Control device for the vibrating element of a tactile feedback device

Abstract

The control device is provided with a CPU as an execution device, and a storage device. The storage device stores a plurality of haptic sensation vibration modes (VM) presented for rehabilitation by the haptic sensation presentation device. The CPU executes a preliminary driving process, a parameter acquisition process, and a mode selection process. In the preliminary driving process, the CPU drives the vibration body in the plurality of vibration modes (VM) and presents a haptic sensation in each of vibration modes (VM). In the parameter acquisition process, the CPU acquires, for each of the vibration modes (VM), effect parameters (EP) that indicate the levels of rehabilitation effects for a user when driving the vibration body in each of vibration modes (VM). In the mode selection process, the CPU selects a specific mode (SM) from among the plurality of vibration modes (VM) on the basis of the effect parameters (EP) in each of the vibration modes (VM).

Description

Technical Field

[0001] The present invention relates to a control device for a vibrating body of a tactile sensation presentation device. Place It relates thereto.

Background Art

[0002] The tactile sensation presentation device described in Patent Document 1 includes a housing, a vibrating body, and a control device. The vibrating body is located inside the housing. The housing is used, for example, by being held in the user's hand. The control device controls the vibration mode of the vibrating body to a specific mode. Thereby, the tactile sensation presentation device presents various tactile sensations to the user touching the housing.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] As a situation where a tactile sensation presentation device as described in Patent Document 1 is used, for example, when performing rehabilitation for improving the user's motor function, a situation where the tactile sensation presentation device is used as an assistive device can be considered. However, in such a case, it is unclear what kind of tactile sensation should be presented to the user in order to enhance the improvement effect of the motor function.

Means for Solving the Problems

[0005] To solve the above problems, one aspect of the present disclosure is a control device for a vibrating body of a haptic feedback device, comprising a memory device and an execution device, wherein the memory device stores a plurality of haptic vibration modes output by the haptic feedback device for rehabilitation purposes, and the execution device is a control device for a vibrating body of a haptic feedback device that performs: a preliminary drive process which drives the vibrating body in the plurality of vibration modes and presents the haptic feedback in each vibration mode; a parameter acquisition process which, in the preliminary drive process, acquires an effect parameter for each vibration mode that indicates the degree of rehabilitation effect on the user when the vibrating body is driven in each vibration mode; and a mode selection process which selects a specific mode from the plurality of vibration modes based on the effect parameter for each vibration mode in the parameter acquisition process.

[0006] To solve the above problems, one aspect of the present disclosure is a haptic feedback presentation device comprising a vibrating body, a control device having a memory device and an execution device that controls the vibrating body, wherein the memory device stores a plurality of vibration modes of the vibrating body for presenting haptic feedback to be output for rehabilitation, and the execution device performs a preliminary drive process that drives the vibrating body in the plurality of vibration modes and presents haptic feedback in at least two of the vibration modes, a parameter acquisition process that acquires an effect parameter for each vibration mode indicating the degree of rehabilitation effect on the user when the vibrating body is driven in each vibration mode in the preliminary drive process, and a mode selection process that selects a specific mode from the plurality of vibration modes based on the effect parameter for each vibration mode in the parameter acquisition process.

[0007] According to the above configuration, a specific mode is selected based on the rehabilitation effect on the user during the pre-drive process. Therefore, the control device can select an appropriate specific mode from among multiple vibration modes based on the rehabilitation effect on the user. [Effects of the Invention]

[0008] The system can select an appropriate specific mode based on the user's rehabilitation progress. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a schematic diagram showing a haptic feedback system. [Figure 2] Figure 2 is a flowchart showing a series of processes performed by the control program. [Modes for carrying out the invention]

[0010] (One embodiment) The following describes one embodiment of the control device for a tactile feedback device with reference to the drawings. First, a tactile feedback system having a tactile feedback device will be described.

[0011] <Tactile Feedback System> As shown in Figure 1, the haptic feedback system 100 comprises a haptic feedback device 10 and a measuring device 70. The haptic feedback device 10 comprises a vibrating body 20, an input / output device 30, and a control device 40.

