Apparent force control device, apparent force presentation system, apparent force control method, and program

Abstract

A second presented visual-object that is in contact with or close to a first presented visual-object is vibrated relative to the first presented visual-object in such a manner as to include the vibration components of a particular number of controlled vibrations, thereby showing as if an apparent force is applied from the second presented visual-object to the first presented visual-object.

Description

Technical Field

[0001] The present invention relates to a technique for controlling the apparent magnitude of a force perceived by a human.

Background Art

[0002] When the same magnitude of force is applied to objects of various softnesses, the objects deform with different amounts of deformation. A human can easily recognize the difference in the softness of the objects just by observing this state in a video. That is, the difference in the amount of deformation of the objects in the video contributes to the difference in the perceived softness of the objects (see, for example, Non-Patent Document 1).

Prior Art Documents

Non-Patent Documents

[0003]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Based on this, when the amount of deformation of an object in a video is increased by image processing, the object in the video can be made to feel softer than the original object.

[0005] However, conventional methods cannot present an apparent force (hereinafter referred to as "apparent force") that appears to be applied to some visual target such as an object (hereinafter referred to as "presented visual target").

[0006] The present invention has been made in view of the above points, and has as its object to present an apparent force that appears to be applied to a presented visual object. [Means for solving the problem]

[0007] A second presented visual object that is in contact with or close to a first presented visual object is vibrated relative to the first presented visual object so as to include a vibration component of a specific control frequency, and it is made to appear as if an apparent force is being applied from the second presented visual object to the first presented visual object. [Effects of the Invention]

[0008] This makes it appear as if an apparent force is being applied from the second presented visual object to the first presented visual object. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram illustrating the configuration of an apparent force presentation system 1 according to the first embodiment. [Figure 2] Figures 2A and 2B are diagrams illustrating mapping information showing the correspondence between a vibration index representing the magnitude of the vibration component of the control frequency (for example, an index representing the magnitude of the vibration frequency component [log(pixel^2)] of 4-7 Hz) and an apparent force index (an index representing the magnitude of the apparent force) representing the magnitude of the apparent force (sense of force magnitude) that appears to be applied from the second visual object to the first visual object by vibrating a second visual object that is in contact with or close to the first visual object relative to the first visual object so that it includes a vibration component of the control frequency of the magnitude represented by the vibration index. [Figure 3] 3A and 3B are diagrams for explaining the experiment. [Figure 4]FIG. 4 is a graph illustrating the relationship between the magnitude of force (Force [N]) applied to six types of objects made of materials A to F and the resulting displacement (Displacement [mm]) of each object. [Figure 5] Figure 5 is a graph showing an example of the maximum magnitude of the force (Applied max force [kg]) actually applied to an object by a finger when the finger is vibrated in contact with six types of objects made of materials A to F, making it appear as if the finger is applying force to the object (with), and when the finger is not vibrated (without), in association with an identifier (Object ID) indicating the material of each object. [Figure 6] Figure 6 is a graph illustrating the relationship between the logarithm of power (log(pixel^2)) of the frequency component and frequency (Frequency [Hz]) when a finger in contact with an object is vibrated to make it appear as if the finger is exerting force on the object (with) and when the finger is not vibrated (without). [Figure 7] Figure 7 is a graph showing examples of subjective evaluation values ​​(force ratings) of the magnitude of the apparent force that appears to be applied by a finger to an object when a finger in contact with an object made of six types of materials A to F is vibrated (with) and when the finger is not vibrated (without), in association with an identifier (Object ID) that indicates the material of each object. [Figure 8] FIG. 8 is a block diagram illustrating the configuration of an apparent force presentation system 2 according to the second embodiment. [Figure 9] FIG. 9 is a block diagram illustrating the configuration of an apparent force presentation system 3 according to the third embodiment. [Figure 10] FIG. 10 is a diagram illustrating a hardware configuration of the apparent force control device according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described. [principle] First, the principle will be explained. The inventors have discovered a natural law (physiological law) that states that by vibrating a second visual object that is in contact with or close to a first visual object relative to the first visual object so that it contains a vibration component of a specific control frequency, it is possible to make it appear as if an apparent force is being applied from the second visual object to the first visual object (the sense of magnitude of the force can be perceived). The inventors have also discovered a natural law that states that the magnitude of the apparent force (the sense of magnitude of the force) can be controlled by controlling the magnitude of the vibration component of the control frequency contained in such vibration. First, experimental results demonstrating these natural laws are presented.

[0011] <Experiment> As shown in FIGS. 3A and 3B, a video (movie) was prepared showing an elastic object 101 placed on a stage 102, with its top surface being pressed with a finger 103. However, in one of the videos (hereinafter, "video with vibration (with)") (FIG. 3A), the finger 103 placed on the top surface of the object 101 vibrates in a direction along the top surface of the object (e.g., direction D). This vibration simulates the trembling of the finger 103 that occurs when the finger 103 presses hard against the top surface of the object 101, and occurs with the tip of the finger 103 in contact with the top surface of the object 101. In contrast, in the other video (hereinafter, "video without vibration (without)") (FIG. 3B), the finger 103 placed on the top surface of the object 101 does not vibrate. Such "video with vibration (with)" and "video without vibration (without)" were prepared for objects 101 made of six types of materials A to F with different softness (FIG. 4). Furthermore, as illustrated in FIG. 5, the magnitude of the force (pressing force) actually applied by the finger 103 to the object 101 is the same (maximum force of approximately 1.5 kg) for the "image with vibration (with)" and the "image without vibration (without)" for any of the materials A to F. FIG. 6 illustrates the relationship between the logarithm of power (log(pixel^2)) of the frequency components of these "image with vibration (with)" and "image without vibration (without)" and the frequency (Frequency [Hz]). As illustrated in FIG. 6, the difference in the logarithm of power of the frequency components of the "image with vibration (with)" and the "image without vibration (without)" is particularly large in the frequency range of 4 Hz to 7 Hz. This indicates that the frequency components of the vibration of the finger 103 simulating the trembling of the finger 103 described above mainly include components of 4 Hz to 7 Hz. The subjects viewed the "image with vibration" and "image without vibration" and responded with a subjective evaluation value of the apparent force they felt was being applied to the object 101 from the finger 103 using an integer score between 0 and 100. Here, the higher the score, the greater the apparent force, with a score of 0 indicating "it felt like no force was being applied at all" and a score of 100 indicating "it felt like the strongest force imaginable was being applied." Similar experiments were conducted on 300 subjects.

