Control device for vibrating body of haptic presentation device, and haptic presentation device

Abstract

A control device (40) controls a vibrating body (20) of a haptic presentation device (10). The control device (40) comprises a CPU (41) serving as an execution device, and a storage device (44). The storage device (44) stores associated data (CD) in which a plurality of vibration modes for presenting a tactile sense corresponding to a type of rehabilitation are associated with identification information for identifying the type of rehabilitation. The CPU (41) executes an acquisition process, a mode selection process, and a driving process. In the acquisition process, the CPU (41) selects a vibration mode, corresponding to the identification information acquired during the acquisition process, on the basis of the associated data (CD). In the mode selection process, the CPU (41) selects a vibration mode, corresponding to the identification information acquired in the acquisition process, on the basis of the associated data (CD). In the driving process, the CPU (41) drives the vibrating body (20) in the vibration mode selected in the mode selection process.

Description

Control device for vibrator of haptic / force presentation device, and haptic / force presentation device

[0001] The present invention relates to a control device for a vibrator of a haptic sense presentation device, and the haptic sense presentation device.

[0002] The haptic presentation device described in Patent Document 1 includes a housing, a vibrator, and a control device. The vibrator is located inside the housing. The housing is used by being held, for example, by a user's hand. The control device controls the vibration pattern of the vibrator to a specific pattern. In this way, the haptic presentation device presents various haptic sensations to a user who is touching the housing.

[0003] Japanese Patent Application Laid-Open No. 2005-190465

[0004] One possible situation in which the haptic presentation device described in Patent Document 1 would be used is when the haptic presentation device is used as an assistive tool during rehabilitation to improve the user's motor function. However, in such a case, it is unclear what kind of haptic sensation should be presented to the user in order to enhance the effect of improving the motor function.

[0005] In order to solve the above problems, one aspect of the present disclosure is a control device for a vibrator of a tactile illusionary force presentation device, comprising a memory device and an execution device, and configured to control the vibrator of the tactile illusionary force presentation device, wherein the memory device stores correspondence data that corresponds multiple vibration modes for presenting tactile illusionary force according to the type of rehabilitation with specific information for identifying the type of rehabilitation, and the execution device is a control device for a vibrator of the tactile illusionary force presentation device that performs an acquisition process to acquire the specific information, a mode selection process to select the vibration mode according to the specific information acquired in the acquisition process based on the correspondence data, and a drive process to drive the vibrator in the vibration mode selected in the mode selection process.

[0006] In order to solve the above problem, one aspect of the present disclosure is a haptic presentation device that includes a vibrator, and a control device having a memory device and an execution device and that controls the vibrator, wherein the memory device stores correspondence data that associates multiple vibration modes of the vibrator for presenting haptic sensations according to the type of rehabilitation with specific information for identifying the type of rehabilitation, and the execution device performs an acquisition process that acquires the specific information, a mode selection process that selects the vibration mode according to the specific information acquired in the acquisition process based on the correspondence data, and a drive process that drives the vibrator in the vibration mode selected in the mode selection process.

[0007] According to each of the above configurations, the vibrator of the haptic sense presentation device can be driven in a vibration mode that presents an appropriate haptic sense in accordance with the specific information.

[0008] Appropriate haptic feedback can be presented in conjunction with specific information.

[0009] Fig. 1 is a schematic diagram showing a haptic presentation device. Fig. 2 is a schematic diagram showing correspondence data. Fig. 3 is a flowchart showing a series of processes by a control program. Fig. 4 is a schematic diagram showing a setting system. Fig. 5 is a flowchart showing a series of processes by a generation program.

[0010] An embodiment of a control device for a haptic sense presentation device will be described below with reference to the drawings. First, the haptic sense presentation device will be described.

[0011] <Haptic Sense Presentation Device> As shown in FIG. 1 , the haptic sense presentation device 10 includes a vibrator 20 , an input / output device 30 , and a control device 40 .

