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WO2022118457A1 - Dispositif haptique - Google Patents

Dispositif haptique Download PDF

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Publication number
WO2022118457A1
WO2022118457A1 PCT/JP2020/045194 JP2020045194W WO2022118457A1 WO 2022118457 A1 WO2022118457 A1 WO 2022118457A1 JP 2020045194 W JP2020045194 W JP 2020045194W WO 2022118457 A1 WO2022118457 A1 WO 2022118457A1
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WO
WIPO (PCT)
Prior art keywords
tactile
input
frequency
specified
intensity
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/045194
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English (en)
Japanese (ja)
Inventor
敏輝 和田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NTT Inc
Original Assignee
Nippon Telegraph and Telephone Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nippon Telegraph and Telephone Corp filed Critical Nippon Telegraph and Telephone Corp
Priority to PCT/JP2020/045194 priority Critical patent/WO2022118457A1/fr
Publication of WO2022118457A1 publication Critical patent/WO2022118457A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer

Definitions

  • the present invention relates to a tactile presentation technique for presenting a virtual tactile sensation by driving a tactile presentation device.
  • a virtual reality reproduction device that can realistically reproduce the visual sense, auditory sense, and tactile sense by images and sounds.
  • VR virtual reality
  • a head-mounted display HMD: Head Mounted Display
  • tactile devices are attracting attention as devices that can reproduce human tactile sensations.
  • the tactile device is configured to present skin sensory feedback, that is, virtual tactile sensation, to a person by tactile sensation such as force, vibration, and temperature by driving a tactile presentation device such as a vibration device or a Peltier Device. (See, for example, Non-Patent Document 1 and the like).
  • the tactile presentation device has individual input / output characteristics for each element type and model, and the virtual tactile presentation efficiency differs depending on the strength and frequency of the applied drive signal.
  • the presentation efficiency is a presentation amount with respect to the drive signal strength, and when the tactile presentation device is a vibration device, the presentation amount corresponds to the vibration amount. Therefore, the tactile intensity of the tactile sensation actually output from the actuator may be different from the applied drive signal intensity. Therefore, there is a problem that it is not possible to present a highly realistic virtual tactile sensation, and the experience of the user who uses the haptic device is impaired.
  • the present invention is for solving such a problem, and an object of the present invention is to provide a tactile presentation technique capable of presenting a highly realistic virtual tactile sensation.
  • the tactile device is configured to present a tactile sensation corresponding to an applied drive signal, and generates the drive signal based on the input signal.
  • a control circuit configured to be applied to the tactile presentation device and a storage circuit are provided, and the storage circuit provides a compensation model for compensating the input / output characteristics of the tactile presentation device for each of a plurality of frequency regions.
  • the control circuit is stored individually in advance, and when the drive signal is generated, the control circuit is based on the compensation model in the frequency region corresponding to the frequency specified by the input signal among the compensation models stored in the storage circuit. It is configured to generate the drive signal that compensates for the input / output characteristics of the tactile presentation device.
  • FIG. 1 is a block diagram showing a configuration of a tactile device.
  • FIG. 2 is a graph showing the frequency characteristics of the tactile presentation device.
  • FIG. 3 is a graph showing the frequency characteristics (by designated intensity) of the tactile presentation device.
  • FIG. 4 is a graph showing the input / output characteristics of the entire tactile device.
  • FIG. 5 is a graph showing the input / output characteristics of the tactile presentation device.
  • FIG. 6 is a graph showing an example of generating a compensation model (unified model).
  • FIG. 7 is a graph showing a generation example (individual model) of a compensation model.
  • FIG. 8 is a graph showing the frequency characteristics (after compensation) of the drive signal.
  • FIG. 9 is a graph showing the frequency characteristics (with compensation) of the tactile presentation device.
  • FIG. 1 is a block diagram showing a configuration of a tactile device.
  • This tactile device 10 is a device that presents skin sensory feedback, that is, a virtual tactile sensation, to a person by tactile sensation such as force, vibration, and temperature. As shown in FIG. 1, the tactile device 10 includes a control circuit 11, a storage circuit 12, and a tactile presentation device 13 as main circuit configurations.
  • the control circuit 11 comprises a signal processing circuit that processes and outputs the input signal as a whole, and is driven based on the input signal Si input from a host device (not shown) such as a PC, a smartphone, or a tablet. Compensation for the frequency region corresponding to the frequency f specified by the input signal Si in the compensation model 12A stored in the storage circuit 12 when the signal Sd is generated and applied to the tactile presentation device 13 to generate the drive signal Sd. Based on the model, it is configured to generate a drive signal Sd that compensates for the input / output characteristics of the tactile presentation device 13.
  • the control circuit 11 inputs / outputs the entire tactile device 10 in which the relationship between the designated intensity i specified by the input signal Si and the tactile intensity presented by the tactile presentation device 13 is defined in advance. It has a signal strength v that compensates for the input / output characteristic G of the tactile presentation device 13 based on the individual model of the frequency region corresponding to the frequency f specified by the input signal in the compensation model 12A so as to match the characteristic F. It is configured to generate a drive signal Sd.
  • the compensation model 12A includes a model that compensates for the frequency characteristics of the tactile presentation device 13, and the control circuit 11 is designated by the input signal Si.
  • the input signal in the compensation model 12A so that the relationship between the specified designated intensity i and the tactile intensity presented by the tactile presentation device 13 matches the input / output characteristic F of the entire tactile device 10 defined in advance.
