Vibration signal generating device, vibration presentation device, and methods and programs thereof

Abstract

To present position information by a vibration stimulation.SOLUTION: A vibration presentation device 1 presents vibration to a human body part. A transmission information input part 11 acquires transmission information for expressing a position for presenting vibration. A transmission information correction part 121 corrects transmission information on the basis of recognition characteristic information. A vibrator selection part 122 selects a vibrator near a position expressed by transmission information after correction. A vibration waveform generation part 123 generates a waveform of a vibration signal outputted from the selected vibrator. A vibration presentation part 13 presents vibration to a human body part on the basis of a vibration signal. In the vibration presentation part 13, a predetermined number of vibrators are disposed at an equal interval on each circumference of multiple concentric circles having different radii with a contact position of a human body part as a center.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a technique for presenting positional information by vibration stimulation. [Background technology]

[0002] There is a technology that utilizes the human vibration localization ability to allow humans to recognize information such as the position and movement status of objects in the vicinity. For example, Non-Patent Document 1 discloses a technology in which a number of vibration motors are placed in contact with the surface of the human body, and the direction of an object such as an obstacle in the vicinity of the body is presented based on the position of the vibration. In this case, if the distance to the object is expressed by the amplitude of the vibration, position information that combines the direction and distance can be presented. [Prior art documents] [Non-patent literature]

[0003] [Non-Patent Document 1] JH Hogema, SC De Vries, JBF Van Erp and RJ Kiefer, "A Tactile Sheet for Direction Coding in Car Driving: Field Evaluation," in IEEE Transactions on Haptics, vol. 2, no. 4, pp. 181-1188, Oct.-Dec. 2009, doi: 10.1109 / TOH.2009.35. Summary of the Invention [Problem to be solved by the invention]

[0004] However, there is no linear relationship between the position of the vibration source and the position at which a person recognizes the presence of the vibration source. The conventional technology of Non-Patent Document 1 is unable to present position information while taking into account the recognition characteristics for such a vibration stimulation position.

[0005] In view of the above technical problems, an object of the present invention is to present position information by vibration stimulation based on human recognition characteristics for the stimulation position of vibration. [Means for solving the problem]

[0006] A first aspect of the vibration signal generating device of the present invention is a vibration signal generating device that generates a vibration signal for presenting vibration to a part of a human body, and includes a transmission information correction unit that corrects transmission information representing the position at which the vibration is presented based on recognition characteristic information that represents the relationship between the stimulation position at which a vibration source is located and the recognition position at which the human recognizes the presence of the vibration source, and a vibration waveform generating unit that generates a waveform of a vibration signal to be output from the position represented by the corrected transmission information.

[0007] A vibration presentation device of a second aspect of the present invention includes a vibration presentation unit that presents vibrations to a human body part based on a vibration signal generated by the vibration signal generating device of the first aspect, and the vibration presentation unit has a predetermined number of vibrators arranged at equal intervals on the circumference of each of a number of concentric circles having different radii centered on the contact position of the body part. Effect of the Invention

[0008] According to this invention, position information can be presented by vibration stimulation based on human recognition characteristics for the vibration stimulation position. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram for explaining the concept of the experimental system. [Diagram 2] FIG. 2 is a diagram for explaining the environment in which the experiment was carried out. [Diagram 3] FIG. 3 is a diagram for explaining the arrangement conditions of the transducers. [Figure 4] FIG. 4 is a diagram for explaining posture conditions of body parts. [Diagram 5] FIG. 5 is a diagram for explaining the experimental results for each posture condition. [Figure 6]FIG. 6 is a diagram for explaining the experimental results for each stimulation distance. [Figure 7] FIG. 7 is a diagram illustrating an example of a functional configuration of the vibration presentation device. [Figure 8] FIG. 8 is a diagram illustrating a processing procedure of the vibration presentation method. [Figure 9] FIG. 9 is a diagram illustrating a recognition characteristic function. [Figure 10] FIG. 10 is a diagram for explaining the processing of the transducer determination unit. [Figure 11] FIG. 11 is a diagram illustrating an example of the functional configuration of a computer. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described in detail. In the drawings, components having the same functions are designated by the same reference numerals, and duplicated explanations will be omitted.

