Tactile transmission system, transmitter, and receiver

Abstract

To generate vibrations for reproducing tactile sense by a vibration generating device.SOLUTION: A tactile transmission system includes a transmitter 10 and a receiver 30. The transmitter generates a tactile signal 25 by mixing an output signal 24 of a vibration sensor device 50 and a modulated wave 22 obtained by amplitude-modulating a carrier wave having a frequency of 150 Hz or more and 1000 Hz or less by a signal wave having a frequency of 1 Hz or more and 100 Hz or less to wirelessly transmit a digital signal 26 obtained by digitizing the tactile signal 25 by using a voice compression method. The receiver receives the digital signal 26 wirelessly transmitted from the transmitter 10 and supplies a drive signal 40 obtained by demodulating the digital signal 26 into an analog signal to a vibration generating device 60.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a haptic transmission system, a transmitter and a receiver. [Background technology]

[0002] A tactile sensation generating device that generates a tactile sensation by vibration of a Langevin type transducer is known (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 8-314369 Summary of the Invention [Problem to be solved by the invention]

[0004] It is desirable to enable two users at different locations to share a sense of touch. To achieve this, it is conceivable to detect information about the sense of touch felt by one user using a vibration sensor device, wirelessly transmit an output signal from the vibration sensor device from a transmitter to a receiver, and vibrate a vibration generator connected to the receiver to give a reproduced sense of touch to the other user. However, it has been found that when a voice transmission system is used, the output signal from the vibration sensor device is not transmitted well from the transmitter to the receiver, and the vibration generator cannot generate vibrations that reproduce the sense of touch.

[0005] The present invention has been made in consideration of the above-mentioned problems, and has an object to generate vibrations that reproduce a tactile sensation using a vibration generating device. [Means for solving the problem]

[0006] The present invention is a tactile transmission system comprising a transmitter that generates a first signal by mixing an output signal of a vibration sensor device with a modulated wave in which a carrier wave having a frequency of 150 Hz or more and 1000 Hz or less is amplitude-modulated by a signal wave having a frequency of 1 Hz or more and 1000 Hz or less, and wirelessly transmits a digital signal that is obtained by digitizing the first signal using an audio compression method, and a receiver that receives the digital signal wirelessly transmitted from the transmitter and supplies a second signal that is obtained by demodulating the digital signal into an analog signal to a vibration generating device.

[0007] In the above configuration, the modulation wave may have a modulation degree of 50% or more and 100% or less.

[0008] In the above configuration, the output signal may have a time period from the start of detection to maximum amplitude of 0.015 seconds or less.

[0009] In the above configuration, the transmitter may be configured to wirelessly transmit the digital signal in accordance with the Bluetooth (registered trademark) standard.

[0010] The above configuration may include the vibration sensor device connected to the transmitter, and the vibration generating device connected to the receiver.

[0011] In the above configuration, the vibration generator may include a piezoelectric element that vibrates when the second signal is supplied thereto.

[0012] In the above configuration, the piezoelectric element may comprise a piezoelectric layer, and a first electrode and a second electrode sandwiching the piezoelectric layer in a first direction, and may be configured to expand and contract in a second direction perpendicular to the first direction by applying a voltage between the first electrode and the second electrode.

[0013] The present invention is a transmitter that generates a first signal by mixing an output signal of a vibration sensor device with a modulated wave in which a carrier wave having a frequency of 150 Hz or more and 1000 Hz or less is amplitude-modulated by a signal wave having a frequency of 1 Hz or more and 1000 Hz or less, and wirelessly transmits a digital signal obtained by digitizing the first signal using an audio compression method, and a second signal obtained by demodulating the digital signal into an analog signal to a receiver that supplies the second signal to a vibration generating device.

