Robot, voice output method, and program

Abstract

To reduce a processing load in determining contents of control for expressing pseudo feelings.SOLUTION: A control device 100 of an apparatus includes a control unit 110 for acquiring a signal indicating external stimulation applied to the apparatus, setting pseudo feelings of the apparatus on the basis of the signal, and executing control to adjust contents of the control for a voice output unit 230 or a drive unit 220 of the apparatus stored in a storage unit 120 beforehand on the basis of the set pseudo feelings.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a device control apparatus, a device, a device control method, and a program. [Background technology]

[0002] There are known techniques for controlling the behavior of devices such as robots so that they resemble familiar beings such as friends or pets. For example, Patent Literature 1 discloses a technique for determining the behavior of a robot that behaves like an animal. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2001-334482 A Summary of the Invention [Problem to be solved by the invention]

[0004] The above-mentioned Patent Document 1 describes the selection of a desired action from among multiple actions based on external and internal factors. However, such technology has problems in that there are many types of control data corresponding to the actions to be selected, and the processing steps from the external and internal factors to the selection of the action are complicated.

[0005] Therefore, the present invention has been made in consideration of the above circumstances, and aims to provide an equipment control device, an equipment, an equipment control method, and a program that can reduce the processing burden in determining the content of control for expressing simulated emotions. [Means for solving the problem]

[0006] In order to achieve the above object, one aspect of the device control device according to the present invention comprises: obtaining a signal representative of an external stimulus acting on the device; Setting a simulated emotion for the device based on the signal; and performing control so as to adjust the content of control for a sound output unit or a drive unit of the device, the content being stored in advance in a storage unit, based on the set pseudo emotion. It has a control unit. Effect of the Invention

[0007] According to the present invention, the processing load can be reduced when determining the content of control for expressing a pseudo emotion. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing the appearance of a robot according to a first embodiment. [Diagram 2] 1 is a cross-sectional side view of a robot according to a first embodiment. [Diagram 3] FIG. 2 is a diagram illustrating a housing of the robot according to the first embodiment. [Figure 4] FIG. 2 is a block diagram showing the functional configuration of the robot according to the first embodiment. [Diagram 5] FIG. 3 is a diagram for explaining an example of an emotion map according to the first embodiment. [Figure 6] FIG. 2 is a diagram for explaining an example of a personality value radar chart according to the first embodiment. [Figure 7] FIG. 4 is a diagram for explaining an example of a control content table according to the first embodiment. [Figure 8] 4 is a flowchart showing a flow of a robot control process according to the first embodiment. [Figure 9] 5 is a flowchart showing the flow of a control data modification and playback process according to the first embodiment. [Figure 10] 10 is a flowchart showing the flow of processing of a sound effect reproduction thread according to the first embodiment. [Figure 11] 11 is a flowchart showing a processing flow of a motion playing thread according to the first embodiment. [Figure 12] FIG. 11 is a diagram illustrating an example of sound effect data according to the second embodiment. [Figure 13] 13 is a diagram illustrating an example of how a sound effect is extended by a sound effect extension thread according to the second embodiment. FIG. [Figure 14] 10 is a flowchart showing the flow of processing in an abnormality detection thread according to the second embodiment. [Figure 15] 10 is a flowchart showing a process flow of a sound effect extension thread according to the second embodiment. [Figure 16] FIG. 13 is a block diagram showing the functional configuration of a device control device and a robot according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals.

[0010] (Embodiment 1) An embodiment in which the device control device according to the first embodiment is applied to a robot 200 shown in Fig. 1 will be described with reference to the drawings. The robot 200 according to the embodiment is a pet robot imitating a small animal. As shown in Fig. 1, the robot 200 is covered with an exterior 201 equipped with decorative parts 202 imitating eyes and bushy fur 203. A housing 207 of the robot 200 is stored inside the exterior 201. As shown in Fig. 2, the housing 207 of the robot 200 is composed of a head 204, a connecting part 205, and a body part 206, and the head 204 and the body part 206 are connected by the connecting part 205.

[0011] As shown in Fig. 2, the body 206 extends in the front-rear direction. The body 206 comes into contact with a support surface, such as a floor or a table, on which the robot 200 is placed, via the exterior 201. As shown in Fig. 2, a twist motor 221 is provided at the front end of the body 206, and the head 204 is connected to the front end of the body 206 via a connecting part 205. The connecting part 205 is provided with an up-down motor 222. Although the twist motor 221 is provided in the body 206 in Fig. 2, it may be provided in the connecting part 205 or in the head 204.

[0012] The connecting portion 205 connects the body portion 206 and the head portion 204 to be rotatable (by the twist motor 221) about a first rotation axis that passes through the connecting portion 205 and extends in the front-rear direction of the body portion 206. The twist motor 221 rotates the head portion 204 clockwise (rightward) about the first rotation axis within a forward rotation angle range, and rotates the head portion 204 counterclockwise (leftward) within a reverse rotation angle range, relative to the body portion 206. Note that the clockwise direction in this description refers to the clockwise direction when looking from the body portion 206 toward the head portion 204. Also, the clockwise rotation is also referred to as a "twist rotation to the right" and the counterclockwise rotation is also referred to as a "twist rotation to the left." The maximum angle of twist rotation to the right (clockwise) or left (counterclockwise) is arbitrary, but as shown in FIG. 3, the angle of head 204 when head 204 is not twisted to the right or left is referred to as the twist reference angle.

[0013] Furthermore, the connecting part 205 connects the body part 206 and the head part 204 so as to be rotatable (by the up-down motor 222) about a second rotation axis that passes through the connecting part 205 and extends in the width direction of the body part 206. The up-down motor 222 rotates the head part 204 upward within a forward rotation angle range (forward rotation) and rotates it downward within a reverse rotation angle range (reverse rotation) about the second rotation axis. The maximum angle of upward or downward rotation is arbitrary, but as shown in FIG. 3, the angle of the head part 204 when it is not rotated upward or downward is referred to as the up-down reference angle.

[0014] When the head 204 rotates up and down about the second rotation axis to the up-down reference angle or above the up-down reference angle, the head 204 can come into contact with a support surface such as a floor or a table on which the robot 200 is placed, via the exterior 201. Note that, although an example in which the first rotation axis and the second rotation axis are perpendicular to each other is shown in Fig. 2, the first and second rotation axes do not have to be perpendicular to each other.

