Vibration presentation device, supplementary vibration perceived intensity calculation method, and vibration presentation system

Abstract

A vibration presentation device comprising a control unit that synthesizes a perceived intensity of main vibration generated from a virtual vibration source existing at an arbitrary position and a perceived intensity of supplementary vibration having a different localization property than said vibration source.

Description

Vibration presentation device, auxiliary vibration perception intensity calculation method, and vibration presentation system

[0001] The present invention relates to a vibration presentation device, a method for calculating auxiliary vibration perception intensity, and a vibration presentation system. This application claims priority to U.S. Provisional Patent Application No. 63 / 536,941, filed on September 7, 2023, the contents of which are incorporated herein by reference.

[0002] In recent years, with the popularity of e-sports and virtual reality (VR), video games such as online games and social games have become increasingly popular. Accordingly, there has been growing interest in technology that generates various vibrations, ranging from low to high frequencies according to the content of the game, using portable game consoles, game controllers, VR controllers, etc., and allows users to experience these vibrations.

[0003] There is a technology called phantom sensation, which places vibrators at multiple locations on the body and vibrates them, allowing the user to perceive a virtual vibration source between the multiple vibrators. There is also a technology called three-dimensional vibration, which extends phantom sensation and allows the user to perceive a vibration source outside the body. These technologies can give the user a sense of three-dimensional positioning.

[0004] International Publication No. WO 2021 / 085506 International Publication No. WO 2022 / 254732 International Publication No. WO 2022 / 254733 International Publication No. WO 2023 / 233491 Japanese Patent Application Publication No. 2021-047819 U.S. Patent Application Publication No. 2019 / 0187798

[0005] Waga et al., 'Multi-channel Vibrotactile Transmission through a Bracelet Device based on the Intensity Segment Modulation' AsiaHaptics2022 BensmaIa, S., Hollins, M. & Yau, J. Vibrotactile intensity and frequency information in the Pacinian system: A psychophysical model. Perception & Psychophysics 67, 828-841 (2005). Kikuchi, Daiki, Konyo, Masashi, Tadokoro, Satoshi: Generation of phantom sensations with arbitrary waveforms using vibration intensity, Part 2: Evaluation of position controllability and tactile sensation maintenance, 26th Annual Conference of the Virtual Reality Society of Japan (2021). Ohara, Daiki, Konyo, Masashi, and Tadokoro, Satoshi, 'Stereohaptic Vibration: Out-of-Body Localization of Virtual Vibration Source through Multiple Vibrotactile Stimuli on the Forearms,' IEEE Transaction on Haptics, vol. 17, no. 1, pp. 86-91 (2024).

[0006] However, depending on the vibration waveform of the virtual vibration source and the arrangement of the multiple vibrators, it may be difficult to perceive the vibration image created by the multiple vibrators. In such cases, the vibrations caused by the multiple vibrators are perceived as independent vibrations, and it is not possible to perceive them as vibrations caused by the virtual vibration source.

[0007] In view of the above circumstances, an object of the present invention is to provide a technique that makes it easier to perceive a vibration image produced by a vibrator.

[0008] One aspect of the present invention is a vibration presentation device that includes a control unit that combines the perceived intensity of a main vibration generated from a virtual vibration source located at an arbitrary position with the perceived intensity of an auxiliary vibration that has a localization different from that of the virtual vibration source.

[0009] According to the present invention, it is possible to easily perceive the position of a vibration image on or outside the body created by a vibrator in a three-dimensional manner.

[0010] 1 is an explanatory diagram illustrating an overview of a vibration presentation system 100 according to an embodiment; FIG. 2 is a diagram illustrating vibrations realized by the vibration presentation system 100; FIG. 3 is a flowchart illustrating operations of a vibration presentation device 1 and an auxiliary vibration perception intensity calculation device 3; FIG. 4 is a diagram illustrating an example of a hardware configuration of a vibration presentation device 1 according to an embodiment; FIG. 5 is a diagram illustrating an example of a hardware configuration of an auxiliary vibration perception intensity calculation device 3 according to an embodiment; FIG. 6 is a diagram illustrating experimental results; FIG. 7 is a diagram illustrating experimental results;

[0011] 1 is an explanatory diagram illustrating an overview of a vibration presentation system 100 according to this embodiment. The vibration presentation system 100 includes a vibration presentation device 1, a plurality of vibrators 2-1 to 2-N, and an auxiliary vibration perception intensity calculation device 3. Hereinafter, when the plurality of vibrators 2-1 to 2-N are described without distinction, they will be simply referred to as "vibrators 2." The vibrators 2 are vibrated by being controlled by the vibration presentation device 1.