  • the input / output characteristics of the entire tactile device 10 showing the relationship between the designated intensity i specified by the input signal Si and the tactile intensity a of the tactile sensation presented by the tactile presenting device 13 in the compensation model 12A. It consists of F and the inverse characteristics of the input / output characteristic G of the tactile presentation device 13, which shows the relationship between the signal strength v of the drive signal Sd and the tactile strength a of the tactile sensation presented by the tactile presentation device 13 in each frequency domain. , May be configured to include a plurality of individual models. Further, the inverse characteristic of the input / output characteristic G of the tactile presentation device 13 may be configured to include the frequency f specified by the input signal Si as a variable.
  • the storage circuit 12 is composed of a semiconductor memory, and is configured to store in advance a compensation model 12A that compensates for the input / output characteristics of the tactile presentation device 13.
  • the compensation model 12A the relationship between the designated intensity i specified by the input signal Si and the tactile intensity a of the tactile sensation presented by the tactile presenting device 13 matches the input / output characteristics of the entire tactile device 10 defined in advance. As such, it is a model for compensation.
  • the compensation model 12A shows the relationship between the designated intensity i specified by the input signal Si and the tactile intensity a of the tactile sensation presented by the tactile presenting device 13, and the input / output characteristics F of the entire tactile device 10 and their respective frequencies.
  • a plurality of individual models consisting of inverse characteristics regarding the input / output characteristic G of the tactile presentation device 13 showing the relationship between the signal strength v of the drive signal Sd and the tactile strength a of the tactile sensation presented by the tactile presentation device 13 in the region. It is composed of.
  • a function expression showing the correspondence between the input value and the output value and its parameters may be stored.
  • a table showing the correspondence between the input value and the output value may be stored.
  • the tactile presentation device 13 is a general element that presents skin sensory feedback, that is, virtual tactile St., to a human by tactile sensations such as force, vibration, and temperature.
  • a vibration device such as a vibration actuator.
  • a Peltier Device made of a plate-shaped semiconductor thermoelectric element using the Peltier Effect.
  • the tactile presentation device 13 is composed of a vibration device
  • the present invention is not limited to this.
  • another device such as a Pelche element may be used as the tactile sensation presenting device 13.
  • the vibration and the vibration intensity of the vibration device in the following description correspond to the tactile sensation (virtual tactile sensation) and the tactile sensation of another device used as the tactile presentation device 13.
  • an element such as a vibration actuator that converts an input drive signal into a tactile sense and presents it has a frequency characteristic in which the intensity of the tactile sense presented changes depending on the frequency. Therefore, even if the strength of the drive signal is the same, if the frequency is different, the tactile strength of the presented tactile sensation may be different.
  • FIG. 2 is a graph showing the frequency characteristics of the vibrating device. Taking the case where the tactile presentation device 13 is made of a vibration device as an example, as shown in FIG. 2, even if the strength of the drive signal is constant, the presented vibration strength (acceleration) may be different when the frequency is different. be.
  • the frequency fp indicates the frequency at which the vibration intensity is maximized, and the general usage method is to drive the vibration device at a single frequency in the vicinity of this frequency fp.
  • a developer who creates content, an application, or the like using the tactile device 10 specifies the tactile sensation to be presented by the tactile device 10 with a plurality of parameters by an input signal Si input from the host device to the tactile device 10.
  • the parameter for designating the tactile intensity a of the tactile sensation to be presented is the specified intensity i (N / A: no unit), and the vibration frequency of the tactile sensation to be presented is f (Hz).
  • the designated intensities i are set to 25, 50, 75, 100 and the frequency f is changed, a graph as shown in FIG. 3 can be obtained as the frequency characteristics.
  • FIG. 3 is a graph showing the frequency characteristics (by designated intensity) of the vibration device.
  • the input / output characteristic H corresponds to the compensation model 12A for performing frequency compensation of the tactile presentation device 13.
  • the input / output characteristic F is defined at the time of designing the tactile device 10.
  • FIG. 4 is a graph showing the input / output characteristics of the entire tactile device. As shown in FIG. 4, the constant c indicating the slope of the graph corresponds to the linear gain of the entire tactile device 10, and can be freely defined by the designer within a range that can be perceived by the user of the tactile device 10 and is not unpleasant. Just do it.
  • the vibration intensity a 6 [m / s 2 ] is output.
  • FIG. 5 is a graph showing the input / output characteristics of the vibration device.
  • the input / output characteristic G as shown in FIG. 5, which shows the relationship between the signal strength v of Sd and the vibration strength a, can be obtained.
  • These input / output characteristics G can be derived from the simulation result of the vibration device or the actual measurement result. When using actual measurement results, it is desirable to consider individual differences and use multiple measurement results obtained from different individuals.
  • the input / output characteristic H of the control circuit 11, that is, the compensation model 12A will be described.
  • the signal strength v of the drive signal Sd to be actually applied can be specified for the vibration strength a to be presented for each of the frequencies f1, f2, and f3.
  • the vibration intensity a presented by the tactile presentation device 13 is specified from the intensity i specified by the input signal Si, and the input / output characteristic G of the tactile presentation device 13 is specified. If the signal strength v of the drive signal Sd to be actually applied at the frequency f specified by the input signal Si is specified based on the inverse function, the input / output characteristic H of the control circuit 11, that is, the compensation model 12A is specified. It will be.
  • the input / output characteristic H of the control circuit 11 that is, the compensation model 12A
  • a c ⁇ i corresponding to the input / output characteristic F
  • the simulation result may be used or the measurement result may be used.
  • increasing the number of frequencies makes it easier to compensate for individual differences.
  • an approximate model may be generated from the measurement results of a specific frequency and intensity, and the compensation model 12A may be constructed by complementing this for all combinations.
