Force feedback system, control program, and control method

Abstract

To provide a force sense presentation system, a control program, and a control method that efficiently adjust an amount of stimulation by shear deformation to a human.SOLUTION: A force sense presentation system 100 includes a seated force sense presenting device 2 that presents a force sense due to shear deformation to a human hip skin, and a control unit 1 that adjusts an amount of displacement of the seated force sense presenting device 2 on the basis of information on the force sense received by the human.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The technology described in this specification relates to a force sensation presentation system, a control program, and a control method.

Background Art

[0002] Driving simulators include those with a motion platform type fixed to the ground and those with a movable motion platform type that can translate with a slider or the like with respect to the ground (for example, Patent Document 1). In a fixed motion platform type driving simulator, the acceleration during driving is made perceptible to the passenger by tilting the vehicle body or the driver's seat. Also, in a movable motion platform type driving simulator, the acceleration of an actual automobile is made perceptible to the passenger almost accurately by translating the housing within a large site.

[0003] Further, as a conventional technique for presenting a tactile sensation during driving, a vibrator may be applied to a vehicle such as an actual automobile. For example, there is a device that supports driving by a passenger by presenting sensory information to a passenger sitting on a seat by a vibrator built into the seat.

[0004] There is a seating type force sensation presentation device that can be mounted on the above-described driving simulator or vehicle and applies shear deformation to the buttocks skin (for example, Non-Patent Document 1).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Non-Patent Documents

[0006]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] However, in a fixed motion platform type driving simulator, since the movable range is narrow, it is difficult to reproduce the translational acceleration, and there is a risk that the device will become huge in order to move the seat or the vehicle body. Also, in a movable motion platform type driving simulator, there is a risk that a large site and facilities will be required to reproduce the translational acceleration.

[0008] In a vibrator built into an actual automobile seat, vehicle body vibration may become a disturbance and the perceptual sensitivity due to vibration stimulation may decrease.

[0009] Even if a seating type force feedback device that applies shear deformation to the buttock skin is simply applied to a driving simulator or a vehicle, if the adjustment of the amount of stimulation to a human is not appropriately performed, there is a risk of giving discomfort to the human. Since there are individual differences in the relationship between skin shear deformation and the perceived force sense, it is assumed that the relationship between skin displacement and the perceived force sense will be obtained through a psychophysical experiment. However, it has been difficult in practice to identify the displacement-perception function through a psychophysical experiment in advance, and it has been difficult to adjust according to an individual.

[0010] On one side, the technology described in this specification aims to efficiently adjust the amount of stimulation due to shear deformation to a human's buttocks in a seated state.

Means for Solving the Problems

[0011] On one side, the force sensation presentation system includes a seating type force sensation presentation device that presents a shearing deformation having a contact that directly or indirectly contacts, and causing force sensation to the human hip skin, to occur on the buttocks skin due to the displacement of the contact, and according to the intensity of the stimulus generated on the buttocks skin by the shear deformation and a control device that adjusts the displacement amount of the by one or more specified stimulus intensities for presenting a sense of force by the sitting type force sense presentation device based on the information regarding the force sensation received by the human. contact It is provided with.

Effect of the Invention

[0012] On one side, it is possible to efficiently adjust the amount of stimulation caused by shearing deformation to a human.

Brief Explanation of Drawings

[0013]

Figure 1

Figure 2

Figure 3

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Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Embodiments for Carrying Out the Invention

[0014] Hereinafter, embodiments will be described with reference to the drawings. However, the embodiments shown below are merely examples, and there is no intention to exclude various modifications and applications of technologies not explicitly shown in the embodiments. That is, the present embodiments can be implemented with various modifications without departing from the gist thereof.

[0015] Also, each figure is not intended to include only the components shown in the figure, but can include other components. Hereinafter, in the figures, parts denoted by the same reference numerals indicate the same or similar parts unless otherwise specified.

