object" is another object that is brought into contact with the object, and examples of such objects include the finger 20, the palm, a skin care product such as a massager, or a measuring tool that is brought into contact. The sensor 30 shown in FIG. 1 is attached to the finger 20, the palm, the skin care product, or the measuring tool. The finger 20 that is brought into contact with the object may be any position on the finger 20, but the finger pad is preferred because the tactile sensation is often confirmed with the finger pad. When checking the tactile sensation of an object, not only one finger but also multiple fingers may be used, and the palm may be brought into contact with the skin surface because the tactile sensation is sometimes confirmed by contacting not only the fingers but also the entire palm. The measuring tool is a tool that is brought into contact with the skin surface in the same way as the finger. The structure and composition of the part of the measuring tool that is brought into contact with the skin surface are not limited, but by forming the part with artificial skin that imitates human skin, it becomes possible to measure physical quantities that are close to those when a person touches the surface of an object with a finger or palm. "Repeated motion" refers to a motion of continuously contacting a moving body with an object, or a motion of intermittently contacting a moving body with an object. Specifically, it refers to a motion of repeatedly moving a finger in an outward direction approximately vertically on an object (tapping motion), a motion of repeatedly sliding a finger horizontally on an object, etc. In the case of a sliding motion, any of the following motions may be used: a repetitive motion in one direction, a repetitive motion by reciprocating, a repetitive motion in a circular motion, etc. Furthermore, a repetitive motion refers to a single motion (e.g., sliding once in the horizontal direction) followed by a certain period of time irregularly followed by the single motion, i.e., a case where a single motion is repeated at the same interval, or a case where a single motion is performed multiple times at irregular intervals. "Time series data of mechanical physical quantities occurring between an object and a moving body" refers to physical quantities related to mechanics occurring between the object and the moving body by repeatedly moving the moving body (e.g., a finger or a palm) in contact with the object. Examples include the magnitude of the elastic force or frictional force that the moving body receives from the object (skin), the amount of current or voltage caused by the displacement of the object, the pressure that the moving body receives, the distortion caused by the moving body, or the vibration amount (amplitude), frequency, speed and acceleration of the vibrating moving body. The tactile sensation evaluated in this method is a tactile sensation felt through receptors such as fingers by contacting the surface of an object with a finger or palm, such as sticky, refreshing, moist, and tight. The term "acquire" will be described in more detail below, but for example, it means that the sensor 30 shown in FIG. 1 detects vibrations and deformations caused by continuously contacting a moving body with an object, and outputs the vibrations and deformations as electrical signals to a computing device.

[0012] The "feature amount calculation step" is a step of calculating a plurality of types of feature amounts for each predetermined period from the acquired time series data of the mechanical physical amount. "Calculating a plurality of types of feature amounts at a predetermined time interval" means calculating a plurality of types of feature amounts at a predetermined time interval from the start of moving the moving body relative to the object from the acquired time series data of the mechanical physical amount. The details of the calculation will be described later. The "multiple types of feature quantities" are, for example, but not limited to, mechanical physical quantities, statistics of mechanical physical quantities, spike signal quantities that are values ​​equal to or greater than a predetermined threshold value of mechanical physical quantities or statistics of mechanical physical quantities, and feature quantities calculated from average values ​​or variations that are statistics of mechanical physical quantities. The mechanical physical quantities include not only the measured values ​​themselves but also calculated values ​​(e.g., values ​​obtained by removing noise, values ​​multiplied by coefficients, etc.). The statistics of mechanical physical quantities include not only statistics using the measured values ​​of the mechanical physical quantities themselves (e.g., average values, standard deviations, variance values, maximum values, minimum values, kurtosis, skewness, etc.) but also statistics using calculated values ​​of the mechanical physical quantities. The statistics of mechanical physical quantities also include values ​​that can be calculated by frequency analysis of the mechanical physical quantities, such as the power values ​​of the spectrum at each time. The feature quantities may be calculated after frequency decomposition or filtering of the waveform of the acquired mechanical physical quantities. The spike signal quantities include not only those calculated from the measured values ​​of the mechanical physical quantities but also those calculated using calculated values ​​of the mechanical physical quantities. The spike amount will be described later. The feature amount calculated from the average value or the variation, which is a statistical amount of the mechanical physical amount, is, for example, the distance from the origin calculated from the correlation between the average value and the variation (the distance from the origin will be described later).

[0013] The "index calculation step" is a step of calculating an index indicating a correlation between at least two types of feature amounts among a plurality of types of feature amounts. The "index showing the correlation between at least two types of feature quantities" is an index showing the relationship between, for example, two types of feature quantities among a plurality of types of feature quantities, which will be described in detail later, and refers to a regression line created by regression analysis, which is an analytical method of creating a most suitable line and formulating it, a criterion for determining whether or not two types of feature quantities are included in a predetermined confidence interval that is reliable as data, and the correlation between two types of feature quantities in a specific interval with respect to the entire correlation. In addition, in the case of a regression line showing the correlation between two types of feature quantities among a plurality of types of feature quantities obtained from a population, it may be written as a standard regression line. In addition, examples of regression analysis methods include simple regression, multiple regression, nonlinear regression, logistic regression, Bayesian, etc., and may have an intercept or may not have an intercept. The "index calculation step" is also a step of calculating the degree of deviation between the index and any one of the multiple types of feature values. The "degree of deviation" refers to how much the feature value deviates (diverges) from the regression line (how far it is plotted), how much the feature value deviates from (is not included in) a predetermined confidence interval, etc., and the calculation content does not matter, such as the specific amount of deviation, the number or percentage of feature values ​​(plots) that deviate by a certain value or more.