[0012] The vibrating body 20, although not shown in the figures, is housed inside the casing of the haptic feedback device 10. The vibrating body 20 comprises a voice coil motor, weights corresponding to each voice coil motor, and a cubic case housing these. The weights vibrate due to the force generated when current flows through the coils of the voice coil motors. When the weights vibrate, the case vibrates as a result of the vibration of the weights. Therefore, the vibrating body 20 vibrates in a direction along an axis perpendicular to the surface of the case by controlling the current flowing through the coils of the voice coil motors. More specifically, the vibrating body 20 is, for example, a vibrating body as described in Japanese Patent Application Publication No. 2005-190465.

[0013] The input / output device 30 is a device for the user to input information indicating the target area TP, which is the area targeted for rehabilitation. The input / output device 30 is configured, for example, by a touch display. Therefore, the input / output device 30 can also provide information to the user through images. The input / output device 30 is operated by the user. Through the user's operation, information indicating the target area TP is input to the input / output device 30.

[0014] The control device 40 controls the vibrating body 20. The control device 40 controls the vibration pattern of the vibrating body 20 to a specific vibration pattern corresponding to the tactile sensation to be presented. The vibration pattern is, for example, a vibration pattern represented by a nonlinear waveform. In this way, the tactile sensation presentation device 10 presents the user with a tactile sensation or force sensation. The tactile sensation includes pseudo-tactile sensation. Pseudo-tactile sensation is the illusion that the user's brain perceives as if they are touching an uneven surface when the vibration of the vibrating body 20 is presented to the user. Pseudo-force sensation is the illusion that the user's brain perceives as if they are being subjected to force when the vibration of the vibrating body 20 is presented to the user.

[0015] The control device 40 comprises a CPU 41 as an execution device, peripheral circuits 42, ROM 43, storage device 44, and a bus 45. The bus 45 connects the CPU 41, peripheral circuits 42, ROM 43, and storage device 44 so that they can communicate with each other. The peripheral circuits 42 include a circuit that generates a clock signal that defines the internal operation, a power supply circuit, a reset circuit, etc. The ROM 43 pre-stores various programs for the CPU 41 to perform various controls. In particular, the ROM 43 stores a control program P1 that controls the vibrator 20, including the pre-drive process and mode selection process described later. The CPU 41 controls the vibrator 20 by executing the various programs stored in the ROM 43.

[0016] The storage device 44 stores vibration mode data VMD indicating a plurality of vibration modes VM for rehabilitation. The vibration mode VM is a mode of the vibrator 20 for presenting the tactile sensation output by the tactile sensation presenting device 10 for rehabilitation.

[0017] Also, the storage device 44 stores data indicating the vibration pattern of the vibrator 20 for realizing each vibration mode VM. The tactile sensation presented by the tactile sensation presenting device 10 is determined by the data stored in the storage device 44.

[0018] The measuring device 70 is a device that measures an activity parameter indicating the activity state of a user who has been presented with a tactile sensation from the tactile sensation presenting device 10. For example, the measuring device 70 measures the activity state of the user's brain. Specifically, the measuring device 70 is a brain measuring instrument using near-infrared spectroscopy.

[0019] The measuring device 70 measures the activity parameter of each part of the brain. For example, the measuring device 70 measures the blood flow volume at each part of the brain as the activity parameter. Note that the higher the blood flow volume, the higher the degree of brain activation. The measuring device 70 measures the activity parameter of the part corresponding to each part of the body in the primary motor area of the brain. Then, the measuring device 70 transmits the activity parameter of each part of the brain to the control device 40.

[0020] <Control of the vibrator> The CPU 41 executes a series of processes for controlling the vibrator 20 by executing the control program P1 stored in the ROM 43. Thereby, the CPU 41 executes an acquisition process, a preliminary drive process, a parameter acquisition process, a mode selection process, and a main drive process, which will be described later.