[0014] The present invention is a receiver that generates a first signal by mixing an output signal of a vibration sensor device with a modulated wave in which a carrier wave having a frequency of 150 Hz or more and 1000 Hz or less is amplitude-modulated by a signal wave having a frequency of 1 Hz or more and 1000 Hz or less, receives the first signal wirelessly transmitted from a transmitter that wirelessly transmits a digital signal obtained by digitizing the first signal using an audio compression method, and supplies a second signal in which the digital signal is demodulated to an analog signal to a vibration generating device. Effect of the Invention

[0015] According to the present invention, a vibration generator can generate vibrations that reproduce a tactile sensation. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a block diagram illustrating a configuration of a haptic transmission system according to an embodiment. [Diagram 2] FIG. 2(a) is a block diagram of a transmitter in the embodiment, and FIG. 2(b) is a block diagram of a receiver. [Diagram 3] 3(a) to 3(c) are diagrams showing examples of a carrier wave, a signal wave, and a modulated wave in the embodiment. [Figure 4] 4(a) and 4(b) are diagrams showing examples of an output signal and a haptic signal in an embodiment. [Diagram 5] FIG. 5 is a cross-sectional view of a piezoelectric element provided in the vibration generator in the embodiment. [Figure 6]6(a) and 6(b) are plan views showing the configuration of Experiment 1, and FIG. 6(c) is a diagram showing the haptic signal generated by the transmitter. [Figure 7] 7(a) and 7(b) are cross-sectional views showing the configuration of Experiment 2, and FIG. 7(c) is a diagram showing the haptic signal generated by the transmitter. [Figure 8] 8(a) and 8(b) are cross-sectional views showing the configuration of Experiment 3, and FIGS. 8(c) and 8(d) are diagrams showing the haptic signals generated by the transmitter. [Figure 9] 9(a) is a block diagram of a transmitter and FIG 9(b) is a block diagram of a receiver in a comparative example. [Figure 10] 10(a) and 10(b) are diagrams showing examples of the arrangement of vibration generators in the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, embodiments of the present invention will be described with reference to the drawings. EXAMPLES

[0018] Fig. 1 is a block diagram showing a configuration of a tactile transmission system 100 according to an embodiment. As shown in Fig. 1, the tactile transmission system 100 according to the embodiment includes a transmitter 10, a receiver 30, a vibration sensor device 50, and a vibration generator 60. The vibration sensor device 50 is connected to the transmitter 10 by a wire. The vibration generator 60 is connected to the receiver 30 by a wire. Short-distance wireless communication is performed between the transmitter 10 and the receiver 30, and the receiver 30 receives radio waves emitted by the transmitter 10. For example, wireless communication according to the Bluetooth (registered trademark) standard is performed between the transmitter 10 and the receiver 30.

[0019] The vibration sensor device 50 detects information about a tactile sensation that the first user gets in response to an arbitrary action performed by the first user. For example, when the first user presses a soft object with his / her finger, the vibration sensor device detects information about a tactile sensation that the first user feels when pressing the soft object. An output signal from the vibration sensor device 50 is sent to the transmitter 10. The vibration sensor device 50 is a commonly known vibration sensor device, for example, a piezoelectric vibration sensor device.

[0020] The transmitter 10 generates a tactile signal using the output signal of the vibration sensor device 50 and wirelessly transmits the signal to the receiver 30. The receiver 30 vibrates the vibration generator 60 based on the received tactile signal. The second user can feel the same tactile sensation as the first user by touching the vibration generated by the vibration generator 60. The vibration generator 60 is, for example, a vibration generator using a piezoelectric element.

[0021] In this way, the tactile transmission system 100 detects information related to the tactile sensation obtained by the first user using the vibration sensor device 50, and wirelessly transmits a tactile signal generated using the output signal of the vibration sensor device 50 from the transmitter 10 to the receiver 30. The receiver 30 then vibrates the vibration generating device 60 based on the tactile signal, thereby providing the second user with a tactile sensation similar to that obtained by the first user.

[0022] [Transmitter] Fig. 2(a) is a block diagram of a transmitter 10 according to an embodiment. As shown in Fig. 2(a), the transmitter 10 includes a connection interface 11, an amplifier 12, a local oscillator 13, a frequency mixer 14, an amplifier 15, a digital signal generating circuit 16, and a wireless communication unit 17.

[0023] The vibration sensor device 50 is connected to the connection interface 11. The connection interface 11 is, for example, an electric connector.

[0024] The amplifier 12 amplifies the output signal 24 output by the vibration sensor device 50 .

[0025] The local oscillator 13 generates a modulated wave 22 by amplitude-modulating a carrier wave of frequency f1 with a signal wave of frequency f2, and outputs the modulated wave 22 to the frequency mixer 14. The frequency f1 is, for example, a frequency to which the Pacinian corpuscles are sensitive, and is a frequency between 150 Hz and 1000 Hz. The frequency f2 is, for example, a frequency to which the Meissner's corpuscles are sensitive, and is a frequency between 1 Hz and 100 Hz.

