Tactile presentation device, tactile presentation system, and tactile presentation program

Abstract

In tactile presentation using transcutaneous electrical stimulation, the intensity of the electrical stimulation signal can be adjusted intuitively and simply. [Solution] The tactile presentation device 30 receives position information from a position detection device 40 that detects the spatial position of electrodes 10 that electrically contact the user's body, and presents the user with the sensation of touching a virtual object. The tactile presentation device 30 includes a control unit 31 that determines the strength of the electrical stimulation signal applied to the electrodes 10 based on the position information. In the first mode, the control unit 31 is configured to determine a reference value for the strength of the electrical stimulation signal based on the position information when a predetermined trigger operation is input. In the second mode, the control unit 31 is configured to determine the strength of the electrical stimulation signal based on the reference value.

Description

Technical Field

[0006] , ,

[0005]

[0001] The present disclosure relates to a tactile presentation device, a tactile presentation system, and a tactile presentation program.

Background Art

[0002] Tactile presentation by transcutaneous electrical stimulation is a technique that passes an electric current from electrodes placed on the skin surface and directly stimulates the nerve axons extending from tactile receptors. Compared with mechanical tactile presentation devices, it has characteristics such as being thin, lightweight, low power consumption, and having no mechanical moving parts. It can provide tactile feedback in each space of MR / VR / AR (Mixed Reality, Virtual Reality, Augmented Reality) and is expected as a technology to enhance the operation feeling of HMI (Human Machine Interface). Japanese Patent Application Laid-Open No. 2006-251948 (Patent Document 1) describes an example of such a tactile presentation device by transcutaneous electrical stimulation.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The intensity of the sensation of electrical stimulation is controlled by the height of the current pulse, the pulse width, and the pulse period. In this case, the presented sensation varies depending on the resistance value of the skin at the presentation site, the capacitance, the contact area between the skin and the electrode, and the depth of the tactile receptor from the epidermis.

[0005] In particular, when performing electrical stimulation on a game controller or the like held by hand, since the sensitivity to the stimulation varies greatly between various parts of the finger and palm, how to adjust the strength of the sensation becomes a major issue.

[0006] This disclosure aims to solve these problems and provides a sensory presentation device, sensory presentation system, and tactile presentation program that can easily adjust the intensity of sensation at various points on the hand. [Means for solving the problem]

[0007] A tactile presentation device according to one aspect of this disclosure is a tactile presentation device that receives positional information from a position detection device that detects the spatial position of electrodes that electrically contact the user's body, and presents the user with the sensation of touching a virtual object. The tactile presentation device includes a control unit that determines the strength of an electrical stimulation signal applied to the electrodes based on the positional information. In a first mode, the control unit is configured to determine a reference value for the strength of the electrical stimulation signal based on the positional information when a predetermined trigger operation is input. In a second mode, the control unit is configured to determine the strength of the electrical stimulation signal based on the reference value.

[0008] Another aspect of the present disclosure relates to a tactile presentation system that presents the sensation of a user touching a virtual object. The tactile presentation system comprises electrodes that electrically contact the user's body, a position detection device that detects the spatial position information of the electrodes, and a control unit that determines the strength of an electrical stimulation signal applied to the electrodes based on the position information. In a first mode, the control unit is configured to determine a reference value for the strength of the electrical stimulation signal based on the position information when a predetermined trigger action is input. In a second mode, the control unit is configured to determine the strength of the electrical stimulation signal based on the reference value.

[0009] Another aspect of the present disclosure relates to a haptic presentation program that receives positional information from a position detection device that detects the spatial position of electrodes electrically in contact with the user's body, and presents the user with the sensation of touching a virtual object. The haptic presentation program causes a computer to perform the following processes: determining the strength of an electrical stimulation signal to be applied to the electrodes based on the positional information; determining a reference value for the strength of the electrical stimulation signal based on the positional information when a predetermined trigger action is input; and determining the strength of the electrical stimulation signal based on the reference value. [Effects of the Invention]

[0010] According to the tactile presentation device, tactile presentation system, and tactile presentation program of this disclosure, the intensity of the electrical stimulation signal can be adjusted intuitively and simply in tactile presentation using transcutaneous electrical stimulation. [Brief explanation of the drawing]