[0012] <Experimental Results> The experimental results are shown in Figure 7. As illustrated in Figure 7, for the object 101 made of materials A to F of any softness, the subject perceived a greater apparent force being applied from the finger 103 to the object 101 when viewing the "image with vibration" than when viewing the "image without vibration." That is, even though the magnitude of the actual force being applied from the finger 103 to the object 101 was the same (Figure 5), simply vibrating the finger 103 as described above made it possible to make the subject perceive a greater apparent force being applied from the finger 103 to the object 101 than when the finger 103 was not vibrated. This effect was confirmed regardless of the softness of the object 101. It was also confirmed that the physically softer the object 101, the greater the magnitude of the apparent force perceived by the subject, and the physically harder the object 101, the smaller the magnitude of the apparent force perceived by the subject. Furthermore, as shown in Fig. 6, the frequency components of the vibration of finger 103 are mainly components between 4 Hz and 7 Hz (Fig. 6). In other words, by vibrating finger 103 so as to include vibration components between 4 Hz and 7 Hz, it was possible to make the subject feel that a greater force was being applied from finger 103 to object 101.

[0013] <Consideration> In the above experiment, vibrating the finger 103 while the finger 103 was pressing the top surface of the object 101 allowed the subject to feel as if a greater force was being applied from the finger 103 to the object 101. However, if the finger 103 is vibrated while in contact with the object 101, it is considered that a similar effect can be obtained regardless of the position of the finger 103 on the object 101. Furthermore, a similar effect can be expected if the finger 103 is vibrated as described above while not pressing the object 101, but while pulling the object 101 with the finger 103, applying shear stress to the object 101 with the finger 103, or twisting the object 101 with the finger 103. Furthermore, even if the finger 103 is not in contact with the object 101, a similar effect can be expected if the above vibration is performed while the finger 103 is close to any position on the object 101. Furthermore, even if an intervening object (e.g., a tool or glove worn or held by a human) exists between the finger 103 and the object 101, a similar effect can be expected as long as the finger 103 or the intervening object vibrates as described above. Furthermore, in this case, a greater effect can be expected by vibrating the finger 103 together with the intervening object. Furthermore, a similar effect can be expected when a body part other than the finger is used instead of the finger 103. Furthermore, it is desirable that the finger 103 in contact with or close to the object 101 vibrates. However, a greater effect can be expected by also vibrating a body part distant from the object 101 (e.g., a wrist or an elbow). Furthermore, a similar effect can be expected when a body part of an animal other than a human or a mechanism such as a robot is used instead of the finger 103. In such cases, a greater effect can be expected when the mechanism has a shape that resembles a human body. Similarly, a similar effect can be expected when an object of a material or shape other than the above-described object 101 is used instead of the object 101. Similar effects can be expected when a body part of a human or a non-human animal is used instead of the object 101. Furthermore, similar effects can be obtained by vibrating the finger 103 or the like by image processing, rather than using a video of an actual finger 103 or the like being vibrated. Furthermore, similar effects can be expected when vibrating the finger 103 or the like drawn by computer graphics or animation. Furthermore, similar effects can be expected when a person views an actual object, rather than a video.Furthermore, it is desirable for this vibration to include a vibration component between 4 Hz and 7 Hz, but a certain degree of effect can be expected even if other vibration components are included. That is, this vibration may include a vibration component in a wider frequency band, including the 4 Hz to 7 Hz frequency band. Furthermore, it is desirable for this vibration to be periodic, but a similar effect can be expected even if this vibration is non-periodic. It is desirable for the non-periodic vibration to have a frequency of between 4 and 7 times per second. In short, by vibrating a second visual object that is in contact with or close to a first visual object relative to the first visual object so as to include a vibration component of a specific control frequency, it is possible to make it appear as if an apparent force is being applied from the second visual object to the first visual object. Note that an example of the control frequency is a frequency between 4 and 7 times per second, preferably between 4 Hz and 7 Hz. However, the control frequency may be a frequency included in a wider range including these ranges.

[0014] Furthermore, the magnitude of the apparent force can be controlled by the magnitude (e.g., power, amplitude, absolute value) of the vibration component of the control frequency (e.g., a frequency of 4 to 7 times per second, preferably a frequency of 4 to 7 Hz). That is, the magnitude of the apparent force can be controlled by controlling the magnitude of the vibration component of the control frequency contained in the vibration of the second presented visual object relative to the first presented visual object. For example, the apparent force can be increased by increasing the vibration component of this control frequency, and conversely, the apparent force can be decreased by decreasing it.

[0015] Furthermore, by setting a correspondence (relationship) between the magnitude of the vibration component of the control frequency and the magnitude of the apparent force, the first presented visual object can be vibrated to present an apparent force of a desired magnitude. That is, information representing the correspondence between a vibration index representing the magnitude of the vibration component of the control frequency (e.g., a frequency of 4 to 7 times per second, preferably a frequency of 4 to 7 Hz) and an apparent force index representing the magnitude of the apparent force that appears to be applied to the first visual object by vibrating a second visual object in contact with or close to the first visual object relative to the first visual object so as to include a vibration component of the control frequency of the magnitude represented by the vibration index may be set. By using this correspondence information, it is possible to identify a vibration index corresponding to the apparent force index representing the specified magnitude of the apparent force, and obtain the magnitude of the vibration component of the control frequency required to present the specified magnitude of the apparent force.

[0016] Alternatively, it is also possible to make it appear that an apparent force is being applied independently to each of multiple presented visual objects. That is, a second presented visual object in contact with or close to a first presented visual object is vibrated relative to the first presented visual object so as to include a vibration component of a specific control frequency, thereby making it appear that an apparent force is being applied from the second presented visual object to the first presented visual object. In addition, a fourth presented visual object in contact with or close to a third presented visual object presented together with the first presented visual object may be vibrated relative to the third presented visual object so as to include a vibration component of the control frequency, thereby making it appear that an apparent force is being applied from the fourth presented visual object to the third presented visual object. In this case, the magnitude of the vibration component of the control frequency included in the vibration of the second presented visual object relative to the first presented visual object and the magnitude of the vibration component of the control frequency included in the vibration of the fourth presented visual object relative to the third presented visual object may be controlled independently. This allows the magnitude of the apparent force that appears to be applied from the second presented visual object to the first presented visual object and the magnitude of the apparent force that appears to be applied from the fourth presented visual object to the third presented visual object to be controlled independently of each other.

[0017] Furthermore, the physically softer the first visual object (e.g., object 101) in real space that is the subject, the greater the magnitude of the apparent force perceived by the subject, and the harder the first visual object in real space, the smaller the magnitude of the apparent force perceived by the subject. Therefore, if the softness of the first visual object in real space can be selected in addition to the magnitude of the vibration component of the control frequency, the control range of the magnitude of the apparent force that can be presented can be widened.

[0018] [First embodiment] A first embodiment will be described. In this embodiment, each presented visual object is an image, and an example is shown in which apparent force is presented by vibrating a specific presented visual object so that the image contains a vibration component of a specific control frequency. In the following description, the same reference numbers may be used to simplify the description of matters that have already been explained.