  • the compensation model 12A is composed of individual models generated for each of a plurality of frequency domains.
  • FIG. 6 is a graph showing an example of generating a compensation model (unified model).
  • FIG. 6 shows a compensation model for each specified intensity i. For example, in the vicinity of frequencies fa and fb, the discrepancy between the actual measurement result and the unified model becomes relatively large, and the correlation between the two decreases. As a result, the compensation accuracy is lowered.
  • the operating region of the tactile presentation device 13 is divided into a plurality of frequency regions, and the actual measurement results are obtained for each of these frequency regions. It is designed to generate an individual model. Thereby, it is possible to switch to the individual model of the frequency domain corresponding to the designated intensity i and compensate the input / output characteristic G of the tactile presentation device 13. At this time, in some frequency regions, the discrepancy between the measurement result and the unified model may not be reduced, so the switching frequency fx for switching the individual model is important.
  • the measurement result shown in FIG. 6 has a low density of measurement data.
  • the frequency points to be measured are increased between the frequencies fa and fb, individual models are generated using each of these frequency points as the switching frequency, and these are evaluated to be individual with the measurement result.
  • the individual model at the switching frequency with the smallest deviation from the model may be selected.
  • these individual models may be connected to one model for each designated intensity i. Further, when evaluating the model, it is possible to evaluate whether the individual model correctly expresses the behavior of the tactile presentation device 13 by measuring at a frequency outside the operating region of the tactile presentation device 13. Further, the combination of individual models for each frequency domain is not limited to the two divisions shown in FIG. 7, but is divided into low frequency, medium frequency (including resonance point), and high frequency band, or near the resonance point. It may be divided in the distance. For example, when the operating region of the tactile presentation device 13 is 40-100 Hz, the former is composed of three individual models: a low frequency band: 40 Hz or less, a medium frequency band: 40-80 Hz, and a high frequency band: 80 Hz or more. To. The latter is composed of two individual models: near the resonance point: 40-80 Hz, far from the resonance point: 40 Hz or less and 80 Hz or more.
  • the signal strength v required to present the vibration strength af of the frequency f from the vibration device is specified, and the drive signal having this signal strength v, that is, the vibration at the frequency f is specified.
  • a drive signal Sd that compensates for the input / output characteristics of the device is generated.
  • FIG. 8 is a graph showing the frequency characteristics (after compensation) of the drive signal.
  • FIG. 9 is a graph showing the frequency characteristics (with compensation) of the vibration device.
  • the storage circuit 12 stores the compensation model 12A relating to the tactile presentation device 13 individually in advance for each of a plurality of frequency domains, and the control circuit 11 generates the drive signal Sd.
  • the drive signal Sd that compensates for the input / output characteristic G of the tactile presentation device 13 based on the individual model of the frequency domain corresponding to the frequency f specified by the input signal Si. Is configured to generate.
  • the control circuit 11 inputs / outputs the entire tactile device 10 in which the relationship between the designated intensity i specified by the input signal Si and the tactile intensity presented by the tactile presentation device 13 is defined in advance.
  • It has a signal strength v that compensates for the input / output characteristic G of the tactile presentation device 13 based on the individual model of the frequency region corresponding to the frequency f specified by the input signal in the compensation model 12A so as to match the characteristic F. It is configured to generate a drive signal Sd.
  • the compensation model 12A includes a model that compensates for the frequency characteristics of the tactile presentation device 13, and the control circuit 11 is designated by the input signal Si.
  • the input signal in the compensation model 12A so that the relationship between the specified specified intensity i and the tactile intensity presented by the tactile presentation device 13 matches the input / output characteristic F of the entire tactile device 10 defined in advance.
  • the input / output characteristics of the entire tactile device 10 showing the relationship between the designated intensity i specified by the input signal Si and the tactile intensity a of the tactile sensation presented by the tactile presenting device 13 in the compensation model 12A. It consists of F and the inverse characteristics of the input / output characteristic G of the tactile presentation device 13, which shows the relationship between the signal strength v of the drive signal Sd and the tactile strength a of the tactile sensation presented by the tactile presentation device 13 in each frequency domain. , May be configured to include a plurality of individual models. Further, the inverse characteristic of the input / output characteristic G of the tactile presentation device 13 may be configured to include the frequency f specified by the input signal Si as a variable.
  • the drive signal Sd compensated for the input / output characteristic G of the tactile presentation device 13 is transmitted from the control circuit 11 to the tactile presentation device 13 based on the designated intensity i specified by the input signal Si. It will be applied. Therefore, for example, even when the tactile presentation device 13 has a frequency characteristic such as a vibration device, when the same designated intensity i is specified by the input signal Si, a constant tactile sensation is given over a wide range of frequencies f. The intensity a can be presented. Further, since the drive signal Sd in which the input / output characteristic G is compensated is generated based on the individual model of the frequency domain corresponding to the frequency f specified by the input signal in the compensation model 12A, the input / output characteristic is highly accurate. G will be compensated. As a result, the tactile device 10 can present a highly realistic virtual tactile sensation.
  • 10 tactile device, 11 ... control circuit, 12 ... storage circuit, 12A ... compensation model, 13 ... tactile presentation device, Si ... input signal, f, f1, f2, f3, fp, fx ... frequency, Sd ... drive signal, v ... signal strength, St ... tactile (vibration), a ... tactile strength (vibration strength), F, G, H ... input / output characteristics.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