[0014] The "evaluation process" is a process for evaluating the tactile sensation of an object that changes over time or the physical properties that produce that tactile sensation based on the calculated index. "Based on an index" means to evaluate based only on the calculated index, to evaluate based on the calculated index and other information (e.g., multiple types of feature amounts of a given agent, multiple types of feature amounts of other agents, indexes calculated from other agents, etc.), etc. When the index is a regression line, methods of evaluation based only on the calculated regression line include, for example, evaluation based on the slope of the regression line, evaluation based on the length of the regression line, evaluation based on the length from the origin to the regression line (shortest length), etc. Also, for example, calculation and evaluation of a criterion for the extent to which two types of feature amounts are included in a given confidence interval as an index, and evaluation using the correlation between two types of feature amounts in a specific interval as an index, etc. "The tactile sensation of an object that changes over time" refers to a tactile sensation that changes over time after a moving body is brought into contact with an object to which a specific agent has been applied, and refers to evaluating what kind of tactile sensation it is and how the tactile sensation changes. Also, "physical properties that produce a tactile sensation that changes over time" refers to evaluating the physical properties that produce a tactile sensation that changes over time after a moving body is brought into contact with an object to which a specific agent has been applied, since the tactile sensation is produced by the physical properties of the specific agent. "Evaluate" means to evaluate based on the degree of deviation between the index and any one of the multiple types of feature amounts. For example, when the index is a regression line, the evaluation is performed based on the slope of the calculated regression line, the evaluation is performed based on the length of the regression line, or the evaluation is performed based on the length from the origin to the regression line (the shortest length), and the evaluation is performed by drawing the feature amount on a predetermined coordinate system, or by comparing the feature amount with a predetermined reference value. When the evaluation is performed based on the regression line and the feature amount, the evaluation is performed by plotting the extent to which the multiple types of feature amounts different from the feature amount used to calculate the regression line deviate from the calculated regression line, or the position of the multiple types of feature amounts different from the feature amount used to calculate the regression line relative to the calculated regression line, and the like, or by comparing the feature amount with a predetermined reference value. When the index is used as a criterion for determining the extent to which two types of feature amounts are included in a predetermined confidence interval, the evaluation is performed by comparing the criterion with the criterion, or by evaluating whether or not the criterion is satisfied. Examples of tactile sensations include, but are not limited to, "sticky," "refreshing," "moist," "sticky," "moisture," "dry," "firm," "elastic," "soft and hard," "sticky," "soft and chewy," "plump," "smooth," "slippery," "oily," "rich," "comfortable," "dry," "stiff," "tight," "squeaky," and "slippery." The tactile sensation referred to here is the tactile sensation felt through receptors such as fingers by touching an object with fingers or palms (hereinafter, "fingers, etc."), and may also include thermal sensations such as coldness and warmth felt by touching an object with fingers, etc., as targets for evaluation. Here, "sticky" refers to the feeling of a sticky, adhesive, and sticking sensation to a finger when the finger is touched to the object. "Refreshing" refers to the feeling of a smooth and refreshing sensation without any sticky sensation when the finger is touched to the object. "Moist" refers to the slightly damp, smooth feeling when you touch an object with your finger. "Sticky" refers to the feeling that your finger sticks to the object when you touch it with your finger. "Moist" refers to the feeling that there is a moderate amount of moisture when you touch an object with your finger. "Dry" refers to the feeling that your finger is dry when you touch an object with your finger. "Firm" refers to the feeling that your skin is stiff and taut when you touch an object with your finger. "Elastic" refers to the feeling that your skin bounces back without sinking when you touch an object with your finger. "Hard" refers to the degree to which the skin deforms when you touch the skin surface with your finger. "Sticky" refers to the feeling that your finger sticks to the object when you touch it with your finger. "Soft" refers to the feeling that your finger sticks to the object and bounces back when you touch it with your finger. "Plump" refers to a refreshing feeling when a finger touches the skin surface, with a slight elasticity and no sticky feeling. "Smooth" refers to the feeling of fingers moving without getting caught when touching an object, especially when a treatment agent is applied, and the feeling of fingers moving naturally. "Slippery" refers to the feeling of fingers slipping easily when touching an object, especially when a treatment agent is applied, due to the adhesive feel of the treatment. "Smooth" refers to the feeling of skin softness and fingers moving without getting caught when touching an object."Oily" refers to the feeling of sticking to an object when you touch it with your finger. "Rich" refers to the feeling of the texture of the agent when you touch an object with your finger, especially when applying the agent, the texture when you spread it, and the weight when you spread it. "Familiarity" refers to the feeling of no discomfort with your finger when you touch an object with your finger, especially when applying the agent, the feeling of not feeling the texture of the agent on the object. "Dry" refers to the feeling of dryness when you touch an object with your finger. "Rough" refers to the feeling of roughness when you touch an object with your finger. "Tight" refers to the feeling of tension when you touch an object with your finger. "Tight" or "squeak" refers to the feeling of resistance when you touch an object with your finger and start to slide it, or while you are sliding it. "Creeky" refers to the feeling of rubbing while catching. "Slippery" refers to the feeling that there is little snagging and your fingers can slide easily. In this way, the evaluation step evaluates the texture of the object that changes over time based on the degree of misalignment, or the physical properties that produce the texture. In addition, when the object is the skin of the subject's arm or the like, and the moving body is the skin of the subject's finger or the like, the load that a specific agent imparts to the "arm" that is touched and the "finger" that touches may also be evaluated.

[0015] A method for acquiring time-series data on mechanical physical quantities occurring between an object to which a specific agent has been applied and a moving body is shown. <Method of acquiring time series data of mechanical physical quantities> 1, in this embodiment, the "object" is the skin of a person's arm (skin surface of the person's arm), and the "moving body" is a finger 20 in contact with the person's arm. The "predetermined agent" to be applied to the object is a cleaning agent 40. As shown in FIG. 1, a sensor 30 is attached to a finger 20. When the finger 20, particularly the finger pad (hereinafter, the finger pad is also referred to as the finger), touches the skin of the arm to which the cleaner 40 has been applied, and the touched finger 20 is moved, vibrations and deformations occur in the finger skin, and the sensor 30 detects these vibrations and deformations and outputs them as electrical signals to the computing device 10. Since the vibrations and deformations occurring in the finger skin differ depending on the tactile sensation, the electrical signals outputted depending on the tactile sensation also differ. This outputted electrical signal corresponds to the "mechanical physical quantity" of the present invention, and the electrical signals are acquired over time. The sensor 30 is only required to acquire the mechanical physical quantity generated by the touch with the finger 20, and may be, for example, a sensor (such as an acceleration sensor, angular velocity sensor, vibration sensor, or force sensor) capable of acquiring the acceleration or force generated by removing the finger 20 from the skin. Acquiring a physical quantity over time includes not only a mode in which the sensor 30 continuously acquires analog information (electrical signal in this embodiment) indicating the physical quantity over a predetermined time, but also a mode in which the sensor 30 acquires the physical quantity as digital information multiple times at short intervals such as on the order of milliseconds or sub-milliseconds. When the sensor 30 continuously acquires the physical quantity as analog information, it is preferable that the computing device 10 samples and discretizes the analog information at predetermined short intervals such as on the order of milliseconds or sub-milliseconds.