[0019] <Configuration> As illustrated in FIG. 1, the apparent force presentation system 1 of this embodiment includes an apparent force control device 11 and a presentation device 12, which present an apparent force to a user 100 (human) and control the magnitude of the apparent force (the perceived magnitude of the apparent force). In this embodiment, an example is shown in which the apparent force control device 11 and the presentation device 12 are configured to be able to communicate with each other via a network. However, this does not limit the present invention. The apparent force control device 11 includes memory units 111 and 112, an input unit 113, a vibration control unit 114, a vibration processing unit 115, and a communication unit 116. The hardware configuration of the apparent force control device 11 will be described later. The presentation device 12 is a device that visually presents an image to the user 100. Examples of the presentation device 12 include a display, a projector, and VR goggles.

[0020] <Pre-processing> As a pre-processing step, the storage unit 112 stores a video (video) including a first visual object and a second visual object in contact with or close to the first visual object. The first visual object is an object to which an apparent force appears to be applied from the second visual object. The second visual object is an object to which an apparent force appears to be applied to the first visual object. The first visual object and the second visual object may be stationary, or at least one of them may be moving. For example, the second visual object may be stationary, moving, rotating, deforming, vibrating relative to the first visual object, or a combination of these movements. Similarly, the first visual object may be stationary, moving, rotating, deforming, or a combination of these movements. Furthermore, the first visual object may move in accordance with the movement of the second visual object. For example, the first visual object may deform in the direction of movement of the second visual object as the second visual object moves. For example, the second presented visual object may move toward the first presented visual object, and accordingly, a portion of the first presented visual object that is in contact with or close to the second presented visual object may deform in the direction of movement of the second presented visual object (for example, the portion of the first presented visual object may deform so as to be recessed in the direction of movement). Conversely, the second presented visual object may move away from the first presented visual object, and accordingly, a portion of the first presented visual object that is in contact with or close to the second presented visual object may deform in the direction of movement of the second presented visual object (for example, the portion of the first presented visual object may deform so as to extend in the direction of movement). An example of the first presented visual object is the object 101 described above, and an example of the second presented visual object is the finger 103 described above. However, these do not limit the present invention. For example, the first presented visual object may be any substance or shape, a body part of a human or non-human animal, or a combination thereof. For example, the second presented visual object may be a human body part, a body part of a non-human animal, a mechanism such as a robot, an object such as a tool or glove worn or held by a human, or any combination of these.However, if the second visual object is a mechanism, it is desirable that at least a portion of it has a shape that resembles a human. In this video, the second visual object may be pressed against the first visual object, the second visual object may be pulling the first visual object, the second visual object may apply shear stress to the first visual object, or the second visual object may be twisting the first visual object. For example, in this video, a human body part (second visual object) may be pressed against an object (first visual object) (e.g., Figures 3A and 3B), may be pulling the object (first visual object), may apply shear stress to the object (first visual object), or may perform a combination of these movements. For example, in this video, a human body part may be pressing an intervening object (second presented visual object) such as a tool against an object (first presented visual object), pulling the object (first presented visual object) through the intervening object (second presented visual object), applying shear stress to the object (first presented visual object) through the intervening object (second presented visual object), or performing a combination of these movements. The video stored in the storage unit 112 may be, for example, a video (video having multiple frames) obtained by capturing the first presented visual object and the second presented visual object, which are actual objects. However, this does not limit the present invention. For example, the video (video) including the first presented visual object and the second presented visual object depicted using computer graphics or animation may be stored in the storage unit 112. The video may be a two-dimensional video or a three-dimensional video.

[0021] The storage unit 111 also stores mapping information. The mapping information is information that represents the correspondence (relationship) between an index (vibration index) representing the magnitude of a vibration component of a specific control frequency and an index (apparent force index) representing the magnitude of an apparent force that appears to be exerted from a second visual object to a first visual object by vibrating a second visual object in contact with or close to the first visual object relative to the first visual object so that the second visual object contains a "vibration component of the control frequency" of the magnitude represented by the vibration index. The control frequency is, for example, a frequency of 4 to 7 times per second, preferably a frequency of 4 to 7 Hz. The correspondence between these vibration indices and the apparent force index is based on the results previously obtained through experiments using humans. For example, a second visual object in contact with or close to a first visual object in a video is vibrated relative to the first visual object, and the magnitude (e.g., power, amplitude, absolute value) of the vibration component of the control frequency included in the vibration is varied, and a person viewing the video is asked to respond to the magnitude of the apparent force perceived by the second visual object (see, for example, the aforementioned experiment). Mapping information can be set based on the correspondence relationship between the magnitude of the vibration component of the control frequency and the magnitude of the apparent force obtained thereby (see, for example, FIG. 7). For example, the magnitude of the apparent force perceived when the magnitude of the vibration component of the control frequency included in the vibration of the second-presented visual object relative to the first-presented visual object is a first value is larger than the magnitude of the apparent force perceived when the magnitude of the vibration component of the control frequency is a second value smaller than the first value. Therefore, the magnitude of the apparent force represented by the apparent force index associated with the vibration index indicating that the magnitude of the vibration component of the control frequency is the first value is larger than the magnitude of the apparent force represented by the apparent force index associated with the vibration index indicating that the magnitude of the vibration component of the control frequency is the second value. For example, a vibration index indicating a larger "vibration component of the control frequency" is associated with an apparent force index indicating a larger vibration index.

[0022] The vibration index may be any index that represents the magnitude of the vibration component of the control frequency included in the vibration. For example, the vibration index may be the magnitude (e.g., power, amplitude, absolute value) of the component corresponding to the control frequency of the video in the spatial frequency domain, or may be a relative value of the magnitude of the component with respect to a reference value, or may be a function value of the magnitude and / or relative value of the component (e.g., logarithmic value, monotonically increasing function value, non-decreasing function value). This reference value may be any value. For example, the reference value may be the magnitude itself of the vibration component of the control frequency in the video stored in the storage unit 112, or may be a predetermined value.

[0023] The apparent force index may be any index that represents the magnitude of the apparent force that appears to be applied from the second visual target to the first visual target by vibrating the second visual target relative to the first visual target so as to include a "vibration component of the control frequency" of a magnitude represented by the vibration index. For example, the apparent force index may be an average value or other statistical value of the apparent force scores, a relative value of the average value or other statistical value of the apparent force scores relative to a reference value, or a function value (e.g., a monotonically increasing function value or a non-decreasing function value) of the average value or other statistical value of the scores and / or the relative value. The apparent force score may be any value that objectively expresses the apparent force. For example, the apparent force score described in the experiment may be used. In this example, the score is an integer between 0 and 100, with a higher score representing a greater apparent force, where a score of 0 indicates "feeling that no force is being applied" and a score of 100 indicates "feeling that the greatest imaginable force is being applied." Alternatively, the apparent force score may be a value on a 5-point or 7-point scale. Alternatively, a physical quantity equivalent to the apparent force perceived from the first visual object and the second visual object may be defined in a psychophysical experiment, and the physical quantity equivalent to the apparent force or its function value may be used as the apparent force index. For example, a subject may be asked to observe a video of a finger vibrating while pressed against an object, and the subject may be asked to press a measuring device with a force equivalent to the apparent force perceived from the video. The average value or other statistical value of the measurement results (e.g., a physical quantity in units of kg or N) or its function value may be defined as the apparent force index representing the apparent force corresponding to the magnitude of the vibration component of the control frequency contained in the finger vibration in the video.

