Tactile presentation device and tactile presentation method

Abstract

The present invention provides a tactile sensation presentation device which, with a simple configuration, is capable of presenting a good clicking sensation while reducing vibration at a stability point.　The tactile sensation presentation device comprises: a detection unit that detects the rotation position of an operation part; a biasing part that biases, on the basis of a drive signal, the operation part along the rotation direction of the operation part; a signal generation unit that generates the drive signal which drives the biasing part on the basis of the rotation position; and a low pass filter unit that attenuates a high-frequency component of the drive signal and outputs the attenuated high-frequency component to the biasing part, wherein the signal generation unit generates a drive signal that biases the operation part to another side in the rotation direction when the rotation position is located between the first and second positions or a drive signal that biases the operation part to one side in the rotation direction when the rotation position is located between the first and third positions, and the low pass filter unit attenuates the high-frequency component of the drive signal more when the rotation position is in a first range that includes a first position but does not include second and third positions than when the rotation position is in a second range that includes the second position and that is outside the first range or in a third range that includes the third position and that is outside the first and second ranges.

Description

[Technical Field]

[0001] The present disclosure relates to a tactile presentation device and a tactile presentation method. [Background technology]

[0002] A conventional rotary operating device includes an operating member that can rotate in response to an operation by an operator, a rotation angle sensor that detects the rotation angle of the operating member, a torque applying unit that applies a torque to the operating member along the rotation direction of the operating member, a friction force applying unit that applies a friction force to the operating member, and a friction torque control unit that changes the applied torque and the friction force according to the rotation angle. In order to suppress vibrations near a stable point due to torque application by the torque applying unit, a friction torque is applied using a magnetorheological fluid or the like (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2018 / 135371 Summary of the Invention [Problem to be solved by the invention]

[0004] A rotary operating device as a conventional tactile presentation device requires a friction force applying unit and a friction torque control unit to suppress vibrations at and near the stable point, and therefore the configuration is not simple.

[0005] Therefore, an object of the present invention is to provide a tactile presentation device and a tactile presentation method that can present a good click feeling while reducing vibrations at and near the stable point with a simple configuration. [Means for solving the problem]

[0006] A tactile presentation device according to an embodiment of the present disclosure includes: an operation unit that can be rotated; a detection unit that detects a rotational position of the operation unit; a biasing unit that biases the operation unit along a rotational direction of the operation unit based on an input drive signal; a signal generation unit that generates a drive signal to drive the biasing unit based on the rotational position; and a low-pass filter unit that attenuates high-frequency components of the drive signal generated by the signal generation unit and outputs the attenuated signal to the biasing unit, wherein the signal generation unit generates a low-pass filter when the rotational position is between a first position and a second position that is on one side of the first position in the rotational direction. When the rotational position is between the first position and a third position on the other side of the first position, the biasing unit generates the drive signal to bias toward one side, and when the rotational position is between the first position and a third position on the other side of the first position, the biasing unit attenuates the high-frequency components of the drive signal more strongly when the rotational position is within a first range that includes the first position and does not include the second position or the third position than when the rotational position is within a second range that includes the second position and is outside the first range, or when the rotational position is within a third range that includes the third position, is outside the first range, and is outside the second range. [Effects of the Invention]

[0007] It is possible to provide a tactile presentation device and a tactile presentation method that can present a good clicking sensation while reducing vibrations at and near the stable point with a simple configuration. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a perspective view illustrating an example of a configuration of a tactile presentation device according to an embodiment. [Figure 2] 2 is a partial cross-sectional view of the tactile presentation device taken along the line AA in FIG. 1. FIG. [Figure 3] FIG. 1 is a block diagram showing an example of the configuration of a tactile presentation device. [Figure 4] FIG. 10 is a diagram illustrating an example of the relationship between the rotation position of a knob and the output torque of a motor. [Figure 5A] FIG. 10 is a diagram illustrating an example of frequency characteristics of the absolute value of a transfer function of a digital filter with respect to an input signal. [Figure 5B] FIG. 1 is a diagram illustrating an example of characteristics of a cutoff frequency with respect to a filter parameter in a digital filter. [Figure 6] FIG. 10 is a diagram showing an example of the relationship between filter parameters and the time change in the acceleration of the knob as an output. [Figure 7A] FIG. 10 is a diagram showing an example of the relationship between the rotation speed of a knob and the change in output torque of a motor over time. [Figure 7B] FIG. 10 is a diagram showing an example of the relationship between the rotation speed of a knob and the change in output torque of a motor over time. [Figure 8] 10A to 10C are diagrams illustrating an example of a first range R1, a second range R2, and a third range R3 of rotational positions. [Figure 9] 10 is a flowchart illustrating an example of processing executed by an MCU. [Figure 10A] FIG. 10 is a diagram showing an example of variations in angular characteristics of output torque. [Figure 10B] FIG. 10 is a diagram showing an example of variations in angular characteristics of output torque. [Figure 10C] FIG. 10 is a diagram showing an example of variations in angular characteristics of output torque. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments to which the tactile presentation device and tactile presentation method of the present disclosure are applied will be described.

[0010] <Embodiment> FIG. 1 is a perspective view showing an example of the configuration of a tactile presentation device 100 according to this embodiment. The tactile presentation device 100 includes a housing 101, a knob 110 rotatably supported by the housing 101, and a display / input device 102 attached to the housing 101. The knob 110 is an example of an operation unit that can be rotated by an operator. The tactile presentation device 100 generates an output corresponding to the rotation of the knob 110, such as the rotation position and rotation speed. For example, when the tactile presentation device 100 is used as an audio input device (not shown), the volume is changed according to the rotation position of the knob 110. Furthermore, when the tactile presentation device 100 is used as an operation device for a vehicle transmission (not shown), the shift position of the transmission is changed according to the rotation position. Furthermore, the tactile presentation device 100 is not limited to these applications and can also be used as an operation device for a game console, other electronic devices, and the like.

[0011] Further, although the knob 110 is described here as being rotatable, the knob 110 may be an operating part that slides between one side and the other side in one direction, like a slider.

[0012] The display / input device 102 is a touch panel display that displays various information to an operator and receives input from the operator. In another example, the display / input device 102 may present information and receive input by operating a mechanical member such as a dial, slider, or switch. The display / input device 102 may present information and receive input using another principle, such as audio. Note that while FIG. 1 shows an embodiment in which the tactile presentation device 100 includes the display / input device 102, the tactile presentation device 100 may not include the display / input device 102.

