Tactile presentation device and information processing method

Abstract

[Problem] To provide a technology by which an actuator capable of moving a movable part can cause the movable part to vibrate while moving the movable part. [Solution] The present invention addresses the problem by providing a tactile presentation device comprising a movable part, a first actuator, and a control unit. The movable part is provided so as to be capable of moving in relation to an object, and is capable of changing the position of the center of gravity of the object by moving. The first actuator is able to move the movable part. By controlling driving of the first actuator, the control unit causes the movable part to vibrate while moving the movable unit to change the center of gravity position.

Description

Tactile presentation device and information processing method

[0001] The present technology relates to a technology for a tactile presentation device that presents a tactile sensation to a user.

[0002] Patent Document 1 below describes an information processing system including a control device, a controller held by a user, and a virtual reality (VR) device worn on the user's head. The controller has a housing, a movable part movably provided inside the housing, a motor for moving the movable part, and a voice coil motor (VCM) for vibrating the movable part.

[0003] In this information processing system, the motor moves the moving part inside the controller in time with the image displayed on the VR device, providing the user with a sense of force. Also, when the moving part is moved by the motor, the VCM vibrates, providing the user with a sense of force that cannot be expressed by the movement of the moving part alone.

[0004] International Publication No. 2023 / 095475

[0005] In Patent Document 1, vibrations are presented to the user by a VCM specially provided for vibrations. On the other hand, it is thought that vibrations can also be expressed by a motor that moves a moving part.

[0006] In view of the above circumstances, an object of the present technology is to provide a technology that can vibrate a movable part while moving the movable part using an actuator that can move the movable part.

[0007] A tactile presentation device according to the present technology includes a movable unit, a first actuator, and a control unit. The movable unit is movable relative to an object and is capable of changing the center of gravity of the object by moving it. The first actuator is capable of moving the movable unit. The control unit controls driving of the first actuator to move the movable unit and vibrate the movable unit while changing the center of gravity.

[0008] In this tactile presentation device, the movable part can be vibrated while being moved by a first actuator that can move the movable part.

[0009] In the above-mentioned tactile presentation device, the control unit may combine movement command information for moving the movable part and first vibration command information for vibrating the movable part to generate combined information, and control the driving of the first actuator based on the combined information.

[0010] The tactile presentation device described above may further include a second actuator capable of vibrating the movable part, and the control unit may vibrate the movable part by controlling the driving of the second actuator based on second vibration command information for vibrating the movable part.

[0011] In the above-mentioned tactile presentation device, the first actuator may be capable of vibrating the movable part in a first frequency band, and the second actuator may be capable of vibrating the movable part in a second frequency band different from the first frequency band.

[0012] In the above-mentioned tactile presentation device, the control unit may extract information including vibrations corresponding to the first frequency band as the first vibration command information from vibration command information designed for vibration of a movable part, and extract information including vibrations corresponding to the second frequency band as the second vibration command information.

[0013] In the above-described tactile presentation device, the first vibration command information may be information designed for a first actuator, and the second vibration command information may be information designed for a second actuator.

[0014] In the above-mentioned tactile presentation device, the second vibration command information is information designed for a second actuator, and the control unit may extract information including vibrations corresponding to the first frequency band from the second vibration command information as the first vibration command information.

[0015] The above-mentioned tactile presentation device may further include a second actuator capable of vibrating the movable part, and the control unit may extract, from the mixed movement vibration information designed for movement and vibration of the movable part, movement vibration command information for moving and vibrating the movable part by the first actuator, and extract vibration command information for vibrating the movable part by the second actuator.

[0016] In the above tactile presentation device, the vibration command information may be waveform data information.

[0017] In the above tactile presentation device, the movement command information may be waveform data information.

[0018] In the above-described tactile presentation device, the vibration command information may be information from one file of stereotype waveform data files, and the movement command information may be information from the other file of the stereotype waveform data files.

[0019] In the above tactile presentation device, the first vibration command information or movement command information may include information on a position at which the movable part is to vibrate.

[0020] In the above-described tactile presentation device, the first vibration command information or the movement command information may include information on a time for which the movable part is to vibrate.

[0021] In the above-mentioned tactile presentation device, the movement command information may be information in a format that specifies a target position to which the movable part is to be moved, and the first vibration command information may be information in a format that indicates a voltage to be applied to the first actuator.

[0022] In the above-mentioned tactile presentation device, the control unit may calculate a voltage value corresponding to the deviation between the current position of the movable part and the target position of the movable part, limit the voltage value within a predetermined range, calculate the sum of the limited voltage value and a voltage value based on first vibration command information, and calculate the voltage to be applied to the first actuator based on the sum.

[0023] In the above-mentioned tactile presentation device, the movement command information may be information in a format that specifies a target position to which the movable part is to be moved and a time required to reach the target position, and the first vibration command information may be information in a format that indicates a voltage to be applied to the first actuator.

[0024] In the above-mentioned tactile presentation device, the control unit may calculate a target position of the movable unit for each predetermined time, calculate a voltage value corresponding to the deviation between the current position of the movable unit and the target position of the movable unit for each predetermined time, limit the voltage value within a predetermined range, calculate the sum of the limited voltage value and a voltage value based on first vibration command information, and calculate the voltage to be applied to the first actuator based on the sum.

[0025] In the above-mentioned tactile presentation device, the movement command information may be information in a format that specifies the target position to which the movable part is to be moved and the time required to reach the target position, and the first vibration command information may be information in a format that indicates the position of the movable part.

[0026] In the above-mentioned tactile presentation device, the control unit may calculate a target position of the movable part for each predetermined time, add the position of the movable part based on the first vibration command information to the target position for each predetermined time, set the added value as a new target position, calculate a voltage value corresponding to the deviation between the current position of the movable part and the new target position, and calculate a voltage to be applied to the first actuator based on the voltage value.

[0027] The information processing method according to the present technology controls the drive of a first actuator that is movable relative to an object and that can move a movable part that changes the position of the center of gravity of the object by moving the movable part, thereby vibrating the movable part while changing the position of the center of gravity.

[0028] 14 is a diagram showing a tactile presentation system (game system) according to a first embodiment of the present technology. FIG. 15 is a diagram showing a state when a tactile presentation device (controller) in the tactile presentation system is held by a user. FIG. 16 is a diagram showing examples of tactile sensations presented to a user by the tactile presentation device. FIG. 17 is a diagram for explaining signal processing in a control unit. FIG. 18 is a diagram showing an example of movement command information. FIG. 19 is a diagram showing an example of movement command information. FIG. 19 is a diagram showing an example of a case where a movable part is vibrated while changing the position of the center of gravity of a housing (tactile presentation device) using only movement command information. FIG. 19 is a diagram for explaining signal processing in a control unit in a second embodiment. FIG. 19 is a diagram for explaining signal processing in a control unit in a third embodiment. FIG. 19 is a diagram for explaining signal processing in a control unit in a fourth embodiment. FIG. 19 is a diagram for explaining signal processing in a control unit in a fifth embodiment. FIG. 19 is a diagram showing an example of a voltage applied to a first actuator. FIG. 19 is a diagram showing an example of a command value for a position to which a movable part should be moved. FIG. 19 is a diagram showing an example of a method for correcting the position of a movable part by position feedback control while controlling the vibration of the movable part by a voltage applied to a first actuator. FIG. 19 is a supplementary diagram for explaining FIG. 14. FIG. 19 is a diagram showing a type of combination between movement command information and first vibration command information. FIG. 26 is a diagram for explaining signal processing of the control unit in the sixth embodiment. FIG. 27 is a diagram for explaining signal processing of the control unit in the seventh embodiment. FIG. 28 is a diagram for explaining signal processing of the control unit in the eighth embodiment. FIG. 29 is a diagram showing overwriting with new movement command information. A supplementary diagram for explaining FIG. 20. A diagram showing an example of presenting vibration and impact while the movable part is moving. A supplementary diagram for explaining FIG. 22. A diagram showing an example of a case where movement command information is input when the movable part is vibrating. A supplementary diagram for explaining FIG. 24. A diagram showing a state when new first vibration command information is input when the movable part is vibrating. A supplementary diagram for explaining FIG. 26.

[0029] Hereinafter, embodiments of the present technology will be described with reference to the drawings.

[0030] First Embodiment Overall Configuration and Configuration of Each Part Fig. 1 is a diagram showing a tactile presentation system 100 (game system) according to a first embodiment of the present technology. Fig. 2 is a diagram showing a state when a tactile presentation device 10 (controller) in the tactile presentation system 100 is held by a user.

[0031] As shown in FIG. 1, a tactile presentation system 100 according to this embodiment includes a tactile presentation device 10 (controller), a control device 20, a VR (Virtual Reality) device 30, and an imaging device 40.

[0032] The control device 20 executes processes related to the progress of the game. The control device 20 may be a device dedicated to games, such as a home game console, or may be a general-purpose device, such as a PC (Personal Computer) or a smartphone.

[0033] An APP (Application) program 21 is stored in a storage unit (not shown) of the control device 20, and a game progresses when a main control unit (not shown) of the control device 20 executes processing in accordance with this APP program 21. In addition, a Software Development Kit (SDK) 22 is stored in the storage unit of the control device 20. This SDK 22 is required for execution of the APP program 21.