[0012] The vibrator 2 may be, for example, a piezoelectric vibrator or a Linear Resonant Actuator (LRA) vibrator.

[0013] FIG. 2 is a diagram showing vibrations realized by the vibration presentation system 100. The vibration presentation system 100 according to this embodiment generates vibrations perceived at a perception origin O by vibrating a plurality of vibrators 2-1 to 2-N. The vibrations perceived at the perception origin O are vibrations generated by a virtual vibration source P located at an arbitrary position, which is a simulated target. In other words, a user of the vibration presentation system 100 vibrates the plurality of vibrators 2-1 to 2-N to simulate vibrations based on the virtual vibration source P located at an arbitrary position, at the perception origin O. Information about the vibrations generated from the virtual vibration source P, which is a simulated target, may be stored in advance in a memory 92 (described later) or may be vibration information acquired by a vibration acquisition means (not shown).

[0014] The vibration presentation device 1 includes a control unit 11 having a processor 91 such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit) or an NPU (Neural Network Processing Unit) and a memory 92 connected by a bus, and executes a program.

[0015] The auxiliary vibration perception intensity calculation device 3 includes a control unit 31 having a processor 32 such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or an NPU (Neural Network Processing Unit) and a memory 33 connected via a bus, and executes a program. The vibration presentation device 1 and the auxiliary vibration perception intensity calculation device 3 may be integrated or separate. For example, the vibration presentation device 1 may include the auxiliary vibration perception intensity calculation device 3, and the control unit 11 may perform the processing performed by the control unit 31.

[0016] The control unit 11 executes a program to perform, for example, frequency division processing, main vibration intensity calculation processing, distribution processing, vibration generation processing, waveform synthesis processing, and vibrator control processing. The control unit 31 executes a program to perform, for example, auxiliary vibration intensity calculation processing and perception origin intensity calculation processing.

[0017] The frequency division process divides the vibration generated from the virtual vibration source P into high frequency components y high (t) and the low frequency component y low Hereinafter, the vibration generated from the virtual vibration source P will be referred to as the "main vibration." Hereinafter, the frequency for distinguishing between high and low frequencies may be any frequency; for example, frequency components of 100 Hz or higher are defined as high frequency components, and frequency components of less than 100 Hz are defined as low frequency components.

[0018] The main vibration intensity calculation process is performed by calculating the high frequency component y high Based on (t), the perceived intensity I of the main vibration is ０ The method for calculating the perceptual intensity may be, for example, the method disclosed in Non-Patent Document 2 or Non-Patent Document 3. The method for calculating the perceptual intensity may be, for example, the method described in Patent Documents 1 to 4.

[0019] The auxiliary vibration intensity calculation process by the control unit 31 calculates the perceived intensity I of the auxiliary vibration. ｓｕｂ This is a process for calculating the perceived intensity of the auxiliary vibration I ｓｕｂ The calculation method may be the same as the calculation method used in the principal vibration intensity calculation process.

[0020] The auxiliary vibration has a waveform different from that of the virtual vibration source P and is vibration with excellent localization. Localization refers to the positional relationship of the vibration image of the vibration being expressed in both near and far directions. Experiments have shown that excellent localization can be achieved by using an amplitude-modulated wave with an envelope of a frequency of, for example, 2 Hz to 20 Hz as the auxiliary vibration. The auxiliary vibration is preferably an amplitude-modulated wave with an envelope of approximately 5 Hz. Here, the carrier frequency of the amplitude-modulated wave may be changed depending on the frequency response of the vibrator 2 and human perception sensitivity. Note that if the envelope shape of the auxiliary vibration is wide, it may have a low-frequency feel but retain a high-frequency feel. Therefore, narrowing the width of the envelope shape can provide a low-frequency feel and suppress the high-frequency feel. Experiments have shown that by setting the time width of the envelope of the auxiliary vibration to 10 ms to 40 ms, preferably approximately 25 ms, the auxiliary vibration can be made to emphasize the low-frequency feel while suppressing the high-frequency feel, resulting in vibration with improved localization.

