Vibration distribution control device, vibration distribution control program, and vibration distribution control method

Abstract

To put forward a suggestion to a human so that an arbitrary oscillation waveform including a plurality of oscillation waveforms exists at a specific position, and improve reality of a tactile sensation.SOLUTION: An oscillation distribution control device, which controls oscillation in a plurality of oscillators 31, comprises: a time division control unit that divides a signal about an oscillation source P of an arbitrary waveform existing in a certain location for each prescribed time; a control unit that applies a prescribed attenuation expression to energy of the signal in accordance with a distance to the oscillation source P, and azimuth relative to each of a plurality of oscillators 31 for each prescribed time divided by the time division control unit, distributes the energy of the signal to the plurality of oscillators 31, and converts the signal into a waveform having a different waveform; and a signal output unit that outputs a signal converted by the control unit, and makes a human tactily sense output oscillation to be generated from the post-conversion signal, using the plurality of oscillators 31.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The technology described in this specification relates to a vibration distribution control device, a vibration distribution control program, and a vibration distribution control method. [Background technology]

[0002] It is known that by using a vibrator to reproduce vibrations over a wide range of frequencies, including high frequencies of several hundred Hz, it is possible to present realistic tactile sensations when colliding with or rubbing against an object.

[0003] On the other hand, there is a demand for technology that allows users to experience vibrations at virtual locations as a form of artificial reality using a small number of vibrators. Existing technology is known as phantom sensation (PS), a phenomenon in which the difference in intensity between multiple vibrators causes users to perceive the presence of a vibration source on the body or on an object held with both hands.

[0004] In addition to PS, apparent movement is known, which gives the illusion of a moving vibration source due to the stimulation time difference between oscillators.

[0005] Apparent movement-like sensations can also be experienced by moving the position of the PS. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] U.S. Patent Publication No. 9,880,621 [Patent Document 2] Patent Publication No. 2021-65872 [Non-patent literature]

[0007] [Non-Patent Document 1] Israr, Ali & Poupyrev, Ivan. “Tactile Brush: Drawing on skin with a tactile grid display” Conference on Human Factors in Computing Systems - Proceedings. 2019-2028, May 2011 [Non-patent document 2] Kim, Y., Lee, J. & Kim, GJ “Extending “out of the body” tactile phantom sensations to 2D and applying it to mobile interaction.” Pers Ubiquit Comput 19, 1295-1311, December 2015 [Non-patent document 3] Syunsuke Tawa, Hikaru Nagano, Yuichi Tazaki & Yasuyoshi Yokokohji “Extended phantom sensation: vibrotactile-based movement sensation in the area outside the inter-stimulus” Advanced Robotics, 35:5, 268-280, March 2021 Summary of the Invention [Problem to be solved by the invention]

[0008] However, in conventional PS generation methods, the strength difference of the oscillators is determined experimentally and empirically as a function of the amplitude ratio with respect to the presentation position for simple vibration waveforms such as sine waves or square waves (which can be expressed by frequency and amplitude), and it is not possible to express a vibration source with an arbitrary vibration waveform containing multiple frequencies.

[0009] In addition, most conventional PS involves placing multiple vibrators on the body and localizing the vibration between the vibrators. Some studies have reported localizing the vibration outside the vibrators on a line connecting the vibrators, but no technology has been developed to localize the vibration in two or three dimensions outside the vibrators.

[0010] In one aspect, the technology described herein aims to present an arbitrary vibration waveform containing multiple frequencies to a human as if it were present at a specific location, thereby improving the realism of the experience. [Means for solving the problem]

[0011] In one aspect, the vibration distribution control device comprises: a control unit that converts the signal into a waveform having a different frequency from that of the signal itself by distributing the energy of the signal to the plurality of transducers according to an azimuth angle between the first vibration source and some of the transducers and an azimuth angle between the second vibration source and some of the transducers, for each of the predetermined times divided by the time division control unit; and a signal output unit that outputs the signal converted by the control unit, and allows a human being to feel an output vibration generated from the converted signal using the plurality of transducers. Equipped with. [Effects of the Invention]

[0012] One aspect is that it can present an arbitrary vibration waveform containing multiple frequencies to a person as if it were present at a specific location, improving the realism of the experience. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 10 is a diagram illustrating a distribution process of perceptual intensity. [Figure 2] 2(a) to 2(c) are graphs briefly explaining Intensity Segment Modulation (ISM) processing used in the distribution processing of the perceived intensity shown in FIG. 1. [Figure 3] 2 is a diagram illustrating an example of calculation of a distribution coefficient in the distribution process of the perceived intensity shown in FIG. 1. FIG. [Figure 4] 2 is a flowchart illustrating the distribution process of the perceptual intensity shown in FIG. 1; [Figure 5] 2 is a diagram illustrating an example of determining independent perceptual origins for multiple body parts in the perceptual intensity distribution process shown in FIG. 1. FIG. [Figure 6]1A is a diagram illustrating a case where transducers are arranged two-dimensionally on the body surface in the distribution process of perceived intensity shown in FIG. 1, and FIG. 1B is a diagram illustrating a case where transducers are arranged circumferentially on the body surface in the distribution process of perceived intensity shown in FIG. 1. [Figure 7] 2 is a diagram illustrating a case where two perceptual origins are provided on the body in the perceptual intensity distribution process shown in FIG. 1. FIG. [Figure 8] FIG. 1(a) is a diagram illustrating an example in which transducers are arranged on a straight line in a conventional PS system, and FIG. 1(b) is a diagram illustrating an example in which transducers are arranged on a circumference in a conventional PS system. [Figure 9] 2 is a diagram illustrating an example in which a PS is used as an artificial vibration source to generate another PS in the distribution process of the perceived intensity shown in FIG. 1. FIG. [Figure 10] 10A and 10B are diagrams illustrating an example in which the distribution process of the perceived intensity is applied to a floor-mounted vibration device and a clothing-type vibration device. [Figure 11] FIG. 10 is a diagram showing an example in which a distribution process of perceptual intensity when one perceptual origin is provided is applied to a wristband-type vibration device and a game controller. [Figure 12] FIG. 10 is a diagram showing an example in which a distribution process of perceptual intensity when two perceptual origins are provided is applied to a wristband-type vibration device and a game controller. [Figure 13] FIG. 10 is a diagram showing an example in which a distribution process of perceived intensity in augmented reality (AR) is applied to a wristband-type vibration device and a smartphone. [Figure 14] FIG. 10 is a diagram showing an example in which distribution processing of perceptual intensity on the body is applied to a wristband-type vibration device and a smartphone. [Figure 15] FIG. 10 shows an example of the integration of the distribution of perceived intensity into the loudspeaker and the display device. [Figure 16] (a) is a diagram explaining the reference stimulus in the experiment to confirm the sense of orientation and vibration intensity, and (b) is a diagram explaining the method of answering the perceived orientation in the experiment to confirm the sense of orientation and vibration intensity. [Figure 17]FIG. 10 is a diagram illustrating the positional relationship between the vibrator and the vibration source in an experiment to confirm the sense of direction and vibration intensity. [Figure 18] 10A is a graph showing the results of responses regarding direction in a confirmation experiment on sense of direction and vibration intensity, and FIG. 10B is a graph showing the results of responses regarding intensity in the confirmation experiment. [Figure 19] This is a diagram explaining the positional relationship between the vibrator and the vibration source in an experiment to control PS on the body with perceived intensity. [Figure 20] (a) is a graph illustrating the presented stimulus before ISM conversion in an experiment to control PS on the body with perceptual intensity, (b) is a graph illustrating the stimulus to oscillator V1 in the experiment, and (c) is a graph illustrating the stimulus to oscillator V2 in the experiment. [Figure 21] 10 is a graph showing the results of an experiment in which PS on the body is controlled by perceived intensity. [Figure 22] 1 is a block diagram schematically illustrating a configuration example of a vibration generating system according to an embodiment. [Figure 23] 1 is a graph showing the discriminability of vibrations by humans. [Figure 24] 24 is a sample waveform of the vibration used in a forced three-choice discrimination experiment conducted to determine the discriminability shown in the graph in FIG. 23. [Figure 25] 23 is a graph showing signal waveforms before and after conversion for each segment by the vibration distribution control device shown in FIG. 22. [Figure 26] 10 is a graph showing an amplitude threshold Tf used in calculating the correction energy. [Figure 27] 10 is a graph showing the exponent threshold b used in calculating the corrected energy. [Figure 28] 23 is a diagram illustrating the use of a window function in the vibration distribution control device shown in FIG. 22. FIG. [Figure 29] 23 is a graph illustrating an example of combining a low frequency and a high frequency in the vibration distribution control device shown in FIG. 22. [Figure 30]23 is a graph showing a specific example of a signal waveform before and after conversion by the vibration distribution control device shown in FIG. 22. [Figure 31] 23 is a block diagram illustrating an example of the functional configuration of an ISM unit in the vibration distribution control device shown in FIG. 22. FIG. [Figure 32] FIG. 23 is a block diagram illustrating a first example of a process for generating a vibration waveform in the vibration distribution control device shown in FIG. 22. [Figure 33] FIG. 32 is a block diagram illustrating details of the energy control process shown in FIG. 31. [Figure 34] 32 is a block diagram illustrating the separation process of low frequency components in the energy control process shown in FIG. 31 as a second example of the vibration waveform generation process in the vibration distribution control device shown in FIG. 22. FIG. [Figure 35] 10(a) to 10(c) are graphs illustrating an example in which vibration is generated according to ISM without enhancing the waveform. [Figure 36] 10(a) to 10(c) are graphs illustrating a first example of separating high frequency components of 3000 Hz or higher from a sound source by emphasizing them. [Figure 37] 10(a) to 10(c) are graphs illustrating a second example of separating high frequency components of 3000 Hz or higher from a sound source by emphasizing them. [Figure 38] Graphs (a) to (c) are graphs illustrating an example of separating low frequency components of 1000 Hz or less from a sound source by emphasizing them. [Figure 39] FIG. 32 is a block diagram illustrating a first modified example of the energy control process shown in FIG. [Figure 40] FIG. 32 is a block diagram illustrating a second modified example of the energy control process shown in FIG. [Figure 41] FIG. 32 is a block diagram illustrating details of the energy synthesis process shown in FIG. 31. [Figure 42] FIG. 32 is a block diagram illustrating the details of the process of generating the corrected vibration waveform shown in FIG. 31. [Figure 43] FIG. 23 is a block diagram showing an example of the configuration of a DAC when a plurality of vibration devices are used in the vibration generating system shown in FIG. 22. [Figure 44]FIG. 23 is a block diagram showing an example of the configuration of a DAC when a single vibration device is used in the vibration generating system shown in FIG. 22. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, embodiments will be described with reference to the drawings. However, the embodiments described below are merely examples, and are not intended to exclude various modifications and applications of techniques not explicitly stated in the embodiments. In other words, the present embodiments can be implemented with various modifications within the scope of the spirit thereof.