[0034] The control device 20 is configured to be able to communicate by wire or wirelessly with the tactile presentation device 10, the VR device 30, and the imaging device 40. The main control unit of the control device 20, in accordance with the APP program 21, causes the VR device 30 to display images and output sounds as the game progresses.

[0035] Furthermore, the main control unit of the control device 20 issues instructions to the tactile presentation device 10 in accordance with the progress of the game in accordance with the APP program 21, and presents various tactile sensations to the user via the tactile presentation device 10.

[0036] Furthermore, the control device 20 determines (tracks) the orientation and movement of the user, the orientation and movement of the VR device 30 worn by the user, and the orientation and movement of the tactile presentation device 10 (controller) held by the user, based on images captured by the imaging device 40. The control device 20 then reflects these tracked orientations and movements in the progress of the game.

[0037] The VR device 30 is, for example, a wearable device that is worn on the user's head when in use. The VR device 30 has a display unit that can display images and a sound output unit that can output sounds. The VR device 30 is configured to be able to communicate with the control device 20 and the imaging device 40 via wired or wireless communication. In accordance with instructions from the control device 20, the VR device 30 displays images related to the game on the display unit and outputs sounds related to the game from the sound output unit.

[0038] The imaging device 40 is a camera and includes, for example, an imaging element such as an image sensor and an optical system such as various lenses. The imaging device 40 is configured to be able to communicate with the control device 20, the tactile presentation device 10, and the VR device 30 via wired or wireless communication. The imaging device 40 is placed in a position where it can capture images of the user, the VR device 30 worn by the user, the tactile presentation device 10 held by the user, etc., and outputs the captured images to the control device 20, the tactile presentation device 10, and the VR device 30.

[0039] In this embodiment, the tactile presentation device 10 is a game controller that is held in the user's hand when used. Note that the tactile presentation device 10 is not limited to a game controller, and the present technology can be applied to any device that aims to present a tactile sensation to the user. Furthermore, the tactile presentation device 10 is not limited to being held in the hand, and may be, for example, worn on the user's head, arm, wrist, torso, leg, ankle, etc.

[0040] 2, the tactile presentation device 10 has a cylindrical shape that is long in one direction and is large enough to be held by a user. The shape of the tactile presentation device 10 may be annular, disc-shaped, conical, spherical, rectangular, or the like, and is not particularly limited.

[0041] The tactile presentation device 10 has a cylindrical housing 19 (object) that is long in one direction, and a movable part 12 that is provided inside the housing 19 and is movable along the longitudinal direction of the housing 19. The movable part 12 is a weight, and by moving it in the vertical direction, the position of the center of gravity of the housing 19 (tactile presentation device 10) can be changed. Note that in this embodiment, the movable part 12 is movable in one dimension, but the movable part 12 may also be movable in two or three dimensions.

[0042] 1 , the tactile presentation device 10 has a control unit 11, a movable unit 12, a memory unit 16, a communication unit 17, and a battery 18 inside a housing 19. The tactile presentation device 10 may further have an operation unit such as an input button. The tactile presentation unit may also have an inertial sensor (such as an acceleration sensor or an angular velocity sensor) for detecting the movement, posture, etc. of the tactile presentation device 10. The tactile presentation device 10 may also have a cold / hot sensation presentation unit such as a Peltier element.

[0043] The control unit 11 executes various calculations based on various programs stored in the storage unit 16, and comprehensively controls each unit of the tactile presentation device 10. Typically, the control unit 11 presents various tactile sensations to the user by controlling the movement and vibration of the movable unit 12 in response to instructions from the control device 20.

[0044] The control unit 11 is realized by hardware or a combination of hardware and software. The hardware is configured as part or all of the control unit 11, and examples of this hardware include a central processing unit (CPU), a graphics processing unit (GPU), a vision processing unit (VPU), a digital signal processor (DSP), a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), or a combination of two or more of these.

[0045] The storage unit 16 includes a non-volatile memory that stores various programs and various data required for processing by the control unit 11, and a volatile memory that is used as a work area for the control unit 11.

[0046] The various programs described above may be read from a portable recording medium such as an optical disk or semiconductor memory, or may be downloaded from a server device on a network.

[0047] The communication unit 17 is configured to be able to communicate with the control device 20 and the imaging device 40 via wired or wireless communication.

[0048] The control unit 11 transmits, for example, information on commands input from the user via the operation unit and information on the movement and posture of the tactile presentation device 10 detected by the inertial sensor to the control device 20 via the communication unit 17. Upon receiving information on commands from the user and information on the movement and posture of the tactile presentation device 10, the main control unit of the control device 20 controls the progress of the game based on this information.

[0049] As the game progresses, the main control unit of the control device 20 transmits to the tactile presentation device 10 commands such as commands to change the center of gravity of the housing 19 (tactile presentation device 10) by moving the movable part 12, and commands to vibrate the movable part 12. Based on this information, the tactile presentation device 10 moves and vibrates the movable part 12.

[0050] The battery 18 supplies necessary power to the control unit 11, the movable unit 12 (first actuator 13, position sensor 14, second actuator 15), the memory unit 16, and the communication unit 17 via power supply lines, etc.

[0051] As described above, the movable part 12 is a weight for changing the position of the center of gravity of the housing 19. The overall weight of the movable part 12 is adjusted by the weight of each component mounted on the movable part 12 and the weight of metal such as lead attached to the movable part 12 as needed.

[0052] Movable portion 12 includes a first actuator 13 capable of moving movable portion 12 , a position sensor 14 for detecting the position of movable portion 12 , and a second actuator 15 capable of vibrating movable portion 12 .

[0053] The first actuator 13 is, for example, a motor, and is capable of moving the movable part 12 by being driven by the motor. In addition, in this embodiment, the first actuator 13 is capable of vibrating the movable part 12 by being driven by the motor. That is, in this embodiment, the first actuator 13 is used not only to move the movable part 12 (to change the position of the center of gravity), but also to vibrate the movable part 12. The first actuator 13 moves the movable part 12 (to move the position of the center of gravity) and vibrates the movable part 12 at a predetermined timing in response to a command from the control unit 11.

[0054] The second actuator 15 is, for example, a voice coil motor (VCM) or a linear resonant actuator (LRA), and is capable of vibrating the movable part 12. The second actuator 15 vibrates the movable part 12 at a predetermined timing in response to a command from the control part 11.

[0055] Here, the first actuator 13 is capable of vibrating the movable part 12 in a first frequency band, while the second actuator 15 is capable of vibrating the movable part 12 in a second frequency band different from the first frequency band.

[0056] The first actuator 13 not only needs to vibrate the movable part 12 but also to move the movable part 12, whereas the second actuator 15 only needs to be able to vibrate the movable part 12. For this reason, the first frequency band of the first actuator 13 is typically lower than the second frequency band of the second actuator 15. For example, if the first actuator 13 is a motor, the first frequency band is about 20 Hz to 100 Hz, and if the second actuator 15 is a VCM, the second frequency band is about 20 Hz to several kHz.

[0057] The position sensor 14 is configured with, for example, an encoder, a distance sensor, an optical sensor, etc., and is capable of detecting the current position of the movable part 12. The position sensor 14 detects the position of the movable part 12 and outputs the position to the control unit 11.

[0058] In the example shown in Figure 1, the first actuator 13, the position sensor 14, and the second actuator 15 are mounted on the movable part 12 and move together with the movable part 12, but these may also be provided in a position separate from the movable part 12.

[0059] <Examples of Tactile Senses Presented> Next, a description will be given of examples of tactile senses presented to the user by the tactile presentation device 10. Fig. 3 is a diagram showing examples of tactile senses presented to the user by the tactile presentation device 10.

[0060] 3, when the movable part 12 is moved and stopped at a position far from the part where it is being held by the user, the user can be given the sensation of holding a heavy object. In this case, for example, when the user holds a heavy, long sword in the game, such a movement of the movable part 12 is executed (at this time, an image of the user wielding a long, heavy sword is also displayed on the VR device 30; the same applies hereinafter in the description of FIG. 3).

[0061] 3, when the movable part 12 is moved and stopped at a position close to the part being held by the user, the user can be given the sensation of holding a light object. In this case, for example, when the user holds a light and short sword in the game, such a movement of the movable part 12 is executed.

[0062] 3, when the movable part 12 is moved from a position close to the part being held by the user to a position farther away and then suddenly stopped, the user can be given the sensation that the object being held is gradually getting heavier, and ultimately experience an impact. In this case, such a movement of the movable part 12 is executed when the user opens an umbrella in a game, for example.

[0063] 3, if the movable part 12 is vibrated while being moved, the user can be provided with a sensation of receiving an impact when the center of gravity is shifting. In this case, for example, when the user swings a sword down to attack an enemy in a game, such a movement of the movable part 12 is executed.

[0064] In this embodiment, a detailed description will be given mainly of a configuration in which the movable part 12 is vibrated at the same time as the movable part 12 is moved to change the position of the center of gravity, as shown in the bottom diagram of Fig. 3. The vibration of the movable part 12 does not necessarily have to occur simultaneously with the movement of the movable part 12 (change in the position of the center of gravity), and the movable part 12 may be vibrated when the movement of the movable part 12 is stopped.