[0024] The mapping information may be any information that indicates the correspondence (relationship) between a vibration index and an apparent force index. For example, as illustrated in FIG. 2A, the mapping information may be a table that associates vibration indexes with corresponding apparent force indexes. FIG. 2A illustrates an example in which the logarithmic power of a vibration frequency component between 4 Hz and 7 Hz contained in the vibration of a second visual object relative to a first visual object is used as the vibration index, and the relative value of an average score or other statistical value that indicates the apparent force applied from the second presented visual object to the first presented visual object is used as the apparent force index. Alternatively, as illustrated in FIG. 2B, the mapping information may be a function (mathematical model) that indicates the correspondence (relationship) between a vibration index and its corresponding apparent force index. Such a function may be obtained, for example, by machine learning using experimentally obtained correspondence relationships between the amplitude of the vibration component of a control frequency and the apparent force score (for example, pairs of the amplitude of the vibration component of a control frequency and the apparent force score) as learning data.

[0025] <Vibration control processing> The vibration control process is performed on the premise of the above-mentioned pre-processing. The vibration control process is a process in which the vibration control unit 114 of the apparent force control device 11 (FIG. 1) vibrates a second presented visual object that is in contact with or close to the first presented visual object relative to the first presented visual object so as to include a vibration component of a specific control frequency, and obtains and outputs vibration control information v for making it appear as if an apparent force is being applied from the second presented visual object to the first presented visual object. As described above, the vibration control information v includes information for controlling the magnitude of the vibration component of the control frequency included in the vibration of the second presented visual object relative to the first presented visual object. This will be explained in detail below.

[0026] First, designation information s specifying the magnitude of the apparent force to be presented is input to the input unit 113 of the apparent force control device 11 (FIG. 1). The designation information s may be input by the user 100 or the like operating a button, keyboard, or the like (not shown), may be sent from another application, may be transmitted from an external device via communication, or may be pre-stored in a memory (not shown) of the apparent force control device 11. The designation information s may be any information that specifies the magnitude of the apparent force. For example, the designation information s may be the apparent force index itself, information for identifying the apparent force index, a score of the apparent force, a physical quantity equivalent to the apparent force, or information for identifying the score of the apparent force or a physical quantity equivalent to the apparent force. The input unit 113 accepts the input designation information s and sends the designation information s to the vibration control unit 114 (step S113).

[0027] The vibration control unit 114 receives input of specification information s. The vibration control unit 114 uses mapping information stored in the storage unit 111 (information representing the correspondence between a vibration index representing the magnitude of the vibration component of the control frequency and an apparent force index representing the magnitude of an apparent force that appears to be applied from a second visual target to a first visual target by vibrating a second visual target in contact with or close to the first visual target relative to the first visual target so as to include the vibration component of the control frequency of the magnitude represented by the vibration index), and obtains and outputs vibration control information v representing the magnitude of the vibration component of the control frequency represented by the vibration index corresponding to the apparent force index representing the magnitude of the apparent force specified by the specification information s. For example, if the mapping information is a table (e.g., FIG. 2A ) that associates vibration indices with corresponding apparent force indices, the vibration control unit 114 searches the mapping information, obtains and outputs vibration control information v representing the magnitude of the vibration component of the control frequency represented by the vibration index corresponding to the apparent force index representing the magnitude of the apparent force specified by the specification information s. For example, if the mapping information is a function indicating the correspondence (relationship) between a vibration index and the corresponding apparent force index, the vibration control unit 114 substitutes the apparent force index indicating the magnitude of the apparent force specified by the specification information s into the function, thereby obtaining a vibration index, and obtains and outputs vibration control information v indicating the magnitude of the vibration component of the control frequency indicated by the vibration index. The vibration control information v is sent to the vibration processing unit 115 (step S114).

[0028] The vibration processing unit 115 receives vibration control information v. The vibration processing unit 115 performs image processing (processing) on ​​the image o extracted from the storage unit 112 based on the vibration control information v, and generates an image o that shows the second presented visual object vibrating relative to the first presented visual object so as to include a "vibration component of the control frequency" having a magnitude based on the vibration control information v. v That is, the vibration processing unit 115 obtains and outputs an image o (presented visual object) that shows how the second presented visual object vibrates relative to the first presented visual object so as to include a vibration component of the control frequency based on the vibration control information v. v (Presented visual object) is obtained and output.

[0029] For example, first, the vibration processing unit 115 identifies the area of ​​the second presented visual object (for example, the area of ​​a body part such as the finger 103 in FIGS. 3A and 3B) present in the extracted image o. For example, the vibration processing unit 115 detects a skin-colored area from the extracted image o as the area of ​​the body part, and distinguishes the area of ​​the body part (second presented visual object) from other areas in the image. Alternatively, the user 100 may interactively select the area of ​​the second presented visual object (for example, a body part, etc.) as a pixel group via the input unit 113. Alternatively, the vibration processing unit 115 may recognize the second presented visual object (for example, a body part, etc.) in the image not only two-dimensionally but also three-dimensionally, including its posture.

[0030] Next, the vibration processing unit 115 vibrates at least a part of the area of ​​the second presented visual object in the image o relative to the other areas (including the first presented visual object) so as to include a "vibration component of the control frequency" having a magnitude based on the vibration control information v, by image processing. vFor example, the vibration processing unit 115 vibrates the region of the second presentation visual object identified as described above at a frequency including a control frequency (for example, a frequency of 4 Hz to 7 Hz). This vibration may be periodic or aperiodic. Furthermore, this vibration may be two-dimensional or three-dimensional. The vibration direction is not limited. For example, at least a portion of the region of the second presentation visual object may vibrate in a direction (first direction) along a line connecting the first presentation visual object and the second presentation visual object, in a direction (second direction) intersecting this line (for example, a direction perpendicular to this line), or in a direction including a first direction component and a second direction component. The entire region of the second presentation visual object may be vibrated, or only a portion of the region may be vibrated. For example, only the region of the second presentation visual object on the side of the first presentation visual object may be vibrated. For example, if the second presentation visual object is a body part (for example, a finger, etc.), only the region on the side of the first presentation visual object (for example, a fingertip, etc.) may be vibrated. Conversely, only a region of the second visual object that is far from the first visual object may be vibrated. For example, if the second visual object includes a body part (e.g., a finger) and an inclusion (e.g., a tool) and the inclusion is in contact with or close to the first visual object (e.g., an object), only the inclusion may be vibrated. Furthermore, the body part may also be vibrated in response to the vibration of the inclusion. The second visual object may or may not vibrate uniformly. For example, the vibration power of a region of the second visual object that is closer to the first visual object may be greater than the vibration power of a region farther from the first visual object.

