Force feedback device, system, navigation system, vehicle, driving simulator, control program, and control method

Abstract

To efficiently adjust an amount of stimulation by shear deformation to a human.SOLUTION: A force sense presentation system 100 includes: a seated force sense presenting device 2 that has a contact piece 200 directly or indirectly contacting the skin of buttocks of a human, causes shear deformation on the skin of the buttocks by displacement of the contact piece 200, and presents a force sense by the stimulation intensity generated on the skin of the buttocks by the shear deformation; and a control unit 1 that adjusts an amount of displacement of the contact piece 200 based on information regarding the force sense received by the human by one or more specified stimulation intensities for presenting the force sense by the seated force sense presenting device 2.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The technology described in this specification relates to a force feedback system, a control program, and a control method. [Background technology]

[0002] Driving simulators include motion platform types that are fixed to the ground, and movable motion platform types that can move in translation with respect to the ground using a slider or the like (for example, Patent Document 1). In fixed motion platform type driving simulators, the vehicle body or the driver's seat is tilted to allow the passenger to experience the acceleration during driving. In movable motion platform type driving simulators, the housing is moved in translation in a large area, allowing the passenger to experience the acceleration of an actual car almost accurately.

[0003] As a conventional technology for providing tactile sensations while driving, vibrators are sometimes applied to actual vehicles such as automobiles. For example, a vibrator built into the seat provides sensory information to a passenger seated in the seat to support the passenger in driving.

[0004] There is a seated force feedback device that can be mounted on the driving simulator or vehicle described above and applies shear deformation to the skin of the buttocks (for example, Non-Patent Document 1). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2010-12290 A [Non-patent literature]

[0006] [Non-Patent Document 1] Arata Horie, Akito Nomura, Kenjiro Tadakuma, Masashi Konyo, Hikaru Nagano, and Satoshi Tadokoro, AsiaHaptics 2018 "Enhancing Haptic Experience in a Seat with Two-DoF Buttock Skin Stretch" November 2018 Summary of the Invention [Problem to be solved by the invention]

[0007] However, in a fixed motion platform driving simulator, the movable range is narrow, making it difficult to reproduce translational acceleration, and there is a risk that the device will become huge in order to move the seat or the vehicle body. Also, in a movable motion platform driving simulator, there is a risk that a huge site and equipment will be required to reproduce translational acceleration.

[0008] In an actual vehicle seat equipped with a vibrator, the vibration of the vehicle body may act as a disturbance and reduce the perception sensitivity of the vibration stimuli.

[0009] Even if a seated force feedback device that applies shear deformation to the buttocks skin is simply applied to a driving simulator or vehicle, it may cause discomfort to the human if the amount of stimulation is not adjusted appropriately. Since the relationship between skin shear deformation and the sense of force perceived varies from person to person, it is expected that the relationship between skin displacement and the sense of force perceived will be obtained through psychophysical experiments. However, it is practically difficult to identify the displacement-perception function in advance through psychophysical experiments, and it is difficult to adjust it to suit the individual.

[0010] In one aspect, the technology described herein aims to efficiently adjust the amount of shear deformation stimulation to a human buttocks while in a seated position. [Means for solving the problem]

[0011] In one aspect, the force sensation presentation system comprises a seated force sensation presentation device having contactors that directly or indirectly contact the skin of a human's buttocks, causing shear deformation in the skin of the buttocks by displacement of the contactors, and presenting a force sensation based on a stimulation intensity produced in the skin of the buttocks by the shear deformation, and a control device that adjusts the amount of displacement of the contactors based on information regarding the force sensation received by the human by one or more specified stimulation intensities for presenting a force sensation by the seated force sensation presentation device. Effect of the Invention

[0012] One aspect is that it can efficiently adjust the amount of stimulation delivered to a person through shear deformation. [Brief description of the drawings]

