JP2016082536A - Acceleration generator and information presentation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To present both a desired sound and pseudo-haptic.SOLUTION: An acceleration generator 1 has a vibrator 12 including a support and a motion member performing acceleration motion for the support. Both a desired sound and pseudo-haptic are presented by changing acceleration of the motion member for the support depending on an input signal synthesizing a drive signal for haptic presentation and a drive signal for sound presentation, and vibrating the motion member for the support.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technique for making a user perceive a pseudo force sense and sound.

  When the vibrator gripped by the user is vibrated with a drive signal having a predetermined characteristic, the user can be given a sense of traction force in a certain direction. There is an apparatus (Burnavi) that uses this characteristic to control the direction of the traction force perceived by the user to guide (navigate) the user to a target position (see, for example, Non-Patent Document 1).

  On the other hand, as an apparatus that presents sound information using a vibrator that is not an acoustic speaker, for example, there is an apparatus that applies mechanical vibration to a skull or the like (see, for example, Patent Document 1).

JP2004-165895

T Amemiya and H Gomi, Buru-Navi3: Behavioral Navigation Using an Illusory Pulled Sensation Created by a Thumb-Sized Vibrator, SIGGRAPH2014.

  However, the device described in Non-Patent Document 1 cannot present a desired sound, and the device described in Patent Document 1 cannot present a pseudo force sense such as a traction force sensation.

  A vibrator including a support part and a motion member that performs acceleration motion with respect to the support part, and presents both a desired sound and a pseudo force sense when the motion member vibrates with respect to the support part. .

  In the present invention, the vibrator can present both a desired sound and a pseudo force sense.

FIG. 1 is a block diagram for explaining a functional configuration of the acceleration generator according to the embodiment. 2A and 2B are conceptual diagrams for illustrating the vibrator according to the embodiment. FIG. 3A to FIG. 3D are diagrams for explaining control for the acceleration generator of the embodiment to present a pseudo force sense. 4A and 4B show the case with respect to the external stationary coordinate system when the control for presenting a pseudo translational force sense in the left direction in FIGS. 2A and 2B is performed with the case held in the hand. It is the figure which illustrated the position change and the acceleration change. FIGS. 4C and 4D are diagrams exemplifying changes in the position and acceleration of the case when control for presenting a pseudo translational force sensation in the right direction in FIGS. 2A and 2B is performed. FIG. 5A is a diagram for illustrating an inversion ratio of a force sense drive signal. 5B to 5D are diagrams illustrating amplitude frequency characteristics of the acceleration of the vibrator generated when the vibrator is driven by the force sense drive signal for each inversion ratio. 6A and 6B are diagrams for illustrating the drive signal for optimization of the adaptive filter according to the embodiment. FIG. 7A is a block diagram for illustrating a functional configuration of the information presentation apparatus according to the embodiment. FIG. 7B is a plan view for illustrating the arrangement configuration of the vibrators according to the embodiment.

Hereinafter, each embodiment of the present invention will be described.
<Overview>
First, the outline of the technology exemplified in the embodiment will be described.
The acceleration generator according to the embodiment includes a vibrator including a support portion and a motion member that performs acceleration motion with respect to the support portion. This vibrator presents both a desired sound and a pseudo force sensation (for example, a traction force sensation) when the moving member vibrates with respect to the support portion. Since it is not necessary to add a speaker for sound presentation separately, portability is not impaired.

For example, a vibrator that changes the acceleration of the moving member with respect to the support portion according to the input signal is used, and a synthesized signal obtained by synthesizing (for example, superimposing) the force-presenting driving signal and the sound-presenting driving signal is used as the input signal. . Here, the driving signal for force sense presents the motion member so that the acceleration change in the desired direction of the motion member relative to the support portion and the acceleration change in the opposite direction of the motion member relative to the support portion are asymmetric. This signal is periodically oscillated. With this signal component, a force sense can be presented to the user holding the vibrator. The sound presenting drive signal is a signal for generating a desired sound by vibrating the moving member with respect to the support portion. This signal component can present a desired sound to the user. Both signals are time series signals. By using such a synthesized signal as an input signal, both a desired sound and a pseudo force sense can be presented. The configuration of the vibrator is not limited. For example, the vibrator is supported by a support portion, an elastic body having one end supported by the support portion, and the other end of the elastic body. It is possible to use a vibrator having a motion member that performs acceleration motion and a coil that gives the motion member acceleration corresponding to the flowed current. In this case, the force-presenting drive signal is, for example, periodically repeating a first period in which a current in a direction that gives acceleration in a desired direction to the moving member is passed through the coil and a second period other than that. The ratio of the first period to the period is different from the ratio of the second period. For example, the frequency of this periodic acceleration motion includes a frequency component in the vicinity of 80 Hz or 80 Hz. “Near α” is a value belonging to α−β ₁ or more and α + β ₂ or less. However, β ₁ and β ₂ are positive values. For example, the absolute values of β ₁ and β ₂ are 5% or 10% of α.

  The input signal to the vibrator is a composite signal of the force sense drive signal and the sound present drive signal, but the frequency component for sound presentation is included in the frequency component for pseudo force sense presentation. When superimposed, there may be a case where sufficient force sense cannot be presented due to the interference. In order to deal with this problem, measures may be taken in consideration of both human auditory characteristics and perceptual characteristics of force sense. That is, in terms of auditory characteristics, humans are sensitive to high-frequency sounds (for example, 1 kHz to 5 kHz), but are insensitive to low-frequency sounds. On the other hand, humans cannot perceive a sufficient force sense if the frequency of acceleration motion of the vibrator is too high due to the perceptual characteristics of the force sense. Therefore, a desired sound may be presented in a frequency interval (second range) higher than a frequency interval (first range) in which a human can easily perceive a pseudo force sense. That is, the force sense drive signal is a signal that causes the moving member to vibrate with a vibration waveform including a frequency component of the “first range”, and the sound presentation drive signal has a frequency component of the “first range”. It may be a signal that vibrates the moving member with a vibration waveform suppressed compared to the frequency component of the “second range” having a frequency higher than that of the first range. Preferably, the sound presenting drive signal is a signal that vibrates the moving member with a vibration waveform that does not include a frequency component of the “first range”. For example, the “first range” is desirably a range of 350 Hz or less, for example, or a range of 350 Hz or less, and the “second range” is, for example, any frequency of 350 Hz or more (for example, a frequency of 400 Hz or more and 500 Hz or less). ) As a lower limit, or a range having a lower limit of a frequency near 350 Hz (details will be described later). The lower limit of the “first range” is a value (for example, a constant) of 0 Hz or more, and the upper limit of the “second range” is a value (for example, a constant) that is determined according to the structure of the vibrator. The “vibration waveform” may be an acceleration change waveform, a position change waveform, or a speed change waveform. By means of considering both human auditory characteristics and force perception characteristics, the above-mentioned interference problem can be reduced or eliminated, and a sufficient force sense can be perceived. In addition, the human ear is insensitive to low frequencies that cause a pseudo force sense to be perceived. Therefore, the frequency component for force sense presentation does not cause a problem when listening to a desired sound.