[0011] [Figure 1] This is a block diagram showing the configuration of the tactile feedback system according to this embodiment. [Figure 2] Figure 1 is a functional block diagram of the tactile presentation device 30. [Figure 3] This is a diagram illustrating the names of the parts of the palm. [Figure 4] This diagram shows an example of electrode placement on the palm of the hand. [Figure 5] This diagram shows an example of electrode placement on a game controller held by a user. [Figure 6] This is a diagram to explain the current flowing through the stimulating electrode. [Figure 7] This is a schematic diagram illustrating how electric current flows from electrodes in contact with the fingertips and palms to the skin and subcutaneous tissue. [Figure 8] This diagram illustrates the first example of a calibration procedure for determining a reference value for electrical stimulation signals. [Figure 9] This is a diagram illustrating a second example of a calibration procedure for determining a reference value for electrical stimulation signals. [Figure 10]It is a diagram showing the relationship between the change amount of the operation unit during the calibration operation and the stimulus intensity. [Figure 11] It is a flowchart for explaining the calibration process. [Figure 12] It is a diagram showing an example of a panel that a user operates in the calibration mode.

Embodiments for Carrying Out the Invention

[0012] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals and their description will not be repeated.

[0013] FIG. 1 is a block diagram showing the configuration of a tactile presentation system according to this embodiment. The tactile presentation system 1 includes a stimulation electrode 10, an electrode driver 20, a tactile presentation device 30, and a VR (virtual reality) system 40. The VR system includes a camera 41, a speaker 42, a display 43, sensors 44, a controller 45, and the like. The VR system 40 may include a head-mounted VR display device, a controller, and a computing system.

[0014] The tactile presentation device 30 includes a CPU (Central Processing Unit) 31 and a memory 32. The CPU 31 may be a processor composed of an FPGA (Field-Programmable Gate Array) or the like. The memory 32 includes a ROM (Read Only Memory) and a RAM (Random Access Memory), etc.

[0015] The CPU 31 controls the electrode driver 20 that supplies an electrical stimulation signal to the stimulation electrode 10. The memory 32 stores various programs and data used by the CPU 31.

[0016] Note that the tactile presentation device 30 may be configured by being divided into two or more units for each function. For example, the tactile presentation device 30 may be divided into a unit that controls each device and a unit that executes various data processes.

[0017] FIG. 2 is a functional block diagram of the tactile presentation device 30 in FIG. 1. The tactile presentation device 30 includes, as functional blocks, a communication unit 31A, a stimulation pattern generation unit 31B, a visual / audio interface 31C, and a calibration value storage unit 32A. <000,0098> The tactile presentation device 30 receives position information from a position detection device such as a camera 41 that detects the position within the space of the stimulation electrode 10 that electrically contacts the user's body through the visual / audio interface, and presents the feeling that the user has touched a virtual object.

[0019] As shown in FIG. 2, the tactile presentation device 30 includes a stimulation pattern generation unit 31B that determines the intensity of the electrical stimulation signal applied to the stimulation electrode 10 based on the position information. In the first mode (calibration mode), the stimulation pattern generation unit 31B determines a reference value for the intensity of the electrical stimulation signal based on the position information when a predetermined trigger operation is input, and is configured to store it in the calibration value storage unit 32A. In the second mode (application execution mode such as a game), the stimulation pattern generation unit 31B is configured to determine the intensity of the electrical stimulation signal based on the reference value stored in the calibration value storage unit 32A.

[0020] FIG. 3 is a diagram for explaining the part names of the palm part. A human hand includes a fingertip and a palm part. The palm part includes parts such as the distal part of the proximal palmar crease (MCP Knuckles), the thenar eminence, the hypothenar eminence, and the center of the palm.

[0021] When applying electrical stimulation to a game controller or similar device held in the hand, the sensitivity to stimulation differs significantly between the fingertips and various parts of the palm. Therefore, in this embodiment, the intensity of the sensation can be adjusted separately for at least the fingertips and the palm.

[0022] Figure 4 shows an example of electrode placement on the hand. The stimulating electrode 10 includes multiple individual electrodes 11 placed on various parts of the hand. Figure 5 shows an example of electrode placement on a controller 45 held by the user. In the case of the controller, when the user holds the controller 45 shown in Figure 5, the individual electrodes 11 are embedded in the controller's grip at locations where the electrode positions shown in Figure 4 have been transferred.