[0031] The vibration processing unit 115 amplifies, for example, the vibration components of the image o whose frequency is within a range including the control frequency of the second presentation visual object. v The frequency range including the control frequency may be all the control frequencies, or may be frequencies included in a range wider than the range including all the control frequencies. Alternatively, when the second presented visual object of the image o is originally vibrating, the vibration processing unit 115 suppresses at least a part of the vibration components other than the control frequency of the second presented visual object of the image o, for example, to obtain the image o.v In this case, the vibration processing unit 115 may amplify or suppress vibration components of the image o whose frequency is within a range including the control frequency of the second presentation visual object, and suppress predetermined vibration components other than the control frequency, thereby obtaining the image o. v You may get the image. v The magnitude of the vibration component of the control frequency included in is controlled based on the vibration control information v. The magnitude of the vibration component of the control frequency represented by the vibration control information v is directly used as the image o v Alternatively, the magnitude of the vibration component of the control frequency represented by the vibration control information v or a magnitude close to it may be used as the magnitude of the vibration component of the control frequency included in the image o v The amplitude of the vibration component of the control frequency included in the image o may be used as the amplitude of the vibration component of the control frequency in the region of the second-presented visual object. The amplitude of the vibration component of the control frequency represented by the vibration control information v may be used as the amplitude of the vibration component of the control frequency in the region of the second-presented visual object, or the amplitude of the vibration component of the control frequency represented by the vibration control information v or a magnitude approximate thereto may be used as the amplitude of the vibration component of the control frequency in the region of the second-presented visual object. In other words, the "magnitude based on the vibration control information v" may be the amplitude of the vibration component of the control frequency represented by the vibration control information v, or a magnitude approximate thereto. Note that the adjustment of the amplitude of the vibration component of the control frequency for the region of the second-presented visual object included in the image o is performed, for example, as follows. First, the vibration processing unit 115 converts the region of the second-presented visual object into a signal in the spatial frequency domain. Next, the vibration processing unit 115 amplifies or suppresses the control frequency component of the signal in the spatial frequency domain to obtain an adjusted signal. Furthermore, the vibration processing unit 115 converts the adjusted signal back into the spatial frequency domain to obtain the region of the second-presented visual object after adjustment. Then, the vibration processing unit 115 combines the adjusted region of the second-presented visual object with the original image to generate the image o. v During this synthesis, the area of ​​the second presented visual object included in the original image o may be removed or suppressed (step S115).

[0032] Image o output from vibration processing unit 115 vmay be stored in the storage unit 112 as a new image o, may be transmitted to the outside via the communication unit 116, or may be further sent to the presentation device 12 (for example, may be sent to the presentation device 12 in real time). v When the image is transmitted, the presentation device 12 v is visually output (displayed) and viewed by the user 100. As a result, the user 100 perceives the apparent force of the magnitude designated by the designation information s (step S116).

[0033] [Modification 1 of the First Embodiment] Images obtained by photographing a plurality of first presentation visual objects (objects) with different physical softness together with a second presentation visual object may be stored in the storage unit 112. In this way, the apparent force control device 11 not only controls the magnitude of the vibration component of the control frequency included in the vibration of the second presentation visual object relative to the first presentation visual object, but also selects the physical softness of the original first presentation visual object that became the subject, and displays the image. v can be generated. In this case, the designation information s may include information for designating the physical softness of the original first-presented visual object, or this information may be input to the apparent force control device 11 independently of the designation information s, or may be stored in a memory (not shown) in advance. The vibration processing unit 115 receives vibration control information v and information for designating the physical softness of the original first-presented visual object. The vibration processing unit 115 uses these to extract from the storage unit 112 an image o obtained by photographing an object having the designated physical softness. As exemplified in the first embodiment, the vibration processing unit 115 performs image processing based on the vibration control information v on the extracted image o, vibrating the area of ​​the second-presented visual object in the image o relative to other areas (including the first-presented visual object) so as to include a "vibration component of the control frequency" having a magnitude based on the vibration control information v, and then generates the image o. v This allows for a wider control range of the magnitude of the apparent force to be presented (Fig. 7).

[0034] [Modification 2 of the First Embodiment] Image processing is performed so that each of the multiple visual objects included in the image o appears to have an apparent force applied independently, and the image o v may be obtained. This allows a different apparent force to be perceived for each presented visual object. In this case, the image o stored in the memory unit 112 includes not only a first presented visual object and a second presented visual object that is in contact with or close to the first presented visual object, but also at least a third presented visual object presented together with the first presented visual object and a fourth presented visual object that is in contact with or close to the third presented visual object. Specific examples of the third presented visual object are the same as the specific examples of the first presented visual object described above, and specific examples of the fourth presented visual object are the same as the specific examples of the second presented visual object described above. The input unit 113 receives designation information s, which includes at least first designation information specifying the apparent force that appears to be applied from the second presented visual object to the first presented visual object and second designation information specifying the apparent force that appears to be applied from the fourth presented visual object to the third presented visual object. The input unit 113 accepts the input designation information s and sends the designation information s to the vibration control unit 114.

[0035] The vibration control unit 114 uses the mapping information stored in the memory unit 111 to obtain first vibration control information representing the magnitude of the vibration component of the control frequency represented by the vibration index corresponding to the apparent force index representing the magnitude of the apparent force specified by the first designation information of the designation information s. Furthermore, the vibration control unit 114 uses the mapping information stored in the memory unit 111 to obtain second vibration control information representing the magnitude of the vibration component of the control frequency represented by the vibration index corresponding to the apparent force index representing the magnitude of the apparent force specified by the second designation information of the designation information s. The vibration control unit 114 outputs vibration control information v including the first vibration control information and the second vibration control information. Such vibration control information v is information for independently controlling the magnitude of the vibration component of the control frequency included in the vibration of the second presented visual object relative to the first presented visual object and the magnitude of the vibration component of the control frequency included in the vibration of the fourth presented visual object relative to the third presented visual object. The vibration control information v is input to the vibration processing unit 115. The vibration processing unit 115 performs image processing on the image o extracted from the storage unit 112 based on the vibration control information v, and outputs an image o showing a state in which the second presented visual object vibrates relative to the first presented visual object so as to include a "vibration component of control frequency" having a magnitude based on the first vibration control information of the vibration control information v, and a state in which the fourth presented visual object vibrates relative to the third presented visual object so as to include a "vibration component of control frequency" having a magnitude based on the second vibration control information of the vibration control information v. v (Presented visual object) is obtained and output. The method for generating an image in which the second presented visual object vibrates relative to the first presented visual object so as to include a "vibration component of the control frequency" whose magnitude is based on the first vibration control information is the same as that described in the first embodiment, except that the vibration control information v is replaced with the first vibration control information. The method for generating an image in which the fourth presented visual object vibrates relative to the third presented visual object so as to include a "vibration component of the control frequency" whose magnitude is based on the second vibration control information is the same as that described in the first embodiment, except that the vibration control information v is replaced with the second vibration control information, and the first and second presented visual objects are replaced with the third and fourth presented visual objects. The other processing is the same as that in the first embodiment. In addition to this, as in the first modified example of the first embodiment, the physical softness of the original first presented visual object that became the subject is also selected to generate the image o vThis allows for a wider range of control over the magnitude of the apparent force to be exerted.