  In addition, the vibrator does not always present a pseudo force sense, and the vibrator may present only a desired sound. In such a case, the problem of interference does not occur. Therefore, the sound presentation component included in the input signal may be switched according to whether or not a pseudo force sense is presented. For example, when presenting a pseudo force sense, a force sense presentation drive signal that vibrates the motion member with a vibration waveform including a frequency component in the first range, and the frequency component in the first range become the frequency component in the second range. The first mode is switched to a combined signal of the sound presenting drive signal that vibrates the moving member with the vibration waveform suppressed in comparison with the input signal. On the other hand, when a pseudo force sense is not presented, a second sound presentation drive signal for generating a desired sound by vibrating the motion member with a vibration waveform including both frequency components in the first range and the second range is input. Switch to the second mode as a signal. Thus, it is possible to present a broadband sound when dealing with the interference problem and not presenting a pseudo force sense. In the second mode, the vibrator can vibrate at a frequency in the first range. However, the vibration for presenting the desired sound is an acceleration motion that presents a pseudo force sense (the acceleration change in the desired direction of the motion member relative to the support portion and the reverse direction of the desired direction of the motion member relative to the support portion) It is rare that this movement becomes asymmetric with respect to the acceleration change. Therefore, there is a low possibility that an unintended force sense is presented in the second mode.

  Further, when an external object (such as an obstacle or a person) is detected, an alarm sound (desired sound) may be output from the vibrator for the purpose of preventing a collision. In this case, the alarm sound may be output while presenting the force sense or the vibration force sense opposite to the previous ones, or the alarm sound may be outputted after the force sense presentation is stopped. When outputting the alarm sound after stopping the presentation of force sense, it is not necessary to consider the above-mentioned interference problem. Therefore, when an external object is detected, the mode may be switched to the second mode. In addition, it is desirable that the alarm sound is clearly audible to elderly people with weak hearing. Hearing loss due to human aging is frequency dependent. In a high frequency band (for example, a frequency higher than 1 kHz), the hearing loss due to aging increases as the frequency increases. On the other hand, hearing loss due to aging is small in a low frequency band (for example, a frequency of 1 kHz or less). Therefore, when an external object is detected, switching to the second mode is performed, and the second sound presentation drive signal that generates an alarm sound having a frequency lower than a predetermined frequency (for example, a frequency lower than 1 kHz) is used as an input signal. Good (details will be described later).

  Note that the vibrator is not designed for the purpose of sound reproduction, and its frequency response characteristic is usually not suitable for sound reproduction. Therefore, when the vibrator is driven using a normal sound reproduction signal (sound source signal) as a drive signal, the output sound is unclear and difficult to hear. In order to solve such a problem, an adaptive filter having an inverse characteristic of the frequency response of the vibrator is applied to the sound source signal to obtain the above-mentioned “sound presentation drive signal” and “second sound presentation drive signal”. Also good. Thereby, the presenting sound becomes clear. As an adaptive filter having an inverse characteristic of frequency response, for example, there is one disclosed in JP-T-2008-504721. However, when the vibrator presents both a pseudo force sense and a desired sound, it is necessary to consider the above-described interference problem, and the adaptive filter disclosed in JP-T-2008-504721 is used as it is. Has a problem. Therefore, the “sound presentation drive signal” has a reverse characteristic of the vibrator frequency characteristic in the “second frequency range” for vibrating the moving member with a vibration waveform including the frequency component of the “second range”. In addition, it is desirable to use an adaptive filter that suppresses the “first frequency range” for vibrating the moving member with the vibration waveform including the frequency component of the “first range”. By applying such an adaptive filter to the sound source signal, the above-described “signal for vibrating the moving member with a vibration waveform in which the frequency component in the first range is suppressed compared to the frequency component in the second range” is obtained.

  Such an adaptive filter is obtained, for example, by an optimization process using a predetermined “optimization signal”. In this optimization processing, the sound observation signal from the transducer with the optimization drive signal obtained by applying an adaptive filter to the “optimization signal” as an input signal, the “optimization signal”, Minimize the error. In this case also, it is desirable to consider the above-mentioned interference problem. That is, for optimization of the adaptive filter for obtaining the “sound presentation drive signal”, it is desirable to use an optimization signal in which the “first frequency range” is suppressed compared to the “second frequency range”. For example, a signal having uniform positive amplitude frequency characteristics in the “second frequency range” and zero amplitude frequency characteristics in the “first frequency range” can be used as the optimization signal. More specifically, for example, a signal having a positive amplitude frequency characteristic only in the “second frequency range” and a zero amplitude frequency characteristic in the other range can be used as the optimization signal. The upper limit value of the “second frequency range” is determined according to the frequency response characteristics of the vibrator. The lower limit value of the “second frequency range” is a value larger than the upper limit value of the “first frequency range” used for presenting a pseudo force sense. The lower limit value of the “second frequency range” may be a constant, or may be a value corresponding to the upper limit value of the “first frequency range”. However, the lower limit value of the “second frequency range” is greater than or equal to the upper limit value of the “first frequency range”. The lower limit value of the “second frequency range” may be monotonously increased in a broad sense with respect to the increase of the upper limit value of the “first frequency range”.

  The optimization process may be performed before the start of the presentation of the force sense, or may be executed when the presentation of the force sense is paused after the start of the presentation of the force sense. For example, when a certain vibrator intermittently presents a force sense, optimization using this vibrator may be performed during a period in which the force sense is not presented. Alternatively, in a configuration in which a force sense is presented only with some of the transducers selected from a plurality of transducers and the force sense can be presented in the combined direction, a transducer that does not present the force sense is used. Optimization may be performed. If these plural vibrators have the same structure, the adaptive filter corresponding to all of the vibrators can be optimized by the optimization process performed for only one of the vibrators.