[0013] Fig. 2 is a partial cross-sectional view of the tactile presentation device 100 taken along the line AA in Fig. 1. The cross-section of Fig. 2 passes through the rotation axis 110A of the knob 110. In addition to the housing 101, the display input device 102 (see Fig. 1), and the knob 110, the tactile presentation device 100 includes a rotation shaft 111, a rotation position sensor 120, and a motor 130, as shown in Fig. 2. The rotation position sensor 120 is an example of a detection unit. The motor 130 is an example of a biasing unit.

[0014] As shown in FIG. 2, the knob 110 is exposed outside the housing 101 of FIG. 1, and is connected to a rotating shaft 111 housed within the housing 101. The knob 110 has an outer shape that is approximately cylindrical with a central axis extending along the rotation axis 110A. The rotating shaft 111 extends from the knob 110 along the rotation axis 110A. The rotating shaft 111 has an outer shape that is approximately cylindrical with a central axis that coincides with the rotation axis 110A. The knob 110 and the rotating shaft 111 can rotate together around the rotation axis 110A.

[0015] A code wheel 121 of the rotational position sensor 120 and a rotor housing 131 of the motor 130 are fixed to the rotating shaft 111. The code wheel 121 and the rotor housing 131 are rotatable together with the rotating shaft 111 around the rotation axis 110A.

[0016] For ease of explanation, hereinafter, when viewing the rotary shaft 111 from the knob 110, the rotation direction on one side of the rotary shaft 111 (for example, the clockwise rotation direction when viewing the rotary shaft 111 from the knob 110) will be referred to as the positive rotation direction. Also, when viewing the rotary shaft 111 from the knob 110, the rotation direction on the other side of the rotary shaft 111 (for example, the counterclockwise rotation direction when viewing the rotary shaft 111 from the knob 110) will be referred to as the negative rotation direction. Also, with regard to the knob 110 or the rotary shaft 111, rotation in the positive rotation direction may be referred to as positive rotation, and rotation in the negative rotation direction may be referred to as negative rotation.

[0017] The rotational position sensor 120 includes a disk-shaped code wheel 121, a circuit board 122, and a sensor unit 123. One example of the rotational position sensor 120 is a rotary encoder. The rotational position sensor 120 detects the rotational position of the rotary shaft 111, i.e., the rotational position of the knob 110. The rotational position sensor 120 may be any sensor that can detect the rotational position of the knob 110.

[0018] Code wheel 121 is fixed to rotating shaft 111 and has a plurality of holes formed in the circumferential direction. Circuit board 122 is fixed to housing 101 by a fixing member or the like (not shown), and rotating shaft 111 is inserted through through hole 122A. Sensor unit 123 is provided on circuit board 122 and has a light-emitting unit and a light-receiving unit.

[0019] The rotational position sensor 120 detects the rotational position of the code wheel 121 by optically detecting the hole of the code wheel 121, which rotates together with the rotating shaft 111, using a sensor unit 123. Since the rotational position is represented by the rotation angle of the code wheel 121, the rotational position sensor 120 can detect the rotational position of the knob 110. Note that the rotational position sensor 120 is not limited to the optical sensor described above, and may also be a sensor that magnetically detects the rotational position of the rotating shaft 111.

[0020] Also, the rotation angle representing the rotation position of the knob 110 detected by the rotation position sensor 120 increases, for example, in the positive rotation direction of the rotating shaft 111. Also, the rotation angle representing the rotation position of the knob 110 detected by the rotation position sensor 120 decreases, for example, in the negative rotation direction of the rotating shaft 111.

[0021] The motor 130 includes a rotor housing 131, a permanent magnet 132, a magnetic core 133, and a coil 134. The motor 130 is a three-phase brushless motor of an outer rotor type with a surface magnet. This type of motor 130 has little cogging and can rotate smoothly.

[0022] The rotor housing 131 is a cylindrical housing that is open at the bottom, and the rotary shaft 111 is inserted and fixed in place through a through-hole in the center of the top. A plurality of permanent magnets 132 are fixed inside the rotor housing 131 along the circumferential direction.

[0023] Magnetic core 133 is a stator, and is fixed by support part 101B provided at the center of the upper surface of support plate 101A inside housing 101. Magnetic core 133 has through hole 133A in the center, and rotating shaft 111 is rotatably inserted through through hole 133A and the through hole of support part 101B.

[0024] A plurality of coils 134 are provided on the magnetic core 133. The plurality of coils 134 are divided into U-phase, V-phase, and W-phase, and a PWM (Pulse Width Modulation) current, for example, is supplied to the coils 134 by half-bridge circuits of the U-phase, V-phase, and W-phase included in a motor driver IC (Integrated Circuit).

[0025] When a PWM current is supplied from the motor driver IC to the U-phase, V-phase, and W-phase coils 134 , the torque generated by the motor 130 is transmitted to the knob 110 via the rotating shaft 111 .

[0026] The motor 130 is driven to provide a tactile sensation to the hand of the operator gripping the knob 110. For example, if one rotation (360 degrees) of the knob 110 is divided into 30 parts, and the knob 110 is rotated 12 degrees, the motor 130 generates torque in the direction opposite to the direction of rotation, thereby providing a clicking sensation to the hand of the operator via the knob 110. By generating torque in this manner, the motor 130 biases the knob 110 in the direction of rotation of the knob 110.

[0027] Fig. 3 is a block diagram showing an example of the configuration of the tactile presentation device 100. The tactile presentation device 100 includes a control board 105, a motor drive power supply 106, a control power supply 107, a motor driver IC 135, and an MCU (Micro Controller Unit) 140. Fig. 3 also shows a knob 110, a rotational position sensor 120, and a motor 130 of the tactile presentation device 100.

[0028] 3 also shows a PC (Personal Computer) 50 in addition to the tactile presentation device 100. The PC 50 is, for example, an example of an electronic device that communicates with the MCU 140 by wireless communication or wired communication via a cable or the like and sets the tactile sensation of the tactile presentation device 100. The electronic device that sets the tactile sensation of the tactile presentation device 100 in this way is not limited to the PC 50, and may be various electronic devices such as a smartphone or a game console.

[0029] The control board 105 is a motherboard on which a motor drive power supply 106, a control power supply 107, a motor driver IC 135, and an MCU 140 are mounted. The motor drive power supply 106 is connected to an external power supply and supplies DC power for driving the motor to the motor driver IC 135. The control power supply 107 supplies DC power to the motor driver IC 135 for driving MOSFETs (Metal-Oxide-Semiconductor Field-Effect Transistors) included in the half-bridge circuit, and also supplies DC power to the rotational position sensor 120 and the MCU 140.