[0012] Although not shown, the vibrating bodies 20 are housed inside the housing of the haptic presentation device 10. The vibrating bodies 20 also include voice coil motors, weights corresponding to each voice coil motor, and a cubic case that houses them. The weights vibrate due to a force generated when a current flows through the coils of the voice coil motors. When the weights vibrate, the case vibrates due to the vibration of the weights. Therefore, by controlling the current flowing through the coils of the voice coil motors, the vibrating bodies 20 vibrate in a direction along an axis perpendicular to the surface of the case. More specifically, the vibrating bodies 20 are as described in, for example, Japanese Patent Application Laid-Open No. 2005-190465.

[0013] The input / output device 30 is a device for the user to input specific information SI for specifying the type of rehabilitation. The input / output device 30 is configured, for example, with 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. The specific information SI is input to the input / output device 30 by the user's operation.

[0014] In detail, the specific information SI includes ID information for identifying the user, information indicating whether the user has a physical disability and the degree of the disability, information indicating the areas that will be subject to rehabilitation, and information indicating the intensity of the rehabilitation.

[0015] 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 according to the haptic sensation to be presented. The vibration pattern is, for example, a vibration pattern represented by a nonlinear waveform. In this way, the haptic sensation presentation device 10 presents a haptic sensation or a kinematic sensation to the user. The haptic sensation includes an illusionary tactile sensation. The illusionary tactile sensation includes an illusionary tactile sensation and an illusionary kinematic sensation. The illusionary tactile sensation is an illusion in which the user's brain feels as if it is touching an uneven surface when the vibration of the vibrating body 20 is presented to the user. The illusionary kinematic sensation is an illusion in which the user's brain feels as if it is being given a force when the vibration of the vibrating body 20 is presented to the user.

[0016] The control device 40 includes a CPU 41 as an execution device, a peripheral circuit 42, a ROM 43, a storage device 44, and a bus 45. The bus 45 connects the CPU 41, the peripheral circuit 42, the ROM 43, and the storage device 44 so that they can communicate with one another. The peripheral circuit 42 includes a circuit that generates a clock signal that regulates internal operations, a power supply circuit, a reset circuit, etc. The ROM 43 pre-stores various programs that the CPU 41 uses to execute various controls. In particular, the ROM 43 stores a control program P1 that performs control based on correspondence data CD (described below). The CPU 41 controls the vibrator 20 by executing the various programs stored in the ROM 43.

[0017] The storage device 44 stores correspondence data CD. As shown in Fig. 2, the correspondence data CD is data in which a plurality of vibration modes VM for presenting haptic sensations according to the type of rehabilitation is associated with specific information SI for identifying the type of rehabilitation. In the correspondence data CD, one vibration mode VM corresponds to one type of specific information SI.

[0018] The specific information SI includes ID information for identifying the user, information indicating whether the user has a physical disability and the degree of the disability, information indicating the area to be rehabilitated, and information indicating the intensity of the rehabilitation. While FIG. 2 illustrates patterns No. 1 to No. 6 of the specific information SI, the number of pieces of specific information SI is not critical. In other words, the number of pieces of specific information SI may be one or two or more.

[0019] The storage device 44 stores data for realizing the vibration pattern of the vibrating body 20. The data stored in the storage device 44 determines the haptic sensation presented by the haptic sense presentation device 10. Specifically, the storage device 44 has data for driving the vibrating body 20 when the vibration mode VM is mode A. For example, when the vibration mode VM is mode A, the CPU 41 drives the vibrating body 20 based on the data, thereby presenting the haptic sensation corresponding to mode A to the user. Note that in the example shown in FIG. 2 , modes A to F are associated with each piece of specific information SI, but there may be an unregistered mode that is not associated with any piece of specific information SI. In this case, when new specific information SI is created, the unregistered mode may be newly associated. Furthermore, the same mode may be associated with multiple pieces of specific information SI.

[0020] 1, the CPU 41 executes a control program P1 stored in the ROM 43 to perform a series of processes for controlling the vibrating body 20. As a result, the CPU 41 executes an acquisition process for acquiring the specific information SI, a mode selection process for selecting a vibration mode VM based on the correspondence data CD, and a drive process for driving the vibrating body 20.