Hereinafter, each embodiment will be described with reference to the drawings.
[First Embodiment]
A first embodiment will be described.
<Configuration>
As illustrated in FIG. 1, the acceleration generator 1 of the present embodiment includes a control unit 11, a vibrator 12, an acoustic sensor 13, a sound source signal generation unit 14, a force sense drive signal generation unit 15, and a filter optimization unit 16. And an adaptive filter processing unit 17.

  The control unit 11, the sound source signal generation unit 14, the force sense presentation drive signal generation unit 15, the filter optimization unit 16, and the adaptive filter processing unit 17 are, for example, a processor (hardware processor) such as a CPU (central processing unit). ), RAM (random-access memory), ROM (read-only memory), and other general-purpose or dedicated computers that are configured by executing predetermined programs. The computer may include a single processor and memory, or may include a plurality of processors and memory. This program may be installed in a computer, or may be recorded in a ROM or the like in advance. In addition, the control unit 11, the sound source signal generation unit 14, and the electronic circuit that realizes a processing function without using a program are used instead of an electronic circuit (circuitry) that realizes a functional configuration by reading a program like a CPU. A part or all of the force sense drive signal generation unit 15, the filter optimization unit 16, and the adaptive filter processing unit 17 may be configured.

  The acoustic sensor 13 is a device that converts sound detected by, for example, a microphone or a pickup into an electrical signal and outputs the electrical signal. The acoustic sensor 13 is disposed at a position where the sound emitted from the vibrator 12 can be detected. For example, the acoustic sensor 13 is disposed in the vicinity of the vibrator 12 or in close contact with the vibrator 12.

  The vibrator 12 includes, for example, a support part 121, springs 122 and 123 (elastic body), a coil 124, a permanent magnet 125 (motion member), and a case 126. Both the case 126 and the support part 121 of this embodiment are hollow members having a shape in which both open ends of a cylinder (for example, a cylinder or a polygonal cylinder) are closed. However, the support portion 121 is smaller than the case 126 and can be accommodated in the case 126. The case 126 and the support part 121 are comprised from synthetic resins, such as ABS resin, for example. The springs 122 and 123 are, for example, a helical spring or a leaf spring made of metal or the like. The spring constants of the springs 122 and 123 are preferably the same, but may be different from each other. The permanent magnet 125 is, for example, a cylindrical permanent magnet, and one end 125a side in the longitudinal direction is an N pole, and the other end 125b side is an S pole. The coil 124 is, for example, a continuous enamel wire, and includes a first winding portion 124a and a second winding portion 124b.

  The permanent magnet 125 is accommodated in the support part 121 and supported so as to be slidable in the longitudinal direction. Although details of such a support mechanism are not shown in the drawings, for example, a straight rail along the longitudinal direction is provided on the inner wall surface of the support portion 121, and a rail support portion that slidably supports the rail on the side surface of the permanent magnet 125. Is provided. One end of the spring 122 is fixed to the inner wall surface 121a on one end side in the longitudinal direction of the support portion 121 (that is, one end of the spring 122 is supported by the support portion 121), and the other end of the spring 122 is the end of the permanent magnet 125. It is fixed to the portion 125a (that is, the end portion 125a of the permanent magnet 125 is supported by the other end of the spring 122). One end of the spring 123 is fixed to the inner wall surface 121b on the other end side in the longitudinal direction of the support portion 121 (that is, one end of the spring 123 is supported by the support portion 121), and the other end of the spring 123 is a permanent magnet. 125 is fixed to the end 125b of the 125 (that is, the end 125b of the permanent magnet 125 is supported by the other end of the spring 123).

A coil 124 is wound around the outer peripheral side of the support portion 121. However, the end portion 125a side of the permanent magnet 125 (N pole side), the first winding portion 124a are wound in the _{A 1} direction (direction toward the back to the front), the end portion 125b side (S-pole side in), a second winding portion 124b is wound in the a ₁ direction in the opposite direction to the direction of B ₁ direction (direction toward the front to the back). That is, when viewed from the end 125a side (N pole side) of the permanent magnet 125, the first winding portion 124a is wound clockwise and the second winding portion 124b is wound counterclockwise. Further, in a state where the permanent magnet 125 is stopped and the elastic forces from the springs 122 and 123 are balanced, the end portion 125a side (N pole side) of the permanent magnet 125 is disposed in the region of the first winding portion 124a. It is desirable that the 125b side (S pole side) be disposed in the region of the second winding portion 124b.

  The support portion 121, the springs 122 and 123, the coil 124, and the permanent magnet 125 arranged and configured as described above are accommodated in the case 126, and the support portion 121 is fixed inside the case 126. However, the longitudinal direction of the case 126 coincides with the longitudinal direction of the support portion 121 and the longitudinal direction of the permanent magnet 125.

The coil 124 applies an acceleration (force) corresponding to the flowed current (input signal) to the permanent magnet 125, and thereby the permanent magnet 125 performs periodic acceleration motion (supporting portion 121 on the supporting portion 121). Periodic translational reciprocating motion with a deviated acceleration in the reference axial direction). That is, when an electric current is applied to the _{A 1} direction _{(B 1} direction) to the coil 124, by reaction of the Lorentz force is described in Fleming's left-hand rule, the permanent magnet 125-i _{C 1} direction (the permanent magnets 125-i A force in the direction from the north pole to the south pole (right direction) is applied (FIG. 2A). Conversely, when an electric current is applied to the coil 124 in the _{A 2} direction _{(B 2} direction), (direction toward the N pole from the S pole of the permanent magnet 125: left) _{C 2} direction to the permanent magnet 125 force is applied ( FIG. 2B). However, _{A 2} direction is opposite the direction of _{A 1} direction. By these operations, kinetic energy is given to the system including the permanent magnet 125 and the springs 122 and 123. Thereby, the position and acceleration of the permanent magnet 125 with respect to the case 126 (the position and acceleration in the axial direction with reference to the support portion 121) can be changed.