[0026] 3(a) to 3(c) are diagrams showing examples of a carrier wave 20, a signal wave 21, and a modulated wave 22 in the embodiment. In FIG. 3(a) to 3(c), the horizontal axis indicates time, and the vertical axis indicates voltage. FIG. 3(a) is an example of a carrier wave 20 having a period T1 (frequency f1). FIG. 3(b) is an example of a signal wave 21 having a period T2 (frequency f2). FIG. 3(c) is an example of a modulated wave 22 generated by amplitude modulating the carrier wave 20 with the signal wave 21. An envelope 23 corresponds to the signal wave 21. The peak-to-peak amplitude of the modulated wave 22 is A1. That is, the maximum amplitude of the envelope 23 is A1. On the other hand, the minimum amplitude of the envelope 23 is A2. In this case, if the modulation depth M is defined as M=(A1-A2) / (A1+A2), the modulation depth M of the modulated wave 22 is 50% or more and 100% or less. Although the carrier wave 20 is, for example, a sine wave, in order to simplify the drawing, the carrier wave 20 is illustrated as a triangular wave here.

[0027] It should be noted that the carrier wave 20 and the signal wave 21 are not limited to sine waves, and at least one of the carrier wave 20 and the signal wave 21 may be a square wave, a triangular wave, a sawtooth wave, or the like.

[0028] 2(a), the frequency mixer 14 is a double balanced mixer that mixes the modulated wave 22 output by the local oscillator 13 with the output signal 24 of the vibration sensor device 50 to generate and output a haptic signal 25. The output signal 24 of the vibration sensor device 50 is a low-frequency signal. When the modulated wave 22 is input to the frequency mixer 14 as a carrier wave and the output signal 24 is input as a low-frequency signal, a suppressed carrier double-sideband signal is output from the frequency mixer 14.

[0029] 4(a) and 4(b) are diagrams showing examples of the output signal 24 and the haptic signal 25 in the embodiment. In FIG. 4(a) and FIG. 4(b), the horizontal axis indicates time, and the vertical axis indicates voltage. FIG. 4(a) shows the output signal 24 of the vibration sensor device 50. The output signal 24 is a low-frequency signal that changes in various ways in response to any action performed by the first user, and has a time T from the start of detection to the maximum amplitude of, for example, 0.015 seconds or less. FIG. 4(b) shows the haptic signal 25 generated by mixing the modulated wave 22 output by the local oscillator 13 and the output signal 24 of the vibration sensor device 50. The haptic signal 25 is a suppressed carrier double-sideband signal.

[0030] As shown in FIG. 2( a ), the amplifier 15 amplifies the haptic signal 25 output by the frequency mixer 14 .

[0031] The digital signal generation circuit 16 performs processing such as sampling and quantization on the haptic signal 25, which is an analog signal, to convert it into a digital signal. The digital signal generation circuit 16 then encodes the converted digital signal using an audio compression method and outputs the encoded digital signal 26. Examples of audio compression methods include SBC (Subband Codec), AAC (Advanced Audio Coding), aptX, aptXLL, and LDAC.

[0032] The wireless communication unit 17 performs short-distance wireless communication with the receiver 30, and transmits the digital signal 26 to the receiver 30. The wireless communication unit 17 performs short-distance wireless communication with the receiver 30 in compliance with, for example, the Bluetooth (registered trademark) standard.

[0033] [Receiver] Fig. 2(b) is a block diagram of the receiver 30 according to the embodiment. As shown in Fig. 2(b), the receiver 30 includes a wireless communication unit 31, a drive signal generating circuit 32, a drive circuit 33, and a connection interface .

[0034] The wireless communication unit 31 performs short-range wireless communication with the transmitter 10, and receives the digital signal 26 from the transmitter 10. The wireless communication unit 31 performs short-range wireless communication with the transmitter 10 according to, for example, the Bluetooth (registered trademark) standard.

[0035] The drive signal generation circuit 32 demodulates the digital signal 26 received from the transmitter 10 into an analog signal. This generates a drive signal 40 having the same waveform as the haptic signal 25. The drive signal generation circuit 32 outputs the generated drive signal 40 to the drive circuit 33.