[0030] The motor driver IC 135 has a half-bridge circuit connected to the U-phase, V-phase, and W-phase coils 134. The MOSFETs of the half-bridge circuit are driven by a PWM signal output from the MCU 140, and the motor driver IC 135 outputs a U-phase current, a V-phase current, and a W-phase current to the U-phase, V-phase, and W-phase coils 134 of the motor 130.

[0031] The MCU 140 includes a control unit 141, a signal generation unit 142, a low pass filter (LPF) 143, a PWM signal generation unit 144, and a memory 145. The LPF 143 is an example of a low pass filter unit. The MCU 140 is realized by a computer including a central processing unit (CPU), a random access memory (RAM), a read only memory (ROM), an input / output interface, an internal bus, and the like.

[0032] The control unit 141, the signal generation unit 142, the LPF 143, and the PWM signal generation unit 144 are functional blocks that represent the functions of the program executed by the MCU 140. The memory 145 is a functional representation of the memory of the MCU 140.

[0033] The control unit 141 is a processing unit that supervises the control of the MCU 140, and executes processes other than those executed by the signal generation unit 142, the LPF 143, and the PWM signal generation unit 144. The memory 145 stores programs, data, etc. required for the processes executed by the control unit 141, the signal generation unit 142, the LPF 143, and the PWM signal generation unit 144.

[0034] The signal generating unit 142 generates a drive signal for driving the motor 130 in a positive rotation direction or a negative rotation direction based on the rotation position of the knob 110 detected by the rotation position sensor 120, and outputs the generated drive signal to the LPF 143. The drive signal is calculated based on the rotation position of the knob 110, and is a signal representing the torque (output torque) that the motor 130 outputs to the rotating shaft 111 and the knob 110. The motor 130 is driven based on the drive signal to urge the rotating shaft 111 and the knob 110 in the positive rotation direction or the negative rotation direction.

[0035] LPF 143 is a digital filter that attenuates high-frequency components of the drive signal input from signal generation unit 142 and outputs the signal to PWM signal generation unit 144. More specifically, when the rotation position of knob 110 is within a predetermined angle range including a stable point in driving of motor 130, LPF 143 attenuates the high-frequency components of the drive signal input from signal generation unit 142 more strongly than when the rotation position of knob 110 is outside the predetermined angle range including the stable point in driving of motor 130, and outputs the signal to PWM signal generation unit 144. The reason why high-frequency components are attenuated so strongly when the rotation position is within the predetermined angle range including the stable point is to suppress vibrations in the rotation of knob 110 at the stable point and before and after the stable point.

[0036] The PWM signal generating unit 144 generates a PWM signal for driving the motor 130 based on the drive signal that has passed through the LPF 143, and outputs the PWM signal to the motor driver IC 135. As a result, the motor driver IC 135 is driven by the PWM signal and outputs a U-phase current, a V-phase current, and a W-phase current to the U-phase, V-phase, and W-phase coils 134 of the motor 130. In this way, the motor 130 is driven based on the drive signal that has been attenuated by the LPF 143.

[0037] In this embodiment, a configuration will be described in which the PWM signal generation unit 144 generates a PWM signal based on a drive signal that has passed through the LPF 143. However, the order of the LPF 143 and the PWM signal generation unit 144 may be reversed. That is, the PWM signal generation unit 144 may generate a PWM signal based on a drive signal generated by the signal generation unit 142, and the LPF 143 may attenuate the high-frequency components of the PWM signal generated by the PWM signal generation unit 144 and output the PWM signal to the motor driver IC 135. Even in this case, this is equivalent to the LPF 143 attenuating the high-frequency components of the drive signal generated by the signal generation unit 142, and the motor 130 will be driven based on the drive signal attenuated by the LPF 143.

[0038] <About stable points, etc.> Fig. 4 is a diagram showing an example of the relationship between the rotational position of the knob 110 and the output torque of the motor 130. The rotational position of the knob 110 is represented by a rotational angle, so the horizontal axis in Fig. 4 is the rotational angle (degrees). The rotational angle is positive on the right side.

[0039] The output torque of the motor 130 is the torque that the motor 130 outputs to the rotary shaft 111, and is the torque that drives the knob 110. The output torque of the motor 130 is the torque represented by the drive signal generated by the signal generating unit 142, and Fig. 4 shows the value obtained by converting the drive signal (current value) generated by the signal generating unit 142 into torque. Positive output torque is the output torque that rotates the rotary shaft 111 counterclockwise, and negative output torque is the output torque that rotates the rotary shaft 111 clockwise.

[0040] As an example, the tactile presentation device 100 is configured such that one rotation (360 degrees) of the knob 110 is divided into 30 parts, and the motor 130 generates torque in the opposite direction to the rotation direction every time the knob 110 is rotated 12 degrees. Figure 4 shows two angle ranges AR1 and AR2 out of the 30 angle ranges AR obtained by dividing one rotation (360 degrees) of the knob 110 into 30 parts. Hereinafter, when there is no need to particularly distinguish between the two angle ranges AR1 and AR2, they will simply be referred to as angle range AR. The output torque characteristics in each of the 30 angle ranges AR are similar.

[0041] For convenience, the boundaries of each angle range AR are shown as the rotation angles at which the output torque of the motor 130 reaches its negative maximum value (peak value), but are not limited to this. The peak value of the output torque is ±T. Here, each angle range AR extends from rotation angle A1 at which the output torque reaches -T, through rotation angles A2, A3, and A4, to just before rotation angle A1 of the next angle range AR. For example, the rotation angle ranges A1-A2, A2-A3, A3-A4, and A4-A1 are all equal in magnitude, but they do not have to be equal.

[0042] The output torque in each angle range AR changes sinusoidally from -T at rotation angle A1, becomes zero at rotation angle A2, and then increases sinusoidally from rotation angle A2 to reach a maximum positive value T at rotation angle A3. The output torque decreases sinusoidally from rotation angle A3 to reach zero at rotation angle A4, and then increases in absolute value toward the maximum negative value -T at rotation angle A1 of the next angle range AR.

[0043] Here, rotation angle A2 is a rotation angle that becomes a stable point in driving the motor 130. The stable point in driving the motor 130 is a rotation position at which the torque (output torque) that the motor 130 outputs to the rotating shaft 111 and the knob 110 and the steady frictional force generated in the rotating shaft 111 and the knob 110 are theoretically balanced. At the stable point, when the knob 110 is rotated slightly in the positive direction, an output torque that tries to return the knob 110 in the negative direction is generated, and when the knob 110 is rotated slightly in the negative direction, an output torque that tries to return the knob 110 in the positive direction is generated. The stable point in driving the motor 130 is an example of a first position in the rotational position of the knob 110. The stable point in driving the motor 130 is sometimes referred to as a stable point in the rotational position of the knob 110.

