Device, vibration provision device, method, vibration provision method, and program

Abstract

To prevent an increase in size of a vibrator.SOLUTION: A device provided herein comprises a control unit configured to use target data, or time-series data of a wave containing a low frequency component of at least 100 Hz or lower, to output a first wave, or an amplitude-modulated wave, that satisfies conditions that an envelope reaches a maximum at the time when a low-frequency component maximum, or a maximum of the low-frequency component waveform, appears, and that the waveform of the envelope has a shape of a single-peak mountain with a given time width.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an apparatus, a vibration presentation apparatus, a method, a vibration presentation method, and a program.

Background Art

[0002] In recent years, due to the popularity of e-sports and virtual reality (VR), video games such as online games and social games have become increasingly popular. Along with this, there has been a growing interest in technologies that generate various vibrations from low-frequency vibrations to high-frequency vibrations according to the content of the game and allow users to experience them through portable game consoles, game controllers, VR controllers, etc.

[0003] In addition, technologies for experiencing such vibrations are in increasing demand not only in games and VR but also in other fields such as movies and music. For example, in the case of movies, it is possible to give viewers vibrations according to the content of the movie by using a technology for experiencing vibrations (see, for example, Patent Documents 1 and 2). For example, in the case of music by an orchestra, it is possible to pseudo-experience watching in a theater by using vibrations.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Non-Patent Documents

[0005]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] By the way, such vibrations are generated by oscillators such as piezoelectric oscillators and Linear Resonant Actuator (LRA) type oscillators. However, according to Newtonian mechanics, the natural frequency of an oscillator decreases as the mass of the oscillator increases. Therefore, the oscillator may become larger in order to generate low-frequency vibrations.

[0007] In view of the above circumstances, an object of the present invention is to provide a technique for suppressing the enlargement of an oscillator.

Means for Solving the Problems

[0008] One aspect of the present invention is an apparatus including a control unit that outputs a first wave, which is an amplitude-modulated wave, satisfying a condition that an envelope has a maximum value at a timing when a low-frequency component maximum value, which is a maximum value in a waveform of a low-frequency component, appears in a time-series data of a target wave including a low-frequency component of at least 100 Hz or less, and a condition that a waveform of the envelope is a single-peak mountain shape with a predetermined time width.

[0009] One aspect of the present invention is a vibration presentation apparatus including the above-described apparatus and an oscillator that vibrates by a wave output from the control unit.

[0010] One aspect of the present invention is a method executed by the above-described apparatus, the method including an output step of outputting the first wave.

[0011] One aspect of the present invention is a vibration presentation method executed by the above-described vibration presentation apparatus, the vibration presentation method including a vibration step of vibrating the oscillator by a wave output from the control unit of the vibration presentation apparatus.

[0012] One aspect of the present invention is a program for causing a computer to function as the above-described apparatus.

[0013] One aspect of the present invention is a program for causing a computer to function as the above-described vibration presentation device.

Advantages of the Invention

[0014] According to the present invention, it becomes possible to suppress the enlargement of the vibrator.

Brief Description of the Drawings

[0015]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Mode for Carrying Out the Invention

[0016] (Embodiment) FIG. 1 is an explanatory diagram for explaining the outline of the vibration presentation system 100 of the embodiment. The vibration presentation system 100 includes an apparatus 1 and a vibrator 2. The vibrator 2 is a vibrator that vibrates by waves output from the apparatus 1. More specifically, the vibrator 2 is a vibrator that vibrates by waves such as a first wave or a third wave (described later) output by a control unit 11 provided in the apparatus 1.

[0017] The vibrator 2 may be, for example, a piezo type vibrator or a Linear Resonant Actuator (LRA) type vibrator. Note that many of the widespread piezo type vibrators vibrate at 80 Hz or more and 400 Hz or less, but the amplitude is small in the low frequency range of 100 Hz or less.

[0018] The apparatus 1 includes a control unit 11 including a processor 91 such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or an NPU (Neural Network Processing Unit) connected by a bus and a memory 92, and executes a program.

[0019] The control unit 11 executes, for example, a first wave output process by executing a program. The first wave output process is a process of outputting a first wave based on target data that is time series data of a wave (hereinafter referred to as a "target wave") including at least a low frequency component of 100 Hz or less.

[0020] The first wave is presented at the timing of the appearance of a maximum value (hereinafter referred to as a "low frequency component maximum value") in the waveform of the above-described low frequency component (hereinafter referred to as a "target low frequency component") included in the target wave, and satisfies the condition that the envelope has a maximum value (hereinafter referred to as an "envelope maximum value") and the condition that the waveform of the envelope is a unimodal mountain shape with a predetermined time width, and is an amplitude modulation wave.

[0021] Note that the frequency of the low-frequency component is 100 Hz or less because, as described above, many of the widely used oscillators can drive vibrations in the range of 80 Hz to 400 Hz, but the amplitude is low and difficult to perceive at 100 Hz or less. Also, it is because we want to improve the ease of perception for regions where perception is difficult with vibrations by widely used oscillators.