[0016] 〔A〕Embodiment FIG. 1 is a block diagram schematically showing a configuration example of a force-feedback system 100 as an embodiment.

[0017] The force-feedback system 100 includes a control device 1, a seated force-feedback device 2, and a monitor 3.

[0018] The monitor 3 presents the video output from the control device 1 to the user (in other words, a human). The monitor 3 may be a touch panel and may receive input from the user. Note that the input from the user may be received by various input devices (not shown).

[0019] The seated force feedback device 2 presents a force feedback to the user under the control of the control device 1. The seated force feedback device 2 includes, for example, two drive units 20. The seated force feedback device 2 applies a shear deformation to the user's skin when the left and right buttocks of the user come into contact with the drivable contacts 200 provided on the two drive units 20 respectively. The operation of applying a shear deformation to the skin of the buttocks may be referred to as skin stretch.

[0020] A support portion 201 is formed around the drive unit 20. The support portion 201 supports the outer periphery of the buttocks and effectively deforms the skin included inside the support portion 201. Due to the presence of the support portion 201, even if the contact 200 is moved, the entire buttocks does not translate, and the skin surrounded (in other words, constrained) by the support portion 201 effectively undergoes shear deformation. At this time, the shear force generated on the contact 200 cancels out the force generated on the support portion 201. Therefore, the seated force feedback device 2 does not necessarily physically reproduce the shear force applied to the entire buttocks, but presents the force feedback through the user's illusion. In addition, the support portion 201 can support the weight of the user's upper body, reduce the load applied to the contact 200, and lower the driving force required for the translation of the contact 200. Thereby, the contact 200 can be driven by a relatively small actuator.

[0021] The two driving units 20 similarly drive to apply shear deformation symmetrical to the left and right hips. The two driving units 20 may be moved asymmetrically. For example, by providing a left-right difference, the centrifugal force sensation may be more emphasized. The driving unit 20 applies shear deformation to the skin by moving and dragging the skin in the left-right, front-back, or both directions, and the driving unit 20 may also be a roller that applies shear deformation to the skin. There may be clothing between the driving unit 20 and the hip skin. For the driving unit 20, the support unit 201, and the members supporting them, materials or mechanisms with flexibility that conform to the hip shape or enhance comfort may be used. For the detailed example of the sitting-type force sensation presentation device 2, it will be described later with reference to FIG. 3. The sitting-type force sensation presentation device 2 may be installed on a driving simulator or an automobile seat, or may be installed inside the seat cover.

[0022] The control device 1 controls the force sensation presented by the sitting-type force sensation presentation device 2 to the user by adjusting the displacement amount of the contact 200 of the sitting-type force sensation presentation device 2. The control device 1 includes a Central Processing Unit (CPU) 11, a memory 12, and a storage device 13.

[0023] The memory 12 is a storage device including a Read Only Memory (ROM) and a Random Access Memory (RAM).

[0024] The storage device 13 is a device that stores data in a readable and writable manner. For example, a Hard Disk Drive (HDD), a Solid State Drive (SSD), or a Storage Class Memory (SCM) may be used. The storage device 13 may store information regarding the displacement-perception function adjusted and identified for each user.

[0025] The CPU 11 is a processing device that performs various controls and calculations, and realizes various functions by executing the Operating System (OS) and programs stored in the memory 12.

[0026] CPU 11 is an example of a computer, and by way of example, controls the operation of the entire control device 1. The device for controlling the operation of the entire control device 1 is not limited to the CPU 11, and for example, any one of an MPU, a DSP, an ASIC, a PLD, an FPGA, and a dedicated processor may be used. Further, the device for controlling the operation of the entire control device 1 may be a combination of two or more of a CPU, an MPU, a DSP, an ASIC, a PLD, an FPGA, and a dedicated processor. Note that MPU is an abbreviation for Micro Processing Unit, DSP is an abbreviation for Digital Signal Processor, and ASIC is an abbreviation for Application Specific Integrated Circuit. Further, PLD is an abbreviation for Programmable Logic Device, and FPGA is an abbreviation for Field Programmable Gate Array.