[0065] 2 and 3 show the state in which one end side of the housing 19 in the longitudinal direction is held by the user, the position where the housing 19 is held by the user may be the center of the housing 19 in the longitudinal direction, etc., and the position where the housing 19 is held by the user is not particularly limited. Furthermore, the posture of the housing 19 when held by the user is not particularly limited.

[0066] <Processing of Control Unit 11> Next, a detailed description will be given of signal processing by the control unit 11. FIG.

[0067] First, the designer designs the desired vibrations to be presented to the user in accordance with each situation in the game in a Waveform Audio File Format (Wav) file (waveform data: audio file). In this embodiment, this Wav file is vibration command information designed by the designer for vibration of the movable part 12 (for vibration of the first actuator 13 and the second actuator 15). In the Wav file shown in Figure 4, the horizontal axis represents time and the vertical axis represents amplitude.

[0068] The control unit 11 extracts information including vibrations in a specific frequency band from the Wav file (vibration command information) using the high-pass filter 1 as second vibration command information. Then, the control unit 11 determines a voltage to be applied to the second actuator 15 (e.g., a VCM) based on the extracted second vibration command information, and applies this voltage to the second actuator 15. The second vibration command information extracted by the high-pass filter 1 at this time is information including vibrations corresponding to the second frequency band of the second actuator 15, and is information on vibrations corresponding to a second band (see the dashed rectangle) in which the vibration characteristics of the second actuator 15 are high.

[0069] Furthermore, the control unit 11 extracts information containing vibrations in a specific frequency band as first vibration command information from the Wav file (vibration command information) using the low-pass filter 2. At this time, the first vibration command information extracted by the low-pass filter 2 is information containing vibrations corresponding to the first frequency band of the first actuator 13, and is information on vibrations corresponding to the first band (see the solid-line rectangle) in which the vibration characteristics of the first actuator 13 are high.

[0070] 4 shows a diagram of a frequency distribution in a Wav file at a certain time. In this frequency distribution diagram, the horizontal axis represents frequency and the vertical axis represents amplitude. The example shown in FIG. 4 shows a state in which first vibration command information in a first band is extracted from the Wav file by the low-pass filter 2, and second vibration command information in a second band is extracted from the Wav file by the high-pass filter 1.

[0071] 4, the first band in the first vibration command information (see the solid-line rectangle) and the second band in the second vibration command information (see the dashed-line rectangle) may partially overlap, or the first band in the first vibration command information and the second band in the second vibration command information may be separate bands that do not overlap.

[0072] 4 shows a frequency distribution diagram for ease of understanding, but this frequency distribution information is not actually necessary to obtain the first vibration command information and the second vibration command information from the Wav file. In other words, the first vibration command information and the second vibration command information can be obtained by inputting the information of the Wav file to the low-pass filter 2 and the high-pass filter 1.

[0073] 4 shows movement command information for changing the center of gravity of the housing 19 (tactile presentation device 10) by moving the movable part 12. The control unit 11 combines (adds) this movement command information with the first vibration command information, determines the voltage to be applied to the first actuator 13 based on the combined information, and applies this voltage to the first actuator 13.

[0074] 5 and 6 are diagrams showing examples of movement command information. The movement command information in Fig. 5 is a method for specifying (only) a target position p1 as a movement destination of the movable part 12. With this command method, the designer can specify how far the movable part 12 is to be moved, but cannot specify how long it will take for the movable part 12 to reach the target position or what trajectory (acceleration / deceleration) the movable part 12 will follow to move to the target position.

[0075] 6 is a method for specifying a target position p1 to which the movable part 12 is to be moved, an arrival time t1 to reach the target position, and a trajectory f(t) of movement of the movable part 12. In this specification method, the designer can specify how far the movable part 12 is to be moved, how long it will take for the movable part 12 to reach the target position p1, and the trajectory f(t) (acceleration / deceleration) along which the movable part 12 is to be moved to the target position.

[0076] In addition, in FIG. 6, a method of specifying three items, namely, the target position p1, the time t1, and the trajectory f(t), in the movement command information has been described, but a method of specifying only two of these, namely, the target position p1 and the time t1, may also be used.

[0077] In FIG. 4, the movement command information combined with the first vibration command information may be any of the movement command information of the various types described with reference to FIGS.

[0078] The method of combining the movement command information and the first vibration command information will be described in detail in the sixth to eighth embodiments described later.

[0079] In this embodiment, the movement command information and the first vibration command information are combined, and the first actuator 13 is driven based on the combined information. Furthermore, the second actuator 15 is driven based on the second vibration command information. As a result, as shown at the bottom of FIG. 3 , when the movable part 12 is moved and the position of the center of gravity is changed, the movable part 12 is simultaneously vibrated. At this time, with regard to the vibration of the movable part 12, the first actuator 13 for changing the position of the center of gravity plays a role of vibrating the movable part 12 in a relatively low frequency range (first band). Meanwhile, the second actuator 15, which is specially provided for vibration, plays a role of vibrating the movable part 12 in a relatively high frequency range (second band).

[0080] <Functions, etc.> In this embodiment, by controlling the driving of the first actuator 13, it is possible to move the movable part 12, change the position of the center of gravity of the housing 19, and (simultaneously with the change in the position of the center of gravity) vibrate the movable part 12. As a result, even with only the first actuator 13, it is possible to move the movable part 12, change the position of the center of gravity, and (simultaneously with the change in the position of the center of gravity) vibrate the movable part 12.

[0081] Furthermore, in this embodiment, a second actuator 15 is provided that has a vibration frequency band different from that of the first actuator 13. This makes it possible to generate vibrations in a frequency band that cannot be expressed by the first actuator 13 and present them to the user.

[0082] Furthermore, in this embodiment, information including vibrations corresponding to the first frequency band of the first actuator 13 is extracted as first vibration command information from the vibration command information (Wav file: waveform data), and this first vibration command information is used for vibrating the movable part 12 by the first actuator 13. Furthermore, information including vibrations corresponding to the second frequency band of the second actuator 15 is extracted as second vibration command information from the vibration command information (Wav file), and this second vibration command information is used for vibrating the movable part 12 by the second actuator 15. In this way, it is possible to vibrate the movable part 12 appropriately in accordance with the vibration characteristics of the first actuator 13 and the second actuator 15.

[0083] Furthermore, in this embodiment, first vibration command information for vibration by the first actuator 13 and second vibration command information for vibration by the second actuator 15 are extracted from the same vibration command information (Wav file). In this way, since the vibration command information that is the basis of the first vibration command information and the second vibration command information is the same, the method for specifying the vibration command is the same, which makes it easier for designers to design the vibration command. Furthermore, since the method for specifying the vibration command is the same, it is easier to synchronize the vibrations of the first actuator 13 and the second actuator 15. This allows the movable part 12 to vibrate appropriately.

[0084] Here, if the vibration command designating methods differ between the first vibration command information for vibration by the first actuator 13 and the second vibration command information for vibration by the second actuator 15, there is a problem that the vibration design by the designer becomes complicated. Also, if the vibration command designating methods differ, there is a problem that it is difficult to synchronize the vibrations of the first actuator 13 and the second actuator 15.

[0085] First, the first vibration command information for the first actuator 13 may be generated by specifying the position, amplitude, frequency, vibration time, etc. of the movable part 12 as parameters. On the other hand, the second vibration command information for the second actuator 15 may be generated by specifying the vibration as time-series data using an audio file or the like. In this case, the vibration command specification methods are different, which complicates the vibration design by the designer. Furthermore, in this case, the vibration specification methods are different between the first vibration command information and the second vibration command information, making it difficult to synchronize the first actuator 13 and the second actuator 15.

[0086] In contrast to this, in this embodiment, as described above, the vibration command information that is the basis of the first vibration command information and the second vibration command information is the same, and therefore the vibration command specification method is the same. This makes it easier for designers to design the vibration command and to synchronize the vibrations.

[0087] Furthermore, in this embodiment, the first vibration command information and the second vibration command information are automatically extracted from the vibration command information, so that the designer only needs to design the desired vibration that he or she ultimately wants to obtain in the vibration command information, and the desired vibration can be presented to the user.

[0088] In this embodiment, the vibration command information is in the form of an audio file (waveform data), which allows the designer to easily design the desired vibration.

[0089] Furthermore, in this embodiment, the movement command information and the first vibration command information are combined, and the driving of the first actuator 13 is controlled based on the imaging information. This makes it possible to appropriately vibrate the movable part 12 when the movable part 12 is moved and the position of the center of gravity of the housing 19 (the tactile presentation device 10) is changed.

[0090] Here, when the first actuator 13 is used to move the movable part 12 to change the center of gravity of the housing 19 (tactile presentation device 10) while simultaneously vibrating the movable part 12, it is possible to design this using only the movement command information without using the first vibration command information.

[0091] FIG. 7 is a diagram showing an example in which the movable part 12 is vibrated while changing the center of gravity position of the housing 19 (the tactile presentation device 10) based on movement command information alone.

[0092] 7 , the target position p to be reached by the movable part 12 is specified in detail as p1, p2, p3, ..., pn. The corresponding arrival time t may also be specified in detail as t1, t2, t3, ..., tn. The trajectory (acceleration / deceleration) of the movable part 12 may also be specified. According to this method, the movable part 12 can be vibrated while changing the center of gravity of the housing 19 (the tactile presentation device 10) using only movement command information sent to the first actuator 13.