[0022] Note that the above-mentioned predetermined time width is, for example, 5 ms or more and less than 50 ms. When it is 5 ms or more and less than 50 ms, it is easy to convey a low-frequency feeling to a person who receives the vibration of the oscillator 2, as will be described later.

[0023] Note that the above-mentioned mountain-shaped waveform is, for example, a waveform represented by a sine function. The above-mentioned mountain-shaped waveform may be, for example, a waveform represented by a Gaussian function. More specifically, the waveform represented by the Gaussian function is a waveform in which the width of the mountain is set to a predetermined width by a parameter representing the standard deviation of the Gaussian function. The above-mentioned mountain-shaped waveform may be, for example, a waveform represented by a polynomial function. The above-mentioned mountain-shaped waveform may be, for example, a square wave waveform. The above-mentioned mountain-shaped waveform may be, for example, a triangular wave waveform. The above-mentioned mountain-shaped waveform may be, for example, a sawtooth wave waveform. Thus, the mountain-shaped waveform may be, for example, any of a waveform represented by a sine function, a waveform represented by a Gaussian function, a waveform represented by a polynomial function, a square wave waveform, a triangular wave waveform, or a sawtooth wave waveform.

[0024] Note that the above-mentioned mountain-shaped waveform means a single-peak mountain shape as a general shape. Therefore, the examples of the mountain-shaped waveforms such as the waveform represented by the above-mentioned sine function are merely examples, and the mountain-shaped waveform may be a waveform represented by other functions as long as it is mountain-shaped as a general shape. For example, the mountain-shaped waveform may be a waveform that has a depression in part but is a single-peak mountain shape as a general shape.

[0025] Note that the sawtooth waveform may be, for example, the result obtained by performing spline interpolation on a waveform connecting the sample at the start position of the spline target period, the sample at the end position of the spline target period, and the sample at the position of the maximum value of the low-frequency component included in the spline target period. The spline target period is a period that includes one maximum value of the low-frequency component obtained from the waveform of the target low-frequency component. An example of the sawtooth waveform obtained by this spline interpolation will be described later.

[0026] Note that in spline interpolation, for example, in addition to the above three points, more sample points may be added so that the waveform of the envelope line, which is the above-described condition, satisfies the condition of being a single-peak sawtooth shape with a predetermined time width.

[0027] Note that the maximum value of the low-frequency component may have an interval of 10 ms or more from the adjacent maximum value of the low-frequency component. By setting it in this way, unnecessary maximum values that do not participate in the low-frequency somatic sensation can be excluded.

[0028] Note that the frequency of the carrier wave of the first wave is, for example, 80 Hz or more and 400 Hz or less.

[0029] Note that the frequency of the target low-frequency component is, for example, 100 Hz or less.

[0030] When the target wave further includes a high-frequency component greater than 100 Hz, the control unit 11 may execute third-wave output processing by executing a program. The third-wave output processing is a process of outputting, instead of the first wave, a composite wave (hereinafter referred to as the "third wave") that is a wave obtained by combining the second wave and the first wave in phase. The first wave is a wave obtained by the first-wave output processing.

[0031] The second wave is an amplitude-modulated wave obtained by a predetermined signal conversion based on the high-frequency component (hereinafter referred to as the "target high-frequency component") included in the above-described target wave. It is desirable that the frequency and phase of the carrier wave of the second wave and the carrier wave of the first wave are equal. Thereby, the waveforms of the first wave and the second wave can be combined without canceling each other out.

[0032] The predetermined signal conversion may be, for example, amplitude modulation based on the effective value of the signal, amplitude modulation based on the energy of the signal, amplitude modulation based on a pre-identified perceptual quantity, or a combination thereof. The predetermined signal conversion may be, for example, Intensity Segment Modulation (ISM; see Patent Document 1).

[0033] Incidentally, FIG. 1 shows an example in which Example C0 (sine wave) and Example C1 (amplitude-modulated wave with an envelope narrower than the sine wave) are superimposed. Example C0 shows the waveform of an amplitude-modulated wave whose envelope is a sine wave in a form where the waveform of the envelope and the waveform of the carrier wave are superimposed. Example C1 shows an amplitude-modulated wave whose envelope width is narrower than the envelope width shown in Example C0 and whose carrier wave is the same as the carrier wave shown in Example C0 in a form where the waveform of the envelope and the waveform of the carrier wave are superimposed.

[0034] The waveform of the envelope of Example C1 is trapezoidal. The wave of the envelope of Example C1 is an example of the first wave. The carrier wave shown in Example C0 can present a low-frequency feeling by expressing a low frequency as an envelope component of the amplitude-modulated wave. However, the high-frequency feeling of the carrier wave also remains strong at the same time. On the other hand, in the envelope shown in Example C1, it is possible to convey a low-frequency feeling while suppressing the high-frequency feeling. The width of the envelope shown in Example C1 (corresponding to the above-mentioned predetermined time width) is preferably 5 ms or more and less than 50 ms, and more preferably in the range of 25 ms ± 10 ms. Thus, by narrowing the width of the envelope shape of the amplitude-modulated wave, it is possible to present a low-frequency feeling while suppressing the high-frequency feeling.