[0021] The auxiliary vibration may be a sine wave obtained by a large voice coil, a piezoelectric element with a displacement magnification mechanism, or the like. In this case, the frequency of the sine wave is preferably 3 to 10 Hz. The frequency of the sine wave may vary between 3 and 10 Hz. The frequency of the sine wave is more preferably 5 Hz, similar to the envelope curve described above. The peak position of the auxiliary vibration is also determined by the calculated perceived intensity I of the main vibration. ０ The position of the peak of the signal may be set to be at or near the peak position.

[0022] The strength of the auxiliary vibration may be adjusted according to the individual differences and preferences of the user who wears the vibrator 2 .

[0023] The perceptual origin intensity calculation process calculates the perceptual intensity I of the main vibration. ０ and perceived intensity of auxiliary vibration I ｓｕｂ The perceptual intensity I at the perceptual origin O is calculated based on the following equation (1): ０ and I ｓｕｂ It is calculated based on the sum of

[0024] In equation (1), d(r) is a damping function according to the distance r between the vibration source P and the perception origin O. d(r) is identified, for example, by experiment.

[0025] Perceptual Intensity of the Dominant Vibration I ０ Depending on the perceived intensity of the auxiliary vibration I ｓｕｂ For example, the perceived intensity I of the main vibration may be adjusted. ０ If the magnitude of the auxiliary vibration is equal to or less than a predetermined threshold, the perceived intensity I ｓｕｂ may be set to 0.

[0026] The distribution process is a process of distributing the calculated perceptual intensity I of the perceptual origin O to each of the vibrators 2. Specifically, the perceptual intensity I to be distributed to each of the vibrators 2 is calculated by the formula (2): ｋ Calculate.

[0027] g ｋis a distribution coefficient, and is a value based on the positional relationship between the transducer 2-k and the vibration source P across the perception origin O. ｋ is a value calculated by equation (3).

[0028] R ｋ is a value calculated by equation (4).

[0029] In formula (4), g ０ is a constant, and g ０ ≦R ｋ p is the vector from the perceptual origin O to the vibration source P, and q ｋ is the vector from the perceptual origin O to oscillator 2-k.

[0030] The vibration generation process is carried out by generating the low frequency component L of the vibration of each vibrator 2. ｋ (t) and high frequency component H ｋ This is a process for calculating the low frequency component L ｋ (t) is the low frequency component of the main vibration y low For the amplitude of (t), the distribution coefficient g based on distance attenuation and direction ｋ From gain h ｋ The high frequency component H ｋ (t) is the perceived intensity I ｋ The high frequency component H ｋ The calculation method of (t) is the same as that disclosed in Patent Documents 1 to 4, and the perceptual intensity I ｋ The high frequency component H ｋ For example, the high frequency component H ｋ In other words, by performing the reverse operation of the known method for calculating perceptual intensity, the high frequency component H ｋ (t) to perceptual intensity I ｋ can be calculated.

[0031] The waveform synthesis process is carried out by extracting the low frequency component L of the vibration of each vibrator 2. ｋ (t) and the high frequency component H ｋ (t) are synthesized, and the vibration Sｋ This is the process of generating (t).

[0032] The vibrator control process is ｋ This is a process of controlling the vibrators 2 by outputting (t) to each vibrator 2. As a result, each vibrator 2 is driven.

[0033] 3 is a flowchart showing the operation of the vibration presentation device 1 and the auxiliary vibration perception intensity calculation device 3. The control unit 11 divides the vibration generated from the virtual vibration source P to be simulated into a high-frequency component y high (t) and the low frequency component y low (t) (step S11). The control unit 11 divides the high frequency component y high Based on (t), the perceived intensity I of the main vibration is ０ (Step S12). The control unit 31 calculates the perceived intensity I of the principal vibration. ０ is output to the auxiliary vibration perception intensity calculation device 3 (step S13).