[0015] Furthermore, each drawing does not necessarily include only the components shown in the drawing, but may include other components. In the drawings below, parts with the same reference numerals indicate the same or similar parts unless otherwise specified.

[0016] [A] Embodiment [A-1] Distribution processing of perceived intensity FIG. 1 is a diagram illustrating the distribution process of perceptual intensity.

[0017] In this embodiment, the perceived intensity is calculated from an arbitrary vibration waveform based on a human intensity perception model. By substituting the perceived intensity, it becomes possible to calculate and adjust the amount of sensation that humans would originally perceive for an arbitrary waveform.

[0018] The perceived intensity is distributed to a plurality of vibrators, and the vibrators 31 are driven so as to maintain the total sum of the perceived intensity, thereby generating the bodily sensation of the vibration source that is desired to be expressed.

[0019] In this case, the directionality and distance of the vibration source can be expressed by allocating the ratio of the perceived intensity presented by each vibrator 31 according to the desired position.

[0020] The location may be any position outside the body, or may be on the body such as around the arm, or close to the body such as just above the arm.

[0021] Using two or more (four in the example shown in Figure 1) vibrators 31 in contact with the body, vibrations are generated so that the bodily sensation obtained by vibrations emitted by a vibration source with an arbitrary waveform is perceived as an artificial reality in terms of the direction and distance of the vibration source.

[0022] The bodily sensation of a vibration source having an arbitrary waveform is calculated based on the perceived intensity perceived by a human. The sense of distance from the vibration source may be expressed by attenuating the perceived intensity using an attenuation formula according to distance. The sense of direction of the vibration source may be expressed by multiplying the perceived intensity by an appropriate distribution coefficient and distributing it to each transducer 31.

[0023] The distance attenuation formula and distribution coefficient may be determined according to the distance and azimuth angle between the vibration source and the perception origin determined by the geometric arrangement of the multiple transducers 31. The vibration source may be experienced as being outside the body, or as being on the surface of or inside the body.

[0024] The perceived intensity is calculated from the vibration waveform of a vibration source at any position, making it possible to experience any waveform containing multiple frequencies.

[0025] Multiple vibrators are placed on the body, and the central position of the vibration image obtained by the multiple vibrators 31 is set as the perception origin. The position of the vibration image perceived when all vibrators 31 are driven with the same perceived intensity may also be set as the perception origin. Furthermore, if the perception origin is affected by intensity or varies among individuals, a representative position may be set.

[0026] The perceived intensity at the perception origin is calculated using a distance attenuation formula that attenuates depending on the distance from the vibration source to the perception origin. By appropriately setting the distance attenuation formula, the physical properties of the vibration propagation path and the sense of distance can be experienced. Note that the physical properties (in other words, physical characteristics) of the vibration propagation path include, for example, the hardness and material of the ground, and the propagation characteristics in the air and underwater.

[0027] The perceived intensity calculated at the perception origin is distributed to each transducer 31 using a distribution coefficient for each transducer 31 that is appropriately determined based on the direction of the vibration source and the arrangement position of each transducer 31. This allows the perceived intensity at the perception origin to be experienced as if it were in the direction of the vibration source. At this time, by keeping the sum of the distribution coefficients constant, it is possible to provide a bodily sensation of the same magnitude as the perceived intensity at the perception origin, regardless of the direction.

[0028] In Figure 1, k (k = 1, 2, ..., N) indicates the number of the oscillator 31, and the kth oscillator 31 is denoted by Vk. p is the vector from the perceptual origin O to the vibration source P, and qk is the vector from the perceptual origin O to the kth oscillator Vk. αk is the angle between the vector p to the vibration source and the vector qk to the kth oscillator. The distance from the perceptual origin O to the vibration source P is expressed as r = ||p||. When the perceptual intensity of the vibration source is Io, the perceptual intensity transmitted to the perceptual origin is I, and the distance attenuation formula is d(r), then I = d(r)Io holds. Furthermore, when the perceptual intensity generated by each oscillator 31 is Ik and the distribution coefficient is gk, then Ik = gkI holds, where Σgk = 1. By setting the sum of the distribution coefficients gk to 1, it is possible to maintain the magnitude of bodily sensation equal to the perceived intensity I even when using multiple transducers 31. Note that the value of the distribution coefficient gk may be corrected for each transducer 31.

[0029] The perceptual intensity Io perceived by a human can be calculated from the vibration waveform of the vibration source P. The ISM, which will be described later with reference to FIG. 2, etc., may be used to calculate this perceptual intensity.

[0030] Human Pacinian corpuscles, which perceive high-frequency vibration waveforms of about 100 Hz or higher, cannot distinguish between waveforms themselves and generally perceive the energy of the vibration. The amount of energy of high-frequency vibrations perceived by humans is defined as perceived intensity. Perceived intensity can be calculated simply as a quantity proportional to the square of the vibration amplitude of the signal. Alternatively, the subjective strength of the amplitude of the vibration waveform to be used can be determined in advance through experiments and used instead of perceived intensity.

[0031] A more accurate perceived intensity has frequency dependency and is calculated by the following equation: where A is amplitude, Tf is an amplitude threshold at frequency f, and bf is an exponent value that depends on frequency f. The calculation of the perceived intensity is not limited to the following equation 1.

number

[0032] The perceptual intensity may be calculated by dividing an arbitrary vibration waveform into time segments at a fixed interval. When using the perceptual intensity, it is necessary to estimate the frequency of the waveform by applying Fourier transform, wavelet analysis, empirical mode decomposition, or the like to the divided signals. When there are multiple frequencies, the perceptual intensity can be calculated for each frequency component and then calculated as the sum of these. The perceptual intensity may be enhanced depending on the content of the vibration source to be presented.

[0033] Furthermore, even if the perceived intensity is the same, humans can distinguish between sounds if the perceived intensity fluctuates at around 80 Hz or less using the fluctuation information as a clue. Considering this point, when calculating the perceived intensity by time division, it is necessary to maintain the fluctuation of the perceived intensity up to at least 80 Hz. To achieve this, it is desirable to calculate the perceived intensity by time division at a frequency at least greater than 80 Hz.

[0034] 2(a) to 2(c) are graphs briefly explaining the ISM processing used in the distribution processing of the perceptual intensity shown in FIG.

[0035] ISM is a technique for modulating high-frequency vibrations to low frequencies while maintaining their tactile sensation. The original signal shown in Figure 2(a) is transformed to calculate the vibration intensity for each segment shown in Figure 2(b). The transformed waveform shown in Figure 2(c) is then generated while maintaining the vibration intensity.

[0036] In FIG. 2, the vibration is 400 to 600 Hz before conversion, whereas the waveform after conversion is 200 Hz, but any frequency can be selected as the waveform after conversion.

[0037] In generating the high-frequency component signal, a vibration waveform equivalent to the distributed perceived intensity is generated. Simply put, since the waveforms of each vibrator 31 have the same frequency, the original waveform may be multiplied by a gain value calculated from the distribution coefficient to drive it (the same method as for the low-frequency components described below). However, tactile vibrators 31 generally have a narrow response frequency band, making it difficult to generate any desired vibration waveform as is. Furthermore, when an acoustic signal is used as the waveform of the vibration source, the audible frequency is included, which creates a problem of noise generation when the vibrators 31 are driven.

[0038] Therefore, the signal is converted into an amplitude-modulated wave with an appropriate carrier frequency to generate a distributed perceived intensity Ik. This results in a single carrier frequency for the generated signal. The carrier frequency can be selected to match the frequency response characteristics of the vibrator. Considering the human perception characteristics of high-frequency vibrations, a carrier frequency in the range of 150 to 400 Hz is appropriate.

[0039] Taking into account the human perception characteristics of high-frequency vibrations, in the high-frequency band, the focus is not on the waveform itself, but on the vibration energy that is correlated with human perception characteristics, and by replacing it with another waveform that has equivalent vibration energy, the frequency band can be changed.

[0040] By dividing any continuous vibration signal into time segments at appropriate intervals that take into account human perception characteristics and converting each segment into vibration energy, it is possible to convert it into any signal waveform while maintaining the same tactile sensation felt by humans, or so that high-frequency bands that are difficult to sense can be sensed.

[0041] By appropriately selecting the frequency of the converted vibration, it is possible to drive the transducer efficiently according to its response range, reduce auditory noise, and convert it into any sound source.

[0042] It is said that humans can only perceive vibrations up to about 1 kHz. Therefore, vibrations above 1 kHz are often ignored. However, it is known that even vibrations above 1 kHz can be perceived as amplitude-modulated waves whose amplitude fluctuates within a frequency range that can be sensed by humans.

[0043] Meanwhile, the vibration energy model is known to characterize human perception of high-frequency vibrations above 100 Hz. This suggests that replacing the carrier frequency of an amplitude-modulated wave while preserving the high-frequency vibration energy makes it impossible to distinguish between vibrations. However, as mentioned above, even if the vibration energy is preserved, the envelope components of the vibration may be perceived as differences in tactile information, and the extent of this perception has not been investigated. Furthermore, while methods have been devised to convert signals based on vibration energy using time division, no studies have examined methods for preserving low-frequency components.

[0044] FIG. 3 is a diagram illustrating an example of calculation of distribution coefficients in the distribution process of the perceived intensity shown in FIG.