[0021] When the power of the haptic sense presentation device 10 is turned on, the CPU 41 executes the control program P1 stored in the ROM 43. For example, when the power of the haptic sense presentation device 10 is turned off, the power of the haptic sense presentation device 10 is turned on by operating the input / output device 30. In other words, the control program P1 is a program that causes the CPU 41 to execute an acquisition process, a mode selection process, and a drive process.

[0022] 3, when the CPU 41 starts the control program P1, it first executes the processing of step S11. In step S11, the CPU 41 performs request processing. Specifically, in the request processing, the CPU 41 outputs image data to the input / output device 30 so that the user can select the type of specific information SI to be requested and options to be selected for each specific information SI. That is, the input / output device 30 displays icons indicating the type of specific information SI and the options on the touch display.

[0023] More specifically, in the request process, the CPU 41 outputs pre-registered ID information of multiple users as options for the ID information for identifying the user from the specific information SI. In this embodiment, the ID information is associated with age and gender. Furthermore, in the request process, the CPU 41 outputs options for "yes" or "no" in the "user's physical disability" field for the information in the specific information SI indicating whether the user has a physical disability and the degree of the disability. If the user has a physical disability, the CPU 41 outputs a field for information indicating the degree of the disability and options indicating three levels of the degree, such as "strong," "medium," and "weak." Furthermore, in the request process, the CPU 41 outputs options for multiple body parts, such as "right arm" or "left leg," for the information in the specific information SI indicating the part to be rehabilitated. Furthermore, the CPU 41 outputs options for three levels of the intensity, such as "strong," "medium," and "weak," for the information indicating the intensity of the rehabilitation. The above options may be displayed simultaneously on one screen, or each time an option is selected, the next option may be displayed. After that, the CPU 41 proceeds to step S12.

[0024] In step S12, the CPU 41 determines whether or not a user input has been made from the input / output device 30. Specifically, the CPU 41 determines whether or not a selection has been made from the options for all types of specific information SI for each type of specific information SI for which options have been output in the request process. If a selection has been made for all types of specific information SI, the CPU 41 determines that a user input has been made from the input / output device 30. On the other hand, if no selection has been made for any type of specific information SI, the CPU 41 determines that a user input has not been made from the input / output device 30.

[0025] If the user has not input from the input / output device 30 (S12: NO), the CPU 41 repeats the process of step S12. On the other hand, if the user has input from the input / output device 30 (S12: YES), the CPU 41 proceeds to step S13.

[0026] In step S13, the CPU 41 performs an acquisition process. In the acquisition process, the CPU 41 acquires the specific information SI. Specifically, the option selected as each piece of specific information SI input to the input / output device 30 is acquired as the user's specific information SI. Thereafter, the CPU 41 proceeds to step S14.

[0027] In step S14, the CPU 41 performs a mode selection process. In the mode selection process, the CPU 41 selects a vibration mode VM corresponding to the user's specific information SI acquired in the acquisition process based on the correspondence data CD. In the correspondence data CD, one vibration mode VM corresponds to one set of specific information SI. The CPU 41 selects the vibration mode VM corresponding to the user's specific information SI acquired in the acquisition process in the correspondence data CD. Thereafter, the CPU 41 proceeds to step S15.

[0028] In step S15, the CPU 41 performs a drive process. In the drive process, the CPU 41 drives the vibrator 20 in the vibration mode VM selected in the mode selection process. Note that, with the haptic presentation device 10 driven in the vibration mode VM corresponding to the specific information SI in this manner, the user performs rehabilitation while using the haptic presentation device 10 as an assistive tool. In other words, the user performs exercise operations associated with rehabilitation while receiving haptic sensations from the haptic presentation device 10. Then, the CPU 41 performs the drive process for a certain period of time, and then terminates the series of processes.

[0029] <Method of Generating Corresponding Data> Next, a method of generating the corresponding data CD will be described. First, a setting system 60 that generates the corresponding data CD will be described.

[0030] 4, the setting system 60 includes the above-described haptic feedback device 10, a measuring device 70, and a setting device 80. In the setting system 60, the devices are connected to each other so as to be able to communicate with each other.

[0031] The measuring device 70 is a device that measures activity parameters that indicate the activity state of a user who has received a haptic sensation from the haptic sensation presentation 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 that uses near-infrared spectroscopy.