[0016] 1, in this embodiment, the finger 20 equipped with the sensor 30 is brought into contact with the skin (skin surface) of the arm, and the finger 20 is repeatedly slid in a substantially horizontal direction against the skin. The repeated movement may be in any form, such as repeated movement in one direction, repeated movement by reciprocating, or repeated movement in a circular motion. 1(1), a cleaning agent 40 is applied to the skin of an arm, and the mechanical physical quantity occurring between the skin of the arm and the finger 20 is acquired when the finger 20 is repeatedly moved. That is, in FIG. 1(1), the mechanical physical quantity between an object (corresponding to the skin of the arm) to which a predetermined agent (corresponding to the cleaning agent 40) has been applied and a moving body (corresponding to the finger 20) is acquired, and the object is cleaned by moving the moving body. Also, as shown in Fig. 1(2), the mechanical physical quantities occurring between the arm skin and the finger 20 are acquired when a constant amount of water is run over the arm skin to which the cleaner 40 has been applied while the finger 20 is repeatedly moved. That is, in Fig. 1(2), water is run over an object (corresponding to the arm skin) to which a specific agent (corresponding to the cleaner 40) has been applied, the mechanical physical quantities between the object and the moving body (corresponding to the finger 20) are acquired, and the object is rinsed by moving the moving body. When measuring using a measuring tool, a sensor 30 is provided on a measuring tool (not shown) instead of the finger 20 in Fig. 1, the measuring tool is brought into contact with the skin (skin surface), and the measuring tool is moved so as to slide horizontally against the skin (skin surface), thereby making it possible to measure the generated physical quantity in a similar manner. When measuring by moving the measuring tool in contact with the skin, the movement of the measuring tool may be controlled using a predetermined device (not shown) so that the movement is uniform.

[0017] FIG. 2 shows the electrical signal waveform of the acquired mechanical physical quantity. As shown in FIG. 2, in this embodiment, the vibration occurring between the object and the moving body is acquired as the mechanical physical quantity. In FIG. 2(1), the applied predetermined agent is Sample 1, and in FIG. 2(2), the applied predetermined agent is Sample 3. Comparing FIG. 2(1) and FIG. 2(2), for example, the signal strength is uniform within a certain range in FIG. 2(1), whereas the signal strength is clearly strong and weak in FIG. 2(2), and the shape of the acquired signal waveform differs depending on the applied predetermined agent. Therefore, by analyzing the acquired mechanical physical quantity (signal waveform), it is possible to evaluate the tactile sensation or the physical properties that produce the tactile sensation.

[0018] <Method of calculating multiple types of feature quantities> A method for calculating a plurality of types of feature amounts will be described. FIG. 3 shows the signal waveform of the acquired mechanical physical quantity. The acquired signal waveform is cut out at predetermined intervals. The dotted frame shown in the signal waveform indicates each predetermined interval. Note that the dotted frame shown in FIG. 3 is only a part, and the dotted frame is actually provided continuously. That is, the cut-out predetermined interval is provided continuously. For each cut-out predetermined interval (first period, second period, third period, etc.), the average signal strength, standard deviation, and spike amount are calculated based on the signal waveform (electrical signal) included in the predetermined interval. The average signal strength is the average of the absolute values ​​of the signal within the predetermined interval, and the standard deviation is obtained from the calculated average. Note that in this embodiment, the average signal strength is described as the "x value", the standard deviation of the signal strength is described as the "y' value", and the spike amount is described as the "y'' value. In this embodiment, the predetermined interval is set to 2 seconds. If the specified interval is too short, there will not be enough time to move the moving body back and forth, and if it is too long, the specified agent will change and there is a possibility that multiple characteristics will be included within the period, so in this embodiment it is set to 2 seconds, but the number is not limited to this.

[0019] Here, a method for calculating spikes and the amount of spikes will be described. Figure 4(1) shows the signal waveform of the vibration generated between the object and the moving body when the specified agent applied is Sample 1, Figure 4(2) shows the signal waveform of the vibration generated between the object and the moving body when the specified agent applied is Sample 2, and Figure 4(3) shows the signal waveform of the vibration generated between the object and the moving body when the specified agent applied is Sample 3. For each signal waveform, attention is paid to the portion where the signal strength exceeds a first predetermined value (for example, 0.2 [V] or -0.2 [V]) and the timing where the signal strength exceeds a second predetermined value (for example, 0.4 [V] or -0.4 [V]). A signal that exceeds a predetermined threshold (in the case of FIG. 4, the first predetermined value and the second predetermined value) is defined as a "spike". In the case of FIG. 4 (1), spikes that exceed the first predetermined value occur from the middle onwards, and spikes that exceed the second predetermined value do not occur. From these, it can be said that the vibration is sharp. In the case of FIG. 4 (2), spikes that exceed the first predetermined value do not occur in the first half, and spikes that exceed the second predetermined value do not occur. From these, it can be said that the density of the signal waveform is high and the vibration is not sharp (the vibration is constant). In the case of FIG. 4 (3), many spikes that exceed the first predetermined value occur, and many spikes that exceed the second predetermined value occur from the middle onwards. From these, it can be said that the density of the signal waveform is sparse, the difference in vibration strength is large, and the vibration is strongly sharp. An index showing the amount of this "spike" is calculated as a "spike amount". The spike amount is calculated by determining whether or not there is a signal with a larger absolute value than a signal within a predetermined time before and after the signal at a certain time, and if there is no signal with a larger absolute value, the signal is regarded as a "spike". The sum of the absolute values ​​of the signals is calculated as the "spike amount" at a certain time. In this embodiment, the certain time is set to a predetermined interval (time surrounded by a dotted line frame) shown in FIG. 3, and the spike amount is calculated with the predetermined time before and after as 0.075 sec. Therefore, in this embodiment, the average for each predetermined time, the standard deviation for each predetermined time, and the spike amount for each predetermined time are calculated from the acquired mechanical physical quantity. Note that these values ​​may be calculated from the value of the acquired mechanical physical quantity itself, or may be calculated from a value (calculated value) after a predetermined noise removal, since the acquired mechanical physical quantity is likely to contain noise. In this embodiment, the spike amount is calculated with the predetermined time before and after as 0.075 sec, but this is not limited to this, and the interval may be shorter or longer than 0.075 sec, and may be determined according to the acquired mechanical physical quantity. As another index representing the amount of spikes, for example, kurtosis calculated from a histogram of the waveform signal in the relevant section may be used. Also, as long as it represents the characteristics of the spikes, it is not limited to this.