[0093] 7, while it is possible to express a certain degree of vibration by changing the position of the center of gravity of the housing 19, the vibration becomes unnatural and jerky, and it is not possible to express fine vibrations. In other words, with currently popular methods, it is difficult to create a design in which the movable part 12 vibrates while changing the position of the center of gravity (moving the movable part 12) using only movement command information.

[0094] Furthermore, with this method, it is necessary to prepare data such as that shown in FIG. 7 in advance. Therefore, for example, when a situation arises in which it becomes necessary to vibrate the movable part 12 while changing the center of gravity position, this cannot be handled. For example, suppose that when swinging a sword, control is performed to move the center of gravity position from the base end side (the part where the user holds it) of the housing 19 to the tip side. In this case, if the swung sword hits an enemy, vibration (vibration in the first frequency band of the first actuator 13) is generated, and if it does not hit, no vibration is generated. In such a case, the advance data such as that shown in FIG. 7 cannot handle such a situation.

[0095] In contrast, in this embodiment, the movement command information and the first vibration command information are combined, and the drive of the first actuator 13 is controlled based on the imaging information. The first vibration command information combined with the movement command information is vibration command information, that is, information extracted from an audio file (time-series data). Therefore, unnatural movements such as jerky vibrations are not produced, and fine vibration expression can be realized. Furthermore, in this embodiment, since the movement command information and the first vibration command information are combined, it is possible to appropriately respond to situations, for example, when a situation arises in which it becomes necessary to vibrate the movable part 12 while changing the center of gravity position.

[0096] Second Embodiment Next, a second embodiment of the present technology will be described. In the descriptions of the second embodiment and subsequent embodiments, components having the same configurations and functions as those in the first embodiment described above will be denoted by the same reference numerals, and descriptions thereof will be omitted or simplified.

[0097] FIG. 8 is a diagram for explaining signal processing by the control unit 11 in the second embodiment.

[0098] First, the designer designs the vibration for the second actuator 15 in a Wav file, taking into consideration the vibration characteristics of the second actuator 15, and prepares a Wav file (second vibration command information) created for the vibration of the second actuator 15.

[0099] Furthermore, the designer designs vibration for the first actuator 13 in the Wav file, taking into consideration the vibration characteristics of the first actuator 13, and prepares a Wav file (first vibration command information) created for the vibration of the first actuator 13.

[0100] In the first embodiment described above, the Wav file was a single common piece of information designed for vibration of the first actuator 13 and vibration of the second actuator 15, but in the second embodiment, separate Wav files are prepared for vibration of the first actuator 13 and vibration of the second actuator 15.

[0101] One of the stereo Wav files (for example, for the right) may be used as the Wav file for vibration of the first actuator 13. In this case, the other of the stereo Wav files (for example, for the left) may be used as the Wav file for vibration of the second actuator 15.

[0102] The control unit 11 determines the voltage to be applied to the second actuator 15 based on a Wav file (second vibration command information) designed for vibration of the second actuator 15, and applies this voltage to the second actuator 15.

[0103] In addition, the control unit 11 combines (adds) a Wav file (first vibration command information) designed for vibration of the first actuator 13 with the movement command information, determines the voltage to be applied to the first actuator 13 based on the combined information, and applies this voltage to the first actuator 13.

[0104] In the second embodiment, it is necessary to prepare separate Wav files for the vibration of the first actuator 13 and the vibration of the second actuator 15, but high-quality vibrations can be presented to the user.

[0105] Third Embodiment Next, a third embodiment of the present technology will be described. Fig. 9 is a diagram for explaining signal processing by the control unit 11 in the third embodiment.

[0106] First, the designer designs the vibration for the second actuator 15 in a Wav file, taking into consideration the vibration characteristics of the second actuator 15, and prepares a Wav file (second vibration command information) created for the vibration of the second actuator 15.

[0107] The control unit 11 determines the voltage to be applied to the second actuator 15 based on a Wav file (second vibration command information) designed for vibration of the second actuator 15, and applies this voltage to the second actuator 15.

[0108] Furthermore, the control unit 11 extracts information including vibrations in a specific frequency band from the Wav file (second vibration command information) as first vibration command information using the low-pass filter 2. At this time, the first vibration command information extracted by the low-pass filter 2 is information including vibrations corresponding to the first frequency band of the first actuator 13.

[0109] The control unit 11 combines (adds) the first vibration command information and this movement command information, determines the voltage to be applied to the first actuator 13 based on the combined information, and applies this voltage to the first actuator 13.

[0110] In the third embodiment, if a Wav file designed for vibration of the second actuator 15 contains vibration in a frequency band that can also be vibrated by the first actuator 13, vibration is also presented by the first actuator 13 together with the second actuator 15. In other words, a process is executed in which the first actuator 13 partially assists the vibration of the second actuator 15.

[0111] Fourth Embodiment Next, a fourth embodiment of the present technology will be described. Fig. 10 is a diagram for explaining signal processing by a control unit 11 in the fourth embodiment.

[0112] In the fourth embodiment, movement command information for moving (changing the center of gravity position of) the movable part 12 is information in a WAV file. Other points are typically the same as those in the first embodiment.

[0113] Note that one of the stereo Wav files (for example, for the right) may be used as the Wav file serving as vibration command information, and in this case, the other of the stereo Wav files (for example, for the left) may be used as the Wav file serving as movement command information.

[0114] Fifth Embodiment Next, a fifth embodiment of the present technology will be described. Fig. 11 is a diagram for explaining signal processing by a control unit 11 in the fifth embodiment.

[0115] First, the designer designs, in a Wav file, the desired movement and vibration of the movable part 12 to be presented to the user. In the fourth embodiment, this Wav file is mixed movement-vibration information that includes both movement and vibration, and is designed by the designer for the movement of the movable part 12 (for changing the position of the center of gravity) and the vibration of the movable part 12.

[0116] The control unit 11 extracts vibration command information for vibrating the movable unit 12 by the second actuator 15 from the movement-vibration mixed information (Wav file) designed for movement and vibration of the movable unit 12 using the high-pass filter 1. Then, the control unit 11 determines the voltage to be applied to the second actuator 15 based on the vibration command information extracted from the movement-vibration mixed information, and applies this voltage to the second actuator 15.

[0117] Furthermore, the control unit 11 extracts, by the low-pass filter 2, movement vibration command information for moving and vibrating the movable unit 12 by the first actuator 13 from the movement vibration mixed information (Wav file) designed for moving and vibrating the movable unit 12. Then, the control unit 11 determines the voltage to be applied to the first actuator 13 based on the movement vibration command information extracted from the movement vibration mixed information, and applies this voltage to the first actuator 13.

[0118] In the fifth embodiment, the designer can design the desired movement (change in the center of gravity position) and vibration of the movable part 12 to be presented to the user in a single WAV file. In other words, there is no need to create separate designs for the movement of the movable part 12 (change in the center of gravity position) and the vibration of the movable part 12, so only one creation data is required, making design easier. Furthermore, in the fifth embodiment, there is no need to combine the movement command information and the first vibration command information.

[0119] In the fifth embodiment, if the scale of the movement of the movable part 12 in the WAV file differs greatly from the scale of the vibration amplitude of the movable part 12, there is a possibility that the vibration amplitude of the movable part 12 will lose digits and the intended vibration will not be properly performed. In this regard, if the difference (ratio) between the scale of the movement of the movable part 12 in the WAV file and the scale of the vibration amplitude of the movable part 12 falls within a predetermined range, there will be no problem due to loss of digits and the intended vibration can be properly performed.

[0120] Sixth Embodiment Next, a sixth embodiment of the present technology will be described. Note that in the sixth to eighth embodiments, a method of combining movement command information and first vibration command information will be described in detail.

[0121] <Types of Methods for Controlling Vibration of Movable Part 12 in First Actuator 13> In this explanation, first, types of methods for controlling vibration of movable part 12 in first actuator 13 (e.g., motor) will be explained. Types of methods for controlling vibration of movable part 12 in first actuator 13 include: 1. a method of controlling vibration of movable part 12 by applying voltage to first actuator 13, 2. a method of correcting the position of movable part 12 by position feedback control while indicating the position to which movable part 12 is to be moved by a command value, and 3. a method of correcting the position of movable part 12 by position feedback control while controlling vibration of movable part 12 by applying voltage to first actuator 13.

[0122] [1. Method for controlling vibration by applying voltage to first actuator 13] First, a method for controlling vibration of the movable part 12 by applying voltage to the first actuator 13 will be described.

[0123] Fig. 12 is a diagram showing an example of the voltage applied to the first actuator 13. In Fig. 12, the vertical axis represents the voltage applied to the first actuator 13, and the horizontal axis represents time. For example, if a sine wave voltage or a rectangular pulse voltage as shown in Fig. 12 is applied to the first actuator 13, it is possible to vibrate the movable part 12.

[0124] This method has the advantage that strong vibrations can be generated in the movable part 12 and presented to the user. On the other hand, it has the disadvantage that the center position of the vibration of the movable part 12 may deviate from the desired position, making it impossible to guarantee the position of the movable part 12. For example, as shown in Figures 2 and 3, when the housing 19 is held by the user in an upright position, the center position of the vibration of the movable part 12 may gradually shift downward.