[0021] When the power of the tactile force display device 10 is turned on, the CPU 41 executes the control program P1 stored in the ROM 43. The power of the tactile force display device 10 is turned on, for example, when the input / output device 30 is operated while the power of the tactile force display device 10 is off. That is, the control program P1 is a program that causes the CPU 41 to execute acquisition processing, preliminary drive processing, parameter acquisition processing, mode selection processing, and main drive processing.

[0022] As shown in FIG. 2, when the CPU 41 starts the control program P1, it first executes the process of step S11. In step S11, the CPU 41 performs request processing. Specifically, in the request processing, the CPU 41 outputs, to the input / output device 30, image data indicating an input field for inputting the target part TP of the rehabilitation to be requested and options for the parts that can be the target part TP. That is, the input / output device 30 displays, on the touch display, icons indicating the input field for the target part TP and the options for the parts that can be the target part TP. Then, the CPU 41 advances the process to step S12.

[0023] In step S12, the CPU 41 determines whether or not the target part TP of the rehabilitation has been input from the user via the input / output device 30. Specifically, the CPU 41 determines whether or not any one of the options displayed in the request processing has been selected. If an option has been selected, the CPU 41 determines that an input has been received from the user from the input / output device 30. On the other hand, if no option has been selected, the CPU 41 determines that no input has been received from the user from the input / output device 30.

[0024] If no input has been received from the user from the input / output device 30 (S12: NO), the CPU 41 returns the process to step S11. On the other hand, if an input has been received from the user from the input / output device 30 (S12: YES), the CPU 41 advances the process to step S13.

[0025] In step S13, the CPU 41 performs an acquisition process. In the acquisition process, the CPU 41 acquires information indicating the target location TP. Specifically, it acquires information indicating the target location TP selected via the input / output device 30 in the request process of step S11. After that, the CPU 41 proceeds to step S14.

[0026] In step S14, the CPU 41 starts a preliminary drive process. In the preliminary drive process, the CPU 41 drives the vibrating body 20 in a predetermined order and for a predetermined time, which is the preliminary time. In this embodiment, the vibrating body 20 is driven in all vibration mode VMs stored in the storage device 44. Also in the preliminary drive process, the CPU 41 starts measuring the activity state of the user's brain using the measuring device 70. It is preferable that the user is performing rehabilitation while using the haptic feedback device 10 as an auxiliary tool during the execution of this preliminary drive process. After that, the CPU 41 proceeds to step S15.

[0027] In step S15, the CPU 41 executes a parameter acquisition process. In the parameter acquisition process, the CPU 41 acquires an effect parameter EP for each vibration mode VM, which indicates the degree of rehabilitation effect on the user when the vibrating body 20 is driven in each vibration mode VM during the preliminary drive process. In this embodiment, the effect parameter EP is a parameter that indicates the active area, which is one of several areas in the user's brain that has been activated to a predetermined degree or higher. The predetermined degree is predetermined to be a degree that is recognized as having a reasonable effect on rehabilitation through tests and simulations. In particular, the effect parameter EP is a parameter that indicates the maximum active area, which is the most activated area among several areas in the user's brain. For example, a parameter "X" corresponds to one area of ​​the brain, and a parameter "Y" corresponds to a different area. In this way, the brain is divided into multiple areas, and each area is assigned a specific parameter. Furthermore, in order to identify the maximum active area, the CPU 41 first identifies the maximum value from the degree of brain activation during the period in which the vibrating body 20 is driven in the first vibration mode VM. Next, the CPU 41 identifies the brain region that showed the above maximum value as the maximally activated region. Then, the CPU 41 identifies the maximally activated region in the second vibration mode VM, similar to the first vibration mode VM. Repeating this for all vibration mode VMs, the CPU 41 calculates the maximally activated region in each vibration mode VM. Then, the CPU 41 proceeds to step S16.

[0028] In step S16, the CPU 41 performs a mode selection process. In the mode selection process, the CPU 41 selects a specific mode SM, which is a specific vibration mode VM, from among multiple vibration mode VMs based on the effect parameter EP for each vibration mode VM in the parameter acquisition process.

