Vibration output device, vibration output system, vibration output method, and vibration output program

Abstract

A vibration output device according to an embodiment includes: a vibration output unit that outputs vibration to a part of a body of an operator in contact; and a control unit that causes a second vibration to be output from the vibration output unit while a first vibration is being output from the vibration output unit, wherein the first vibration has a smaller magnitude than the second vibration.

Description

Vibration output device, vibration output system, vibration output method, and vibration output program CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to Japanese Patent Application No. 2024-63470, filed on April 10, 2024, the entire disclosure of which is incorporated herein by reference.

[0002] The present invention relates to a vibration output device, a vibration output system, a vibration output method, and a vibration output program.

[0003] Conventionally, a feedback method has been known in which, when an operator's finger touches a display, the display is vibrated to impart vibrations to the fingertips. For example, Patent Document 1 describes a display that can be operated by touching the screen, which is provided with a haptic device, and by vibrating the haptic device when the operator touches the display, it is possible to directly impart instantaneous vibrations to the operator's fingertips.

[0004] Furthermore, methods utilizing the phenomenon of stochastic resonance are known as techniques for improving sensory sensitivity. For example, Patent Document 2 discloses a method for improving the tactile sensitivity of the driver's feet when decelerating the vehicle by attaching a vibration pad that generates weak vibrations to the upper surface of the brake pedal of a vehicle.

[0005] JP 2003-288158 JP 2017-138764

[0006] In order to solve the above-mentioned problems, one embodiment of a vibration output device has a vibration output unit that outputs vibrations to a part of the operator's body that is in contact with the vibration output unit, and a control unit that causes the vibration output unit to output a second vibration while outputting a first vibration, and the first vibration is a vibration that is smaller in magnitude than the second vibration.

[0007] In addition, a vibration output system according to one embodiment includes a vibration output unit that outputs vibration to a part of the operator's body that is in contact with the vibration output unit, and a control unit that causes the vibration output unit to output a second vibration while outputting a first vibration from the vibration output unit, and the first vibration is a vibration that is smaller in magnitude than the second vibration.

[0008] Furthermore, a vibration output method according to one embodiment includes a step of outputting a second vibration from a vibration output unit while outputting a first vibration from the vibration output unit, the second vibration being smaller in magnitude than the second vibration.

[0009] In addition, a vibration output program according to one embodiment controls a vibration output device that includes a vibration output unit that outputs vibration to a part of the operator's body that is in contact with the vibration output unit, and a control unit that causes the vibration output unit to output a second vibration while the vibration output unit is outputting a first vibration, and the first vibration is smaller in magnitude than the second vibration.

[0010] FIG. 1 is a diagram for explaining the configuration of the vibration output device 100. FIG. 2 is a diagram for explaining an example of a mounting structure of the vibration output device 100 shown in FIG. 1. FIG. 3 is a diagram for explaining changes in load, voltage, and vibration magnitude with respect to time changes when the vibration output device 100 is operated in Example 1. FIG. 4 is a flowchart for explaining the processing flow of Example 1. FIG. 5 is a diagram for explaining changes in load, voltage, and vibration magnitude with respect to time changes when the vibration output device 100 is operated in Example 2. FIG. 6 is a flowchart for explaining the processing flow of Example 2. FIG. 7 is a diagram for explaining control of the first vibration magnitude.

[0011] An object of the present invention is to provide a vibration output device that allows an operator who touches a vibration output unit to feel vibrations more strongly. According to one embodiment, it is possible to provide a vibration output device, a vibration output system, a vibration output method, or a vibration output program that allows an operator to feel vibrations more strongly. Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In each drawing, the same reference numerals indicate components having the same or equivalent functions.

[0012] <Configuration of vibration output device 100> Fig. 1 is a block diagram for explaining the general configuration of the vibration output device 100. The vibration output device 100 is mounted on a device that is operated by a part of the body, such as a hand or a foot, of an operator who touches the vibration output device 100. The vibration output device 100 may include, for example, a push-button switch, a liquid crystal panel, or an organic EL display panel. When the body of an operator who operates the vibration output device 100 touches the device, the vibration output device 100 outputs vibration to the part of the body that is touched, and the vibration can be transmitted to the operator's body.

[0013] The vibration output device 100 includes a vibration output unit 110, a sensor 111, a load detection unit 112, a vibration generation unit 113, a control unit 114, a storage unit 115, and an alarm unit 119. Some of these components may be provided outside the vibration output device 100 and configured to be able to communicate with the vibration output device 100 via wired or wireless communication. For example, of the components of the vibration output device 100, the vibration output unit 110, which is an element that an operator needs to directly touch, needs to be located in a position where the operator can touch it, but elements that do not need to be touched by the operator, such as the control unit 114, may be implemented on a remote server via a network system or the like.

[0014] The vibration output unit 110 has a part that comes into contact with the operator's body. The vibration output unit 110 may be provided on the surface of the vibration output device 100 and exposed to the outside. The vibration output unit 110 may be made of, for example, a transparent film, glass, glass, or acrylic. When the vibration output unit 110 is pressed, the pressed part bends (distorts) slightly in response to the pressure. The vibration output unit 110 may have a structure in which the structure itself bends slightly when pressed. The vibration output unit 110 may have a structure in which the entire part including the vibration output unit 110 is displaced up and down when pressed.

[0015] The vibration output unit 110 may transmit the vibration output by the vibration generating unit 113 to the body of an operator who is touching the vibration output unit 110. The vibration output unit 110 may be used by the operator to operate the vibration output device 100.

[0016] After the sensor 111 detects that the operator has touched the vibration output unit 110, the vibration output device 100 starts outputting a first vibration to the vibration output unit 110. After starting to output the first vibration, the vibration output device 100 outputs a second vibration for a predetermined time period, the second vibration having a greater intensity than the first vibration and indicating that the vibration output device 100 has been operated. Here, a high vibration intensity includes a large displacement of the vibration output unit 110, i.e., a large vibration amplitude.