[0125] [2. Method of correcting the position of the movable part 12 by position feedback control while indicating the position to which the movable part 12 should be moved by a command value] Next, a method of correcting the position of the movable part 12 by position feedback control while indicating the position to which the movable part 12 should be moved by a command value will be described.

[0126] Fig. 13 is a diagram showing an example of command values ​​for the position to which the movable part 12 should be moved. In Fig. 13, the vertical axis represents the position of the movable part 12, and the horizontal axis represents time. In Fig. 13, the command values ​​for the position to which the movable part 12 should be moved are shown by solid lines, and the actual movement of the movable part 12 is shown by dashed lines.

[0127] As shown in FIG. 13, the command value for the position to which the movable part 12 is to be moved is set to a sine wave, and the first actuator 13 is driven based on this command value, thereby making it possible to vibrate the movable part 12.

[0128] This method has the advantage that it is easy to reproduce the intended vibration waveform, and also has the advantage that the center position of vibration of the movable part 12 is less likely to shift because the center position of vibration is corrected by position feedback control. On the other hand, this method has the disadvantage that a delay due to feedback control occurs in the actual movement of the movable part 12 relative to the command value. Another disadvantage is that the actual amplitude of the movable part 12 becomes smaller than the amplitude of the command value.

[0129] [3. Method of correcting the position of the movable part 12 by position feedback control while controlling the vibration of the movable part 12 by the voltage applied to the first actuator 13] Next, a method of correcting the position of the movable part 12 by position feedback control while controlling the vibration of the movable part 12 by the voltage applied to the first actuator 13 will be described.

[0130] FIG. 14 is a diagram showing an example of a method for correcting the position of the movable part 12 by position feedback control while controlling the vibration of the movable part 12 by applying a voltage to the first actuator 13.

[0131] In this method, similar to the above 1., a sinusoidal voltage or a rectangular pulse voltage is used as the command value for the voltage to be applied to the first actuator 13. Also, similar to the above 2., position feedback control is performed.

[0132] Specifically, the control unit 11 calculates the deviation between the vibration center position (or assumed trajectory) of the movable part 12 as a command value and the current position of the movable part 12 obtained from the position sensor 14 using a subtractor 51. The control unit 11 also generates a voltage value corresponding to the deviation between the vibration center of the movable part 12 and the current position of the movable part 12, for correcting the position of the movable part 12 (for returning the movable part 12 to the vibration center), using a P (ID) controller 52 (P: Proportional, I: Integral, D: Differential).

[0133] In addition, the control unit 11 adds the voltage value generated by the P (ID) controller 52 and the voltage value as the command value using an adder 53, and applies the voltage value obtained by the adder 53 to the first actuator 13.

[0134] Fig. 15 is a supplementary diagram for explaining Fig. 14. In the upper part of Fig. 15, the voltage value (rectangular wave) as the command value is shown by a solid line, and the voltage value after correction by position feedback control (i.e., the voltage value calculated by the adder) is shown by a dashed line. In addition, in the lower part of Fig. 15, the state of vibration of the movable part 12 after correction by position feedback control is shown.

[0135] When the movable part 12 is located at the vibration center position as shown in (1), the deviation between the current position of the movable part 12 and the vibration center of the movable part 12 is zero, so feedback control is not performed, and therefore a voltage according to the command value is applied to the first actuator 13.

[0136] As shown in (2), assume that the movable part 12 has passed the center of vibration and is positioned above the center of vibration. In this case, a voltage value corresponding to the deviation between the current position of the movable part 12 and the center of vibration of the movable part 12 is added to the voltage value serving as the command value. At this time, the feedback control operates to return the movable part 12 to the center position, so a negative correction is applied to the voltage value serving as the command value, and the voltage actually applied to the first actuator 13 is reduced relative to the command value.

[0137] Assuming that the movable part 12 is further away from the vibration center as shown in (3), and that the voltage value as the command value is switched from the positive direction to the negative direction, and the vibration direction of the movable part 12 is switched from the positive direction to the negative direction, in this case, a voltage value according to the deviation between the current position of the movable part 12 and the vibration center of the movable part 12 is added to the voltage value as the command value.

[0138] At this time, the feedback control operates to return the movable part 12 to the center position, so a positive correction is applied to the voltage value as the command value (in this example, a negative component is added to the negative voltage command value, resulting in a correction that further subtracts the voltage command value), and the voltage actually applied to the first actuator 13 increases relative to the command value. Note that in (3), the position of the movable part 12 is farther away from the center of vibration than in (2), so the correction value by the feedback control in (3) is larger than in (2).

[0139] (4), (5), and (6) are the same as (1), (2), and (3) above, except that the plus and minus directions are different from those in (1), (2), and (3).

[0140] Although the strength of the vibration is slightly weaker in the method 3 than in the method 1, it is possible to present a relatively strong vibration to the user and also to reduce the positional deviation of the movable part 12.

[0141] <Types of combinations between movement command information and first vibration command information> Next, types of combinations between movement command information and first vibration command information will be described. Fig. 16 is a diagram showing types of combinations between movement command information and first vibration command information.

[0142] First, there are typically two types of movement command information. The first is a method of specifying (only) a target position p1 as a movement destination of the movable part 12 (see also FIG. 5 ). The second is a method of specifying a target position p1 as a movement destination of the movable part 12, a time t1 to reach the target position, and a trajectory f(t) (acceleration / deceleration) of the movement of the movable part 12, as shown in FIG. 6 (or a method of specifying both the target position p1 and the time t1) (see also FIG. 6 ).

[0143] Typically, there are two types of first vibration command information. The first type is a method in which the voltage to be applied to the first actuator 13 is indicated as a command value (see also FIGS. 12 and 14). The second type is a method in which the position to which the movable part 12 should be moved is indicated as a command value (see also FIG. 13).

[0144] Since there are two types of movement command information and two types of first vibration command information, there are four combinations of movement command information and first vibration command information (2 x 2). However, one of the combinations is contradictory, so there are three types of combinations: (A), (B), and (C) as shown below.

[0145] 16A, the movement command information specifies (only) a target position p1 as a movement destination of the movable part 12. Also, the first vibration command information indicates, as a command value, a voltage to be applied to the first actuator 13.

[0146] 16B, the movement command information specifies a target position p1 to which the movable part 12 is to move, a time t1 to reach the target position, and a trajectory f(t) (acceleration / deceleration) of the movement of the movable part 12 (or specifies both the target position p1 and the time t1). Also, the first vibration command information indicates a voltage to be applied to the first actuator 13 as a command value.

[0147] 16C , the movement command information specifies a target position p1 to which the movable part 12 is to be moved, a time t1 to reach the target position, and a trajectory f(t) (acceleration / deceleration) of the movement of the movable part 12 (or specifies both the target position p1 and the time t1). Also, the first vibration command information specifies, as a command value, the position to which the movable part 12 is to be moved.

[0148] In the sixth embodiment, (A) will be described, and (B) and (C) will be described in the seventh and eighth embodiments described later.

[0149] <Signal Processing of Control Unit 11> Next, a detailed description will be given of the signal processing of the control unit 11. Fig. 17 is a diagram for explaining the signal processing of the control unit 11 in the sixth embodiment. In the sixth embodiment, the control unit 11 includes a subtractor 61, an adder 62, a P(ID) controller 63, a first limiter 64, and a second limiter 65.

[0150] The control unit 11 calculates the deviation between the target position p1 of the moving destination of the movable part 12, which is included in the movement command information, and the current position of the movable part 12 obtained from the position sensor 14, using a subtractor 61. The control unit 11 also generates, using a P(ID) controller 63, a voltage value corresponding to the deviation between the target position p1 and the current position of the movable part 12, for correcting the position of the movable part 12 (for moving the movable part 12 to the target position p1).

[0151] Furthermore, the control unit 11 limits (clamps) the voltage value generated by the P(ID) controller 63 within a predetermined range using a first limiter 64. For example, if the maximum voltage value that can be applied to the first actuator 13 (motor) is ±5 V, the range of voltage limited by the first limiter 64 is set to a range of ±5 V, a range of ±2.5 V, or the like.

[0152] Typically, the range of voltage limited by the first limiter 64 is set to a range equal to or less than the maximum voltage value that can be applied to the first actuator 13 (motor) (maximum voltage value x %). The limited range can be set by a command.

[0153] Furthermore, the control unit 11 causes the adder 62 to add the voltage value as the command value included in the first vibration command information and the voltage value limited by the first limiter 64 .

[0154] Then, the control unit 11 limits (clamps) the voltage value added by the adder 62 using the second limiter 65. For example, if the maximum voltage value that can be applied to the first actuator 13 (motor) is ±5 V, the range of voltage limited by the second limiter 65 is ±5 V.

[0155] Typically, the range of voltage limited by the second limiter 65 is set to a range corresponding to the maximum voltage value that can be applied to the first actuator 13 (motor). The limited range can be set by a command. The second limiter 65 prevents a voltage exceeding the maximum voltage value from being applied to the first actuator 13.