[0036] The drive circuit 33 supplies a voltage based on the drive signal 40 to the vibration generator 60 connected to the connection interface 34 (e.g., an electrical connector), thereby vibrating the vibration generator 60. This allows the second user to feel the vibration generated by the vibration generator 60 and obtain a tactile sensation similar to that obtained by the first user. By using a tactile signal 25 obtained by mixing a modulated wave 22 obtained by amplitude-modulating a carrier wave 20 with a signal wave 21 as shown in FIG. 3(c) and an output signal 24 from a vibration sensor device 50, a tactile sensation can be effectively conveyed to the second user.

[0037] [Vibration generator] Fig. 5 is a cross-sectional view of a piezoelectric element 62 provided in a vibration generator 60 in the embodiment. As shown in Fig. 5, the vibration generator 60 includes a piezoelectric element 62. The piezoelectric element 62 includes a piezoelectric body 64 consisting of a plurality of piezoelectric layers 63, a plurality of first electrodes 65, and a plurality of second electrodes 67. The plurality of first electrodes 65 and the plurality of second electrodes 67 are provided alternately in the Z direction. One piezoelectric layer 63 is sandwiched between one first electrode 65 and one second electrode 67 in the Z direction.

[0038] External electrodes 66 and 68 are provided on the +X and -X side surfaces of the piezoelectric body 64, respectively. A first electrode 65 is electrically connected to the external electrode 66. A second electrode 67 is electrically connected to the external electrode 68. The external electrode 66 is provided so as to wrap around the upper surface (+Z side surface) of the piezoelectric body 64. The external electrode 68 is provided so as to wrap around the upper surface (+Z side surface) and the lower surface (-Z side surface) of the piezoelectric body 64. The external electrode 68 on the upper surface of the piezoelectric body 64 and the first electrode 65 of the uppermost layer are provided with the uppermost piezoelectric layer 63 in between, and the external electrode 68 on the lower surface of the piezoelectric body 64 and the first electrode 65 of the lowermost layer are provided with the lowermost piezoelectric layer 63 in between. In FIG. 5, eight piezoelectric layers 63 are provided, and each piezoelectric layer 63 is sandwiched between the first electrode 65 and the second electrode 67, or between the first electrode 65 and the external electrode 68.

[0039] The external electrodes 66 and 68 are electrically connected to the drive circuit 33 via a cable and the connection interface 34. In the case of a rectangular shape whose planar shape is long in the X direction, like the piezoelectric element 62, the drive circuit 33 applies a voltage between the external electrodes 66 and 68, causing the piezoelectric body 64 to expand and contract in the X direction as indicated by the arrow 69. Thus, the planar shape of the piezoelectric element 62 is rectangular, and the piezoelectric element 62 includes a piezoelectric layer 63 and a first electrode 65 and a second electrode 67 which sandwich the piezoelectric layer 63 in the Z direction. A vibration mode in which the long side of the rectangle expands and contracts in the X direction by applying a voltage between the first electrode 65 and the second electrode 67 is called a lateral displacement mode or d31 mode.

[0040] Examples of the material for the piezoelectric layer 63 include lead zirconate titanate (PZT: Pb(Zr,Ti)O3), barium titanate-based material (BaTiO3, where Ba may be Ca and Ti may be Zr), bismuth titanate-based material (BiTiO3, where a part of Bi may be Na), and alkali niobate-based material (NaNbO3, where Na may be Li or K). Examples of the material for the first electrode 65, the second electrode 67, and the external electrodes 66 and 68 include metals such as Ag, Pd, Pt, Cu, Ni, and Au. The piezoelectric element 62 is a chip made of a sintered body formed by stacking and sintering piezoelectric sheets on which the first electrode 65 and the second electrode 67 are formed.

[0041] [Experiment 1] Figures 6(a) and 6(b) are plan views showing the configuration of experiment 1, and Figure 6(c) is a diagram showing a tactile signal 25 generated by transmitter 10. As shown in Figure 6(a), soft, human skin-like resin 72 was placed on panel 70, and when a first user pressed resin 72 with his or her finger, the tactile sensation felt by the first user was detected by vibration sensor device 50. A piezoelectric vibration sensor with a bimorph structure was used for vibration sensor device 50.