Here, the first period to flow the direction of the current applied acceleration in the desired direction to the permanent magnet 125 (C ₁ direction or C ₂ direction) to the coil 124, and the other a second time period, periodically repeat. At that time, the ratio (reversal ratio) between the period (time) in which current flows in a predetermined direction and the other period (time) is biased to one of the periods. In other words, a periodic current having a ratio of the first period in one cycle different from the ratio of the second period in the cycle is supplied to the coil 124. Thereby, a pseudo force sense can be presented in a desired direction. “Pseudo force sensation” is a perception as if a force that seems to move in the translational direction is working even though the object (pseudo force sensation generator) does not actually translate. Is generated. Hereinafter, this control will be exemplified with reference to FIGS. 3A to 3D. 3A to 3D, the vertical axis represents the current value (current command value) [A] flowing through the coil 124, and the horizontal axis represents time [msec]. Represent the current value of A ₁ direction _{(B 1} direction) is positive is expressed by a negative current values of _{A 2} direction _{(B 2} direction).

3A and 3B show a period t ₁ (first period) and a direction A _{2 in} which a current in the A ₁ direction (B ₁ direction) (X: current in a direction in which acceleration in the C ₁ direction is applied to the permanent magnet 125) flows. _{(B 2} direction) period _{t 2} (second period) in which electric current (-X) of the a example periodically repeated. In this case, according to the ratio (inversion ratio t ₁ : t ₂ ) between the period t _{1 in} which the current in the A ₁ direction (B ₁ direction) flows and the period t _{2 in} which the current in the A ₂ direction (B ₂ direction) flows. A pseudo force sense can be presented in the left direction or the right direction of 2A and FIG. 2B. That is, when a pseudo force sensation is presented in the left direction of FIGS. 2A and 2B, a periodic current having an inversion ratio that satisfies t ₁ > t ₂ is passed through the coil 124 (FIG. 3A). For example, a periodic current (current having a frequency of 40 Hz) with an inversion ratio t ₁ : t ₂ = 18 msec: 7 msec is passed through the coil 124. Conversely, when a pseudo force sense is presented in the right direction, a periodic current having an inversion ratio that satisfies t ₁ <t ₂ is passed through the coil 124 (FIG. 3B). For example, a periodic current (current having a frequency of 40 Hz) with an inversion ratio t ₁ : t ₂ = 7 msec: 18 msec is passed through the coil 124.

3C and 3D are, _{A 2} direction _{(B 2} direction) of the current (-X) period _{t 2} and whether the period _{t 1} passes no current cyclically repeating flowing, _{A 1} direction _{(B 1} direction) This is an example in which a period (time) t ₁ during which current (X) is supplied and a period t ₂ during which current (X) is not supplied are periodically repeated. However, the inversion ratio t ₁ : t ₂ between the period t ₁ and the period t ₂ is biased to any period. That is, when presented pseudo-force in the left direction, the current in the A ₂ direction (B ₂ Direction): time t flowing (-X C ₂ direction of the current direction that gives the permanent magnet 125 acceleration) _A current that periodically repeats ₁ and a period t _{2 in} which no current flows is supplied to the coil 124. The current reversal ratio t ₁ : t ₂ is biased toward the period t ₂ , and t ₁ > t ₂ (FIG. 3C). For example, a current having a reversal ratio t ₁ : t ₂ = 18 msec: 7 msec is passed through the coil 124. On the other hand, when a pseudo force sense is presented in the right direction, it does not flow in the period t _{1 in} which a current in the A ₁ direction (B ₁ direction) (X: current in a direction giving acceleration in the C ₁ direction) flows. A current that periodically repeats the period t ₂ is passed through the coil 124. This current reversal ratio t ₁ : t ₂ is biased to the period t ₂ , and t ₁ <t ₂ (FIG. 3D). For example, a current having a reversal ratio t ₁ : t ₂ = 7 msec: 18 msec is passed through the coil 124.

  For convenience of explanation, the current values (current command values) shown in FIGS. 3A to 3D are rectangular waves. However, it is a current that periodically repeats a period in which current flows in a predetermined direction and other periods, and the inversion ratio between the period in which current flows in a predetermined direction and the other period is in either period Any waveform current may be used as long as it is biased. For example, the current may have a dull rising or falling edge, or may be a current including a ripple. The current periodically repeats a period in which a current flows in a predetermined direction and a period in which a current flows in the opposite direction, and the current amplitude value or the average value in a predetermined direction and the opposite direction The amplitude value of the current or the average value thereof may be different from each other. Further, instead of controlling the current input to the coil of the vibrator 12, the voltage applied to the coil of the vibrator 12 may be controlled. That is, the “input signal” may be a current signal or a voltage signal.

  The reason why such a vibrator 12 can present a pseudo force sense will be described. Consider the translational motion of an object with a certain mass. This translational motion is assumed to be a periodic motion with partial acceleration that moves in a short time with a large acceleration in a direction in which a pseudo force sense is to be presented and moves in a reverse direction with a small acceleration over a long time. In this case, the user holding the system including the object perceives a pseudo force sense in the presenting direction. This utilizes human perceptual characteristics, and is a phenomenon that occurs due to a peculiar sensation and a tactile sensation related to a gripping action (see, for example, Reference 1 “Patent No. 4551448”). As described above, it is possible to apply a partial acceleration to the permanent magnet 125 by flowing a current in which a reversal ratio between a period in which a current is passed in a predetermined direction and a period other than that is biased in any period to the coil. Thus, a pseudo force sense can be presented in a desired direction.

4A and 4B show the inversion ratio t ₁ : t ₂ between the period (time) t _{1 in} which the current in the A ₁ direction (B ₁ direction) flows and the period t _{2 in} which the current in the A ₂ direction (B ₂ direction) flows. = 18 msec: When a current of 40 Hz that repeats at 7 mse is passed through the coil 124 of the vibrator 12 illustrated in FIGS. 2A and 2B, the case 126 with respect to the outside world when the case 126 is held by hand is used as a reference. A change in position and a change in acceleration are illustrated respectively. On the other hand, FIGS. 4C and 4D show an inversion ratio t ₁ between a period (time) t _{1 in} which a current in the A ₁ direction (B ₁ direction) flows and a period t _{2 in} which a current in the A ₂ direction (B ₂ direction) flows. t ₂ = 7 mse: A position change and an acceleration change of the case 126 with reference to the external world when the case 126 is gripped by hand when a current of a frequency of 40 Hz repeated at 18 msec is passed through the coil 124. Yes. 4A to 4D, the horizontal axis represents time [Sec], and the vertical axes of FIGS. 4A and 4C represent the change in position [mm] of the case 126 with respect to the external world. FIGS. 4B and 4D The vertical axis of represents the acceleration change [m / s ² ] of the case 126 with respect to the outside world. The left direction in FIGS. 2A and 2B is the positive direction of the vertical axis in FIGS. 4A to 4D, and the right direction is the negative direction. As illustrated in FIG. 4B, when a current having an inversion ratio t ₁ : t ₂ = 18 msec: 7 mse is passed, at the time point of the start of t ₁ (time point when switching from t ₂ to t ₁ ), the current shown in FIG. 2A and FIG. Since the force that moves the permanent magnet 125 to the right suddenly from the state in which the permanent magnet 125 is moving to the left acts, the reaction causes a large acceleration to the left in the case 126. On the other hand, at the time when t ₂ starts (time when switching from t ₁ to t ₂ ), the permanent magnet 125 moves to the left from a state where it moves during t ₁ and is stationary or slowly moved. right direction of the acceleration to the case 126 is smaller in size than the beginning of t _1. As a result, there is a left-right difference in the acceleration of the case 126, and a pseudo force sense is presented in the left direction. Conversely, as illustrated in FIG. 4D, when a current having a reversal ratio t ₁ : t ₂ = 7 mse: 18 msec is applied, a large acceleration is generated in the case 126 in the right direction in FIGS. 2A and 2B, and in the left direction. Produces a small acceleration. As a result, a pseudo force sense is presented in the right direction.