[0156] The control unit 11 applies the voltage value limited by the first limiter 64 to the first actuator 13 to drive the first actuator 13 .

[0157] Here, as a comparative example, a case where the first limiter 64 is not provided will be described. First, as described above, a voltage value corresponding to the deviation between the target position p1 of the movable part 12 and the current position of the movable part 12 is output from the P(ID) controller 63. For example, if the deviation between the target position P1 of the movable part 12 and the current position of the movable part 12 is large (if the movable part 12 is far from the target position P1), the voltage value corresponding to the deviation may become significantly larger than the maximum voltage value that can be applied to the first actuator 13.

[0158] For example, the voltage value corresponding to the deviation between the target position p1 of the movable part 12 and the current position of the movable part 12 may be set to 100 [V]. In this case, in the comparative example, the first limiter 64 is not provided, and therefore the value of 100 [V] and the voltage value (e.g., 2 [V]) serving as the command value according to the first vibration command information are directly added by the adder 62. In this case, the voltage value corresponding to the deviation is much larger than the voltage value serving as the command value, and the voltage value serving as the command value does not become apparent, so the movable part 12 does not operate to vibrate.

[0159] For this reason, in the sixth embodiment, a first limiter 64 that limits the voltage value corresponding to the deviation within a predetermined range is provided at a position subsequent to the P(ID) controller 63 and prior to the adder 62. This first limiter 64 makes it possible to make the voltage value as the command value visible even when the voltage value corresponding to the deviation is significantly larger than the voltage value as the command value, and allows the movable part 12 to vibrate appropriately.

[0160] For example, assume that the voltage value corresponding to the deviation is 100 [V], the range limited by the first limiter 64 is ±2.5 [V], and the voltage value as the command value is 2 [V]. In this case, 100 [V] is limited to the range of ±2.5 [V] by the first limiter 64, resulting in 2.5 [V]. This 2.5 [V] is then added to the voltage value 2 [V] as the command value to become 4.5 [V], and this 4.5 [V] is applied to the first actuator 13.

[0161] The lower part of Fig. 17 shows the movement of the movable part 12 when the movement command information and the first vibration command information are combined and the first actuator 13 is driven based on the combined information. As shown in the lower part of Fig. 17, in the sixth embodiment, the movable part 12 can be vibrated appropriately while being moved appropriately (while changing the center of gravity position).

[0162] The sixth embodiment has a similar configuration to the above-described 3., and therefore has the same advantages as the above-described 3. In other words, it is possible to present a relatively strong vibration to the user and to reduce the positional deviation of the movable part 12 when it vibrates.

[0163] Seventh Embodiment Next, a seventh embodiment of the present technology will be described. In this seventh embodiment, (B) in FIG. 16 described above will be described. In (B) of FIG. 16, the movement command information specifies a target position p1 as a movement destination of the movable part 12, an arrival time t1 to reach the target position, and a trajectory f(t) (acceleration / deceleration) of the movement of the movable part 12 (or specifies both the target position p1 and the time t1). Also, in (B) of FIG. 16, the first vibration command information specifies a voltage to be applied to the first actuator 13 as a command value.

[0164] 18 is a diagram for explaining signal processing by the control unit 11 in the seventh embodiment. In the seventh embodiment, the control unit 11 includes a subtractor 61, an adder 62, a P(ID) controller 63, a first limiter 64, and a second limiter 65.

[0165] The control unit 11 divides the trajectory f(t) of the movement of the movable unit 12 included in the movement command information (if the trajectory is not included, the control unit 11 generates the trajectory from the target position and the arrival time) into multiple frames. As a result, the control unit 11 divides the target position p to be reached by the movable unit 12 into multiple target positions p1, p2, p3, ..., pn for each predetermined time.

[0166] The control unit 11 calculates the deviation between the current target position of the movable part 12 and the current position of the movable part 12, out of the target positions p1, p2, p3 . . . , pn for each predetermined time period, using a subtractor 61.

[0167] Here, the differences between the above-described sixth embodiment and this seventh embodiment will be described. In the above-described first embodiment, one of the two pieces of information input to the subtractor 61 is set to the final target position p of the movable part 12. In contrast, in the seventh embodiment, one of the two pieces of information input to the subtractor is set to the current target position p of multiple target positions p1...pn on the trajectory. In other respects, the seventh embodiment is typically similar to the above-described sixth embodiment.

[0168] The lower part of Fig. 18 shows the movement of the movable part 12 when the movement command information and the first vibration command information are combined and the first actuator 13 is driven based on the combined information. As shown in the lower part of Fig. 18, in the seventh embodiment as well, the movable part 12 can be vibrated appropriately while being moved appropriately (while changing the position of the center of gravity). Furthermore, in the seventh embodiment as well, it is possible to present a relatively strong vibration to the user and reduce positional deviation when the movable part 12 vibrates.

[0169] Eighth Embodiment Next, an eighth embodiment of the present technology will be described. In this eighth embodiment, (C) in FIG. 16 described above will be described. In (C) of FIG. 16, the movement command information specifies a target position p1 as a movement destination of the movable part 12, an arrival time t1 to the target position, and a trajectory f(t) (acceleration / deceleration) of the movement of the movable part 12 (or specifies both the target position p1 and the time t1). Also, in (C) of FIG. 16, the first vibration command information indicates, as a command value, a position to which the movable part 12 should be moved.

[0170] 19 is a diagram for explaining signal processing by the control unit 11 in the eighth embodiment. In the eighth embodiment, the control unit 11 includes a subtractor 71, a P(ID) controller 72, and a limiter 73.

[0171] The control unit 11 divides the trajectory f(t) of the movement of the movable unit 12 included in the movement command information (if the trajectory is not included, the control unit 11 generates the trajectory from the target position and the arrival time) into multiple frames. As a result, the control unit 11 divides the target position p to be reached by the movable unit 12 into multiple target positions p1, p2, p3, ..., pn for each predetermined time.

[0172] Furthermore, the control unit 11 adds the current target position p, among the target positions p1, p2, p3, ..., pn for each predetermined time, to the position as the command value included in the first vibration command information using a subtractor 71, and sets the result as a new target position. Then, the control unit 11 calculates the deviation between the newly set target position and the current position of the movable unit 12 using the subtractor 71.

[0173] In addition, the control unit 11 generates a voltage value according to the deviation between the newly set target position and the current position of the movable part 12 using the P(ID) controller 72, which is used to correct the position of the movable part 12 (to move the movable part 12 to the new target position).

[0174] Furthermore, the control unit 11 limits the voltage value generated by the P(ID) controller 72 to a predetermined range using a limiter 73. Typically, the range of voltage limited by the limiter 73 is set to a range corresponding to the maximum voltage value that can be applied to the first actuator 13 (motor). This limiter 73 prevents a voltage exceeding the maximum voltage value from being applied to the first actuator 13.

[0175] The control unit 11 applies the voltage value limited by the limiter 73 to the first actuator 13 to drive the first actuator 13 .

[0176] The lower part of Fig. 19 shows the movement of the movable part 12 when the movement command information and the first vibration command information are combined and the first actuator 13 is driven based on the combined information. As shown in the lower part of Fig. 19, in the eighth embodiment as well, the movable part 12 can be vibrated appropriately while being moved appropriately (while changing the position of the center of gravity). Furthermore, in the eighth embodiment as well, it is possible to present a relatively strong vibration to the user and reduce positional deviation when the movable part 12 vibrates.

[0177] <Various Modifications> Next, various modification examples of the present technology will be described. <Overwriting of Movement Command Information> When new movement command information is input while the movable part 12 is being moved to change the center of gravity position, the control part 11 may discard the old movement command information and overwrite it with the new movement command information.

[0178] 20 is a diagram showing overwriting with new movement command information. As shown in Fig. 20, for example, suppose that the target position p in the original movement command information is the upper side of the housing 19, and the movable part 12 is moved from the lower side to the upper side of the housing 19. Suppose that new movement command information is input during this movement of the movable part 12, and the target position p in this new movement command information is the lower side of the housing 19.

[0179] In this case, the control unit 11 may discard the target position (upper side of the housing 19) of the original movement command information and overwrite the target position (lower side of the housing 19) included in the new movement information as the new target position. In this case, the movable unit 12 that was moving toward the upper side of the housing 19 suddenly changes direction midway through its movement and moves toward the lower side of the housing 19.

[0180] FIG. 21 is a supplementary diagram for explaining FIG. 20 . As shown in FIG. 21 , for example, when a user performs an action to open an umbrella in a game, the movable part 12 is moved from the bottom to the top of the housing 19. Then, while the movable part 12 is moving upward, the user interrupts the action of opening the umbrella in the game and performs an action to close the umbrella. In this case, the movable part 12, which was moving toward the top of the housing 19, suddenly changes direction midway and moves toward the bottom of the housing 19.

[0181] <When vibration or impact is presented while the movable part 12 is moving, the movement of the movable part 12 is temporarily stopped> When the movable part 12 is moved and the center of gravity position is changed, and a command to present vibration (first vibration command information) or a command to present impact is input, the control part 11 may temporarily stop the movement of the movable part 12, and move the movable part 12 again after the vibration presentation or impact presentation has ended.