[0036] [Modification 3 of the First Embodiment] In the first embodiment and its modifications 1 and 2, the vibration processing unit 115 performs image processing on the image o based on the vibration control information v, and generates an image o that shows the second presented visual object vibrating relative to the first presented visual object so as to include a “vibration component of the control frequency” having a magnitude based on the vibration control information v. v However, the image o showing the second presented visual object vibrating relative to the first presented visual object was obtained so as to include a "vibration component of the control frequency" whose magnitude was based on the vibration control information v. v may be stored in advance in the storage unit 112. In this case, the vibration processing unit 115 uses the vibration control information v to generate an image o that shows the second presented visual object vibrating relative to the first presented visual object so as to include a "vibration component of the control frequency" having a magnitude based on the vibration control information v. v is obtained by selecting and extracting from the image o stored in the storage unit 112. v This reduces the time required to obtain

[0037] [Second embodiment] In the first embodiment and its modifications 1 to 3, the apparent force control device generates an image o that shows a state in which the second presented visual object vibrates relative to the first presented visual object so as to include a vibration component of a control frequency based on the vibration control information v. v However, the apparent force control device may obtain and output a command to vibrate the second presented visual object relative to the first presented visual object based on the vibration control information v so as to include a vibration component of the control frequency.

[0038] <Configuration> As illustrated in FIG. 8 , the apparent force presentation system 2 of this embodiment includes an apparent force control device 21 and a presentation device 22. In this embodiment, the apparent force control device 21 and the presentation device 22 are configured to be able to communicate with each other via a network. However, this does not limit the present invention. The apparent force control device 21 includes a storage unit 111, an input unit 113, a vibration control unit 114, a vibration processing unit 215, and a communication unit 116. The hardware configuration of the apparent force control device 21 will be described later. The presentation device 22 may be a device that visually presents an image to the user 100, or a device that visually presents mechanical movement to the user 100. Examples of the former presentation device 22 include a display, a projector, and VR goggles. Examples of the latter presentation device 22 include a test machine, a robot, a toy, a product demonstrator, and the like, which can vibrate an object (second presentation visual object) relative to another object (first presentation visual object) at a specified vibration frequency.

[0039] <Pre-processing> As a pre-processing step, the mapping information explained in the first embodiment is stored in the storage unit 111.

[0040] <Vibration control processing> Based on the above-mentioned preliminary processing, the following vibration control processing is executed. First, the apparent force control device 21 executes the processing of steps S113 and S114 described in the first embodiment. The vibration control information v obtained in step S114 is input to the vibration processing unit 215. The vibration processing unit 215 generates a command c to vibrate the second presented visual object relative to the first presented visual object so as to include a "vibration component of the control frequency" having a magnitude based on the vibration control information v. v is obtained and output (step S215). v is transmitted to the outside via the communication unit 116 and further sent to the presentation device 22. The presentation device 22 receives the command c vFor example, when the presentation device 22 is a device that visually presents an image to the user 100, the presentation device 22 vibrates at least a partial area of ​​the second presentation visual object relative to the first presentation visual object so as to include a "vibration component of the control frequency" having a magnitude based on the vibration control information v, as described in the first embodiment or its modified example, and presents the image o v and displays the obtained force. For example, if the presentation device 22 is a device that visually presents mechanical movement to the user 100, the presentation device 22 mechanically vibrates at least a partial area of ​​the second presentation visual object relative to the first presentation visual object so that the second presentation visual object includes a "vibration component of the control frequency" whose magnitude is based on the vibration control information v. The user 100 views the image presented in this way and perceives an apparent force whose magnitude is specified by the specification information s (step S216).

[0041] [Modification of the second embodiment] The second embodiment may be modified in the same manner as the first and second modifications of the first embodiment. That is, in the second embodiment, the apparent force control device 21 may be able to select the physical softness of the original first presented visual object that is the subject, in addition to the magnitude of the vibration component of the control frequency included in the vibration, or may be able to select the physical softness of the first presented visual object that is the real object. Also, in the second embodiment, the apparent force control device 21 may independently control the apparent forces applied to each of the multiple presented visual objects that are presented simultaneously. Alternatively, the presentation device 22 may be able to independently control the apparent forces applied to each of the multiple presented visual objects that are presented simultaneously, in accordance with the command c v The information for having the performer act out the second presented visual object vibrating relative to the first presented visual object according to the specified information s may be presented, and the performer may perform an act of vibrating a body part according to the information. In this case, the user 100 perceives the apparent force of the magnitude specified by the specified information s by watching this act.

[0042] [Third embodiment] The presentation device may present the second presented visual object vibrating relative to the first presented visual object, thereby presenting an apparent force of the magnitude specified by the specification information s, and the photographing device may photograph this scene, thereby obtaining an image presenting the apparent force of the magnitude specified by the specification information s.

[0043] <Configuration> As illustrated in FIG. 9 , the apparent force presentation system 3 of this embodiment includes an apparent force control device 31, a presentation device 12 or 22, a presentation device 32, and a camera 33. In this embodiment, the apparent force control device 31, the presentation devices 12, 22, and 32, and the camera 33 are configured to communicate with each other via a network. However, this does not limit the present invention. The apparent force control device 31 includes memory units 111 and 112, an input unit 113, a vibration control unit 114, a vibration processing unit 315, and a communication unit 116. The hardware configuration of the apparent force control device 31 will be described later. The presentation device 32 is a device that visually presents mechanical movement to the user 100. The presentation device 32 is, for example, a test machine, robot, toy, product demonstrator, or other device that can vibrate an object (second presentation visual object) relative to another object (first presentation visual object) at a specified vibration frequency. The camera 33 is, for example, a camera capable of capturing video.

[0044] <Pre-processing> As a pre-processing step, the mapping information explained in the first embodiment is stored in the storage unit 111.