[0020] The correlation between the average and standard deviation calculated from the mechanical physical quantity at each predetermined time will be described with reference to FIG. Figure 5(1) shows the correlation between the average and standard deviation when the specified agent applied is Sample 1, Figure 5(2) shows the correlation between the specified agent applied is Sample 2, Figure 5(3) shows the correlation between the specified agent applied is Sample 3, and Figure 5(4) shows the correlation between the average and standard deviation when the specified agent applied is Sample 4. The horizontal axis of each graph is the average, the vertical axis is the standard deviation, and the dotted line is the mean regression line. The coordinate points of each graph are the average and standard deviation calculated at the specified intervals shown in Figure 3. In each sample, the slope is close to that of the mean regression line, and the coefficient of determination is also high in each case, so it can be said that there is a high correlation between the average and standard deviation calculated at the specified intervals. In this manner, the index calculation process calculates a regression line showing the correlation between at least two types of feature amounts among the multiple types of feature amounts, and makes it possible to evaluate the tactile sensation of an object that changes over time or the physical properties that produce that tactile sensation based on any one of the multiple types of feature amounts (e.g., average, standard deviation) and the regression line (e.g., mean regression line).

[0021] Next, a method of calculating a feature amount using coordinate points consisting of the average and standard deviation shown in FIG. 5 and the calculated spike signal amount will be described. FIG. 6 is a diagram showing the correlation between the average and standard deviation when the applied agent is Sample 1, similar to FIG. 5(1). The distance from the origin in FIG. 6 to a coordinate point consisting of the average and standard deviation is calculated. In FIG. 6, "this distance" is shown for one coordinate, but the distance from the origin to the coordinate point consisting of the average and standard deviation is calculated in the same manner for other coordinates. In this embodiment, the distance from the origin to the coordinate point consisting of the average and standard deviation is referred to as "distance from origin" or "x' value."

[0022] FIG. 7 shows a coordinate system (horizontal axis: x' value, vertical axis: y' value) created based on the x' value and y' value. FIG. 7 illustrates an example of a rinsing state in which finger 20 is repeatedly moved while a constant amount of water is being run over the skin of the arm to which detergent 40 as shown in FIG. 1(2) has been applied. Since the x' value (distance from the origin) is the magnitude of vibration in a specified period, if the x' value is smaller than a specified range, the vibration when the moving body is moved is smaller than that of bare skin (state where the specified agent is not applied), and if it is larger than the specified range, the vibration when the moving body is moved is larger than that of bare skin (state where the specified agent is not applied). Also, if the y' value (spike amount) is smaller than a specified range, the moving body slides up when moved compared to bare skin (state where the specified agent is not applied), and if it is larger than the specified range, the moving body does not slide up compared to bare skin (state where the specified agent is not applied). When the x' value and y' value are plotted in such a coordinate system, the upper right of the coordinate system indicates a tighter tactile sensation in the rinsing state, and the lower left of the coordinate system indicates a slimier tactile sensation in the rinsing state. In other words, the upper right of the coordinate system indicates a rinsing sensation that gives a strong feeling of cleaning, the lower left indicates a slimy rinsing sensation, and the center of the coordinate system indicates a rinsing sensation close to that of bare skin. When plotting the x' and y' values ​​in the coordinate system shown in Figure 7, the size of the plot is changed according to the y' value. In other words, the plot makes it possible to grasp the "magnitude of vibration," "amount of spikes," and "non-uniformity of vibration." The subjective evaluation of the given agent (cleaning agent 40) used in FIG. 7 is as follows. Sample 1: Moderate cleaning sensation Sample 2: There is some sluggishness in the first half Sample 3: Strong cleaning sensation Sample 4: Large tactile change

[0023] The results of applying these agents are shown in Figures 8 to 10. The following can be seen from Figures 8 to 10. The first period (Figure 8(1)) is the stage where the detergent is being poured out, and the surface generally feels smooth to the touch. In the fourth period (Figure 8(2)), when all the detergent had been removed, Samples 3 and 4 had a “squeezing” sound. In the fifth period (Figure 9(1)), the “kyuu” sound becomes stronger except for Sample 2. In the seventh period (Fig. 9(2)), the degree of “tightness” becomes similar to that of bare skin except for Sample 3. During the 9th period (Figure 10), Sample 4 felt smoother than bare skin. In this way, by using highly correlated feature quantities, x' value (distance from the origin), y' value (standard deviation), and y'' value (spike amount), it is possible to grasp the temporal change in the texture of each agent during rinsing. In other words, it is possible to make an evaluation based on the correlation between the magnitude of the mechanical physical quantity (e.g., x' value) and the magnitude of the spike signal amount.

[0024] FIG. 11 shows the characteristics of the rinsing state of each agent shown in FIGS. Sample 1 (Figure 11(1)): The feeling is somewhat tight from the first half to the middle of the rinse, and the feeling of tightness decreases in the second half of the rinse, settling at a medium level (a feeling of rinsing bare skin). Sample 2 (Fig. 11(2)): The vibration intensity is small and the duration of the vibration during rinsing is short, so the rinsing sensation is slimy. Sample 3 (Figure 11(3)): The tight feeling lasts, giving a feeling of cleansing and washing. Sample 4 (Figure 11(4)): The vehicle moves back and forth between the slippery zone and the tight zone. In addition to the "squeak" sensation, when rinsing, you can also feel a "creaking" sensation depending on the magnitude of the vibration.

[0025] Here, we will explain the "creaky" sensation. As mentioned above, the creaky sensation refers to the sensation of rubbing while catching. Using the coordinate system shown in Figure 7, "creaky" can be defined as follows. Creaking is a state in which the vibration is strong and not smooth, and the vibration is not uniform. The opposite tactile sensation to the creaky sensation is the "slippery" sensation. As mentioned above, the slippery sensation refers to a feeling in which there is little catching and the fingers slide easily. Using the coordinate system shown in Figure 7, "slip" can be defined as follows. Slipping is a state in which the vibration pattern is uniform, with strong slippage and weak vibration. Therefore, when the plots shown in Figs. 8 to 10 are located in the upper right corner and are large, it can be said that a strong creaking sensation is felt. As shown in Figures 8 to 10, the change in position of each agent over time plotted in the coordinate system shown in Figure 7 differs depending on the agent, but all move on a straight line. This shows that there is also a high correlation between the x' value (distance from the origin) and the y'' value (spike amount). As such, it can be said that there is a high correlation between the x' value (distance from the origin), y' value (standard deviation), and y'' value (spike amount), and therefore it is possible to display them on a time variation graph with the x' value (distance from the origin) as the representative index.