[0182] 22 is a diagram showing an example of vibration presentation and impact presentation during movement of the movable part 12. For example, as shown in Fig. 22, it is assumed that the target position p in the movement command information is the upper side of the housing 19, and the movable part 12 is moved from the lower side to the upper side of the housing 19. It is assumed that a command to present vibration (first vibration presentation information) or a command to present impact is input during this movement of the movable part 12.

[0183] In this case, the control unit 11 temporarily stops the movement of the movable unit 12 and vibrates the movable unit 12 at this position to present the vibration to the user. Alternatively, the control unit 11 suddenly stops the moving movable unit 12 at this position (or changes the direction of movement of the movable unit 12 and moves it back slightly) to present an impact to the user. Then, after the presentation of the vibration and impact has ended, the control unit 11 starts moving the movable unit 12 upward again, moving the movable unit 12 toward the target position.

[0184] FIG. 23 is a supplementary diagram for explaining FIG. 22. As shown in FIG. 23, for example, when a user performs an action of opening an umbrella in a game, the movable part 12 is moved from the bottom to the top of the housing 19. Then, suppose an event occurs in which raindrops hit the umbrella while the movable part 12 is moving upward. In this case, the movable part 12, which was moving upward on the housing 19, is stopped midway through its movement, and a vibration is presented to the user. Alternatively, the moving movable part 12 is suddenly stopped (or the direction of movement of the movable part 12 is changed and moved back slightly), and an impact is presented to the user.

[0185] <Movement command information is input while the movable part 12 is vibrating> If movement command information is input while the movable part 12 is vibrating, the movement of the movable part 12 may start while the movable part 12 is vibrating.

[0186] Fig. 24 is a diagram showing an example of a case where movement command information is input while the movable part 12 is vibrating. As shown in Fig. 24, it is assumed that movement command information is input while the movable part 12 is vibrating based on first vibration command information. In this case, the control unit 11 starts moving the movable part 12 toward the target position included in the movement command information while the movable part 12 is vibrating.

[0187] In this case, until the vibration due to the first vibration command information ends, the control unit 11 combines the first vibration command information with the movement command information and drives the first actuator 13 based on the combined information to vibrate the movable unit 12 while moving the movable unit 12. When the vibration due to the first vibration command information ends, the above-mentioned combination is no longer necessary, and the control unit 11 moves the movable unit 12 to the target position of the movement command information without vibrating the movable unit 12.

[0188] FIG. 25 is a supplementary diagram for explaining FIG. 24. As shown in FIG. 25, suppose that in a game, a user is holding a short sword and facing a dragon. At this time, suppose that an event occurs in which the dragon roars, causing the movable part 12 to vibrate, and the cabinet 19 (short sword) to vibrate. Then, suppose that while the movable part 12 is vibrating and the cabinet 19 (short sword) is vibrating, the user performs an action in the game to change the weapon from the short sword to a long sword.

[0189] At this time, until the dragon's roar ends, the first actuator 13 is driven by the combined information of the movement command information and the first vibration command information, and the movable part 12 is moved and vibrated. When the dragon's roar ends, the movable part 12 is not vibrated, and is moved to the target position.

[0190] <Input of new first vibration command information while the movable part 12 is being vibrated> FIG. 26 is a diagram showing a state in which new first vibration command information is input while the movable part 12 is being vibrated.

[0191] When new first vibration command information is input while the movable part 12 is vibrating in response to the original first vibration command information, the control part 11 may terminate the original vibration and present a new vibration to the user. Alternatively, in this case, the control part 11 may temporarily stop the original vibration, present a new vibration, and resume presenting the original vibration after the presentation of the new vibration has ended. Alternatively, in this case, the control part 11 may generate a waveform in which the original vibration and the new vibration are superimposed, and vibrate the movable part 12 with this waveform.

[0192] Fig. 27 is a supplementary diagram for explaining Fig. 26. As shown in Fig. 27, for example, when background music (BGM) is being played in a game, a low-pitched beat is presented to the user by vibration of the movable part 12 in time with the BGM.

[0193] In this case, suppose the user performs an action to acquire an item in the game and vibrates the movable part 12 in time with the sound effect at that time. In this case, the vibration (original vibration) synchronized with the low-pitched beat of the background music is temporarily stopped, and a vibration (new vibration) synchronized with the sound effect of the item acquisition is presented to the user. After the vibration synchronized with the sound effect of the item is presented, the vibration synchronized with the low-pitched beat of the background music is resumed. In this case, the vibration synchronized with the sound effect of the item acquisition can be emphasized.

[0194] <Synchronization> Assume a case where the first vibration command information is a Wav file and the movement command information is not a Wav file, i.e., where the movement command information specifies a target position p, arrival time t, trajectory f(t), etc. (see FIGS. 5 and 6 ). In this case, synchronization between the first vibration command information and the movement command information may not be achieved. Therefore, in this case, information indicating that the movable part 12 is to vibrate when the movable part 12 reaches a predetermined target position (information regarding the position at which the movable part 12 should vibrate) may be included in the command of the first vibration command information or the movement command information. Alternatively, information indicating that the movable part 12 is to vibrate at a predetermined time (information regarding the time at which the movable part should vibrate) may be included in the command of the first vibration command information or the movement command information. Alternatively, information regarding the position at which the movable part 12 is to vibrate and information regarding the time at which the movable part 12 is to vibrate may be included as a single command in the command of the first vibration command information or the movement command information. In this example, when the movable part 12 is vibrating, the movement of the movable part (change in the moving center of gravity position) is temporarily stopped.

[0195] <Impact Presentation> Here, the strength of the impact presentation depends on the speed at which the movable part 12 moves. If the movable part 12 is already close to one end of the housing 19 and there is no space left for it to accelerate sufficiently, the movable part 12 may be moved back as far as necessary before the impact event occurs. For example, when using the housing 19 as if it were a tennis racket, the movable part 12 may be lowered toward the grip side while the ball is returning, and then moved vigorously toward the tip side at the moment of impact, causing it to come to an abrupt stop.

[0196] The strength of the impact also depends on how the movable part 12 is stopped. If you do not want to deliver a strong impact, you can stop the movable part 12 smoothly. If you want to deliver a strong impact, you can vibrate the movable part 12 for several cycles when it is stopped.

[0197] In this method of presenting an impact, a delay occurs between the acceleration and the stopping of the movable part 12. In this case, the maximum allowable delay may be held as a parameter, and if the delay exceeds this value, the movable part 12 may be forcibly stopped.

[0198] An impact may occur due to the momentum of the movable part 12 as it starts to move. To avoid this, the movable part 12 may be controlled to start moving smoothly. To present a stronger impact, the movable part 12 may be caused to collide with an end point of the housing 19. In this case, a cushioning material such as rubber or sponge may be placed at the collision point.

[0199] <Wiring> The control unit 11 may be mounted on the movable unit 12. In this case, if the control unit 11 is wired to a device other than the tactile presentation device 10 for power supply or communication, the cable will move along with the up and down movement of the control unit 11. In response to this, a cable outlet may be provided on the outer surface of the tactile presentation device 10, and thin wiring may be used inside the tactile presentation device 10 to connect the outlet to the movable unit 12, so that the wiring extending outward does not move.

[0200] <Battery 18> The battery 18 may be mounted on the movable part 12. Mounting the battery 18 on the movable part 12 can increase the mass ratio of the movable part 12 to the entire tactile presentation device 10. On the other hand, since this causes the battery 18 to vibrate strongly, a spring / damper material may be used to reduce the propagation of vibration to the battery 18. On the other hand, the battery 18 may be fixed to the bottom surface of the housing 19, and power may be supplied from the battery 18 to the movable part 12 via wiring inside the housing 19.

[0201] <Detachable Movable Unit 12> The movable unit 12 may be detachable. The movable unit 12 may be purged externally as a system control during the application, or may be detachable by the user at his / her own will. The movable unit 12 may be freely selected and attached to be used, such as a heavy movable unit 12, a light movable unit 12, or multiple movable units 12.

[0202] <Speaker> The movable unit 12 may be equipped with a speaker. In this case, sound may be generated in accordance with the movement of the movable unit 12, or sound may be generated in accordance with the vibration of the movable unit 12. For example, when a user is holding an umbrella in a game and an event occurs in which raindrops hit the umbrella, sound may be emitted from the movable unit 12 located at the top of the housing 19, thereby giving the user the sensation of actually hearing the sound of rain coming from above. Furthermore, for example, when the movable unit 12 moves from the bottom to the top while the speaker is playing, the pitch of the sound may be modulated to create an effect similar to the Doppler effect, such as an ambulance passing by.

[0203] <Shape> The housing 19 of the tactile presentation device 10 may be annular in shape, and the movable part 12 may be configured to be able to rotate one or more times within the annular housing 19. In this case, since there are no end points that would exist if the housing 19 were cylindrical, a coordinate system may be set in which specific points on the annular housing 19 are considered to be end points. Also, a configuration may be used in which the annular tactile presentation device 10 is held in one hand and the cylindrical tactile presentation device 10 is held in the other hand. A configuration may be used in which the annular tactile presentation device 10 and the cylindrical tactile presentation device 10 are connectable to each other.