[0044] Furthermore, rotation angle A3, which represents the rotation position where the output torque of motor 130 reaches its maximum absolute value (T) in the positive rotation direction of rotating shaft 111, is an example of the second position. Rotation angle A1, which represents the rotation position where the output torque of motor 130 reaches its maximum absolute value (-T) in the negative rotation direction of rotating shaft 111, is an example of the third position.

[0045] However, near angle A2, which is the stable point, rotating knob 110 in the positive direction generates an output torque that tries to return it in the negative direction, and rotating knob 110 in the negative direction generates an output torque that tries to return it in the positive direction, which may cause vibrations in the rotation of knob 110. At the stable point, the duty ratio of the PWM signal generated by PWM signal generating unit 144 may fluctuate significantly, which may cause vibrations in the rotation of knob 110.

[0046] Therefore, in the tactile presentation device 100, when the rotation position of the knob 110 is within a predetermined angle range including the stable point, the high-frequency components of the drive signal input from the signal generating unit 142 are attenuated more strongly than when the rotation position is outside the predetermined angle range including the stable point. When the rotation position is within the predetermined angle range including the stable point, the LPF 143 is caused to attenuate the high-frequency components of the drive signal more strongly to suppress vibrations caused by the rotation of the knob 110. On the other hand, when the rotation position of the knob 110 is outside the predetermined angle range including the stable point, particularly when the rotation position is near a point where the output torque of the motor 130 peaks, changes in the output torque have a significant impact on the presentation of tactile sensations, such as a clicking sensation, to the operator. Therefore, if the high-frequency components of the drive signal are attenuated more strongly when the rotation position of the knob 110 is outside the predetermined angle range including the stable point, the tactile sensation presented to the operator by the tactile presentation device 100 may be dulled. Therefore, when the rotation position is outside the predetermined angle range including the stable point, the attenuation rate of the LPF 143 is reduced.

[0047] <LPF143のフィルタパラメータt> Fig. 5A is a diagram showing an example of frequency characteristics of the absolute value of a transfer function for an input signal of a digital filter. Fig. 5A shows characteristics when the filter parameter t is 0.2 to 0.99. Fig. 5B is a diagram showing an example of characteristics of a cutoff frequency for the filter parameter t in a digital filter.

[0048] A low-pass filter configured by a digital filter such as LPF 143 is expressed, for example, by a difference equation such as the following equation (1), where the input is x[n] and the output is y[n]. Note that n is a serial number used when calculating the input and output. Note that the low-pass filter expressed by the difference equation of equation (1) is an IIR (infinite impulse response) filter, but the digital filter configuring LPF 143 is not limited to an IIR (infinite impulse response) filter and may be a low-pass filter expressed by a difference equation other than equation (1).

[0049]

number

[0050] That is, the nth output y[n] of the low-pass filter is expressed as the linear sum of the nth input x[n] and the (n-1)th output y[n]. The coefficients (1-t) and t by which the input x[n] and output y[n-1] are multiplied are represented by the filter parameter t. The filter parameter t is a value related to the attenuation rate of high-frequency components of the low-pass filter, which is made up of a digital filter. By setting the filter parameter t, the attenuation rate of the low-pass filter can be set.

[0051] As shown in FIG. 5A, when the filter parameter t is set to 0.2 to 0.99, the frequency characteristics of the absolute value of the transfer function for the input signal of the low-pass filter formed by the digital filter change significantly, and the larger the filter parameter t, the smaller the absolute value of the transfer function.

[0052] Furthermore, as shown in FIG. 5B, the cutoff frequency decreases as the filter parameter t increases.

[0053] In this embodiment, the cutoff frequency of the LPF 143 of the tactile presentation device 100 is set to, for example, 300 Hz or less when the rotation position of the knob 110 is within a predetermined angle range including the stable point. Microvibrations with frequencies of 300 Hz or less are easily sensed by Pacinian corpuscles on the surface of the human hand. Therefore, by setting the cutoff frequency of the LPF 143 to 300 Hz or less when the rotation position of the knob 110 is within a predetermined angle range including the stable point, vibrations at the stable point and its vicinity can be more effectively reduced. Furthermore, Pacinian corpuscles are more sensitive to microvibrations of 250 Hz or less, but can sense up to about 300 Hz. Therefore, by setting the cutoff frequency of the LPF 143 to 300 Hz or less when the rotation position of the knob 110 is within a predetermined angle range including the stable point, tactile sensations presented to the operator by microvibrations at the stable point and its vicinity can be effectively reduced. Furthermore, when the rotational position of the knob 110 is within a predetermined angle range including the stable point, setting the cutoff frequency of the LPF 143 of the tactile presentation device 100 to, for example, 250 Hz or less can further reduce the tactile sensation presented to the operator due to micro-vibrations, which is even more preferable.

[0054] Fig. 6 is a diagram showing an example of the relationship between the filter parameter t and the change over time in the radial acceleration of the shaft of the knob 110 as an output. Fig. 6 shows an example of the results of an experiment in which a signal is input to a low-pass filter made up of a digital filter, and the radial acceleration is measured when the knob 110 is vibrated in accordance with the output. In Fig. 6, the horizontal axis represents the elapsed time (s) from the start of measurement, and the vertical axis represents the output voltage (mV) of the accelerometer.

[0055] FIG. 6 shows the acceleration of the knob 110 when the filter parameter t is 0.3, 0.55, and 0.8, as well as the acceleration of the knob 110 when no low-pass filter configured by a digital filter is used (no filter).

[0056] As shown in Figure 6, it was confirmed that the acceleration was greatest without a filter, and that the acceleration decreased as the filter parameter t increased. In this way, it was confirmed that when a low-pass filter consisting of a digital filter is used, the absolute value of the output becomes smaller, and that the larger the filter parameter t, the smaller the absolute value of the output becomes (the attenuation rate becomes larger).

[0057] 7A and 7B are diagrams showing an example of the relationship between the rotation speed of the knob 110 and the change over time in the output torque of the motor 130. The characteristics shown in Figures 7A and 7B are the results obtained through experiments.

[0058] Fig. 7A shows the change over time in the output torque of motor 130 when knob 110 is rotated through one angle range AR at a rotation speed of one revolution (360 degrees) per second from the stable point. In the example shown in Fig. 7A, knob 110 is rotated faster than in the example shown in Fig. 7B, so Fig. 7A is marked "Fast" and Fig. 7B is marked "Slow." Fig. 7A also shows the change over time in the output torque when filter parameter t is 0.3, 0.55, and 0.8, as well as the change over time in the output torque when LPF 143 is not used (no filter).