[0032] The measuring device 70 measures activity parameters at each location of the brain. For example, the measuring device 70 measures the blood flow rate at each location of the brain as the activity parameter. The greater the blood flow rate, the higher the degree of brain activation. The measuring device 70 measures activity parameters at locations in the primary motor cortex of the brain that correspond to each part of the body. The measuring device 70 then transmits the activity parameters at each location of the brain to the setting device 80.

[0033] The setting device 80 is a device for generating the correspondence data CD. The setting device 80 controls the vibrator 20 of the haptic presentation device 10 via the control device 40. The setting device 80 includes a CPU 81, a peripheral circuit 82, a ROM 83, a storage device 84, and a bus 85. The bus 85 connects the CPU 81, the peripheral circuit 82, the ROM 83, and the storage device 84 so that they can communicate with each other. The peripheral circuit 82 includes a circuit for generating a clock signal that defines internal operation, a power supply circuit, a reset circuit, etc. The ROM 83 pre-stores various programs that the CPU 81 uses to perform various controls. In particular, the ROM 83 stores a generation program P2 that generates the correspondence data CD. The CPU 81 generates the correspondence data CD by executing the generation program P2 stored in the ROM 83.

[0034] The CPU 81 executes a series of processes for generating the correspondence data CD by executing the generation program P2 stored in the ROM 83. As a result, the CPU 81 executes a test drive process, a parameter acquisition process, and a mode determination process, which will be described later. The CPU 81 executes the generation program P2 stored in the ROM 83 when the haptic presentation device 10 is powered on while the haptic presentation device 10, the measurement device 70, and the setting device 80 are connected. In other words, the generation program P2 is a program that causes the CPU 81 to execute the test drive process, the parameter acquisition process, and the mode determination process.

[0035] 5, when the CPU 81 starts the generation program P2, it first executes the processes of steps S21 to S23. The processes of steps S21 to S23 are the same as steps S11 to S13 in the control program P1 described above. After step S23, the CPU 81 proceeds to step S24.

[0036] In step S24, the CPU 81 starts a test drive process. In the test drive process, the CPU 81 drives the vibrating body 20 in a plurality of vibration modes VM in a predetermined order for a predetermined period of time. In addition, in the test drive process, the CPU 81 starts measuring the activity state of the user's brain using the measurement device 70. Note that, during the execution of this test drive process, it is preferable that the user is performing rehabilitation while using the haptic presentation device 10 as an assistive device. Thereafter, the CPU 81 proceeds to step S25.

[0037] In step S25, the CPU 81 executes a parameter acquisition process. In the parameter acquisition process, the CPU 81 acquires each activity parameter when the vibrating body 20 is driven in each vibration mode VM measured by the measurement device 70. Then, after the test drive process is completed, the CPU 81 proceeds to step S26.

[0038] In step S26, the CPU 81 executes a mode determination process. In the mode determination process, the CPU 81 determines a specific mode, which is a specific vibration mode VM, from among the plurality of vibration modes VM based on the active parameters in each vibration mode VM in the parameter acquisition process.

[0039] Specifically, first, the CPU 81 identifies the maximum value among the activation parameters of each part during the period when the vibrator 20 is driven in the first vibration mode VM. Next, the CPU 81 identifies the part of the brain that shows the maximum value as the most activated part. Next, the CPU 81 identifies the most activated part in the second vibration mode VM in the same way as in the first vibration mode VM. By repeating this process, the CPU 81 calculates the most activated part in each vibration mode VM.

[0040] Next, the CPU 81 compares the information indicating the location to be rehabilitated among the specific information SI acquired in the acquisition process of step S13 with the most activated site in each vibration mode VM, and assigns an evaluation score to each vibration mode VM based on the comparison result.

[0041] Specifically, the areas targeted for rehabilitation, such as the right arm and left leg, correspond to the parts of the brain that are activated when moving those areas. Therefore, if the most activated area matches the area of ​​the brain that corresponds to the area targeted for rehabilitation, the CPU 81 adds 10 points to the evaluation score.

