Tactile presentation device and control method for tactile presentation device

Abstract

To provide a tactile presentation device capable of presenting vibration stimulation to a user.SOLUTION: A tactile presentation device for a mobile body comprises a handle for controlling the direction of travel of the mobile body. The handle has a first area configured for a user's palm and a second area configured for the user's fingertips. The tactile presentation device comprises a first vibration actuator disposed in the first area. The tactile presentation device comprises a second vibration actuator disposed in the second area. The tactile presentation device comprises a control part capable of controlling the vibration state of the first vibration actuator and the second vibration actuator. The control part vibrates the first vibration actuator during the period the mobile object is moving and vibrates the second vibration actuator in response to a predetermined event occurring.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The technology disclosed in this specification relates to a tactile presentation device for a moving object and a control method for the tactile presentation device. [Background technology]

[0002] There is a known technology that presents vibration stimuli to the user's hands via the handles of a moving object (e.g., an electric scooter, a bicycle, an automobile, etc.). For example, Non-Patent Document 1 discloses a steering wheel equipped with multiple linear actuators. This technology can present vibration stimuli to the user according to the direction of route guidance. [Prior art documents] [Non-patent literature]

[0003] [Non-Patent Document 1] Sungjae Hwang and Jung-hee Ryu, "The Haptic steering Wheel: Vibro-tactile based navigation for the driving environment," *2010 8th IEEE International Conference on Pervasive Computing and Communications Workshops (PERCOM Workshops)*, 2010, pp. 660-665, doi: 10.1109 / PERCOMW.2010.5470517. Summary of the Invention [Problem to be solved by the invention]

[0004] When a mobile object moves, vibration noise is generated in the mobile object, which may make it difficult for the user to perceive the vibration stimulus applied to the user's hand via the handle. [Means for solving the problem]

[0005] The tactile presentation device for a moving object disclosed in this specification includes a handle for controlling the direction of travel of the moving object. The handle has a first area configured to accommodate the palm of a user's hand and a second area configured to accommodate the fingertips of the user's hand. The tactile presentation device includes a first vibration actuator arranged in the first area. The tactile presentation device includes a second vibration actuator arranged in the second area. The tactile presentation device includes a control unit capable of controlling the vibration states of the first vibration actuator and the second vibration actuator. The control unit vibrates the first vibration actuator while the moving object is moving, and vibrates the second vibration actuator in response to the occurrence of a predetermined event.

[0006] According to the above configuration, it is possible to continuously apply vibration stimuli to the palm of the user's hand while the moving object is moving. By constantly applying vibrations to the palm, it is possible to reduce the perception of vibration noise at the fingertips or make it easier to sense the vibration stimuli at the fingertips. Therefore, it is possible to make it easier for the user to perceive the vibration stimuli presented to the fingertips by the second vibration actuator. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a block diagram showing a schematic configuration of a moving object 1. FIG. [Figure 2] FIG. 2 is a schematic top view of the handle 3. [Figure 3] FIG. 3 is a cross-sectional view taken along line III-III in FIG. 2. [Figure 4] FIG. 10 is a diagram illustrating an example of noise frequency characteristics. [Figure 5] 10A and 10B are diagrams illustrating an example of a noise vibration waveform and an antiphase vibration waveform. DETAILED DESCRIPTION OF THE INVENTION [Example]

[0008] (Block diagram of mobile unit 1) FIG. 1 is a block diagram showing a schematic configuration of a moving body 1 of this embodiment. The moving body 1 is an object that moves with a user on board. The moving body 1 may be of various types, such as an electric kick scooter, a bicycle, a motorcycle, or an automobile. In this embodiment, a case will be described in which the moving body 1 is an electric kick scooter.

[0009] The vehicle 1 mainly comprises a main body 2 and a handle 3. The shape of the handle 3 may be various, for example, a bar type, an H type, a steering wheel type, etc. In this embodiment, a case where the handle 3 is a bar type will be described.