<Operation>
The operation of the acceleration generator 1 will be described. The control unit 11 (FIG. 1) controls each unit while monitoring the occurrence of various events. While an event that presents a desired force sense is occurring, the control unit 11 sends a force sense presentation control signal that instructs the presentation of the desired force sense to the force sense drive signal generation unit 15. Receiving this, the force sense drive signal generator 15 outputs a force sense drive signal for causing the vibrator 12 to present the force sense. The force sense drive signal is asymmetric between the change in acceleration of the permanent magnet 125 (moving member) in a desired direction relative to the support part 121 and the change in acceleration in the reverse direction of the permanent magnet 125 relative to the support part 121. It is a signal that causes the permanent magnet 125 to vibrate periodically. The specific example is as described above (FIGS. 3A to 3D). An example of an event that presents a sense of force is a direction presentation when a user navigates to a target position. The output force sense drive signal is input to the synthesizer 18.

  While the event for presenting the desired sound is occurring, the control unit 11 sends a sound presentation control signal for instructing the presentation of the desired sound to the sound source signal generation unit 14. Receiving this, the sound source signal generation unit 14 determines the sound to be presented, and generates and outputs a sound source signal for generating this sound. Examples of “desired sound” are voice, signal sound, alarm sound, and the like. Examples of events that present a desired sound are when navigation starts or ends, when the navigation direction is switched, when a user movement direction error relative to the navigation direction is detected, or when the remaining battery level is low. The output sound source signal is input to the adaptive filter processing unit 17.

  The adaptive filter processing unit 17 applies the above-described adaptive filter to the input sound source signal to obtain and output a sound presentation drive signal. As a result, the clarity of the sound output from the vibrator 12 is improved, and interference with the force sense presentation is suppressed. Further, the filter optimization unit 16 optimizes the coefficient of the adaptive filter at an arbitrary timing. In this optimization, an optimization drive signal obtained by applying an adaptive filter to a predetermined optimization signal is used as an input signal of the vibrator 12, and sound generated from the vibrator 12 is observed by the acoustic sensor 13. The coefficient of the adaptive filter is adjusted so as to minimize the error between the observation signal obtained in this way and the optimization signal. Details of the sound presentation drive signal and the adaptive filter and their optimization will be described later. The output sound presenting drive signal is input to the synthesis unit 18.

  The synthesizing unit 18 to which both the force sense drive signal and the sound presentation drive signal are input generates a synthesized signal in which these are superimposed and outputs it as an input signal to the vibrator 12. The synthesizer 18 to which only one of the force sense drive signal and the sound presentation drive signal is input outputs the input signal as an input signal to the vibrator 12. The input signal is input to the vibrator 12, and the vibrator 12 presents a force sense or sound corresponding to the input signal.

<< Details of sound presentation drive signal, adaptive filter and its optimization >>
As described above, in order to present a sound while presenting a force sense, it is desirable to use a sound presenting drive signal that does not interfere with the force sense presentation or has a small interference. Since the pseudo force sensation is induced by vibration in a low frequency band, the upper limit of the frequency band affecting the perception of the force sensation can be estimated based on human subjective evaluation. For example, when the vibrator is driven using a force sense presenting drive signal having an inversion ratio t ₁ : t ₂ = 7 msec: Tmse (where T = 53, 23, 19) (FIG. 5A), the vibrator is gripped. The direction of the traction sense felt by a human being is biased to a specific direction with a probability of 80%. In other words, by using these force sense drive signals, a force sense in a desired direction can be presented. The amplitude frequency characteristics of the acceleration of the vibrator in these cases are as shown in FIGS. 5B to 5D. However, FIGS. 5B, 5C, and 5D show the amplitude frequency characteristics when T = 53, T = 23, and T = 19, respectively.

  As can be seen from FIG. 5B to FIG. 5D, when the force sense presentation in a desired direction is performed, the main frequency component (peak) of the vibration waveform of the vibrator exists in a band of 350 Hz or less. That is, the force sense drive signal is a signal for vibrating the permanent magnet 125 with a vibration waveform including a band (first range) of 350 Hz or less. Therefore, the sound presenting drive signal is 350 Hz or less (or 350 Hz) as compared to a band (second range) having a lower limit of a frequency of 350 Hz or more (or near 350 Hz or more) (for example, any frequency of 400 Hz or more and 500 Hz or less). A signal that vibrates the permanent magnet 125 with a vibration waveform in which the frequency component in the band (the first range or less in the vicinity) is suppressed is desirable. Therefore, it is desirable that the adaptive filter converts the input sound source signal into such a sound presentation drive signal. Furthermore, as described above, it is desirable that the adaptive filter has a reverse characteristic of the frequency response of the vibrator 12 in a band used for reproducing a desired sound. From the above, the adaptive filter is a “second frequency range” for vibrating the permanent magnet 125 with a vibration waveform including a frequency component in a band (second range) whose lower limit is 350 Hz or more (or near 350 Hz or more). “First frequency range for causing the permanent magnet 125 to vibrate with a vibration waveform having a frequency characteristic in the band (first range) of 350 Hz or less (or in the vicinity of 350 Hz or less) and having a reverse characteristic of the frequency characteristics of the vibrator 12. It is desirable to suppress this.