[0017] The sensor 111 receives an input when the operator's body touches the vibration output unit 110. The sensor 111 may be configured using a known method such as a resistive film method, a capacitance method, or an optical method. The surface of the sensor 111 may include the vibration output unit 110.

[0018] The sensor 111 may include a proximity sensor that detects when a part of the operator's body approaches within a predetermined distance of the vibration output unit 110 .

[0019] The load detection unit 112 may include a load sensor that detects a load on the surface of the vibration output unit 110. The load detection unit 112 may be configured using an element that responds linearly to a load, such as a strain gauge sensor or a piezoelectric element. The load detection unit 112 may use any number of elements, such as strain gauge sensors or piezoelectric elements. The load detection unit 112 may use a method according to the input detection method of the sensor 111. For example, if the sensor 111 is a resistive film type, the load may be detected from a change in an output signal based on a change in resistance due to a contact area. Alternatively, if the sensor 111 is a capacitive type, the load may be detected from a change in an output signal based on a change in capacitance.

[0020] When a piezoelectric element is used in the load detection unit 112, the load detection unit 112 converts the force applied to the vibration output unit 110 into a voltage. The load detection unit 112 further includes a circuit for measuring the voltage, and when the sensor 111 receives an input, the circuit for measuring the voltage is connected to the piezoelectric element and begins measuring the voltage. With this configuration, the load detection unit 112 can convert the load on the surface of the vibration output unit 110 that the operator is touching into a voltage and measure it.

[0021] The vibration generating unit 113 outputs vibration to the vibration output unit 110. The vibration generating unit 113 is configured using a piezoelectric vibrator, an eccentric motor, a linear vibrator, or the like. When an eccentric motor is used for the vibration generating unit 113, vibration can be output by rotating the rotation shaft of the eccentric motor once per cycle of the drive signal. When a linear vibrator is used for the vibration generating unit 113, the coil itself can be vibrated up and down using the repulsive force between the magnet and the electromagnetic force generated in the coil when current is passed through it. When a piezoelectric vibrator is used for the vibration generating unit 113, for example, any number of piezoelectric vibrators may be arranged on the surface of the sensor 111. For example, a piezoelectric element may be provided on the entire surface of the sensor 111. The load detecting unit 112 and the vibration generating unit 113 may also be configured to share a piezoelectric element. In this case, the circuits included in the load detecting unit 112 and the circuits included in the vibration generating unit 113 are connected to the same piezoelectric element, and by selecting the circuit connected to the piezoelectric element, it is possible to select whether to detect load or output vibration. The load may be detected and the vibration output may be performed by instantaneously switching and repeating the connection of the voltage application circuit and the voltage measurement circuit to the piezoelectric element.

[0022] The vibration generating unit 113 may be capable of outputting a plurality of types or patterns of vibration, and outputs a predetermined vibration under a predetermined condition. A plurality of vibration generating units 113 may be provided, and each vibration generating unit 113 may output a different type of vibration. The predetermined conditions, types of vibration, and patterns will be described later.

[0023] The notification unit 119 notifies the operator that the operator has performed an operation. The notification unit 119 notifies the operator after the second vibration or the third vibration is output to the vibration output unit. The notification unit 119 may be, for example, a device that provides a visual notification such as a display. The notification unit 119 may also be a device that provides an auditory notification such as a speaker. The notification unit 119 may also be a device that provides a tactile notification such as a vibrator.

[0024] The control unit 114 is, for example, a CPU (Central Processing Unit). The control unit 114 controls the sensor 111, the load detection unit 112, the vibration generation unit 113, and the storage unit 115 by executing a program stored in the storage unit 115 (described later). The control unit may control the vibration generation unit 113 to cause the vibration output unit 110 to output the first to third vibrations.

[0025] When the sensor 111 detects that part of the operator's body has touched the vibration output unit 110 or has come within a predetermined distance of the vibration output unit 110, the control unit 114 causes the vibration generating unit 113 to start outputting vibrations.

[0026] When the sensor 111 detects that part of the operator's body has touched the vibration output unit 110 or has come within a predetermined distance of the vibration output unit 110, the control unit 114 causes the load detection unit 112 to start measuring the load applied to the vibration output unit 110.

[0027] The control unit 114 determines whether the load detection unit 112 has detected a predetermined load. If the load detection unit 112 has detected a predetermined load, the control unit 114 causes the vibration generation unit 113 to output a type of vibration determined based on the magnitude of the detected load. The vibrations output by the vibration generation unit 113 include, for example, a plurality of vibrations that differ in at least one of intensity (amplitude), frequency, and output time. The relationship between the detected load and the output vibration will be described in detail in the examples below.

[0028] If the control unit 114 does not detect a predetermined load, it does not cause the vibration generating unit 113 to start outputting vibration.

[0029] If the load detection unit 112 detects a predetermined load while the vibration generation unit 113 is outputting a predetermined vibration, the control unit 114 causes the vibration generation unit 113 to stop outputting the vibration.

[0030] The control unit 114 causes the notification unit to notify the operator after the second vibration or the third vibration is output from the vibration output unit 110 to the operator.

[0031] The storage unit 115 is a storage medium including a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The storage unit 115 may store a program executed by the control unit 114.

[0032] Two or more components having different functions included in the vibration output device 100 may be configured as a single component. For example, the sensor 111 and the load detection unit 112 may be configured as a single component. Also, the load detection unit 112 and the vibration generation unit 113 may be configured as a single component.