[0011] [Principle of the invention] This invention corrects the position (distance and direction) of the presented vibration based on the human recognition characteristics for the vibration stimulation position when presenting positional information through vibration stimulation. The recognition characteristics are based on knowledge gained from the results of an experiment investigating the degree to which it is possible to localize a vibration source that exists outside the body. The results of the experiment show that there is no linear relationship between the position of the vibration source and the position at which a human recognizes the presence of the vibration source. The details of the experiment are explained below.

[0012] <Experimental conditions> Figure 1 shows the concept of the experimental system. In this experimental system, the vibration source and the human are in contact with a medium, and the vibration generated at the vibration source reaches the human through the medium. In the experiment, we investigated whether the position of the vibration source and the posture of the body part in contact with the medium affect the localization results. In other words, we investigated what kind of changes occur in the localization position while changing the position of the vibration source and the posture of the body part in contact with the medium. Silicone rubber was used as the medium because if it is a hard material such as plastic or metal, the entire medium will vibrate and localization will not be possible. In addition, thick silicone rubber was used to prevent the vibration from attenuating too much at the part where the vibration first reaches. We decided to use the hand as the body part in contact with the medium because it has a relatively low threshold for vibration detection and is often used as an interface to the input / output parts of various devices.

[0013] Figure 2 shows the environment in which the experiment was conducted. The subject, wearing a sleep mask and noise-canceling headphones to block their vision and hearing, placed their elbows on the armrests to stabilize their arms and touched the impulse generator with their hands. The impulse generator consisted of a urethane sheet with multiple solenoids embedded in it to be used as vibrators, with a silicone rubber sheet attached to the surface to act as a medium. The silicone rubber sheet used had a hardness of 30 (measured with a durometer type A). The size of the silicone rubber sheet was 500 mm in length and width, and 10 mm in thickness.

[0014] Figure 3 shows the arrangement of the transducers used in the experiment. The subject touches the center of the silicone rubber sheet with his / her hand. The transducers are arranged in groups of three, radially from the center of the silicone rubber sheet (i.e., the contact position of the hand) in eight directions, vertically, horizontally, and diagonally. The transducer closest to the center in each direction (first transducer) is arranged 130 mm from the center. The transducer second closest to the center (second transducer) is arranged 50 mm from the first transducer (i.e., 180 mm from the center). The transducer furthest from the center (third transducer) is arranged 50 mm from the second transducer (i.e., 230 mm from the center). In other words, three transducers are arranged in a row at equal intervals in each of the eight directions, vertically, horizontally, and diagonally. As a result, eight transducers are arranged at equal intervals on each of the three concentric circles with different radii.

[0015] Figure 4 shows the posture conditions of the body parts used in the experiment. In this experiment, three postures were used: "two fingertips", "five fingertips", and "whole hand". In the "two fingertips" case, only the tips of the index and middle fingers touched the silicone rubber sheet, and each finger was opened 23 degrees from the center line of the hand. In the "five fingertips" case, the tips of all fingers touched the silicone rubber sheet, and with the middle finger aligned with the center line of the hand, the thumb was opened 78 degrees from the center line of the hand, the index and ring fingers were opened 23 degrees from the center line of the hand, and the little finger was opened 55 degrees from the center line of the hand. In the "whole hand" case, all fingers and the palm touched the silicone rubber sheet, and the fingers were opened in the same manner as in the case of five fingertips.

[0016] <Experimental Results> Figure 5 shows the experimental results showing the error for each posture condition. (a) Absolute positional error is a graph showing the error between the position of the vibration source and the position where the subject recognized the vibration source, for each posture condition. (b) Absolute directional error is a graph showing the error between the direction of the vibration source and the direction where the subject recognized the vibration source, for each posture condition. (c) Absolute distance error is a graph showing the error between the distance to the vibration source and the distance to the position where the subject recognized the vibration source, for each posture condition. In the graph, "two" is the result when two fingertips are posed, "five" is the result when five fingertips are posed, and "hand" is the result when the entire hand is posed. All experimental results show that the error is smaller when the entire hand is in contact with the medium than when only the fingertips are in contact with the medium.