[0045] <Vibration control processing> Based on the above-mentioned preliminary processing, the following vibration control processing is executed. First, the apparent force control device 31 executes the processing of steps S113 and S114 described in the first embodiment. The vibration control information v obtained in step S114 is input to the vibration processing unit 315. The vibration processing unit 315 generates a command c to vibrate the second presented visual object relative to the first presented visual object so as to include a "vibration component of the control frequency" having a magnitude based on the vibration control information v. v is obtained and output (step S315). vis transmitted to the outside via the communication unit 116 and further sent to the presentation device 32. The presentation device 32 receives the command c v In accordance with the command c output from the vibration processing unit 315, the presentation device 32 mechanically vibrates at least a part of the area of ​​the second visual presentation target relative to the first visual presentation target so as to include a "vibration component of the control frequency" having a magnitude based on the vibration control information v. v The image capturing device 33 captures the image presented by the presentation device 32, obtains an image o, and outputs the image o. The image o is sent to the apparent force control device 31 via a network. The communication unit 116 of the apparent force control device 31 receives the image o and stores it in the memory unit 112 (step S316).

[0046] The video o stored in the storage unit 112 is used, for example, as described in the first embodiment, the modified example of the first embodiment, the second embodiment, or the modified example of the second embodiment.

[0047] [Hardware configuration] The apparent force control devices 11, 21, and 31 in each embodiment are devices configured by a general-purpose or dedicated computer having, for example, a processor (hardware processor) such as a central processing unit (CPU) and memories such as random-access memory (RAM) and read-only memory (ROM) executing a predetermined program. That is, the apparent force control devices 11, 21, and 31 in each embodiment have, for example, processing circuitry configured to implement each of the components. This computer may have one processor and memory, or multiple processors and memories. This program may be installed on the computer or may be pre-recorded in a ROM or the like. Furthermore, some or all of the processing units may be configured using electronic circuits that independently realize processing functions, rather than electronic circuits that realize functional configurations by loading programs, such as a CPU. Furthermore, the electronic circuits constituting one device may include multiple CPUs.

[0048] FIG. 10 is a block diagram illustrating the hardware configuration of the apparent force control devices 11, 21, and 31 in each embodiment. As illustrated in FIG. 10, the apparent force control devices 11, 21, and 31 in this example include a central processing unit (CPU) 10a, an input unit 10b, an output unit 10c, a random access memory (RAM) 10d, a read-only memory (ROM) 10e, an auxiliary storage device 10f, a communication unit 10h, and a bus 10g. The CPU 10a in this example includes a control unit 10aa, a calculation unit 10ab, and a register 10ac, and executes various calculation processes according to various programs loaded into the register 10ac. The input unit 10b is an input terminal, keyboard, mouse, touch panel, or the like, through which data is input. The output unit 10c is an output terminal, display, or the like, through which data is output. The communication unit 10h is a LAN card or the like, controlled by the CPU 10a that has loaded a predetermined program. The RAM 10d is a static random access memory (SRAM), a dynamic random access memory (DRAM), or the like, and has a program area 10da where a predetermined program is stored and a data area 10db where various data are stored. The auxiliary storage device 10f is a hard disk, a magneto-optical disc (MO), a semiconductor memory, or the like, and has a program area 10fa where a predetermined program is stored and a data area 10fb where various data are stored. The bus 10g connects the CPU 10a, the input unit 10b, the output unit 10c, the RAM 10d, the ROM 10e, the communication unit 10h, and the auxiliary storage device 10f so that information can be exchanged. The CPU 10a writes the program stored in the program area 10fa of the auxiliary storage device 10f to the program area 10da of the RAM 10d in accordance with the loaded OS (Operating System) program. Similarly, the CPU 10a writes various data stored in the data area 10fb of the auxiliary storage device 10f to the data area 10db of the RAM 10d. The address on the RAM 10d where this program or data is written is stored in the register 10ac of the CPU 10a.The control unit 10aa of the CPU 10a sequentially reads out these addresses stored in the register 10ac, reads out programs and data from the areas on the RAM 10d indicated by the read addresses, causes the calculation unit 10ab to sequentially execute the calculations indicated by the programs, and stores the calculation results in the register 10ac. With this configuration, the functional configuration of the apparent force control devices 11, 21, and 31 is realized.

[0049] The above-mentioned program can be recorded on a computer-readable recording medium. Examples of computer-readable recording media include non-transitory recording media. Examples of such recording media include magnetic recording devices, optical disks, magneto-optical recording media, and semiconductor memories.

[0050] This program may be distributed, for example, by selling, transferring, or lending a portable recording medium, such as a DVD or CD-ROM, 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. As described above, a computer that executes such a program may, for example, first temporarily store the program recorded on a portable recording medium or transferred from the server computer in its own storage device. Then, when executing a process, the computer reads the program stored in its own storage device and executes processing in accordance with the read program. Alternatively, the program may be executed by a computer that reads the program directly from a portable recording medium and executes processing in accordance with the program. Furthermore, the computer may execute processing in accordance with 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 instead execute the processing function simply by issuing an execution instruction and obtaining the results, thereby executing the processing described above through a so-called ASP (Application Service Provider) type service. In this embodiment, the program includes information used for processing by an electronic computer that is equivalent to a program (such as data that is not a direct instruction to a computer but has properties that dictate computer processing).

[0051] In each embodiment, the device is configured by executing a predetermined program on a computer, but at least a part of the processing contents may be realized by hardware.

[0052] [Other variations] The present invention is not limited to the above-described embodiments. For example, in each of the above-described embodiments, an example was shown in which the apparent force control device, the presentation device, and the imaging device are configured to be able to communicate with each other via a network. However, this does not limit the present invention. These may be directly connected to be able to communicate with each other, or the functions of the presentation device and the imaging device may be integrated into the apparent force control device. Alternatively, the apparent force control device may be distributed across multiple devices, and these multiple devices may be configured to be able to communicate with each other.

[0053] Furthermore, the various processes described above may not only be executed in chronological order as described, but may also be executed in parallel or individually depending on the processing capacity of the device executing the processes or as necessary. Needless to say, other modifications are possible within the scope of the present invention. [Explanation of symbols]

[0054] 1, 2, 3: Apparent force presentation system 11, 21, 31: Apparent force control device 114: Vibration control unit 115, 215, 315: Vibration processing section 12,22,32: Presentation device 33: Photographing equipment

Claims

1. a vibration control unit that vibrates a second presentation visual object that is in contact with or close to a first presentation visual object relative to the first presentation visual object so as to include a vibration component of a specific control frequency, and obtains and outputs vibration control information for making it appear as if an apparent force is being applied from the second presentation visual object to the first presentation visual object; The apparent force control device is configured such that the first presented visual object is deformed in the direction of movement of the second presented visual object in accordance with the movement of the second presented visual object.

2. 2. The apparent force control device of claim 1, The second presented visual object vibrates in a direction intersecting a line connecting the first presented visual object and the second presented visual object.