[0010] The moving object 1 is equipped with a tactile presentation device. The tactile presentation device mainly includes a handle 3, first vibration actuators 21L and 21R, second vibration actuators 22L and 22R, a control unit 10, a first acceleration sensor 31, a second acceleration sensor 32, and third acceleration sensors 33L1, 33L2, 33R1, and 33R2.

[0011] The handle 3 is a part for controlling the traveling direction of the mobile object 1. The handle 3 has first areas A1L and A1R and second areas A2L and A2R. The first areas A1L and A1R are configured to accommodate the palms of the left and right hands when the user grips the handle 3. The second areas A2L and A2R are configured to accommodate the fingertips of the left and right hands when the user grips the handle 3. In other words, the second areas A2L and A2R are located on the traveling direction side (front side) of the first areas A1L and A1R.

[0012] First vibration actuators 21L and 21R are disposed in the first regions A1L and A1R, respectively. Second vibration actuators 22L and 22R are disposed in the second regions A2L and A2R, respectively. Various types of actuators, such as voice coil actuators, can be used for the first vibration actuators 21L and 21R and the second vibration actuators 22L and 22R. In this embodiment, moving coil voice coil actuators are used.

[0013] The third acceleration sensors 33L1 and 33L2 are respectively disposed on the first vibration actuator 21L and the second vibration actuator 22L. The third acceleration sensors 33R1 and 33R2 are respectively disposed on the first vibration actuator 21R and the second vibration actuator 22R. The third acceleration sensors 33L1, 33L2, 33R1, and 33R2 are sensors capable of measuring steering noise vibrations occurring in the steering wheel 3.

[0014] The control unit 10 mainly comprises a CPU 11, a memory 12, a wireless communication IF 15, and an amplifier 19. The memory 12 stores a vibration actuator control program 13 and a navigation program 14. When the CPU 11 executes the vibration actuator control program 13, it is possible to control each of the first vibration actuators 21L and 21R and the second vibration actuators 22L and 22R. When the CPU 11 executes the navigation program 14, it is possible to execute various algorithms such as obtaining map information, generating a route to a destination, and guiding the user to the destination.

[0015] The wireless communication IF 15 can access an external server (not shown) via the Internet. This allows various information to be acquired, such as map information including the vehicle's own position. The amplifier 19 receives instructions from the CPU 11 and controls the vibration state of each of the first vibration actuators 21L and 21R and the second vibration actuators 22L and 22R.

[0016] The main body 2 is a section including a board on which the user places their feet, front wheels, rear wheels, etc. The main body 2 is equipped with a GPS sensor 18, a first acceleration sensor 31, and a second acceleration sensor 32. The GPS sensor 18 is a sensor that receives signals from GPS satellites and measures geographic information. The first acceleration sensor 31 is a sensor that can measure the noise frequency characteristics of vibration noise. The second acceleration sensor 32 is a sensor that can measure the noise vibration waveform of vibration noise. The first acceleration sensor 31 and the second acceleration sensor 32 may be an integrated sensor. The first acceleration sensor 31 and the second acceleration sensor 32 may be arranged in various positions as long as they are spaced apart from the handlebars 3. For example, they may be located near the front wheels.

[0017] The control unit 10 can drive the first acceleration sensor 31, the second acceleration sensor 32, and the third acceleration sensors 33L1, 33L2, 33R1, and 33R2 at a high sampling rate. This allows for measurement of high-frequency vibration noise. For example, when these acceleration sensors are driven at 1000 Hz, vibration noise up to 500 Hz can be measured. The control unit 10 can also perform FFT (Fast Fourier Transform) on the vibration noise measured by these acceleration sensors. This allows for analysis of the frequency characteristics of the vibration noise.