[0035] In particular, this method can be utilized even for those with small reverberant vibrations, such as piezoelectric vibrators, and has high versatility. Also, even for LRA type vibrators, in the method described in Non-Patent Document 1 that presents surrogate vibrations, by keeping the reverberant vibrations within the range of the envelope that gives a low-frequency feeling such as the first wave or the second wave, it becomes more effective.

[0036] FIG. 2 is an explanatory diagram for explaining an example of a process of obtaining a sawtooth waveform by spline interpolation in an embodiment. FIG. 2 shows an image G1, an image G2, and an image G3. The image G1 shows an example W1 of a time series (i.e., a waveform (target wave)) in a low frequency band (100 Hz or less) of the amplitude of the waveform to be reproduced.

[0037] The waveform W1 has a sample P1 indicating a first minimum value, a sample P2 indicating a first maximum value, a sample P3 indicating a second minimum value, a sample P4 indicating a second maximum value, and a sample P5 indicating a third minimum value. The values of the amplitudes of the samples P2 and P4 in the waveform W1 are examples of maximum values of low frequency components, respectively.

[0038] Note that, since the time interval between the sample P2 and the adjacent sample P3 is less than 10 ms, the sample P2, which has a large maximum value (amplitude), is selected as the maximum value.

[0039] The time of the sample P1 is t1, the time of the sample P2 is t2, the time of the sample P3 is t3, the time of the sample P4 is t4, and the time of the sample P5 is t5. t1 to t5 are in the relationship of t1 < t2 < t3 < t4 < t5. t3 - t1 is equal to or greater than a predetermined time greater than 10 ms. t4 - t2 is equal to or greater than a predetermined time greater than 10 ms. t5 - t3 is equal to or greater than a predetermined time greater than 10 ms.

[0040] Also, when the image G1 is regarded as a figure in a two-dimensional plane spanned by the waveform W1 and an axis orthogonal to the time axis (i.e., the axis in the amplitude direction), it shows that the length of the perpendicular line dropped from the sample P2 to the line segment connecting the samples P1 and P3 is A1. The image G1 shows that the length of the perpendicular line dropped from the sample P4 to the line segment connecting the samples P3 and P5 is A2.

[0041] Image G2 shows waveform W2 and waveform W3 as examples of unimodal mountain-shaped waveforms obtained based on waveform W1. Waveform W2 is a waveform obtained from samples P1, P2, and P3 of waveform W1, and is represented by a Gaussian function having a peak at time t2 (the same as time t2 in Image G1) and having a peak height of A1. Waveform W3 is a waveform obtained from samples P3, P4, and P5 of waveform W1, and is represented by a Gaussian function having a peak at time t4 (the same as time t4 in Image G1) and having a peak height of A2.

[0042] Thus, waveform W2 and waveform W3 are examples of the waveform of the first wave. Also, the peak value in waveform W2 and the peak value in waveform W3 are each examples of the envelope maximum value.

[0043] Image G3 shows waveform W4 and waveform W5 as examples of unimodal mountain-shaped waveforms obtained by spline interpolation for waveform W1 shown in Image G1. Waveform W4 is such that sample Q1 and sample Q2 are added before and after sample P2 based on the time of sample P2 obtained from waveform W1 and the magnitude of A1 so as to form a unimodal mountain-shaped waveform with a predetermined time width, and is the result of spline interpolation of samples Q1, sample P2, and sample Q2 including the added sample Q1 and sample Q2.

[0044] Waveform W5 is such that sample Q3 and sample Q4 are added before and after sample P4 based on the time of sample P4 obtained from waveform W1 and the magnitude of A2 so as to form a unimodal mountain-shaped waveform with a predetermined time width, and is the result of spline interpolation of samples Q3, sample P4, and sample Q4 including the added sample Q3 and sample Q4. Both waveform W4 and waveform W5 are mountain-shaped waveforms.

[0045] The peak value in waveform W4 and the peak value in waveform W5 are each examples of the envelope maximum value. Also, sample Q1 is an example of a sample at the start position of the spline target period, and sample Q2 is an example of a sample at the end position of the spline target period.

[0046] Note that the spline interpolation does not necessarily have to be performed for three points. The spline interpolation may be performed under more constraint conditions.

[0047] In addition, the alternative waveform used for spline interpolation is not limited to the Gaussian function, and any narrow peak-shaped waveform (for example, the waveform shown in FIG. 6 described later, etc.) may be used. At that time, the waveform may be expressed by AM (amplitude modulation) modulation.

[0048] Note that the horizontal axis in the image G2 means the time axis of the waveform to be reproduced. Also, the vertical axis in the image G3 means the magnitude of the amplitude to be reproduced. Note that the horizontal axis in the image G3 means the time axis of the waveform to be reproduced. Also, the vertical axis in the image G3 means the magnitude of the amplitude to be reproduced.

[0049] The amplitude-modulated wave (that is, the first wave) having an envelope narrower than the sine wave in the vibration presentation system 100 may be presented by integrating with the high-frequency component generated by ISM. However, in that case, there is a possibility that the waveform may be canceled out due to the phase shift between the first wave and the high frequency.