[0034] The control unit 31 calculates the perceived intensity I of the auxiliary vibration through the auxiliary vibration intensity calculation process. ｓｕｂ The control unit 31 calculates the perceived intensity I of the main vibration input from the vibration presentation device 1 through the perception origin intensity calculation process (step S31). ０ and perceived intensity of auxiliary vibration I ｓｕｂ Based on this, the perceptual intensity I at the perceptual origin O is calculated. Here, positional relationship information such as the distance and orientation between the vibration source P, the vibrator 2, and the perceptual origin O may be input in advance or may be input from the vibration presentation device 1.

[0035] The control unit 31 outputs the perceived intensity I at the perception origin O to the vibration presentation device 1 (step S33). The control unit 11 distributes the perceived intensity I at the perception origin O input from the auxiliary vibration perception intensity calculation device 3 to each vibrator 2 (step S14). When these processes are performed by the same control unit, the main vibration intensity I ０ It is not necessary to input or output the above, and it is sufficient if the processing is done within the control unit.

[0036] The control unit 11 detects the low frequency component L of the vibration in each vibrator 2. ｋ (t) and high frequency component H ｋ (t) (step S15). The control unit 11 calculates the low frequency component L of the vibration of each vibrator 2. ｋ (t) and the high frequency component H ｋ The control unit 11 synthesizes the generated vibration S (t) (step S16). ｋ Each vibrator 2 is controlled based on (t) (step S17).

[0037] As described above, the auxiliary vibration perception intensity calculation device 3 according to this embodiment calculates the perception intensity I of the main vibration. ０ and the perceived intensity of auxiliary vibration with excellent localization I ｓｕｂ By adding this, it is possible to give localization such as a sense of direction and perspective even when it is difficult to localize using the main vibration alone. This allows the vibrator to create a clearer, three-dimensional vibration image.

[0038] In the above embodiment, the perceptual origin intensity calculation process is performed by calculating the perceptual intensity I of the principal vibration. ０ and Perceived Intensity of Assisted Vibration I ｓｕｂ The sum of the main vibration and the auxiliary vibration is calculated by multiplying the calculated sum by the attenuation function d(r). ０ and Perceived Intensity of Assisted Vibration I ｓｕｂ For example, the control unit 31 may calculate the perceptual intensity at the perceptual origin O based on I ０ and I ｓｕｂ For each of the main vibration and the auxiliary vibration, the control unit 11 may calculate the perception intensity I at the perception origin O and output the calculated intensity I to the vibration presentation device 1. ０ and I ｓｕｂ In this case, in the vibration generation process, the perceived intensities I of the main vibration and the auxiliary vibration distributed to each vibrator 2 are integrated to generate a low-frequency component L ｋ (t) and high frequency component H ｋ (t) is calculated.

[0039] In addition, the frequency division processing, distribution processing, vibration generation processing, waveform synthesis processing, and vibrator control processing performed by the control unit 11 of the vibration presentation device 1 may be processing disclosed in publicly known patent documents or non-patent documents, as well as the main vibration intensity calculation processing.

[0040] 4 is a diagram illustrating an example of a hardware configuration of the vibration presentation device 1 according to the embodiment. As described above, the vibration presentation device 1 includes a control unit 11 including a processor 91 such as a CPU and a memory 92 connected by a bus, and executes a program. By executing the program, the vibration presentation device 1 functions as a device including the control unit 11, an interface unit 12, and a storage unit 13.

[0041] More specifically, the processor 91 reads out a program stored in the storage unit 13 and stores the read out program in the memory 92. The processor 91 executes the program stored in the memory 92, whereby the vibration presentation device 1 functions as a device including the control unit 11, the interface unit 12, and the storage unit 13.

[0042] The control unit 11 controls the operations of various functional units included in the vibration presentation device 1. The control unit 11 executes, for example, frequency division processing, principal vibration intensity calculation processing, distribution processing, vibration generation processing, waveform synthesis processing, and vibrator control processing. The vibrator 2 vibrates due to the vibrator control processing.