[0033] Figures 2(a) and 2(b) show an example of a mounting structure of the vibration output device 100 shown in Figure 1. Figure 2(a) is a cross-sectional view of the vibration output device 100, and Figure 2(b) is a plan view of the vibration output device 100. Figure 2(b) omits the illustration of the housing 120, upper cover 117, and insulator 116 shown in Figure 2(a).

[0034] 2(a) and 2(b) includes four load detection units 112 and two vibration generation units 113 shown in Fig. 1. The load detection units 112 are provided by adhesive or the like near each side covered by the upper cover 117 on the front surface of the sensor 111. The vibration generation units 113 are provided by adhesive or the like near two opposing sides on the back surface of the sensor 111.

[0035] Upper cover 117 may be part of housing 120. Upper cover 117 is made of a member having an opening, and by covering the area surrounding sensor 111, makes display area A of notification unit 119 visible from above and exposes vibration output unit 110, which is the top surface of sensor 111. Insulator 118 made of an elastic member may be disposed between upper cover 117 and sensor 111.

[0036] The alarm unit 119 may be housed in the housing 120. The sensor 111 is disposed on the alarm unit 119 via an insulator 116 made of an elastic material. As shown in FIG. 2B , the alarm unit 119 is disposed in the center of the sensor 111 so that a display area A of the alarm unit 119, indicated by a dashed line, is visible from above. The sensor 111 is made of a transparent material such as a transparent film, glass, or acrylic.

[0037] The structure of the vibration output device 100 is not limited to the above-described structure and may take various forms. The vibration output device 100 is required to be provided with at least one sensor 111 and at least one vibration generating unit 113. The number of sensors 111 and the number of vibration generating units 113 do not necessarily have to be the same. The multiple vibration generating units 113 may use the same vibration method or different vibration methods. For example, some of the vibration generating units 113, including the first vibration generating unit 113, may use piezoelectric elements, and some of the vibration generating units 113, including the second vibration generating unit 113, may use eccentric motors. Furthermore, instead of providing multiple vibration generating units 113, multiple vibration output devices 100 may be used. For example, the vibration output units 110 included in multiple vibration output devices 100 may be arranged to contact the same panel, thereby vibrating the panel and transmitting vibrations to the operator.

[0038] One sensor 111 may be provided for multiple vibration generating units 113. The multiple vibration generating units 113 may output different types of vibration. For example, some of the vibration generating units 113, including the first vibration generating unit 113, may be made to output a first vibration, and some of the vibration generating units 113, including the second vibration generating unit 113, may be made to output a second vibration. By providing a vibration generating unit 113 for each different type of vibration, it is possible to improve vibration efficiency.

[0039] A plurality of vibration generating units 113 may be provided for a plurality of sensors 111. It is desirable that the plurality of sensors be provided on the same panel. The number of the plurality of sensors 111 and the number of the plurality of vibration generating units 113 do not have to be the same. The vibration generating unit 113 corresponding to the sensor 111 that detected the input may output vibration to the sensor 111, or the vibration generating unit 113b corresponding to the sensor 111b adjacent to the sensor 111a that detected the input may output vibration to the sensor 111b. By providing a plurality of sensors 111 on one panel, the vibration output to the sensor 111 can be transmitted to the entire panel. In this configuration, the vibration output device 100 can be configured with a smaller number of vibration generating units 113 compared to the number of sensors 111.

[0040] The types of vibrations output by the vibration generating unit 113 will be described below. The types of vibrations are divided into two types depending on their intensity. In this embodiment, vibrations with weaker intensities are referred to as the first vibration and the fourth vibration, and vibrations with stronger intensities than the first vibration and the fourth vibration are referred to as the second vibration and the third vibration. The first vibration and the fourth vibration may have the same intensity or different intensities. The second vibration and the third vibration may have the same intensity or different intensities. In this embodiment, the first vibration and the fourth vibration, and the second vibration and the third vibration will be described using different names depending on the timing at which they are output by the vibration generating unit 113.

[0041] <Regarding the First and Fourth Vibrations> The intensities of the first and fourth vibrations are weak enough not to exceed the operator's sensory threshold. "Not exceeding the operator's sensory threshold" refers to, for example, a level that the user cannot perceive. For example, the amplitude of the vibration of the vibration output unit 110 generated by outputting the first or fourth vibration may be 10 μm or less, and if it is 5 μm or less, the vibration output unit 110 can sufficiently bring about the effect of the stochastic resonance phenomenon to the operator. The first and fourth vibrations may be, for example, vibrations consisting of a unipolar sine wave with a frequency of 250 to 400 Hz, or vibrations consisting of white noise passed through a low-pass filter (LPF) with a cutoff frequency of 300 to 500 Hz. The first and fourth vibrations may be vibrations consisting of a unipolar waveform or vibrations consisting of waveforms that oscillate between positive and negative polarities.

[0042] Stochastic resonance is a phenomenon known to improve tactile sensitivity by applying weak vibrations to parts of the body, such as the fingers, hands, and feet, that do not exceed the threshold of sensitivity. Adding noise to signals in nonlinear systems, such as bistable and threshold systems, strengthens the signal, improving response to the signal and enhancing the ability to detect weak signals. This effect can also be achieved by placing a vibrator that generates weak vibrations on a tool that the user touches and applying vibrations to parts of the user's body.

[0043] <Regarding the Second and Third Vibrations> The second and third vibrations indicate that the operator has operated the vibration output device 100. Furthermore, the second and third vibrations are vibrations of an intensity perceptible to the operator. When the amplitude of the vibration of the vibration output unit 110 is 15 μm or greater, the operator can feel a sufficient tactile sensation similar to clicking a button. The frequencies of the second and third vibrations are preferably in the range of 40 Hz to 500 Hz, but are not particularly limited thereto. The waveforms of the drive signals for the second and third vibrations may be sine waves or square waves. The period of the drive signal may be one period or an integer multiple thereof, and may be at most five periods. For example, the drive signals for the second and third vibrations may output one period of a 160 Hz unipolar sine wave, vibrating the vibration output unit 110 with an amplitude of 15 μm to stimulate the operator's tactile sense. The waveforms of the second and third drive signals may be unipolar or may be waveforms that vary between positive and negative polarities, thereby providing the operator with a clicking sensation and letting them know that the input operation has been completed.