[0023] Note that the objects on which electrodes are placed are not limited to the controller shown in Figure 5. The objects on which electrodes are placed do not need to be objects that are grasped. For example, electrodes may be directly attached to the hand at the positions shown in Figure 4, or electrodes may be placed on a flexible film and the flexible film may be attached to the hand so that the electrodes make contact with the fingertips and palm. Alternatively, electrodes may be attached to the inside of something like a glove so that they make contact with the positions shown in Figure 4.

[0024] Figure 6 is a diagram illustrating the current flowing through the stimulating electrodes. Each individual electrode 11 includes multiple single electrodes 12. The multiple single electrodes 12 are divided into cathodes and anodes. The example in Figure 6 shows an example including one anode and three cathodes. The electrode driver 20 includes an upper arm switch SU and a lower arm switch SL corresponding to each single electrode 12. When the upper arm switch SU is activated, the single electrode 12 becomes the anode. When the lower arm switch SL is activated, the single electrode 12 becomes the cathode.

[0025] Figure 7 is a schematic diagram showing how current flows from electrodes in contact with the fingertips and palms to the skin and subcutaneous tissue. The current supplied by the electrode driver 20 is supplied to the anode via the conductive upper arm switch SU shown in Figure 6, passes through the skin and subcutaneous tissue, reaches the cathode, returns to the electrode driver 20, and flows through the conductive lower arm switch SL shown in Figure 6.

[0026] Figure 8 illustrates a first example of a calibration operation for determining a reference value for an electrical stimulation signal. During calibration, a virtual object 50 (sphere) with diameter D0 is displayed on the screen. When virtual hands 51R and 51L are moved closer to the virtual object 50, the spatial coordinates of the virtual hands 51R and 51L coincide with the surface coordinates of the virtual object 50. This state is sometimes referred to as a collision detection occurring. In this case, although no contact occurs in the real world, in this specification, this state will be described as when the virtual hands 51R and 51L "touch" the virtual object 50.

[0027] Starting from the point when the virtual hands 51R and 51L touch the virtual object 50 with a diameter D0 (indicated by the dashed line), the image of the virtual object 50 is modified so that the diameter of the virtual sphere also decreases in proportion to the distance between the hands. The electrical stimulation intensifies as the distance between the virtual hands decreases. For example, if the grasping motion is stopped when the virtual object 50 has a diameter D1 (indicated by the solid line), the intensity of the electrical stimulation corresponding to diameter D1 is set to the reference value at which the hands 51R and 51L touched the virtual object 50.

[0028] In the first example, we showed an interface such as virtual hands 51R, 51L that can be invoked by operating a button located in a VR space, AR space, or MR space, or by operating a physical button, and in which the user can perform transcutaneous electrical stimulation calibration through spontaneous actions such as grasping a virtual object 50 (sphere). The virtual object 50 may be an ellipsoid, a rectangular prism, or other shape other than a sphere.

[0029] In the first example, virtual objects such as spheres, ellipsoids, and cuboids are visually displayed in space, and the user touches these virtual objects with a virtual hand. The intensity of the electrical stimulation increases according to the amount the virtual hand penetrates the virtual object when the user touches it. The user presses the virtual object with their hand until they feel the stimulation is just right. In the example in Figure 8, the diameter of the sphere changes from D0 to D1 as the user presses it. This adjusts the stimulation intensity in accordance with the natural action of pressing.

[0030] Furthermore, since individual electrodes 11 are placed at multiple locations on the actual hand, there are cases where it is necessary to adjust each electrode separately. In such cases, as will be explained later in Figures 11 and 12, the stimulation intensity for multiple electrodes can be adjusted in a short time by repeatedly touching the virtual object with the virtual hand while changing the designation of the electrode to be calibrated.

[0031] In Figure 8, the calibration operation is shown as grasping a virtual sphere with both hands, but it is not necessary to grasp it directly with your hands. For example, it could be an action such as holding the sphere between virtual tools held by both hands (e.g., two swords, a sword and a shield).

[0032] Figure 9 illustrates a second example of a calibration operation for determining a reference value for an electrical stimulation signal. In the example shown in Figure 9, a bow 52 with a bowstring 53 is shown as a virtual tool. When a collision is detected between one virtual hand 51L and the virtual bow 52 displayed in the virtual space, the image changes to show the virtual hand 51L grasping the virtual bow 52.