[0042] 6(c) shows a haptic signal 25 generated by the frequency mixer 14 of the transmitter 10 by mixing the output signal 24 of the vibration sensor device 50 with the modulated wave 22 output by the local oscillator 13. The local oscillator 13 outputs to the frequency mixer 14 the modulated wave 22 obtained by amplitude-modulating the carrier wave 20, which is a 200 Hz sine wave, with the signal wave 21, which is a 10 Hz sine wave. The modulation depth M of the modulated wave 22 was set to 100%.

[0043] As described in Fig. 2(a), the transmitter 10 digitizes the haptic signal 25 using an audio compression method, and transmits the digital signal 26 to the receiver 30 according to the Bluetooth (registered trademark) standard. As described in Fig. 2(b), the receiver 30 demodulates the digital signal 26 received from the transmitter 10 to generate a drive signal 40, and supplies a voltage based on the drive signal 40 to the vibration generator 60 to cause it to vibrate.

[0044] As shown in Fig. 6(b), resin 74 was placed on a glass panel 73, and resin 74 was vibrated by vibrating vibration generator 60. A bimorph-structured piezoelectric vibration element was used for vibration generator 60. When a second user touched this resin 74, the second user felt the same tactile sensation as the first user felt when pressing resin 72 with his or her finger.

[0045] [Experiment 2] Figures 7(a) and 7(b) are cross-sectional views showing the configuration of experiment 2, and Figure 7(c) is a diagram showing a tactile signal 25 generated by transmitter 10. As shown in Figure 7(a), a cushion 75 was placed on a panel 70, and when a first user pressed into cushion 75, the tactile sensation felt by the first user was detected by vibration sensor device 50. A piezoelectric vibration sensor with a bimorph structure was used for vibration sensor device 50.

[0046] 7(c) shows a haptic signal 25 generated by the frequency mixer 14 of the transmitter 10 by mixing the output signal 24 of the vibration sensor device 50 with the modulated wave 22 output by the local oscillator 13. The local oscillator 13 outputs to the frequency mixer 14 the modulated wave 22 obtained by amplitude-modulating the carrier wave 20, which is a 200 Hz sine wave, with the signal wave 21, which is a 7 Hz sine wave. The modulation depth M of the modulated wave 22 was set to 100%.

[0047] As described in Fig. 2(a), the transmitter 10 digitizes the haptic signal 25 using an audio compression method, and transmits the digital signal 26 to the receiver 30 according to the Bluetooth (registered trademark) standard. As described in Fig. 2(b), the receiver 30 demodulates the digital signal 26 received from the transmitter 10 to generate a drive signal 40, and supplies a voltage based on the drive signal 40 to the vibration generator 60 to cause it to vibrate.

[0048] As shown in Fig. 7(b), a cushion 76 was placed on a glass panel 73, and the cushion 76 was vibrated by vibrating a vibration generator 60. A bimorph-structured piezoelectric vibration element was used for the vibration generator 60. When a second user touched the cushion 76, the second user felt the same tactile sensation as the first user felt when pressing the cushion 75.

[0049] [Experiment 3] 8(a) and 8(b) are cross-sectional views showing the configuration of Experiment 3, and FIG. 8(c) and FIG. 8(d) are diagrams showing the haptic signal 25 generated by the transmitter 10. As shown in FIG. 8(a), an ointment container 77 was used in an inverted state, and the vibration sensor device 50 was placed at the opening of the ointment container 77. A bimorph-structured piezoelectric vibration sensor was used for the vibration sensor device 50. A paper cup 78 containing a marble 79 was fixed on the ointment container 77. The vibration sensor device 50 detected the haptic sensations obtained by the first user when the first user bounced the marble 79 up in the cup 78 and when the marble 79 rolled.

[0050] Fig. 8(c) shows a haptic signal 25 generated by the frequency mixer 14 of the transmitter 10 by mixing the output signal 24 of the vibration sensor device 50 and the modulated wave 22 output by the local oscillator 13 when the first user bounces up a marble 79. Fig. 8(d) shows a haptic signal 25 generated by the frequency mixer 14 of the transmitter 10 by mixing the output signal 24 of the vibration sensor device 50 and the modulated wave 22 output by the local oscillator 13 when the first user rolls a marble 79. The local oscillator 13 outputs to the frequency mixer 14 a modulated wave 22 obtained by amplitude-modulating a carrier wave 20, which is a 200 Hz sine wave, with a signal wave 21, which is a 10 Hz sine wave. The modulation depth M of the modulated wave 22 is set to 100%.