[0027] FIG. 2 is a diagram for explaining the sitting type force feedback device 2 of the translation mechanism and the rotation mechanism.

[0028] Reference sign A1 shows a view of the sitting type force feedback device 2 of the translation mechanism as seen from the back of the buttocks, and reference sign A2 shows a view of the sitting type force feedback device 2 of the translation mechanism as seen from the side of the buttocks. In reference sign A1, the contact 200 translates left and right as seen from the user, thereby giving a left-right direction force feeling to the buttocks. In reference sign A2, the contact 200 translates back and forth as seen from the user, thereby giving a front-back direction force feeling to the buttocks.

[0029] Reference sign A3 shows a view of the sitting type force feedback device 2 of the rotation mechanism as seen from the back of the buttocks, and reference sign A4 shows a view of the sitting type force feedback device 2 of the rotation mechanism as seen from the side of the buttocks. In reference sign A3, the contact 200 rotates left and right as seen from the user, thereby giving a left-right direction force feeling to the buttocks. In reference sign A4, the contact 200 rotates back and forth as seen from the user, thereby giving a front-back direction force feeling to the buttocks.

[0030] Note that the contact 200 of these translation mechanisms and the contact 200 of the rotation mechanism may be combined.

[0031] (a) - (d) of FIG. 3 are diagrams showing an example of the hardware configuration and driving example of the driving unit 20 in the seating type force feedback device 2 of the translation mechanism shown in FIG. 2. In (a) - (d) of FIG. 3, only one of the two driving units 20 shown in FIG. 1 is illustrated.

[0032] FIG. 3(a) is a diagram for explaining a driving example in the forward direction, FIG. 3(b) is a diagram for explaining a driving example in the backward direction, FIG. 3(c) is a diagram for explaining a driving example in the left direction, and FIG. 3(d) is a diagram for explaining a driving example in the right direction. Note that the front - back - left - right directions are based on the user sitting on the seating type force feedback device 2. The user sits on the driving unit 20 with the legs facing the upper direction of the paper surface of FIG. 3 and the back facing the lower direction of the paper surface.

[0033] The driving unit 20 includes a first motor 21, a second motor 22, a first input shaft 23, a second input shaft 24, a first stage 25, a second stage 26, two linear guides 27, 28, and an operating part 29.

[0034] The first input shaft 23 connected to the ball screw is rotated by the first motor 21 via a timing belt shown by a dashed line, thereby moving the first stage 25 left and right. Similarly, the second input shaft 24 connected to the ball screw is rotated by the second motor 22 via a timing belt shown by a dashed line, thereby moving the second stage 26 left and right. Thereby, the distance and position between the first stage 25 and the second stage 26 are controlled.

[0035] The operating part 29 moves up and down by two linear guides 27, 28 that are obliquely intersecting at 45 degrees according to the distance between the first stage 25 and the second stage 26. When the first stage 25 and the second stage 26 are moved left and right so that the distance between the first stage 25 and the second stage 26 is kept constant, the operating part 29 moves left and right.

[0036] In the example shown in Fig. 3(a), as the distance between the first stage 25 and the second stage 26 increases, the operating part 29 moves forward. In the example shown in Fig. 3(b), as the distance between the first stage 25 and the second stage 26 decreases, the operating part 29 moves backward. In the example shown in Fig. 3(c), as the first stage 25 and the second stage 26 move leftward while maintaining the distance, the operating part 29 moves leftward. In the example shown in Fig. 3(d), as the first stage 25 and the second stage 26 move rightward while maintaining the distance, the operating part 29 moves rightward.

[0037] Fig. 4(a) is a graph illustrating the identification process of the displacement-perception function with two stimuli, and Fig. 4(b) is a graph illustrating the identification process of the displacement-perception function with one stimulus. In Fig. 4(a) and (b), the horizontal axis represents the displacement of the contactor 200, and the vertical axis represents the intensity of the perceived force.