[0015] 2, the robot 200 is provided with a touch sensor 211 on the head 204, and the touch sensor 211 can detect when the user strokes or hits the head 204. The body 206 is also provided with a touch sensor 211, and the touch sensor 211 can detect when the user strokes or hits the body 206.

[0016] The robot 200 also includes an acceleration sensor 212 on the torso 206, which can detect the posture (direction) of the robot 200 and detect when the robot 200 is lifted up, turned around, or thrown by a user. The robot 200 also includes a gyro sensor 214 on the torso 206, which can detect when the robot 200 is rolling or rotating.

[0017] The robot 200 also includes a microphone 213 on the body 206 and can detect external sounds. The robot 200 also includes a speaker 231 on the body 206 and can emit sounds (sound effects) made by the robot 200.

[0018] In this embodiment, the acceleration sensor 212, the gyro sensor 214, the microphone 213, and the speaker 231 are provided in the body 206, but all or some of these may be provided in the head 204. In addition to the acceleration sensor 212, the gyro sensor 214, the microphone 213, and the speaker 231 provided in the body 206, all or some of these may also be provided in the head 204. In addition, the touch sensor 211 is provided in each of the head 204 and the body 206, but it may be provided in only one of the head 204 or the body 206. Furthermore, a plurality of each of these may be provided.

[0019] Next, the functional configuration of the robot 200 will be described. As shown in FIG. 4, the robot 200 includes an appliance control device 100, an external stimulus detection unit 210, a driving unit 220, a sound output unit 230, and an operation input unit 240. The appliance control device 100 includes a control unit 110 and a storage unit 120. In FIG. 4, the appliance control device 100, the external stimulus detection unit 210, the driving unit 220, the sound output unit 230, and the operation input unit 240 are connected via a bus line BL, but this is an example. The appliance control device 100, the external stimulus detection unit 210, the driving unit 220, the sound output unit 230, and the operation input unit 240 may be connected via a wired interface such as a USB (Universal Serial Bus) cable, or a wireless interface such as Bluetooth (registered trademark). The control unit 110 and the storage unit 120 may be connected via a bus line BL.

[0020] The device control device 100 controls the operation of the robot 200 via the control unit 110 and the storage unit 120 .

[0021] The control unit 110 is composed of, for example, a CPU (Central Processing Unit) and executes various processes (robot control process, etc.) described later using programs stored in the storage unit 120. Note that the control unit 110 supports a multi-thread function that executes multiple processes in parallel, and therefore can execute various processes (robot control process, sound effect playback thread, motion playback thread, etc.) described later in parallel. The control unit 110 also has a clock function and a timer function, and can measure the date and time, etc.

[0022] The storage unit 120 is composed of a ROM (Read Only Memory), a flash memory, a RAM (Random Access Memory), etc. The ROM stores programs executed by the CPU of the control unit 110 and data required in advance for executing the programs. The flash memory is a writable non-volatile memory, and stores data that should be retained even after the power is turned off. The RAM stores data that is created or changed during program execution.

[0023] The external stimulus detection section 210 includes the above-mentioned touch sensor 211, acceleration sensor 212, gyro sensor 214, and microphone 213. The control section 110 acquires detection values ​​(external stimulus data) detected by the various sensors included in the external stimulus detection section 210 as signals representing external stimuli acting on the robot 200. Note that the external stimulus detection section 210 may include sensors other than the touch sensor 211, acceleration sensor 212, gyro sensor 214, and microphone 213. By increasing the types of sensors included in the external stimulus detection section 210, it is possible to increase the types of external stimuli that the control section 110 can acquire.

[0024] The touch sensor 211 detects that some object has come into contact with it. The touch sensor 211 is composed of, for example, a pressure sensor or a capacitance sensor. The detection value detected by the touch sensor 211 indicates the strength of the contact. The touch sensor 211 is capable of directional contact detection, and detects the strength of contact in three axial directions consisting of contact from the front-back direction (X-axis direction), contact from the width (left-right) direction (Y-axis direction), and contact from the up-down direction (Z-axis direction) of the body part 206 of the robot 200. Thus, the detection value of the touch sensor 211 is three-dimensional data consisting of the values ​​of the strength of contact from the X-axis direction, the Y-axis direction, and the Z-axis direction. Based on the detection value from the touch sensor 211, the control unit 110 can detect whether the robot 200 is being stroked or hit by the user.

[0025] The acceleration sensor 212 detects the acceleration of the body 206 of the robot 200 in three axial directions consisting of the front-rear direction (X-axis direction), width (left-right) direction (Y-axis direction), and up-down direction (Z-axis direction). Thus, the acceleration value detected by the acceleration sensor 212 is three-dimensional data consisting of the acceleration values ​​in the X-axis direction, the Y-axis direction, and the Z-axis direction. Since the acceleration sensor 212 detects the gravitational acceleration when the robot 200 is stationary, the control unit 110 can detect the current posture of the robot 200 based on the gravitational acceleration detected by the acceleration sensor 212. Also, for example, when the user lifts or throws the robot 200, the acceleration sensor 212 detects the acceleration accompanying the movement of the robot 200 in addition to the gravitational acceleration. Thus, the control unit 110 can detect the movement of the robot 200 by removing the gravitational acceleration component from the detection value detected by the acceleration sensor 212.

[0026] The gyro sensor 214 detects the angular velocity when a rotation is applied to the body of the robot 200. Specifically, the gyro sensor 214 detects the angular velocity of three-axis rotation consisting of rotation about the axis in the front-back direction (X-axis direction) of the body 206, rotation about the axis in the width (left-right) direction (Y-axis direction), and rotation about the axis in the up-down direction (Z-axis direction). Therefore, the value of the angular velocity detected by the gyro sensor 214 is three-dimensional data consisting of the values ​​of the angular velocity of the X-axis rotation, the angular velocity of the Y-axis rotation, and the angular velocity of the Z-axis rotation. The control unit 110 can detect the movement of the robot 200 with higher accuracy by combining the detection value detected by the acceleration sensor 212 and the detection value detected by the gyro sensor 214.

[0027] The touch sensor 211, acceleration sensor 212, and gyro sensor 214 are synchronized, detect the strength of contact, acceleration, and angular velocity at the same timing, and output the detection values ​​to the control unit 110. Specifically, the touch sensor 211, acceleration sensor 212, and gyro sensor 214 detect the strength of contact, acceleration, and angular velocity at the same timing, for example, every 0.25 seconds.