[0013] [Figure 1] 1 is a block diagram illustrating a schematic configuration example of a force feedback system according to an embodiment. [Diagram 2] 1A and 1B are diagrams illustrating a seated type haptic device having a translation mechanism and a rotation mechanism. [Diagram 3] 3(a) to 3(d) are diagrams illustrating an example of the hardware configuration and driving of a drive unit in the seated type force feedback device having a translation mechanism illustrated in FIG. 2. [Figure 4] 13A is a graph illustrating an example of the process of identifying a displacement-perception function with two stimuli, and FIG. 13B is a graph illustrating an example of the process of identifying a displacement-perception function with one stimulus. [Diagram 5] 11 is a graph illustrating a correction process of a displacement-perception function. [Figure 6] 11A and 11B are first and second examples of screen displays on a monitor for a user's correction process of a displacement-perception function. [Figure 7] 13 is a third example of a screen display on a monitor for a user's correction process of a displacement-perception function. [Figure 8] 13 is a graph simply illustrating a third example of a correction process of a displacement-perception function by a user. [Figure 9]13A is a graph showing a first example of a displacement-perception function correction process by a user, FIG. 13B is a graph showing a second example thereof, and FIG. 13C is a graph showing a third example thereof. [Figure 10] 11A and 11B are diagrams illustrating a displacement-perception function correction process performed by a user. [Figure 11] 13A is a graph illustrating a correction process of the displacement-perception function accompanying the occurrence of a disturbance, and FIG. 13B is a graph illustrating a correction process of the displacement-perception function accompanying a change over time. [Figure 12] 1A is a diagram illustrating a first example of navigation processing by the force feedback system shown in FIG. 1, and FIG. 1B is a diagram illustrating a second example of navigation processing by the force feedback system shown in FIG. [Figure 13] 2 is a block diagram illustrating a sensor device in the force feedback system shown in FIG. 1. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment will be described with reference to the drawings. However, the embodiment described below is merely an example, and is not intended to exclude various modifications and application of techniques not explicitly stated in the embodiment. In other words, the present embodiment can be modified in various ways without departing from the spirit of the present invention.

[0015] In addition, each figure does not necessarily include only the components shown in the figure, but may include other components. In the following drawings, parts with the same reference numerals indicate the same or similar parts unless otherwise specified.

[0016] [A] Embodiment FIG. 1 is a block diagram illustrating a schematic configuration example of a haptic system 100 according to an embodiment.

[0017] The haptic system 100 includes a control device 1, a seated haptic device 2, and a monitor 3.

[0018] The monitor 3 presents the image output from the control device 1 to the user (in other words, a human). The monitor 3 may be a touch panel and may receive input from the user. Note that the input from the user may be received by various input devices (not shown).

[0019] The seating type haptic device 2 presents a force sense to the user under the control of the control device 1. The seating type haptic device 2 includes, for example, two drive units 20. The seating type haptic device 2 applies shear deformation to the user's skin when the user's left and right buttocks come into contact with drivable contacts 200 provided on the two drive units 20, respectively. The action of applying shear deformation to the skin of the buttocks may be referred to as skin stretch.

[0020] A support unit 201 is formed around the driving unit 20. The support unit 201 supports the outer circumference of the buttocks and effectively deforms the skin contained inside the support unit 201. Due to the presence of the support unit 201, even if the contactor 200 is moved, the entire buttocks does not translate, and the skin surrounded (in other words, constrained) by the support unit 201 effectively undergoes shear deformation. At this time, the shear force generated in the contactor 200 cancels out the force generated in the support unit 201. Therefore, the seating type haptic device 2 does not necessarily physically reproduce the shear force applied to the entire buttocks, and presents the haptic sensation by the illusion of the user. In addition, the support unit 201 supports the weight of the user's upper body, thereby reducing the load applied to the contactor 200 and reducing the driving force required for the translation of the contactor 200. This makes it possible to drive the contactor 200 with a relatively small actuator.