[0033] When the virtual hand 51L grasps the virtual bow 52, ​​a drawing hand appears in the center of the bowstring 53. By pulling this drawing hand with the other virtual hand 51R, the bow can be drawn and an arrow 54 can be released. Depending on the amount the drawing hand is manipulated, the amount of manipulation h shown in Figure 9 increases, the bow 52 bends, and the distance L between the ends of the bow shortens. The virtual tool may be something other than the bow 52, ​​such as a slingshot.

[0034] In the second example, virtual objects to be "gripped," such as a bow or a slingshot, are visually displayed in space, and the user grasps these virtual objects. When the user manipulates a virtual object while grasping it (for example, loading a bullet and pulling the rubber band in the case of a slingshot), the intensity of the stimulation current increases according to the amount of deformation. For example, pulling the bowstring or the rubber band of a slingshot involves a larger movement than in the first example. As a result, the stimulation current is adjusted with a larger movement than in the first example. Therefore, it is expected that adjustment will be easier than in the first example.

[0035] Figure 10 shows the relationship between the amount of change in the operating part and the stimulation intensity during the calibration operation. As shown in Figure 10, in calibration mode, the stimulation intensity to the electrode increases as the operating amount h increases.

[0036] For example, when the action of drawing the bow is stopped when the manipulated amount h is reached (corresponding to the action of releasing the arrow), the intensity Y of the electrical stimulation corresponding to the manipulated amount h is set to a reference value when one hand 51L is in contact with the virtual bow 52 or when the other hand 51R is in contact with the virtual bowstring 53.

[0037] The virtual objects shown in Figures 8 and 9 above are displayed in one of the following spaces: virtual reality, augmented reality, or mixed reality.

[0038] In the first mode (calibration mode), the stimulation pattern generation unit 31B in Figure 2 changes the strength of the electrical stimulation signal based on the relative positional relationship between the virtual hands 51R, 51L and the virtual object 50, which are displayed in relation to the positions of electrodes in space as shown in Figure 8 (for example, the distance between the hand and the center of the sphere). The strength of the electrical stimulation signal at the time a trigger action is given by the user is set to a reference value.

[0039] Preferably, in the first mode, the stimulation pattern generation unit 31B changes the intensity of the electrical stimulation signal based on the relative positional relationship between the electrodes and the virtual object in space, and also changes at least one of the visual effect and the acoustic effect.

[0040] Furthermore, the virtual object is a tool (bow 52 and bowstring 53) displayed in one of the virtual reality, augmented reality, or mixed reality spaces, as shown in Figure 9. In the first mode, the stimulus pattern generation unit 31B in Figure 2 changes the strength of the electrical stimulation signal based on the amount h of manipulation of the tool in space, and is configured so that the strength of the electrical stimulation signal at the time a trigger action is given by the user is set to a reference value.

[0041] For example, in the aforementioned bow interface example, the user manipulates the bow while receiving haptic feedback, and if the stimulation is weak, they will pull the bowstring harder. This information is used to increase the stimulation intensity, so the user is not very aware that the strength of the electrical stimulation signal is being adjusted.

[0042] Preferably, in the first mode, the stimulus pattern generation unit 31B changes the intensity of the electrical stimulation signal based on the amount h of manipulation of the tool in space, and also changes at least one of the visual and acoustic effects perceived by the user via the visual and audio interface 31C.

[0043] In this way, once the reference value for stimulation intensity is determined, the stimulation pattern generation unit 31B is configured to determine, in the second mode (game execution mode, etc.), the strength of the electrical stimulation signal when the user's virtual hand or body, or a virtual tool operated by the user, touches a virtual object, based on the reference value determined in the first mode. In this way, the tactile presentation device 30 can present contact to the user.

[0044] Figure 11 is a flowchart illustrating the calibration process. The haptic presentation system 1 determines in step S1 whether or not a calibration call operation has been performed. If no call operation has been performed (NO in S1), the haptic presentation system 1 waits for a calibration call operation. The calibration call operation may be an operation such as pressing a button on the controller 45 or selecting a menu on a panel partially displayed on the display 43.

[0045] If a call operation is made (YES in S1), the system transitions to calibration mode in step S2, and in step S3, the haptic presentation system 1 displays an image of a virtual hand representing a part of the hand on the display 43. Then, in step S4, the haptic presentation system 1 detects the position and state of the virtual hand from the image from the camera 41 and signals from the sensors 44. The virtual hand may represent the actual positions of both hands of the user as detected by the camera 41. Alternatively, it may represent a position a predetermined distance away from the actual positions of both hands.