[0038] As shown in Fig. 4(a), two points (stimuli #1 and #2 selected by the user) are obtained, and by connecting these points, the displacement-perception function may be identified. Also, as shown in Fig. 4(b), by obtaining one point and assuming another point from a predefined standard displacement-perception function (in other words, a standard function), the displacement-perception function may be identified.

[0039] The displacement-perception function may be represented by the following sensory scale (Stevens' power law). S(x) is the subjective quantity of force [-] (unitless), x is the displacement of the contactor 200 [mm], and α, β are sensory constants.

Equation

[0040] Fig. 5 is a graph illustrating the correction process of the displacement-perception function.

[0041] As shown by the solid line in FIG. 5, the relationship between the displacement of one or more contacts 200 and the perceived force is obtained. Then, as shown by the dashed line and the dash-dotted line in FIG. 5, according to the physique and preferences of each individual, human sensory characteristics, external conditions, etc., α and β in the numerical formula of the interval scale shown in Equation 1 are corrected, and the displacement-perception function is corrected. The dashed line in FIG. 5 shows an example of the displacement-perception function when the stimulus is strengthened, and the dash-dotted line in FIG. 5 shows an example of the displacement-perception function when the stimulus is weakened. Thereby, the amount of stimulus to the user's buttocks is adjusted.

[0042] When converting a physical quantity such as an external force calculated by a driving simulator or the like into a displacement, in addition to the above displacement-perception function, the displacement amount may be adjusted according to the relational expression between the physical quantity and the perception intensity.

[0043] FIG. 6 shows first and second examples of screen displays on the monitor 3 for the correction process of the displacement-perception function by the user. The operation for the correction process shown in FIG. 6 may be performed by the user using the touch panel function of the monitor 3, or may be performed using a dial (not shown) or the like.

[0044] The correction process of the displacement-perception function by the user is performed based on a standard stimulus. As the standard stimulus, a stimulus such as a maximum intensity or a medium intensity may be used based on a standard function. When there is one standard stimulus, the processes of steps #1 and #2 are performed, and when there are two standard stimuli, the processes of steps #1 to #4 are performed.

[0045] In step #1, when the contact 200 gradually moves to the position of the standard maximum intensity, the indicator representing the current displacement amount moves from the initial position to the position indicating the maximum intensity. Thereby, the user perceives the standard maximum intensity stimulus.

[0046] In step #2, the user fine-tunes and moves the indicator indicating the position of the standard maximum intensity, thereby determining the user's preferred maximum intensity.

[0047] By the above steps #1 and #2, the correction process of the displacement-perception function by the user based on one stimulus is completed.

[0048] In step #3, when the contact 200 gradually moves to the position where a standard medium-intensity stimulus is applied, the indicator moves to the position indicating the medium intensity. Thereby, the user perceives the standard medium-intensity stimulus.

[0049] In step #4, the user moves the indicator to the position of the stimulus considered to be intermediate compared to the maximum intensity.

[0050] By the above steps #1 to #4, the correction process of the displacement-perception function by the user based on two stimuli is completed.

[0051] FIG. 7 is a third example of the screen display on the monitor 3 for the correction process of the displacement-perception function by the user.

[0052] In step #1, as the indicator indicating the current displacement amount is moved from the initial position to the position of the standard reference stimulus, the seat surface gradually moves. When the indicator moves to the position of the reference stimulus, the user perceives the reference stimulus.

[0053] In step #2, when the indicator is moved to the standard position where the intensity twice that of the reference stimulus is felt, the seat surface also moves slowly. Then, the user perceives the standard stimulus with twice the intensity.

[0054] In stage #3, the user finely adjusts the position of the stimulus with twice the intensity relative to the reference stimulus using the indicator. When the indicator is moved with a dial or a touch panel, the position of the stimulus with twice the intensity also moves, and the position of the stimulus with twice the intensity is determined.