[0017] Figure 6 shows the experimental results for each distance from the body part to the vibration source (hereinafter also referred to as "stimulation distance"). (a) Absolute positional error is a graph showing the error between the position of the vibration source and the position where the subject recognized the vibration source for each stimulation distance. (b) Distance bias is a graph showing the bias between the distance to the vibration source and the distance to the position where the subject recognized the vibration source (not the actual distance to the vibration source, but the distance recognized as the distance to the vibration source. Hereinafter also referred to as "recognition distance") for each stimulation distance. In the graph, "130" is the result when the stimulation distance was 130 mm (i.e., when the first oscillator was the vibration source), "180" is the result when the stimulation distance was 180 mm (i.e., when the second oscillator was the vibration source), and "230" is the result when the stimulation distance was 230 mm (i.e., when the third oscillator was the vibration source). From the experimental results in Figure 5, it was found that the error was smallest when the entire hand was in contact with the medium, so all experiments were performed under the posture condition where the entire hand was in contact with the medium. (a) The results of the absolute positional error experiment show that the closer the stimulus distance, the smaller the error (in other words, the greater the stimulus distance, the larger the error). (b) The results of the distance bias experiment show that the greater the stimulus distance, the smaller the recognition distance.

[0018] [Embodiment] An embodiment of the present invention is a vibration presentation device and method for correcting a position where vibration is generated based on a human's recognition characteristic for a vibration stimulation position and presenting vibration to a human body part. As shown in Fig. 7, the vibration presentation device 1 of the embodiment includes a recognition characteristic storage unit 10-1, a transducer information storage unit 10-2, a transmission information input unit 11, a vibration signal generation unit 12, and a vibration presentation unit 13. The vibration signal generation unit 12 includes a transmission information correction unit 121, a transducer selection unit 122, and a vibration waveform generation unit 123. The vibration presentation device 1 executes the processing of each step shown in Fig. 8 to realize the vibration presentation method of the embodiment.

[0019] The vibration presentation device 1 is a special device configured by loading a special program into a publicly known or dedicated computer having, for example, a central processing unit (CPU), a main storage device (RAM), and the like. The vibration presentation device 1 executes each process under the control of, for example, the central processing unit. Data input to the vibration presentation device 1 and data obtained in each process are stored in, for example, the main storage device, and the data stored in the main storage device is read out to the central processing unit as necessary and used for other processes. At least a part of each processing unit included in the vibration presentation device 1 may be configured by hardware such as an integrated circuit. Each storage unit included in the vibration presentation device 1 can be configured by, for example, a main storage device such as a random access memory (RAM), an auxiliary storage device configured by a semiconductor memory element such as a hard disk, an optical disk, or a flash memory, or middleware such as a relational database or a key-value store.

[0020] Hereinafter, with reference to FIG. 8, a vibration presentation method executed by the vibration presentation device 1 of the embodiment will be described.

[0021] The recognition characteristic storage unit 10-1 stores recognition characteristic information that represents a human's recognition characteristic with respect to a vibration stimulation position. The recognition characteristic information is information that represents the relationship between a position where a vibration source is present (hereinafter referred to as a "stimulation position") and a position where the human recognizes the presence of the vibration source (hereinafter referred to as a "recognition position") when vibration is presented to the human. The recognition characteristic information can be implemented, for example, as (1) a mathematical model or (2) a table.

[0022] (1) When implemented as a mathematical model, the recognition characteristic information can be expressed as D_recognition = C(D_stimulus) as shown in Fig. 9. Here, D_recognition is the distance to the position where a person recognizes the presence of a vibration source (hereinafter referred to as "recognition distance"), D_stimulus is the distance to the position of the vibration source (hereinafter referred to as "stimulus distance"), and C is a function expressing the relationship between the recognition distance and the stimulus distance (hereinafter also referred to as "recognition characteristic function"). The recognition characteristic function can be obtained, for example, by approximating the relationship between the recognition distance and the stimulus distance obtained using the above-mentioned experimental system.