[0021] The two drive units 20 are driven in the same way to give symmetrical shear deformation to the left and right buttocks. The two drive units 20 may be moved asymmetrically. For example, a centrifugal force sensation may be emphasized by providing a difference between the left and right. The drive unit 20 may move the skin left and right, front and back, or both directions to give shear deformation to the skin, or the drive unit 20 may be a roller that gives shear deformation to the skin. There may be clothing between the drive unit 20 and the buttock skin. The drive unit 20, the support unit 201, and the members that support them may use flexible materials or mechanisms that are compatible with the shape of the buttocks or that enhance comfort. A detailed example of the seated type haptic device 2 will be described later with reference to FIG. 3. The seated type haptic device 2 may be installed on a driving simulator or a car seat, or may be installed inside the seat cover.

[0022] The control device 1 controls the force sense presented to the user by the seating type force sense presentation device 2 by adjusting the displacement amount of the contact 200 of the seating type force sense presentation device 2. The control device 1 includes a Central Processing Unit (CPU) 11, a memory 12, and a storage device 13.

[0023] The memory 12 is a storage device including a Read Only Memory (ROM) and a Random Access Memory (RAM).

[0024] The storage device 13 is a device that stores data in a readable and writable manner, and may be, for example, a hard disk drive (HDD), a solid state drive (SSD), or a storage class memory (SCM). The storage device 13 may store information about the displacement-perception function that is adjusted and identified for each user.

[0025] The CPU 11 is a processing device that performs various controls and calculations, and realizes various functions by executing an Operating System (OS) and programs stored in the memory 12.

[0026] The CPU 11 is an example of a computer, and exemplarily controls the operation of the entire control device 1. The device for controlling the operation of the entire control device 1 is not limited to the CPU 11, and may be, for example, any one of an MPU, a DSP, an ASIC, a PLD, an FPGA, and a dedicated processor. The device for controlling the operation of the entire control device 1 may be a combination of two or more of the CPU, the MPU, the DSP, the ASIC, the PLD, the FPGA, and a dedicated processor. Note that MPU is an abbreviation for Micro Processing Unit, DSP is an abbreviation for Digital Signal Processor, and ASIC is an abbreviation for Application Specific Integrated Circuit. Also, PLD is an abbreviation for Programmable Logic Device, and FPGA is an abbreviation for Field Programmable Gate Array.

[0027] FIG. 2 is a diagram illustrating the seating type haptic device 2 having a translation mechanism and a rotation mechanism.

[0028] Reference symbol A1 shows a seated type haptic device 2 with a translation mechanism as viewed from the back of the buttocks, and reference symbol A2 shows a seated type haptic device 2 with a translation mechanism as viewed from the side of the buttocks. In reference symbol A1, the contactor 200 translates left and right as viewed from the user, thereby providing a left-right force sensation to the buttocks, and in reference symbol A2, the contactor 200 translates front and back as viewed from the user, thereby providing a front-back force sensation to the buttocks.

[0029] Reference symbol A3 shows the seating type force sense presentation device 2 with a rotation mechanism as seen from the back of the buttocks, and reference symbol A4 shows the seating type force sense presentation device 2 with a rotation mechanism as seen from the side of the buttocks. In reference symbol A3, the contactor 200 rotates left and right as seen from the user, thereby providing a force sense in the left-right direction to the buttocks, and in reference symbol A4, the contactor 200 rotates back and forth as seen from the user, thereby providing a force sense in the front-back direction to the buttocks.

[0030] The contact 200 of the translation mechanism and the contact 200 of the rotation mechanism may be combined.

[0031] Figures 3(a) to (d) are diagrams showing an example of the hardware configuration and driving of the driving unit 20 in the seating type force feedback device 2 having the translation mechanism shown in Figure 2. Figures 3(a) to (d) show only one of the two driving units 20 shown in Figure 1.

[0032] Fig. 3(a) is a diagram for explaining an example of driving in the forward direction, Fig. 3(b) is a diagram for explaining an example of driving in the backward direction, Fig. 3(c) is a diagram for explaining an example of driving in the left direction, and Fig. 3(d) is a diagram for explaining an example of driving in the right direction. Note that the directions of front, back, left and right are based on the user seated on the seated type haptic device 2. The user sits on the drive unit 20 with his / her legs facing upward on the paper surface of Fig. 3 and his / her back facing downward on the paper surface.