[0055] FIG. 8 is a graph briefly showing a third example of the correction process of the displacement-perception function by the user.

[0056] Using two points, one obtained from the displacement of the reference stimulus and the corresponding reference intensity (10 in FIG. 8), and the other obtained from the displacement of the selected two-fold intensity stimulus and the two-fold intensity (20 in FIG. 8), the function of the displacement-perception function is identified.

[0057] FIG. 9(a) is a graph showing a first example of the correction process of the displacement-perception function by the user, FIG. 9(b) is a graph showing a second example thereof, and FIG. 9(c) is a graph showing a third example thereof.

[0058] The control device 1 identifies the displacement-perception function from the results of adjusting the displacement amount for a single or a plurality of standard stimuli. In FIG. 9(a), the displacement-perception function is identified based on the maximum stimulus and the intermediate stimulus selected by the user. In FIG. 9(b), the displacement-perception function is identified based on the maximum stimulus selected by the user and another point assumed from the standard function. In FIG. 9(c), the displacement-perception function is identified based on the reference stimulus and the two-fold stimulus selected by the user.

[0059] FIG. 10 is a diagram for explaining the correction process of the displacement-perception function by the user.

[0060] As shown by reference sign B1, the user sits on the seat. As shown by reference sign B2, while looking at the display on which the stimulus amount is reflected, the user adjusts the output of the seating type force feedback device 2 to the maximum stimulus amount that he / she can receive. As shown by reference sign B3, the user adjusts the output of the seating type force feedback device 2 to the stimulus amount at which he / she feels a stimulus that is half of the maximum stimulus amount. When the identification is performed with one stimulus, the process shown by reference sign B3 is omitted. Then, as shown by reference sign B4, based on the maximum stimulus amount and the half stimulus amount, the displacement-perception function is identified.

[0061] In addition, when the displacement-perception function is identified based on the reference stimulus and the double-intensity stimulus, the output of the reference stimulus may be adjusted in the process indicated by reference sign B2, and the output of the double-intensity stimulus may be adjusted in the example indicated by reference sign B3. Further, the adjustment of the output and the identification of the displacement-perception function indicated by reference signs B2 to B4 may be performed individually for the front-back direction and the left-right direction of the buttocks, respectively.

[0062] FIG. 11(a) is a graph illustrating the correction process of the displacement-perception function associated with the occurrence of disturbance, and FIG. 11(b) is a graph illustrating the correction process of the displacement-perception function associated with the change over time.

[0063] The control device 1 may control the haptic force presented by the seated haptic presentation device 2 according to the magnitude of the disturbance (in other words, the vibration from the outside of the haptic force presentation system 100). Since the skin sensitivity of the buttocks deteriorates due to disturbances such as the vibration of an automobile, the control device 1 may measure the vibration intensity in the environment where the haptic force presentation system 100 is installed and adjust the displacement amount of the contact 200. In the example shown in FIG. 11(a), the displacement-perception function indicated by the solid line is corrected to the displacement-perception function indicated by the broken line.

[0064] The displacement-perception function associated with the occurrence of disturbance can be expressed, for example, by the following formula. Note that H(I) is a correction function that depends on the vibration intensity I (in other words, the disturbance intensity).

Equation

[0065] In addition, the control device 1 may increase or decrease the displacement amount of the contact 200 according to the adaptation of the user's sensation over time. Due to the adaptation phenomenon, when the same displacement amount is presented for a long time, a human adapts to the stimulus and the perceived stimulus becomes weaker. Therefore, when a steady variation continues for a certain period or more, the displacement amount may be gradually and strongly corrected by a time function. In the example shown in FIG. 11(b), the displacement-perception function is corrected by the adaptation function G(t) that depends on time.

[0066] The displacement-perception function considering adaptation when the same displacement is continuously applied for a certain period of time or more is represented by, for example, the following equation.

Equation

[0067] Figure 12(a) is a diagram for explaining a first example of the navigation process by the force feedback system 100 shown in Figure 1, and Figure 12(b) is a diagram for explaining a second example of the navigation process by the force feedback system 100 shown in Figure 1.