An example of such an adaptive filter optimization method will be described. First, the filter optimization unit 16 inputs a wide frequency band pulse, noise, or frequency sweep wave to the vibrator 12, and observes the sound output from the vibrator 12 with the acoustic sensor 13. The filter optimization unit 16 calculates the amplitude frequency characteristic of the vibrator 12 from the observed signal, and estimates the upper limit of the frequency band of sound that can be generated by the vibrator 12. The frequency of the drive signal for generating the upper limit sound by the vibrator 12 is set as the upper limit of the “second frequency range”. In addition, the filter optimization unit 16 generates a drive signal for causing the permanent magnet 125 to vibrate with a vibration waveform whose lower limit is a frequency of 350 Hz or more (or near 350 Hz or more) (for example, any frequency of 400 Hz to 500 Hz). The lower limit of the frequency band is set as the lower limit of the “second frequency range”. For example, one of the frequencies from 400 Hz to 500 Hz is set as the lower limit of the “second frequency range”. The filter optimizing unit 16 uses the optimization signal, which is a signal in which the “first frequency range” is suppressed as compared to the “second frequency range”, as an optimization drive signal for the vibrator 12 to optimize the coefficients of the adaptive filter. To do. In FIG. 6A, the “first frequency range R ₁ ” is a range from the lower limit f ₁ (Hz) to the upper limit f ₂ (Hz), and the “second frequency range R ₂ ” is the lower limit f ₃ (Hz) to the upper limit f _4. The amplitude frequency characteristic of the optimization signal in the range up to (Hz) is illustrated. Although examples of an upper limit _f 2 (Hz) is 350 Hz, an upper limit _f 2 (Hz) is the value of less than 350 Hz (e.g., 300 Hz), or may be a value greater than 350 Hz (e.g., 400 Hz) may be. This optimization signal is a narrow frequency band pulse, noise, or frequency sweep wave having a uniform amplitude frequency component in the “second frequency range R ₂ ” and an amplitude of zero in the other range. The filter optimization unit 16 observes the sound generated by inputting the optimization signal to the vibrator 12 with the acoustic sensor 13 so that the amplitude frequency characteristic error between the observation signal and the optimization signal is minimized. The process of correcting the filter coefficient is repeated. For calculating the correction amount of the filter coefficient, a method of minimizing the mean square error of the amplitude frequency characteristics of the observation signal and the optimization signal by the steepest descent method or the conjugate gradient method is used. Note that the optimization process is executed when the pseudo force sense presentation by the vibrator 12 is stopped. The optimization process may be executed before starting navigation or the like, or may be executed after the start. This process does not always need to be executed during navigation, and may be executed when the response characteristic of the vibrator 12 changes greatly due to some factor and the clarity of the output sound decreases. Further, the acoustic sensor 13 may be stopped in a scene other than the optimization process. Alternatively, the acoustic sensor 13 may be removed in a scene other than performing the optimization process.

[Second Embodiment]
In the second embodiment, the adaptive filter is switched according to the presence or absence of a pseudo force sense, and the component for sound presentation included in the input signal is switched. Below, about the part demonstrated so far, description is simplified using the same reference number as before.

<Configuration>
As illustrated in FIG. 1, the acceleration generator 2 of the present embodiment includes a control unit 21, a vibrator 12, an acoustic sensor 13, a sound source signal generation unit 14, a force sense drive signal generation unit 15, and a filter optimization unit 26. And an adaptive filter processing unit 27. The control unit 21, the filter optimization unit 26, and the adaptive filter processing unit 27 are configured by, for example, the above-described computer executing a predetermined program. Or these may be comprised using the electronic circuit which implement | achieves a processing function, without using a program.

<Operation>
The operation of the acceleration generator 2 will be described. The difference from the first embodiment is that the adaptive filters of the adaptive filter processing unit 27 are switched according to the presence or absence of force sense, and that the adaptive filters are optimized by the filter optimization unit 26. It is. Other operations are the same as those in the first embodiment. Below, it demonstrates centering around operation | movement of the control part 21, the adaptive filter process part 27, and the filter optimization part 26. FIG.

  The control unit 21 (FIG. 1) controls each unit while monitoring the occurrence of various events. While an event presenting a desired force sense is occurring, the control unit 21 sends a force sense presenting control signal to the force sense presenting drive signal generating unit 15 and instructs the selection of the adaptive filter in the first mode. The selection information A is sent to the adaptive filter processing unit 27. While an event presenting a desired force sense does not occur, the control unit 21 sends mode selection information B instructing selection of an adaptive filter in the second mode to the adaptive filter processing unit 27. The adaptive filter processing unit 27 that has received the mode selection information A selects the first mode adaptive filter, and the adaptive filter processing unit 27 that has received the mode selection information B selects the second mode adaptive filter. The adaptive filter in the first mode is the same as the adaptive filter of the adaptive filter processing unit 17 in the first embodiment. The adaptive filter in the second mode is a filter having a reverse characteristic of the frequency characteristic of the vibrator 12 in the entire frequency band of sound that can be generated by the vibrator 12. That is, the adaptive filter in the second mode has the “third frequency range” for vibrating the permanent magnet 125 with the vibration waveform including the frequency components of the “first range” and “second range” described above. Has the opposite of frequency characteristics.

  While an event presenting a desired sound is occurring, the control unit 21 sends a sound presentation control signal instructing the presentation of the desired sound to the sound source signal generating unit 14. Upon receiving this, the sound source signal generation unit 14 generates and outputs a sound source signal for generating this sound. The output sound source signal is input to the adaptive filter processing unit 27. The adaptive filter processing unit 27 applies the first or second mode adaptive filter selected as described above to the input sound source signal. Here, by applying the adaptive filter in the first mode, the clarity of the sound output from the vibrator 12 is improved, and interference with the presentation of force sense is suppressed. On the other hand, by applying the adaptive filter in the second mode, the clarity of the sound output from the vibrator 12 is improved and a broadband sound can be presented. In this embodiment, a signal obtained by applying the first mode adaptive filter to the sound source signal is referred to as a “sound presentation drive signal”, and a signal obtained by applying the second mode adaptive filter to the sound source signal is referred to as the “first sound filter”. This is referred to as “two-sound presentation drive signal”. The obtained sound presenting drive signal or second sound presenting drive signal is output and input to the synthesizer 18.

