Control device for vibration body of haptic sensation presentation device, and haptic sensation presentation 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

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 to a 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 mode of the vibrator to a specific mode. 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 problem, one aspect of the present disclosure is a control device that includes a memory device and an execution device and controls a vibrator of a haptic presentation device, wherein the memory device stores a plurality of haptic vibration modes output by the haptic presentation device for rehabilitation, and the execution device performs a pre-driving process that drives the vibrator in a plurality of the vibration modes to present the haptic sensation in each of the vibration modes, a parameter acquisition process that acquires, for each vibration mode in the pre-driving process, an effect parameter that indicates the degree of rehabilitation effect on the user when the vibrator is driven in each vibration mode, and a mode selection process that selects a specific mode that is a specific vibration mode from the plurality of vibration modes based on the effect parameter for each vibration mode in the parameter acquisition process.

[0006] In order to solve the above problem, one aspect of the present disclosure is a tactile sensation 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 a plurality of vibration modes of the vibrator for presenting a tactile sensation to be output for rehabilitation, and the execution device performs a pre-driving process that drives the vibrator in a plurality of the vibration modes and presents the tactile sensation in at least two or more of the plurality of vibration modes, a parameter acquisition process that acquires, for each vibration mode in the pre-driving process, an effect parameter that indicates the degree of rehabilitation effect on the user when the vibrator is driven in each vibration mode, and a mode selection process that selects a specific mode that is a specific vibration 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 configurations, the specific mode is selected based on the effect of rehabilitation on the user in the pre-driving process, so the control device can select an appropriate specific mode from among the multiple vibration modes based on the effect of rehabilitation on the user.

[0008] An appropriate specific mode can be selected based on the user's rehabilitation effect.

[0009] Fig. 1 is a schematic diagram showing a haptic feedback system, and Fig. 2 is a flowchart showing a series of processes performed by a control program.

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

[0011] 1 , a haptic sense presentation system 100 includes a haptic sense presentation device 10 and a measurement device 70. The haptic sense presentation device 10 includes a vibrating body 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 a user to input information indicating a target location TP, which is a location targeted for 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. Information indicating the target location TP is input to the input / output device 30 by the user's operation.

[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 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.

[0015] 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 controls the vibrator 20, including a pre-drive process and a mode selection process, which will be 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 modes VM are modes of the vibrator 20 for presenting a haptic sense output by the haptic sense presentation device 10 for rehabilitation.

[0017] The storage device 44 also stores data indicating the vibration pattern of the vibrating body 20 for realizing each vibration mode VM. The data stored in the storage device 44 determines the haptic sensation presented by the haptic sense presentation device 10.

[0018] 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.

[0019] The measuring device 70 measures activation parameters of each part of the brain. For example, the measuring device 70 measures the blood flow rate in each part of the brain as the activation parameter. The greater the blood flow rate, the higher the degree of brain activation. The measuring device 70 measures activation parameters of parts of the primary motor cortex of the brain that correspond to each part of the body. The measuring device 70 then transmits the activation parameters of each part of the brain to the control device 40.

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

[0021] The CPU 41 executes the control program P1 stored in the ROM 43 when the power of the haptic presentation device 10 is turned on. For example, when the power of the haptic presentation device 10 is turned off, the power of the haptic 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 pre-driving process, a parameter acquisition process, a mode selection process, and a main driving process.

[0022] As shown in FIG. 2 , 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 indicating an input field for inputting the target location TP of the requested rehabilitation and options for the target location TP to the input / output device 30. That is, the input / output device 30 displays, on the touch display, an input field for the target location TP and icons indicating the options for the target location TP. Thereafter, the CPU 41 proceeds to the processing of step S12.

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

[0024] If the user has not input from the input / output device 30 (S12: NO), the CPU 41 returns the process to step S11. On the other hand, if the user has input from the input / output device 30 (S12: YES), the CPU 41 proceeds 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, the CPU 41 acquires information indicating the target location TP selected via the input / output device 30 in the request process of step S11. Thereafter, the CPU 41 proceeds to step S14.