[0059] FIG. 7B shows the change over time in the output torque of the motor 130 when the knob 110 is rotated through one angle range AR at a rotation speed of 1 / 3 revolution (120 degrees) per second from the stable point. In the example shown in FIG. 7B, the knob 110 is rotated more slowly than in the example shown in FIG. 7A, and is therefore labeled "Slow" in FIG. 7B. FIG. 7B also shows the change over time in the output torque when the filter parameter t is 0.3, 0.55, and 0.8, as well as the change over time in the output torque when the LPF 143 is not used (no filter). In FIGS. 7A and 7B, the time when the knob 110 starts to rotate is set to zero (0).

[0060] 7A and 7B, the peak of the output torque immediately after the start of rotation without a filter is the largest, and as the filter parameter t increases to 0.3, 0.55, and 0.8, the peak of the output torque decreases. Furthermore, when the knob 110 is rotated quickly and the filter parameter t is 0.8, the peak of the output torque is approximately 70% of the output torque without a filter, indicating significant blunting of the waveform. When the knob 110 is rotated slowly and the filter parameter t is 0.8, the peak of the output torque is approximately 85% of the output torque without a filter, indicating that increasing the filter parameter t increases the blunting of the waveform.

[0061] The tactile presentation device 100 presents a good click feeling while reducing vibrations at and near a stable point with a simple configuration in which the LPF 143 is provided in the MCU 140. From this perspective, in order to reduce vibrations at and near the stable point, the tactile presentation device 100 sets the attenuation rate of the LPF 143 to be large when the rotation position of the knob 110 is at or near a stable point in the drive of the motor 130, and sets the attenuation rate of the LPF 143 to be small when the rotation position of the knob 110 is at or near the peak of the output torque. Note that setting the attenuation rate of the LPF 143 to be small may also include setting the attenuation rate to zero, i.e., no attenuation.

[0062] <First range R1, second range R2, and third range R3> Fig. 8 is a diagram showing an example of a first range R1, a second range R2, and a third range R3 of rotational positions. The first range R1 is an example of a predetermined angle range that includes a stable point. Fig. 8 shows one angle range AR out of 30 angle ranges AR obtained by dividing one rotation (360 degrees) of the knob 110 into 30, and angles A1 to A4. In Fig. 8, as an example, the rotation angle ranges A1 to A2, A2 to A3, A3 to A4, and A4 to A1 are all equal in size, but they do not have to be equal.

[0063] The vertical axis of FIG. 8 represents the output torque, and FIG. 8 shows the angular characteristics of the output torque obtained when the LPF 143 is not used.

[0064] To reduce vibrations at and near the stable point, a range of angles ±θ1 centered on angle A2 is set as a first range R1 at and near angle A2, where the rotational position of knob 110 is the stable point for driving motor 130. That is, first range R1 is a range of angles ±θ1 centered on angle A2 (A2±θ1).

[0065] When the rotational position of the knob 110 is within the first range R1, the attenuation rate of the LPF 143 is set to be larger than when the rotational position of the knob 110 is within the second range R2 or the third range R3. The first range R1 is an angle range set between angle A1 at which the output torque of the motor 130 has a negative peak and angle A3 at which the output torque has a positive peak. If the angle range from angle A1 to angle A3 is 2B, then θ1≦4B / 5.

[0066] In this way, by setting the first range R1 centered on angle A2, which is the stable point, between angle A1, where the output torque of the motor 130 reaches its negative peak, and angle A3, where the output torque of the motor 130 reaches its positive peak, vibrations at and near the stable point are reduced. The first range R1 is an angle range that includes the first position but does not include the second position or the third position. An example of the first position is angle A2, which is the stable point. An example of the second position is angle A3, where the output torque of the motor 130 reaches its peak absolute value in the positive rotation direction of the rotating shaft 111. An example of the third position is angle A1, where the output torque of the motor 130 reaches its peak absolute value in the negative rotation direction of the rotating shaft 111.

[0067] Furthermore, to achieve a good click feeling, a second range R2 is set that includes an angle A3 (an example of a second position) at which the output torque of the motor 130 reaches a peak in absolute value in the positive rotation direction of the rotating shaft 111, and a third range R3 is set that includes an angle A1 (an example of a third position) at which the output torque of the motor 130 reaches a peak in absolute value in the negative rotation direction of the rotating shaft 111. When the rotation position of the knob 110 is within the second range R2 or the third range R3, the tactile presentation device 100 sets the attenuation rate of the LPF 143 to be smaller than when the rotation position of the knob 110 is within the first range R1.

[0068] The second range R2 is an angle range that includes the second position but is outside the first range. The third range R3 is an angle range that includes the third position but is outside the first range and the second range. In FIG. 8, as an example, the second range R2 is an angle range that is greater than angle A2+θ1 and is equal to or smaller than angle A3+θ2. The third range R3 is an angle range that is equal to or larger than angle A1-θ3 and is smaller than angle A2-θ1.

[0069] Note that, for a range of one angle range AR that is not included in the first range R1, the second range R2, and the third range R3, the attenuation rate of the LPF 143 may be set to zero (the same state as when there is no filter), or the attenuation rate of the LPF 143 may be set so as to improve the tactile feel of the knob 110. Here, as an example, a form will be described in which the attenuation rate of the LPF 143 is set to zero for a range that is not included in the first range R1, the second range R2, and the third range R3.

[0070] Alternatively, a gap may be provided between the first range R1 and the second range R2, and the attenuation rate of the LPF 143 may be set to zero between the first range R1 and the second range R2. Similarly, a gap may be provided between the first range R1 and the third range R3, and the attenuation rate of the LPF 143 may be set to zero between the first range R1 and the third range R3.

[0071] <Flowchart> 9 is a flowchart showing an example of processing executed by the MCU 140. As an example, when the power of the tactile presentation device 100 is turned on, the MCU 140 repeatedly executes the processing from steps S1 to S6 at a predetermined control cycle. Also, as an example, when the power of the tactile presentation device 100 is turned off, the MCU 140 ends the series of processing.

[0072] The control unit 141 acquires rotational position data from the rotational position sensor 120 (step S1).