[0204] <Cold / warm sensation presentation unit> The tactile presentation device 10 may have a cold / warm sensation presentation unit. The cold / warm sensation presentation unit may be attached to the outside of the housing 19 or may be detachable from the housing 19. Alternatively, the tactile presentation device 10 without a warm / warm sensation presentation unit may be held in one hand, and the warm / warm sensation presentation device may be held in the other hand. Note that the warm / cold sensation may be controlled in accordance with the tactile presentation method of the present technology.

[0205] The present technology may also have the following configurations. (1) A tactile presentation device comprising: a movable unit that is movable relative to an object and that changes the position of the center of gravity of the object by movement; a first actuator that can move the movable unit; and a control unit that controls driving of the first actuator to move the movable unit and vibrate the movable unit while changing the position of the center of gravity. (2) The tactile presentation device described in (1) above, wherein the control unit combines movement command information for moving the movable unit and first vibration command information for vibrating the movable unit to generate combined information, and controls driving of the first actuator based on the combined information. (3) The tactile presentation device described in (2) above, further comprising a second actuator that can vibrate the movable unit, and the control unit vibrates the movable unit by controlling driving of the second actuator based on second vibration command information for vibrating the movable unit. (4) The tactile presentation device according to (3) above, wherein the first actuator is capable of vibrating the movable part in a first frequency band, and the second actuator is capable of vibrating the movable part in a second frequency band different from the first frequency band. (5) The tactile presentation device according to (4) above, wherein the control unit extracts, from vibration command information designed for vibration of the movable part, information including vibration corresponding to the first frequency band as the first vibration command information, and extracts information including vibration corresponding to the second frequency band as the second vibration command information. (6) The tactile presentation device according to (4) above, wherein the first vibration command information is information designed for a first actuator, and the second vibration command information is information designed for a second actuator. (7) The tactile presentation device described in (4) above, wherein the second vibration command information is information designed for a second actuator, and the control unit extracts, from the second vibration command information, information including vibrations corresponding to the first frequency band as the first vibration command information.(8) The tactile presentation device according to (1) above, further comprising a second actuator capable of vibrating the movable part, wherein the control unit extracts movement vibration command information for moving and vibrating the movable part by the first actuator, and extracts vibration command information for vibrating the movable part by the second actuator, from movement vibration mixed information designed for movement and vibration of the movable part. (9) The tactile presentation device according to (5) above, wherein the vibration command information is waveform data information. (10) The tactile presentation device according to (9) above, wherein the movement command information is waveform data information. (11) The tactile presentation device according to (10) above, wherein the vibration command information is information from one file of stereotype waveform data files, and the movement command information is information from the other file of the stereotype waveform data files. (12) The tactile presentation device according to (2) above, wherein the first vibration command information or movement command information includes information on a position at which the movable part is to vibrate. (13) The tactile presentation device according to (2) above, wherein the first vibration command information or movement command information includes information on a time at which the movable part is to vibrate. (14) The tactile presentation device according to any one of (2) to (13) above, wherein the movement command information is information in a format that specifies a target position to which the movable part is to be moved, and the first vibration command information is information in a format that indicates a voltage to be applied to the first actuator. (15) A tactile presentation device as described in (14) above, wherein the control unit calculates a voltage value corresponding to the deviation between the current position of the movable part and the target position of the movable part, limits the voltage value within a predetermined range, calculates the sum of the limited voltage value and a voltage value based on first vibration command information, and calculates the voltage to be applied to the first actuator based on the sum.(16) The tactile presentation device according to any one of (2) to (13), wherein the movement command information is information in a format specifying a target position of a movement destination of the movable part and a time required to reach the target position, and the first vibration command information is information in a format indicating a voltage to be applied to the first actuator. (17) The tactile presentation device according to (16), wherein the control unit calculates a target position of the movable part for each predetermined time, calculates a voltage value according to a deviation between the current position of the movable part and the target position of the movable part for each predetermined time, limits the voltage value within a predetermined range, calculates a sum of the limited voltage value and a voltage value according to the first vibration command information, and calculates a voltage to be applied to the first actuator based on the sum. (18) The tactile presentation device according to any one of (2) to (13), wherein the movement command information is information in a format specifying a target position to which a movable part is to be moved and a time required to reach the target position, and the first vibration command information is information in a format indicating a position of the movable part. (19) The tactile presentation device according to (18), wherein the control unit calculates a target position of the movable part for each predetermined time period, adds the position of the movable part according to the first vibration command information to the target position for each predetermined time period, sets the added value as a new target position, calculates a voltage value corresponding to a deviation between the current position of the movable part and the new target position, and calculates a voltage to be applied to the first actuator based on the voltage value. (20) An information processing method, comprising: controlling drive of a first actuator capable of moving a movable part that is provided movably relative to an object and that changes the position of the center of gravity of the object by movement, thereby moving the movable part and vibrating the movable part while changing the position of the center of gravity.

[0206] REFERENCE SIGNS LIST 10 tactile presentation device 11 control unit 12 movable unit 13 first actuator 14 position sensor 15 second actuator 20 control device 30 VR device 40 imaging device 100 tactile presentation system

Claims

1. A tactile presentation device comprising: a movable part that is movable relative to an object and that changes the position of the center of gravity of the object by movement; a first actuator that can move the movable part; and a control unit that controls the driving of the first actuator to move the movable part and vibrate the movable part while changing the position of the center of gravity.

2. A tactile presentation device as described in claim 1, wherein the control unit combines movement command information for moving the movable part and first vibration command information for vibrating the movable part to generate combined information, and controls the driving of the first actuator based on the combined information.

3. A tactile presentation device as described in claim 2, further comprising a second actuator capable of vibrating the movable part, wherein the control unit vibrates the movable part by controlling the driving of the second actuator based on second vibration command information for vibrating the movable part.

4. A tactile presentation device according to claim 3, wherein the first actuator is capable of vibrating the movable part in a first frequency band, and the second actuator is capable of vibrating the movable part in a second frequency band different from the first frequency band.

5. A tactile presentation device as described in claim 4, wherein the control unit extracts, from vibration command information designed for vibration of a movable part, information including vibration corresponding to the first frequency band as the first vibration command information, and extracts information including vibration corresponding to the second frequency band as the second vibration command information.

6. A tactile presentation device according to claim 4, wherein the first vibration command information is information designed for a first actuator, and the second vibration command information is information designed for a second actuator.

7. A tactile presentation device as described in claim 4, wherein the second vibration command information is information designed for a second actuator, and the control unit extracts, from the second vibration command information, information including vibrations corresponding to the first frequency band as the first vibration command information.

8. A tactile presentation device as described in claim 1, further comprising a second actuator capable of vibrating the movable part, wherein the control unit extracts, from mixed movement vibration information designed for movement and vibration of the movable part, movement vibration command information for causing the first actuator to move and vibrate the movable part, and extracts vibration command information for causing the second actuator to vibrate the movable part.

9. A tactile presentation device according to claim 5, wherein the vibration command information is waveform data information.

10. A tactile presentation device according to claim 9, wherein the movement command information is waveform data information.

11. A tactile presentation device according to claim 10, wherein the vibration command information is information from one file of stereotype waveform data files, and the movement command information is information from the other file of the stereotype waveform data files.

12. A tactile presentation device according to claim 2, wherein the first vibration command information or movement command information includes information on the position at which the movable part should vibrate.

13. A tactile presentation device according to claim 2, wherein the first vibration command information or movement command information includes information on the time for which the movable part should be vibrated.

14. A tactile presentation device as described in claim 2, wherein the movement command information is information in a format that specifies a target position to which the movable part is to be moved, and the first vibration command information is information in a format that indicates a voltage to be applied to the first actuator.

15. A tactile presentation device as described in claim 14, wherein the control unit calculates a voltage value corresponding to the deviation between the current position of the movable part and the target position of the movable part, limits the voltage value within a predetermined range, calculates the sum of the limited voltage value and a voltage value based on first vibration command information, and calculates the voltage to be applied to the first actuator based on the sum.

16. A tactile presentation device as described in claim 2, wherein the movement command information is information in a format that specifies a target position to which the movable part is to be moved and a time required to reach the target position, and the first vibration command information is information in a format that indicates a voltage to be applied to the first actuator.

17. A tactile presentation device as described in claim 16, wherein the control unit calculates a target position of the movable part for each predetermined time, calculates a voltage value corresponding to the deviation between the current position of the movable part and the target position of the movable part for each predetermined time, limits the voltage value within a predetermined range, calculates the sum of the limited voltage value and a voltage value based on first vibration command information, and calculates a voltage to be applied to the first actuator based on the sum.

18. A tactile presentation device as described in claim 2, wherein the movement command information is information in a format that specifies a target position to which the movable part is to be moved and a time required to reach the target position, and the first vibration command information is information in a format that indicates the position of the movable part.

19. A tactile presentation device as described in claim 18, wherein the control unit calculates a target position of the movable part for each predetermined time, adds the position of the movable part based on the first vibration command information to the target position for each predetermined time, sets the added value as a new target position, calculates a voltage value corresponding to the deviation between the current position of the movable part and the new target position, and calculates a voltage to be applied to the first actuator based on the voltage value.

20. An information processing method in which a first actuator is controlled to move a movable part that is provided movably relative to an object and that moves to change the position of the center of gravity of the object, thereby moving the movable part and vibrating the movable part while changing the position of the center of gravity.

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