[0029] Specifically, there is a correspondence between the target areas (TPs) of rehabilitation, such as the right arm and left leg, and the brain regions that are active when those target areas (TPs) are moved. In the mode selection process, the CPU 41 selects a vibration mode VM as a specific mode SM, in which the area with the highest activation is located within a predetermined distance from one of the multiple brain regions in the user's brain that is activated when the target area (TP) is moved. The predetermined distance is predetermined as the distance at which the target area (TP) is recognized to be activated through testing or simulation. Specifically, the predetermined distance is set to 10 mm. In particular, in this embodiment, the CPU 41 selects a vibration mode VM as a specific mode SM in which the area with the highest activation is the closest to one of the multiple brain regions in the user's brain that is activated when the target area (TP) is moved. After that, the CPU 41 proceeds to step S17.

[0030] In step S17, the CPU 41 executes the main drive process. In this drive process, the CPU 41 drives the vibrator 20 in the specific mode SM selected in the mode selection process. In this drive process, the CPU 41 drives the vibrator 20 in the specific mode SM for a predetermined time, which is the main time. The main time is set to be longer than the pre-drive time required for the preliminary drive process in the vibration mode VM selected for the specific mode SM. In other words, the pre-drive time is shorter than the main time. During this main drive process, the user performs rehabilitation on the target area TP using the haptic feedback device 10 as an auxiliary tool. That is, the user performs exercises associated with rehabilitation while receiving haptic feedback from the haptic feedback device 10. After that, the CPU 41 terminates the series of processes.

[0031] <Operation of the Embodiment> According to the above embodiment, the user obtains the effect of rehabilitation by being presented with tactile sensations in each vibration mode VM through a preliminary drive process. Then, in the main drive process, the user is presented with tactile sensations in a specific mode SM selected based on an effect parameter EP that indicates the degree of the user's rehabilitation effect in the preliminary drive process.

[0032] <Effects of the Embodiment> (1) According to the above embodiment, the CPU 41 selects a specific mode SM in the mode selection process based on the rehabilitation effect on the user in the pre-drive process. Therefore, the CPU 41 can select an appropriate specific mode SM from among a plurality of vibration modes VM based on the rehabilitation effect on the user.

[0033] (2) According to the above embodiment, the CPU 41 executes the main drive process in the specific mode SM selected in the mode selection process. Therefore, in the main drive process, the haptic feedback device 10 can present the user with appropriate haptic feedback based on the effectiveness of the user's rehabilitation in the preliminary drive process, without requiring operation by a person with specialized knowledge such as a doctor or physical therapist. In other words, even in a place where medical professionals are not present, such as the user's home, the user can receive haptic feedback in the appropriate vibration mode VM when performing rehabilitation.

[0034] (3) According to the above embodiment, the reserve time is shorter than the main time. Therefore, the user does not need to spend an excessively long time before performing the main drive process. (4) When tactile sensations are presented to the user, even if the user's body, such as their arms or legs, does not appear to move, the area in the primary motor cortex of the brain corresponding to the target area TP of the body may be activated. According to the above embodiment, the effect parameter EP is a parameter that indicates the activated area among multiple areas in the user's brain that has been activated to a predetermined level or higher. Therefore, for example, the effect parameter EP can be obtained even if the user's body does not appear to move.

[0035] (5) According to the above embodiment, the effect parameter EP is a parameter that indicates the most activated region among multiple regions in the user's brain. Therefore, the effect parameter EP can be acquired such that one effect parameter EP corresponds to one vibration mode. This prevents the mode selection process from becoming excessively complex.

[0036] (6) According to the above embodiment, the specific mode SM selected in the mode selection process is a vibration mode VM in which the maximum activation site is located within a specified distance from the site that is activated when the target site TP is moved among multiple sites in the user's brain. Therefore, a vibration mode VM that is likely to activate the target site TP for rehabilitation can be selected as the specific mode SM.

[0037] (7) According to the above embodiment, the specific mode SM selected in the mode selection process is the vibration mode VM in which the maximum active site is the site closest to the site that is activated when the target site TP is moved among multiple sites in the user's brain. Therefore, the vibration mode VM that is expected to most easily activate the target site TP for rehabilitation can be selected as the specific mode SM.