[0073] The control unit 141 acquires parameters for setting the tactile sensation of the tactile presentation device 100 from the PC 50 (step S2). Examples of parameters for setting the tactile sensation include the shape of the angular characteristic of the output torque, the absolute value of the peak of the output torque, or the number of divisions into which one revolution (360 degrees) of the knob 110 is divided. The shape of the angular characteristic of the output torque is, for example, the angular characteristic of the output torque with respect to the rotation angle as shown in FIG. 4 or FIG. 8. As an example, data on the angular characteristic of the output torque may be stored in the memory 145, allowing the PC 50 to select a desired angular characteristic of the output torque. The absolute value of the peak of the output torque is, for example, the absolute value of the positive peak and the negative peak in the angular characteristic of the output torque with respect to the rotation angle as shown in FIG. 4 or FIG. 8. Although the embodiment in which one revolution (360 degrees) of the knob 110 is divided into 30 divisions has been described above, the number of divisions may be two or more. The processing of step S2 may be performed once in the first control cycle and may be skipped in the second control cycle. Also, if parameters for setting the tactile sensation have been set in advance, the process of step S2 may be skipped.

[0074] The signal generating unit 142 calculates the output torque of the motor 130 based on the rotational position data acquired in step S1 and data determined by the parameters for setting the haptics in step S2 (such as the shape of the angular characteristics of the output torque, the absolute value of the peak of the output torque, or the number of divisions of one revolution) (step S3).

[0075] The LPF 143 determines whether the rotation angle represented by the rotation position data acquired in step S1 is within the first range R1 (step S4A).

[0076] When it is determined that the rotation angle is within the first range R1 (S4A: YES), the LPF 143 executes a first filtering process (step S5A). The first filtering process is a process for setting the attenuation rate of the LPF 143 to be larger when the rotation position of the knob 110 is within the first range R1 than when the rotation position of the knob 110 is within the second range R2 or the third range R3. As a result of step S5A, the drive signal attenuated by the attenuation rate of the LPF 143 set in the first filtering process is input to the PWM signal generating unit 144. After completing the process of step S5A, the flow proceeds to step S6.

[0077] If the LPF 143 determines in step S4A that the rotation angle is not within the first range R1 (S4A: NO), it determines whether the rotation angle represented by the rotation position data acquired in step S1 is within the second range R2 (step S4B).

[0078] If the LPF 143 determines that the rotation angle is within the second range R2 (S4B: YES), it executes second filtering (step S5B). The second filtering is a process for reducing the attenuation rate of the LPF 143 when the rotation position of the knob 110 is within the second range R2 compared to when the rotation position of the knob 110 is within the first range R1. As a result of step S5B, the drive signal attenuated by the attenuation rate of the LPF 143 set in the second filtering is input to the PWM signal generating unit 144. After completing the process of step S5B, the flow proceeds to step S6.

[0079] If the LPF 143 determines in step S4B that the rotation angle is not within the second range R2 (S4B: NO), it determines whether the rotation angle represented by the rotation position data acquired in step S1 is within the third range R3 (step S4C).

[0080] When the LPF 143 determines that the rotation angle is within the third range R3 (S4C: YES), it executes a third filtering process (step S5C). The third filtering process is a process for reducing the attenuation rate of the LPF 143 when the rotation position of the knob 110 is within the third range R3 compared to when the rotation position of the knob 110 is within the first range R1. As a result of step S5C, the drive signal attenuated by the attenuation rate of the LPF 143 set in the third filtering process is input to the PWM signal generating unit 144. After completing the process of step S5C, the flow proceeds to step S6. Note that the attenuation rate set by the LPF 143 in the third filtering process may be the same as or different from the attenuation rate set by the LPF 143 in the second filtering process.

[0081] If the LPF 143 determines in step S4C that the rotation angle is not within the third range R3 (S4C: NO), it outputs the drive signal without performing filtering. If the LPF 143 determines NO in step S4C, it outputs the drive signal as is to the PWM signal generating unit 144 without performing filtering. The flow proceeds to step S6.

[0082] The PWM signal generating unit 144 generates a PWM signal based on the input drive signal and outputs it to the motor driver IC 135 (step S6). As a result, the motor driver IC 135 outputs a U-phase current, a V-phase current, and a W-phase current to the U-phase, V-phase, and W-phase coils 134 of the motor 130. In this way, the motor 130 is driven based on the drive signal attenuated by the LPF 143.

[0083] <Effects> The tactile presentation device 100 of this embodiment includes a rotatable knob 110, a rotational position sensor 120 that detects the rotational position of the knob 110, a motor 130 that can urge the knob 110 along the rotational direction of the knob 110, a signal generation unit 142 that generates a drive signal to drive the motor 130 based on the rotational position, and an LPF 143 that attenuates high-frequency components of the drive signal, and the motor 130 is driven based on the drive signal attenuated by the LPF 143, and the signal generation unit 142 detects a rotational position between a stable point (an example of a first position) and a position on the positive rotational direction side (an example of one side of the rotational direction) of the stable point. When the rotation position is between the stable point and a second position, the motor 130 generates a drive signal that urges the motor 130 in the negative rotation direction (an example of the other side of the rotation direction), and when the rotation position is between the stable point and a third position on the other side of the rotation direction with respect to the stable point, the motor 130 generates a drive signal that urges the motor 130 in one direction, and the LPF 143 attenuates the high frequency components of the drive signal more strongly when the rotation position is within a first range that includes the stable point and does not include the second and third positions than when the rotation position is within a second range that includes the second position but is outside the first range, or when the rotation position is within a third range that includes the third position and is outside the first and second ranges.

[0084] Therefore, when the rotation position is within the first range R1, which includes the stable point and its vicinity, the LPF 143 strongly attenuates the high-frequency components of the drive signal, and when the rotation position is within the second range R2 or the third range R3, the attenuation rate of the LPF 143 can be reduced.

[0085] Therefore, with a simple configuration in which the LPF 143 is provided in the MCU 140, it is possible to provide a tactile presentation device 100 that can present a good click feeling while reducing vibrations at and near the stable point.

[0086] The tactile presentation method of this embodiment is a tactile presentation method for a tactile presentation device 100 that includes a rotatable knob 110, a rotational position sensor 120 that detects the rotational position of the knob 110, a motor 130 that can energize the knob 110 in the rotational direction of the knob 110, a signal generation unit 142 that generates a drive signal for driving the motor 130 based on the rotational position, and an LPF 143 that attenuates high-frequency components of the drive signal, and the motor 130 is driven based on the drive signal attenuated by the LPF 143, and the signal generation unit 142 detects a rotational position between a stable point and one side of the stable point in the rotational direction. When the rotation position is between the stable point and a second position on the other side of the rotation direction of the motor 130, a drive signal is generated that urges the motor 130 toward the other side of the rotation direction, and when the rotation position is between the stable point and a third position on the other side of the rotation direction of the stable point, a drive signal is generated that urges the motor 130 toward one side, and the LPF 143 attenuates the high frequency components of the drive signal more strongly when the rotation position is within a first range R1 that includes the stable point but does not include the second or third position than when the rotation position is within a second range R2 that includes the second position but is outside the first range R1, or when the rotation position is within a third range R3 that includes the third position but is outside the first range R1 and the second range R2.