[0033] The drive unit 20 includes a first motor 21, a second motor 22, a first input shaft 23, a second input shaft 24, a first stage 25, a second stage 26, two linear guides 27, 28, and an operating unit 29.

[0034] The first input shaft 23 connected to the ball screw is rotated by the first motor 21 via a timing belt shown by a dashed line, thereby moving the first stage 25 left and right. Similarly, the second input shaft 24 connected to the ball screw is rotated by the second motor 22 via a timing belt shown by a dashed line, thereby moving the second stage 26 left and right. This controls the distance and position of the first stage 25 and the second stage 26.

[0035] The operating unit 29 moves up and down by two linear guides 27, 28 that are obliquely intersecting at 45 degrees depending on the distance between the first stage 25 and the second stage 26. When the first stage 25 and the second stage 26 are moved left and right so that the distance between the first stage 25 and the second stage 26 is kept constant, the operating unit 29 moves left and right.

[0036] In the example shown in (a) of FIG. 3, the distance between the first stage 25 and the second stage 26 increases, causing the operating unit 29 to move forward. In the example shown in (b) of FIG. 3, the distance between the first stage 25 and the second stage 26 decreases, causing the operating unit 29 to move backward. In the example shown in (c) of FIG. 3, the first stage 25 and the second stage 26 move leftward while maintaining the distance, causing the operating unit 29 to move leftward. In the example shown in (d) of FIG. 3, the first stage 25 and the second stage 26 move rightward while maintaining the distance, causing the operating unit 29 to move rightward.

[0037] Fig. 4(a) is a graph illustrating the process of identifying the displacement-perception function for two stimuli, and Fig. 4(b) is a graph illustrating the process of identifying the displacement-perception function for one stimulus. In Fig. 4(a) and (b), the horizontal axis indicates the displacement of the contact 200, and the vertical axis indicates the intensity of the perceived force.

[0038] As shown in (a) of Fig. 4, the displacement-perception function may be identified by finding two points (stimuli #1 and #2 selected by the user) and connecting these points. Also, as shown in (b) of Fig. 4, the displacement-perception function may be identified by finding one point and assuming another point that is assumed from a predefined standard displacement-perception function (in other words, a standard function).

[0039] The displacement-perception function may be expressed by the following sensory scale (Stevens' power law): S(x) is the subjective amount of force [-] (unitless), x is the displacement of the contact 200 [mm], and α and β are sensory constants.

number

[0040] FIG. 5 is a graph illustrating a correction process of the displacement-perception function.

[0041] As shown by the solid line in Fig. 5, the relationship between the displacement of one or more contacts 200 and the perceived force is obtained. Then, as shown by the dashed line and the dashed-dotted line in Fig. 5, α and β in the interval scale formula shown in Equation 1 are corrected according to the physique and preferences of each individual, human sensory characteristics, the external situation, and the like, to correct the displacement-perception function. The dashed line in Fig. 5 shows an example of the displacement-perception function when the stimulation is strengthened, and the dashed-dotted line in Fig. 5 shows an example of the displacement-perception function when the stimulation is weakened. This adjusts the amount of stimulation to the user's buttocks.

[0042] When converting a physical quantity such as an external force calculated by a driving simulator or the like into a displacement, the amount of displacement may be adjusted according to the relational expression between the physical quantity and the perception intensity in addition to the above-mentioned displacement-perception function.

[0043] Fig. 6 shows first and second examples of screen displays on the monitor 3 for a user to perform a correction process of the displacement-perception function. The operation for the correction process shown in Fig. 6 may be performed by the user using the touch panel function of the monitor 3, or may be performed using a dial or the like (not shown).