[0038] (Other embodiments) The above embodiment can be implemented with the following modifications. The above embodiment and the following modifications can be combined to the extent that they do not contradict each other technically.

[0039] In the above embodiment, the configuration of the vibrating body 20 is not limited to the configuration of the above embodiment. For example, the vibrating body 20 may use vibrations from a motor, or it may have a piezoelectric element.

[0040] The number of vibrating bodies 20 may be multiple. In this case, the vibration mode VM may include information on the presence or absence of vibration, the intensity of vibration, and the order in which the multiple vibrating bodies 20 vibrate. This allows for a greater variety of vibration mode VM types.

[0041] In the above embodiment, the control device 40 is not limited to one that includes a CPU and a ROM to execute software processing. For example, it may include a dedicated hardware circuit (e.g., an ASIC) that performs hardware processing on at least a portion of what is processed by software in the above embodiment. That is, the control device 40 may have any of the following configurations (a) to (c): (a) It includes a processing unit that executes all of the above processing according to a program and a program storage device such as a ROM that stores the program. (b) It includes a processing unit and a program storage device that execute a portion of the above processing according to a program and a dedicated hardware circuit that executes the remaining processing. (c) It includes a dedicated hardware circuit that executes all of the above processing. Here, there may be multiple software execution devices that include a processing unit and a program storage device, or multiple dedicated hardware circuits.

[0042] The request processing may be configured so that the user inputs characters through user interaction, without outputting any options. The request processing can be modified as appropriate to suit the input / output device 30. In step S12, if an input completion button is displayed on the input / output device 30, it may be determined that the input is complete when the input completion button is pressed.

[0043] The effect parameter EP obtained during the parameter acquisition process is not limited to a parameter indicating the most active area of ​​the brain. The effect parameter EP can be any parameter that indicates the degree of effectiveness of rehabilitation on the user. For example, the effect parameter EP may be a parameter that indicates the most active area in the user's body other than the brain. Specifically, even in rehabilitation targeting a specific area (TP), movements of areas other than the TP may be involved. In such cases, if the most active area is close to the TP, it can be inferred that the rehabilitation is highly effective.

[0044] For example, the effect parameter EP may be a parameter indicating the degree of activation of a specific part of the user's body. This specific part may include not only the arms and legs, but also parts of the brain. Depending on the type of rehabilitation, it may be possible to know in advance which specific parts of the user's body are worth focusing on. In this case, by obtaining a parameter indicating the degree of activation of that part as an effect parameter, an appropriate haptic vibration mode VM can be selected as the specific mode SM.

[0045] In the mode selection process, the CPU 41 should select a specific mode SM from among multiple vibration modes VM based on the effect parameter EP. Therefore, the CPU 41 should select the specific mode SM in accordance with the effect parameter EP to be acquired. For example, as in the modification example above, suppose the effect parameter EP is a parameter that indicates the degree of activation of a specific part of the user's body. In this case, for example, in the mode selection process, the CPU 41 may select the vibration mode VM with the highest degree of activation indicated by the effect parameter EP as the specific mode SM.

[0046] • In the mode selection process, the CPU 41 vibrates based on the maximum active area. Do It is not necessary to make a selection. For example, if the effect parameter EP is a parameter that indicates an active site, which is a site in the user's brain that has been activated above a predetermined threshold, the CPU 41 may select a specific mode SM based on the active site during the mode selection process.

[0047] In the mode selection process, the CPU 41 does not have to select a specific mode SM in which the active site is the site closest to the site that is activated when the target site TP is activated. In the mode selection process, the CPU 41 may select as the specific mode SM a vibration mode VM in which the active site is located within a predetermined distance from the site that is activated when the target site TP is activated among multiple sites in the user's brain.

[0048] Furthermore, during the parameter acquisition process, multiple effect parameters EP may be acquired for a single vibration mode VM. In this case, during the mode selection process, the CPU 41 may select a specific mode SM in which one of the multiple active sites is located within a specified distance from the site that is activated when the target site TP is activated among the multiple sites in the user's brain.