[0050] Therefore, in order to prevent this, it is desirable to integrate the high-frequency intensity and the low-frequency intensity to generate an AM wave at once. Specifically, the intensity used at low frequency is calculated, and the calculated low-frequency intensity is added to the high-frequency intensity of the original waveform to generate an AM wave. Thereby, it is possible to present a waveform that can feel the low-frequency component while feeling the high-frequency component.

[0051] <Technical significance of outputting the first wave> By the way, as described above, oscillators such as piezoelectric oscillators and LRA-type oscillators are difficult to excite large-amplitude vibrations when excited at low frequencies. Or even if it can be excited, an amplitude sufficient for the vibration to be perceived cannot be obtained. This is because the sensitivity of a person to perceive vibration has frequency characteristics. That is, there are frequencies at which vibration is easy to perceive and frequencies at which it is difficult to perceive.

[0052] Considering such circumstances, the popularized vibrators are designed. For example, in the case of an LRA type vibrator, the closer the vibrating frequency of the LPA type vibrator is to the resonance frequency, the larger the amplitude. Therefore, in view of this fact and the frequency characteristics of human perception (the sensitivity peaks at about 200 Hz), the resonance frequency of the LRA type vibrator is often set to about 200 Hz.

[0053] For example, in the case of a piezo type vibrator, both low frequencies and high frequencies have almost the same amplitude. On the other hand, the human sensitivity is higher for higher frequencies. Therefore, regarding the perception of vibration by a piezo type vibrator, people feel a stronger stimulus when the vibrator vibrates at a higher frequency.

[0054] Such a consideration is the vibration presentation system 100. The vibration presentation system 100 is, for example, a carrier wave with a frequency at which the vibrator can be driven with vibrations of a magnitude that a person can perceive, and for the envelope, an amplitude modulation wave with a low-frequency envelope is used to excite the vibrator 2.

[0055] By doing so, while exciting the vibrator 2 at the frequency of the carrier wave, the intensity perceived by this excitation changes at a low frequency, so the vibration of the vibrator 2 can present a low-frequency feeling. After all, it is the intensity of the perception of excitation that changes at a low frequency, not the excitation frequency that is a low frequency, so there is no need to increase the size of the vibrator 2.

[0056] In this way, the vibration presentation system 100 can enable the user to experience low-frequency vibrations without increasing the size of the vibrator. This is the technical significance of outputting the first wave. In fact, this effect of being able to make the user experience low-frequency vibrations without increasing the size of the vibrator 2 has been demonstrated in experiments. Therefore, an example of the experimental results will be described below.

[0057] <Regarding the experiment> The experiment was conducted with a first experiment using a waveform represented by a Gaussian function as a mountain-shaped waveform, and a second experiment using a waveform obtained by the above-mentioned spline interpolation as a mountain-shaped waveform. In both the first experiment and the second experiment, the wave that excited the vibrator in the experiment (hereinafter referred to as the "excitation wave") was the wave output by the control unit 11. Both the first experiment and the second experiment were experiments in which 10 subjects were surveyed on how they felt the vibration.

[0058] In addition, in both the first experiment and the second experiment, the subjects were trained in advance. The training was to distinguish the tactile sensations of low frequency and high frequency generated by a general-purpose vibrator (VP4), and was conducted until the subjects could distinguish the tactile sensations of low frequency and high frequency generated by VP4.

[0059] <<Regarding the First Experiment>> The waveform of the excitation wave used in the first experiment will be described. In the first experiment, an ISM wave (hereinafter referred to as the "experimental high frequency") and an experimental composite wave were used.

[0060] The experimental high frequency was a wave obtained by converting a wave represented by the following formula (1) by ISM, and was a wave with a = 0.5, ft = 2 Hz, fe = 150 Hz, and fc = 400 Hz.

[0061]

Equation

[0062] The experimental composite wave was a wave obtained by combining the first experimental low frequency and the experimental high frequency so as to satisfy the condition that they were in the same phase and had the same peak position. The first experimental low frequency was the first wave in which the mountain-shaped waveform was represented by a Gaussian function. Four types of widths of the Gaussian function of the first experimental low frequency, namely 100 ms, 50 ms, 25 ms, and 12.5 ms, were used. In addition, in the first experiment, the width of the Gaussian function was defined by 6σ (that is, six times the standard deviation). The frequencies and phases of the carrier waves of the first experimental low frequency and the experimental high frequency were the same.

[0063] The reason for being in the same phase is the same as that in the interference of matter waves and photons in quantum physics such as quantum optics. That is, the higher the coherence of the two waves, the stronger the signal obtained. Therefore, it is not necessarily required to be in the same phase depending on the strength of the required signal.

[0064] Thus, the first experimental low frequency is an example of the first wave, the experimental high frequency is an example of the second wave, and the experimental hybrid wave is an example of the third wave.