[0045] The distribution coefficient gk of the perceived intensity may be determined based on the azimuth angle (θ, φ) of the vibration source from the perception origin. Let p be the vector from the perception origin O to the vibration source P, qk be the vector to the k-th oscillator Vk, and αk be the angle between the two vectors. In this case, the distribution coefficient gk of oscillator Vk is maximum when αk = 0 and minimum when αk = π, so the output rate Rk of each oscillator 31 can be set as follows using the trigonometric function cos αk:

number

[0046] Here, g0 is a constant that adjusts the minimum value of perceived intensity. In this case, the distribution coefficient is calculated by normalizing it with the sum of the output rates of all oscillators using the following formula:

number

[0047] cos αk can be calculated using the dot product of two vectors p and qk using the following formula:

number

[0048] As shown in Figure 3, if the azimuth angle of the vibrator Vk is θk, the elevation angle is φk, the azimuth angle of the vibration source is θ, and the elevation angle is φ, then cos αk can be calculated as follows:

number

[0049] If the minimum perceptual intensity transmitted from the vibration source to the perception origin is Imin, if the perceptual intensity distributed to each vibrator 31 falls below the human perception threshold, it will not be possible to experience an appropriate intensity distribution ratio. Therefore, when calculating the output ratio Rk of each vibrator 31, a constant g0 is determined to adjust the minimum intensity. According to the definition of perceptual intensity, the condition for the minimum intensity Imin k in each vibrator 31 to be above the perception threshold is that I = 1 when the vibration amplitude A is equal to the perception threshold Tf, and therefore the following condition is satisfied.

number

[0050] Therefore, the minimum condition that g0 must satisfy is expressed as follows:

number

[0051] FIG. 4 is a flowchart illustrating the perceptual intensity distribution process shown in FIG.

[0052] The vibration waveform y(t) of the vibration source is input to a low pass filter (LPF), and the low frequency component ylow(t) is output (step S111). The cutoff frequency of the LPF may be about 80 to 400 Hz.

[0053] The vibration waveform y(t) of the vibration source is also input to a High Pass Filter (HPF), which outputs a high frequency component yhigh(t) (step S112).

[0054] The intensity Io of the vibration source is calculated from the high frequency component yhigh(t) (step S113).

[0055] Based on the intensity Io of the vibration source and the distance r from the vibration source, the intensity I of the perception origin is calculated (step S114).

[0056] Based on the intensity I of the perception origin and the direction (θ, φ) of the vibration source, distribution is performed using a distribution coefficient gk (step S115).

[0057] Based on the distribution coefficient gk and the low frequency component ylow(t), the gain hk is calculated (step S116).

[0058] Based on the intensity Ik according to the distribution coefficient gk, a vibration Hk(t) having an equivalent intensity is generated (step S117).

[0059] Based on the high frequency vibration Hk(t) and the low frequency vibration Lk(t) according to the gain hk, waveforms are synthesized to generate the drive waveform Sk(t) for each transducer 31 (step S118).

[0060] The low frequency components are output by multiplying the amplitude of the original waveform by a gain hk, which may be determined based on the distribution coefficient gk used in the intensity distribution.

[0061] hk may be set so that the total amplitude value is equal to the original amplitude, using the distribution coefficient gk as the gain value as is.

number

[0062] hk may be set using a partition coefficient gk so that the sum of the squares of the amplitudes is equal to the square of the original amplitudes.

number

[0063] It is known that amplitude decreases due to energy diffusion. Geometric damping can be expressed in amplitude as follows: where A is the amplitude at the origin of perception, A0 is the amplitude at the vibration source, and n is the geometric damping constant determined by the type of wave. For example, the value of n is known to be n = 0.5 for surface waves (Rayleigh waves).

number

[0064] Furthermore, when the amplitude is converted to intensity, the following equation holds:

number

[0065] In addition to the geometric damping mentioned above, internal damping is known, in which energy is absorbed by friction between particles as vibration propagates. The geometric damping and internal damping for amplitude are expressed by the following equation: Here, α is the internal damping constant, which depends on the material through which the vibration propagates and the frequency. For example, at 50 Hz, a = 0.1 to 0.3 for soft ground, and a = 0.003 to 0.03 for hard ground.

number

[0066] Furthermore, when the amplitude is converted to intensity, the following equation holds:

number

[0067] FIG. 5 is a diagram illustrating an example of determining independent perceptual origins for a plurality of body parts in the perceptual intensity distribution process shown in FIG.

[0068] When vibrators 31 are placed in separate body parts, two or more vibrators 31 may be placed for each body part, and an independent sensory origin may be determined for each area.

[0069] A large number of vibrators 31 may be arranged in advance, and the combination of vibrators 31 to vibrate and the perception origin may be determined according to the state of contact with the body and the position of the vibration source. For example, tiles with built-in vibrators 31 may be laid all over the floor, and the contact points with the body may be detected, and the combination of vibrators 31 to vibrate may be dynamically rearranged each time a contact point is detected.

[0070] When dividing the body into multiple parts, different distance attenuation formulas may be used for each part depending on the properties of the vibration medium with which each part is in contact. For example, when dividing into the feet (body part #2 in Figure 5) which are in contact with the floor and the chest (body part #1 in Figure 5) which is in contact with the air, the distance attenuation formula for the feet can be set to be smaller because a vibration source on the floor is easily transmitted to the feet but is not easily transmitted to the chest.Typical body parts that are used include, but are not limited to, the soles of the left and right feet, buttocks and lower back, chest and upper back, palms and wrists, left and right forearms, and head.

[0071] Figure 6(a) is a diagram illustrating the case where transducers are arranged two-dimensionally on the body surface in the distribution process of perceived intensity shown in Figure 1, and (b) is a diagram illustrating the case where transducers are arranged circumferentially on the body surface in the distribution process of perceived intensity shown in Figure 1.

[0072] 6(a), it is possible to generate a sensation of a vibration source moving on the surface of the body part. The vibration source may be located inside between the vibrators 31.

[0073] In FIG. 6(b), the vibration source can generate a sensation of moving inside the body in addition to the body surface of the body part.

[0074] FIG. 7 is a diagram for explaining a case where two perceptual origins are provided on the body in the perceptual intensity distribution process shown in FIG.

[0075] 7 shows a method in which the first perception origin #1 is formed by four vibrators 31 on the left side of the figure, and the second perception origin #2 is formed by four vibrators 31 on the right side of the figure, and a method is shown in which vectors are obtained from each perception origin to the vibration source. Note that if the distance between the eight vibrators 31 is close, one perception origin may be set near the center.

[0076] 8(a) is a diagram illustrating an example in which the vibrators 31 are arranged on a straight line in the PS system, and FIG. 8(b) is a diagram illustrating an example in which the vibrators 31 are arranged on a circumference in the PS system. In FIGS. 8(a) and 8(b), the vibration source is on the straight line connecting the two vibrators 31 or on the circumference.

[0077] 8(a) and 8(b), the distribution coefficient is determined by the internal division ratio β:1−β of the distance between the two transducers 31 (V1, V2). The distribution coefficient may be expressed as an exponential function of the internal division ratio.

[0078] When the vibration source is on the line or circumference connecting the two oscillators 31, the angle formed by the vector from the perception origin to the vibration source and oscillator 31 becomes 0, and the distribution coefficient cannot be calculated. In this case, the distribution coefficient may be determined based on the ratio of the distance between oscillator 31 and the vibration source and oscillator 31.

[0079] FIG. 9 is a diagram for explaining an example in which a PS is used as a virtual vibration source to generate another PS in the distribution process of the perceived intensity shown in FIG.

[0080] In FIG. 9, the distribution coefficients of transducers V1 and V2 are determined so that a virtual vibration source Va is generated between transducers 31 (V1, V2) at a position with an internal distance division ratio of β1:1-β1. The distribution coefficient may be corrected using an exponential function. Similarly, a virtual vibration source Vb is generated between transducers V5 and V6. Using the two virtual vibration sources Va and Vb, a presented vibration source is generated on the line connecting Va and Vb based on an internal distance division ratio of β:1-β. The sum of the distribution coefficients of the four transducers 31 is set to be constant.

[0081] The calculation formula for the distribution coefficient and perceived intensity of the vibrators V1 and V2 is, for example, as follows: γ is an exponent value for finding the distribution coefficient from the internal division ratio β.

number

[0082] FIG. 10 is a diagram showing an example in which the distribution process of the perceived intensity is applied to a floor-mounted vibration device 101 and a clothing-type vibration device 102. In FIG.

[0083] FIG. 10 shows an example in which visual presentation by a display device 33 such as VR goggles, stereophonic sound by headphones 32, a floor-mounted vibration device 101 and a clothing-type vibration device 102 are combined.

[0084] The perceptual origin #1 is formed by the vibrators 31 (four in the figure) of the floor-mounted vibration device 101. The perceptual origin #2 is formed by the vibrators 31 (four in the figure) of the wearable vibration device 102. Note that the reference numeral 31 is omitted in the following FIGS. 10 to 15.

[0085] Vibration source #1 represents a collision with the floor, and the perceived intensity of vibration source #1 is transmitted mainly to perception origin #1, with transmission to perception origin #2 being relatively small. This is achieved by reducing the attenuation effect of the distance attenuation formula from vibration source #1 to perception origin #1 and relatively increasing the attenuation effect of the distance attenuation formula from vibration source #1 to perception origin #2.

[0086] Vibration source #2 represents a vibration source floating in the air, and the perceived intensity of vibration source #2 is mainly transmitted to perception origin #2. This is achieved by reducing the attenuation effect of the distance attenuation formula from vibration source #2 to perception origin #2 and relatively increasing the attenuation effect of the distance attenuation formula from vibration source #2 to perception origin #1.

[0087] FIG. 11 is a diagram showing an example in which the distribution process of the perceived intensity when one perception origin is provided is applied to the wristband-type vibration device 103 and the game controller 104. In FIG.

[0088] 11 shows an example in which an external vibration source is localized by combining a vibrator 31 of a game controller 104 held in both hands with a wristband-type vibration device 103. Wristband-type vibration device #1 is worn on the left hand, and wristband-type vibration device #2 is worn on the right hand. In this example, four vibrators 31 arranged in a ring shape are built into each wristband-type vibration device 103. The game controller 104 has two built-in vibrators 31 on the left and right. The game controller 104 and the two wristband-type vibration devices 103 communicate wirelessly via Bluetooth (registered trademark) or the like, and all of the vibrators 31 are driven synchronously.

[0089] The game controller 104 and all the vibrators 31 of the two wristband-type vibration devices 103 constitute a perceptual origin.

[0090] By calculating the distribution coefficient of the perceived intensity according to the direction of the azimuth vector from the perception origin to the vibration source and the direction of the vector to each vibrator 31, it is possible to localize the external vibration source.