[0028] The microphone 213 detects sounds around the robot 200. Based on the sound components detected by the microphone 213, the control unit 110 can detect, for example, whether the user is calling out to the robot 200 or clapping his hands.

[0029] The driving unit 220 includes a twist motor 221 and an up-down motor 222. The driving unit 220 is driven by the control unit 110. As a result, the robot 200 can express motions such as lifting the head 204 (rotating it upward around the second rotation axis) or twisting it sideways (twisting and rotating it to the right or left around the first rotation axis). Motion data for driving the driving unit 220 to express these motions is recorded in a control content table 124 described later.

[0030] The sound output unit 230 includes a speaker 231, and when the control unit 110 inputs sound data to the sound output unit 230, sound is output from the speaker 231. For example, when the control unit 110 inputs data of the cry of the robot 200 to the sound output unit 230, the robot 200 emits a pseudo cry. This cry data is also recorded in the control content table 124 as sound effect data.

[0031] The operation input unit 240 is configured with, for example, operation buttons, a volume knob, etc. The operation input unit 240 is an interface for accepting user operations such as turning on / off the power supply, adjusting the volume of the output sound, etc.

[0032] Next, among the data stored in the storage unit 120 of the device control device 100, emotion data 121, emotion change data 122, growth days data 123, and control content table 124, which are characteristic data of this embodiment, will be described in order.

[0033] The emotion data 121 is data for making the robot 200 have a pseudo emotion, and is data (X, Y) showing coordinates on the emotion map 300. As shown in FIG. 5, the emotion map 300 is expressed in a two-dimensional coordinate system having an X-axis 311 representing a degree of security (anxiety) and a Y-axis 312 representing a degree of excitement (lethargy). The origin 310 (0, 0) on the emotion map represents a normal emotion. The positive X-coordinate value (X value) represents a higher absolute value, which indicates a higher degree of security, and the positive Y-coordinate value (Y value) represents a higher absolute value, which indicates a higher degree of excitement. The negative X-value represents a higher absolute value, which indicates a higher degree of anxiety, and the negative Y-value represents a higher absolute value, which indicates a higher degree of lethargy.

[0034] The emotion data 121 has two values, an X value (level of relief, level of anxiety) and a Y value (level of excitement, level of lethargy) that represent a plurality of different pseudo emotions (four in this embodiment), and a point on the emotion map 300 represented by the X value and the Y value represents the pseudo emotion of the robot 200. The initial value of the emotion data 121 is (0,0). The emotion data 121 is also called an emotion parameter because it is a parameter that represents the pseudo emotion of the robot 200. Note that, although the emotion map 300 is represented in a two-dimensional coordinate system in FIG. 5, the number of dimensions of the emotion map 300 is arbitrary. The emotion map 300 may be defined in one dimension, and one value may be set as the emotion data 121. In addition, the emotion map 300 may be defined in a coordinate system of three or more dimensions by adding other axes, and a value equal to the number of dimensions of the emotion map 300 may be set as the emotion data 121.

[0035] In this embodiment, the size of the emotion map 300 as the initial value is 100 for both the X value and the Y value, and -100 for both the minimum and maximum values. During the first period, each time the number of days of the simulated growth of the robot 200 increases by one day, both the maximum and minimum values ​​of the emotion map 300 are expanded by 2. Here, the first period is a period during which the robot 200 grows in a simulated manner, and is, for example, a period of 50 days from the simulated birth of the robot 200. The simulated birth of the robot 200 is the first time the robot 200 is started by the user after being shipped from the factory. When the number of days of growth reaches 25 days, the maximum and minimum values ​​of the X value and the Y value become 150 and -150, respectively, as shown in the frame 302 in FIG. 5. Then, when the first period (50 days in this example) has passed, the pseudo-growth of the robot 200 is deemed complete, and the size of the emotion map 300 is fixed, with the maximum X and Y values ​​both becoming 200 and the minimum -200, as shown in frame 303 in FIG. 5.

[0036] The emotion change data 122 is data that sets the amount of change by which each of the X value and Y value of the emotion data 121 is increased or decreased. In this embodiment, the emotion change data 122 corresponding to the X of the emotion data 121 includes DXP that increases the X value and DXM that decreases the X value, and the emotion change data 122 corresponding to the Y value of the emotion data 121 includes DYP that increases the Y value and DYM that decreases the Y value. That is, the emotion change data 122 consists of the following four variables. These variables are parameters that change the simulated emotions of the robot 200, and are therefore also called emotion change parameters. DXP: Ease of feeling at ease (the tendency for the X value on the emotion map to change in a positive direction) DXM: Tendency to become anxious (the tendency for the X value on the emotion map to change in the negative direction) DYP: Excitability (the tendency for the Y value on the emotion map to change in the positive direction) DYM: Tendency to become apathetic (the tendency for the Y value on the emotion map to change in the negative direction)

[0037] In this embodiment, as an example, the initial values ​​of these variables are all set to 10, and are increased to a maximum of 20 by a process of learning emotion change data during the robot control process described below. This learning process changes the emotion change data 122, i.e., the degree of emotion change, so that the robot 200 has various personalities depending on how the user interacts with the robot 200. In other words, the personality of the robot 200 is formed differently for each individual depending on how the user interacts with the robot.

[0038] Therefore, in this embodiment, each personality data (personality value) is derived by subtracting 10 from each emotion change data 122. That is, the personality value (cheerful) is obtained by subtracting 10 from DXP indicating ease of mind, the personality value (shy) is obtained by subtracting 10 from DXM indicating ease of anxiety, the personality value (active) is obtained by subtracting 10 from DYP indicating ease of excitement, and the personality value (spoiled) is obtained by subtracting 10 from DYM indicating ease of lethargy. As a result, for example, as shown in FIG. 6, the personality value (cheerful) is plotted on axis 411, the personality value (active) on axis 412, the personality value (shy) on axis 413, and the personality value (spoiled) on axis 414, so that a personality value radar chart 400 can be generated. In this way, the value of the emotion change parameter (emotion change data 122) can be said to represent the pseudo personality of the robot 200.

[0039] Furthermore, in this embodiment, the emotion change data 122, i.e., the degree of emotion change, also changes depending on the familiarity level (a value indicating the degree to which the robot has become accustomed to an external stimulus) acquired in the robot control process described later, so that the robot 200 can perform operations taking into account past interactions with users.