[0018] (Handle 3 configuration) FIG. 2 shows a schematic top view of the handle 3. In FIG. 2, the longitudinal direction of the handle 3 is the +x direction. The direction perpendicular to the handle 3 and parallel to the ground is the +y direction. The direction perpendicular to the ground is the +z direction. The heading TD is indicated by an arrow. FIG. 3 also shows a cross-sectional view taken along line III-III in FIG. 2. In FIG. 3, the user's left hand 90L is indicated by a dotted line.

[0019] A control unit 10 is disposed on the upper surface of the handlebar 3. A center CP in the longitudinal direction of the handlebar 3 is fixed to a handlebar post 20. The handlebar 3 is rotatable around the center CP. A lower portion of the handlebar post 20 is fixed to the main body 2 (not shown) and is connected to a front wheel (not shown).

[0020] The handlebar 3 includes a frame 5 that forms the framework. The frame 5 is also called a core and has a hollow pipe shape. A grip 41L is disposed on the left end LE of the frame 5 so as to cover the outer periphery of the frame 5. A grip 41R is disposed on the right end RE of the frame 5 so as to cover the outer periphery of the frame 5. The grips 41L and 41R are parts that are grasped by the user's left and right hands, respectively. The grips 41L and 41R have shapes that are symmetrical with respect to the center CP. Therefore, the following description may mainly focus on the grip 41L on the left hand side.

[0021] The grip 41L has a first area A1L and a second area A2L. The first area A1L is an area where the palm of the left hand is positioned. The second area A2L is an area where the fingertips of the left hand are positioned. The first area A1L is where the first vibration actuator 21L is arranged. The second area A2L is where the second vibration actuator 22L is arranged.

[0022] A first vibration-isolating member 51L is disposed between the frame 5 and the first vibration actuator 21L. A second vibration-isolating member 52L is disposed between the frame 5 and the second vibration actuator 22L. The first vibration-isolating member 51L and the second vibration-isolating member 52L are components that suppress the transmission of vibrations between the frame 5 and the first vibration actuator 21L and the second vibration actuator 22L. Because the transmission of steering noise vibrations generated in the frame 5 to the first vibration actuator 21L and the second vibration actuator 22L can be suppressed, the vibrations generated by the vibration actuators can be more clearly presented to the user. In addition, the transmission of vibrations generated by the first vibration actuator 21L and the second vibration actuator 22L to the frame 5 can be suppressed.

[0023] The first vibration-isolating member 51L and the second vibration-isolating member 52L may have various structures and materials. For example, a gel sheet or a rubber sheet may be used. A metamaterial material capable of attenuating vibrations in a specific frequency range may also be used. Setting the specific frequency range to a typical frequency range of vibration noise or a resonant frequency range of the handle 3 can further enhance the vibration-isolating effect.

[0024] A portion of the second vibration actuator 22L may be exposed on the surface of the grip 41L. This allows the second vibration actuator 22L to come into direct contact with the fingertips of the user's left hand when gripping the grip 41L, allowing the user to effectively perceive the vibration stimulus.

[0025] 3, the third acceleration sensor 33L1 is disposed on the surface of the first vibration actuator 21L, and the third acceleration sensor 33L2 is disposed on the surface of the second vibration actuator 22L.

[0026] The structure and function of the right-hand grip 41R are the same as those of the left-hand grip 41L described above, and therefore detailed description thereof will be omitted.

[0027] (Operation of first vibration actuators 21L and 21R) The control unit 10 vibrates the first vibration actuators 21L and 21R while the moving object 1 is moving (i.e., while road noise is occurring). The vibration frequency, vibration waveform, amplitude, etc. at this time can be set in various ways. In this embodiment, the first vibration actuators 21L and 21R are vibrated at a predetermined vibration frequency, vibration waveform, and amplitude. This simplifies the configuration of the tactile presentation device, thereby enabling cost reduction and weight reduction.