[0091] FIG. 12 is a diagram showing an example in which the distribution process of the perceived intensity when two perception origins are provided is applied to the wristband-type vibration device 103 and the game controller 104. In FIG.

[0092] 12, the vibrator 31 on the left side of the game controller 104 and the vibrator 31 of the wristband-type vibration device 103 (#1) in the left hand form a perception origin #1, and vibration source #1 is localized. The vibrator 31 on the right side of the game controller 104 and the vibrator 31 of the wristband-type vibration device 103 (#2) in the right hand form a perception origin #2, and vibration source #2 is localized. In this way, the vibration sources can be felt independently in the left and right hands.

[0093] In this example, the left and right vibration sources are moved from inside the arm to the front of the hand as shown by path #1 and path #2, thereby creating a bodily sensation as if the vibration source is being projected from inside the body. The timing of the projection may be synchronized with the operation of the left and right buttons on the game controller 104, to generate bodily sensations independently for the left and right.

[0094] FIG. 13 is a diagram showing an example in which distribution processing of the perceived intensity of the outside world AR is applied to a wristband-type vibration device 103 and a smartphone 105.

[0095] 13 shows an example of the configuration of an AR system that allows the user to experience the outside world by combining a smartphone 105 with a wristband-type vibration device 103. The position and direction of the camera image are identified using a GPS, geomagnetic sensor, inertial sensor, etc., mounted on the smartphone 105 that can be held by the user, and characters, etc., are superimposed on the real environment captured by the camera on the screen of the smartphone 105. The smartphone 105 and wristband-type vibration device 103 communicate wirelessly via Bluetooth, etc., and all vibrators 31 are driven synchronously.

[0096] The perceptual origin is composed of one vibrator 31 of the smartphone 105 and four vibrators 31 of the wristband-type vibration device 103 in the illustrated example.

[0097] By matching the position of the character mapped in the real world with the position of the vibration source, even when the character is not visible on camera, sensory information based on the character's direction, distance and movement can be presented to the user, emphasizing the character's real presence.

[0098] FIG. 14 is a diagram showing an example in which distribution processing of perceptual intensity on the body is applied to a wristband-type vibration device 103 and a smartphone 105.

[0099] FIG. 14 shows an example in which a smartphone 105 and a wristband-type vibration device 103 are combined to allow the user to feel as if a vibration source is passing over the body.

[0100] Vibration source #1 is moved along path #1. In this example, the user experiences a sensation as if a vibration source has been absorbed into the user's body from the outside world via the smartphone 105. Vibration source #2 is moved along path #2. In this example, the user can experience a sensation as if the vibration source is circling around the user's arm. This allows the user to experience sensations synchronized with the operation and video of the smartphone 105 in conjunction with the wristband-type vibration device 103.

[0101] 10 to 14, the vibration source may be determined by the vibration of an artificial object, or may be determined by the recorded vibration of a real object. When the vibration source is determined by the vibration of an artificial object, the vibration source may be determined based on the video or the like viewed by the user, and the perceived intensity may be distributed to each transducer 31 according to the vibration source. On the other hand, when the vibration source is determined by the recorded vibration of a real object, the vibration source may be determined by, for example, the impact of a ball on the floor, and the perceived intensity may be emphasized and distributed to each transducer 31 according to the vibration source.

[0102] FIG. 15 is a diagram showing an example in which the distribution processing of the perceived intensity is integrated into the speaker 32 and the display device 33. In FIG.

[0103] FIG. 15 shows a system comprising a display device 33 such as a video screen, speakers 32 such as a stereophonic speaker system, and vibration devices 106-108 for the back, seat, and floor. By matching the position of the sound source localized by the stereophonic sound with the position of the vibration source, the sense of localization of the content can be improved, enhancing the sense of realism experienced. Furthermore, by localizing the vibration source outside the screen, the presence of an object not appearing on the video screen can be perceived. Furthermore, by localizing the acoustic information of a specific object as a vibration source, or by localizing multiple objects individually as vibration sources, the sense of reality of the objects can be experienced individually. For example, in live video, a vibration source can be set according to the position of each instrument, and the perceived intensity can be calculated individually from the acoustic signal of each instrument and localized to the respective vibration source position.

[0104] FIG. 16(a) is a diagram explaining the reference stimulus in the experiment to confirm the sense of orientation and vibration strength, and FIG. 16(b) is a diagram explaining the method of answering the perceived orientation in the experiment to confirm the sense of orientation and vibration strength.

[0105] In the experiment to confirm the sense of direction and vibration intensity, the sense of direction and vibration intensity are investigated when a vibration source generated outside the body is presented by four vibrators 31 as the sensation of vibration being transmitted from the ground to the soles of the feet.

[0106] The experiment was carried out according to the following procedure. 1. Present the reference stimulus (see Figure 16(a)) and the test stimulus. 2. Ask participants to rate perceived intensity 3. Present the same test stimulus as in 1 4. Ask participants to report perceived direction

[0107] The subject responded freely with an integer for intensity, with the reference stimulus being 10, and twice the intensity being 20, and half the intensity being 5. The direction was answered with a number from 0 to 15, referring to Figure 16(b).

[0108] The experimental conditions were a constant intensity test stimulus, presented in eight directions (0-315°, in 45° increments), and eight conditions. The subjects were five adult males, and the number of trials was 50 (8 conditions x 6 + 2 dummy stimuli with doubled amplitude).

[0109] FIG. 17 is a diagram illustrating the positional relationship between the vibrator 31 and the vibration source in the experiment to confirm the sense of direction and the vibration intensity.

[0110] As shown in Figure 17, vibrators 31 (V1 to V4) were placed in each of the four quadrants on a two-dimensional coordinate plane centered on the perception origin. The subject placed their left foot on vibrators V1 and V2, and their right foot on vibrators V3 and V4. The direction from the perception origin to the vibration source was defined as θ, and the direction from the perception origin to vibrator Vk was defined as θk.

[0111] FIG. 18(a) is a graph showing the results of responses regarding direction in a confirmation experiment on sense of direction and vibration intensity, and FIG. 18(b) is a graph showing the results of responses regarding intensity in the confirmation experiment.

[0112] The directional response results shown in Figure 18(a) indicate that the responses were made in accordance with the intended presentation direction. Directional dependency may be observed. For example, the variance for vibrations from the vertical direction (0°, 180°), which is the direction of the toes or heels, was small, indicating that vertical direction discrimination was easier.

[0113] The intensity response results shown in Figure 18(b) indicate that a nearly constant intensity can be presented regardless of the orientation. In this experimental result, the overall intensity was higher than that of the reference stimulus (10), but this is thought to be because the frequency characteristics of the vibrator were not taken into consideration when the frequency was converted by the ISM.

[0114] FIG. 19 is a diagram illustrating the positional relationship between the vibrator 31 and the vibration source in an experiment in which PS on the body is controlled by the perceived intensity.

[0115] In the experiment shown in FIG. 19, a sensation of arbitrary vibrations from two vibrators 31 being transmitted while moving on the surface of the forearm was presented.

[0116] To generate PS, the intensity ratio is determined for each oscillator 31. The formula for determining the distribution coefficient gk is as follows: β is the internal division ratio (0 ≦ β ≦ 1) of the presented vibration source position, and γ is an exponential coefficient that corrects the distribution coefficient.

number

[0117] If the perceived intensity presented by the vibration source is I, the perceived intensities allocated to vibrators V1 and V2 are I1 = g1 I and I2 = g2 I.

[0118] Figure 20 (a) is a graph illustrating the presented stimulus before ISM conversion in an experiment to control PS on the body with perceived intensity, (b) is a graph illustrating the stimulus to oscillator V1 in the experiment, and (c) is a graph illustrating the stimulus to oscillator V2 in the experiment.

[0119] To identify γ such that the perceived intensity is constant, an experiment was conducted using the following procedure. 1. Adjust the intensity of both vibrators to be the same. 2. Stimuli presented in the order of β = 0, 0.5, 1 3. Ask the subject to answer whether the three stimulus intensities are equal or not. 4. Change γ and repeat this process to identify the parameter using the stepwise method.

[0120] For the presented stimulus before ISM conversion shown in (a) of Figure 20, when β=0.25 and γ=1, a stimulus to oscillator V1 shown in (b) of Figure 20 and a stimulus to oscillator V2 shown in (c) of Figure 20 are presented.

[0121] FIG. 21 is a graph showing the results of an experiment in which PS on the body was controlled by perceived intensity.

[0122] For the four subjects, when γ was around 0.6 to 0.8, the perceived intensity of the stimulus was perceived as constant for most of the subjects. This suggests that the perceived intensity can be made uniform with a certain parameter, regardless of the distance d between the oscillators 31. Furthermore, after identifying γ, we again presented stimuli at five points (β = 0, 0.25, 0.5, 0.75, 1), and received responses that it did not feel strange even if the presented position of the stimulus was thought to be moving at equal intervals.

[0123] [A-2] Vibration generation system FIG. 22 is a block diagram schematically illustrating an example of the configuration of a vibration generating system 100 according to an embodiment.

[0124] The vibration generating system 100 includes a vibration distribution control device 1, a digital-to-analog converter (DAC) 2, n vibrators 31 (#1 to #n), a speaker / headphones 32, and a display device 33. The vibrators 31 may be a combination of different types.

[0125] The DAC2 may be referred to as Universal Serial Bus (USB) audio, and converts a digital signal input from the vibration distribution control device 1 into an analog signal. Then, the DAC2 outputs the converted analog signal to the vibrator 31 and the speaker / headphones 32. Note that an amplifier (not shown) for driving the vibrator 31 and the speaker / headphones 32 may be provided downstream of the DAC2.

[0126] The display device 33 is a liquid crystal display, an organic light-emitting diode (OLED) display, a cathode ray tube (CRT), an electronic paper display, or the like, and displays various contents output from the vibration distribution control device 1 to people.

[0127] The vibration distribution control device 1 includes a central processing unit (CPU) 11, a memory 12, and a storage device 13.

[0128] The vibration distribution control device 1 in one example of this embodiment may convert acoustic information such as music, movies, and voices into tactile signals. When the frequency exceeds approximately 300 to 400 Hz, the vibrations become audible as sound, resulting in noise. For this reason, conventional vibration-sensing devices for music, movies, and the like often apply a low-pass filter at approximately several hundred Hz to cut the high-frequency band. On the other hand, the vibration distribution control device 1 in one example of this embodiment converts a waveform in the high-frequency band into another frequency in the low-frequency band and outputs it.