[0065] <<<Relationship between Waves and Questionnaires in the First Experiment>>> The relationship between the vibration felt by the subjects and the questionnaire will be explained. In the first experiment, the piezoelectric oscillator was repeatedly excited by one randomly selected from the experimental hybrid wave or the first non-emphasized wave once every four times. Note that the first non-emphasized wave is not a composite wave of the experimental high frequency and the first experimental low frequency, but a wave obtained by simply combining a Gaussian function wave with the experimental high frequency.

[0066] To explain this repetition of excitation four times more specifically, the fourth excitation wave that excites the piezoelectric oscillator was actually randomly selected from eight types and synthesized with the experimental high frequency. The reason is that for both the experimental hybrid wave and the first non-emphasized wave, the width 6σ of their Gaussian functions (σ represents the standard deviation) is not constant and independent of repetition, but is a randomly selected width from among four candidates.

[0067] The four candidates were specifically 100 ms, 50 ms, 25 ms, and 12.5 ms. Therefore, in each set of four repetitions of the excitation, up to the third time, excitation was performed by the experimental high frequency, and the fourth time, excitation was performed by one randomly selected from the eight types. The eight types are the experimental mixed wave with a Gaussian function width of 100 ms, the experimental mixed wave with a Gaussian function width of 50 ms, the experimental mixed wave with a Gaussian function width of 25 ms, the experimental mixed wave with a Gaussian function width of 12.5 ms, the first non-emphasized wave with a Gaussian function width of 100 ms, the first non-emphasized wave with a Gaussian function width of 50 ms, the first non-emphasized wave with a Gaussian function width of 25 ms, and the first non-emphasized wave with a Gaussian function width of 12.5 ms.

[0068] For each set of this four-time repetition for each subject, the tactile sensation of the vibration of the piezoelectric vibrator induced by the first three excitation waves out of the four times and the tactile sensation of the vibration of the piezoelectric vibrator induced by the fourth excitation wave were evaluated. The four-time repetition was performed five times and repeated for the subjects to experience until they were satisfied. Therefore, each subject experienced all eight types of vibrations at least once.

[0069] By the way, the evaluation by the subjects was specifically the answers to the following two questions. The subjects were asked to answer each question on a 7-point Likert scale. The first question, which is one of the questions, was the question "Is there a low-frequency tactile sensation separate from the high-frequency tactile sensation?" The other question, the second question, was the question "Does the feeling of the low frequency cause a change in the high-frequency tactile sensation?" The second question was answered when the answer to the first question was "felt the low frequency".

[0070] More specifically, the first question was "When you felt the vibration caused by the fourth excitation wave, did you obtain a low-frequency tactile sensation in addition to the high-frequency tactile sensation?" The second question was asked when the answer "obtained a low-frequency tactile sensation" was obtained in the first question, and it was "Although you obtained a low-frequency tactile sensation in the fourth vibration, did the high-frequency tactile sensation you felt in the fourth vibration change from the high-frequency tactile sensations in the first to third vibrations?"

[0071] Note that the candidates for answers on a 7-point Likert scale were specifically the seven options: "1: Not at all", "2: Don't think so", "3: Hardly think so", "4: Neither", "5: Think a little", "6: Think so", "7: Think very much".

[0072] <<<Experimental Results of the First Experiment>>> Figure 3 is a first diagram showing an example of the results of the first experiment in the embodiment. Figure 4 is a second diagram showing an example of the results of the first experiment in the embodiment. More specifically, Figure 3 is a diagram showing the response results of the subjects to the first question. Figure 4 is a diagram showing the response results of the subjects to the second question.

[0073] The graphs in Figures 3 and 4 are box-and-whisker plots. More specifically, the graphs in Figures 3 and 4 are box-and-whisker plots showing the range from the first quartile to the third quartile, the median, the maximum value, and the minimum value. The maximum value and the minimum value are indicated by the upper end and the lower end of the whiskers, respectively.

[0074] In Figure 3, the results in region D1 show the response results of the subjects to the first question when the first emphasized wave appeared as the fourth wave. The results in region D2 in Figure 3 show the response results of the subjects to the first question when the experimental mixed wave appeared as the fourth wave.

[0075] The results of region D2 in Fig. 3 indicate that when the experimental hybrid wave appeared as the fourth wave, there was a response that a low-frequency tactile sensation was obtained regardless of the width 6σ of the Gaussian function. When the width of the Gaussian function was 12.5 ms, compared with other cases, the number of responses indicating that a low-frequency tactile sensation could not be obtained increased, but the number of responses of 4 or less was 3 out of 10. Therefore, the majority of responses were that a low-frequency tactile sensation was obtained.

[0076] Also, the difference between the results of region D1 and region D2 in Fig. 3 indicates that for obtaining a low-frequency tactile sensation, it is more preferable for the experimental hybrid wave to appear as the fourth wave than for the first non-emphasized wave to appear as the fourth wave.

[0077] The results of Fig. 4 indicate that when the width of the Gaussian function is 12.5 ms and 25 ms, a low-frequency tactile sensation is presented without affecting the high-frequency tactile sensation more than in other cases. In particular, the results of Fig. 4 show that a low-frequency tactile sensation is presented while the influence on the high-frequency tactile sensation is smaller than in other cases at 25 ms.