[0043] The control unit 11 acquires, for example, target data input via the interface unit 12. The control unit 11 acquires, for example, target data that has been stored in advance in the storage unit 13.

[0044] The control unit 11 may, for example, acquire information stored in the storage unit 13. Specifically, the process of acquiring information stored in the storage unit 13 is a read process.

[0045] The interface unit 12 includes a communication interface for connecting the vibration presentation device 1 to an external device. The interface unit 12 communicates with the external device via wired or wireless communication. The external device is, for example, the vibrator 2. In this case, the interface unit 12 controls the vibrator 2 through communication with the vibrator 2. The external device is, for example, an auxiliary vibration perception intensity calculation device 3. In this case, the interface unit 12 calculates the main vibration intensity I through communication with the auxiliary vibration perception intensity calculation device 3. ０ and obtain the perceptual origin intensity I.

[0046] The interface unit 12 includes input devices such as a mouse, a keyboard, a touch panel, and a microphone. The interface unit 12 may be configured as an interface that connects these input devices to the vibration presentation device 1. In this way, the interface unit 12 accepts input of various information to the vibration presentation device 1 via the input device, either wired or wirelessly. Note that the target data does not necessarily need to be input to the communication interface, and may be input to the input device.

[0047] The interface unit 12 outputs various types of information. The interface unit 12 includes a display device such as a CRT (Cathode Ray Tube) display, a liquid crystal display, or an organic EL (Electro-Luminescence) display. The interface unit 12 may be configured as an interface that connects these display devices to the vibration presentation device 1. The interface unit 12 outputs information input to a communication interface or an input device of the interface unit 12, for example.

[0048] The storage unit 13 is configured using a computer-readable storage medium device (non-transitory computer-readable recording medium) such as a magnetic hard disk drive or a semiconductor storage device. The storage unit 13 stores various information related to the vibration presentation device 1. The storage unit 13 stores, for example, various information generated by the operation of the control unit 11. The storage unit 13 stores, for example, information input to the interface unit 12.

[0049] 5 is a diagram showing an example of the hardware configuration of the assist vibration perception intensity calculation device 3 according to the embodiment. As described above, the assist vibration perception intensity calculation device 3 also includes a control unit 31 including a processor 32 such as a CPU and a memory 33 connected by a bus, similar to the vibration presentation device 1, and executes a program. The assist vibration perception intensity calculation device 3 functions as a device including the control unit 31, an interface unit 34, and a storage unit 35 by executing the program.

[0050] More specifically, the processor 32 reads out a program stored in the storage unit 35 and stores the read program in the memory 33. The processor 32 executes the program stored in the memory 33, causing the auxiliary vibration perception intensity calculation device 3 to function as a device including the control unit 31, the interface unit 34, and the storage unit 35.

[0051] The control unit 31 controls the operation of various functional units included in the auxiliary vibration perception intensity calculation device 3. The control unit 31 executes, for example, an auxiliary vibration intensity calculation process and a perception origin intensity calculation process.

[0052] The control unit 31 may, for example, acquire information stored in the storage unit 35. Specifically, the process of acquiring information stored in the storage unit 35 is a read process.

[0053] The interface unit 34 includes a communication interface for connecting the auxiliary vibration perception intensity calculation device 3 to an external device. The interface unit 34 communicates with the external device via wire or wirelessly. The external device is, for example, the vibration presentation device 1. In this case, the interface unit 34 communicates with the vibration presentation device 1 to calculate the main vibration intensity I ０ and outputs the perceptual origin intensity I.

[0054] The interface unit 34 includes input devices such as a mouse, keyboard, touch panel, and microphone. The interface unit 34 may be configured as an interface that connects these input devices to the auxiliary vibration perception intensity calculation device 3. In this way, the interface unit 34 accepts input of various information to the auxiliary vibration perception intensity calculation device 3 via the input device, either wired or wirelessly. Note that the target data does not necessarily need to be input to a communication interface, and may be input to an input device.