[0044] The correction process of the displacement-perception function by the user is performed based on a standard stimulus. The standard stimulus may be a maximum intensity, a medium intensity, or the like, based on the standard function. When there is one standard stimulus, the processes of steps #1 and #2 are performed, and when there are two standard stimuli, the processes of steps #1 to #4 are performed.

[0045] In step #1, when the contact 200 is gradually moved to the standard maximum intensity position, the indicator showing the current displacement amount moves from the initial position to the position showing the maximum intensity, so that the user perceives the standard maximum intensity stimulation.

[0046] In step #2, the user determines the user's preferred maximum intensity by fine-tuning an indicator showing the position of the standard maximum intensity.

[0047] Through the above steps #1 and #2, the process of correcting the displacement-perception function by the user based on one stimulus is completed.

[0048] In step #3, when the contact 200 is gradually moved to a position where a standard medium intensity stimulus is applied, the indicator moves to a position indicating medium intensity, whereby the user perceives the standard medium intensity stimulus.

[0049] In step #4, the user moves the indicator to a location of the stimulus that the user considers to be intermediate compared to maximum intensity.

[0050] Through the above steps #1 to #4, the process of correcting the displacement-perception function by the user based on the two stimuli is completed.

[0051] FIG. 7 is a third example of a screen display on the monitor 3 for the user's correction process of the displacement-perception function.

[0052] In step #1, the seat surface gradually moves as an indicator showing the current displacement is moved from the initial position to the position of the standard reference stimulus. When the indicator moves to the position of the reference stimulus, the user perceives the reference stimulus.

[0053] In step #2, when the indicator is moved to the standard position where the user feels the stimulus is twice as strong as the reference stimulus, the seat also moves slowly, and the user perceives the stimulus as twice as strong as the standard.

[0054] In stage #3, the user fine-tunes the position of the double-intensity stimulus relative to the reference stimulus with the indicator. When the indicator is moved with a dial or touch panel, the position of the double-intensity stimulus also moves, and the position of the double-intensity stimulus is determined.

[0055] FIG. 8 is a graph simply illustrating a third example of a process for correcting the displacement-perception function by a user.

[0056] The displacement-perception function is identified using two points: one point determined from the displacement of the reference stimulus and its corresponding reference intensity (10 in Figure 8) and one point determined from the displacement and double intensity of the selected double intensity stimulus (20 in Figure 8).

[0057] FIG. 9(a) is a graph showing a first example of the displacement-perception function correction process by a user, FIG. 9(b) is a graph showing a second example thereof, and FIG. 9(c) is a graph showing a third example thereof.

[0058] The control device 1 identifies a displacement-perception function based on the result of adjusting the displacement amount for one or more standard stimuli. In (a) of FIG. 9, the displacement-perception function is identified based on the maximum stimulus and the intermediate stimulus selected by the user. In (b) of FIG. 9, the displacement-perception function is identified based on the maximum stimulus selected by the user and another point assumed from the standard function. In (c) of FIG. 9, the displacement-perception function is identified based on the reference stimulus and the doubled stimulus selected by the user.

[0059] FIG. 10 is a diagram for explaining the process of correcting the displacement-perception function by the user.

[0060] As shown by symbol B1, the user sits in the seat. As shown by symbol B2, the user adjusts the output of the seated haptic device 2 to the maximum amount of stimulation that the user can accept while looking at the display reflecting the amount of stimulation. As shown by symbol B3, the user adjusts the output of the seated haptic device 2 to an amount of stimulation that gives a sensation of half the maximum amount of stimulation. Note that when identification is performed with one stimulus, the process shown by symbol B3 is omitted. Then, as shown by symbol B4, the displacement-perception function is identified based on the maximum amount of stimulation and half the amount of stimulation.

[0061] In addition, when the identification of the displacement-perception function is performed based on the reference stimulus and the double-intensity stimulus, the output of the reference stimulus may be adjusted in the process shown by reference symbol B2, and the output of the double-intensity stimulus may be adjusted in the example shown by reference symbol B3. Moreover, the adjustment of the output and the identification of the displacement-perception function shown by reference symbols B2 to B4 may be performed separately for the front-back direction and the left-right direction of the buttocks.