[0078] As exemplified by the experimental results in Figs. 3 and 4, the use of apparatus 1 enables the giving of a low-frequency tactile sensation to the subject, and further, not only can a low-frequency be given, but also a low-frequency tactile sensation can be given with almost no change in the high-frequency tactile sensation.

[0079] The technology that can give a low-frequency tactile sensation with almost no change in the high-frequency tactile sensation is particularly useful when giving a tactile sensation in accordance with music. This is because music uses frequencies from low to high, and the ability to express a tactile sensation in accordance with high frequencies and a tactile sensation in accordance with low frequencies can enrich the experience of the viewer or listener.

[0080] <Examples of more preferable conditions> Here, in view of the experimental results illustrated in FIGS. 3 and 4 and <the technical significance of outputting the first wave>, more preferable conditions are shown compared to others. It is more preferable that the width 6σ of the Gaussian function is 5 ms or more and less than 50 ms. Note that 5 ms is the condition under which a 200 Hz wave fits within the width of the Gaussian function.

[0081] Note that 200 Hz is a numerical value between 80 Hz and 400 Hz and is the frequency of the carrier wave used in the experiment to obtain the experimental results of FIGS. 3 and 4 as described above. More preferably, approximately 25 ms is preferable. Also, in view of the fact that the frequency of the envelope should be lower than the frequency of the carrier wave, it is preferable that the frequency of the first wave is 10 Hz or more and 100 Hz or less.

[0082] Also, in the experimental example for obtaining the experimental results of FIGS. 3 and 4, the frequency of the carrier wave of the experimental high frequency was 200 Hz as described above. The experimental high frequency is an example of the second wave as described above. Therefore, although the carrier wave of the second wave is, for example, 200 Hz, the frequency of the carrier wave of the second wave does not necessarily have to be 200 Hz or more. Since the frequency at which the popular vibrator vibrates is 80 Hz or more as described above, the frequency of the carrier wave of the second wave is not limited to 200 Hz as long as it is, for example, 80 Hz or more.

[0083] <<Regarding the Second Experiment>> Explain the waveform of the excitation wave used in the second experiment.

[0084] FIG. 5 is a first diagram showing an example of the waveform of the excitation wave without performing the low-frequency somatosensory enhancement process used in the second experiment in the embodiment. FIG. 6 is a second diagram showing an example of the waveform of the excitation wave with the low-frequency somatosensory enhancement process performed used in the second experiment in the embodiment.

[0085] Note that the low-frequency somatosensory enhancement process is a process of obtaining the first wave from the target wave. Therefore, the excitation wave without performing the low-frequency somatosensory enhancement process is the target wave. The excitation wave with the low-frequency somatosensory enhancement process performed is the first wave.

[0086] The horizontal axis of the graph in FIG. 5 indicates time, and the vertical axis indicates amplitude. The horizontal axis of the graph in FIG. 6 indicates time, and the vertical axis indicates amplitude. There is a significant difference in waveform near time 1.34 s between the waveform shown in FIG. 5 and the waveform shown in FIG. 6.

[0087] The waveform shown in FIG. 5 is a wave obtained by applying ISM to the target high-frequency component and converting it into an amplitude-modulated wave of 200 Hz, and then synthesizing it with the amplitude-modulated wave of ISM without performing modulation processing on the target low-frequency component.

[0088] The waveform shown in FIG. 6 is an example of the waveform of a wave in which the amplitude-modulated wave of 200 Hz obtained by applying ISM to the target high-frequency component and the second experimental low-frequency wave are superimposed so that their phases are the same. The second experimental low-frequency wave is the first wave obtained by the above-described spline interpolation as a sawtooth waveform, and is the first wave with a carrier wave of 200 Hz. Therefore, the second experimental low-frequency wave is an example of the first wave.

[0089] More specifically, the first wave obtained by the above-described spline interpolation based on the waveform shown in FIG. 5 and used as a sawtooth waveform is the second experimental low-frequency wave, and the waveform of the second experimental low-frequency wave is the waveform shown in FIG. 6. More specifically, the spline interpolation was a spline interpolation in which a zero point was inserted at the midpoint between the maximum values in the waveform of FIG. 5.

[0090] Hereinafter, a wave used in the second experiment and not subjected to low-frequency somatic sensation enhancement processing is referred to as a second non-enhanced wave. Therefore, the wave of the waveform illustrated in FIG. 5 is an example of the second non-enhanced wave.

[0091] <<<Relationship between waves and questionnaires in the second experiment>>> In the second experiment, each subject was made to feel the vibration of the vibrator using the second non-enhanced wave as the excitation wave and the vibration of the vibrator using the second experimental low-frequency wave as the excitation wave, and was asked to answer the third question and the fourth question for each.

[0092] The third question was "Is there a low-frequency tactile sensation separate from the high-frequency tactile sensation?" As illustrated in FIGS. 5 and 6, unlike the first experiment, the second experiment did not have the four concepts in the four-in-one set in the first experiment. Therefore, the subjects were first made to experience the high-frequency tactile sensation with the amplitude-modulated wave of ISM, and then the second non-emphasized wave or the second experiment low-frequency wave was presented continuously. More specifically explained, the third question was "Is there a low-frequency tactile sensation separate from the high-frequency tactile sensation experienced in the first time in the vibration experienced the second time?"