[0026] In step S14, the CPU 41 starts a pre-driving process. In the pre-driving process, the CPU 41 drives the vibrator 20 in at least two or more vibration modes VM among the multiple vibration modes VM in a predetermined order for a predetermined pre-time period. In this embodiment, the vibrator 20 is driven in all vibration modes VM stored in the storage device 44. Also, in the pre-driving process, the CPU 41 starts measuring the activity state of the user's brain using the measurement device 70. Note that, during the execution of this pre-driving process, it is preferable that the user is performing rehabilitation while using the haptic presentation device 10 as an assistive device. Thereafter, 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, for each vibration mode VM, an effect parameter EP indicating the degree of rehabilitation effect on the user when the vibrator 20 is driven in each vibration mode VM in the pre-driving process. In this embodiment, the effect parameter EP is a parameter indicating an active site, which is a site among multiple sites in the user's brain that is activated to a predetermined level or more. Note that the predetermined level is predetermined through testing or simulation as a level that is recognized to have a corresponding effect on the rehabilitation. In particular, the effect parameter EP is a parameter indicating a maximum activation site, which indicates the most activated site among multiple sites in the user's brain. For example, a parameter "X" corresponds to a certain site of the brain, and a parameter "Y" corresponds to a different site. In this way, the brain is divided into multiple sites, and a unique parameter is assigned to each site. In addition, when identifying the most activated area, the CPU 41 first identifies the maximum value among the brain activation levels during the period when the vibrator 20 is driven in the first vibration mode VM. Next, the CPU 41 identifies the brain area that shows the maximum value as the most activated area. Next, the CPU 41 identifies the most activated area in the second vibration mode VM in the same way as in the first vibration mode VM. This is repeated for all vibration modes VM, and the CPU 41 calculates the most activated area in each vibration mode VM. Then, the CPU 41 proceeds to step S16.

[0028] In step S16, the CPU 41 executes 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 the plurality of vibration modes VM based on the effect parameter EP for each vibration mode VM in the parameter acquisition process.

[0029] Specifically, a rehabilitation target part TP, such as the right arm or left leg, corresponds to a part of the brain that is activated when the target part TP is operated. In the mode selection process, the CPU 41 selects, as the specific mode SM, a vibration mode VM whose most activated part is located within a predetermined distance from the part of the user's brain that is activated when the target part TP is operated. The predetermined distance is determined in advance as a distance at which the target part 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, as the specific mode SM, a vibration mode VM whose most activated part is located within a predetermined distance from the part of the user's brain that is activated when the target part TP is operated. Then, the CPU 41 proceeds to step S17.

[0030] In step S17, the CPU 41 executes the main driving process. In the main driving process, the CPU 41 drives the vibrator 20 in the specific mode SM selected in the mode selection process. In the main driving process, the CPU 41 drives the vibrator 20 in the specific mode SM for a predetermined main time. The main time is set to be longer than the preliminary time required for the preliminary driving process in the vibration mode VM selected for the specific mode SM. In other words, the preliminary time is shorter than the main time. During the main driving process, the user performs rehabilitation for the target location TP while using the haptic sense presentation device 10 as an assistive device. In other words, the user performs exercises associated with rehabilitation while receiving haptic sensations from the haptic sense presentation device 10. Thereafter, the CPU 41 terminates the series of processes.

[0031] According to the above embodiment, the user receives a rehabilitation effect by being presented with a haptic sensation in each vibration mode VM through the pre-driving process. Then, in the main driving process, the user receives a haptic sensation in a specific mode SM selected based on an effect parameter EP that indicates the degree of rehabilitation effect of the user through the pre-driving process.

[0032] <Effects of the Embodiment> (1) According to the above embodiment, the CPU 41 selects the specific mode SM in the mode selection process based on the effect of rehabilitation on the user in the pre-driving process. Therefore, the CPU 41 can select an appropriate specific mode SM from among the multiple vibration modes VM based on the effect of rehabilitation 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 presentation device 10 can present to the user an appropriate haptic sensation based on the effect 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 when the user is in a place where medical professionals are not present, such as the user's home, the user can receive a haptic sensation in an appropriate vibration mode VM when undergoing rehabilitation.