[0051] As described in Fig. 2(a), the transmitter 10 digitizes the haptic signal 25 using an audio compression method, and transmits the digital signal 26 to the receiver 30 according to the Bluetooth (registered trademark) standard. As described in Fig. 2(b), the receiver 30 demodulates the digital signal 26 received from the transmitter 10 to generate a drive signal 40, and supplies a voltage based on the drive signal 40 to the vibration generator 60 to cause it to vibrate.

[0052] As shown in Fig. 8(b), a vibration generator 60 was placed at the opening of an inverted ointment container 80, a paper cup 81 was fixed on the ointment container 80, and the cup 81 was vibrated by vibrating the vibration generator 60. A bimorph-structured piezoelectric vibration element was used for the vibration generator 60. When a second user touched the cup 81, the second user experienced a tactile sensation similar to that experienced by the first user when the marble 79 was bounced up and spun.

[0053] [Comparative Example] FIG. 9(a) is a block diagram of a transmitter 110 in a comparative example. FIG. 9(b) is a block diagram of a receiver 130 in a comparative example. As shown in FIG. 9(a), the transmitter 110 in the comparative example includes a connection interface 11, an amplifier 12, a digital signal generating circuit 16, and a wireless communication unit 17. The transmitter 110 amplifies an output signal 24 of a vibration sensor device 50 by the amplifier 12, and then converts the output signal 24 into a digital signal 28 by the digital signal generating circuit 16. The digital signal generating circuit 16 converts the output signal 24 into a digital signal by performing processing such as sampling and quantization, and encodes the converted digital signal by an audio compression method to output the encoded digital signal 28. The digital signal 28 is transmitted from the wireless communication unit 17 to the receiver 130 according to, for example, the Bluetooth (registered trademark) standard.

[0054] As shown in FIG. 9(b), the receiver 130 in the comparative example includes a wireless communication unit 31, an analog signal demodulation circuit 35, a local oscillator 36, a frequency mixer 37, a drive circuit 33, and a connection interface 34. The receiver 130 receives the digital signal 28 transmitted by the transmitter 110 at the wireless communication unit 31, and demodulates the digital signal 28 into an analog signal at the analog signal demodulation circuit 35. This restores the output signal 24. The frequency mixer 37 is a double balanced mixer that mixes the modulated wave 22 output by the local oscillator 36 and the output signal 24 output by the analog signal demodulation circuit 35 to generate a drive signal 40 and outputs it to the drive circuit 33. The drive circuit 33 vibrates the vibration generator 60 based on the drive signal 40.

[0055] In this way, in the comparative example, the output signal 24 is digitized using an audio compression method, and the digital signal 28 is wirelessly transmitted from the transmitter 110 to the receiver 130. In this case, the output signal 24 may be a low-frequency signal in which the time T from the detection start point to the maximum amplitude in FIG. 4(a) is 0.015 seconds or less. The frequency of sound audible to humans is between about 20 Hz and 20,000 Hz, and when the time T is 0.015 seconds or less, the output signal 24 may correspond to a low-frequency signal lower than the frequency range of sound audible to humans. In this case, if the output signal 24 is digitized using an audio compression method to utilize an audio transmission system, the output signal 24 that is outside the frequency range of sound audible to humans may be removed for compression efficiency. For this reason, even if the output signal 24 is digitized using an audio compression method and an attempt is made to wirelessly transmit the digital signal 28 from the transmitter 110 to the receiver 130, the transmission may not be successful. For this reason, in the receiver 130, it may not be possible to restore the output signal 24 from the digital signal 28, and the vibration generator 60 may not be able to generate vibrations that reproduce a tactile sensation.

[0056] In contrast, in the embodiment, the transmitter 10 generates a haptic signal 25 (first signal) by mixing the output signal 24 of the vibration sensor device 50 with a modulated wave 22 obtained by amplitude-modulating a carrier wave 20 having a frequency of 150 Hz or more and 1000 Hz or less with a signal wave 21 having a frequency of 1 Hz or more and 100 Hz or less. Then, the transmitter 10 wirelessly transmits a digital signal 26 obtained by digitizing the haptic signal 25 using an audio compression method. This allows the digital signal 26 to be transmitted from the transmitter 10 to the receiver 30 even when an audio transmission system is used. Therefore, the receiver 30 can receive the digital signal 26 wirelessly transmitted from the transmitter 10 and supply the drive signal 40 (second signal) obtained by demodulating the digital signal 26 into an analog signal to the vibration generator 60. This allows the vibration generator 60 to generate vibrations that reproduce a haptic sensation.