[0046] In step S5, it is determined whether the virtual hand is in contact with the virtual object used for calibration, or whether the virtual hand is grasping the virtual tool used for calibration. If the virtual hand is not in contact with the virtual object, or if the virtual hand is not grasping the virtual tool (NO in S5), the process returns to step S4.

[0047] If the virtual hand position comes into contact with the virtual object used for calibration, or if the virtual hand grasps the virtual tool used for calibration (YES in S5), the haptic presentation system 1 prompts the user to select a calibration area in step S6. The haptic presentation system 1 displays a panel on a portion of the display 43 and waits for input from the user.

[0048] Figure 12 shows an example of a panel that the user operates in calibration mode. Panel 60 includes selection buttons 61-66 and a display unit 67.

[0049] Selection button 61 is for the user to select the fingertip electrode as the target of calibration. Selection button 62 is for the user to select the distal part of the proximal palmar surface (MCP) electrode as the target of calibration. Selection button 63 is for the user to select the hypothenar eminence as the target of calibration. Selection button 64 is for the user to select the palm as the target of calibration. Selection button 65 is for the user to select the thenar eminence as the target of calibration. Selection button 66 is for the user to select when ending the calibration. The display unit 67 displays information such as the real-time calibration value of the target currently being calibrated. For example, the selected button is displayed brighter than other buttons to indicate the target currently being calibrated, and the calibration value of that target is displayed as the CURRENT OUTPUT VALUE on the display unit 67 in Figure 12. Alternatively, the display unit 67 may also display the name of the currently selected calibration target along with its calibration value.

[0050] The user selects the area to be calibrated from the panel 60 displayed on the display 43. The area to be calibrated can be selected using the selection buttons 61-65, for example, from the fingertips, distal part of the proximal palmar surface (MCP), thenar, hypothenar, and palm core, as shown in Figure 3. However, the areas do not necessarily have to be those shown in Figures 3 and 12. The unit that can be selected as the target of calibration may be the individual electrode 11 unit, or it may be a group unit in which the individual electrodes 11 are grouped by their installation location, such as the fingertips and the rest of the hand. Furthermore, the electrodes for the fingertips may also be selectable for each individual finger.

[0051] Next, in step S7, the tactile presentation system 1 generates an electrical stimulation pattern and sends an electrical stimulation signal to the electrode at the selected site, applying the generated electrical stimulation pattern. Then, in step S8, the tactile presentation system 1 detects the distance D1 from the hand position as shown in Figure 8, or detects the manipulated amount h from the bowstring position as shown in Figure 9. Subsequently, in step S9, the tactile presentation system 1 converts the detected manipulated amount h or distance D1 into an electrical stimulation intensity as shown in Figure 10, and feeds it back to the electrical stimulation of the electrode to be calibrated.

[0052] In step S10, the haptic feedback system 1 detects whether the user has performed a trigger action. In the example in Figure 8, the trigger action is interrupting the operation of reducing the distance between hands (changing to an operation of increasing the distance). In the example in Figure 9, the trigger action is releasing the bowstring after drawing it. If no trigger action is detected (NO in S9), the processes in steps S8 and S9 are executed again.

[0053] As feedback to the user in the haptic presentation device 30, the brightness, color, and size of visual image effects and the intensity of auditory sound effects may be changed as the intensity of the electrical stimulation increases. For example, as a visual image effect, the brightness, color, and size of images such as "discharge" and "lightning" may be increased as the intensity of the electrical stimulation increases. Also, as an auditory sound effect, the intensity of onomatopoeic sounds such as "discharge" and "lightning" may be increased as the intensity of the electrical stimulation increases. By combining these visual and auditory effects with the electrical stimulation tactile sensation leading up to the trigger action, it is possible to reduce the feeling of discomfort as the intensity of the electrical stimulation sensation changes in response to the movement of the user's hand, etc.

[0054] If a trigger action is detected (YES in S10), the haptic feedback system 1 saves the stimulus intensity value at the time the trigger action was performed. In the example in Figure 8, the stimulus intensity value corresponding to the distance D1 at the point where the distance between the hands changes from gradually decreasing to increasing is saved. In the example in Figure 9, the stimulus intensity value corresponding to the manipulated amount h (maximum value of manipulated amount h) just before the manipulated amount h returns to zero due to the trigger action after the manipulated amount h has gradually increased is saved. The saved stimulus intensity value is later used as a reference value for the stimulus intensity for the electrode selected as the calibration target in step S16.