[0042] Next, when there is a vibration mode VM in which the maximum activation area coincides with the area of ​​the brain corresponding to the target area for rehabilitation, the CPU 81 adds 5 points to the evaluation score of the vibration mode VM in which the activation parameter at the maximum activation area is the largest.

[0043] Next, the CPU 81 compares the information indicating the intensity of rehabilitation among the specific information SI acquired in the acquisition process of step S13 with the activity parameter at the most activated site in each vibration mode VM. If the activity parameter at the most activated site is within a predetermined range including a value required according to the information indicating the intensity of rehabilitation, the CPU 81 adds 4 points to the evaluation score of the vibration mode VM.

[0044] Next, the CPU 81 compares the location to be rehabilitated, the presence and degree of the user's physical disability, and each vibration mode VM among the specific information SI acquired in the acquisition process of step S13. The CPU 81 then sets the evaluation score of a vibration mode VM, which is predetermined depending on the presence and degree of the user's physical disability, to 0 regardless of the result of the sum of the evaluation scores. Such a vibration mode VM is defined as an inappropriate vibration mode VM depending on, for example, the presence and degree of the user's physical disability. Specifically, for example, the presence or absence of a physical disability is assumed to be "present" and the degree of the disability is assumed to be "severe." In this case, the evaluation score of a vibration mode VM created for rehabilitation of able-bodied individuals is assumed to be 0. Note that such vibration modes VM are determined based on tests, simulations, the experience of medical professionals such as doctors, and the like.

[0045] Next, the CPU 81 compares the ID information for identifying the user among the identification information SI acquired in the acquisition process of step S13 with each vibration mode VM. The CPU 81 then assigns an evaluation score of 0 to a vibration mode VM predetermined according to the user's ID information. Such a vibration mode VM is defined as a vibration mode VM that is less effective for a specific age or gender. Specifically, for example, assume that the user's age is under 10 years old or over 80 years old. In this case, a vibration mode VM that presents a haptic sensation with a certain intensity or higher will receive an evaluation score of 0. Note that such a vibration mode VM is determined based on tests, simulations, the experience of medical professionals such as doctors, and the like. The CPU 81 then determines the vibration mode VM with the highest evaluation score as the specific mode among the multiple vibration modes VM. The CPU 81 then proceeds to step S27.

[0046] In step S27, the CPU 81 associates the specific information SI acquired in step S13 with the vibration mode VM determined in step S26 and stores the associated data CD in the storage device 44. If there is already associated data CD for the same pattern of specific information SI, the data is updated. Thereafter, the CPU 81 proceeds to step S28.

[0047] In step S28, the CPU 81 determines whether the number of patterns of the specific information SI in the corresponding data CD is equal to or greater than a predetermined number. If the number of patterns of the specific information SI in the corresponding data CD is less than the predetermined number (S28: NO), the CPU 81 repeats the processes of steps S11 to S27 for a different user. On the other hand, if the number of patterns of the specific information SI in the corresponding data CD is equal to or greater than the predetermined number (S28: YES), the CPU 81 ends the series of processes.

[0048] <Operation of the Embodiment> According to the above embodiment, in the correspondence data CD, vibration modes VM are associated with specific information SI so that the user is presented with a haptic sensation appropriate for rehabilitation. When using the haptic sense presentation device 10, the user inputs their own specific information SI. For example, suppose the user inputs, as the specific information SI, the part of the body to be rehabilitated is the right arm, the rehabilitation intensity is strong, there is no physical disability, and the ID information is that the user is in his / her 30s and his / her gender is male. In this case, the control device 40 acquires this specific information SI. Then, the CPU 41 selects mode A of the vibration modes VM associated with this specific information SI in the correspondence data CD. Also, suppose the user inputs, as the specific information SI, the part of the body to be rehabilitated is the right arm, the rehabilitation intensity is medium, there is a physical disability, the degree of the physical disability is strong, and the ID information is that the user is in his / her 50s and his / her gender is male. In this case, the control device 40 acquires this specific information SI. Then, the CPU 41 selects mode B of the vibration modes VM associated with the specific information SI in the correspondence data CD. In this way, the haptic presentation device 10 selects the vibration mode VM in accordance with the specific information SI of the user.