[0034] (3) According to the above embodiment, the preliminary time is shorter than the main time. Therefore, the user does not need to wait an excessively long time before performing the main drive process. (4) When a haptic sensation is presented to the user, even if the user's body, for example, an arm or a leg, does not appear to be moving, a region of the brain's primary motor cortex corresponding to the target body part TP may be activated. According to the above embodiment, the effect parameter EP is a parameter that indicates an active region among multiple regions of the user's brain that is activated to a predetermined extent or greater. Therefore, the effect parameter EP can be obtained, for example, even if the user's body does not appear to be moving.

[0035] (5) According to the above embodiment, the effect parameter EP is a parameter indicating the most activated part of multiple parts of the user's brain. Therefore, the effect parameter EP can be acquired so that one effect parameter EP corresponds to one vibration mode. Therefore, it is possible to prevent the mode selection process from becoming excessively complicated.

[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 most activated part is located within a specified distance from the part of the user's brain that is activated when the target part TP is operated. Therefore, the vibration mode VM that is likely to activate the target part TP of 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 whose most active region is the region closest to the region activated when the target region TP of rehabilitation is operated among multiple regions in the user's brain. Therefore, the vibration mode VM that is expected to most easily activate the target region TP of rehabilitation can be selected as the specific mode SM.

[0038] (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.

[0039] 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.

[0040] 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.

[0041] 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, the control device 40 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 in accordance with 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 in accordance with 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 a program storage device, and multiple dedicated hardware circuits.

[0042] The request process may be such that characters are input by a user operation without outputting options. The request process may be modified as appropriate to suit the input / output device 30. In the process of step S12, if an input completion button is displayed on the input / output device 30, it may be determined that input is completed when the input completion button is pressed.

[0043] The effect parameter EP acquired in the parameter acquisition process is not limited to a parameter indicating the most activated area of ​​the brain. The effect parameter EP may be any parameter that indicates the degree of effect of rehabilitation on the user. For example, the effect parameter EP may be a parameter that indicates the most activated area of ​​the user's body other than the brain. Specifically, even rehabilitation targeting a target area TP may involve movements of areas other than the target area TP. In such cases, if the most activated area is close to the target area TP, it can be assumed that the effect of rehabilitation is high.

[0044] Furthermore, 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, a specific part of the user's body that requires attention may be known in advance. In this case, by acquiring a parameter indicating the degree of activation of the relevant part as the 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 may select a specific mode SM from among a plurality of vibration modes VM based on the effect parameter EP. Therefore, the CPU 41 may select the specific mode SM in accordance with the acquired effect parameter EP. For example, as in the above-described modified example, the effect parameter EP may be a parameter indicating 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 having the highest activation degree indicated by the effect parameter EP as the specific mode SM.

[0046] In the mode selection process, the CPU 41 does not have to select the vibration mode selection based on the most active area. For example, when the effect parameter EP is a parameter indicating an active area that is activated more than a predetermined level among multiple areas in the user's brain, the CPU 41 may select the specific mode SM based on the active area.

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

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

[0049] Furthermore, suppose that multiple effect parameters EP are acquired for one vibration mode VM in the parameter acquisition process. In this case, in the mode selection process, the CPU 41 may select, as the specific mode SM, a vibration mode VM in which the number of effect parameters EP acquired in the parameter acquisition process is equal to or greater than a predetermined number. In this way, the CPU 41 can select, as the specific mode SM, a vibration mode VM in which many active parts are present, thereby selecting a mode that is likely to activate the target location TP.

[0050] Furthermore, suppose that multiple effect parameters EP are acquired for one vibration mode VM in the parameter acquisition process. In this case, in the mode selection process, the CPU 41 may select, as the specific mode SM, the vibration mode VM for which the number of effect parameters EP acquired in the parameter acquisition process is the largest. In this way, by selecting, as the specific mode SM, the vibration mode VM with the largest number of active sites, the CPU 41 can select the mode that is most likely to activate the target location TP.

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

[0052] The haptic presentation device 10 may store the specific mode SM specified 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 pre-drive process, or to perform both the pre-drive process and the main drive process.

[0053] 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).

[0054] 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.