[0028] The period during which the first vibration actuators 21L and 21R are vibrated can be set in various ways. For example, the moving object 1 may have a speedometer (not shown), and the first vibration actuators 21L and 21R may be vibrated continuously while the moving object 1 is traveling at a speed equal to or greater than a predetermined value. Alternatively, the moving object 1 may have an on / off switch for power, and the first vibration actuators 21L and 21R may be vibrated continuously while the power is on.

[0029] (Operation of second vibration actuators 22L and 22R) The control unit 10 vibrates the second vibration actuators 22L and 22R in response to the occurrence of a predetermined event. Various predetermined events may occur. For example, when applied to navigation that provides route guidance to a destination, a haptic stimulus can be presented to the user depending on the guidance direction. When providing route guidance to the left, the second vibration actuator 22L can be vibrated, and vibrations can be presented to the fingertips of the user's left hand. When providing route guidance to the right, the second vibration actuator 22R can be vibrated, and vibrations can be presented to the fingertips of the user's right hand. This makes it possible to achieve navigation guidance to a destination through haptic stimuli.

[0030] The control of vibrations of the second vibration actuators 22L and 22R will now be described in detail. The control unit 10 calculates the noise frequency characteristics of the vibration noise by performing an FFT on the vibration noise measured by the first acceleration sensor 31. An example of the calculated noise frequency characteristics is shown in Figure 4. The horizontal axis of Figure 4 is frequency (Hz), and the vertical axis is magnitude (arbitrary units).

[0031] Next, the control unit 10 calculates the peak frequencies of the vibration noise based on the noise frequency characteristics. The number of calculated peak frequencies may be multiple. In the example of Fig. 4, peak frequency P1 (approximately 300 Hz), peak frequency P2 (approximately 140 Hz), peak frequency P3 (approximately 70 Hz), and peak frequency P4 (approximately 20 Hz) are calculated.

[0032] Next, the control unit 10 determines a specific frequency SF. The specific frequency SF is a frequency that does not include a peak frequency. The specific frequency SF may be determined within a frequency range below a predetermined upper limit frequency. In this embodiment, a case where the upper limit frequency is 200 Hz will be described. In the example of FIG. 4, the specific frequency SF is determined to be near 100 Hz. Then, when a predetermined event occurs, the control unit 10 vibrates the second vibration actuator at the specific frequency SF.

[0033] The above-described series of processes, including measuring vibration noise, calculating noise frequency characteristics, calculating peak frequency, and determining specific frequency SF, may be looped at a predetermined interval, thereby making it possible to change specific frequency SF to an appropriate value even when noise frequency characteristics change in response to changes in road surface conditions or traveling speed.

[0034] The control unit 10 controls the vibration so that the vibration frequency of the second vibration actuators 22L and 22R is higher than the vibration frequency of the first vibration actuators 21L and 21R. The effect of this is explained below. Human perception has the ability to detect higher vibration frequencies in the fingertips than in the palm. Therefore, by increasing the vibration frequency of the second vibration actuators 22L and 22R on the fingertip side, it is possible to reliably present vibration stimuli to the fingertips.

[0035] (effect) It is known that presenting a vibration stimulus to the palm of a hand can give a person the illusion of reduced vibration perception at the fingertips or the illusion of enhanced vibration perception at the fingertips. With the technology described herein, the first vibration actuators 21L and 21R can continuously provide vibration stimuli to the user's palm while the moving object 1 is moving (i.e., while vibration noise is being generated). The vibration stimulus to the palm can sometimes reduce the perception of vibration noise at the fingertips. In this case, the vibration presented to the fingertips by the second vibration actuator is not drowned out by the vibration noise perceived at the fingertips. Therefore, it is possible to accurately notify the user that a predetermined event has occurred. Furthermore, the vibration stimulus to the palm can sometimes make the vibration stimulus more easily perceived at the fingertips. In this case, it is possible to ensure that the user perceives the vibration presented to the fingertips by the second vibration actuator (the indication of the occurrence of a predetermined event).