[0044] The second vibration is output when the operator presses the vibration output unit 110, and is output as the load detected by the load detection unit 112 increases. The third vibration is output when the operator releases the vibration output unit 110, and is output as the load detected by the load detection unit 112 decreases. The second vibration and the third vibration may have different frequencies, vibration amplitudes, and periods. For example, the frequency of the second vibration and the frequency of the third vibration may be 160 Hz.

[0045] It is desirable that, before a high-intensity vibration including the second vibration or the third vibration is output, a low-intensity vibration is output to a part of the operator's body for a longer time than the second or third vibration. Because a low-intensity vibration induces a stochastic resonance phenomenon in the operator, outputting the first vibration before outputting the second vibration for a longer time than the second or third vibration allows the operator to feel the second vibration more strongly. Similarly, outputting the first or fourth vibration before outputting the third vibration allows the operator to feel the third vibration more strongly. In other words, the click sensation can be felt more strongly when pressing and releasing the vibration output unit 110.

[0046] <First Example> Figures 3(a), (b), and (c) are all diagrams for explaining Example 1. Figure 3(a) is a diagram showing a change in the load detected by the load detection unit 112 over time from immediately after the operator touches the vibration output unit 110. Figure 3(b) is a diagram showing a change in the voltage applied to the piezoelectric element by the control unit 114 in response to the change in the load detected by the load detection unit 112. Figure 3(c) is a diagram showing a change in the vibration waveform of the vibration output unit 110 in response to the change in the voltage applied to the piezoelectric element by the control unit 114.

[0047] In the first example, the description will be made assuming that an operator presses down on the vibration output unit 110 with a finger for a predetermined time, and then takes a predetermined time to remove (release) the finger from the vibration output unit 110. In the first example, the first vibration continues to be output during the period from when the operator's finger touches the vibration output unit 110 until the finger is released.

[0048] 3A, the load detected by the load detection unit 112 increases as the operator presses the vibration output unit 110 with his / her finger. Then, the load detected by the load detection unit 112 decreases as the operator removes (releases) his / her finger from the vibration output unit 110. In other words, the change in load detected by the load detection unit 112 over time from when the operator presses the vibration output unit 110 until when he / she releases it is represented by a curved mountain-shaped graph.

[0049] Next, we will explain Figure 3(b). During the period from when the operator presses down on the vibration output unit 110 until when they release it, a large voltage (voltage shown by the second voltage waveform and the third voltage waveform) for outputting a high-intensity vibration (second vibration and third vibration) and a small voltage (voltage shown by the first voltage waveform) for outputting a low-intensity vibration (first vibration) are applied to the piezoelectric element. At this time, the vibration output by application of the voltage shown by the second voltage waveform to the piezoelectric element is the second vibration. And the vibration output by application of the voltage shown by the third voltage waveform to the piezoelectric element is the third vibration.

[0050] The vibration generating unit 113 applies a voltage represented by the second voltage waveform to the piezoelectric element when the load detected by the load detecting unit 112 is on the rise, i.e., while the operator is pressing the vibration output unit 110. After the control unit 114 determines that the load detecting unit 112 has detected the second load, the voltage represented by the second voltage waveform is applied to the piezoelectric element. The second load may be, for example, 0.7 N.

[0051] The vibration generating unit 113 applies a voltage represented by a third voltage waveform to the piezoelectric element when the load detected by the load detecting unit 112 is decreasing, i.e., when the operator is about to release the vibration output unit 110. The voltage represented by the third voltage waveform may be the same as or different from the voltage represented by the second voltage waveform. After the control unit 114 determines that the load detecting unit 112 has detected a third load, the voltage represented by the third voltage waveform is applied to the piezoelectric element. The third reference load may be equal to or different from the second reference load. The third reference load may be, for example, 0.65 N.

[0052] The application of the voltage represented by the first voltage waveform begins after the operator touches the vibration output unit 110. The application of the voltage represented by the first voltage waveform may also begin when the operator applies a first load to the vibration output unit 110. The first load may be smaller than the second load, for example, 0.5 N. By setting the first load smaller than the second load, the magnitude of the load applied to the vibration output unit 110 reaches the first load earlier than the second load during the process in which the operator presses the vibration output unit 110. In other words, the voltage represented by the first voltage waveform can be applied to the piezoelectric element prior to the application of the voltage represented by the second voltage waveform.

[0053] The application of the voltage indicated by the first voltage waveform may be stopped between the time when the operator applies the second load to the vibration output unit 110 and the time when the operator releases the finger from the vibration output unit 110. For example, the application of the voltage indicated by the first voltage waveform may be stopped when the operator applies a third load to the vibration output unit 110.

[0054] When voltages represented by different types of voltage waveforms are applied to a piezoelectric element simultaneously, one voltage waveform may be superimposed on the other voltage waveform, or a voltage represented by a first voltage waveform superimposed on a voltage represented by a second or third voltage waveform may be applied to the piezoelectric element.

[0055] When the vibration generating unit 113 applies voltages represented by the first to third voltage waveforms to the piezoelectric element, vibrations (first to third vibrations) corresponding to the vibration waveforms are output to the vibration output unit 110 .

[0056] FIG. 4 is a flowchart for explaining a series of processing steps of the vibration output device 100 according to the first embodiment.