[0129] Furthermore, the vibration distribution control device 1 in one example of this embodiment may modulate high-frequency vibrations generated when an object comes into contact with the environment into a frequency band that can be perceived by humans. By transmitting the vibrations generated when an object comes into contact with the environment, it is possible to grasp the strength of the collision between the object and the environment and the state of friction. If the object is a metal tool, for example, vibrations in a band that cannot be perceived by humans may be generated when the object comes into contact with the environment. Therefore, the vibration distribution control device 1 in one example of this embodiment modulates the frequency band of the output signal.

[0130] Furthermore, the vibration distribution control device 1 in one example of this embodiment may be applied to a chair, suit, headset, etc. that includes a vibration device.

[0131] The memory 12 is a storage device including a read only memory (ROM) and a random access memory (RAM).

[0132] The storage device 13 is a device that stores data in a readable and writable manner, and may be, for example, a hard disk drive (HDD), a solid state drive (SSD), or a storage class memory (SCM). The storage device 13 stores generated training data, learning models, etc.

[0133] The CPU 11 is a processing device that performs various controls and calculations, and realizes various functions by executing an operating system (OS) and programs stored in the memory 12. That is, the CPU 11 may function as a frequency removal control unit 111, a time division control unit 112, an energy control unit 113, and a signal output unit 114, as shown in FIG.

[0134] The CPU 11 is an example of a computer, and exemplarily controls the overall operation of the vibration distribution control device 1. The device for controlling the overall operation of the vibration distribution control device 1 is not limited to the CPU 11, and may be, for example, any one of an MPU, a DSP, an ASIC, a PLD, an FPGA, or a dedicated processor. Furthermore, the device for controlling the overall operation of the vibration distribution 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. Furthermore, PLD is an abbreviation for Programmable Logic Device, and FPGA is an abbreviation for Field Programmable Gate Array.

[0135] The frequency removal control section 111 removes a first signal component having a frequency equal to or lower than a predetermined frequency.

[0136] The time division control unit 112 divides, for each predetermined time, the second signal component other than the first signal component removed by the frequency removal control unit 111. In other words, the time division control unit 112 divides, for each predetermined time, the signal related to a vibration source with an arbitrary waveform located at a certain position.

[0137] The energy control unit 113 converts the waveform of the second signal component while maintaining the energy of the second signal component for each predetermined time divided by the time division control unit 112. In other words, the energy control unit 113 functions as an example of a calculation unit that calculates the perceived intensity from the vibration waveform of the vibration source, and also functions as an example of a distribution unit that distributes the perceived intensity to each of the multiple transducers 31 according to the orientation and placement position of the vibration source.

[0138] The energy control unit 113 may calculate the perceived intensity at the perception origin using the perception origin determined based on vibration images obtained by the multiple transducers 31 and information on attenuation depending on the distance from the vibration source. The energy control unit 113 distributes the perceived intensity calculated at the perception origin to each of the multiple transducers 31 using a distribution coefficient determined based on the orientation and placement position.

[0139] The energy control unit 113 may apply a predetermined attenuation formula to the signal energy according to the distance and direction from the vibration source to each of the multiple transducers for each of the predetermined time periods divided by the time division control unit 112, and distribute the signal energy to the multiple transducers to convert the signal into a waveform with a different frequency.

[0140] The signal output unit 114 outputs the first signal component removed by the frequency removal control unit 111 in addition to the second signal component whose waveform has been converted by the energy control unit 113. In other words, the signal output unit 114 outputs the signal after conversion by the energy control unit 113, and causes a person to feel the output vibration generated from the converted signal using a plurality of vibrators.

[0141] The signal output unit 114 may output an output vibration related to a vibration source occurring at a position on or inside the human body, or may output an output vibration related to a vibration source occurring at a position remote from the human body.

[0142] The signal output unit 114 may be combined with stereophonic sound to allow a person to experience the output vibration. Furthermore, for stereophonic sound having sound sources localized at multiple positions, the signal output unit 114 may allow a person to experience the output vibration according to the position of each sound source. Furthermore, the signal output unit 114 may be combined with a stereoscopic visual device to allow a person to experience the output vibration.

[0143] The signal output unit 114 may combine a vibration source at a three-dimensional position with three or more vibrators arranged in two dimensions and stereophonic sound or video to reinforce the sense of three-dimensional vibration localization or the sense of localization of stereophonic sound or video, allowing a person to experience the output vibration. Furthermore, the signal output unit 114 may combine a vibration source at a three-dimensional position with three or more vibrators arranged in three dimensions and stereophonic sound or video to reinforce the sense of localization of three-dimensional vibration or the sense of localization of stereophonic sound or video, allowing a person to experience the output vibration.

[0144] [A-3] ISM

[0145] Figure 23 is a graph showing the discriminability of vibrations by humans (quoted from Nan Cao, Masashi Konyo, Hikaru Nagano and Satoshi Tadokoro, "Dependence of the Perceptual Discrimination of High-Frequency Vibrations on the Envelope and Intensity of Waveforms," ​​IEEE Access, vol. 7, pp. 20840-20849, February 2019). Figure 24 shows a sample waveform of vibrations used in a forced three-choice discrimination experiment conducted to determine the discriminability shown in the graph in Figure 23.

[0146] Based on a conventionally known vibration energy model, the graph shown in Figure 23 was obtained by investigating human perceptual discrimination characteristics while maintaining vibration energy. Symbols B1 and B2 in Figure 24 indicate the same waveform, while symbol B3 in Figure 24 indicates a different waveform. Subjects were asked to compare the constant amplitude vibrations shown in symbols B1 and B2 in Figure 24 with the amplitude-modulated stimulus shown in symbol B3 and identify which was the amplitude-modulated wave. In Figure 23, the correct answer rate obtained in a forced three-choice discrimination experiment is expressed as sensitivity (d': d-prime), a discrimination performance index based on signal detection theory; when d' is 1 or less, the correct answer rate falls below approximately 60%.

[0147] According to the graph in Figure 23, the upper limit of the frequency at which the envelope components can be discriminated is approximately 80 to 125 Hz. Also, it is not necessary to preserve the envelope components above this upper limit of frequency, and if the carrier frequency of the amplitude-modulated wave is replaced while maintaining the vibration energy, the stimulus cannot be discriminated.

[0148] As mentioned above, even if vibration energy is maintained, if the energy fluctuates in the low-frequency range, the fluctuations may be perceived as differences in tactile information, but the range of perception has not been investigated. Based on the discovery that the upper limit of perceptible low-frequency fluctuations is approximately 80 to 125 Hz, we decided to convert vibration energy while maintaining the low-frequency components using two measures (see measures [1] and [2] below).

[0149] FIG. 25 is a graph showing the waveforms of signals before and after conversion for each segment by the vibration distribution control device 1 shown in FIG.

[0150] Human high-frequency perception is based on vibrational energy rather than waveform itself, so maintaining the vibrational energy will produce the same sensation. However, if the vibrational energy fluctuates below 80-125Hz, it is necessary to reproduce the fluctuations in vibrational energy.

[0151] Therefore, in one example of this embodiment, as a means for maintaining the fluctuation of vibration energy below a predetermined frequency (for example, about 80 to 125 Hz), the vibration is divided into time intervals, for example, about 80 to 200 Hz, and the vibration energy is calculated for each segment and replaced with a vibration having a different carrier frequency.

[0152] In the example shown in Figure 25, the original vibration signal shown with symbol C1 and the converted signal shown with symbol C2 are converted so that the energy of the converted signal is the same as the energy of the original vibration signal within the same time segment.

[0153] The width of the time division (in other words, the division width) should be set to a level that can express energy fluctuations below 80 to 125 Hz (in other words, to a level where the peaks of the fluctuations align) (Measure [1]). The frequency of the division width can be 80 to 125 Hz or more, but if the division width is set too short, the accuracy of estimating vibration energy with a period longer than the division width will deteriorate. Therefore, by taking the following measure [2], the waveform of vibrations whose energy cannot be estimated is output as is.

[0154] Alternatively, components below a predetermined frequency may be extracted and presented as vibration stimulation (measure [2]). The predetermined frequency may be 80 to 125 Hz or higher, but components above the predetermined frequency may be expressed by the energy control unit 113 of the second signal component. This allows for flexibility in frequency selection. However, if the predetermined frequency is set too high, noise problems may occur or a wide-band vibration device may be required.

[0155] According to the above measures [1] and [2], the predetermined frequency may be about 80 to 400 Hz, with 400 Hz being the upper limit from the viewpoint of noise issues and the performance of the vibration device.

[0156] Setting the predetermined frequency also involves selecting the carrier frequency used to convert the vibration. Since the peak vibration frequency at which human perception improves is around 200 to 250 Hz, a practical carrier frequency that increases sensitivity without generating noise is around 150 to 400 Hz. The carrier frequency may be a constant multiple of the division width. Furthermore, multiple different carrier frequencies may be used, and may include a high frequency range of 400 Hz or higher.

[0157] Furthermore, the predetermined frequency that separates the low frequency and the high frequency does not necessarily have to match the frequency of the division width for calculating the energy.

[0158] The corrected energy, which is the vibration energy corrected to improve human perceptibility, can be expressed as follows:

[0159]

number

[0160] FIG. 26 is a graph showing the amplitude threshold Tf used in calculating the correction energy.

[0161] As shown in Figure 26, the amplitude threshold varies depending on the frequency; humans can sense even relatively small amplitudes in the range of approximately 102 to 103 Hz, but in other ranges, humans cannot sense anything other than relatively large amplitudes.

[0162] FIG. 27 is a graph showing the exponent value bf used in calculating the correction energy.

[0163] The exponent value bf in FIG. 27 is an example in which a value obtained by linearly interpolating the previously reported exponent value bf of 400 Hz or less is used.

[0164] FIG. 28 is a diagram for explaining the use of a window function in the vibration distribution control device 1 shown in FIG.