[0040] The growth days data 123 has an initial value of 1, and is incremented by 1 each time a day passes. The growth days data 123 represents the pseudo number of days of growth (the pseudo number of days from birth) of the robot 200. Here, the period of the number of days of growth represented by the growth days data 123 is referred to as the second period.

[0041] 7, the control content table 124 stores control conditions and control data in correspondence with each other. When a control condition (e.g., some external stimulus is detected) is satisfied, the control unit 110 controls the driving unit 220 and the sound output unit 230 based on the corresponding control data (motion data for expressing an action by the driving unit 220 and sound effect data for outputting sound effects from the sound output unit 230).

[0042] 7, the motion data is a series of sequence data (in the order of "time (milliseconds): rotation angle (degrees) of up / down motor 222: rotation angle (degrees) of twist motor 221") that controls drive unit 220. For example, when the body is stroked, control unit 110 controls drive unit 220 in such a way that the rotation angles of up / down motor 222 and twist motor 221 are initially set to 0 degrees (up / down reference angle and twist reference angle) (up / down reference angle and twist reference angle) at the beginning (0 seconds), head 204 is raised so that the rotation angle of up / down motor 222 is 60 degrees at 0.5 seconds, and head 204 is twisted so that the rotation angle of twist motor 221 is 60 degrees at 1 second.

[0043] 7, sentences explaining each sound effect data are written to make it easier to understand, but in reality, the sound effect data itself (sampled sound data) explained in these sentences is stored as the sound effect data in the control content table 124. A value indicating the ending position (for example, "ending: 30%") is also stored in the sound effect data. This value indicates the ending position from the beginning of the entire length of the sound effect data as a percentage, and is used when changing the tone of the sound effect (changing the ending frequency) in the control data change playback process described later.

[0044] In the control content table shown in FIG. 7, the control conditions do not include conditions related to emotions (represented by coordinates on emotion map 300). However, by including conditions related to emotions in the control conditions, the control data may be changed according to emotions.

[0045] Next, the robot control process executed by the control unit 110 of the device control device 100 will be described with reference to the flowchart shown in Fig. 8. The robot control process is a process in which the device control device 100 controls the movement and cry of the robot 200 based on the detection values ​​from the external stimulus detection unit 210, etc. When the user turns on the power of the robot 200, the robot control process starts.

[0046] First, the control unit 110 initializes various data such as the emotion data 121, emotion change data 122, and growth days data 123 (step S101). Note that, from the second time onwards when the robot 200 is started up, each value at the time when the power of the robot 200 was last turned off may be set in step S101. This can be realized by the control unit 110 saving the value of each data in a non-volatile memory (such as a flash memory) of the storage unit 120 when the power was last turned off, and then setting the saved value as the value of each data when the power is turned on.

[0047] Next, the control unit 110 acquires the external stimulus detected by the external stimulus detection unit 210 (step S102). Then, the control unit 110 determines whether or not any of the control conditions defined in the control content table 124 is satisfied by the external stimulus acquired in step S102 (step S103).

[0048] If any of the control conditions defined in the control content table 124 is satisfied by the acquired external stimulus (step S103; Yes), the control unit 110 refers to the control content table 124 and acquires control data corresponding to the control condition satisfied by the acquired external stimulus (step S104).

[0049] Then, the control unit 110 acquires the familiarity based on the external stimulus acquired in step S102 and the information on the history of external stimuli acquired up to that point (step S105). The familiarity is a parameter used to cause a phenomenon in which the robot 200 becomes accustomed to the same external stimulus and its emotions do not change much when the robot 200 is repeatedly exposed to the same external stimulus, and in this embodiment, the familiarity is a value between 1 and 10. The familiarity can be acquired by any method, but the control unit 110 can acquire the familiarity by, for example, the method disclosed in JP 2021-153680 A.

[0050] Next, the control unit 110 acquires emotion change data 122 in response to the external stimulus acquired in step S102, and modifies the emotion change data 122 based on the familiarity (step S106). Specifically, for example, when the touch sensor 211 of the head 204 detects that the head 204 has been stroked as an external stimulus, the robot 200 feels a pseudo sense of security, so the control unit 110 acquires DXP as emotion change data 122 to be added to the X value of the emotion data 121. Then, the control unit 110 divides the DXP of the emotion change data 122 by the familiarity value. As a result, the larger the familiarity value, the smaller the value of the emotion change data 122 becomes, and the more difficult it is for the pseudo emotion to change.

[0051] Then, control unit 110 sets emotion data 121 according to emotion change data 122 acquired (and corrected) in step S106 (step S107). Specifically, for example, if DXP was acquired as emotion change data 122 in step S106, control unit 110 adds the corrected DXP of emotion change data 122 to the X value of emotion data 121.

[0052] In steps S106 and S107, it is possible to arbitrarily set what emotion change data 122 is acquired (and corrected) for each external stimulus and how emotion data 121 is set, but here, an example is shown below.

[0053] Being petted on the head 204 (feels safe): X=X+DXP / familiarity Hitting the head 204 (feels anxious): X=X-DXM / familiarity (These external stimuli can be detected by the touch sensor 211 on the head 204.) Being stroked on the torso 206 (excited): Y=Y+DYP / familiarity Hitting the torso 206 (becoming lethargic): Y=Y-DYM / familiarity (These external stimuli can be detected by the touch sensor 211 on the torso 206.) Being held with head up (happy): X=X+DXP / familiarity level, and Y=Y+DYP / familiarity level Hanging head down (sad): X=X-DXM / familiarity, and Y=Y-DYM / familiarity (These external stimuli can be detected by the touch sensor 211, the acceleration sensor 212, and the gyro sensor 214.) Being called out by a gentle voice (becoming calm): X=X+DXP / familiarity level, and Y=Y-DYM / familiarity level Being yelled at loudly (irritating): X=X-DXM / familiarity level, and Y=Y+DYP / familiarity level (These external stimuli can be detected by microphone 213.)

[0054] However, if adding emotion change data 122 causes the value (X value, Y value) of emotion data 121 to exceed the maximum value of emotion map 300, the value of emotion data 121 is set to the maximum value of emotion map 300. On the other hand, if subtracting emotion change data 122 causes the value of emotion data 121 to be less than the minimum value of emotion map 300, the value of emotion data 121 is set to the minimum value of emotion map 300.