[0057] First, the sensor 111 detects that the operator's finger has touched the vibration output unit 110 (step S101).

[0058] If the sensor 111 does not detect the operator's contact with the vibration output unit 110, step S101 is repeated until the sensor 111 detects an input.

[0059] Next, the control unit 114 starts measuring the load applied to the vibration output unit 110 by the load detection unit 112. The control unit 114 determines whether the load detection unit 112 has reached the first load (step S102).

[0060] The control unit 114 repeats step S102 until the load detection unit 112 detects the first load.

[0061] Next, when the control unit 114 determines that the load detection unit 112 has detected the first load, the control unit 114 causes the vibration generation unit 113 to start outputting the first vibration (step S103).

[0062] Next, the control unit 114 controls the load detection unit 112 to determine whether the load applied to the vibration output unit 110 has reached a second load during the process of increase (step S104).

[0063] The control unit 114 repeats step S104 until the load detection unit 112 detects the second load.

[0064] Next, when the load detection unit 112 detects the second load, the control unit 114 causes the vibration generation unit 113 to output the second vibration for a predetermined time (for example, 10 msec) (step S105).

[0065] Next, the control unit 114 controls the load detection unit 112 to determine whether or not the load applied to the vibration output unit 110 has reached a third load during the reduction process (step S106).

[0066] The control unit 114 repeats step S106 until the load detection unit 112 detects the third load.

[0067] Next, if the control unit 114 detects a third load during the load reduction process detected by the load detection unit 112, it causes the vibration generating unit 113 to output a third vibration for a predetermined time (e.g., 10 msec) (step S107).

[0068] Next, the control unit 114 controls the vibration generating unit 113 to stop outputting the first vibration (step S108).

[0069] Second Example Figures 5(a), (b), and (c) are all diagrams for explaining Example 2. Figure 5(a) is a diagram showing a change in the load detected by the load detection unit 112 over time from immediately after the operator touches the vibration output unit 110. Figure 5(b) is a diagram showing a change in the voltage applied to the piezoelectric element by the control unit 114 in response to the change in the load detected by the load detection unit 112. Figure 5(c) is a diagram showing a change in the waveform of the signal of the vibration generated by the vibration output unit 110 in response to the change in the voltage applied to the piezoelectric element by the control unit 114.

[0070] The second embodiment will be described assuming the same operator actions as in the first embodiment. In the second embodiment, output of the first vibration is started before output of the second vibration. Thereafter, output of the first vibration is stopped before output of the third vibration. Then, output of the fourth vibration is started before output of the third vibration. After output of the fourth vibration is started, the third vibration is output. The output of the second vibration and the third vibration is the same as in the first embodiment, and therefore description thereof will be omitted.

[0071] FIG. 5A is the same as FIG. 3A, and therefore the description thereof will be omitted.

[0072] Next, Fig. 5(b) will be described. During the period from when the operator presses down on the vibration output unit 110 until when they release it, a large voltage (voltage indicated by the second voltage waveform and the third voltage waveform) for outputting high-intensity vibrations (second vibrations and third vibrations) and a small voltage (voltage indicated by the first voltage waveform and the fourth voltage waveform) for outputting low-intensity vibrations (first vibrations and fourth vibrations) are applied to the piezoelectric element. At this time, the vibration output by application of the voltage indicated by the first voltage waveform to the piezoelectric element is the first vibration. And the vibration output by application of the voltage indicated by the fourth voltage waveform to the piezoelectric element is the fourth vibration.

[0073] The application of the voltage represented by the first voltage waveform is started in the same manner as in Example 1. The application of the voltage represented by the first voltage waveform is stopped between the time when the operator applies the second load to the vibration output unit 110 and the time when the operator applies the third load to the vibration output unit 110. For example, the application of the voltage represented by the first voltage waveform may be stopped after the operator applies the second load to the vibration output unit 110, or may be stopped when the load applied by the operator to the vibration output unit 110 begins to decrease.

[0074] The application of the voltage represented by the fourth voltage waveform is preferably initiated after the operator applies the second load to the vibration output unit 110 but before the operator applies the third load, and after the application of the voltage represented by the first voltage waveform has been stopped. Alternatively, the load detection unit 112 may measure the load applied to the vibration output unit 110 by the operator, and the control unit 114 may determine the start of application of the voltage represented by the fourth voltage waveform based on the measured load. For example, the start of application of the voltage represented by the fourth voltage waveform may be based on the operator applying a fourth load to the vibration output unit 110 or a decrease in the load applied to the vibration output unit 110 by the operator. The fourth load may be, for example, 0.75 N.

[0075] The application of the voltage represented by the fourth voltage waveform is stopped after the operator applies a third load to the vibration output unit 110. After the application of the third voltage waveform is started, or after the load detected by the load detection unit 112 detects a predetermined load, the vibration generation unit 113 may stop applying the voltage represented by the fourth voltage waveform. The fourth vibration may be stopped after the sensor 111 no longer detects an input. The application of the voltage represented by the fourth voltage waveform may be stopped, for example, after the load detection unit 112 detects the third load.

[0076] A voltage in which the voltage represented by the third voltage waveform and the voltage represented by the fourth voltage waveform are superimposed may be applied to the piezoelectric element.

[0077] When the control unit 114 applies voltages represented by the first to fourth voltage waveforms to the piezoelectric element, vibrations (first to fourth vibrations) corresponding to the voltage waveforms are output to the vibration output unit 110 .

[0078] FIG. 6 is a flowchart for explaining a series of processing steps of the vibration output device 100 according to the second embodiment.

[0079] First, the sensor 111 detects that the operator's finger has touched the vibration output unit 110 (step S201).

[0080] If the sensor 111 does not detect the operator's contact with the vibration output unit 110, step S201 is repeated until the sensor 111 detects an input.