[0068] In a navigation system for a route in a vehicle such as an automobile, a directional stimulus may be applied to the buttocks in synchronization with route guidance by voice or the like.

[0069] In the example shown in Figure 12(a), as the host vehicle approaches the guidance point by the navigation system and in synchronization with the voice guidance "Turn left 100 meters ahead", a leftward buttock stimulus is generated by the seat-type force feedback device 2.

[0070] In the example shown in Figure 12(b), as the host vehicle approaches the guidance point by the navigation system, for example, from 200m... 100m... 50m, the leftward buttock stimulus by the seat-type force feedback device 2 is gradually strengthened.

[0071] Figure 13 is a block diagram for explaining the sensor device 5 in the force feedback system 100 shown in Figure 1.

[0072] The control device 1 shown in Figure 1 may be equipped with sensors for detecting risks to the running of a vehicle such as an automobile as shown in Figure 13. The sensor device 5 includes, for example, a collision detection sensor 511, an inter-vehicle distance sensor 512, a drowsiness detection sensor 513, and a lane departure sensor 514.

[0073] The collision detection sensor 511 detects the possibility of a collision due to the approach of other vehicles or obstacles to the host vehicle. When the collision detection sensor 511 detects the possibility of a collision, the control device 1 causes the seated force feedback device 2 to present a force feedback to the user. The moving direction of the contact 200 may be, for example, a direction away from other vehicles or obstacles.

[0074] The inter-vehicle distance sensor 512 detects the distance between the host vehicle and other vehicles. When the inter-vehicle distance sensor 512 detects that the inter-vehicle distance has become equal to or less than a threshold value, the control device 1 causes the seated force feedback device 2 to present a force feedback to the user. The moving direction of the contact 200 may be, for example, a direction away from the other vehicle (for example, the rear direction).

[0075] The drowsiness detection sensor 513 is, for example, a camera, and detects the drowsiness of the user who is the driver of the vehicle according to, for example, the degree of opening of the eyelids of the user. When the drowsiness detection sensor 513 detects the drowsiness of the user, the control device 1 causes the seated force feedback device 2 to present a force feedback to the user. The moving direction of the contact 200 may be, for example, random or a left-right sway.

[0076] The lane departure sensor 514 detects the departure of the host vehicle from the lane in which it is traveling. When the lane departure sensor 514 detects the departure from the lane, the control device 1 causes the seated force feedback device 2 to present a force feedback to the user. The moving direction of the contact 200 may be, for example, a direction to return to the lane in which the vehicle is traveling.

[0077] When the seated force feedback device 2 is provided in a vehicle such as an automobile, the control device 1 may control the force feedback presented to the seated force feedback device 2 so as to amplify the acceleration or centrifugal force perceived by the user due to the running of the vehicle. On the other hand, when the seated force feedback device 2 is provided in a vehicle such as an automobile, the control device 1 may also control the force feedback presented to the seated force feedback device 2 so as to reduce the acceleration or centrifugal force perceived by the user due to the running of the vehicle. Note that the seated force feedback device 2 may be provided not only in the driver's seat but also in the passenger seat or the rear seat in a vehicle such as an automobile.

[0078] When the seating type force feedback device 2 is provided in a motion platform type driving simulator, the control device 1 may control the force feedback presented to the seating type force feedback device 2 so as to amplify the translational acceleration perceived by the user by the motion platform type driving simulator. On the other hand, when the seating type force feedback device 2 is provided in a fixed type driving simulator, the control device 1 may perform control to cause the seating type force feedback device 2 to present a force feedback corresponding to the running of the vehicle simulated by the fixed type driving simulator.

[0079] 〔B〕Others The disclosed technology is not limited to the above-described embodiments, and various modifications can be made and implemented without departing from the spirit of each embodiment. Each configuration and each process of each embodiment can be selected as necessary, or may be appropriately combined.