[0055] 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 configured to control a vibrator of the haptic sense presentation device, wherein the storage device stores a plurality of vibration modes of the vibrator for presenting a haptic sense output by the haptic sense presentation device for rehabilitation, and the execution device executes the following: a pre-driving process of driving the vibrator in a plurality of the vibration modes to present the haptic sense in at least two of the plurality of vibration modes, a parameter acquisition process of acquiring, for each of the vibration modes in the pre-driving process, an effect parameter that indicates a degree of effect of rehabilitation on a user when the vibrator is driven in each of the vibration modes, and a mode selection process of selecting a specific mode that is a specific of the vibration modes from the plurality of vibration modes based on the effect parameter for each vibration mode in the parameter acquisition process.

[0056] <Supplementary Note 2> The control device for the vibrator of the haptic presentation device described in <Supplementary Note 1>, further executing a main driving process for driving the vibrator in the specific mode selected in the mode selection process.

[0057] <Supplementary Note 3> The control device for the vibrator of the haptic presentation device according to <Supplementary Note 2>, wherein the time required for the preliminary drive process in the vibration mode set as the specific mode is shorter than the time required for the main drive process.

[0058] <Appendix 4> The effect parameter is a parameter indicating an active area, which is an area among multiple areas in the user's brain that is activated to a predetermined level or more. A control device for a vibrator of a haptic presentation device described in any one of <Appendix 1> to <Appendix 3>.

[0059] <Supplementary Note 5> The control device for the vibrator of the haptic presentation device according to <Supplementary Note 4>, wherein the effect parameter is a parameter indicating the most activated part of the active parts.

[0060] <Appendix 6> A control device for a vibrator of a haptic presentation device described in <Appendix 4> or <Appendix 5>, further comprising: executing an acquisition process to acquire information indicating a target area to be the subject of rehabilitation; and in the mode selection process, selecting the specific mode in which the active area is an area located within a predetermined specified distance from an area of ​​multiple areas in the user's brain that is activated when the target area is operated.

[0061] <Appendix 7> In the mode selection process, a vibration mode is selected in which the active area is the area closest to the area that is activated when the target area is operated among multiple areas in the user's brain. A control device for a vibrator of a haptic presentation device described in <Appendix 6>.

[0062] <Appendix 8> A control device for a vibrator of a haptic presentation device described in <Appendix 4>, further comprising: executing an acquisition process to acquire information indicating a target area to be the subject of the rehabilitation; and when a plurality of effect parameters for the vibration mode are acquired in the parameter acquisition process, the mode selection process selects the specific mode in which any of the plurality of active areas is a site located within a predetermined specified distance from a site among a plurality of sites in the user's brain that is activated when the target area is operated.

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

[0064] <Supplementary Note 10> When a plurality of effect parameters are acquired in the vibration mode in the parameter acquisition process, the mode selection process selects the specific mode in which the number of effect parameters acquired in the parameter acquisition process is the greatest. A control device for a vibrator of a haptic presentation device described in <Supplementary Note 4> or <Supplementary Note 9>.

[0065] <Supplementary Note 11> The effect parameter is a parameter indicating the degree of activation of a specific part of the user's body. A control device for a vibrator of a haptic presentation device described in any one of <Supplementary Note 1> to <Supplementary Note 3>.

[0066] <Supplementary Note 12> The control device for the vibrator of the haptic presentation device according to <Supplementary Note 11>, wherein the mode selection process selects a vibration mode in which the activation degree indicated by the effect parameter is the highest.

[0067] <Supplementary Note 13> A haptic sense presentation device comprising: a vibrator; and a control device having a storage device and an execution device and controlling the vibrator, wherein the storage device stores a plurality of vibration modes of the vibrator for presenting a haptic sense to be output for habilitation, and the execution device executes: a pre-driving process of driving the vibrator in the plurality of vibration modes to present the haptic sense in at least two of the plurality of vibration modes; a parameter acquisition process of acquiring, for each vibration mode in the pre-driving process, an effect parameter that indicates a degree of effect of rehabilitation on a user when the vibrator is driven in each vibration mode; and a mode selection process of selecting a specific mode that is a specific vibration mode from the plurality of vibration modes based on the effect parameter for each vibration mode in the parameter acquisition process.