[0165] As shown by symbol D1, a high-frequency signal H(t) is input. As shown by symbol D2, the high-frequency signal H(t) is divided into frames i, i+1, i+2, and so on, as signals hi, hi+1, hi+2, and so on. As shown by symbol D3, the signal h of each divided frame is separated into multiple basis signals g1, g2, g3, and so on. As shown by symbol D4, scalar values ​​Ei, Ei+1, Ei+2, and so on are output, which combine the corrected energies of all the basis signals g1, g2, g3, and so on, based on the frequencies f1, f2, f3, and so on possessed by the basis signals g1, g2, g3, and so on. As shown in symbol D5, the scalar values ​​Ei, Ei+1, Ei+2,... of the vibration energy calculated for each frame i are converted into a vibration waveform having the same vibration energy but a different carrier frequency, and windowing processing is performed using a window function on the amplitudes ai(t), ai+1(t), ai+2(t),... of the waveform. As shown in symbol D6, frame synthesis is performed on the 1st to Nth frames, and the amplitude A(t) of the vibration waveform is output. As shown in symbol D7, a second vibration waveform S2(t) having a carrier frequency such that the amplitude is A(t) is output.

[0166] FIG. 29 is a graph illustrating an example of combining low and high frequencies in the vibration distribution control device 1 shown in FIG.

[0167] The second vibration waveform S2(t) shown by symbol E1, which is generated from the high-frequency signal H(t) using the window function in Fig. 28, is combined with the first vibration waveform S1(t) shown by symbol E2, which is the low-frequency signal L(t) output as is, to output the combined waveform S1(t)+S2(t) shown by symbol E3.

[0168] FIG. 30 is a graph showing a specific example of the waveform of a signal before and after conversion by the vibration distribution control device 1 shown in FIG.

[0169] In FIG. 30, the waveform of the violin sound before conversion (see symbol F1) and the waveform after conversion (see symbol F2) are represented by amplitude over time.

[0170] Conventional tactile vibration produces a large amount of auditory noise when used with high-frequency vibrations such as those of a violin, and applying a low-pass filter eliminates the vibrations that humans can perceive. Therefore, the correction energy is calculated so that the waveform becomes a single wavelength with a low-frequency carrier frequency over time.

[0171] FIG. 31 is a block diagram illustrating an example of the functional configuration of the ISM unit 1000 in the vibration distribution control device 1 shown in FIG.

[0172] The ISM unit 1000 functions as a time division control unit 112, an energy control unit 113, an energy vibration conversion unit 114a, and a vibration generation unit 114b. In this embodiment, the ISM unit 1000 controls vibrations containing high frequency components of about 100 Hz or more by the vibrator 31 using signals. Methods of controlling vibrations containing high frequency components of 100 Hz or more according to the present invention are collectively referred to as ISM.

[0173] The time division control unit 112 time-divides a vibration signal X(t) containing high-frequency components of about 100 Hz or more into N frames, and inputs the signal hi of the time-divided i-th frame to the energy control unit 113. The number of frames N may be determined by a predetermined period and an overlap rate of the windowing process.

[0174] The energy control unit 113 calculates a corrected energy ei for the signal hi of the i-th frame, and inputs the calculated corrected energy to the energy vibration conversion unit 114a.

[0175] The energy vibration conversion unit 114a generates a signal A(t) by combining the corrected energies e1 to eN of the 1st to Nth frames, and inputs the signal A(t) to the second vibration generation unit 114b.

[0176] The vibration generating unit 114b outputs a signal waveform S(t) based on the synthesized signal A(t).

[0177] A first example of the vibration waveform generation process in the vibration distribution control device 1 shown in FIG. 22 will be described with reference to the block diagram (steps S1 to S7) shown in FIG.

[0178] The signal elimination unit 111a and the low-pass filter 111b shown in Fig. 32 correspond to the frequency elimination control unit 111 shown in Fig. 22. Furthermore, the energy vibration conversion unit 114a, the second vibration generation unit 114b, and the first vibration generation unit 114c shown in Fig. 32 correspond to the signal output unit 114 shown in Fig. 22.

[0179] The signal removal unit 111a removes components below a predetermined frequency from the acquired pre-conversion signal X(t) to generate a high-frequency signal H(t), and inputs the high-frequency signal H(t) to the time-division control unit 112 (step S1).

[0180] The time division control unit 112 time-divides the high frequency signal H(t) into N frames, and inputs the signal hi of the time-divided i-th frame to the energy control unit 113 (step S2). The number of frames N may be determined by a predetermined period and an overlap rate of the windowing process.

[0181] The energy control unit 113 calculates the corrected energy ei for the signal hi of the i-th frame, and inputs the calculated corrected energy to the energy vibration conversion unit 114a (step S3).

[0182] The energy vibration conversion unit 114a generates a signal A(t) by combining the corrected energies e1 to eN of the 1st to Nth frames, and inputs the signal A(t) to the second vibration generation unit 114b (step S4).

[0183] The second vibration generating unit 114b outputs the second vibration waveform S2(t) based on the synthesized signal A(t) (step S5).

[0184] Meanwhile, the low-pass filter 111b filters out components below a predetermined frequency from the acquired pre-conversion signal X(t), and inputs the resulting low-pass signal L(t) to the first vibration generating unit 114c (step S6).

[0185] The first vibration generating unit 114c outputs a first vibration waveform S1(t) based on the low-frequency signal L(t) (step S7).

[0186] Next, the energy control process shown in step S3 of FIG. 32 will be described in detail with reference to the block diagram shown in FIG. 33 (steps S11 to S14).

[0187] As shown in FIG. 33, the energy control unit 113 functions as a basis signal separation control unit 113a, a frequency calculation unit 113b, an energy correction parameter calculation unit 113c, and a correction energy calculation unit 113d.

[0188] The basis signal separation control unit 113a separates the time-divided i-th frame signal hi, which is the input signal, into multiple basis signals g, and inputs the separated k-th basis signal gk to the frequency calculation unit 113b (step S11). For example, the signals may be separated by short-time Fourier analysis, wavelet analysis, empirical mode decomposition (EMD), or the like.

[0189] The frequency calculation unit 113b calculates the frequency fk of the k-th basis signal gk by, for example, discrete Fourier analysis or Hilbert Spectrum analysis, and inputs it to the energy correction parameter calculation unit 113c (step S12).

[0190] The energy correction parameter calculation unit 113c calculates the exponent value bk and the amplitude threshold value Tk explained with reference to FIGS. 26 and 27 based on the frequency fk, and inputs them to the corrected energy calculation unit 113d (step S13).

[0191] The corrected energy calculation unit 113d calculates the corrected energy Ipc for each base signal gk based on the exponent value bk and the amplitude threshold Tk according to the formula shown in equation 16, and outputs a scalar value ei that is the sum of the corrected energies of all the base signals gk (step S14).

[0192] Next, as a second example of the vibration waveform generation process in the vibration distribution control device 1 shown in Figure 22, the separation process of low-frequency components in the energy control process shown in Figure 31 will be explained according to the block diagram shown in Figure 34 (steps S101 to S105).

[0193] As shown in FIG. 34, the energy control unit 113 functions as a basis signal separation control unit 113a, a frequency calculation unit 113b, an energy correction parameter calculation unit 113c, and a correction energy calculation unit 113d, and may also have the function of separating low-frequency components to a low-frequency component synthesis unit 113g.

[0194] The basis signal separation control unit 113a separates the time-divided i-th frame signal hi, which is an input signal, into multiple basis signals g, and inputs the separated k-th basis signal gk to the frequency calculation unit 113b (step S101). For example, the signals may be separated by short-time Fourier analysis, wavelet analysis, EMD method, or the like.

[0195] The frequency calculation unit 113b calculates the frequency fk of the k-th basis signal gk by, for example, discrete Fourier analysis or Hilbert Spectrum analysis, and inputs it to the energy correction parameter calculation unit 113c (step S102).

[0196] The energy correction parameter calculation unit 113c calculates the exponent value bk and the amplitude threshold value Tk explained with reference to FIGS. 26 and 27 based on the frequency fk, and inputs them to the corrected energy calculation unit 113d (step S103).

[0197] The corrected energy calculation unit 113d calculates the corrected energy Ipc for each base signal gk based on the exponent value bk and the amplitude threshold Tk according to the formula shown in equation 16, and outputs a scalar value ei that is the sum of the corrected energies of all the base signals gk (step S104).

[0198] The low-frequency component synthesis unit 113g synthesizes a base signal in which the frequency fk of the base signal gk is lower than a predetermined frequency, and generates a low-frequency component L(t) (step S105).

[0199] For a sound source including signals of multiple frequency bands, there are cases where it is desired to emphasize the vibration energy of a specific frequency band and present it as vibration. In such a case, the energy control units 1131 and 1132 as modified examples that are applied when adjusting the energy of a base signal present in a predetermined frequency band and converting a waveform will be described with reference to Figs. 35 to 40.

[0200] (a) to (c) of Fig. 35 are graphs illustrating an example in which vibrations are generated according to ISM without waveform enhancement. Fig. 35 shows a band corresponding to the waveform of a cymbal (drum) of high-frequency components from a piano trio piece, and bands corresponding to the waveforms of the piano and bass. In (a) to (c) of Fig. 35, the horizontal axis represents time [s], and the vertical axis represents frequency [Hz], with darker spectra indicating greater power and lighter spectra indicating less power.

[0201] FIG. 35(a) shows the distribution of the sound source spectrum, with the waveform of the cymbal, which is a high frequency component, indicated by a dashed line, and the waveforms of the piano and bass, which are low frequency components, indicated by a dashed line.

[0202] Figure 35(b) shows the spectral distribution (centered at 200 Hz) after conversion using ISM. In Figure 35(b), the cymbal, piano, and bass are all extracted as intensities due to the effect of ISM.

[0203] Figure 35(c) shows an example in which the signal is converted to a signal using the representative frequency of the base signal, rather than being converted to a signal with a frequency of 200 Hz based on the intensity. This visualizes which frequency bands are emphasized.

[0204] Figures 36(a) to (c) are graphs illustrating a first example of separating high-frequency components from a sound source by emphasizing them. Figure 36 shows an example of separating high-frequency components, such as cymbals (drums), from a piano trio piece by emphasizing them. In Figures 36(a) to (c), the horizontal axis represents time [s] and the vertical axis represents frequency [Hz], with darker spectra indicating greater power and lighter spectra indicating less power.