[0093] The fourth question was conducted when the answer to the third question was "Obtained a low-frequency tactile sensation". The fourth question was "Is there a change in the high-frequency tactile sensation due to feeling the low frequency?"

[0094] The subjects were asked to answer each question on a 7-point Likert scale. Also in the second experiment, the candidates for the 7-point Likert scale answers were specifically the seven of "1: Don't think so at all", "2: Don't think so", "3: Don't think so much", "4: Neither", "5: Think a little", "6: Think", "7: Think very much".

[0095] <<<Experimental results of the second experiment>>> FIG. 7 is a first diagram showing an example of the results of the second experiment in the embodiment. FIG. 8 is a second diagram showing an example of the results of the second experiment in the embodiment. More specifically, FIG. 7 is a diagram showing the answer results of the subjects to the third question. FIG. 8 is a diagram showing the answer results of the subjects to the fourth question.

[0096] The graphs in FIGS. 7 and 8 are box-and-whisker plots. More specifically, the graphs in FIGS. 7 and 8 are box-and-whisker plots showing the range from the first quartile to the third quartile, the median, the maximum value, and the minimum value. The maximum value and the minimum value are indicated by the upper end and the lower end of the whiskers, respectively.

[0097] In Fig. 7, the result of region D3 shows the answer result to the third question obtained from the subject when the subject felt the vibration of the oscillator excited by the second non-emphasized wave. In Fig. 7, the result of region D4 shows the answer result of the subject to the third question obtained from the subject when the subject felt the vibration of the oscillator excited by the second experimental low frequency wave.

[0098] The results in Fig. 7 show that there were more answers indicating that the low-frequency tactile sensation was felt when the excitation wave was the second experimental low-frequency wave than when the excitation wave was the second non-emphasized wave. Also, the results in Fig. 8 show that even when a low-frequency tactile sensation is obtained, it tends not to affect the high-frequency tactile sensation.

[0099] Thus, the experimental results in Figs. 7 and 8 show that even when using spline interpolation, it is possible to give the subject a low-frequency tactile sensation, and furthermore, not only can a low-frequency be given, but a low-frequency tactile sensation can be given with almost no change in the high-frequency tactile sensation.

[0100] <An example of the hardware configuration> Fig. 9 is a diagram showing an example of the hardware configuration of the device 1 of the embodiment. As described above, the device 1 includes a control unit 11 including a processor 91 such as a CPU and a memory 92 connected by a bus, and executes a program. The device 1 functions as a device including a control unit 11, an interface unit 12, and a storage unit 13 by executing the program.

[0101] More specifically, the processor 91 reads out the program stored in the storage unit 13 and stores the read program in the memory 92. By the processor 91 executing the program stored in the memory 92, the device 1 functions as a device including a control unit 11, an interface unit 12, and a storage unit 13.

[0102] The control unit 11 controls the operations of various functional units included in the device 1. The control unit 11 executes, for example, the first wave output process. The control unit 11 may execute, for example, the third wave output process. The oscillator 2 vibrates by the first wave or the third wave output by the control unit 11.

[0103] The control unit 11 acquires, for example, target data input via the interface unit 12. The control unit 11 acquires, for example, target data that has been stored in the storage unit 13 in advance. The control unit 11 may obtain a target low-frequency component, for example, by performing a Fourier transform on the target wave indicated by the target data and then performing an inverse Fourier transform on the data in a predetermined frequency range of 100 Hz or less among the spectra indicated by the result of the Fourier transform. The control unit 11 may obtain a target high-frequency component, for example, by performing a Fourier transform on the target wave indicated by the target data and then performing an inverse Fourier transform on the data in a predetermined frequency range greater than 100 Hz among the spectra indicated by the result of the Fourier transform.

[0104] The control unit 11 may, for example, acquire the information stored in the storage unit 13. The process of acquiring the information stored in the storage unit 13 is specifically a read operation.

[0105] The interface unit 12 is configured to include a communication interface for connecting the device 1 to an external device. The interface unit 12 communicates with the external device via wired or wireless means. The external device is, for example, the vibrator 2. In such a case, the interface unit 12 outputs the first wave and the third wave to the vibrator 2 through communication with the vibrator 2. The external device may be, for example, the device that is the source of the target data. In such a case, the interface unit 12 acquires the target data through communication with the device that is the source of the target data.

[0106] The interface unit 12 is configured to include input devices such as a mouse, a keyboard, a touch panel, and a microphone, for example. The interface unit 12 may be configured as an interface for connecting these input devices to the device 1. In this way, the interface unit 12 receives the input of various information to the device 1 via the input devices, wired or wireless. Note that the target data does not necessarily have to be input to the communication interface and may be input to the input device.

[0107] The interface unit 12 outputs various information. The interface unit 12 is configured to include a display device such as a CRT (Cathode Ray Tube) display, a liquid crystal display, an organic EL (Electro-Luminescence) display, etc. The interface unit 12 may be configured as an interface for connecting these display devices to the device 1. The interface unit 12 outputs, for example, the information input to the communication interface or the input device of the interface unit 12.