[0026] A time variation graph representing the x' value (distance from the origin) will be described with reference to FIG. As shown in Figure 12(1), the x value (intensity average) and the y value (standard deviation) are highly correlated, and the x value (distance from the origin), y value (standard deviation), and y value (spike amount) calculated from the x value (intensity average) and y value (standard deviation) are also highly correlated, so by compressing this multidimensional data into one dimension, it is possible to express it as the time dependence of the x value (distance from the origin). Figure 12(2) shows the changes in the mechanical physical quantities of the rinsing state of each agent shown in Figures 8 to 10 as a function of time. From FIG. 12(2), for example, in the case of Sample 1, it can be seen that the time shifts before and after the bare skin zone, and finally stabilizes in the bare skin zone. In this way, it is possible to evaluate the tactile sensation of an object that changes over time or the physical properties that produce that tactile sensation from a graph showing the correlation between multiple types of feature amounts.

[0027] Next, we will explain how the tactile feel of the agent being evaluated is evaluated based on the degree to which the variation value (standard deviation (y' value)) of the agent being evaluated deviates from an index (here, the standard regression line is used as the standard index). FIG. 13 is a graph showing coordinate points and standard regression lines consisting of the average and standard deviation shown in FIG. 5. FIG. 13 shows a case where Sample 3 is used as the agent to be evaluated. The "standard regression line" shows the correlation between at least two types of feature amounts (average and standard deviation in the case of FIG. 13) among the multiple types of feature amounts calculated by using multiple types of agents as a population, acquiring time series data of mechanical physical quantities for each agent, and calculating multiple types of feature amounts for each agent. Note that the multiple types of agents included in the population may be any agents, but it is preferable that they have the same purpose (for example, the same cleaning target) as the agent to be evaluated. By using a standard regression line calculated from a similar agent, it is possible to appropriately evaluate the tactile sensation of the agent to be evaluated. In addition, it is preferable to use time series data of mechanical physical quantities occurring between an object and a moving body acquired under the same conditions (for example, the same part to which the agent is applied, the same environment (method of use) of the agent) except for the different agents. In this way, it is possible to appropriately evaluate that the tactile sensation of the agent to be evaluated is due to the type of agent (due to the physical properties of the agent). As shown in Fig. 13, in this embodiment, the distance in the y-axis direction of the coordinate point consisting of the average and the standard deviation from the standard regression line is calculated. That is, the distance in the y-axis direction of the coordinate point consisting of the average and the standard deviation from the standard regression line is quantified. In this embodiment, the distance in the y-axis direction between the standard regression line and the coordinate point consisting of the average and the standard deviation is referred to as "distance in the y-axis direction from the regression line", "deviation from the regression line", or "y value". In this manner, the feature calculation process calculates multiple types of feature amounts for each of the multiple types of agents (e.g., a population of multiple types of agents), the index calculation process further calculates a standard index indicating the correlation between at least two types of feature amounts (e.g., average and standard deviation) among the multiple types of feature amounts of the multiple types of agents, and the degree of deviation between the standard index and any of the feature amounts of the multiple types of agents to be evaluated, and the evaluation process makes it possible to evaluate the feel of an object or the physical properties that create the feel when the agent to be evaluated is applied based on the multiple types of feature amounts (e.g., standard deviation) of the agent to be evaluated (e.g., Sample 3) and the standard index. Moreover, when the index is a regression line, the following may be performed. The predetermined agent is a plurality of types of agents including the agent to be evaluated, and the plurality of types of agents are applied to the object. The acquisition step acquires time series data of mechanical physical quantities for each of the plurality of types of agents, and the feature amount calculation step calculates a plurality of types of feature amounts for each of the plurality of types of agents. The index calculation step calculates a regression line (index) showing the correlation between at least two types of feature amounts among the plurality of types of feature amounts, and further calculates a standard regression line showing the correlation between at least two types of feature amounts (e.g., average and standard deviation) among the plurality of types of feature amounts of the plurality of types of agents. The evaluation step evaluates the object to be evaluated or the physical properties that produce the tactile sensation when the predetermined agent is applied based on any one of the plurality of types of feature amounts of the agent to be evaluated and the standard regression line. In this way, even when the index is a standard regression line, by setting the population to a plurality of types of agents, it is possible to evaluate the tactile sensation of the object or the physical properties that produce the tactile sensation when the agent to be evaluated is applied.

[0028] Figures 14 to 16 are graphs showing the relationship between the "distance in the y-axis direction from the standard regression line" calculated by the method shown in Figure 13 and the "magnitude of vibration" over time (for each specified period). The horizontal axis of Figures 14 to 16 is the magnitude of vibration (x' value = distance from the origin), and the vertical axis is the distance in the y-axis direction (y value) from the standard regression line (regression line). The vertical axis indicates non-uniformity by being the distance in the y-axis direction from the standard regression line. Samples 1 to 4 are plotted in each graph. The difference in the size of the plot indicates the difference in the magnitude of the y' value (standard deviation). Note that Samples 1 to 4 are the same as the specified agent used in Figure 7, and therefore the subjective evaluation is also the same. Here, if the distance in the y-axis direction from the standard regression line is a positive value (deviation in the positive direction), it can be said that the load on the object caused by applying the specified agent is large, and if the distance in the y-axis direction from the standard regression line is a negative value (deviation in the negative direction), it can be said that the load on the object caused by applying the specified agent is small. In other words, by using Figures 14 to 16, it is possible to evaluate the degree of load on the skin when washing and rinsing with a specified agent. As shown in Figures 14 to 16, the following can be seen by comparing the given agents: Sample 1 is somewhat harsh on the skin at the beginning of rinsing, but as time passes the harshness decreases. For Sample 2, the y value was negative for most of the time from the start to the end of rinsing, which indicates that among the products compared, Sample 2 tends to place a lower burden on the skin than the other products. For Sample 3, the y value was positive for most of the time from the start to the end of rinsing, which indicates that among the products compared, Sample 3 tends to place a greater burden on the skin than the other products. In Sample 4, the magnitude of vibration changes from the start to the end of rinsing, but the y-value is negative for most of the time, indicating a tendency for the burden on the skin to be low.