[0087] Therefore, when the rotation position is within the first range R1, which includes the stable point and its vicinity, the LPF 143 strongly attenuates the high-frequency components of the drive signal, and when the rotation position is within the second range R2 or the third range R3, the attenuation rate of the LPF 143 can be reduced.

[0088] Therefore, with a simple configuration in which the LPF 143 is provided in the MCU 140, it is possible to provide a tactile presentation method in the tactile presentation device 100 that can reduce vibrations at and near the stable point and present a good click feeling.

[0089] Furthermore, the signal generating unit 142 generates the drive signal so that the biasing force in the negative rotation direction (an example of the other rotation direction) reaches a peak at angle A3 (an example of the second position). Therefore, by reducing the attenuation rate of the LPF 143 at the position where the output torque of the motor 130 is at its maximum, it is possible to provide a tactile presentation device 100 that can present a good click sensation with a simple configuration in which the LPF 143 is provided inside the MCU 140.

[0090] Furthermore, the cutoff frequency of LPF 143 may be 300 Hz or less when the rotation position is within first range R1. Micro-vibrations with frequencies of 300 Hz or less are easily sensed by Pacinian corpuscles on the surface of the human hand. Therefore, by setting the cutoff frequency of LPF 143 to 300 Hz or less within first range R1 including the stable point, vibrations at the stable point and its vicinity can be more effectively reduced with a simple configuration in which LPF 143 is provided within MCU 140. Furthermore, Pacinian corpuscles are more sensitive to micro-vibrations of 250 Hz or less, but can sense up to about 300 Hz. Therefore, by setting the cutoff frequency of LPF 143 to 300 Hz or less when the rotation position is within first range R1, tactile sensations presented to the operator by micro-vibrations at the stable point and its vicinity can be more effectively reduced.

[0091] 7A and 7B, the faster the rotation speed of the knob 110, the more the waveform of the angular characteristics of the output torque becomes dull. Therefore, by having the LPF 143 change the first range R1 based on the rotation speed of the knob 110, it is possible to provide a tactile presentation device 100 that can present a good click feeling while reducing vibrations at and near the stable point, with a simple configuration in which the LPF 143 is provided within the MCU 140.

[0092] Furthermore, the first range R1 may be set so that the angle range becomes narrower as the rotation speed of the knob 110 increases. At high rotation speeds, there is a risk that the LPF 143 will act strongly at the second or third position due to the time difference between the output of the drive signal and the driving of the motor 130, resulting in a dull click feeling. Therefore, by narrowing the first range R1 and switching the filter earlier, it is possible to reduce vibration in the first range R1. Furthermore, as shown in Figures 7A and 7B, the waveform of the angular characteristics of the output torque becomes duller as the rotation speed of the knob 110 increases. Therefore, by setting the angle range so that the angle range becomes narrower as the rotation speed of the knob 110 increases, it is possible to improve the tactile feel at the second or third position, where the output torque reaches its peak.

[0093] When the rotation position is within the first range R1, the cutoff frequency of the LPF 143 may be lower than when the rotation position is within the second range R2 or the third range R3. By lowering the cutoff frequency of the LPF 143 within the first range R1, micro-vibrations due to high frequency components can be more effectively removed, providing a clearer tactile sensation at and near the stable point.

[0094] Furthermore, when the rotation position is within the first range R1, the LPF 143 may have a larger attenuation rate at frequencies above the cutoff frequency than when the rotation position is within the second range R2 or the third range R3. By increasing the attenuation rate at frequencies above the cutoff frequency of the LPF 143 within the first range R1, micro-vibrations due to high-frequency components can be more effectively removed, and a clearer tactile sensation can be provided at and around the stable point.

[0095] Furthermore, only when the rotation position is within the first range R1, the LPF 143 may attenuate the high-frequency components of the drive signal generated by the signal generating unit 142 and output the attenuated signal to the motor 130. When the rotation position is within the first range R1, micro-vibrations due to high-frequency components can be more effectively removed, and when the rotation position is outside the first range R1, dulling of the angular characteristics of the output torque can be prevented. Therefore, with a simple configuration in which the LPF 143 is provided within the MCU 140, and with simpler processing by the LPF 143, it is possible to provide a tactile presentation device 100 that can present a good click sensation while reducing vibrations at and near the stable point.

[0096] Furthermore, since the motor 130 includes a brushless motor, a simple configuration with an LPF 143 provided within the MCU 140 can achieve smooth rotation of the knob 110, and a tactile presentation device 100 can be provided that can present a good clicking sensation while reducing vibrations at and around the stable point.

[0097] Alternatively, the knob 110 may be an operation unit that does not rotate but slides between one side and the other side in one direction like a slider. That is, the tactile presentation device 100 includes the knob 110 that can be moved in one direction, a rotation position sensor 120 that detects the movement position of the knob 110, a biasing unit that can bias the knob 110 in one direction, a signal generating unit 142 that generates a drive signal to the biasing unit based on the movement position, and an LPF 143 that attenuates high-frequency components of the drive signal, the biasing unit is driven based on the drive signal attenuated by the LPF 143, and the signal generating unit 142 generates a drive signal when the movement position of the knob 110 is located between a stable point and a second position on one side of the stable point in one direction. The drive signal is generated so that the biasing portion biases in the other direction when the moving position is located between the stable point and a third position on the other side of the stable point, and so that the biasing portion biases in one direction to one side when the moving position is between the stable point and a third position on the other side of the stable point, and the LPF 143 may attenuate the high frequency components of the drive signal more strongly when the moving position is within a first range R1 that includes the stable point and does not include the second position and the third position than when the moving position is within a second range R2 that includes the second position and is outside the first range R1, or when the moving position is within a third range R3 that includes the third position and is outside the first range R1 and the second range R2.

[0098] Therefore, when the position of the knob 110, which can be moved in one direction, is within the first range R1 including the stable point and its vicinity, the LPF 143 strongly attenuates the high frequency components of the drive signal, and when the rotation position is within the second range R2 or the third range R3, the attenuation rate of the LPF 143 can be reduced.