[0036] The technology of this specification can automatically determine a specific frequency SF (see FIG. 4) that does not include the peak frequency of the vibration noise as the frequency at which the second vibration actuator vibrates. This makes it possible to present a vibration stimulus to the user's fingertips using a frequency other than the frequency band in which the vibration noise occurs. Since vibration can be presented to the fingertips in a state where the influence of road noise is minimal, it becomes possible to make the user more easily aware that a predetermined event has occurred. Furthermore, even if the frequency characteristics of the vibration noise change, the specific frequency SF can be automatically changed. This makes it possible to reliably make the user aware that a predetermined event has occurred even if the road surface conditions or driving conditions change. [Example]

[0037] The tactile presentation device of Example 2 differs from the tactile presentation device of Example 1 in the vibration method of the first vibration actuators 21L and 21R. Only the parts unique to Example 2 will be described below. Parts common to Examples 1 and 2 will be given the same reference numerals and will not be described again.

[0038] The control unit 10 measures the noise vibration waveform of the vibration noise using the second acceleration sensor 32. An example of the measured noise vibration waveform is shown in Fig. 5(A). The horizontal axis of Fig. 5 represents time (s), and the vertical axis represents the vibration amount (arbitrary unit).

[0039] The control unit 10 then vibrates the first vibration actuators 21L and 21R with a vibration waveform that is in the opposite phase to the measured noise vibration waveform. FIG. 5(B) shows an example of an opposite-phase vibration waveform. The noise vibration waveform in FIG. 5(A) and the opposite-phase vibration waveform in FIG. 5(B) cancel each other out due to phase interference. This allows for so-called active noise cancellation. This makes it possible to further reduce the vibration noise perceived by the user's palm. [Example]

[0040] The tactile presentation device of Example 3 differs from the tactile presentation device of Example 1 in the vibration method of the first vibration actuators 21L and 21R. Only the parts unique to Example 3 will be described below. Parts common to Examples 1 and 3 will be given the same reference numerals and will not be described again. The following description will mainly focus on the grip 41L on the left hand side.

[0041] The control unit 10 uses the third acceleration sensors 33L1 and 33L2 to measure steering wheel vibration noise generated in the grip 41L. The control unit 10 then feedback-controls the vibration of the first vibration actuator 21L so as to reduce the steering wheel vibration measured by the third acceleration sensors 33L1 and 33L2. Various modes of feedback control are possible. For example, the third acceleration sensors 33L1 and 33L2 may be used to measure the noise vibration waveform of the vibration noise. The first vibration actuator 21L may then be vibrated with a vibration waveform that is in the opposite phase to the noise vibration waveform.

[0042] The effects of this invention will be described below. The third acceleration sensors 33L1 and 33L2 are disposed on the surface of the first vibration actuator 21L and the surface of the second vibration actuator 22L, respectively. Therefore, the vibration states of the first vibration actuator 21L and the second vibration actuator 22L can be directly measured by the third acceleration sensors 33L1 and 33L2, respectively. Therefore, for example, by using the third acceleration sensor 33L1 to perform feedback control to reduce the noise vibration of the first vibration actuator 21L, it is possible to reduce the perception of vibration noise in the palm of the hand. Furthermore, for example, by using the third acceleration sensor 33L2 to perform feedback control to reduce the noise vibration of the second vibration actuator 22L, it is possible to reduce the perception of vibration noise in the fingertips. This makes it possible to accurately notify the user that a predetermined event has occurred.

[0043] (Modification of Example 3) The third acceleration sensors 33L1 and 33L2 may be arranged in various ways and at various positions. The third acceleration sensors 33L1 and 33L2 may be arranged inside the first vibration actuator 21L and the second vibration actuator 22L, or may be fixed via an intermediate member, or may be arranged in a nearby area. Also, only one of the third acceleration sensors 33L1 and 33L2 may be arranged.

[0044] Although specific examples of the present invention have been described in detail above, these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and variations of the specific examples exemplified above. The technical elements described in this specification or drawings exhibit technical utility alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. Furthermore, the technology exemplified in this specification or drawings can achieve multiple objectives simultaneously, and achieving one of these objectives alone is technically useful.