[0055] Subsequently, in step S12, the tactile presentation system 1 resets the intensity of the electrical stimulation pattern, and in step S13, it displays the panel 60 shown in Figure 12 to ask the user whether or not to switch the area to be calibrated.

[0056] If an instruction to switch the area to be calibrated is received via the selection buttons 61-65 on panel 60 (YES in S13), the process proceeds to step S7, and the tactile presentation system 1 then performs calibration on the electrodes of the selected area.

[0057] As shown in Figures 3 to 6, the electrode 10 includes a plurality of individual electrodes 11 that contact multiple parts of the user's hand. The stimulation pattern generation unit 31B in Figure 2 is configured to determine a plurality of individual reference values ​​corresponding to the plurality of individual electrodes 11 in the first mode (calibration mode) and store them in the calibration value storage unit 32A.

[0058] Therefore, according to the tactile presentation device of this embodiment, the intensity of the stimulus signal can be adjusted, reference values ​​can be saved, and reference values ​​can be recalled for each part of the entire hand.

[0059] If no instruction is given to switch the part to be calibrated (NO in S13), the process proceeds to step S14, and the haptic presentation system 1 determines whether or not the user has performed an operation to end the calibration.

[0060] If no operation is performed to terminate the calibration (NO in step S14), the process returns to step S7, and calibration is performed again for the same electrode being calibrated. On the other hand, if an operation to terminate the calibration is performed by pressing a button on panel 60 (YES in step S14), the calibration mode is terminated, and the system switches to normal mode in step S15. In normal mode, in the process before calibration (for example, playing a game), the stimulation intensity values ​​saved by calibration are used as reference values ​​for the intensity of the electrode stimulation pattern, as shown in step S16.

[0061] For example, in an application where a virtual object is held with both hands, as shown in Figure 8, a reference value is used as the value of the stimulation intensity applied to each electrode when both hands touch the virtual object. Also, for example, when a virtual bow is used, as shown in Figure 9, a reference value is used as the value of the stimulation intensity applied to each electrode when the hand holding the bow touches the bow, or when the hand drawing the bowstring touches the bowstring.

[0062] A tactile presentation program according to one aspect of this embodiment receives positional information from a position detection device that detects the spatial position of electrodes electrically in contact with the user's body, and presents the user with the sensation of touching a virtual object. The tactile presentation program causes the computer to perform the following processes: determining the strength of the electrical stimulation signal to be applied to the electrode 10 based on the positional information (S8, S9); determining a reference value for the strength of the electrical stimulation signal based on the positional information when a predetermined trigger operation is input (S10, S11); and determining the strength of the electrical stimulation signal based on the reference value (S16).

[0063] The tactile presentation device of this embodiment has been described above. The tactile presentation device of this embodiment has the following effects.

[0064] A common method for adjusting electrical stimulation is to allow the user to adjust the volume. For example, an interface (often a slider or button) that allows the user to directly adjust the stimulation current is placed within the content, and the user operates the slider or button.

[0065] In contrast, the haptic presentation device of this embodiment performs calibration using natural actions performed in actual games, such as grasping and pressing virtual objects or deforming virtual tools.

[0066] In other words, calibration using virtual hands, virtual tools, etc., as interfaces in actual games can be incorporated into game content. That is, by measuring the user's movements "while" they are playing the game, the electrical stimulation intensity can be dynamically calibrated.

[0067] Using actions performed in actual games and other applications provides an excellent interface for intuitively adjusting stimulus intensity. This makes the adjustment process more user-friendly. Furthermore, because it utilizes existing virtual objects from games and other applications, the interface configuration can be easily packaged and integrated into game content.

[0068] Furthermore, in typical methods for adjusting electrical stimulation, all electrodes are often set to the same volume, and differences in stimulation intensity across different areas cannot be finely adjusted.

[0069] In contrast, the tactile presentation device of this embodiment allows the user to specify the electrodes to be calibrated individually or in groups of several electrodes in the fingertips and palms, so that the user can precisely select their preferred electrical stimulation intensity.