Un dispositif haptique (10) selon la présente invention stocke en avance un modèle de compensation (12A) qui concerne un dispositif de présentation tactile (13) dans un circuit de stockage (12), et lors de la génération d'un signal d'entraînement (Sd), un circuit de commande (11) génère un signal d'entraînement (Sd) qui compense les propriétés d'entrée/de sortie (G) du dispositif de présentation tactile (13) sur la base du modèle de compensation (12A) stocké dans le circuit de stockage (12). Cela permet de produire une sensation tactile virtuelle très réaliste.
PCT/JP2020/045194 2020-12-04 2020-12-04 Dispositif haptique Ceased WO2022118457A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/045194 WO2022118457A1 (fr) 2020-12-04 2020-12-04 Dispositif haptique

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Application Number Priority Date Filing Date Title
PCT/JP2020/045194 WO2022118457A1 (fr) 2020-12-04 2020-12-04 Dispositif haptique

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WO2022118457A1 true WO2022118457A1 (fr) 2022-06-09

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018193513A1 (fr) * 2017-04-18 2018-10-25 株式会社ソニー・インタラクティブエンタテインメント Dispositif de commande de vibration
WO2019043781A1 (fr) * 2017-08-29 2019-03-07 株式会社ソニー・インタラクティブエンタテインメント Dispositif de commande de vibration, procédé de commande de vibration et programme

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018193513A1 (fr) * 2017-04-18 2018-10-25 株式会社ソニー・インタラクティブエンタテインメント Dispositif de commande de vibration
WO2019043781A1 (fr) * 2017-08-29 2019-03-07 株式会社ソニー・インタラクティブエンタテインメント Dispositif de commande de vibration, procédé de commande de vibration et programme

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