3. a vibration control unit that vibrates a second presentation visual object that is in contact with or close to a first presentation visual object relative to the first presentation visual object so as to include a vibration component of a specific control frequency, and obtains and outputs vibration control information for making it appear as if an apparent force is being applied from the second presentation visual object to the first presentation visual object; The apparent force control device, wherein the vibration control information includes information for controlling the magnitude of a vibration component of the control frequency included in the vibration of the second presented visual object relative to the first presented visual object.

4. a vibration control unit that vibrates a second presentation visual object that is in contact with or close to a first presentation visual object relative to the first presentation visual object so as to include a vibration component of a specific control frequency, and obtains and outputs vibration control information for making it appear as if an apparent force is being applied from the second presentation visual object to the first presentation visual object; further comprising an input unit that receives designation information that designates the magnitude of the apparent force; The vibration control unit a vibration index representing the magnitude of a vibration component of the control frequency; an apparent force index representing the magnitude of an apparent force that appears to be applied to the first visual object from the second visual object by vibrating a second visual object that is in contact with or close to the first visual object relative to the first visual object so that the second visual object includes a vibration component of the control frequency having a magnitude represented by the vibration index; Using the information that represents the correspondence between an apparent force control device that obtains and outputs the vibration control information that indicates the magnitude of the vibration component of the control frequency that is indicated by the vibration index, and that corresponds to the apparent force index that indicates the magnitude of the apparent force specified by the specification information.

5. a vibration control unit that vibrates a second presentation visual object that is in contact with or close to a first presentation visual object relative to the first presentation visual object so as to include a vibration component of a specific control frequency, and obtains and outputs vibration control information for making it appear as if an apparent force is being applied from the second presentation visual object to the first presentation visual object; The vibration control information is information for vibrating a fourth presented visual object that is in contact with or close to a third presented visual object and is presented together with the first presented visual object relative to the third presented visual object so as to include a vibration component of the control frequency, thereby making it appear as if an apparent force is being applied from the fourth presented visual object to the third presented visual object; The magnitude of the vibration component of the control frequency included in the vibration of the second presented visual object relative to the first presented visual object; The information is for independently controlling the magnitude of the vibration component of the control frequency included in the vibration of the fourth presented visual object relative to the third presented visual object. Apparent force control device.

6. a vibration control unit that vibrates a second presentation visual object that is in contact with or close to a first presentation visual object relative to the first presentation visual object so as to include a vibration component of a specific control frequency, and obtains and outputs vibration control information for making it appear as if an apparent force is being applied from the second presentation visual object to the first presentation visual object; The apparent force control device further includes a vibration processing unit that, based on the vibration control information, obtains and outputs a presented visual object that represents how the second presented visual object vibrates relative to the first presented visual object so as to include a vibration component of the control frequency, and / or, based on the vibration control information, obtains and outputs a command to vibrate the second presented visual object relative to the first presented visual object so as to include a vibration component of the control frequency.

7. An apparent force presentation system having the apparent force control device of claim 6, The apparent force control device outputs the command, The apparent force presentation system further comprises: a presentation device that presents the second presentation visual object vibrating relative to the first presentation visual object in accordance with the command; a photographing device for photographing the state presented by the presentation device to obtain an image; An apparent force presentation system having:

8. An apparent force control method for an apparent force control device, comprising: a vibration control step of vibrating a second presentation visual object that is in contact with or close to a first presentation visual object relative to the first presentation visual object so as to include a vibration component of a specific control frequency, and obtaining and outputting vibration control information for making it appear as if an apparent force is being applied from the second presentation visual object to the first presentation visual object; The apparent force control method, wherein the first presented visual object is deformed in the direction of movement of the second presented visual object in accordance with the movement of the second presented visual object.

9. An apparent force control method for an apparent force control device, comprising: a vibration control step of vibrating a second presentation visual object that is in contact with or close to a first presentation visual object relative to the first presentation visual object so as to include a vibration component of a specific control frequency, and obtaining and outputting vibration control information for making it appear as if an apparent force is being applied from the second presentation visual object to the first presentation visual object; An apparent force control method, wherein the vibration control information includes information for controlling the magnitude of a vibration component of the control frequency included in the vibration of the second presented visual object relative to the first presented visual object.

10. An apparent force control method for an apparent force control device, comprising: a vibration control step of vibrating a second presentation visual object that is in contact with or close to a first presentation visual object relative to the first presentation visual object so as to include a vibration component of a specific control frequency, and obtaining and outputting vibration control information for making it appear as if an apparent force is being applied from the second presentation visual object to the first presentation visual object; further comprising an input step of receiving designation information for designating the magnitude of the apparent force; The vibration control step includes: a vibration index representing the magnitude of a vibration component of the control frequency; an apparent force index representing the magnitude of an apparent force that appears to be applied to the first visual object from the second visual object by vibrating a second visual object that is in contact with or close to the first visual object relative to the first visual object so that the second visual object includes a vibration component of the control frequency having a magnitude represented by the vibration index; Using the information that represents the correspondence between An apparent force control method, which obtains and outputs the vibration control information representing the magnitude of the vibration component of the control frequency represented by the vibration index corresponding to the apparent force index representing the magnitude of the apparent force designated by the designation information.

11. An apparent force control method for an apparent force control device, comprising: a vibration control step of vibrating a second presentation visual object that is in contact with or close to a first presentation visual object relative to the first presentation visual object so as to include a vibration component of a specific control frequency, and obtaining and outputting vibration control information for making it appear as if an apparent force is being applied from the second presentation visual object to the first presentation visual object; The vibration control information is information for vibrating a fourth presented visual object that is in contact with or close to a third presented visual object and is presented together with the first presented visual object relative to the third presented visual object so as to include a vibration component of the control frequency, thereby making it appear as if an apparent force is being applied from the fourth presented visual object to the third presented visual object; The magnitude of the vibration component of the control frequency included in the vibration of the second presented visual object relative to the first presented visual object; and a magnitude of a vibration component of the control frequency included in the vibration of the fourth presented visual object relative to the third presented visual object.

12. An apparent force control method for an apparent force control device, comprising: a vibration control step of vibrating a second presentation visual object that is in contact with or close to a first presentation visual object relative to the first presentation visual object so as to include a vibration component of a specific control frequency, and obtaining and outputting vibration control information for making it appear as if an apparent force is being applied from the second presentation visual object to the first presentation visual object; The apparent force control method further includes a vibration processing step of obtaining and outputting a presented visual object that represents the manner in which the second presented visual object vibrates relative to the first presented visual object based on the vibration control information so as to include a vibration component of the control frequency, and / or obtaining and outputting a command to vibrate the second presented visual object relative to the first presented visual object based on the vibration control information so as to include a vibration component of the control frequency.

13. A program for causing a computer to function as the apparent force control device according to any one of claims 1 to 6.

Images