[0055] Then, the control unit 110 executes a control data change / playback process (step S108) using the control data acquired in step S104 and the emotion data 121 set in step S107 as arguments, and proceeds to step S111. The control data change / playback process is a process for adjusting (changing) the control data acquired in step S104 in accordance with the emotion data 121 set in step S107 to control the robot 200, and will be described in detail later. Note that if the emotion change data 122 has been corrected in step S106, after the end of step S108, the control unit 110 returns the emotion change data 122 to the state before correction.

[0056] On the other hand, if none of the control conditions defined in the control content table 124 is satisfied by the acquired external stimulus in step S103 (step S103; No), the control unit 110 judges whether or not to perform a spontaneous movement such as breathing (step S109). Although the method of judging whether or not to perform a spontaneous movement is arbitrary, in this embodiment, the judgment in step S109 becomes Yes every breathing cycle (for example, 2 seconds), and breathing is performed.

[0057] If the voluntary movement is not to be performed (step S109; No), the control unit 110 proceeds to step S111. If the voluntary movement is to be performed (step S109; Yes), the control unit 110 executes the voluntary movement (e.g., breathing) (step S110) and proceeds to step S111.

[0058] The control data for this spontaneous movement is also stored in the control content table 124 (for example, as shown in "a respiratory cycle has elapsed" under "control conditions" in Fig. 7). Although omitted in Fig. 8, in step S110, the control data may be adjusted (changed) based on emotion data, similar to the process when an external stimulus is present (for example, the process in steps S105 to S108).

[0059] In step S111, the control unit 110 determines whether or not the date has changed by the clock function. If the date has not changed (step S111; No), the control unit 110 returns to step S102.

[0060] If the date has changed (step S111; Yes), the control unit 110 judges whether or not it is within the first period (step S112). If the first period is, for example, 50 days from the pseudo-birth of the robot 200 (for example, the first activation by the user after purchase), the control unit 110 judges that it is within the first period if the growth day data 123 is 50 or less. If it is not within the first period (step S112; No), the control unit 110 proceeds to step S115.

[0061] If it is during the first period (step S112; Yes), the control unit 110 performs learning of the emotion change data 122 (step S113). Learning of the emotion change data 122 is specifically a process of updating the emotion change data 122 by adding 1 to the DXP of the emotion change data 122 if the X value of the emotion data 121 has been set to the maximum value of the emotion map 300 even once in step S107 of that day, adding 1 to the DYP of the emotion change data 122 if the Y value of the emotion data 121 has been set to the maximum value of the emotion map 300 even once, adding 1 to the DXM of the emotion change data 122 if the X value of the emotion data 121 has been set to the minimum value of the emotion map 300 even once, and adding 1 to the DYM of the emotion change data 122 if the Y value of the emotion data 121 has been set to the minimum value of the emotion map 300 even once.

[0062] However, if each value of the emotion change data 122 becomes too large, the amount of change in one time of the emotion data 121 becomes too large, so each value of the emotion change data 122 is limited to a maximum value of, for example, 20 or less. Also, although 1 is added to each piece of emotion change data 122 here, the value added is not limited to 1. For example, the number of times each value of the emotion data 121 is set to the maximum or minimum value of the emotion map 300 may be counted, and if this number is large, the value added to the emotion change data 122 may be increased.

[0063] Returning to FIG. 8, next, control unit 110 expands emotion map 300 (step S114). Specifically, expanding the emotion map is a process in which control unit 110 expands emotion map 300 by 2 for both the maximum and minimum values. However, this expansion value of "2" is merely an example, and it may be expanded by 3 or more, or may be expanded by 1. Furthermore, the expansion value may be different for each axis of emotion map 300, and for the maximum and minimum values.

[0064] 8, the learning of the emotion change data 122 and the expansion of the emotion map 300 are performed after the control unit 110 determines that the date has changed in step S111, but they may be performed after determining that a reference time (for example, 9 p.m.) has been reached. The determination in step S111 may be based on a value accumulated by a timer function of the control unit 110 for the time that the robot 200 has been powered on, rather than on the actual date. For example, each time the accumulated time that the robot 200 has been powered on becomes a multiple of 24, the learning of the emotion change data 122 and the expansion of the emotion map 300 may be performed, assuming that the robot 200 has grown by one day.

[0065] 8, the control unit 110 adds 1 to the growth days data 123 (step S115), initializes both the X value and the Y value of the emotion data to 0 (step S116), and returns to step S102. If it is better for the robot 200 to carry over the simulated emotion of the previous day to the next day, the control unit 110 returns to step S102 without performing the process of step S116.

[0066] Next, the control data change / playback process that is called in step S108 of the above-mentioned robot control process with the control data and emotion data 121 as arguments will be described with reference to FIG.

[0067] First, the control unit 110 determines whether or not the control data includes sound effect data (step S201). If sound effect data is not included (step S201; No), the process proceeds to step S205.

[0068] If sound effect data is included (step S201; Yes), control unit 110 sets the frequency change degree and the ending change degree based on emotion data 121 (step S202). Specifically, the frequency change degree is set to a value obtained by dividing the X value of emotion data 121 by 10, and the ending change degree is set to a value obtained by dividing the Y value of emotion data 121 by 10. In other words, both the frequency change degree and the ending change degree are set to values ​​between -30 and 30.

[0069] Next, the control unit 110 acquires the ending position from the sound effect data (step S203). As shown in Fig. 7, the control content table 124 stores the ending position for each sound effect data, so that the control unit 110 can acquire the ending position from the sound effect data.

[0070] Then, the control unit 110 starts a sound effect playback thread (described later) using the sound effect data, the ending position, the frequency change degree, and the ending change degree as arguments (step S204), and proceeds to step S205. Although the details of the sound effect playback thread will be described later, in this thread, sound effects are output from the audio output unit 230 using sound effect data adjusted (changed) based on emotion data.

[0071] In step S205, control unit 110 determines whether or not motion data is included in the control data. If motion data is not included in the control data (step S205; No), control unit 110 ends the control data change playback process.

[0072] If the control data includes motion data (Step S205; Yes), control unit 110 sets the speed change degree and the amplitude change degree based on emotion data 121 (Step S206). Specifically, the speed change degree is set to a value obtained by dividing the X value of emotion data 121 by 10, and the amplitude change degree is set to a value obtained by dividing the Y value of emotion data 121 by 10. In other words, both the speed change degree and the amplitude change degree are set to values ​​between -30 and 30.