[0080] In the above-described embodiments, the seating type force feedback device 2 is provided in an automobile or a driving simulator, but the present invention is not limited to this. The seating type force feedback device 2 may be provided in, for example, a Virtual Reality (VR) system, a ride in an amusement park, or a racing machine in a game center.

[0081] 〔C〕Effect According to the force feedback system 100, control program, and control method in an example of the embodiment, for example, the following operational effects can be achieved.

[0082] The seating type force feedback device 2 presents a force feedback due to shear deformation to the human skin. The control device 1 adjusts the displacement amount of the seating type force feedback device 2 based on the information input according to the force feedback received by the human. Thereby, the adjustment of the amount of stimulation due to shear deformation to the human can be efficiently performed.

[0083] The control device 1 adjusts the displacement amount based on one or more specified stimulus intensities for presenting the force sensation by the seated force sensation presentation device 2. Thereby, it is possible to adjust the displacement amount according to individual differences in force sensation perception due to the user's physique, etc., and preferences.

[0084] The control device 1 adjusts the displacement amount by identifying a function showing the relationship between the displacement amount and the force sensation with one or more specified stimulus intensities. Thereby, it is possible to easily identify the displacement-perception function.

[0085] The control device 1 adjusts the displacement amount according to the magnitude of the disturbance. Thereby, it is possible to convey the desired sense of stimulation to the user even in an environment with strong vibrations from the outside.

[0086] The control device 1 adjusts the displacement amount according to the passage of time of the presentation of the force sensation by the seated force sensation presentation device 2. Thereby, it is possible to prevent the user's sense of stimulation from decreasing due to the adaptation phenomenon.

[0087] The control device 1 controls so that the seated force sensation presentation device 2 presents the force sensation in the moving direction of the vehicle indicated by the navigation system. Thereby, even if not paying attention to the voice or screen display of the navigation system, it is possible to make the user aware of the directional route guidance.

[0088] The control device 1 controls so that the force sensation presented by the seated force sensation presentation device 2 increases as the guidance point of the vehicle indicated by the navigation system approaches. Thereby, it is possible to sensually present to the user the distance to the guidance point such as a turning angle. Also, it is troublesome that the guidance display on the screen or the voice guidance becomes larger according to the distance to the guidance point, but the discomfort can be reduced with the presentation by the force sensation.

[0089] When a danger to the vehicle's driving is detected by a sensor, the control device 1 controls the seating type force feedback device 2 to present a force feedback. This enables the presentation of a directional force feedback, allowing the user to quickly avoid danger. Also, by presenting the force feedback in conjunction with sound and vision, a stronger warning can be given to the user.

[0090] The control device 1 controls the force feedback presented to the seating type force feedback device 2 so as to amplify the acceleration or centrifugal force perceived by a human due to the vehicle's driving. This can enhance the pleasure of driving for the user.

[0091] The control device 1 controls the force feedback presented to the seating type force feedback device 2 so as to reduce the acceleration or centrifugal force perceived by a human due to the vehicle's driving. This can improve the ride comfort of the vehicle and reduce motion sickness.

[0092] The control device 1 controls the force feedback presented to the seating type force feedback device 2 so as to amplify the translational acceleration perceived by a human by a motion platform type driving simulator. This can efficiently present the acceleration feeling and centrifugal force feeling, which are difficult to present in a motion platform type driving simulator, among the tilt feeling, acceleration and deceleration feeling, and centrifugal force feeling.

[0093] The control device 1 performs control to present the force feedback corresponding to the virtual vehicle driving by a simple type driving simulator that does not use a motion platform to the seating type force feedback device 2. This can simply amplify the user's sense of immersion when virtually experiencing vehicle driving.