[0205] FIG. 36(a) shows the distribution of the sound source spectrum, with the waveform of the cymbal, which is a high frequency component, indicated by a dashed line, and the waveforms of the piano and bass, which are low frequency components, indicated by a dashed line.

[0206] Figure 36(b) shows the spectral distribution (centered at 200 Hz) after conversion using ISM. In Figure 36(b), only the intensity above 3000 Hz is increased by +20 dB (100 times).

[0207] Figure 36(c) shows an example where the signal is converted to a signal with a representative frequency of the base signal, rather than converted to a signal with a frequency of 200 Hz based on the intensity. This visualizes which frequency bands are emphasized. In Figure 36(c), the power of the cymbal spectrum is increased.

[0208] (a) to (c) of Fig. 37 are graphs illustrating a second example of separating high-frequency components from a sound source by emphasizing them. Fig. 37 shows an example of separating high-frequency components, such as cymbals (drums), from a piano trio piece by emphasizing them. In (a) to (c) of Fig. 37, the horizontal axis represents time [s] and the vertical axis represents frequency [Hz], with darker spectra indicating greater power and lighter spectra indicating less power.

[0209] FIG. 37(a) shows the distribution of the sound source spectrum, with the waveform of the cymbal, which is a high frequency component, indicated by a dashed line, and the waveforms of the piano and bass, which are low frequency components, indicated by a dashed line.

[0210] Figure 37(b) shows the spectral distribution (centered at 200 Hz) after conversion using ISM. In Figure 37(b), the intensity above 3000 Hz is increased by +20 dB (100 times), while the intensity below 1000 Hz is decreased by -10 dB (1 / 10 times).

[0211] Figure 37(c) shows an example where the signal is converted to a signal with a representative frequency of the base signal, rather than converted to a signal with a frequency of 200 Hz based on the intensity. This visualizes which frequency bands are emphasized. In Figure 37(c), the power of the cymbal spectrum is increased.

[0212] (a) to (c) of Fig. 38 are graphs illustrating an example of separating low-frequency components from a sound source by emphasizing them. Fig. 38 shows an example of separating low-frequency components, piano and bass, from a piano trio piece by emphasizing them. In (a) to (c) of Fig. 38, the horizontal axis represents time [s] and the vertical axis represents frequency [Hz], with darker spectra indicating greater power and lighter spectra indicating less power.

[0213] FIG. 38(a) shows the distribution of the sound source spectrum, with the waveform of the cymbal, which is a high frequency component, indicated by a dashed line, and the waveforms of the piano and bass, which are low frequency components, indicated by a dashed line.

[0214] Figure 38(b) shows the spectral distribution (centered at 200 Hz) after conversion using ISM. In Figure 38(b), the intensity below 1000 Hz is increased by +10 dB (10 times).

[0215] Figure 38(c) shows an example in which the signal is converted to a signal using the representative frequency of the base signal, rather than being converted to a signal with a frequency of 200 Hz based on the intensity. This visualizes which frequency bands are emphasized. In Figure 38(c), the power of the piano and bass spectra is increased.

[0216] A first modified example of the energy control process shown in FIG. 31 will be described with reference to the block diagram shown in FIG. 39 (steps S41 to S45).

[0217] As shown in FIG. 39, the energy control unit 1131 functions as a gain calculation unit 113e in addition to the basis signal separation control unit 113a, frequency calculation unit 113b, energy correction parameter calculation unit 113c, and corrected energy calculation unit 113d shown in FIG.

[0218] The basis signal separation control unit 113a separates the time-divided i-th frame signal hi, which is the input signal, into multiple basis signals g, and inputs the separated k-th basis signal gk to the frequency calculation unit 113b (step S41). For example, the signals may be separated by short-time Fourier analysis, wavelet analysis, EMD, or the like.

[0219] The frequency calculation unit 113b calculates the frequency fk of the k-th basis signal gk by, for example, discrete Fourier analysis or Hilbert Spectrum analysis, and inputs it to the energy correction parameter calculation unit 113c (step S42).

[0220] The energy correction parameter calculation unit 113c calculates the exponent value bk and the amplitude threshold value Tk explained with reference to FIGS. 26 and 27 based on the frequency fk, and inputs them to the corrected energy calculation unit 113d (step S43).

[0221] The gain calculation unit 113e outputs a predetermined gain value Gk for each frequency band according to the frequency fk of the calculated base signal gk (step S44). When it is desired to emphasize energy, Gk is set to be greater than 1, and when it is desired to suppress energy, Gk is set to be 0≦Gk<1. The energy adjustment by emphasis or suppression may be performed for one frequency band or for multiple frequency bands. Furthermore, the energy adjustment may be performed for the entire frequency band input to the energy control unit 1131.

[0222] The corrected energy calculation unit 113d calculates a gain-adjusted corrected energy Ipc for each separated base signal gk for the amplitude A of the base signal gk according to the following formula 2, and outputs a scalar value ei that is the sum of the corrected energies of all the base signals gk (step S45).

number

[0223] A second modification of the energy control process shown in FIG. 31 will be described with reference to the block diagram shown in FIG. 40 (steps S51 to S56).

[0224] As shown in Figure 40, the energy control unit 1132 functions as a gain calculation unit 113e and a signal source identification unit 113f in addition to the basis signal separation control unit 113a, frequency calculation unit 113b, energy correction parameter calculation unit 113c, and corrected energy calculation unit 113d shown in Figure 33.

[0225] The basis signal separation control unit 113a separates the time-divided i-th frame signal hi, which is the input signal, into multiple basis signals g, and inputs the separated k-th basis signal gk to the frequency calculation unit 113b (step S51). For example, the signals may be separated by short-time Fourier analysis, wavelet analysis, EMD, or the like.

[0226] The frequency calculation unit 113b calculates the frequency fk of the k-th basis signal gk by, for example, discrete Fourier analysis or Hilbert Spectrum analysis, and inputs it to the energy correction parameter calculation unit 113c (step S52).

[0227] The energy correction parameter calculation unit 113c calculates the exponent value bk and the amplitude threshold value Tk explained with reference to FIGS. 26 and 27 based on the frequency fk, and inputs them to the corrected energy calculation unit 113d (step S53).

[0228] The signal source identification unit 113f estimates identification candidates from the input signals hi and the history of hi based on the set signal features, identifies which signal source the basis signal gk belongs to, and outputs the identification result as an ID (identifier) ​​or the like (step S54). The signal source identification unit 113f may have a classifier prepared in advance using machine learning or the like. For example, the features of many musical instruments may be learned using deep learning, and a group of candidates (e.g., piano, bass, drums) may be estimated as to which instrument the current input signal hi (or the history of each of the multiple input signals hi if the input signal hi is too short) may be included, and the instrument to which the basis signal gk belongs may be identified.

[0229] The gain calculation unit 113e outputs a predetermined gain value Gk for each frequency band according to the ID identified by the signal source identification unit 113f (step S55). When it is desired to emphasize energy, Gk is set to be greater than 1, and when it is desired to suppress energy, Gk is set to be 0≦Gk<1. The energy adjustment by emphasis or suppression may be performed for one frequency band or for multiple frequency bands. Furthermore, the energy adjustment may be performed for the entire frequency band input to the energy control unit 1132.

[0230] The corrected energy calculation unit 113d calculates the gain-adjusted corrected energy Ipc for each of the separated base signals gk according to the formula shown in Equation 17 for the amplitude A of the base signals gk, and outputs a scalar value ei that is the sum of the corrected energies of all the base signals gk (step S56).

[0231] Next, the energy synthesis process shown in step S4 of FIG. 31 will be described in detail with reference to the block diagram shown in FIG. 41 (steps S21 to S23).

[0232] The energy vibration converter 114a functions as an energy equivalent converter 1141a, a windowing processor 1142a, and a frame synthesizer 1143a.

[0233] As shown in FIG. 41, the energy equivalent conversion unit 1141a converts the scalar value ei of the vibration energy calculated for each frame i into a vibration waveform having the same vibration energy but a different carrier frequency, and outputs the amplitude ai(t) of the waveform to the windowing processing unit 1142a (step S21).

[0234] The windowing processor 1142a performs windowing processing on the input amplitude ai(t) of each frame i using the window function shown in FIG. 28, and inputs the processing result to the frame synthesizer 1143a (step S22).

[0235] The frame synthesis unit 1143a performs frame synthesis on the input from the windowing processing unit 1142a for the 1st to Nth frames, and outputs the amplitude A(t) of the vibration waveform (step S23).

[0236] Next, the details of the process for generating the corrected vibration waveform shown in step S5 of FIG. 31 will be described with reference to the block diagram shown in FIG. 42 (steps S31 and S32).

[0237] 42, the second vibration generation unit 114b functions as an amplitude vibration conversion unit 1141b and a waveform output unit 1142b. The second vibration generation unit 114b receives an input signal A(t) and outputs a sine wave having a carrier frequency. The phase of the generated waveform may be controlled so that the vibrations are smoothly connected.

[0238] The amplitude vibration converter 1141b converts the input amplitude A(t) into vibration (step S31).

[0239] The waveform output unit 1142b outputs a sine wave S2(t) having a carrier frequency such that the amplitude becomes A(t) (step S32).

[0240] [B] Effect According to the vibration distribution control device 1, the signal control program, and the signal control method in the example of the embodiment, for example, the following advantageous effects can be achieved.

[0241] The time division control unit 112 divides a signal related to a vibration source of an arbitrary waveform located at a certain position into predetermined time intervals. The energy control unit 113 applies a predetermined attenuation formula to the signal energy according to the distance and direction from the vibration source to each of the multiple transducers for each of the predetermined time intervals divided by the time division control unit 112, and distributes the signal energy to the multiple transducers to convert the signal into a waveform with a different frequency. The signal output unit 114 outputs the signal converted by the energy control unit 113, and allows a person to experience output vibrations generated from the converted signal using the multiple transducers.

[0242] This allows humans to experience any vibration waveform containing multiple frequencies, improving the reality of the tactile sensation. Also, it allows humans to experience the direction, distance, or movement of an external vibration source, the position and movement of a vibration source on the body surface or inside the body, and the sensation of a vibration source moving from the external world to the body or from the body to the external world.

[0243] Furthermore, by adapting the vibration distribution control device 1, the vibration distribution control program, or the vibration distribution control method to various devices shown in Figures 10 to 15, etc., it is possible to add a sense of direction, distance, movement, etc. to the vibration sensation and notify the user, thereby creating a sense of the presence of the object that is the source of the vibration, a sense of presence in the environment, and a sense of reality in the sensation.