[0081] Next, the control unit 114 starts measuring the load applied to the vibration output unit 110 by the load detection unit 112. The control unit 114 determines whether the load detection unit 112 has reached the first load (step S202).

[0082] The control unit 114 repeats step S102 until the load detection unit 112 detects the first load.

[0083] Next, when the control unit 114 determines that the load detection unit 112 has detected the first load, the control unit 114 causes the vibration generation unit 113 to start outputting the first vibration (step S203).

[0084] Next, the control unit 114 controls the load detection unit 112 to determine whether or not the load applied to the vibration output unit 110 has reached a second load during the process of increase (step S204).

[0085] The control unit 114 repeats step S204 until the load detection unit 112 detects the second load.

[0086] Next, when the load detection unit 112 detects the second reference load, the control unit 114 causes the vibration generation unit 113 to output the second vibration for a predetermined time (for example, 10 msec) (step S205).

[0087] Next, the control unit 114 causes the vibration generating unit 113 to stop outputting the first vibration (step S206).

[0088] Next, the control unit 114 controls the load detection unit 112 to determine whether or not a fourth load has been applied in the process of reducing the load applied to the vibration output unit 110 (step S207).

[0089] The control unit 114 repeats step S207 until the load detection unit 112 detects the fourth load.

[0090] Next, when the control unit 114 detects a fourth load in the process of decreasing the load detected by the load detection unit 112, the control unit 114 causes the vibration generation unit 113 to start outputting a fourth vibration (step S208).

[0091] Next, the control unit 114 determines whether or not a third load has been applied during the process of decreasing the load detected by the load detection unit 112 (step S209).

[0092] The control unit 114 repeats step S209 until the load detection unit 112 detects the third reference load.

[0093] Next, if the control unit 114 detects a third load during the load reduction process detected by the load detection unit 112, it causes the vibration generating unit 113 to output a third vibration for a predetermined time (e.g., 10 msec) (step S210).

[0094] Next, the control unit 114 causes the vibration generating unit 113 to stop outputting the fourth vibration (step S211).

[0095] <Regarding the Vibration Pattern of the First Vibration Magnitude> Fig. 7 is a diagram for explaining the pattern of the first vibration when operating the vibration output device 100. The second vibration and the third vibration are the same as those in the first embodiment.

[0096] FIG. 7A illustrates how the voltage intensity of the first voltage waveform is changed in response to the change in load detected by the load detection unit 112 over time. For example, the control unit 114 changes the intensity of the first vibration in inverse proportion to the data on the change in load over time. That is, when the load on the vibration output unit 110 is small, the intensity of the first vibration is increased, and when the load is large, the intensity of the first vibration is decreased. The greater the load, the higher the contact pressure between the tactile receptors responsible for the finger's sense of touch and the piezoelectric element, thereby increasing tactile sensitivity. Therefore, the intensity of the first vibration that causes the stochastic resonance effect can be reduced. In this embodiment, this property is utilized to vary the intensity of the first vibration.

[0097] 7B and 7C are diagrams showing how the voltage intensity of the first voltage waveform is changed based on the rate of change of the load detected by the load detection unit 112. For example, the control unit 114 changes the vibration intensity so that it is proportional to the pressing speed when the operator presses the vibration output unit 110. That is, the control unit 114 increases the intensity of the first vibration when the pressing speed is fast, and decreases the amplitude of the first vibration when the pressing speed is slow.

[0098] Generally, when a button is pressed down over a long period of time, the tactile sensitivity increases because the nerves can be concentrated on the tactile sensation of the finger, and therefore the intensity of the first vibration that causes the stochastic resonance effect can be small. Conversely, when a button is pressed down quickly, such as repeatedly, the nerves cannot be concentrated on the tactile sensation, and therefore the sensitivity decreases, and therefore it is considered desirable to increase the intensity of the first vibration.

[0099] Therefore, by focusing on the pressing speed and adjusting the noise intensity according to the degree of change in pressing force, the stochastic resonance effect can be used to make the click feeling uniform regardless of the pressing method (slow pressing, quick pressing, continuous pressing, etc.), making it possible to emphasize the consistency of the characteristics of the tactile sensation presentation device (the tactile sensation that the user finds satisfactory).In addition, the control unit 114 can also change the magnitude of the first vibration based on the distance from the vibration generation unit 113 to the contact point of the operator's body.

[0100] <Effects of the Present Embodiment> The vibration output device 100 of the above-described embodiment includes a vibration output unit 110 that outputs vibrations to a part of the operator's body, and a control unit 114 that causes the vibration output unit 110 to output a second vibration while a first vibration is being output from the vibration output unit 110. If the second vibration is perceived while a part of the operator's body is receiving a weak first vibration, the second vibration can be perceived more strongly. For example, in a device that gives the operator a clicking sensation by using a second vibration, the first vibration can be output superimposed on the second vibration to give the operator a stronger clicking sensation.

[0101] The present invention has been described above using embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. For example, all or part of the device can be functionally or physically distributed and integrated in any unit to form a status determination system. Furthermore, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effects of the new embodiments resulting from the combination also have the effects of the original embodiments.

[0102] In one embodiment, (1) the vibration output device has: a vibration output unit that outputs vibration to a part of the operator's body that is in contact with the vibration output unit; and a control unit that causes the vibration output unit to output a second vibration while outputting a first vibration from the vibration output unit, wherein the first vibration is smaller in magnitude than the second vibration and is output for a longer period of time than the period of time for which the second vibration is output.

[0103] (2) In the vibration output device described in (1) above, the first vibration is a vibration of a magnitude that cannot be perceived by the operator, and the second vibration is a vibration of a magnitude that can be perceived by the operator.