[0023] (2) When implemented as a table, the recognition characteristic information is stored as a discrete table as shown in Table 1. This information can be obtained, for example, by using the above-mentioned experimental system to perform a vibration localization evaluation on humans. By complementing the information stored in this table with linear interpolation or the like, it is possible to obtain the recognition distance for any stimulation distance. Note that it is desirable to use the same units for the stimulation distance and the recognition distance on the table. The units for both the stimulation distance and the recognition distance in Table 1 are centimeters. [Table 1]

[0024] As shown in FIG. 9 and Table 1, the stimulation distance and the recognition distance do not match, and it has been found from the above experiment that the greater the stimulation distance, the smaller the recognition distance becomes relative to the stimulation distance. Here, only information about distance is shown, but not only distance but also angle (direction) can be retained as recognition characteristic information. The angle is the angle formed on the medium surface by a line connecting the center of the body part in contact with the medium (e.g., the center of gravity of the contact area) and the position of the vibration source with respect to a predetermined axis (e.g., the front direction of the body when the person touches the medium). The position of the vibration source is the position where the vibration source actually exists (i.e., the stimulation position), and the angle formed on the medium surface by a line connecting the center of the body part and the stimulation position with respect to a predetermined axis is also called the "stimulation angle." The position of the vibration source is the position where the person in contact with the medium recognizes the presence of the vibration source (i.e., the recognition position), and the angle formed on the medium surface by a line connecting the center of the body part and the recognition position with respect to a predetermined axis is also called the "recognition angle." The recognition characteristic information may be information on distance only (i.e., stimulation distance and recognition distance), information on angle (direction) only (i.e., stimulation angle and recognition angle), or information on both distance and angle (direction) (i.e., stimulation distance and stimulation angle, and recognition distance and recognition angle). That is, in this embodiment, an example is described in which recognition characteristic information consisting of stimulation distance and recognition distance is used, but an embodiment in which recognition characteristic information consisting of stimulation distance and recognition distance and / or stimulation angle and recognition angle is used may be used. For example, when implementing the recognition characteristic information as a mathematical model, it may be expressed as A_recognition = C'(A_stimulus) or (D_recognition, A_recognition) = C"(D_stimulus, A_stimulus). Here, A_recognition is the recognition angle, A_stimulus is the stimulation angle, C' is a function representing the relationship between the recognition angle and the stimulation angle, and C" is a function representing the relationship between the recognition distance and the recognition angle and the stimulation distance and the stimulation angle. Furthermore, for example, when the recognition characteristic information is implemented as a table, it may be a discrete table consisting of a stimulation angle and a recognition angle, or a discrete table consisting of a stimulation distance, a stimulation angle, a recognition distance, and a recognition angle.

[0025] The transducer information storage unit 10-2 stores transducer information indicating the arrangement of transducers that present vibration. The transducer information can be implemented as a table consisting of the coordinates of each transducer expressed in a polar coordinate system with the center of the medium as the origin, as shown in Table 2, for example. The center of the medium here is position information set to define the position of the transducer, and does not have to be related to the positional relationship with the body part of the human being that touches the medium and feels the vibration, and the center of the medium is used as the origin, which is just an example. The transducer number in Table 2 is a number that can identify the transducer arranged at the predetermined coordinates corresponding to each number. For example, different transducer numbers are assigned to the transducers arranged as shown in FIG. 3 and FIG. 10. [Table 2]

[0026] The vibration presentation unit 13 includes a medium that is in contact with a human body part, and a plurality of vibrators arranged at positions different from the contact position of the body part. The arrangement of the vibrators in the vibration presentation unit 13 is not limited, but it is preferable that the vibrators are arranged at different distances so as to surround the contact position of the body part. For example, as shown in FIG. 3, a predetermined number of vibrators can be arranged on the circumference of a plurality of concentric circles having different radii with the contact position of the body part as the center. Note that arranging the vibrators on the circumference of a plurality of concentric circles is one example, and is not limited to this. For example, the vibrators may be arranged at the intersections of the squares of a grid.

[0027] In step S11, the transmission information input unit 11 acquires, as an input, transmission information representing position information to be presented to the user, and outputs the acquired transmission information to the vibration signal generating unit 12. This transmission information may be static coordinate information or time-series information of dynamically changing coordinates. In addition, the transmission information may be multiple coordinate information instead of a single coordinate information.