[0073] Then, the control unit 110 starts a motion playback thread (described later) using the motion data, the speed change degree, and the amplitude change degree as arguments (step S207), and ends the control data change playback process. The motion playback thread will be described in detail later, but in this thread, the driving unit 220 is driven by the motion data adjusted (changed) based on the emotion data, and the movement of the robot 200 is expressed.

[0074] Next, the sound effect playback thread called in step S204 of the control data change playback process (FIG. 9) will be described with reference to FIG 10. This process is executed in parallel with the caller's control data change playback process.

[0075] First, the control unit 110 uses the audio output unit 230 to play back the sound effect data from the beginning to the end position at a frequency changed by the frequency change degree (step S301). The method of changing the frequency may be arbitrary, but the frequency may be changed by changing the playback speed according to the frequency change degree. For example, if the frequency change degree is 10, the frequency is increased by 10% by making the playback speed 10% faster than normal speed.

[0076] Next, the control unit 110 uses the audio output unit 230 to play back the sound effect data from the ending position to the end at a frequency changed by the frequency change degree and the ending change degree (step S302), and ends the sound effect playback thread. The method of changing the frequency by the frequency change degree and the ending change degree is arbitrary, but for example, the frequency may be changed based on a value obtained by adding these two change degrees, or the frequency may be changed by the frequency change degree and then further changed by the ending change degree. If the frequency change degree is 10 and the ending change degree is 5, the frequency is increased by 15% (because 10+5=15) if the former method is used, that is, the frequency is changed based on a value obtained by adding the frequency change degree and the ending change degree. If the latter method is used, that is, the frequency is changed by the frequency change degree and then further changed by the ending change degree, the frequency is increased by 15.5% (because 1.1×1.05=1.155). In this case, the control unit 110 may increase the frequency by increasing the playback speed.

[0077] Next, the motion playback thread called in step S207 of the control data change playback process (Fig. 9) will be described with reference to Fig. 11. This process is executed in parallel with the caller's control data change playback process.

[0078] First, the control unit 110 changes the motion data based on the speed change degree and the amplitude change degree (step S401). More specifically, the time data of the motion data is multiplied by (100 / (100+speed change degree)), and the rotation angle data is multiplied by ((100+amplitude change degree) / 100). For example, if the speed change degree is -10, the time data of the motion data is multiplied by 100 / (100-10) to reduce the speed by 10%, and if the amplitude change degree is 10, the rotation angle data is multiplied by (100+10) / 100 to increase the rotation angle by 10%.

[0079] However, if the changed motion data exceeds the limits of the driving unit 220, the data may be changed within a range that does not exceed the limits. Also, the motion data in the control content table 124 may be set in advance to values ​​that do not exceed the limits of the driving unit 220 even if the speed or amplitude is increased by +30%.

[0080] Then, the control unit 110 drives the driving unit 220 based on the motion data changed in step S401 (step S402), and ends the motion reproduction thread.

[0081] The control data change / playback process described above changes the control data based on the emotion data 121. Therefore, even if control data is not stored in detail for each simulated emotion (emotion data 122) of the robot 200, the robot 200 can behave according to the emotion (output of sound effects from the audio output unit 230, gestures by the drive unit 220). That is, even if the control data is the same sound effect or gesture, the sound effect or gesture according to the emotion can be expressed by adjusting (changing) the frequency or the rise and fall of the ending (tone) of the sound effect or the speed and amplitude of the movement of the gesture based on the emotion coordinates in the emotion map 300 at that time. Therefore, with the same amount of control data, the robot 200 can be made to move more expressively than before.

[0082] In the above-described control data change playback process, when the control data is a sound effect, control unit 110 performs control so as to adjust (change) the frequency of the sound effect and the rise and fall (tone) of the ending of the sound effect based on emotion data 121. However, adjustments of the sound effect are not limited to the frequency and tone. Control unit 110 may also perform control so as to adjust (change), for example, the output time of the sound effect based on emotion data 121.

[0083] Furthermore, in the above-described control data change playback process, control unit 110 adjusts the control data based on emotion data 121. However, control unit 110 may adjust the control data based on emotion change data 122 instead of or in addition to emotion data 121.

[0084] For example, in step S202, the degree of change of the sound effect data is set as Frequency change rate = X÷10 Inflection degree = Y÷10 However, the control unit 110 may set these change degrees using emotion change data as well. For example, they may be set as follows. Frequency change rate = (X + (DXP-10) - (DXM-10)) ÷ 10 Inflection degree = (Y + (DYP-10) - (DYM-10)) ÷ 10

[0085] In step S206, the degree of change in the motion data is Speed ​​change rate = X÷10 Amplitude change rate = Y÷10 However, the control unit 110 may set these change degrees using emotion change data as well. For example, they may be set as follows. Speed ​​change rate = (X + (DXP-10) - (DXM-10)) / 10 Amplitude change rate = (Y + (DYP-10) - (DYM-10)) ÷ 10

[0086] Since the emotion change data 122 ranges from 10 to 20, the above formula subtracts 10 from each of (DXP, DXM, DYP, DYM) to bring the values ​​into the range of 0 to 10 before calculation.

[0087] In the above example, the control unit 110 adjusts (changes) the sound effect data and motion data based only on the emotion data 121 (emotion), or based on the values ​​of both the emotion data 121 (emotion) and the emotion change data 122 (personality). However, the control unit 110 may adjust (change) the sound effect data and motion data based only on the emotion change data 122 (personality).

[0088] (Embodiment 2) When the robot 200 detects an abnormality such as a fall, it is possible to output a sound effect such as "Aaah!" from the audio output unit. In this case, it is better to continue outputting the sound effect while the detected abnormality continues, in order to more clearly notify the user of the abnormality. A second embodiment that makes this possible will be described.

[0089] The functional configuration and structure of the robot 200 according to the second embodiment are the same as those of the first embodiment, and therefore the description will be omitted. However, the control content table 124 according to the second embodiment also stores the control content when an abnormality is detected. That is, as the control conditions, the conditions of the external stimuli under which an abnormality is detected are specified, and as the control data, sound effect data of the sound effect to be output when the abnormality is detected is stored. In addition, the stored sound effect data also stores information on the repeat position P1 and the repeat position P2, as shown in FIG.