[0104] (3) In the vibration output device according to (1) or (2), the control unit causes the notification unit to issue a notification when the second vibration is output.

[0105] (4) In the vibration output device described in (1) above, the first vibration is a vibration that provides a stochastic resonance phenomenon to the operator.

[0106] (5) The vibration output device according to (1) above, further comprising a plurality of vibration generating units that are controlled by the control unit and cause the vibration output units to vibrate.

[0107] (6) In the vibration output device described in (5) above, the plurality of vibration generating units include a first vibration generating unit that generates a first vibration and a second vibration generating unit that generates a second vibration.

[0108] (7) In the vibration output device described in (1) above, the control unit causes the vibration output unit to output the first vibration when the operator touches the vibration output unit.

[0109] (8) In the vibration output device described in (1) above, the control unit causes the vibration output unit to output the first vibration before the operator touches the vibration output unit.

[0110] (9) In the vibration output device described in (8) above, the control unit causes the vibration output unit to output the first vibration when a part of the operator's body comes within a predetermined distance of the vibration output unit.

[0111] (10) The vibration output device described in (1) above further includes a load detection unit that acquires a load applied to the vibration output unit, and the control unit determines the magnitude of vibration of the vibration output unit based on the load acquired by the load detection unit.

[0112] (11) In the vibration output device described in (10) above, the control unit causes the vibration output unit to output a second vibration when the load applied to the vibration output unit reaches a second load during the process of pressing down the vibration output unit, and causes the vibration output unit to output a third vibration, which is a vibration of a magnitude greater than the magnitude of the first vibration, when the load applied to the vibration output unit reaches a third load during the process of decreasing the load applied to the vibration output unit.

[0113] (12) In the vibration output device described in (11) above, the control unit causes the vibration output unit to output the first vibration when the load applied to the vibration output unit reaches a first load that is smaller than the second load during the process of pressing down the vibration output unit.

[0114] (13) In the vibration output device described in (12) above, the control unit continues outputting the first vibration until causing the vibration output unit to output the third vibration.

[0115] (14) In the vibration output device described in (1) above, the control unit varies the intensity of the first vibration based on the magnitude of the load applied to the vibration output unit.

[0116] (15) In the vibration output device described in (1) above, the control unit varies the intensity of the first vibration based on a rate of change of a load applied to the vibration output unit.

[0117] In one embodiment, (16) a vibration output system includes: a vibration output unit that outputs vibration to a part of the operator's body that is in contact with the vibration output unit; and a control unit that causes the vibration output unit to output a second vibration while outputting a first vibration from the vibration output unit, wherein the first vibration is smaller in magnitude than the second vibration.

[0118] In one embodiment, (17) a vibration output method is a method for operating a vibration output device, comprising a step of outputting a second vibration from a vibration output unit while outputting a first vibration from the vibration output unit, the vibration output unit outputting vibration to a part of the operator's body that is in contact with the first vibration, wherein the first vibration is smaller in magnitude than the second vibration.

[0119] In one embodiment, (18) a vibration output program is a vibration output program for controlling a vibration output device, the vibration output program comprising: a vibration output unit that outputs vibration to a part of the operator's body that is in contact with the part; and a control unit that causes the vibration output unit to output a second vibration while the vibration output unit is outputting a first vibration, wherein the first vibration is smaller in magnitude than the second vibration.

[0120] In one embodiment, [1] the vibration output device includes: a vibration output unit that outputs vibration to a part of the operator's body that is in contact with the vibration output unit; and a control unit that causes the vibration output unit to output a second vibration while outputting a first vibration from the vibration output unit, and the first vibration is smaller in magnitude than the second vibration.

[0121] [2] In the vibration output device described in [1] above, the control unit may cause the vibration output unit to output a second vibration after outputting a first vibration.

[0122] [3] In the vibration output device described in [1] or [2] above, the first vibration may be a vibration of a magnitude that is not perceptible to the operator, and the second vibration may be a vibration of a magnitude that is perceptible to the operator.

[0123] [4] In the vibration output device according to any one of [1] to [3] above, the control unit may cause the notification unit to issue a notification when the second vibration is output.

[0124] [5] In the vibration output device according to any one of [1] to [4] above, the first vibration may be a vibration that provides a stochastic resonance phenomenon to the operator.

[0125] [6] The vibration output device according to any one of [1] to [5] above may further include a plurality of vibration generating units that are controlled by the control unit and cause the vibration output units to vibrate.

[0126] [7] In the vibration output device described in [6] above, the plurality of vibration generating units may include a first vibration generating unit that generates a first vibration and a second vibration generating unit that generates a second vibration.

[0127] [8] In the vibration output device described in [6] or [7] above, the control unit may cause the vibration output unit to output the first vibration when the operator touches the vibration output unit.

[0128] [9] In the vibration output device described in any one of [1] to [5] above, the control unit may cause the vibration output unit to output the first vibration before the operator touches the vibration output unit.

[0129]

[10] In the vibration output device described in [9] above, the control unit may cause the vibration output unit to output the first vibration when a part of the operator's body comes within a predetermined distance of the vibration output unit.

[0130]

[11] The vibration output device described in any one of [1] to [5] above may further include a load detection unit that acquires a load applied to the vibration output unit, and the control unit may determine the magnitude of vibration of the vibration output unit based on the load acquired by the load detection unit.

[0131]

[12] In the vibration output device described in

[11] above, the control unit may be configured to cause the vibration output unit to output a second vibration when the load applied to the vibration output unit reaches a second load while the vibration output unit is being pressed down, and to cause the vibration output unit to output a third vibration, which is a vibration having a magnitude greater than that of the first vibration, when the load applied to the vibration output unit reaches a third load while the load applied to the vibration output unit is decreasing.