[0055] The interface unit 34 outputs various types of information. The interface unit 34 includes a display device such as a CRT (Cathode Ray Tube) display, a liquid crystal display, or an organic EL (Electro-Luminescence) display. The interface unit 34 may be configured as an interface that connects these display devices to the auxiliary vibration perception intensity calculation device 3. The interface unit 34 outputs information input to, for example, a communication interface or an input device of the interface unit 34.

[0056] The storage unit 35 is configured using a non-transitory computer-readable recording medium such as a magnetic hard disk drive or a semiconductor storage device. The storage unit 35 stores various information related to the auxiliary vibration perception intensity calculation device 3. The storage unit 35 stores, for example, various information generated by the operation of the control unit 31. The storage unit 35 stores, for example, information input to the interface unit 34.

[0057] (Experiment 1) The following is a description of the experiment. Two transducers 2 were attached to the forearm, and an experiment was conducted to determine whether phantom sensations would occur. In the experiment, the distance between the two transducers 2 was changed. The distance between the two transducers 2 was changed to 50 mm, 100 mm, and 150 mm. The envelope frequency of the auxiliary vibration was also changed. The envelope frequency was changed to 1 Hz, 3 Hz, 5 Hz, 10 Hz, and 15 Hz.

[0058] Figure 6 shows the experimental results. The horizontal axis shows the envelope frequency of the assistive vibration, and the vertical axis shows the percentage of subjects with a vibrator attached to their forearm who experienced phantom sensation. When the distance between the two vibrators 2 was 50 mm and 100 mm, it was observed that the percentage of subjects who experienced phantom sensation decreased as the envelope frequency increased. This shows that low envelope frequencies such as 1 Hz, 3 Hz, and 5 Hz are preferable to 10 or 15 Hz.

[0059] (Experiment 2) Another experiment will be described below. Here too, two transducers 2 were attached to the forearm to conduct an experiment to determine whether or not phantom sensation would occur. Here, five patterns of vibration intensity ratios between the two transducers 2 were prepared for each position of the virtual vibration source P. Four types of envelope frequencies of the auxiliary vibration were also prepared: 2, 5, 10, and 20 Hz. The auxiliary vibration was an amplitude-modulated wave with a carrier frequency of 800 Hz.

[0060] The distance between the two vibrators 2 was 6 cm. A one-second stimulus was presented to vibrator 2 twice, with a one-second interval between each. The subjects were asked to answer questions about the location of the virtual vibration source P, and the percentage of correct answers was calculated. The envelope frequency of the auxiliary vibration was then changed to investigate the change in the percentage of correct answers.

[0061] Figure 7 shows the experimental results. The horizontal axis represents the frequency of the envelope of the auxiliary vibration, and the vertical axis represents the rate of correct answers for the position of the virtual vibration source P. The rate of correct answers was significantly higher when the envelope frequency of the auxiliary vibration was 5 Hz compared to other frequencies. This shows that a frequency of 5 Hz is preferable for the envelope frequency of the auxiliary vibration.

[0062] (Experiment 3) Another experiment will be described below. In this experiment, a bracelet with four vibrators 2 arranged at 90-degree intervals was attached to the forearm. The position of the virtual vibration source P was set to eight patterns, and the perceived intensity I of the main vibration was measured. ０ Perceived intensity of auxiliary vibration for ｓｕｂ The ratio of the main vibration is changed in four patterns, and the perceived intensity of the main vibration is ０ Perceived intensity of auxiliary vibration for ｓｕｂThe accuracy rate of the subject's position of the virtual vibration source P was investigated based on the difference in the ratio of . This allowed us to investigate the contribution of the auxiliary vibration. The position of the virtual vibration source P was in eight directions, shifted by 45 degrees from the center of the bracelet. In addition, I in Equation (1) ０ +I ｓｕｂ In this experiment, equation (5) was used.

[0063] By changing α to 0%, 16.7%, 33.3%, and 50% in Equation (5), the perceived intensity I ０ Perceived intensity of auxiliary vibration for ｓｕｂ The ratio of vibrations was changed. Vibrations from a virtual vibration source P in one of eight directions were reproduced by four vibrators, and the subjects were asked to select the direction in which they felt vibration from 16 directions, which were shifted by 22.5 degrees from the center of the bracelet, including the above eight directions.