[0099] Therefore, with a simple configuration in which the LPF 143 is provided in the MCU 140, it is possible to provide a tactile presentation device 100 that can present a good click feeling while reducing vibrations at and near the stable point.

[0100] <Variations in output torque angle characteristics> 10A to 10C are diagrams showing an example of variations in the angular characteristics of the output torque, and show one rotation angle range AR, with the point where the rotation angle is zero (the intersection with the output torque axis) being the stable point.

[0101] The angular characteristics of the output torque may include a section where the output torque remains constant with respect to changes in the rotation angle, as shown in Fig. 10A. For example, a section where the output torque remains constant with respect to changes in the rotation angle may be provided at angle A4 in Fig. 8 or around the angle A4, as shown in Fig. 10A.

[0102] Furthermore, the angular characteristics of the output torque may be such that the change in output torque between the positive peak and the negative peak is smooth and curved, and the absolute value of the rate at which the output torque increases with increasing rotation angle may differ from the absolute value of the rate at which the output torque decreases with increasing rotation angle, as shown in Fig. 10B. For example, if the rotation angle range A3-A1 in Fig. 4 is longer in the horizontal axis direction representing the rotation angle than the rotation angle range A1-A3, the waveform will be as shown in Fig. 10B.

[0103] Furthermore, the angular characteristics of the output torque may be such that the change in output torque between positive and negative peaks is sharp like a broken line, and the absolute value of the rate at which the output torque increases with increasing rotation angle may differ from the absolute value of the rate at which the output torque decreases with increasing rotation angle, as shown in Fig. 10C. For example, if the range of rotation angles A1 to A3 in Fig. 8 is longer in the horizontal direction representing the rotation angle than the range of rotation angles A3 to A1, the waveform will be as shown in Fig. 10C.

[0104] The above describes exemplary embodiments of the tactile presentation device and tactile presentation method of the present disclosure. However, the present disclosure is not limited to the specifically disclosed embodiments, and various modifications and changes are possible without departing from the scope of the claims.

[0105] This international application claims priority based on Japanese Patent Application No. 2022-165386, filed on October 14, 2022, the entire contents of which are incorporated herein by reference. [Explanation of symbols]

[0106] 100 Tactile presentation device 110 Knob 120 Rotational Position Sensor 130 Motor 135 Motor driver IC 140 MCU 141 Control Unit 142 Signal Generation Unit 143 LPF 144 PWM signal generation section 145 memory

Claims

1. An operation unit that can be rotated; a detection unit that detects a rotation position of the operation unit; a biasing portion that biases the operating portion in a rotation direction of the operating portion; a signal generating unit that generates a drive signal for driving the biasing unit based on the rotation position; a low-pass filter unit that attenuates high-frequency components of the drive signal and outputs the attenuated signal to the biasing unit; Equipped with the signal generating unit generates the drive signal such that the biasing unit biases the rotational position toward the other side in the rotational direction when the rotational position is between a first position and a second position on one side of the rotational direction with respect to the first position, and the biasing unit biases the rotational position toward the one side when the rotational position is between the first position and a third position on the other side of the rotational direction with respect to the first position, A tactile presentation device, wherein the low-pass filter unit attenuates high-frequency components of the drive signal more strongly when the rotational position is within a first range that includes the first position and excludes the second position and the third position than when the rotational position is within a second range that includes the second position and is outside the first range, or when the rotational position is within a third range that includes the third position and is outside the first range and is outside the second range.

2. The tactile presentation device according to claim 1 , wherein the signal generation section generates the drive signal so that the biasing force toward the other side reaches a peak at the second position.

3. The tactile presentation device according to claim 1 , wherein the cutoff frequency of the low-pass filter is equal to or less than 300 Hz when the rotational position is within the first range.

4. The tactile presentation device according to claim 1 , wherein the first range changes based on a rotation speed of the operation unit.

5. The tactile presentation device according to claim 4 , wherein the first range is set to be a narrower angle range as the rotation speed of the operation unit increases.

6. The tactile presentation device according to claim 1 , wherein the low-pass filter unit lowers the cutoff frequency when the rotational position is within the first range compared to when the rotational position is within the second range or the third range.

7. The tactile presentation device according to claim 1, wherein the low-pass filter unit increases the attenuation rate above the cutoff frequency when the rotational position is within the first range compared to when the rotational position is within the second range or the third range.

8. The tactile presentation device according to claim 1 , wherein the low-pass filter unit attenuates high-frequency components of the drive signal generated by the signal generation unit and outputs the attenuated signal to the biasing unit only when the rotational position is within the first range.

9. The tactile presentation device according to claim 1 , wherein the biasing unit includes a brushless motor.

10. an operation unit that can be moved in one direction; a detection unit that detects a movement position of the operation unit; a biasing portion capable of biasing the operation portion along the one direction; a signal generating unit that generates a drive signal for the biasing unit based on the movement position; a low-pass filter unit that attenuates high-frequency components of the drive signal and outputs the attenuated signal to the biasing unit; Equipped with the signal generating unit generates the drive signal such that, when a movement position of the operation unit is between a first position and a second position on one side of the one direction with respect to the first position, the biasing unit biases the operation unit toward the other side of the one direction, and when the movement position of the operation unit is between the first position and a third position on the other side of the first position with respect to the first position, the biasing unit biases the operation unit toward the one side of the one direction; A tactile presentation device in which the low-pass filter unit attenuates high-frequency components of the drive signal more strongly when the movement position is within a first range that includes the first position and excludes the second position and the third position than when the movement position is within a second range that includes the second position and is outside the first range, or when the movement position is within a third range that includes the third position, is outside the first range, and is outside the second range.

11. An operation unit that can be rotated; a detection unit that detects a rotation position of the operation unit; a biasing portion that biases the operating portion in a rotation direction of the operating portion; a signal generating unit that generates a drive signal for driving the biasing unit based on the rotation position; a low-pass filter unit that attenuates high-frequency components of the drive signal and outputs the attenuated signal to the biasing unit; A tactile presentation method in a tactile presentation device comprising: the signal generating unit generates the drive signal such that, when the rotational position is between a first position and a second position on one side of the rotational direction with respect to the first position, the biasing unit biases the other side of the rotational direction, and when the rotational position is between the first position and a third position on the other side of the rotational direction with respect to the first position, the biasing unit biases the one side; A tactile presentation method in which the low-pass filter unit attenuates high-frequency components of the drive signal more strongly when the rotational position is within a first range that includes the first position and excludes the second position and the third position than when the rotational position is within a second range that includes the second position and is outside the first range, or when the rotational position is within a third range that includes the third position and is outside the first range and is outside the second range.

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