[0132]

[13] In the vibration output device described in

[12] above, the control unit may cause the vibration output unit to output the first vibration when, during the process of pressing down the vibration output unit, the load applied to the vibration output unit reaches a first load that is smaller than the second load.

[0133]

[14] In the vibration output device described in

[13] above, the control unit may continue to output the first vibration until causing the vibration output unit to output the third vibration.

[0134]

[15] In the vibration output device described in any one of

[11] to

[14] above, the control unit may vary the intensity of the first vibration based on the magnitude of the load applied to the vibration output unit.

[0135]

[16] In the vibration output device described in any one of

[11] to

[15] above, the control unit may vary the intensity of the first vibration based on a rate of change of a load applied to the vibration output unit.

[0136] In one embodiment,

[17] the vibration output system comprises: a vibration output unit that outputs vibration to a part of the operator's body that is in contact with the vibration output unit; and a control unit that causes the vibration output unit to output a second vibration while outputting a first vibration from the vibration output unit, wherein the first vibration is smaller in magnitude than the second vibration and is output for a longer period of time than the period of time for which the second vibration is output.

[0137] In one embodiment,

[18] a vibration output method includes a step of outputting a second vibration from a vibration output unit while outputting a first vibration from the vibration output unit that outputs vibration to a part of the operator's body that is in contact with the first vibration, wherein the first vibration is smaller in magnitude than the second vibration.

[0138] In one embodiment,

[19] a vibration output program for controlling a vibration output device, the vibration output program comprising: a vibration output unit that outputs vibration to a part of the operator's body that is in contact with the part; and a control unit that causes the vibration output unit to output a second vibration while the vibration output unit is outputting a first vibration, wherein the first vibration is smaller in magnitude than the second vibration.

[0139] REFERENCE SIGNS LIST 100 vibration output device 110 vibration output section 111 sensor 112 load detection section 113 vibration generation section 114 control section 115 storage section 116 insulator 117 upper cover 118 insulator 119 notification section 120 housing

Claims

1. A vibration output device comprising: a vibration output unit that outputs vibrations to a part of an operator's body that is in contact with the part; and a control unit that causes the vibration output unit to output a second vibration while the vibration output unit is outputting a first vibration, wherein the first vibration is smaller in magnitude than the second vibration.

2. The vibration output device according to claim 1, wherein the control unit causes the vibration output unit to output a second vibration after outputting a first vibration.

3. A vibration output device according to claim 1 or 2, wherein the first vibration is a vibration of a magnitude that cannot be perceived by the operator, and the second vibration is a vibration of a magnitude that can be perceived by the operator.

4. The vibration output device according to any one of claims 1 to 3, wherein the control unit causes the notification unit to issue a notification when the second vibration is output.

5. A vibration output device according to any one of claims 1 to 4, wherein the first vibration is a vibration that provides a stochastic resonance phenomenon to the operator.

6. A vibration output device according to any one of claims 1 to 5, comprising a plurality of vibration generating units that are controlled by the control unit and cause the vibration output unit to vibrate.

7. The vibration output device according to claim 6, wherein the plurality of vibration generating units include a first vibration generating unit that generates a first vibration and a second vibration generating unit that generates a second vibration.

8. The vibration output device according to claim 6 or 7, wherein the control unit causes the vibration output unit to output the first vibration when the operator comes into contact with the vibration output unit.

9. A vibration output device according to any one of claims 1 to 5, wherein the control unit causes the vibration output unit to output the first vibration before the operator comes into contact with the vibration output unit.

10. The vibration output device according to claim 9, wherein the control unit causes the vibration output unit to output the first vibration when a part of the operator's body comes within a predetermined distance of the vibration output unit.

11. A vibration output device as described in any one of claims 1 to 5, further comprising a load detection unit that acquires a load applied to the vibration output unit, and the control unit determines the magnitude of vibration of the vibration output unit based on the load acquired by the load detection unit.

12. The vibration output device described in claim 11, wherein the control unit causes the vibration output unit to output a second vibration when the load applied to the vibration output unit reaches a second load while the vibration output unit is being pressed down, and causes the vibration output unit to output a third vibration, which is a vibration of a magnitude greater than that of the first vibration, when the load applied to the vibration output unit reaches a third load while the load applied to the vibration output unit is decreasing.

13. A vibration output device as described in claim 12, wherein the control unit causes the vibration output unit to output the first vibration when the load applied to the vibration output unit reaches a first load that is smaller than the second load during the process of pressing down the vibration output unit.

14. The vibration output device according to claim 13, wherein the control unit continues outputting the first vibration until causing the vibration output unit to output the third vibration.

15. A vibration output device according to any one of claims 11 to 14, wherein the control unit varies the intensity of the first vibration based on the magnitude of the load applied to the vibration output unit.

16. The vibration output device according to any one of claims 11 to 15, wherein the control unit varies the intensity of the first vibration based on a rate of change of the load applied to the vibration output unit.

17. A vibration output system comprising: a vibration output unit that outputs vibrations to a part of an operator's body that is in contact with the part; and a control unit that causes the vibration output unit to output a second vibration while the vibration output unit is outputting a first vibration, wherein the first vibration is smaller in magnitude than the second vibration and is output for a longer period of time than the second vibration.

18. A vibration output method comprising a step of outputting a second vibration from a vibration output unit while outputting a first vibration from the vibration output unit that outputs vibration to a part of the operator's body that is in contact with the first vibration, wherein the first vibration is smaller in magnitude than the second vibration.

19. A vibration output program for controlling a vibration output device comprising: a vibration output unit that outputs vibrations to a part of an operator's body that is in contact with the vibration output unit; and a control unit that causes the vibration output unit to output a second vibration while the vibration output unit is outputting a first vibration, wherein the first vibration is smaller in magnitude than the second vibration.

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