[0064] In this experiment, the virtual vibration source P was a damped vibration of a collision (recorded sound material of a basketball), and the auxiliary vibration was a wave whose intensity fluctuated at 5 Hz.

[0065] The experiment was conducted on four subjects. One subject was given eight vibrations for each combination of the position pattern of the virtual vibration source P and the α pattern, for a total of 256 vibrations, and asked to indicate the direction in which they felt the vibration.

[0066] Figure 8 shows the experimental results. The higher the auxiliary vibration rate α, the higher the rate at which the subjects correctly identified the direction of the virtual vibration source P. In addition, the standard deviation of the correct answer rate was smallest when α = 50%. This suggests that auxiliary vibration improves localization.

[0067] The control unit 11 may be implemented using a plurality of information processing devices connected to each other via a network. In this case, the respective functional units of the control unit 11 may be distributed and implemented in the plurality of information processing devices. The same applies to the control unit 31.

[0068] All or part of the functions of the vibration presentation device 1, the auxiliary vibration perception intensity calculation device 3, and the vibration presentation system 100 may be realized using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array). The program may be recorded on a computer-readable recording medium. Examples of the computer-readable recording medium include portable media such as a flexible disk, a magneto-optical disk, a ROM, and a CD-ROM, and storage devices such as a hard disk built into a computer system. The program may be transmitted via a telecommunications line.

[0069] Although an embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and includes designs within the scope of the gist of the present invention.

[0070] 100 vibration presentation system, 1 vibration presentation device, 2 vibrator, 3 auxiliary vibration perception intensity calculation device, 11, 31 control unit, 91, 32 processor, 92, 33 memory, O perception origin, P virtual vibration source, 12, 34 interface unit, 13, 35 storage unit

Claims

1. A vibration presentation device comprising: a control unit that synthesizes the perceived intensity of a main vibration generated from a virtual vibration source located at an arbitrary position and the perceived intensity of an auxiliary vibration having a localization different from that of the virtual vibration source.

2. The vibration presentation device of claim 1, wherein the control unit calculates the perceived intensity of the auxiliary vibration based on the auxiliary vibration generated based on the positional relationship between the vibration source and the perception origin.

3. A vibration presentation device as described in claim 1 or 2, wherein the control unit distributes the combined perceived intensity of the main vibration and the perceived intensity of the auxiliary vibration to a plurality of vibrators.

4. The vibration presentation device according to claim 1 or 2, wherein the auxiliary vibration is an amplitude modulated wave having an envelope with a frequency of 2 Hz or more and 20 Hz or less.

5. The vibration presentation device according to claim 4, wherein the auxiliary vibration is an amplitude modulated wave having an envelope with a frequency of 5 Hz.

6. The vibration presentation device according to claim 1 or 2, wherein the auxiliary vibration is represented by a sine wave having a frequency of 3 to 10 Hz.

7. The vibration presentation device according to claim 6, wherein the auxiliary vibration is represented by a sine wave having a frequency of 5 Hz.

8. The vibration presentation device according to claim 1 or 2, wherein the magnitude of the auxiliary vibration is adjusted independently of the vibration of the vibration source.

9. The vibration presentation device according to claim 1 or 2, wherein the magnitude of the auxiliary vibration is adjusted according to the magnitude of the vibration of the vibration source.

10. A method for calculating auxiliary vibration perception intensity, which combines and calculates the perception intensity of a main vibration generated from a virtual vibration source located at an arbitrary position and the perception intensity of an auxiliary vibration having a localization different from that of the virtual vibration source.

11. A vibration presentation system comprising: a vibration presentation device having a plurality of vibrators; and an auxiliary vibration perception intensity calculation device, said auxiliary vibration perception intensity calculation device synthesizes and calculates the perceived intensity of a main vibration generated from a virtual vibration source located at an arbitrary position and the perceived intensity of an auxiliary vibration having a localization different from that of the vibration source, distributes the synthesized perceived intensity of the main vibration and the perceived intensity of the auxiliary vibration as vibration information for each of the plurality of vibrators, and presents vibration by the vibration presentation device based on the vibration information distributed to the plurality of vibrators.

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