[0049] <Effects of the Embodiment> (1) According to the above embodiment, in the mode selection process, the haptic presentation device 10 selects the vibration mode VM corresponding to the specific information SI acquired in the acquisition process based on the correspondence data CD. Therefore, the haptic presentation device 10 can drive the vibrator 20 in the vibration mode VM that presents an appropriate haptic sensation in accordance with the user's specific information SI. In other words, by inputting the specific information SI that the user is aware of, the user can perform rehabilitation while receiving an appropriate haptic sensation from the haptic sensations that the haptic presentation device 10 can present.

[0050] (2) According to the above embodiment, the specific information SI includes information indicating the intensity of rehabilitation, so that the haptic presentation device 10 can present a haptic sensation related to an appropriate rehabilitation intensity depending on the symptoms of the patient requiring rehabilitation.

[0051] (3) According to the above embodiment, the specific information SI includes information indicating the area to be rehabilitated, so that the haptic presentation device 10 can present an appropriate haptic sensation depending on the area to be rehabilitated.

[0052] (4) According to the above embodiment, the specific information SI includes information indicating whether or not the user has a physical disability and the degree of the physical disability. Therefore, the haptic presentation device 10 can prevent the selection of a vibration mode VM that is considered inappropriate for the user's physical disability.

[0053] (5) According to the above embodiment, the identification information SI includes the user's ID information. Therefore, based on, for example, the user's age linked to the user's ID information, the haptic presentation device 10 can prevent the selection of a vibration mode VM that is considered inappropriate for the user's age.

[0054] (6) According to the method for generating the correspondence data CD of the above embodiment, the correspondence data CD is generated based on the activity state of the user's body, specifically, the activity state of each part of the brain, when the vibrator 20 is driven in a plurality of vibration modes VM. Therefore, in the mode determination process, the CPU 81 can determine the vibration mode VM that is most likely to activate the brain during rehabilitation.

[0055] (7) When a haptic sensation is presented to a user, even if the user's body, for example, an arm or a leg, does not appear to be moving, the brain's primary motor cortex may be activated in areas corresponding to each part of the body. According to the method for generating correspondence data CD of the above embodiment, the measurement device 70 measures activation parameters for each part of the user's brain. Therefore, activation parameters can be obtained even when the user's body does not appear to be moving.

[0056] (Other Embodiments) The above embodiment can be modified as follows: The above embodiment and the following modifications can be combined and implemented within the scope of technical compatibility.

[0057] In the above embodiment, the configuration of the vibrating body 20 is not limited to the configuration in the above embodiment. For example, the vibrating body 20 may be one that uses vibration by a motor or one that has a piezoelectric element.

[0058] The number of vibrating bodies 20 may be plural. In this case, the vibration mode VM may include information on whether or not vibration is to be performed on the plural vibrating bodies 20, the vibration intensity, and the vibration order. This allows for a greater variety of vibration modes VM.

[0059] In the above embodiment, the control device 40 is not limited to a device equipped with a CPU and ROM and executing software processing. For example, it may be equipped with a dedicated hardware circuit (e.g., an ASIC) that performs hardware processing on at least a portion of the software processing performed in the above embodiment. That is, the control device 40 may have any of the following configurations (a) to (c): (a) A processing device 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) A processing device and program storage device that executes part of the above processing according to a program and a dedicated hardware circuit that executes the remaining processing; or (c) A dedicated hardware circuit that executes all of the above processing. Here, there may be multiple software execution devices equipped with a processing device and program storage device, and multiple dedicated hardware circuits. The same applies to the setting device 80.

[0060] The specific information SI may be any information for identifying the type of rehabilitation. For example, the specific information SI may not include information indicating the intensity of the rehabilitation. For example, the specific information SI may not include information indicating the area to be rehabilitated. For example, the specific information SI may not include information indicating whether the user has a physical disability and the degree of the physical disability. For example, the specific information SI may not include ID information for identifying the user. Furthermore, the specific information SI may include information other than that exemplified in the above embodiment. For example, the specific information SI may include information indicating the state of the user's physical disability. The information indicating the state of the physical disability is, for example, information indicating whether the physical disability is severe or not.