[0062] FIG. 11(a) is a graph illustrating a correction process of the displacement-perception function accompanying the occurrence of a disturbance, and FIG. 11(b) is a graph illustrating a correction process of the displacement-perception function accompanying a change over time.

[0063] The control device 1 may control the force sense presented by the seated type force sense presentation device 2 according to the magnitude of disturbance (in other words, vibration from outside the force sense presentation system 100). Because the skin sensitivity of the buttocks decreases due to disturbances such as vehicle vibration, the control device 1 may measure the vibration intensity in the environment in which the force sense presentation system 100 is installed and adjust the displacement amount of the contactor 200. In the example shown in Fig. 11(a), the displacement-perception function indicated by the solid line is corrected to the displacement-perception function indicated by the dashed line.

[0064] The displacement-perception function associated with the occurrence of a disturbance can be expressed, for example, by the following equation: Here, H(I) is a correction function that depends on the vibration strength I (in other words, the strength of the disturbance).

number

[0065] Furthermore, the control device 1 may increase or decrease the displacement of the contact 200 according to the adaptation of the user's senses over time. If the same displacement is presented for a long time due to the adaptation phenomenon, humans adapt to the stimulus and the perceived stimulus becomes weaker. Therefore, if the steady change continues for a certain period of time or more, the displacement may be gradually corrected to be stronger by a time function. In the example shown in FIG. 11(b), the displacement-perception function is corrected by a time-dependent adaptation function G(t).

[0066] A displacement-perception function that takes into account adaptation when the same displacement is continuously applied for a certain period of time is expressed, for example, by the following equation:

number

[0067] (a) of Figure 12 is a diagram illustrating a first example of navigation processing by the force feedback system 100 shown in Figure 1, and (b) of Figure 12 is a diagram illustrating a second example of navigation processing by the force feedback system 100 shown in Figure 1.

[0068] In a navigation system for routes in a vehicle such as an automobile, directional stimulation may be given to the buttocks in synchronization with route guidance by voice or the like.

[0069] In the example shown in (a) of Figure 12, as the vehicle approaches a guidance point provided by the navigation system, stimulation of the buttocks to the left is generated by the seated haptic device 2 in synchronization with the voice guidance "100 meters ahead, turn left."

[0070] In the example shown in FIG. 12(b), as the vehicle approaches, for example, 200 m··100 m··50 m from the guidance point provided by the navigation system, the buttocks are stimulated to the left by the seating type haptic device 2 gradually becoming stronger.

[0071] FIG. 13 is a block diagram illustrating the sensor device 5 in the force feedback system 100 shown in FIG.

[0072] The control device 1 shown in Fig. 1 may be equipped with sensors for detecting danger to the traveling of a vehicle such as an automobile, as shown in Fig. 13. The sensor device 5 includes, for example, a collision detection sensor 511, a vehicle distance sensor 512, a drowsiness detection sensor 513, and a lane departure sensor 514.

[0073] The collision detection sensor 511 detects the possibility of a collision due to the approach of the host vehicle with another vehicle or an obstacle. When the collision detection sensor 511 detects the possibility of a collision, the control device 1 causes the seating type force sense presentation device 2 to present a force sense to the user. The movement direction of the contactor 200 may be, for example, a direction away from the other vehicle or the obstacle.

[0074] The inter-vehicle distance sensor 512 detects the distance between the host vehicle and another vehicle. When the inter-vehicle distance sensor 512 detects that the distance between the vehicles is equal to or less than a threshold, the control device 1 causes the seating type force sense presentation device 2 to present a force sense to the user. The movement direction of the contact piece 200 may be, for example, a direction away from the other vehicle (for example, backward).

[0075] The drowsiness detection sensor 513 is, for example, a camera, and detects the drowsiness of the user, who is the driver of the vehicle, depending on the degree to which the eyelids are open. When the drowsiness detection sensor 513 detects the drowsiness of the user, the control device 1 causes the seating type haptic device 2 to present a haptic sensation to the user. The moving direction of the contactor 200 may be, for example, random or lateral oscillation.