[0028] When the transmitted information is static coordinate information, for example, it is a single piece of coordinate information consisting of X and Y coordinates expressed in a Cartesian coordinate system with the center of the medium as the origin, as shown in Table 3. Here, an example is shown in which the coordinate information is expressed in a Cartesian coordinate system, but any coordinate system may be used. [Table 3]

[0029] When the transmitted information is time-series information of dynamically changing coordinates, for example, as shown in Table 4, it is multiple pieces of coordinate information consisting of time, X coordinate, and Y coordinate. [Table 4]

[0030] In step S121, the transfer information correcting unit 121 of the vibration signal generating unit 12 receives the transfer information input to the vibration signal generating unit 12, corrects the input transfer information based on the recognition characteristic information stored in the recognition characteristic storage unit 10-1, and outputs the corrected transfer information to the transducer selecting unit 122. The transfer information correcting unit 121 first converts the coordinate values ​​of the input transfer information into polar coordinates. Next, for example, if the recognition characteristic information relating to distance is stored in the recognition characteristic storage unit 10-1, the transfer information correcting unit 121 corrects the radius (distance) of the polar coordinates based on the recognition characteristic information. If the recognition characteristic information is expressed by a mathematical model, for example, D_recognition = C(D_stimulus), the corrected radius (distance) is D_stimulus = C -1 (D_recognition). Note that C -1 is the inverse function of the recognition characteristic function C. Furthermore, if the recognition characteristic information is expressed as a discrete table such as the example shown in Table 1, data in which the recognition distance matches the radius (distance) of the polar coordinates is obtained, and the stimulation position of that data is obtained as the corrected radius (distance). If the radius (distance) of the polar coordinates does not exist as a recognition distance in the table, it is supplemented and corrected using information on nearby recognition distance groups in the table and the stimulation distances that are paired with those recognition distance groups. Corrections related to distance were explained above, but corrections can also be made in the same way for angles.

[0031] In step S122, the transducer selection unit 122 of the vibration signal generation unit 12 receives the corrected transmission information output by the transmission information correction unit 121 as an input, selects a transducer to present vibration from the transducer information stored in the transducer information storage unit 10-2 based on the corrected transmission information, and outputs mapping coordinates indicating the coordinates of the selected transducer to the vibration waveform generation unit 123. For example, as shown in FIG. 10, the transducer selection unit 122 searches for the coordinates of the transducer (the transducer surrounded by a dotted line in the figure) closest to the coordinates indicated by the corrected transmission information (the "corrected coordinates" in the figure), and outputs the coordinates of the transducer as mapping coordinates. In addition, for example, the transducer selection unit 122 may select the coordinates of multiple transducers (the transducers surrounded by a dashed line in the figure) in the vicinity of the coordinates indicated by the corrected transmission information, and output the coordinates of each selected transducer as mapping coordinates. In this case, the transducer distributes vibration intensity to each transducer so that the sum of the vibration intensities output from each transducer matches the vibration intensity to be presented, and outputs multiple mapping coordinates and the vibration intensity at each mapping coordinate together.

[0032] In step S123, the vibration waveform generating unit 123 of the vibration signal generating unit 12 receives the mapping coordinates (and vibration intensity) output by the transducer selecting unit 122, generates vibration signal information representing the vibration signal output from each transducer corresponding to the mapping coordinates, and outputs the generated vibration signal information to the vibration presentation unit 13. The vibration signal information is information indicating a number indicating each transducer and a vibration waveform output from the transducer at each time. An example of the vibration signal information is shown in Table 5. [Table 5]

[0033] The vibration waveform, that is, the waveform of the vibration signal, may be an impulse or a periodic signal. In Table 5, the numbers written in the columns of t=0ms, t=1ms, ... are values ​​expressing the vibration waveform, and may be the displacement, speed, or acceleration of the vibration. They may also be the values ​​of the voltage or current that drives the vibration. For example, the vibrator number 10 has a displacement of 1 μm when t=0ms, and a displacement of 20 μm when t=1ms. Note that, although Table 5 has been described using an example in which the signal is changed every 1 ms, the output time and output timing of the vibration signal may be defined depending on the application that uses the vibration presentation device. For example, in the case of an application that requires the user to be presented with location information at all times, the impulse signal is presented at intervals of several seconds. For example, in the case of an application in which location information is presented to the user only when the location information changes, the impulse signal is presented at the timing when the location information changes.

[0034] In step S13, the vibration presentation unit 13 receives the vibration signal information output by the vibration signal generating unit 12 as input, and presents vibration to a part of the human body in contact with the vibration presentation unit 13 by vibrating each vibrator corresponding to the mapping coordinates based on the input vibration signal information.