[0029] The process flow of the above-mentioned evaluation method is shown in FIG. The step (step S100) is a step of acquiring time series data of mechanical physical quantities. The acquisition method is as described above. The step (step S110) is a step of determining multiple types of feature quantities from the acquired time-series data of mechanical physical quantities. The method of calculating each feature quantity is as described above. In this embodiment, the average signal strength (x value), standard deviation of signal strength (y' value), spike amount (y'' value), and distance from the origin (x' value) are calculated for each predetermined period (e.g., every 2 seconds). The step (step S120) is a step of calculating an index indicating a correlation between at least two types of feature amounts among the calculated types of feature amounts. When the index is a regression line, the method of calculating the regression line is as described above. In this embodiment, the two types of feature amounts are an average and a standard deviation, and a regression line indicating a correlation between the average and the standard deviation is calculated (see FIG. 5). In the step (step S130), the tactile sensation of the object that changes over time or the physical properties that produce the tactile sensation are evaluated based on the calculated regression line. The evaluation method is as described above. In this embodiment, the coordinate system shown in FIG. 8 to FIG. 10 is used to visually grasp and evaluate the tactile sensation of the object that changes over time or the physical properties that produce the tactile sensation. In addition, the coordinate system shown in FIG. 14 to FIG. 16 is used to visually grasp and evaluate the tactile sensation of the object that changes over time, particularly the load that affects the object or the physical properties that produce the tactile sensation (load) that accompanies the application of a specific agent. In addition, when the object is the skin of the subject's arm or the like and the operating body is the skin of the subject's finger or the like, the load that the specific agent imparts to the "arm" that is touched and the "finger" that touches may also be evaluated.

[0030] <Evaluation device> The evaluation device 200 will be described with reference to FIG. The evaluation device 200 in this embodiment is composed of a moving object 110, an acquisition unit 120, a feature amount calculation unit 130, an index calculation unit 140, and an evaluation unit 150. The evaluation device 200 is also provided with an information processing terminal 100 capable of executing various processes, and the information processing terminal 100 is provided with the feature amount calculation unit 130, the index calculation unit 140, and the evaluation unit 150. The information processing terminal 100 is a general-purpose personal computer, and is provided with input devices such as a keyboard and a pointing device, an arithmetic processing unit (for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), etc.), a storage unit, etc. The information processing terminal 100 is also preferably provided with a display unit 160 (display device), but the display unit 160 may be provided outside the information processing terminal 100 and connected via a network.

[0031] The moving object 110 is a finger 20, a palm, or a measurement tool that is brought into contact with the surface of the skin. The acquiring unit 120 is a means (corresponding to an acquiring means) for acquiring, over time, a mechanical physical quantity generated by moving the finger 20, using the sensor 30 attached to the finger 20 shown in Fig. 1. The mechanical physical quantity (electrical signal) acquired by the sensor 30 is configured so that it can be acquired by the information processing terminal 100 via a network line, a medium, etc. The feature amount calculation unit 130 is a unit (corresponding to a feature amount calculation unit) that calculates a plurality of types of feature amounts from the time-series data of the mechanical physical amount acquired by the acquisition unit 120. The calculation method is the same as that described above. The index calculation unit 140 is a means (corresponding to an index calculation means) for calculating an index indicating a correlation between at least two types of feature amounts among the calculated multiple types of feature amounts. The calculation method is the same as that described above. The evaluation unit 150 is a means (corresponding to an evaluation means) for evaluating the tactile sensation of an object that changes over time or the change over time of the physical properties that produce the tactile sensation, using the multiple types of feature amounts calculated by the feature amount calculation unit 130 and the regression line calculated by the index calculation unit 140. The evaluation content is the same as that described above. It is preferable that the evaluation results by the evaluation unit 150 are displayed on the display unit 160 so that the evaluator can easily grasp them. The display unit 160 displays the evaluation results by the evaluation unit 150, for example, the graphs shown in Figures 8 to 10. In addition, by displaying the graphs shown in Figures 13 and 14 to 16, for example, it becomes possible to evaluate the tactile sensation of an object that changes over time or the physical properties that produce the tactile sensation. The memory unit of the information processing terminal 100 stores a program for executing the above-mentioned evaluation method, in which the program acquires the mechanical physical quantities acquired by the acquisition unit 120, causes the feature calculation unit 130 to calculate multiple types of feature quantities from the acquired mechanical physical quantities, causes the index calculation unit 140 to calculate a regression line, and causes the evaluation unit 150 to display the evaluation results on the display unit 160.

[0032] As described above, the present invention has been described by showing specific embodiments, but the present invention is not limited to the above-described embodiments and also includes various modifications, improvements, and other aspects as long as the object of the present invention is achieved. <Modification> In the present embodiment, time-series data of mechanical physical quantities is obtained for each of a plurality of types of agents including the agent to be evaluated, a standard index showing the correlation between at least two of a plurality of types of feature quantities for each of the plurality of types of agents is calculated, and the texture of an object or the physical properties that produce the tactile sensation when the agent to be evaluated is applied is evaluated; however, the present invention is not limited to this. For example, the object is a plurality of types of object including an object to be evaluated (e.g., a face), and a predetermined agent is applied to each of the plurality of types of object. For example, the plurality of types of object is a head, a face, an arm, etc. Time series data of mechanical physical quantities is acquired for each of the plurality of types of object, and a plurality of types of feature quantities are calculated for each of the plurality of types of object. The index calculation step calculates a standard index indicating a correlation between at least two types of feature quantities (e.g., an average and a standard deviation) among the plurality of types of feature quantities of the plurality of types of object, and a deviation degree between the standard index and any one of the plurality of types of feature quantities (e.g., a standard deviation), and the evaluation step evaluates the physical properties of the object to be evaluated or the touch that produces the touch when the predetermined agent is applied based on the deviation degree. In this way, by making the population a plurality of types of object, it is possible to evaluate the touch of the object to be evaluated or the physical properties of the touch that produces the touch when the predetermined agent is applied to the object to be evaluated, and for example, it is possible to evaluate the load of the predetermined agent on the object when the predetermined agent (the same agent) is applied to the face. Moreover, when the index is a regression line, the following may be performed. The object is a plurality of types of object including an object to be evaluated (e.g., a face), and a predetermined agent is applied to each of the plurality of types of object. The acquisition step acquires time series data of mechanical physical quantities for each of the plurality of types of object, and the feature amount calculation step calculates a plurality of types of feature amounts for each of the plurality of types of object. The index calculation step calculates a regression line (index) showing a correlation between at least two types of feature amounts among the plurality of types of feature amounts, and further calculates a standard regression line showing a correlation between at least two types of feature amounts (e.g., an average and a standard deviation) among the plurality of types of feature amounts of the plurality of types of object. The evaluation step evaluates the object to be evaluated or the physical properties that produce the tactile sensation when a predetermined agent is applied based on any one of the plurality of types of feature amounts of the object to be evaluated and the standard regression line. In this way, even when the index is the standard regression line, by using a plurality of types of objects as the population, it is possible to evaluate the feel of the object to be evaluated when a specified agent is applied to the object to be evaluated, or the physical properties of the feel that produces the feel. For example, it is possible to evaluate the load of a specified agent on an object when the specified agent (the same agent) is applied to the face.