[0061] The structure of the correspondence data CD does not have to be in a table format as shown in Fig. 2. For example, the correspondence data CD may have multiple tables for each location that is the subject of rehabilitation. Also, for example, the correspondence data CD may be configured so that one vibration mode VM is associated with one piece of specific information SI.

[0062] The correspondence data CD may correspond to one piece of specific information SI in a plurality of vibration modes VM. In this case, the CPU 41 may select a plurality of vibration modes VM in the vibration mode selection process, and may drive the vibrating body 20 successively in the selected plurality of vibration modes VM in the drive process. In this case, the CPU 41 may combine a plurality of vibration modes VM to produce a specific vibration pattern in the drive process.

[0063] The correspondence data CD is not limited to that generated by the generation method of the above embodiment. The control program P1 may be executed using correspondence data CD generated by other generation methods.

[0064] The vibration mode VM may be a mode that presents only tactile sensations, or may be a mode that presents only force sensations. The request process may be such that characters are input by the user's operation without outputting options. The request process may be changed as appropriate to suit the input / output device 30.

[0065] In the process of step S12, if an input completion button is displayed on the input / output device 30, it may be determined that the input is completed by pressing the input completion button. The measuring device 70 is not limited to a brain measuring device using near-infrared spectroscopy. For example, the measuring device 70 may be a measuring device using functional magnetic resonance imaging (functional MRI). Furthermore, for example, the measuring device 70 may be a measuring device using electroencephalography (EEG).

[0066] The measuring device 70 does not have to be a device that measures the activity state of the user's brain. For example, it may be a device that measures the activity state of a specific part of the user's body other than the brain. Specifically, if the part of the user that is the target of rehabilitation is the right leg, the measuring device 70 may be a device that measures the activity state of the right leg.

[0067] In the method for generating the correspondence data CD, the method for assigning the evaluation points to the correspondence data CD is not limited to the example of the above embodiment. For example, the evaluation points of the correspondence data CD may be assigned such that the more effective the haptic vibration mode VM is, based on the diagnosis of a medical professional, the higher the evaluation point.

[0068] The setting device 80 may control the vibrating body 20 without going through the control device 40. For example, it is assumed that the storage device 84 of the setting device 80 stores data indicating a plurality of vibration modes VM. In this case, in the test drive process, the CPU 81 may drive the vibrating body 20 using the data.

[0069] The technical ideas that can be understood from the above embodiments and modified examples are added below. <Supplementary Note 1> A control device for a vibrator of a haptic sense presentation device, comprising a storage device and an execution device, and having a vibrator of a haptic sense presentation device as a control target, wherein the storage device stores correspondence data in which a plurality of vibration modes of the vibrator for presenting a haptic sense according to a type of rehabilitation is associated with specific information for identifying the type of rehabilitation, and the execution device executes an acquisition process for acquiring the specific information, a mode selection process for selecting the vibration mode according to the specific information acquired in the acquisition process based on the correspondence data, and a drive process for driving the vibrator in the vibration mode selected in the mode selection process.

[0070] <Supplementary Note 2> The control device for the vibrator of the haptic presentation device according to <Supplementary Note 1>, wherein the specific information includes information indicating the intensity of rehabilitation.

[0071] <Supplementary Note 3> The control device for the vibrator of the haptic presentation device according to <Supplementary Note 1> or <Supplementary Note 2>, wherein the specific information includes information indicating a location that is a target of rehabilitation.

[0072] <Supplementary Note 4> The specific information includes information indicating whether or not the user has a physical disability and the degree of the disability. A control device for a vibrator of a haptic presentation device described in any one of <Supplementary Note 1> to <Supplementary Note 3>.

[0073] <Supplementary Note 5> The control device for the vibrator of the haptic presentation device described in any one of <Supplementary Note 1> to <Supplementary Note 4>, wherein the specific information includes information indicating the state of a physical disability of the user.

[0074] <Supplementary Note 6> The control device for the vibrator of the haptic presentation device according to any one of <Supplementary Note 1> to <Supplementary Note 5>, wherein the identification information includes ID information for identifying a user.