[0035] [Variations] In the above embodiment, a vibration presentation device and a method thereof have been described, which correct input transmission information based on a predetermined recognition characteristic and present vibration based on the corrected transmission information. However, it is also possible to configure a vibration presentation device that presents vibration to a body part according to an input vibration signal and a vibration signal generating device that generates a vibration signal to be input to the vibration presentation device as separate devices. The vibration signal generating device of this modification receives transmission information as an input and outputs a vibration signal for presenting the transmission information corrected based on a predetermined recognition characteristic. To this end, the vibration signal generating device of the modification includes the recognition characteristic storage unit 10-1, the transducer information storage unit 10-2, the transmission information input unit 11, and the vibration signal generating unit 12 of the embodiment. In addition, the vibration presentation device of this modification receives a vibration signal output by the vibration signal generating device of the modification and presents vibration based on the vibration signal. To this end, the vibration presentation device of the modification includes the vibration presentation unit 13 of the embodiment.

[0036] In the above embodiment, the vibration presentation device was described assuming that one human hand is used as the body part to present vibration. However, in this invention, the body part to present vibration is not limited to one hand, and for example, two hands may be placed on the vibration presentation device to present vibration. In addition, the present invention can be applied to any body part that can be vibration-localized, such as the soles of the feet and cheeks, in addition to the hands.

[0037] Although the embodiments of the present invention have been described above, the specific configuration is not limited to these embodiments, and it goes without saying that the present invention includes appropriate design changes and the like within the scope of the gist of the present invention. The various processes described in the embodiments are not only executed in chronological order according to the order described, but may also be executed in parallel or individually depending on the processing capacity of the device executing the processes or as necessary.

[0038] [Programs, recording media] When the various processing functions of each device described in the above embodiment are realized by a computer, the processing contents of the functions that each device should have are described by a program. Then, the various processing functions of each device are realized on the computer by loading this program into the storage unit 1020 of the computer shown in Fig. 11 and operating the arithmetic processing unit 1010, input unit 1030, output unit 1040, etc.

[0039] The program describing the processing contents can be recorded on a computer-readable recording medium. The computer-readable recording medium is, for example, a non-transitory recording medium, such as a magnetic recording device or an optical disk.

[0040] The program may be distributed, for example, by selling, transferring, lending, etc. portable recording media such as DVDs and CD-ROMs on which the program is recorded. Furthermore, the program may be distributed by storing the program in a storage device of a server computer and transferring the program from the server computer to other computers via a network.

[0041] A computer that executes such a program, for example, first stores a program recorded on a portable recording medium or a program transferred from a server computer in the auxiliary recording unit 1050, which is a non-transient storage device of the computer. Then, when executing a process, the computer reads the program stored in the auxiliary recording unit 1050, which is a non-transient storage device, into the storage unit 1020, which is a temporary storage device, and executes a process according to the read program. As another execution form of the program, the computer may directly read the program from the portable recording medium and execute a process according to the program, or may execute a process according to the received program each time a program is transferred from the server computer to the computer. Alternatively, the server computer may not transfer the program to the computer, but may execute the above-mentioned process by a so-called ASP (Application Service Provider) type service that realizes a processing function only by issuing an execution instruction and obtaining a result. Note that the program in this embodiment includes information used for processing by an electronic computer and equivalent to a program (data that is not a direct instruction to a computer but has a nature that specifies the processing of a computer, etc.).

[0042] In addition, in this embodiment, the present device is configured by executing a specific program on a computer, but at least a part of the processing contents may be realized by hardware. [Explanation of symbols]

[0043] 1 Vibration presentation device 10-1 Recognition characteristic storage section 10-2 Transducer information storage unit 11. Transmission information input section 12 Vibration signal generator 121 Transmission information correction unit 122 Transducer selection section 123 Vibration waveform generation section 13 Vibration presentation part

Claims

1. A vibration signal generating device for generating a vibration signal for presenting vibration to a human body part, The relationship between the stimulation position where the vibration source is present and the recognition position where the human recognizes the presence of the vibration source is defined as recognition characteristic information. a transmission information correction unit that uses transmission information as the recognition position and obtains a corresponding stimulation position as corrected transmission information according to the recognition characteristic information; a vibration waveform generating unit that generates a waveform of the vibration signal to be output based on the corrected transmission information, the recognition characteristic information is a function that receives as input at least one of a stimulation distance from the body part to the stimulation position and a stimulation angle formed by a straight line connecting the body part and the stimulation position with respect to a predetermined axis, and outputs at least one of a recognition distance from the body part to the recognition position and a recognition angle formed by a straight line connecting the body part and the recognition position with respect to the predetermined axis, The transmission information correction unit obtains the corrected transmission information by inputting the transmission information to an inverse function of the function. Vibration signal generator.