[0076] The lane departure sensor 514 detects departure from the lane in which the vehicle is traveling. When the lane departure sensor 514 detects departure from the lane, the control device 1 causes the seating type haptic device 2 to present a force sense to the user. The moving direction of the contact 200 may be, for example, a direction to return to the lane in which the vehicle is traveling.

[0077] When the seating type haptic device 2 is provided in a vehicle such as an automobile, the control device 1 may control the force sense provided by the seating type haptic device 2 so as to amplify the acceleration or centrifugal force perceived by the user due to the vehicle moving. On the other hand, when the seating type haptic device 2 is provided in a vehicle such as an automobile, the control device 1 may control the force sense provided by the seating type haptic device 2 so as to reduce the acceleration or centrifugal force perceived by the user due to the vehicle moving. Note that the seating type haptic device 2 may be provided not only in the driver's seat but also in the passenger seat or rear seat in a vehicle such as an automobile.

[0078] When the seating type haptic device 2 is provided in a motion platform type driving simulator, the control device 1 may control the haptics provided by the seating type haptic device 2 so as to amplify the translational acceleration perceived by the user by the motion platform type driving simulator. On the other hand, when the seating type haptic device 2 is provided in a fixed type driving simulator, the control device 1 may control the seating type haptic device 2 to provide a haptics corresponding to the running of a vehicle imagined by the fixed type driving simulator.

[0079] [B] Other The disclosed technology is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the embodiments. The configurations and processes of the embodiments can be selected as necessary, or can be combined as appropriate.

[0080] In the above-described embodiment, the seating type haptic device 2 is provided in an automobile or a driving simulator, but the present invention is not limited to this. The seating type haptic device 2 may be provided in, for example, a Virtual Reality (VR) system, an amusement park ride, or a racing machine in an arcade.

[0081] [C] Effect According to the force feedback system 100, the control program, and the control method in the example of the embodiment, for example, the following advantageous effects can be obtained.

[0082] The seated type haptic device 2 presents a force sensation due to shear deformation to the human skin. The control device 1 adjusts the amount of displacement of the seated type haptic device 2 based on information input according to the force sensation received by the human. This makes it possible to efficiently adjust the amount of stimulation due to shear deformation to the human.

[0083] The control device 1 adjusts the amount of displacement based on one or more specified stimulation intensities for presenting a force sensation by the seated force sensation presentation device 2. This allows the amount of displacement to be adjusted according to individual differences in force sensation perception due to the user's physique, etc., and preferences.

[0084] The control device 1 adjusts the amount of displacement by identifying a function that indicates the relationship between the amount of displacement and the force sense, using one or more prescribed stimulation intensities, thereby making it possible to easily identify the displacement-perception function.

[0085] The control device 1 adjusts the amount of displacement according to the magnitude of the disturbance, thereby making it possible to convey the desired sense of stimulation to the user even in an environment with strong external vibrations.

[0086] The control device 1 adjusts the amount of displacement according to the passage of time during which the force sense is presented by the seating type force sense presentation device 2. This makes it possible to prevent the user's sense of stimulation from decreasing due to the adaptation phenomenon.

[0087] The control device 1 controls the seating type haptic device 2 to present a force sense in the direction of vehicle movement indicated by the navigation system. This allows the user to be aware of directional route guidance even if he or she is not paying attention to the audio or screen display of the navigation system.

[0088] The control device 1 controls the seated haptic device 2 to increase the force sense presented as the vehicle approaches a guide point indicated by the navigation system. This allows the user to intuitively sense the distance to a guide point such as a corner. Also, it can be annoying if the guide display on the screen or the audio guidance gets louder according to the distance to the guide point, but the discomfort can be reduced if the force sense is presented.