[0090] As described later, the control unit 110 extends the sound effect by repeatedly playing back the data between repeat positions P1 and P2. However, since the amplitude value of the sound effect data at P1 and at P2 is often different, if the data from P1 to P2 is simply repeated, the difference in the amplitude values ​​between P1 and P2 will cause a step in the waveform of the sound output at the joint of the repeated data, resulting in an unnatural sound. Therefore, in the second embodiment, as shown in FIG. 13, after playing back from P1 to P2 in the forward direction, it plays back from P2 to P1 in the reverse direction to prevent a step in the waveform from occurring at the joint of the repeated data.

[0091] Although the occurrence of a step in the waveform at the joint of the repeated data can be prevented by playing back and forth from P1 to P2 in this way, the slope of the waveform at the joint may change suddenly. Furthermore, the sudden change in the slope of the waveform at the joint may have a negative effect on the sound. Therefore, when setting the repeat positions P1 and P2, the creator of the sound effect data may actually play back and forth from P1 to P2 to check that there is no unnaturalness, and then set the repeat positions P1 and P2 and store them in the control content table 124 as sound effect data.

[0092] When the sound effect is extended without reciprocating playback from the repeat position P1 to P2 (when the sound effect is extended by repeatedly playing the repeat position P1 to P2 in the forward direction), the sound becomes unnatural unless the amplitude as well as the inclination is matched at the joints of the repetitions, but reciprocating playback ensures that the amplitude is matched. Therefore, by reciprocating playback of the portion from the repeat position P1 to P2 in the forward and reverse directions, the effort required to set the repeat positions P1 and P2 can be significantly reduced compared to when reciprocating playback is not performed.

[0093] In the second embodiment, a process for detecting an abnormality such as a fall is also executed, and this abnormality detection thread will be described with reference to Fig. 14. When the user turns on the power of the robot 200, the abnormality detection thread starts to be executed in parallel with other processes (such as the robot control process described above). Note that the value of the variable T used in the abnormality detection thread can also be referenced from the sound effect extension thread described later.

[0094] First, the control unit 110 initializes the value of a variable T that stores the type of abnormality (step S501). The value of the variable T at the time of initialization may be any value that can represent the absence of an abnormality, but it may be set to 0, for example.

[0095] Then, the control unit 110 acquires the external stimulus detected by the external stimulus detection unit 210 (step S502). Then, the control unit 110 determines whether or not an abnormality has been detected based on the acquired external stimulus (step S503). Here, an abnormality is when the robot 200 is falling, being rolled, being picked up, being rotated, etc. These abnormalities can be detected based on the acceleration and angular velocity, respectively.

[0096] For example, the control unit 110 can determine that "the robot 200 is falling" if the sum of the squares of the accelerations of each axis detected by the acceleration sensor is less than a fall threshold. Furthermore, the control unit 110 can determine that "the robot 200 is being rolled" if the value of the angular velocity of the Y axis detected by the gyro sensor exceeds a rolling threshold. Furthermore, the control unit 110 can determine that "the robot 200 is being picked up" if the acceleration of the Z axis detected by the acceleration sensor exceeds a pick-up threshold. Furthermore, the control unit 110 can determine that "the robot 200 is being rotated" if the angular velocity of the Z axis detected by the gyro sensor exceeds a rotation threshold.

[0097] If the control unit 110 does not detect these abnormalities (step S503; No), the process returns to step S502. If the control unit 110 detects any of the abnormalities (step S503; Yes), the control unit 110 saves the type of abnormality detected (such as "drop" or "roll") in a variable T (step S504). In this step, the control unit 110 saves a value in variable T that corresponds to the type of abnormality, for example, 1 for "drop" or 2 for "roll".

[0098] Then, the control unit 110 starts a sound effect extension thread (step S505) to be described later. The sound effect extension thread is a process for extending a sound effect according to the type of abnormality while the abnormality continues, and the details of the process will be described later.

[0099] Then, the control unit 110 acquires an external stimulus again (step S506), and determines whether or not an abnormality of the type saved in the variable T is detected (step S507). If an abnormality of the type saved in the variable T is detected (step S507; Yes), the control unit 110 returns to step S506. If an abnormality of the type saved in the variable T is not detected (step S507; No), the control unit 110 returns to step S501.

[0100] By the anomaly detection thread described above, while an anomaly is detected, the type of the anomaly is stored in the variable T, and when the anomaly is no longer detected, the variable T is initialized. Next, the sound effect extension thread started in step S505 of the anomaly detection thread (FIG. 14) will be described with reference to FIG.

[0101] First, the control unit 110 refers to the variable T and the control content table 124 to acquire sound effect data corresponding to the detected abnormality (step S601), and acquires repeat positions P1 and P2 included in the sound effect data (step S602).

[0102] Next, the control unit 110 causes the audio output unit 230 to play back the sound effect data from the beginning to position P1 (step S603), and further plays back the sound effect data in the forward direction from position P1 to P2 (step S604).

[0103] Then, the control unit 110 refers to the variable T and determines whether the abnormality is still continuing or not, that is, whether the value of the variable T has not changed (has not been initialized) or not (step S605). If the abnormality is not continuing (step S605; No), the control unit 110 plays the sound effect data from position P2 to the end in the audio output unit 230 (step S606), and ends the processing of the sound effect extension thread.

[0104] If the abnormality is still present (step S605; Yes), the control unit 110 causes the audio output unit 230 to play back the sound effect data in the reverse direction from position P2 to position P1 (step S607), and returns to step S604.

[0105] By the above-described processing of the sound effect extension thread, the robot 200 according to the second embodiment can extend and output sound effects so as not to give an unnatural feeling while an abnormality is detected.

[0106] (Modification) The present invention is not limited to the above-described embodiment, and various modifications and applications are possible. For example, by combining the first and second embodiments, sound effects may be extended and output so as to sound natural, not only when an abnormality occurs, but also based on the simulated emotion of the robot 200.

[0107] In the above embodiment, the robot 200 is configured to have the device control device 100 built in, but the device control device 100 may not be built in the robot 200. For example, as shown in FIG. 16, the device control device 100 according to a modified example may be configured as a separate device (e.g., a server) without being built in the robot 200. In this modified example, the device control device 100 includes a communication unit 130, and the robot 200 also includes a communication unit 260, and the communication units 130 and 260 are configured to be able to transmit and receive data to and from each other. The control unit 110 acquires the external stimulus detected by the external stimulus detection unit 210 via the communication units 130 and 260, and controls the drive unit 220 and the audio output unit 230 via the communication units 130 and 260.