[0057] The frequency of the carrier wave 20 is 150 Hz or more and 1000 Hz or less, which is a frequency to which the Pacinian corpuscles, which are receptors in the skin of the human body, are sensitive. The frequency of the signal wave 21 is 1 Hz or more and 100 Hz or less, which is a frequency to which the Meissner corpuscles, which are receptors in the skin of the human body, are sensitive. By using a tactile signal 25 that is a mixture of a modulated wave 22 obtained by amplitude-modulating the carrier wave 20 of such a frequency with the signal wave 21 and an output signal 24 of the vibration sensor device 50, a tactile sensation can be effectively conveyed to a user who touches the vibration of the vibration generating device 60.

[0058] The frequency of the carrier wave 20 is preferably 150 Hz or more and 500 Hz or less, more preferably 150 Hz or more and 300 Hz or less, and even more preferably 190 Hz or more and 300 Hz or less, in terms of frequencies to which the Pacinian corpuscles are sensitive. The frequency of the signal wave 21 is preferably 1 Hz or more and 60 Hz or less, more preferably 1 Hz or more and 40 Hz or less, and even more preferably 3 Hz or more and 18 Hz or less, in terms of frequencies to which the Meissner corpuscles are sensitive.

[0059] In the embodiment, the modulation depth M of the modulated wave 22 is 50% or more and 100% or less. The larger the modulation depth M of the modulated wave 22, the better the reproducibility of the tactile sensation caused by the vibration of the vibration generating device 60. From the viewpoint of the reproducibility of the tactile sensation, the modulation depth M of the modulated wave 22 is preferably 70% or more and 100% or less, more preferably 80% or more and 100% or less, and even more preferably 90% or more and 100% or less.

[0060] In the embodiment, the time T from the start of detection to the maximum amplitude of the output signal 24 of the vibration sensor device 50 is 0.015 seconds or less, as shown in Fig. 4(a). In this case, the output signal 24 may correspond to a low-frequency signal lower than the frequency range of sounds audible to humans, and therefore, even if the output signal 24 is digitized by an audio compression method and wirelessly transmitted as in the comparative example, it may not be possible to transmit it. In such a case, it is preferable that the transmitter 10 mixes the output signal 24 with the modulated wave 22 to generate the haptic signal 25, digitizes the haptic signal 25 by an audio compression method, and wirelessly transmits it. It is more preferable to digitize the haptic signal 25 by an audio compression method and wirelessly transmit it when the time T is 0.012 seconds or less, and even more preferable to perform this when it is 0.010 seconds or less.

[0061] Furthermore, in the embodiment, the transmitter 10 wirelessly transmits the digital signal 26 to the receiver 30 according to the Bluetooth (registered trademark) standard. In this case, in order to cause the vibration generating device 60 to generate vibrations that reproduce a haptic sensation, it is desirable for the transmitter 10 to mix the output signal 24 with the modulated wave 22 to generate the haptic signal 25, and to wirelessly transmit the digital signal 26 obtained by digitizing the haptic signal 25 using an audio compression method.

[0062] In the embodiment, the vibration generating device 60 includes a piezoelectric element 62 that vibrates when the drive signal 40 is supplied. The piezoelectric element 62 generates vibrations, so that stronger vibrations can be generated. The piezoelectric element 62 may be a piezoelectric element that includes a piezoelectric layer 63, a first electrode 65 and a second electrode 67 that sandwich the piezoelectric layer 63 in the Z direction, as shown in Fig. 5, and expands and contracts in the X direction when a voltage is applied between the first electrode 65 and the second electrode 67.

[0063] [Example of vibration generator placement] 10(a) and 10(b) are diagrams showing examples of the arrangement of the vibration generator 60 in the embodiment. As shown in FIG. 10(a), the vibration generator 60 may be provided inside a finger cap 92 that is fitted to a fingertip 91 of a finger 90 so that the vibration generator 60 touches the pad of the finger. As shown in FIG. 10(b), the vibration generator 60 may be provided at a position corresponding to the fingertip 91 inside a glove 94 that is fitted to a hand 93 so that the vibration generator 60 touches the pad of the finger. Although not shown, the vibration generator 60 may be provided at various positions, such as on a smartphone cover or a game controller.