[0089] When a sensor detects a danger to the running of a vehicle, the control device 1 controls the seating type haptic device 2 to present a force sense. This allows the user to quickly avoid danger by presenting a directional force sense. In addition, by presenting the force sense in conjunction with sound and vision, a stronger warning can be given to the user.

[0090] The control device 1 controls the force sense presented by the seating type force sense presentation device 2 so as to amplify the acceleration or centrifugal force perceived by a person due to the movement of a vehicle. This makes it possible to enhance the enjoyment of driving for the user.

[0091] The control device 1 controls the force sense presented by the seating type force sense presentation device 2 so as to reduce the acceleration or centrifugal force perceived by a person due to the movement of the vehicle. This makes it possible to improve the riding comfort of the vehicle and reduce car sickness.

[0092] The control device 1 controls the force sense presented by the seating type force sense presentation device 2 so as to amplify the translational acceleration perceived by a human being in the motion platform type driving simulator. This makes it possible to efficiently present the acceleration / deceleration sense and centrifugal force sense, which are difficult to present in a motion platform type driving simulator, out of the tilt sense, acceleration / deceleration sense, and centrifugal force sense.

[0093] The control device 1 controls the seating type haptic device 2 to present a force sensation corresponding to the running of a vehicle, which is simulated by a simplified driving simulator that does not use a motion platform. This makes it possible to simply amplify the user's sense of immersion when experiencing the virtual driving of a vehicle. [Explanation of symbols]

[0094] 100: Force feedback system 1: Control device 11: CPU 12: Memory 13:Storage device 2: Seated type haptic device 200: Contact 20: Drive unit 21: First motor 22: Second motor 23: First input shaft 24: Second input shaft 25: First Stage 26: Second Stage 27,28: Linear guide 29: Operating section 3: Monitor 5: Sensor device 511: Collision detection sensor 512: Vehicle distance sensor 513: Drowsiness detection sensor 514: Lane departure sensor

Claims

1. A force sensation presentation device that generates front-to-back or left-to-right shear deformation in the skin of a person's buttocks that comes into contact with the skin when sitting, and presents a force sensation based on the stimulation intensity generated in the skin by the shear deformation.

2. A force presentation device as described in claim 1, which is provided with contactors that come into direct or indirect contact with the skin of a person when the person is seated, and which generates the front-to-back or left-to-right shear deformation on the skin by adjusting the amount of displacement of the contactors, and presents a force sensation based on the stimulation intensity generated on the skin by the shear deformation.

3. A force sensation presentation device that generates front-to-back or left-to-right shear deformation on a person's skin using contactors that come into direct or indirect contact with the skin when the person is seated, and presents a force sensation based on the stimulus intensity generated on the skin by the shear deformation; A system comprising: a control device that adjusts the displacement amount of the contactor based on information regarding the force sensation received by the human using one or more specified stimulus intensities to present a force sensation using the force sensation presentation device.

4. The control device adjusts the displacement amount by identifying a function showing the relationship between the displacement amount and the force sensation based on the one or more specified stimulus intensities. The system of claim 3.

5. A force feedback device constituting the system according to claim 3, A force feedback device that generates front-to-back or left-to-right shear deformation in the skin by adjusting the displacement amount of contactors that come into direct or indirect contact with a person's skin when the person is seated, under the control of a control device that constitutes the system described in claim 3, and presents a force feedback based on the stimulation intensity generated in the skin by the shear deformation.

6. A navigation system comprising a force feedback device described in any one of claims 1, 2 and 5.

7. A vehicle equipped with the navigation system described in claim 6.

8. A driving simulator comprising a force feedback device according to any one of claims 1, 2 and 5.

9. A control program for controlling the system described in claim 3 or 4, which adjusts the amount of displacement of the contactor based on information regarding the force sensation received by the human using one or more specified stimulus intensities to present a force sensation using a force sensation presentation device.

10. A control method for controlling a system described in claim 3 or 4, which adjusts the amount of displacement of the contactor based on information regarding the force sensation received by the human using one or more specified stimulus intensities to present a force sensation using a force sensation presentation device.

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