[0049] Furthermore, suppose that multiple effect parameters EP are obtained for a single vibration mode VM during the parameter acquisition process. In this case, during the mode selection process, the CPU 41 may select a vibration mode VM as a specific mode SM in which the number of effect parameters EP obtained during the parameter acquisition process is equal to or greater than a predetermined number. According to this, the CPU 41 can select a mode that is highly likely to activate the target site TP by selecting a vibration mode VM with many active sites as a specific mode SM.

[0050] Furthermore, suppose that multiple effect parameters EP are obtained for a single vibration mode VM during the parameter acquisition process. In this case, during the mode selection process, the CPU 41 may select the vibration mode VM with the largest number of effect parameters EP obtained during the parameter acquisition process as the specific mode SM. By doing so, the CPU 41 can select the mode that is most likely to activate the target site TP by selecting the vibration mode VM with the most active sites as the specific mode SM.

[0051] The main time for this drive process can be changed as appropriate. For example, the main time for this drive process may be equal to the reserve time for the preliminary drive process, or it may be shorter than the reserve time. It is not mandatory to perform the main drive process after the preliminary drive process. For example, the type of specific mode SM identified through the preliminary drive process may be displayed on the input / output device 30. In this case, the user can specify the specific mode SM to the haptic feedback device 10.

[0052] The haptic feedback device 10 may store the specific mode SM identified in the mode selection process. If the specific mode SM is stored, it is preferable to be able to select whether to perform the main drive process without going through the preliminary drive process, or to perform both the preliminary drive process and the main drive process.

[0053] The measuring device 70 is not limited to a brain measuring instrument using near-infrared spectroscopy. For example, the measuring device 70 may be a measuring instrument using functional magnetic resonance imaging (functional MRI). Alternatively, the measuring device 70 may be a measuring instrument using electroencephalography (EEG).

[0054] The measuring device 70 does not have to be a device that measures the activity level of the user's brain. For example, it may be a device that measures the activity level of a specific part of the user's body other than the brain. Specifically, if the area of ​​the user's body that is the target of rehabilitation is the right leg, it may be a device that measures the activity level of the right leg.

[0055] The technical concepts that can be understood from the above embodiments and modifications are added below. <Note 1> A control device comprising a memory device and an execution device, wherein the vibrating body of a haptic feedback device is the target of control, The memory device stores multiple vibration modes of the vibrator for presenting tactile sensations output by the tactile sensation presentation device for rehabilitation purposes. The execution device is A preliminary drive process that drives the vibrating body in multiple vibration modes and presents the tactile sensation in at least two or more of the multiple vibration modes, In the aforementioned pre-drive process, a parameter acquisition process is performed to acquire an effect parameter for each vibration mode that indicates the degree of rehabilitation effect on the user when the vibrating body is driven in each vibration mode, Based on the effect parameters for each vibration mode in the parameter acquisition process, a mode selection process is performed to select a specific vibration mode from among a plurality of vibration modes, which is a specific vibration mode. A control device for the vibrating element of a haptic feedback device.

[0056] <Note 2> In the mode selection process described above, the drive process for driving the vibrating body is further executed in the specific mode selected in the mode selection process described above. A control device for the vibrating element of the tactile feedback device described in <Note 1>.

[0057] <Note 3> The time required for the preliminary drive process in the vibration mode designated as the specific mode is shorter than the time required for the main drive process. A control device for the vibrating element of the tactile feedback device described in <Note 2>.

[0058] <Note 4> The aforementioned effect parameter is a parameter that indicates an active site, which is a site in the user's brain that has been activated to a predetermined level or higher among several other sites. A control device for the vibrating element of a tactile feedback device described in any one of the items in <Appendix 1> to <Appendix 3>.

[0059] <Note 5> The aforementioned effect parameter is a parameter that indicates the most activated site among the active sites. A control device for the vibrating element of the tactile feedback device described in <Note 4>.