[0045] (Variation) The third acceleration sensors 33L1, 33L2, 33R1 and 33R2 mounted on the handle 3 can be used for various purposes other than measuring the vibration state, for example, they may be used as an input interface.

[0046] The technology of this specification can be applied to handlebars of any shape. Therefore, the shape of the handlebars is not limited to a straight shape and may be various. The handlebars may have an angle at which the handles rise or a bend toward the handlebars. Furthermore, the handlebars are not limited to a one-piece type and may be a separate type.

[0047] The vibration waveforms of the first vibration actuators 21L and 21R and the second vibration actuators 22L and 22R may be various. For example, by using an asymmetric vibration waveform, a traction force illusion (translation or torque) or a shear stimulus may be presented to the user.

[0048] The cross-sectional shape of the handle 3 perpendicular to the longitudinal axis of the frame 5 is not limited to a circle, but may be various shapes, such as a polygon or a distorted circle.

[0049] Aspects of the present technology are listed below. [Aspect 1] A tactile presentation device for a moving object, comprising: a handle for controlling the direction of travel of a moving object, the handle having a first region configured to be positioned where a user's palm is to be placed, and a second region configured to be positioned where the user's fingertips are to be placed; a first vibration actuator disposed in the first region; a second vibration actuator disposed in the second region; a control unit capable of controlling the vibration states of the first vibration actuator and the second vibration actuator; Equipped with The control unit vibrating the first vibration actuator while the moving body is moving; vibrating the second vibration actuator in response to the occurrence of a predetermined event; Tactile presentation device. [Aspect 2] 2. The tactile presentation device according to aspect 1, wherein the control unit controls the second vibration actuator so that the vibration frequency of the second vibration actuator is higher than the vibration frequency of the first vibration actuator. [Aspect 3] Further, a first sensor capable of measuring a noise frequency characteristic of vibration noise generated in the moving body during movement is provided, The tactile presentation device described in aspect 1 or 2, wherein the control unit calculates the peak frequency of the vibration noise based on the measured noise frequency characteristics, and vibrates the second vibration actuator at a specific frequency that does not include the peak frequency. [Aspect 4] Further provided is a second sensor capable of measuring a noise vibration waveform of vibration noise generated in the moving body during movement, The tactile presentation device according to any one of aspects 1 to 3, wherein the control unit vibrates the first vibration actuator with a vibration waveform that is in an opposite phase to the measured noise vibration waveform. [Aspect 5] The vehicle further includes a third sensor disposed on the steering wheel, the third sensor being capable of measuring steering wheel noise vibrations generated in the steering wheel, The tactile presentation device according to any one of aspects 1 to 4, wherein the control unit controls the vibration of the first vibration actuator so as to reduce the steering wheel noise vibration measured by the third sensor. [Aspect 6] 6. The tactile presentation device according to claim 5, wherein the third sensor is disposed on the second vibration actuator. [Aspect 7] The handle includes a frame that forms a skeleton, The tactile presentation device includes: a first vibration isolation member disposed between the frame and the first vibration actuator; a second vibration isolation member disposed between the frame and the second vibration actuator; The tactile presentation device according to any one of aspects 1 to 6, further comprising: [Aspect 8] a handle for controlling the direction of travel of a moving object, the handle having a first region configured to be positioned where a user's palm is to be placed, and a second region configured to be positioned where the user's fingertips are to be placed; a first vibration actuator disposed in the first region; a second vibration actuator disposed in the second region; A method for controlling a tactile presentation device comprising: vibrating the first vibration actuator while the moving body is moving; vibrating the second vibration actuator in response to the occurrence of a predetermined event; Control method. [Aspect 9] the tactile presentation device further includes a first sensor capable of measuring noise frequency characteristics of vibration noise generated in the moving body during movement; calculating a peak frequency of the vibration noise based on the measured noise frequency characteristics; Aspect 9. The control method according to aspect 8, wherein the second vibration actuator is vibrated at a specific frequency that does not include the calculated peak frequency. [Aspect 10] the tactile presentation device further includes a second sensor capable of measuring a noise vibration waveform of vibration noise generated in the moving body during movement, 10. The control method according to aspect 8 or 9, wherein the first vibration actuator is vibrated with a vibration waveform that is in opposite phase to the measured noise vibration waveform. [Explanation of symbols]