[0070] Furthermore, during calibration, the visual and auditory stimuli provided to the user may be changed in accordance with the change in the intensity of the stimulation to the target electrode in step S8 of Figure 11. For example, visual and auditory stimuli representing discharges, lightning, sparks, etc., may be output from a monitor or speaker during calibration, and as the intensity of the electrical stimulation increases, the brightness of the discharges, etc., or the frequency of the sound effects of the discharges, etc., may increase, thereby presenting the user with a multi-sense sensory experience in conjunction with the actual electrical stimulation and tactile sensations. In this way, the user will not feel any discomfort while playing games, etc., and will be more likely to emotionally accept the calibration operation.

[0071] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of this disclosure is indicated by the claims rather than by the description of the embodiments above, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of symbols]

[0072] 1 Tactile presentation system, 10 Stimulation electrodes, 11 Individual electrodes, 12 Single electrodes, 20 Electrode drivers, 30 Tactile presentation device, 31A Communication unit, 31B Stimulation pattern generation unit, 31C Audio interface, 32 Memory, 32A Calibration value storage unit, 40 VR system, 41 Camera, 42 Speaker, 43 Display, 44 Sensors, 45 Controller, 50 Virtual objects, 51L, 51R Hands, 52 Bow, 53 Bowstring, 54 Arrow, 60 Panel, 61, 62, 63, 64, 65, 66 Selection buttons, SL, SU Switches.

Claims

1. A tactile presentation device that receives positional information from a position detection device that detects the position in space of electrodes that electrically contact the user's body, and presents the user with the sensation of touching a virtual object, The system includes a control unit that determines the strength of the electrical stimulation signal applied to the electrode based on the position information, The control unit is configured to determine a reference value for the strength of the electrical stimulation signal based on the position information when a predetermined trigger operation is input in the first mode. The control unit is configured to determine the intensity of the electrical stimulation signal based on the reference value in the second mode, in a tactile presentation device.

2. The aforementioned virtual object is displayed in one of the following spaces: virtual reality, augmented reality, or mixed reality. The control unit is configured in the first mode to change the strength of the electrical stimulation signal based on the relative positional relationship between the electrodes and the virtual object in the space, and to set the strength of the electrical stimulation signal at the time the user performs the trigger action to the reference value, as described in claim 1.

3. The tactile presentation device according to claim 1 or 2, wherein the control unit, in the first mode, changes the intensity of the electrical stimulation signal and changes at least one of the visual effect and the acoustic effect based on the relative positional relationship between the electrode and the virtual object in the space.

4. The aforementioned virtual object is a tool displayed in one of the following spaces: virtual reality, augmented reality, or mixed reality. The control unit is configured in the first mode to change the strength of the electrical stimulation signal based on the amount of manipulation of the tool in the space, and the strength of the electrical stimulation signal at the time the user performs the trigger action is set to the reference value, as described in claim 1.

5. The tactile presentation device according to claim 4, wherein the control unit, in the first mode, changes the intensity of the electrical stimulation signal based on the amount of manipulation of the tool in the space, and also changes at least one of the visual effect and the acoustic effect perceived by the user.

6. The tactile presentation device according to any one of claims 2 to 5, wherein the control unit is configured to determine the strength of the electrical stimulation signal when the user's body or a tool operated by the user touches the virtual object based on the reference value in the second mode.

7. The electrode includes a plurality of individual electrodes that contact a plurality of parts of the user's hand, The tactile presentation device according to any one of claims 2 to 5, wherein the control unit is configured to determine a plurality of individual reference values ​​corresponding to the plurality of individual electrodes in the first mode.

8. A haptic feedback system that presents the user with the sensation of touching a virtual object, The electrodes that make electrical contact with the user's body, A position detection device for detecting the positional information of the electrode in space, The system includes a control unit that determines the strength of the electrical stimulation signal applied to the electrode based on the position information, The control unit is configured to determine a reference value for the strength of the electrical stimulation signal based on the position information when a predetermined trigger operation is input in the first mode. The control unit is configured to determine the intensity of the electrical stimulation signal based on the reference value in a second mode, in a tactile presentation system.

9. A tactile presentation program that receives positional information from a position detection device that detects the spatial position of electrodes electrically in contact with the user's body, and presents the user with the sensation of touching a virtual object, A process for determining the strength of the electrical stimulation signal applied to the electrode based on the position information, A process to determine a reference value for the strength of the electrical stimulation signal based on the position information when a predetermined trigger action is input, A tactile presentation program that causes a computer to perform a process of determining the strength of the electrical stimulation signal based on the reference value.

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