[0244] [C] Other The disclosed technology is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the embodiments. The configurations and processes of the embodiments can be selected or combined as needed.

[0245] FIG. 43 is a block diagram showing an example of the configuration of the DAC2 when a plurality of vibration devices 310 and 320 are used in the vibration generating system 100 shown in FIG.

[0246] In the example shown in Fig. 43, the DAC2 shown in Fig. 22 functions as a high-frequency gain adjuster 21a, a low-frequency gain adjuster 21b, a high-frequency vibration device drive circuit 22a, and a low-frequency vibration device drive circuit 22b. Also, the vibrator 31 shown in Fig. 22 functions as a high-frequency vibration device 310 and a low-frequency vibration device 320. The set of the high-frequency gain adjuster 21a, the high-frequency vibration device drive circuit 22a, and the high-frequency vibration device 310 and the set of the low-frequency gain adjuster 21b, the low-frequency vibration device drive circuit 22b, and the low-frequency vibration device 320 are provided in the same number as the number of vibrators 31 shown in Fig. 22.

[0247] The high-frequency gain adjuster 21a outputs the second vibration waveform S2(t) input from the vibration distribution control device 1 to the high-frequency vibration device 310 via the high-frequency vibration device drive circuit 22a. The low-frequency gain adjuster 21b outputs the first vibration waveform S1(t) input from the vibration distribution control device 1 to the low-frequency vibration device 320 via the low-frequency vibration device drive circuit 22b.

[0248] FIG. 44 is a block diagram showing an example of the configuration of a DAC when a single vibration device is used in the vibration generating system 100 shown in FIG.

[0249] In the example shown in Fig. 44, the DAC2 shown in Fig. 22 functions as the high-frequency gain adjuster 21a, the low-frequency gain adjuster 21b, and the vibration device drive circuit 22. Moreover, the vibrator 31 shown in Fig. 22 functions as the vibration device 30. The number of sets of the high-frequency gain adjuster 21a, the low-frequency gain adjuster 21b, the vibration device drive circuit 22, and the vibration device 30 provided is equal to the number of the vibrators 31 shown in Fig. 22.

[0250] The high-frequency gain adjuster 21a and the low-frequency gain adjuster 21b output the second vibration waveform S2(t) and the first vibration waveform S1(t) input from the vibration distribution control device 1 to a common vibration device 30 via a common vibration device driving circuit 22, respectively. [Explanation of symbols]

[0251] 100: Vibration generation system 101: Floor-mounted vibration device 102: Clothing-type vibration device 103: Wristband type vibration device 104: Game controller 105: Smartphone 1: Vibration distribution control device 11: CPU 1000:ISM Department 111: Frequency removal control section 111a: Signal removal section 111b:Low pass filter 111d: Correction energy calculation unit 112: Time division control section 113, 1131, 1132: Energy control unit 113a: Basis signal separation control section 113b: Frequency calculation unit 113c: Energy correction parameter calculation unit 113d: Correction energy calculation unit 113e: Gain calculation unit 113f: Signal source identification section 113g: Low frequency component synthesis section 114: Signal output section 114a: Energy vibration conversion part 114b: Second vibration generation section 114c: 1st vibration generation section 1141a: Energy equivalent conversion unit 1142a: Window processing unit 1143a: Frame synthesis unit 1141b: Amplitude vibration converter 1142b: Waveform output section 12: Memory 13:Storage device 2:DAC 21a: High frequency gain adjuster 21b: Low frequency gain adjuster 22: Vibration device drive circuit 22a: High frequency vibration device drive circuit 22b: Low-frequency vibration device drive circuit 30: Vibration device 31: Vibrator 310: High-frequency vibration device 320: Low-frequency vibration device 32: Speakers / Headphones 33:Display device

Claims

1. A vibration distribution control device that controls vibrations in multiple vibrators, some of which are attached to a human body and other of which are placed in an environment in contact with the human body, comprising: a time division control unit that divides a signal related to a first vibration source having an arbitrary waveform at a certain position into predetermined time intervals, and divides a signal related to a second vibration source different from the first vibration source into the predetermined time intervals; a control unit that distributes energy of the signal to the plurality of transducers according to an azimuth angle between the first vibration source and a portion of the plurality of transducers and an azimuth angle between the second vibration source and a portion of the plurality of transducers for each of the predetermined times divided by the time division control unit, and converts the signal into a waveform having a different frequency from that of the signal; a signal output unit that outputs the signal converted by the control unit and causes a person to experience output vibrations generated from the converted signal using the plurality of vibrators; A vibration distribution control device comprising:

2. A portion of the plurality of vibrators is disposed in a wearable vibrating device, The other part of the plurality of vibrators is disposed on a floor-mounted vibration device, The vibration distribution control device according to claim 1 .

3. The vibrations of the plurality of vibrators are controlled in cooperation with at least one of virtual reality (VR) goggles that provide visual presentation to humans and headphones that provide stereophonic presentation to humans. The vibration distribution control device according to claim 1 or 2.

4. A vibration distribution control device, part of which is attached to a human body and other parts of which are placed in an environment in contact with the human body, for controlling vibrations in a plurality of vibrators which are driven in synchronization with each other via wireless communication, a time division control unit that divides a signal related to a vibration source of an arbitrary waveform located at a certain position into predetermined time intervals; a control unit that distributes energy of the signal to the plurality of transducers according to an azimuth angle between the vibration source and some of the plurality of transducers and an azimuth angle between the vibration source and other of the plurality of transducers for each of the predetermined times divided by the time division control unit, and converts the signal into a waveform having a different frequency from that of the signal; a signal output unit that outputs the signal converted by the control unit and causes a person to experience output vibrations generated from the converted signal using the plurality of vibrators; A vibration distribution control device comprising:

5. Some of the plurality of vibrators are arranged in a ring shape in the wristband-type vibration device, The other part of the plurality of vibrators is built into the game controller, The vibration distribution control device according to claim 4 .

6. Some of the plurality of vibrators are arranged in a ring shape in the wristband-type vibration device, The other part of the plurality of vibrators is built into a mobile terminal having a display, The vibration distribution control device according to claim 4 .

7. A vibration distribution control device is a device that controls vibrations of a plurality of vibrators including two or more first vibrators attached to a human body and two or more second vibrators placed in an environment in contact with the human body, the plurality of vibrators being driven in synchronization with each other via wireless communication, a time division control unit that divides a signal related to a first vibration source having an arbitrary waveform at a certain position into predetermined time intervals, and divides a signal related to a second vibration source different from the first vibration source into the predetermined time intervals; a control unit that distributes energy of the signal to the plurality of transducers according to an azimuth angle between the first vibration source and a portion of the first transducer and the second transducer, and an azimuth angle between the second vibration source and another portion of the first transducer and the second transducer, for each of the predetermined times divided by the time division control unit, and converts the signal into a waveform having a different frequency from that of the signal; a signal output unit that outputs the signal converted by the control unit and causes a person to experience output vibrations generated from the converted signal using the plurality of vibrators; A vibration distribution control device comprising:

8. A portion of the first vibrator is arranged in a ring shape in a first wristband-type vibration device so as to be worn on the left wrist of the person; the other part of the first vibrator is arranged in a ring shape in a second wristband-type vibration device so as to be worn on the person's right wrist; a part of the second vibrator is built into the game controller at a position where it is held by the person's left hand, the other part of the second vibrator is built into the game controller at a position where it is held by the person's right hand, The vibration distribution control device according to claim 7.

9. The control unit applies a predetermined attenuation formula to the energy of the signal depending on the distance between a part of the plurality of vibrators and the first vibration source, and also applies a predetermined attenuation formula to the energy of the signal depending on the distance between another part of the plurality of vibrators and the second vibration source. The vibration distribution control device according to any one of claims 1 to 3, 7 and 8.

10. The predetermined attenuation formula and the distribution of the energy of the signal are determined according to the distance and azimuth angle between a perception origin determined by the geometric arrangement of a part of the plurality of oscillators and a part of the plurality of oscillators, and are also determined according to the distance and azimuth angle between a perception origin determined by the geometric arrangement of another part of the plurality of oscillators and a part of the plurality of oscillators. The vibration distribution control device of claim 9.

11. The output vibration can be experienced by the human by individually defining the combination of the plurality of vibrators and the perception origin for a plurality of different body parts of the human. The vibration distribution control device of claim 10.

12. A vibration distribution control device that controls vibrations of a plurality of vibrators, some of which are arranged on the back of a chair and other of which are arranged on the seat of the chair, comprising: a time division control unit that divides a signal related to a vibration source of an arbitrary waveform located at a certain position into predetermined time intervals; a control unit that distributes energy of the signal to the plurality of transducers according to an azimuth angle between the vibration source and some of the plurality of transducers and an azimuth angle between the vibration source and other of the plurality of transducers for each of the predetermined times divided by the time division control unit, and converts the signal into a waveform having a different frequency from that of the signal; a signal output unit that outputs the signal converted by the control unit and causes a person to experience output vibrations generated from the converted signal using the plurality of vibrators; A vibration distribution control device comprising:

13. The vibrations of the plurality of vibrators are controlled in cooperation with a speaker that presents stereophonic sound to a person. The vibration distribution control device of claim 12.

14. The position of the sound source of the stereophonic sound presented by the speaker coincides with the position of the vibration source. The vibration distribution control device of claim 13.

15. A vibration distribution control device for controlling vibrations in a plurality of vibrators, comprising: a time division control unit that divides a signal related to a vibration source of an arbitrary waveform located at a certain position into predetermined time intervals; a control unit that distributes energy of the signal to the plurality of transducers according to an azimuth angle of the vibration source relative to each of the plurality of transducers for each of the predetermined time periods divided by the time division control unit, and converts the signal into a waveform having a different frequency from that of the signal; a signal output unit that outputs the signal converted by the control unit and causes a person to experience output vibrations generated from the converted signal using the plurality of vibrators; In addition to providing The device includes at least one of virtual reality (VR) goggles that provide visual presentation to humans and headphones that provide stereophonic presentation to humans, Controlling vibrations in the plurality of vibrators in cooperation with the VR goggles or the headphones. Vibration distribution control device.

Images