[0050] 1: Moving object 3: Handle 10: Control unit 21L, 21R: First vibration actuator 22L, 22R: Second vibration actuator 31: First acceleration sensor 32: Second acceleration sensor A1L, A1R: First region A2L, A2R: Second region

Claims

1. A tactile presentation device for a moving object, comprising: a handle for controlling the direction of travel of a moving object, the handle having a first region configured to be positioned where a palm of a user's hand is to be placed, and a second region configured to be positioned where the fingertips of the user's hand are to be placed; a first vibration actuator disposed in the first region; a second vibration actuator disposed in the second region; a control unit capable of controlling the vibration states of the first vibration actuator and the second vibration actuator; Equipped with The control unit vibrating the first vibration actuator while the moving body is moving; vibrating the second vibration actuator in response to the occurrence of a predetermined event; Tactile presentation device.

2. The tactile presentation device according to claim 1 , wherein the control unit controls the second vibration actuator so that the vibration frequency of the second vibration actuator is higher than the vibration frequency of the first vibration actuator.

3. a first sensor capable of measuring a noise frequency characteristic of vibration noise generated in the moving body during movement; 2. The tactile presentation device according to claim 1, wherein the control unit calculates a peak frequency of the vibration noise based on the measured noise frequency characteristics, and vibrates the second vibration actuator at a specific frequency that does not include the peak frequency.

4. Further, a second sensor is provided that can measure a noise vibration waveform of vibration noise generated in the moving body during movement, 4. The tactile presentation device according to claim 1, wherein the control unit vibrates the first vibration actuator with a vibration waveform that is in opposite phase to the measured noise vibration waveform.

5. The vehicle further includes a third sensor disposed on the steering wheel, the third sensor being capable of measuring steering wheel noise vibrations generated in the steering wheel, The tactile presentation device according to claim 4 , wherein the control unit controls the vibration of the first vibration actuator so as to reduce the steering wheel noise vibration measured by the third sensor.

6. The tactile presentation device according to claim 5 , wherein the third sensor is disposed on a second vibration actuator.

7. The handle includes a frame that forms a skeleton, The tactile presentation device includes: a first vibration isolation member disposed between the frame and the first vibration actuator; a second vibration isolation member disposed between the frame and the second vibration actuator; The tactile presentation device according to claim 1 , further comprising:

8. a handle for controlling the direction of travel of a moving object, the handle having a first region configured to be positioned where a palm of a user's hand is to be placed, and a second region configured to be positioned where the fingertips of the user's hand are to be placed; a first vibration actuator disposed in the first region; a second vibration actuator disposed in the second region; A method for controlling a tactile presentation device comprising: vibrating the first vibration actuator while the moving body is moving; vibrating the second vibration actuator in response to the occurrence of a predetermined event; Control method.

9. the tactile presentation device further includes a first sensor capable of measuring noise frequency characteristics of vibration noise generated in the moving body during movement; calculating a peak frequency of the vibration noise based on the measured noise frequency characteristics; The control method according to claim 8 , wherein the second vibration actuator is vibrated at a specific frequency that does not include the calculated peak frequency.

10. the tactile presentation device further includes a second sensor capable of measuring a noise vibration waveform of vibration noise generated in the moving body during movement, 10. The control method according to claim 8, wherein the first vibration actuator is vibrated with a vibration waveform having an opposite phase to the measured noise vibration waveform.

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