Explanation of Signs

[0094] 100: Force feedback system 1: Control device 11: CPU 12: Memory 13: Storage device 2: Seat-type Force Feedback Device 200: Contact 20: Driving Unit 21: First Motor 22: Second Motor 23: First Input Shaft 24: Second Input Shaft 25: First Stage 26: Second Stage 27,28: Linear Guide 29: Operating Unit 3: Monitor 5: Sensor Device 511: Collision Detection Sensor 512: Inter-vehicle Distance Sensor 513: Drowsiness Detection Sensor 514: Lane Departure Sensor

Claims

1. A seating force feedback device having a contactor that directly or indirectly contacts human buttock skin, causing shear deformation in the buttock skin due to displacement of the contactor, and presenting a sense of force based on the intensity of the stimulus generated in the buttock skin by the shear deformation, and a control device that adjusts the displacement amount of the contactor based on information regarding the sense of force received by the human according to one or more specified stimulus intensities for presenting the sense of force by the seating force feedback device. A force feedback system comprising the same.

2. The control device adjusts the displacement amount by identifying a function indicating the relationship between the displacement amount and the sense of force according to the one or more specified stimulus intensities. The force feedback system according to Claim 1.

3. The control device adjusts the displacement amount according to the magnitude of an external disturbance. The force feedback system according to Claim 1 or 2.

4. The control device adjusts the displacement amount according to the passage of time of the presentation of the sense of force by the seating force feedback device. The force feedback system according to any one of Claims 1 to 3.

5. The seating force feedback device is provided in a vehicle equipped with a navigation system, and the control device controls the seating force feedback device to present a sense of force in the moving direction of the vehicle indicated by the navigation system. The force feedback system according to any one of Claims 1 to 4.

6. The control device controls the seating force feedback device to increase the sense of force presented by the seating force feedback device as the guiding point of the vehicle indicated by the navigation system approaches. The force feedback system according to Claim 5.

7. The seating force feedback device is provided in a vehicle equipped with a sensor for detecting danger during travel, and the control device controls the seating force feedback device to present a sense of force when the danger is detected by the sensor. The force feedback system according to any one of Claims 1 to 6.

8. The seating force feedback device is provided in a vehicle, and the control device controls the sense of force presented by the seating force feedback device to amplify the acceleration or centrifugal force perceived by the human due to the travel of the vehicle. The force feedback system according to any one of Claims 1 to 7.

9. The seating force feedback device is provided in a vehicle, The control device controls the force sensation presented to the seat-type force sensation presentation device so as to reduce the acceleration or centrifugal force perceived by the human due to the running of the vehicle. The force sensation presentation system according to any one of claims 1 to 7.

10. The seat-type force sensation presentation device is provided in a motion platform type driving simulator. The control device controls the force sensation presented to the seat-type force sensation presentation device so as to amplify the translational acceleration perceived by the human by the driving simulator. The force sensation presentation system according to any one of claims 1 to 7.

11. The seat-type force sensation presentation device is provided in a fixed type driving simulator. The control device performs control to cause the seat-type force sensation presentation device to present a force sensation corresponding to the running of a vehicle virtualized by the driving simulator. The force sensation presentation system according to any one of claims 1 to 7.

12. Using a seat-type force sensation presentation device having a contact that directly or indirectly contacts the buttocks skin of a human, causing shear deformation in the buttocks skin by displacement of the contact, and presenting a force sensation according to the intensity of the stimulus generated in the buttocks skin by the shear deformation, Based on information regarding the force sensation received by the human according to one or more specified stimulus intensities for presenting a force sensation by the seat-type force sensation presentation device, adjusting the displacement amount of the contact. A control program for causing a computer to execute the process.

13. Using a seat-type force sensation presentation device having a contact that directly or indirectly contacts the buttocks skin of a human, causing shear deformation in the buttocks skin by displacement of the contact, and presenting a force sensation according to the intensity of the stimulus generated in the buttocks skin by the shear deformation, Based on information regarding the force sensation received by the human according to one or more specified stimulus intensities for presenting a force sensation by the seat-type force sensation presentation device, adjusting the displacement amount of the contact. A control method executed by a computer for the process.

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