[0060] <Note 6> Further, an acquisition process is performed to obtain information indicating the target area for the aforementioned rehabilitation. In the mode selection process, the specific mode is selected in which the active site is located within a predetermined distance from a site in the user's brain that becomes activated when the target area is operated. A control device for the vibrating element of the tactile feedback device described in <Appendix 4> or <Appendix 5>.

[0061] <Note 7> In the mode selection process, the vibration mode is selected such that the active site is the site closest to the site in the user's brain that is activated when the target site is moved. A control device for the vibrating element of the tactile feedback device described in <Note 6>.

[0062] <Note 8> Further, an acquisition process is performed to obtain information indicating the target area for the aforementioned rehabilitation. When multiple effect parameters for the vibration mode are acquired during the parameter acquisition process, the mode selection process selects a specific mode in which one of the multiple active sites is located within a predetermined distance from a site in the user's brain that is activated when the target area is operated. A control device for the vibrating element of the tactile feedback device described in <Note 4>.

[0063] <Note 9> When multiple effect parameters for the vibration mode are acquired during the parameter acquisition process, the mode selection process selects a specific mode in which the number of effect parameters acquired during the parameter acquisition process is equal to or greater than a predetermined number. A control device for the vibrating element of the tactile feedback device described in <Note 4>.

[0064] <Note 10> When multiple effect parameters are acquired in the vibration mode during the parameter acquisition process, the mode selection process selects the specific mode that has the largest number of effect parameters acquired during the parameter acquisition process. A control device for the vibrating element of the tactile feedback device described in <Appendix 4> or <Appendix 9>.

[0065] <Note 11> The aforementioned effect parameter is a parameter that indicates the degree of activation of a specific part of the user's body. A control device for the vibrating element of a tactile feedback device described in any one of the items in <Appendix 1> to <Appendix 3>.

[0066] <Note 12> In the mode selection process, the vibration mode that has the highest activation level indicated by the effect parameter is selected. A control device for the vibrating element of the tactile feedback device described in <Note 11>.

[0067] <Note 13> The system comprises a vibrating body and a control device having a memory device and an execution device, which controls the vibrating body. The memory device stores multiple vibration modes of the vibrating body for presenting tactile sensations to be output for rehabilitation purposes. The execution device is A preliminary drive process that drives the vibrating body in multiple vibration modes and presents the tactile sensation in at least two or more of the multiple vibration modes, In the aforementioned pre-drive process, a parameter acquisition process is performed to acquire an effect parameter for each vibration mode that indicates the degree of rehabilitation effect on the user when the vibrating body is driven in each vibration mode, Based on the effect parameters for each vibration mode in the parameter acquisition process, a mode selection process is performed to select a specific vibration mode from among a plurality of vibration modes, which is a specific vibration mode. Tactile sensation presentation device. [Explanation of Symbols]

[0068] 10...Tactile sensation presentation device 20…Vibrating body 30… Input / Output Devices 40…Control device 41…CPU 42…Peripheral circuits 43…ROM 44…Storage device 45... Bus 70... Measuring device 100...Tactile feedback system EP... Effect parameter P1...Control program SM...Specific Mode TP...Target area VM…Vibration Mode VMD…Vibration Mode Data

Claims

1. A control device comprising a memory device and an execution device, wherein the vibrating body of a haptic feedback device is the target of control, The memory device stores multiple vibration modes of the vibrating body for presenting tactile sensations output by the tactile sensation presentation device for rehabilitation purposes. The execution device is A preliminary drive process that drives the vibrating body in multiple vibration modes and presents the tactile sensation in at least two or more of the multiple vibration modes, In the pre-drive process, a parameter acquisition process is performed to acquire an effect parameter for each vibration mode that indicates the degree of rehabilitation effect on the user when the vibrating body is driven in each vibration mode, A mode selection process that selects a specific mode from among a plurality of vibration modes based on the effect parameters in each of the vibration modes in the parameter acquisition process, The process involves obtaining information indicating the target area for the aforementioned rehabilitation, and then executing an acquisition process. The aforementioned effect parameter is a parameter that indicates an active site, which is a site in the user's brain that has been activated to a predetermined level or higher among several other sites. In the mode selection process, the specific mode is selected in which the active site is located within a predetermined distance from one of the multiple regions in the user's brain that becomes activated when the target area is operated. A control device for the vibrating element of a haptic feedback device.