[0068] REFERENCE SIGNS LIST 10... Haptic sense presentation device 20... Vibrating body 30... Input / output device 40... Control device 41... CPU 42... Peripheral circuit 43... ROM 44... Storage device 45... Bus 70... Measuring device 100... Haptic sense presentation system EP... Effect parameter P1... Control program SM... Specific mode TP... Target location VM... Vibration mode VMD... Vibration mode data

Claims

1. A control device for a vibrator of a haptic presentation device, comprising a storage device and an execution device, and configured to control a vibrator of the haptic presentation device, wherein the storage device stores a plurality of vibration modes of the vibrator for presenting a haptic sensation output by the haptic presentation device for rehabilitation, and the execution device executes the following: a pre-driving process for driving the vibrator in a plurality of the vibration modes to present the haptic sensation in at least two of the plurality of vibration modes; a parameter acquisition process for acquiring, for each vibration mode in the pre-driving process, an effect parameter indicating the degree of effect of rehabilitation on the user when the vibrator is driven in each vibration mode; and a mode selection process for selecting a specific mode, which is a specific vibration mode, from the plurality of vibration modes based on the effect parameter for each vibration mode in the parameter acquisition process.

2. The control device for the vibrator of the haptic presentation device according to claim 1, further comprising a main driving process for driving the vibrator in the specific mode selected in the mode selection process.

3. A control device for a vibrator of a haptic presentation device according to claim 2, wherein the time required for the preliminary drive process in the vibration mode set to the specific mode is shorter than the time required for the main drive process.

4. A control device for a vibrator of a haptic presentation device described in any one of claims 1 to 3, wherein the effect parameter is a parameter indicating an active area, which is an area among multiple areas in the user's brain that is activated to a predetermined extent or more.

5. A control device for a vibrator of a haptic presentation device according to claim 4, wherein the effect parameter is a parameter indicating the most activated part of the active parts.

6. A control device for a vibrating body of a tactile / force presentation device as described in claim 4 or claim 5, further comprising: an acquisition process for acquiring information indicating the target area to be the subject of rehabilitation; and in the mode selection process, selecting the specific mode in which the active area is an area located within a predetermined specified distance from an area among multiple areas in the user's brain that is activated when the target area is operated.

7. A control device for a vibrator of a haptic presentation device as described in claim 6, wherein the mode selection process selects a vibration mode in which the active area is the area closest to the area that is activated when the target area is operated among multiple areas in the user's brain.

8. A control device for a vibrator of a haptic presentation device as described in claim 4, further comprising: an acquisition process for acquiring information indicating a target area to be the subject of rehabilitation; and when a plurality of effect parameters for the vibration mode are acquired in the parameter acquisition process, the mode selection process selects the specific mode in which any of the plurality of active areas is a part located within a predetermined specified distance from a part of a plurality of parts in the user's brain that is activated when the target area is operated.

9. A control device for a vibrator of a haptic presentation device as described in claim 4, wherein when multiple effect parameters for the vibration mode are acquired in the parameter acquisition process, the mode selection process selects the specific mode in which the number of effect parameters acquired in the parameter acquisition process is equal to or greater than a predetermined number.

10. A control device for a vibrator of a haptic presentation device described in claim 4 or claim 9, wherein when multiple effect parameters for the vibration mode are acquired in the parameter acquisition process, the mode selection process selects the specific mode in which the number of effect parameters acquired in the parameter acquisition process is the largest.

11. A control device for a vibrator of a haptic presentation device described in any one of claims 1 to 3, wherein the effect parameter is a parameter indicating the degree of activation of a specific part of the user's body.

12. A control device for a vibrator of a haptic presentation device according to claim 11, wherein the mode selection process selects a vibration mode in which the degree of activation indicated by the effect parameter is the highest.

13. A haptic sensation presentation device comprising a vibrator, and a control device having a storage device and an execution device and controlling the vibrator, wherein the storage device stores a plurality of vibration modes of the vibrator for presenting a haptic sensation to be output for habilitation, and the execution device executes the following: a pre-driving process for driving the vibrator in a plurality of the vibration modes and presenting the haptic sensation in at least two of the plurality of vibration modes; a parameter acquisition process for acquiring, for each vibration mode, an effect parameter indicating the degree of rehabilitation effect on the user when the vibrator is driven in each vibration mode in the pre-driving process; and a mode selection process for selecting a specific mode that is a specific vibration mode from the plurality of vibration modes based on the effect parameter for each vibration mode in the parameter acquisition process.

Images