[0064] In addition, in the embodiment, a transceiver may be provided that includes both the transmitter 10 shown in FIG. 2(a) and the receiver 30 shown in FIG. 2(b), and the transmitter and receiver may be switched by a changeover switch or the like to be used as a transmitter or a receiver.

[0065] Although the embodiment of the present invention has been described in detail above, the present invention is not limited to such specific embodiment, and various modifications and variations are possible within the scope of the gist of the present invention described in the claims. [Explanation of symbols]

[0066] 10...Transmitter, 11...Connection interface, 12...Amplifier, 13...Local oscillator, 14...Frequency mixer, 15...Amplifier, 16...Digital signal generation circuit, 17...Wireless communication unit, 20...Carrier wave, 21...Signal wave, 22...Modulation wave, 23...Envelope, 24...Output signal, 25...Tactile signal, 26, 28...Digital signal, 30...Receiver, 31...Wireless communication unit, 32...Drive signal generation circuit, 33...Drive circuit, 34...Connection interface, 35...Analog signal demodulation circuit, 36...Local oscillator, 37...Frequency Mixer, 40... drive signal, 50... vibration sensor device, 60... vibration generator, 62... piezoelectric element, 63... piezoelectric layer, 64... piezoelectric body, 65... first electrode, 66... ​​external electrode, 67... second electrode, 68... external electrode, 70... panel, 72... resin, 73... panel, 74... resin, 75, 76... cushion, 77... ointment container, 78... cup, 79... marble, 80... ointment container, 81... cup, 90... finger, 91... fingertip, 92... finger cap, 93... hand, 94... glove, 100... tactile transmission system

Claims

1. a transmitter that generates a first signal by mixing an output signal of the vibration sensor device with a modulated wave obtained by amplitude-modulating a carrier wave having a frequency of 150 Hz or more and 1000 Hz or less with a signal wave having a frequency of 1 Hz or more and 100 Hz or less, and that wirelessly transmits the first signal as a digital signal obtained by digitizing the first signal using an audio compression method; A tactile transmission system comprising: a receiver that receives the digital signal wirelessly transmitted from the transmitter and demodulates the digital signal into an analog signal and supplies a second signal to a vibration generating device.

2. The tactile transmission system according to claim 1 , wherein the modulation degree of the modulated wave is equal to or greater than 50% and equal to or less than 100%.

3. The tactile transmission system according to claim 1 or 2, wherein the time from the start of detection to the maximum amplitude of the output signal is 0.015 seconds or less.

4. The haptic transmission system according to claim 1 or 2, wherein the transmitter wirelessly transmits the digital signal in accordance with the Bluetooth (registered trademark) standard.

5. the vibration sensor device connected to the transmitter; The tactile transmission system according to claim 1 or 2, comprising the vibration generating device connected to the receiver.

6. The tactile transmission system according to claim 5 , wherein the vibration generating device includes a piezoelectric element that vibrates when the second signal is supplied thereto.

7. The tactile transmission system of claim 6, wherein the piezoelectric element comprises a piezoelectric layer, a first electrode and a second electrode sandwiching the piezoelectric layer in a first direction, and expands and contracts in a second direction perpendicular to the first direction by applying a voltage between the first electrode and the second electrode.

8. A transmitter that generates a first signal by mixing an output signal of a vibration sensor device with a modulated wave obtained by amplitude-modulating a carrier wave having a frequency of 150 Hz or more and 1000 Hz or less with a signal wave having a frequency of 1 Hz or more and 100 Hz or less, and wirelessly transmits a digital signal obtained by digitizing the first signal using an audio compression method, and a second signal obtained by demodulating the digital signal into an analog signal to a receiver that supplies the second signal to a vibration generating device.

9. A receiver that generates a first signal by mixing an output signal of a vibration sensor device with a modulated wave obtained by amplitude-modulating a carrier wave having a frequency of 150 Hz or more and 1000 Hz or less with a signal wave having a frequency of 1 Hz or more and 100 Hz or less, receives the first signal wirelessly transmitted from a transmitter that wirelessly transmits a digital signal obtained by digitizing the first signal using an audio compression method, and supplies a second signal obtained by demodulating the digital signal into an analog signal to a vibration generating device.

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