[0108] In the above embodiment, the device control device 100 is a control device that controls the robot 200, but the device to be controlled is not limited to the robot 200. A wristwatch or the like can be considered as a device to be controlled. For example, in the case of a wristwatch that can output sound, has an acceleration sensor and a gyro sensor, and can raise a pseudo creature as application software within the device, an external stimulus can be an impact applied to the wristwatch that is detected by the acceleration sensor and the gyro sensor. Then, the emotion change data 122 and the emotion data 121 are updated in response to this external stimulus, and the sound effect data set in the control content table 124 is adjusted (changed) and output based on the emotion data 121 at the time when the user wears the wristwatch.

[0109] In this way, if the watch is handled roughly, it will emit a sad sound effect when the user wears it, and if the watch is handled gently, it will emit a happy sound effect when the user wears it. Furthermore, if emotion change data 122 is set for a first period (for example, 50 days), the watch will develop a personality (pseudo character) depending on how the user handles it during the first period. In other words, even if the watch has the same model number, if the user handles it gently, it will be a watch that is likely to make the user feel happy, and if the user handles it roughly, it will be a watch that is likely to make the user feel sad.

[0110] In this way, the device control device 100 can be applied not only to robots but also to various devices equipped with acceleration sensors, gyro sensors, etc., and can provide the devices with simulated emotions and personalities. Furthermore, by applying the device control device 100 to various devices, the user can feel as if they are virtually raising the device.

[0111] In the above embodiment, the operation program executed by the CPU of the control unit 110 has been described as being stored in advance in the ROM or the like of the storage unit 120. However, the present invention is not limited to this, and the operation program for executing the above-mentioned various processes may be implemented in an existing general-purpose computer or the like, so as to function as a device equivalent to the device control device 100 according to the above-mentioned embodiment.

[0112] Such programs may be provided in any manner; for example, they may be stored on a computer-readable recording medium (such as a flexible disk, a CD (Compact Disc)-ROM, a DVD (Digital Versatile Disc)-ROM, an MO (Magneto-Optical Disc), a memory card, a USB memory, etc.) and distributed, or the programs may be stored in storage on a network such as the Internet and provided by downloading them.

[0113] Furthermore, when the above-mentioned processing is performed by sharing between an OS (Operating System) and an application program, or by cooperation between the OS and the application program, only the application program may be stored in a recording medium or storage. It is also possible to superimpose the program on a carrier wave and distribute it over a network. For example, the above-mentioned program may be posted on a bulletin board system (BBS) on a network and distributed over the network. The above-mentioned processing may be performed by starting up this program and executing it under the control of the OS in the same way as other application programs.

[0114] The present invention allows various embodiments and modifications without departing from the broad spirit and scope of the present invention. The above-described embodiments are for the purpose of explaining the present invention and do not limit the scope of the present invention. That is, the scope of the present invention is indicated by the claims, not the embodiments. Various modifications made within the scope of the claims and the scope of the invention equivalent thereto are considered to be within the scope of the present invention. [Explanation of symbols]

[0115] 100...device control device, 110...control unit, 120...storage unit, 121...emotion data, 122...emotion change data, 123...growth days data, 124...control content table, 130, 260...communication unit, 200...robot, 201...exterior, 202...decorative parts, 203...fur, 204...head, 205...connection unit, 206...torso, 207...casing, 210...external stimulus detection unit, 211...touch sensor, 212... Acceleration sensor, 213... microphone, 214... gyro sensor, 220... drive unit, 221... twist motor, 222... up and down motor, 230... audio output unit, 231... speaker, 240... operation input unit, 300... emotion map, 301, 302, 303... frame, 310... origin, 311... X-axis, 312... Y-axis, 400... personality value radar chart, 411, 412, 413, 414... axis, BL... bus line

Claims

1. obtaining a signal representative of an external stimulus acting on the device; Setting a simulated emotion for the device based on the signal; and performing control so as to adjust the content of control for a sound output unit or a drive unit of the device, the content being stored in advance in a storage unit, based on the set pseudo emotion. A control unit is provided. A control device for an appliance, comprising:

2. The control unit is Based on the simulated emotion of the device, control is performed so as to adjust at least one of an output time, a tone, and a frequency of the sound effect output from the audio output unit using the sound effect data stored in the storage unit as the content of the control.

2. The device control device according to claim 1 .

3. The control unit is acquiring an emotion change parameter used to change a simulated emotion of the device when the signal is acquired; setting an emotion parameter representing a simulated emotion of the device in accordance with the acquired emotion change parameter; controlling the sound effect so as to adjust at least one of an output time, a tone, and a frequency based on the set emotion parameter; 3. The device control device according to claim 2.

4. The control unit is updating the emotion change parameter stored in the storage unit based on the acquired signal at a predetermined timing; setting the emotion parameter in accordance with the updated emotion change parameter; controlling the adjustment of at least one of an output time, a tone, and a frequency of the sound effect in accordance with the set emotion parameter and the updated emotion change parameter; 4. The device control apparatus according to claim 3.

5. The control unit is Based on the simulated emotion of the device, control is performed so as to adjust at least one of the speed or amplitude of the movement expressed by the drive unit using the motion data stored in the storage unit as the content of the control.

2. The device control device according to claim 1 .

6. The control unit is acquiring an emotion change parameter used to change a simulated emotion of the device when the signal is acquired; setting an emotion parameter representing a simulated emotion of the device in accordance with the acquired emotion change parameter; and controlling the movement so as to adjust at least one of a speed or an amplitude of the movement based on the set emotion parameter.

6. The device control device according to claim 5.

7. The control unit is updating the emotion change parameter stored in the storage unit based on the acquired signal at a predetermined timing; setting the emotion parameter in accordance with the updated emotion change parameter; controlling the movement so as to adjust at least one of a speed or an amplitude of the movement in accordance with the set emotion parameter and the updated emotion change parameter; 7. The device control apparatus according to claim 6.

8. An appliance comprising the appliance control device according to any one of claims 1 to 7.

9. The control device includes a control unit, obtaining a signal representative of an external stimulus acting on the device; Setting a simulated emotion for the device based on the signal; and performing control so as to adjust the content of control for a sound output unit or a drive unit of the device, the content being stored in advance in a storage unit, based on the set pseudo emotion. How to control the device.

10. The control device's computer obtaining a signal representative of an external stimulus acting on the device; Setting a simulated emotion for the device based on the signal; and performing control so as to adjust the content of control for a sound output unit or a drive unit of the device, the content being stored in advance in a storage unit, based on the set pseudo emotion. A program that executes a process.

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