[0033] In the present embodiment, time-series data of mechanical physical quantities is obtained for each of a plurality of types of agents including the agent to be evaluated, a standard index showing the correlation between at least two of a plurality of types of feature quantities for each of the plurality of types of agents is calculated, and the texture of an object or the physical properties that produce the tactile sensation when the agent to be evaluated is applied is evaluated; however, the present invention is not limited to this. For example, the object is a plurality of types of object environments including the environment of the object to be evaluated (e.g., rinsed with water), and the predetermined agent is applied in each state of the plurality of types of object environments. For example, the plurality of types of object environments are rinsed with water, with lukewarm water, with hot water, etc. Time series data of mechanical physical quantities is acquired for each of the plurality of types of object environments, and a plurality of types of feature quantities are calculated for each of the plurality of types of object environments. The index calculation step calculates a standard index indicating a correlation between at least two types of feature quantities (e.g., average and standard deviation) among the plurality of types of feature quantities of the plurality of types of object environments, and a deviation degree between the standard index and any of the plurality of types of feature quantities (e.g., standard deviation), and the evaluation step evaluates the physical properties of the object to be evaluated or the tactile sensation that produces the tactile sensation when the predetermined agent is applied based on the deviation degree. In this way, by making the population into an environment of multiple types of objects, it is possible to evaluate the feel of the object being evaluated when a specified agent is applied to the environment of the object being evaluated, or the physical properties of the feel that produces the feel. For example, it is possible to evaluate the load of a specified agent on an object when a specified agent (the same agent) is applied to the object and then rinsed with water. Moreover, when the index is a regression line, the following may be performed. There are a plurality of types of object environments including an environment to be evaluated (e.g., rinsed with water), and a predetermined agent is applied in each state of the plurality of types of object environments. The acquisition step acquires time series data of mechanical physical quantities for each of the plurality of types of environments, and the feature amount calculation step calculates a plurality of types of feature amounts for each of the plurality of types of environments. The index calculation step calculates a regression line (index) showing a correlation between at least two types of feature amounts among the plurality of types of feature amounts, and further calculates a standard regression line showing a correlation between at least two types of feature amounts (e.g., average and standard deviation) among the plurality of types of feature amounts for the plurality of types of environments. The evaluation step evaluates the object or the physical properties that produce the tactile sensation when a predetermined agent is applied in the environment to be evaluated based on any one of the plurality of types of feature amounts of the environment to be evaluated and the standard regression line. In this way, even when the index is the standard regression line, by setting the population to the environments of multiple types of objects, it is possible to evaluate the feel of the object to be evaluated when a specified agent is applied in the environment of the object to be evaluated, or the physical properties of the feel that produces the feel. For example, it is possible to evaluate the load of the specified agent on the object when a specified agent (the same agent) is applied to the object and then rinsed with water.

[0034] In this embodiment, the degree of deviation of the variation in the y-axis direction from the standard regression line is quantified, and the tactile sensation of the object when the agent to be evaluated is applied, the load caused by the agent to be evaluated, or the physical properties that generate the tactile sensation are evaluated based on the value, but this is not limited to this. For example, it is also possible to quantify the degree of deviation of the spike signal amount in the y-axis direction, and to evaluate the tactile sensation of the object when the agent to be evaluated is applied, the load caused by the agent to be evaluated, or the physical properties that generate the tactile sensation based on the value. Note that, when quantifying the degree of deviation, it is also possible to focus on the x-axis direction instead of the y-axis direction to quantify.

[0035] In this embodiment, the deviation of the variation (y' value) in the y-axis direction from the standard regression line is quantified, and a graph is created for each predetermined period (e.g., the first period, the fourth period, etc.) as shown in Figs. 14 to 16, and the tactile sensation of the object that changes over time when the agent to be evaluated is applied, the load caused by the agent to be evaluated, or the physical properties that produce the tactile sensation are evaluated, but this is not limited to this. For example, the sum of the quantified values ​​(deviation amounts) for each predetermined period may be calculated, and the total load on the object caused by the agent to be evaluated from the start to the end of the movement of the moving body may be calculated. In addition, by comparing the total load on the object caused by the agent to be evaluated from the start to the end of the movement of the moving body with the deviation amount for each predetermined period, it is possible to evaluate what proportion of the total load the load on the object caused by the agent to be evaluated changes over time.

[0036] In this embodiment, as an example of evaluation based on one of a plurality of types of feature quantities and a regression line, the case of the average regression line and feature quantity (average and standard deviation) and the case of the standard regression line and feature quantities (average and standard deviation) of a plurality of types of agents were described. That is, the evaluation of the texture of an object or the physical properties that produce the texture was performed based on the feature quantity used to create the regression line by regression analysis and the created regression line, but this is not limited thereto. For example, the evaluation of the texture of an object or the physical properties that produce the texture may be performed based on a feature quantity other than the feature quantity used to create the regression line and the regression line. In addition, in this embodiment, the evaluation of the texture of an object or the physical properties that produce the texture was performed based on the position of the feature quantity for each predetermined period (for example, the coordinates of the first period, the coordinates of the fourth period, etc., described as "time series plot") relative to the regression line, but this is not limited thereto. For example, the distance that the time series plot has moved on the regression line (total distance moved on the regression line), the initial position of the time series plot on the regression line, the final position of the time series plot on the regression line, the direction in which the time series plot starts moving from the initial position on the regression line (starting direction), the direction from which the time series plot has moved to the final position on the regression line, the sum of the deviations (or the sum of squares of the deviations) between the standard regression line and the regression line to be evaluated (individual regression line), etc. These values ​​may be used individually for evaluation, or a combination of these values ​​may be used for evaluation.