  The synthesizing unit 18 to which both the force sense drive signal and the sound presentation drive signal are input generates a synthesized signal in which these are superimposed and outputs it as an input signal to the vibrator 12. The synthesizer 18 to which only one of the force sense drive signal and the second sound presentation drive signal is input outputs the input signal as an input signal to the vibrator 12. In the first mode, the above synthesized signal is an input signal to the vibrator 12, and in the second mode, the second sound presentation drive signal is an input signal to the vibrator 12. The vibrator 12 presents a force sense or sound corresponding to the input signal.

The filter optimization unit 26 optimizes the coefficient of the adaptive filter at an arbitrary timing. The optimization of the coefficients of the adaptive filter in the first mode is the same as in the first embodiment. On the other hand, in the optimization of the coefficient of the adaptive filter in the second mode, the optimization has a positive amplitude frequency characteristic in the entire frequency band of the sound that can be generated by the vibrator 12 and a zero amplitude frequency characteristic in the other band. The drive signal is used for optimization as described in the first embodiment. FIG. 6B illustrates an optimization drive signal used for optimizing the coefficients of the adaptive filter in the second mode. The “first frequency range R ₁ ” is a range from the lower limit f ₁ (Hz) to the upper limit f ₂ (Hz), and the “second frequency range R ₂ ” is the lower limit f ₃ (Hz) to the upper limit f ₄ (Hz). Range. The optimization signal in FIG. 6B has a uniform amplitude frequency component from the lower limit f ₁ (Hz) to the upper limit f ₄ (Hz) including “first frequency range R ₁ ” and “first frequency range R ₂ ”. Other than that, it is a narrow frequency band pulse having zero amplitude frequency characteristics, noise, or a frequency sweep wave. The lower limit f ₁ (Hz) is the lower limit of the frequency band of sound that can be generated by the vibrator 12. This lower limit is estimated in the same manner as the upper limit of the frequency band of sound that can be generated by the vibrator 12.

[Third Embodiment]
In the third embodiment, when an object is detected outside, switching to the second mode is performed, and an alarm sound having a predetermined frequency or less is generated.
<Configuration>
As illustrated in FIG. 1, the acceleration generation device 3 of the present embodiment includes a control unit 31, a vibrator 12, an acoustic sensor 13, a sound source signal generation unit 34, a force sense drive signal generation unit 35, and a filter optimization unit 26. , An adaptive filter processing unit 27, a distance detection unit 391, and a peripheral object detection unit 392. The control unit 31, the sound source signal generation unit 34, and the force sense presentation drive signal generation unit 35 are configured by, for example, the above-described computer executing a predetermined program. Or these may be comprised using the electronic circuit which implement | achieves a processing function, without using a program. The distance detection unit 391 is a distance sensor using infrared rays or ultrasonic waves, for example, and the peripheral object detection unit 392 is a camera or the like, for example.

<Operation>
The operation of the acceleration generator 3 will be described. The difference from the second embodiment is that the sound source signal generation unit 34 generates an alarm sound having a frequency equal to or lower than a predetermined frequency when an object is detected outside by the distance detection unit 391 and the surrounding object detection unit 392. A signal is output, and the adaptive filter processing unit 27 switches to the second mode. Other operations are the same as those in the second embodiment. Hereinafter, the operations of the control unit 31, the adaptive filter processing unit 27, the distance detection unit 391, and the peripheral object detection unit 392 will be mainly described.

  When the distance detection unit 391 and the surrounding object detection unit 392 detect an object such as a nearby person or an obstacle, the distance detection unit 391 and the surrounding object detection unit 392 send information indicating the detection event to the control unit 31. For example, when the peripheral object detection unit 392 detects any object, detects any object in the direction of force sense, or detects an object within a predetermined distance from the distance detection unit 391, a specific category (for example, When an object belonging to (person) is detected, information indicating a detection event is sent to the control unit 31.

  The control unit 31 (FIG. 1) controls each unit while monitoring the occurrence of various events. When the information indicating the detection event is not input to the control unit 31, the control unit 31 performs the same control as the control unit 21 of the second embodiment. On the other hand, when information representing a detection event is input to the control unit 31, the control unit 31 sends a sound presentation control signal instructing presentation of an alarm sound having a frequency equal to or lower than a predetermined frequency to the sound source signal generation unit 34, and the second mode. Mode selection information B for instructing selection of the adaptive filter is sent to the adaptive filter processing unit 27. On the other hand, the sound source signal generation unit 34 generates and outputs a sound source signal for generating an alarm sound with a predetermined frequency or lower (for example, 1 kHz or lower), and the adaptive filter processing unit 27 receives the input sound source signal. The second mode adaptive filter is applied to generate a second sound presentation drive signal. The synthesizing unit 18 to which the second sound presentation drive signal is input outputs this signal as an input signal to the vibrator 12. The vibrator 12 outputs an alarm sound corresponding to the input signal. As a result, the user of the acceleration generating device 3 can be notified of the approach of the object, and conversely, the approach of the acceleration generating device 3 can be notified to an external person. Further, by switching to the adaptive filter in the second mode, an alarm sound can be generated in a frequency band in which the hearing loss due to aging is small, and the alarm sound can be clearly perceived by elderly people with weak hearing. .

  Note that information representing a detection event that varies depending on the direction of the detected object, the distance from the distance detection unit 391, the category, and the like may be sent to the control unit 31, and different operations may be performed depending on the type of detection event. For example, in the case of the first detection event, the switching to the second mode is performed as described above, and the second sound presentation drive signal for generating an alarm sound having a predetermined frequency or less is used as the input signal to the vibrator 12. However, in the case of other second detection events, the switching to the first mode is performed, the sound presenting drive signal for generating the alarm sound, and the direction in which the force sense was presented immediately before A composite signal of the force sense drive signal for presenting the force sense in the reverse direction may be used as an input signal to the vibrator 12 (second operation). In the case of the other third detection event, the synthesized signal including the sound presenting drive signal for generating the alarm sound is sent to the vibrator 12 without switching the mode (while maintaining the current mode). An input signal may be used (third operation). Alternatively, different operations may be performed according to the elapsed time since the information indicating the detection event is sent to the control unit 31. For example, the “third operation” may be performed until a predetermined time elapses after the information indicating the detection event is sent to the control unit 31, and then the “first operation” or the “second operation” may be performed.

[Fourth Embodiment]
In this mode, optimization is performed using a transducer that presents a force sensation with only some of the transducers selected from multiple transducers, presents a force sensation in the direction of synthesis, and does not present the force sensation. I do.