2. A vibration signal generating device for generating a vibration signal for presenting vibration to a human body part, The relationship between the stimulation position where the vibration source is present and the recognition position where the human recognizes the presence of the vibration source is defined as recognition characteristic information. a transmission information correction unit that uses transmission information as the recognition position and obtains a corresponding stimulation position as corrected transmission information according to the recognition characteristic information; a vibration waveform generating unit that generates a waveform of the vibration signal to be output based on the corrected transmission information, the recognition characteristic information is a table storing a plurality of pairs of at least one of a stimulation distance from the body part to the stimulation position and a stimulation angle formed by a straight line connecting the body part and the stimulation position with respect to a predetermined axis, and at least one of a recognition distance from the body part to the recognition position and a recognition angle formed by a straight line connecting the body part and the recognition position with respect to the predetermined axis, the transmission information correction unit obtains the corrected transmission information from the transmission information by using values ​​obtained by complementing the stimulation distance, the stimulation angle, the recognition distance, and the recognition angle described in the table; Vibration signal generator.

3. a vibration presentation unit that presents vibration to a body part of a human being based on the corrected transmission information generated by the vibration signal generating device according to claim 1 or 2; The vibration presentation unit has a predetermined number of vibrators arranged at equal intervals on a circumference of a plurality of concentric circles having different radii centered on the contact position of the body part. Vibration presentation device.

4. A vibration signal generating method for generating a vibration signal for presenting vibration to a human body part, comprising: The relationship between the stimulation position where the vibration source is present and the recognition position where the human recognizes the presence of the vibration source is defined as recognition characteristic information. A communication information correction unit obtains a corresponding stimulation position as corrected communication information according to the recognition characteristic information, using the communication information as the recognition position; a vibration waveform generating unit generating a waveform of the vibration signal to be output based on the corrected transmission information; the recognition characteristic information is a function that receives as input at least one of a stimulation distance from the body part to the stimulation position and a stimulation angle formed by a straight line connecting the body part and the stimulation position with respect to a predetermined axis, and outputs at least one of a recognition distance from the body part to the recognition position and a recognition angle formed by a straight line connecting the body part and the recognition position with respect to the predetermined axis, The corrected transmission information is obtained by inputting the transmission information into an inverse function of the function. Vibration signal generation method.

5. A vibration signal generating method for generating a vibration signal for presenting vibration to a human body part, comprising: The relationship between the stimulation position where the vibration source is present and the recognition position where the human recognizes the presence of the vibration source is defined as recognition characteristic information. A communication information correction unit obtains a corresponding stimulation position as corrected communication information according to the recognition characteristic information, using the communication information as the recognition position; a vibration waveform generating unit generating a waveform of the vibration signal to be output based on the corrected transmission information; the recognition characteristic information is a table storing a plurality of pairs of at least one of a stimulation distance from the body part to the stimulation position and a stimulation angle formed by a straight line connecting the body part and the stimulation position with respect to a predetermined axis, and at least one of a recognition distance from the body part to the recognition position and a recognition angle formed by a straight line connecting the body part and the recognition position with respect to the predetermined axis, The corrected transmission information is obtained from the transmission information by using values ​​obtained by complementing the stimulation distance, the stimulation angle, the recognition distance, and the recognition angle described in the table. Vibration signal generation method.

6. a vibration presentation unit presenting vibration to a body part of a human being based on the corrected transmission information generated by the vibration signal generating method according to claim 4 or 5; The vibration presentation unit has a predetermined number of vibrators arranged at equal intervals on a circumference of a plurality of concentric circles having different radii centered on the contact position of the body part. Vibration presentation method.

7. A program for causing a computer to function as the vibration signal generating device according to claim 1 or 2.

Images