[0108] The storage unit 13 is configured using a computer-readable storage medium device (non-transitory computer-readable recording medium) such as a magnetic hard disk device or a semiconductor storage device. The storage unit 13 stores various information regarding the device 1. The storage unit 13 stores, for example, various information generated by the operation of the control unit 11. The storage unit 13 stores, for example, the information input to the interface unit 12.

[0109] <An example of the processing flow> FIG. 10 is a flowchart showing an example of the processing flow executed by the device 1 of the embodiment. In the example of FIG. 10, the case where the first wave output process is executed will be described as an example. The control unit 11 acquires target data (step S101). Next, the control unit 11 executes the first wave output process (step S102). As a result of the execution of the first wave output process, for example, the vibrator 2 vibrates by the first wave obtained by the execution of the first wave output process.

[0110] The device 1 configured as described above executes the first wave output process. As a result, if the obtained first wave is used, the vibrator 2 can be excited by the first wave. Therefore, the vibrator 2 excited in this way can present a low frequency. Here, the vibrator 2 may be a general-purpose one. Therefore, if the first wave is obtained in the first wave output process, the vibrator 2 can present a low frequency without being enlarged. Therefore, the device 1 can suppress the enlargement of the vibrator 2.

[0111] (Modification example) Note that the vibration presentation system 100 may be implemented as a vibration presentation device. Therefore, the vibration presentation system 100 is an example of a vibration presentation device. Note that the excitation of the vibrator 2 by the first wave or the third wave output by the control unit 11 may be performed by any well-known technique.

[0112] Note that the control unit 11 may be implemented using a plurality of information processing devices communicably connected via a network. In this case, each functional unit included in the control unit 11 may be implemented in a distributed manner across the plurality of information processing devices.

[0113] Note that all or part of each function of the device 1 and the vibration presentation system 100 may be realized using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array). The program may be recorded on a computer-readable recording medium. A computer-readable recording medium is, for example, a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD-ROM, or a storage device such as a hard disk incorporated in a computer system. The program may be transmitted via an electric communication line.

[0114] As described above, the embodiments of the present invention have been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and designs and the like within the scope not departing from the gist of the present invention are also included.

Explanation of Reference Numerals

[0115] 100... vibration presentation system, 1... device, 11... control unit, 12... interface unit, 13... storage unit, 2... vibrator, 91... processor, 92... memory

Claims

1. Based on target data which is time series data of a wave including a low frequency component of at least 100 Hz or less, a condition that an envelope has a maximum value at the timing of the appearance of a low frequency component maximum value which is a maximum value in the waveform of the low frequency component, and a condition that the waveform of the envelope is a unimodal mountain shape with a predetermined time width, a first wave which is an amplitude modulation wave satisfying the conditions is output, a control unit, An apparatus comprising:

2. The predetermined time width is 5 ms or more and less than 50 ms, The apparatus according to claim 1, wherein:

3. The mountain-shaped waveform is any one of a waveform represented by a sine function, a waveform represented by a Gaussian function, a waveform represented by a polynomial function, a square wave waveform, a triangular wave waveform, or a sawtooth wave waveform. The apparatus according to claim 1, wherein:

4. The mountain-shaped waveform is a result obtained by spline interpolation of a waveform connecting a sample at the start position of a period including one low frequency component maximum value obtained from the waveform of the low frequency component, a sample at the end position of the period, and a sample at the position of the low frequency component maximum value. The apparatus according to claim 1, wherein:

5. The low frequency component maximum value has an interval of 10 ms or more from an adjacent low frequency component maximum value. The apparatus according to claim 1, wherein:

6. The frequency of the carrier wave of the first wave is 80 Hz or more and 400 Hz or less. The apparatus according to claim 1, wherein:

7. The frequency of the low frequency component is 100 Hz or less. The apparatus according to claim 1, wherein:

8. The target data further includes a high frequency component greater than 100 Hz. The control unit outputs, instead of the first wave, a composite wave that is a modulated amplitude wave obtained by a predetermined signal conversion based on the high-frequency component and in which the period of the carrier wave is equal to the period of the carrier wave of the first wave, and is a wave in which the second wave and the first wave are combined with their phases aligned. The device according to claim 1.

9. The signal conversion is any one of, or a combination of, amplitude modulation based on the effective value of the signal, amplitude modulation based on the energy of the signal, and amplitude modulation based on a pre-identified perceptual quantity. The device according to claim 8.

10. The device according to claim 1, and a vibrator that vibrates by the wave output from the control unit, A vibration presentation device comprising the same.

11. A method executed by the device according to claim 1, comprising: an output step of outputting the first wave. A method having the above.

12. A vibration presentation method executed by the vibration presentation device according to claim 10, comprising: a vibration step of vibrating the vibrator by the wave output from the control unit of the vibration presentation device. A vibration presentation method having the above.

13. A program for causing a computer to function as the device according to any one of claims 1 to 9.

14. A program for causing a computer to function as the vibration presentation device according to claim 10.

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