<Configuration>
As illustrated in FIG. 7A, the information presentation device 4 of the present embodiment includes three acceleration generators 1-1 to 1-3 having the same configuration as the acceleration generator 1 described in the first embodiment, and It has the control part 41 which controls. As illustrated in FIG. 7B, the vibrators 12-1 to 12-3 of the acceleration generators 1-1 to 1-3 are fixed to one plate surface side of the plate-like base 42, and the vibrators 12- Acoustic sensors 13-1 to 13-3, which are pickups, are fixed to 1 to 12-3.

<Operation>
The control unit 41 drives some or all of the three acceleration generators 1-1 to 1-3 by the same method as in the first embodiment, and presents a pseudo force sense in a direction according to the combination thereof. To do. At this time, among the acceleration generators 1-1 to 1-3, in the acceleration generator 1-i (where i∈ {1, 2, 3}) that does not present a pseudo force sense, the first The adaptive filter described in the embodiment is optimized. Here, since the structures of the vibrators 12-1 to 12-3 are all the same, the adaptive filter optimized by any one of the acceleration generators 1-i is applied to all the acceleration generators 1-1 to 1-3. It is also possible to apply to. Also, among the acceleration generators 1-1 to 1-3, the acceleration generator 1-i that presents a pseudo force sense uses the adaptive filter of the first embodiment to present the pseudo force sense. The acceleration generator 1-i that has not performed the second mode may use the adaptive filter in the second mode described in the second embodiment.

[Other variations]
The present invention is not limited to the embodiment described above. For example, the upper limit of the main frequency component (peak) of the vibration waveform of the vibrator that presents a force sense in a desired direction is set as the upper limit of the “first range”, and the upper limit value of the “first range” is set. The adaptive filter may be switched. For example, the lower limit value of the “second range” may be monotonically increased (for example, monotonically increased) in a broad sense with respect to the increase of the upper limit value of the “first range”. Thereby, the frequency which is not used for force sense presentation can be used for sound presentation more effectively. Further, the upper limit of the peak (the upper limit of the first range) is detected based on information obtained by the sensor that detects the vibration of the vibrator 12, and the lower limit of the second range is set according to the detected upper limit of the peak. May be. Further, if the application filter is optimized by pre-processing, the acceleration generator may not include the filter optimization unit and the acoustic sensor.

  The various processes described above are not only executed in time series according to the description, but may also be executed in parallel or individually as required by the processing capability of the apparatus that executes the processes. Needless to say, other modifications are possible without departing from the spirit of the present invention.

  When the above configuration is realized by a computer, the processing contents of the functions that each device should have are described by a program. By executing this program on a computer, the above processing functions are realized on the computer. The program describing the processing contents can be recorded on a computer-readable recording medium. An example of a computer-readable recording medium is a non-transitory recording medium. Examples of such a recording medium are a magnetic recording device, an optical disk, a magneto-optical recording medium, a semiconductor memory, and the like.

  This program is distributed, for example, by selling, transferring, or lending a portable recording medium such as a DVD or CD-ROM in which the program is recorded. Furthermore, the program may be distributed by storing the program in a storage device of the server computer and transferring the program from the server computer to another computer via a network.

  A computer that executes such a program first stores, for example, a program recorded on a portable recording medium or a program transferred from a server computer in its own storage device. When executing the process, this computer reads a program stored in its own recording device and executes a process according to the read program. As another execution form of the program, the computer may read the program directly from the portable recording medium and execute processing according to the program, and each time the program is transferred from the server computer to the computer. The processing according to the received program may be executed sequentially. The above-described processing may be executed by a so-called ASP (Application Service Provider) type service that realizes a processing function only by an execution instruction and result acquisition without transferring a program from the server computer to the computer. Good.

  In the above embodiment, the processing functions of the apparatus are realized by executing a predetermined program on a computer. However, at least a part of these processing functions may be realized by hardware.

1-3 Acceleration generator 4 Information providing device

Claims (8)

      A vibration that includes a support portion and a motion member that performs acceleration motion with respect to the support portion, and the motion member vibrates with respect to the support portion, thereby presenting both a desired sound and a pseudo force sense. An acceleration generator having a child. The acceleration generator according to claim 1,
The acceleration of the moving member relative to the support portion changes according to an input signal,
The motion member is periodically vibrated so that an acceleration change in a desired direction of the motion member relative to the support portion and an acceleration change in the opposite direction of the desired direction of the motion member relative to the support portion are asymmetric. An acceleration generating apparatus using a synthesized signal obtained by synthesizing a force-sensing driving signal for generating the sound and a sound-presenting driving signal for generating a desired sound by vibrating the moving member with respect to the support portion. . The acceleration generator according to claim 2,
The force sense drive signal is a signal that vibrates the moving member with a vibration waveform including a frequency component in a first range,
The sound presenting drive signal is a signal that vibrates the moving member with a vibration waveform in which the frequency component of the first range is suppressed compared to the frequency component of the second range having a higher frequency than the first range. Acceleration generator. The acceleration generator according to claim 3,
A first mode in which the synthesized signal is the input signal, and a second sound presentation for generating a desired sound by vibrating the moving member with a vibration waveform including frequency components in both the first range and the second range. An acceleration generator that switches between a second mode in which a drive signal is used as the input signal. The acceleration generator according to claim 4,
An acceleration generating apparatus that switches to the second mode when an object is detected externally, and uses the second sound presentation drive signal for generating an alarm sound of a predetermined frequency or less as the input signal. The acceleration generating device according to any one of claims 3 to 5,
The sound presenting drive signal has an inverse characteristic of the frequency characteristic of the vibrator in a second frequency range for vibrating the moving member with a vibration waveform including a frequency component in the second range, and the first An acceleration generating device, which is a signal obtained by applying an adaptive filter to a sound source signal that suppresses a first frequency range for vibrating the moving member with a vibration waveform including a frequency component of the range. The acceleration generator according to claim 6,
The adaptive filter has an error between the sound observation signal from the transducer and the optimization signal, the optimization drive signal obtained by applying the adaptive filter to the optimization signal as the input signal. Obtained by an optimization process that minimizes
The acceleration generation device, wherein the optimization signal is a signal in which the first frequency range is suppressed compared to the second frequency range.   The vibrator includes a support part and a motion member that performs acceleration motion with respect to the support part, and the motion member vibrates with respect to the support part, thereby presenting both a desired sound and a pseudo force sense. Information presentation method.