[0037] In this embodiment, the predetermined threshold for determining a "spike" may be a predetermined percentage of the signal strength of the acquired signal waveform (for example, a predetermined percentage of the maximum signal strength). [Explanation of symbols]

[0038] 10 Arithmetic unit 20 fingers 30 Sensors 40 Cleaning Agent 100 Information processing terminal 110 Action 120 Acquisition Department 130 Feature Calculation Unit 140 Indicator calculation section 150 Evaluation Department 160 Display section 200 Evaluation Device

Claims

1. An acquisition step involves repeatedly operating a moving body that has come into contact with an object to which a predetermined agent has been applied, and acquiring time-series data of mechanical physical quantities generated between the object and the moving body. A feature calculation step involves calculating multiple types of feature quantities at predetermined intervals from the time-series data of the acquired mechanical physical quantities, A step of calculating an index that shows the correlation between at least two types of features from the aforementioned multiple types of features, An evaluation method comprising an evaluation step of evaluating the tactile sensation of an object or the physical properties that produce such a tactile sensation, which change over time based on the calculated index.

2. The aforementioned index calculation step calculates the degree of discrepancy between the index and one of the multiple types of feature quantities, The evaluation method according to claim 1, wherein the evaluation step evaluates the tactile sensation of the object or the physical properties that produce the tactile sensation, which change over time based on the degree of displacement.

3. The evaluation method according to claim 1 or 2, wherein the plurality of feature quantities include at least one of the mechanical physical quantity, the statistic of the mechanical physical quantity, the spike signal quantity which is greater than or equal to a predetermined threshold of the mechanical physical quantity or the statistic of the mechanical physical quantity, and a feature quantity calculated from the mean or variability which is the statistic of the mechanical physical quantity.

4. The evaluation method according to claim 3, wherein the evaluation step evaluates the tactile sensation of the object or the physical properties that produce the tactile sensation based on the correlation between the magnitude of the mechanical physical quantity and the magnitude of the spike signal quantity.

5. The index calculation step involves calculating a regression line that shows the correlation between at least two of the multiple types of features as the index, The evaluation method according to claim 1, wherein the evaluation step evaluates the tactile sensation of the object or the physical properties that produce the tactile sensation, which change over time, based on any of the feature quantities among the plurality of feature quantities and the regression line.

6. The predetermined agent is a plurality of agents including the agent to be evaluated, and each of the plurality of agents is applied to the object. The acquisition step involves acquiring time-series data of the mechanical physical quantities for each of the multiple types of agents. The feature calculation step involves calculating the multiple types of feature quantities for each of the multiple types of agents, The aforementioned index calculation process is as follows: A standard index that shows the correlation between at least two of the feature quantities of the aforementioned multiple types of agents, Further calculate the degree of discrepancy between the standard index and any of the multiple types of feature quantities of the agent being evaluated. The evaluation method according to claim 1, wherein the evaluation step evaluates the tactile sensation of the object or the physical properties that produce the tactile sensation when the agent to be evaluated is applied based on the degree of deviation.

7. The aforementioned object is a plurality of types of objects, including the object to be evaluated, and the predetermined agent is applied to each of the plurality of types of objects. The acquisition step involves acquiring time-series data of the mechanical physical quantities for each of the multiple types of objects. The feature calculation step involves calculating the multiple types of feature quantities for each of the multiple types of objects, The aforementioned index calculation process is as follows: A standard index that shows the correlation between at least two types of feature quantities among the multiple types of feature quantities of the multiple types of objects, Further calculate the degree of discrepancy between the standard index and any of the multiple types of feature quantities of the object being evaluated. The evaluation method according to claim 1, wherein the evaluation step evaluates the tactile sensation of the object to be evaluated or the physical properties that produce the tactile sensation when the predetermined agent is applied based on the degree of displacement.

8. The environment in which the object to which the predetermined agent is applied differs, and there are multiple types of environments, including the environment to be evaluated. The acquisition step involves acquiring time-series data of the mechanical physical quantities for each of the multiple types of environments. The feature calculation step involves calculating the multiple types of features for each of the multiple types of environments, The aforementioned index calculation process is as follows: A standard index that shows the correlation between at least two types of features from among the multiple types of features of the multiple types of environments, Further calculate the degree of discrepancy between the standard index and one of the multiple types of feature quantities of the environment being evaluated. The evaluation method according to claim 1, wherein the evaluation step evaluates the tactile sensation of the object or the physical properties that produce the tactile sensation when the predetermined agent is applied in the environment to be evaluated based on the degree of deviation.

9. The evaluation step is to evaluate the object or the physical properties that produce the tactile sensation when the predetermined agent is applied to the standard index based on the amount of deviation of variation or the amount of deviation of spike signal quantity, according to any one of claims 6 to 8.

10. The evaluation method according to claim 9, wherein the evaluation step evaluates the change over time of the tactile sensation of the object or the change over time of the physical properties that produce the tactile sensation when the predetermined agent is applied, based on the change over time of the amount of deviation.

11. The evaluation method according to claim 9, wherein the evaluation step involves plotting the mechanical physical quantity, the amount of deviation, and the elapsed time since the application of the predetermined agent in a predetermined coordinate system for each of the multiple types of agents, each of the multiple types of objects, or each of the multiple types of environments, and evaluating the change over time of the tactile sensation of the object when the predetermined agent is applied or the change over time of the physical properties that produce the tactile sensation when the predetermined agent is applied, based on the plotted positions.

12. An acquisition means for acquiring time-series data of mechanical physical quantities generated between an object to which a predetermined agent has been applied and the operating body, by repeatedly operating the operating body in contact with the object. A feature calculation means that calculates multiple types of feature quantities at predetermined intervals from the time-series data of the acquired mechanical physical quantities, An index calculation means for calculating an index that shows the correlation between at least two of the aforementioned multiple types of features, An evaluation apparatus including an evaluation step of evaluating the tactile sensation of an object or the physical properties that produce such a tactile sensation, which change over time based on the calculated index.

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