[0075] <Appendix 7> The haptic presentation device has a plurality of the vibrating bodies, and the vibration mode includes information on whether or not vibration is to be performed on the plurality of vibrating bodies, the intensity of the vibration, and the order in which the vibrations occur. A control device for a vibrating body of a haptic presentation device described in any one of <Appendix 1> to <Appendix 6>.

[0076] <Supplementary Note 8> A method for generating correspondence data in which a plurality of vibration modes for presenting a haptic sensation according to a type of rehabilitation is associated with specific information for identifying the type of rehabilitation, the method comprising: an acquisition process for acquiring the specific information; a test drive process for driving a vibrator in a plurality of the vibration modes; a parameter acquisition process for acquiring activity parameters that indicate the activity state of a user to whom a haptic sensation has been presented when the vibrator is driven in each vibration mode in the test drive process; a mode determination process for determining the specific mode, which is a specific vibration mode, from a plurality of the vibration modes based on the activity parameters for each vibration mode in the parameter acquisition process; and updating the correspondence data by associating the specific information acquired in the acquisition process with the specific mode determined in the mode determination process.

[0077] <Appendix 9> In the parameter processing, the activation parameters are acquired that indicate the activation state of areas in the primary motor cortex of the user's brain that correspond to each part of the body to which a haptic sensation is presented when the vibrator is driven in each vibration mode in the test drive processing. The method for generating correspondence data described in <Appendix 8>.

[0078] <Supplementary Note 10> The method for generating correspondence data described in <Supplementary Note 9>, wherein the specific information includes information indicating a location that is the target of rehabilitation, and the mode determination process determines a specific mode based on the activity parameters of a brain location that corresponds to the location that is the target of rehabilitation, among the activity parameters acquired in the parameter process.

[0079] REFERENCE SIGNS LIST 10... Haptic sense presentation device 20... Vibrator 30... Input / output device 40... Control device 41... CPU 42... Peripheral circuit 43... ROM 44... Storage device 45... Bus 60... Setting system 70... Measuring device 80... Setting device CD... Corresponding data SI... Specific information VM... Vibration mode

Claims

1. A device including a storage device and an execution device, the device including a vibrator of a haptic feedback device being a control target, the storage device stores correspondence data in which a plurality of vibration modes of the vibrator for presenting a haptic sensation according to a type of rehabilitation is associated with specific information for identifying the type of rehabilitation; The execution device is An acquisition process for acquiring the specific information; a mode selection process for selecting the vibration mode according to the specific information acquired in the acquisition process based on the corresponding data; A drive process is executed to drive the vibrator in the vibration mode selected in the mode selection process. A control device for a vibrator of a haptic presentation device.

2. The specific information includes information indicating the intensity of rehabilitation. A control device for a vibrator of a haptic feedback device according to claim 1.

3. The specific information includes information indicating a location to be the subject of rehabilitation. A control device for a vibrator of a haptic sense presentation device according to claim 1 or 2.

4. The specific information includes information indicating whether or not the user has a physical disability and the degree of the physical disability. A control device for a vibrator of a haptic feedback device according to claim 1.

5. The specific information includes information indicating a state of a physical disability of the user. A control device for a vibrator of a haptic feedback device according to claim 1.

6. The identification information includes ID information for identifying a user. A control device for a vibrator of a haptic feedback device according to claim 1.

7. the haptic sense presentation device has a plurality of the vibrators, The vibration mode includes information on the presence or absence of vibration for the plurality of vibrators, the strength of vibration, and the order of vibration. A control device for a vibrator of a haptic feedback device according to claim 1.

8. A control device having a vibrator and a storage device and an execution device, the control device controlling the vibrator; the storage device stores correspondence data in which a plurality of vibration modes of the vibrator for presenting a haptic sensation according to a type of rehabilitation is associated with specific information for identifying the type of rehabilitation; The execution device is An acquisition process for acquiring the specific information; a mode selection process for selecting the vibration mode according to the specific information acquired in the acquisition process based on the corresponding data; A drive process is executed to drive the vibrator in the vibration mode selected in the mode selection process. Tactile sensation presentation device.

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