2. The aforementioned effect parameter is a parameter that indicates the most activated site among the active sites. A control device for the vibrating element of a haptic feedback device according to claim 1.

3. In the mode selection process, the vibration mode is selected such that the active site is the site closest to the site in the user's brain that is activated when the target site is moved. A control device for the vibrating element of a tactile feedback device according to claim 1 or claim 2.

4. A control device comprising a memory device and an execution device, wherein the vibrating body of a haptic feedback device is the target of control, The memory device stores multiple vibration modes of the vibrating body for presenting tactile sensations output by the tactile sensation presentation device for rehabilitation purposes. The execution device is A preliminary drive process that drives the vibrating body in multiple vibration modes and presents the tactile sensation in at least two or more of the multiple vibration modes, In the pre-drive process, a parameter acquisition process is performed to acquire an effect parameter for each vibration mode that indicates the degree of rehabilitation effect on the user when the vibrating body is driven in each vibration mode, A mode selection process that selects a specific mode from among a plurality of vibration modes based on the effect parameters in each of the vibration modes in the parameter acquisition process, The process involves obtaining information indicating the target area for the aforementioned rehabilitation, and then executing an acquisition process. The aforementioned effect parameter is a parameter that indicates an active site, which is a site in the user's brain that has been activated to a predetermined level or higher among several other sites. When multiple effect parameters for the vibration mode are acquired during the parameter acquisition process, the mode selection process selects a specific mode in which one of the multiple active sites is located within a predetermined distance from a site in the user's brain that is activated when the target area is operated. A control device for the vibrating element of a haptic feedback device.

5. A control device comprising a memory device and an execution device, wherein the vibrating body of a haptic feedback device is the target of control, The memory device stores multiple vibration modes of the vibrating body for presenting tactile sensations output by the tactile sensation presentation device for rehabilitation purposes. The execution device is A preliminary drive process that drives the vibrating body in multiple vibration modes and presents the tactile sensation in at least two or more of the multiple vibration modes, In the pre-drive process, a parameter acquisition process is performed to acquire an effect parameter for each vibration mode that indicates the degree of rehabilitation effect on the user when the vibrating body is driven in each vibration mode, A mode selection process is performed in which, based on the effect parameters for each vibration mode in the parameter acquisition process, a specific mode is selected from among a plurality of vibration modes, which is a specific vibration mode. The aforementioned effect parameter is a parameter that indicates an active site, which is a site in the user's brain that has been activated to a predetermined level or higher among several other sites. When multiple effect parameters for the vibration mode are acquired during the parameter acquisition process, the mode selection process selects a specific mode in which the number of effect parameters acquired during the parameter acquisition process is equal to or greater than a predetermined number. A control device for the vibrating element of a haptic feedback device.

6. A control device comprising a memory device and an execution device, wherein the vibrating body of a haptic feedback device is the target of control, The memory device stores multiple vibration modes of the vibrating body for presenting tactile sensations output by the tactile sensation presentation device for rehabilitation purposes. The execution device is A preliminary drive process that drives the vibrating body in multiple vibration modes and presents the tactile sensation in at least two or more of the multiple vibration modes, In the pre-drive process, a parameter acquisition process is performed to acquire an effect parameter for each vibration mode that indicates the degree of rehabilitation effect on the user when the vibrating body is driven in each vibration mode, A mode selection process is performed in which, based on the effect parameters for each vibration mode in the parameter acquisition process, a specific mode is selected from among a plurality of vibration modes, which is a specific vibration mode. The aforementioned effect parameter is a parameter that indicates an active site, which is a site in the user's brain that has been activated to a predetermined level or higher among several other sites. When multiple effect parameters are acquired in the vibration mode during the parameter acquisition process, the mode selection process selects the specific mode that has the largest number of effect parameters acquired during the parameter acquisition process. A control device for the vibrating element of a haptic feedback device.

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