WO2024204546A1

WO2024204546A1 - Haptic sensation presenting system

Info

Publication number: WO2024204546A1
Application number: PCT/JP2024/012671
Authority: WO
Inventors: 優矢上嶋; 修一赤岩; 勇貴増田; 仁志辻; 真一朗橋田; 泰生梶本
Original assignee: 株式会社栗本鐵工所
Priority date: 2023-03-31
Filing date: 2024-03-28
Publication date: 2024-10-03

Abstract

Provided is a haptic sensation presenting system. A haptic sensation presenting system 100 comprises: a haptic sensation accepting unit 17 that accepts haptic sensation specification information specifying a desired haptic sensation in accordance with an operation performed by a user; a haptic sensation setting unit 18 that sets the haptic sensation specification information accepted by the haptic sensation accepting unit 17; and a haptic sensation presenting device 2 that presents the desired haptic sensation on the basis of the haptic sensation specification information set by the haptic sensation setting unit 18.

Description

Tactile Presentation System

This disclosure relates to a tactile presentation system.

Various technologies for presenting tactile sensations (haptics) have been proposed. For example, Patent Documents 1 to 3 disclose tactile presentation devices that use magnetorheological fluids (MRFs).

JP 2017-138651 A JP 2020-017159 A JP 2020-130632 A

However, there are currently no tactile presentation devices that allow customization of the sense of touch.

The objective of this disclosure is to provide a tactile presentation system that allows customization of tactile sensations.

The tactile presentation system according to the present disclosure includes a tactile reception unit that receives tactile specific information that identifies a desired tactile sensation in response to a user's operation, a tactile setting unit that sets the tactile specific information received by the tactile reception unit, and a tactile presentation device that presents the desired tactile sensation based on the tactile specific information set by the tactile setting unit.

FIG. 1 is a schematic diagram showing the overall configuration of a tactile presentation system according to an embodiment of the present disclosure. FIG. 2 is a functional block diagram showing a configuration of the information processing device in FIG. FIG. 3 is a table showing tactile data stored in the sensation DB in FIG. FIG. 4 is a functional block diagram showing the configuration of the tactile presentation device in FIG. FIG. 5 is a flow diagram showing the procedure of information processing by the information processing device shown in FIG. 2 and the tactile presentation device shown in FIG. FIG. 6 is a flow diagram showing the procedure of the tactile specific information receiving and setting process in FIG. FIG. 7 is a diagram showing a standard tactile confirmation screen displayed in step S31 in FIG. FIG. 8 is a diagram showing a screen displayed after the confirmation screen shown in FIG. FIG. 9 is a diagram showing the hardness selection screen displayed in step S32 in FIG. FIG. 10 is a diagram showing the texture selection screen displayed in step S37 in FIG. FIG. 11 is a timing diagram showing typical currents supplied to the MRF device in FIG. FIG. 12 is a table showing tactile data including the frequencies adjusted in step S38 in FIG. FIG. 13 is a timing diagram illustrating the current with the adjusted frequency shown in FIG. FIG. 14 is a timing diagram showing the current having an adjusted duty cycle in addition to the adjusted frequency shown in FIG. FIG. 15 is a diagram showing the pattern selection screen displayed in step S41 in FIG. FIG. 16 is a diagram showing a confirmation screen for the desired tactile sensation displayed in step S44 in FIG. FIG. 17 is a diagram showing a hardness and texture selection screen different from those in FIGS.

<Overview of the embodiment>
According to this embodiment, the tactile presentation system includes a tactile reception unit that receives tactile identification information that identifies a desired tactile sensation in response to a user's operation, a tactile setting unit that sets the tactile identification information received by the tactile reception unit, and a tactile presentation device that presents the desired tactile sensation based on the tactile identification information set by the tactile setting unit.

The tactile presentation system further includes a display unit that displays a coordinate system including a first axis indicating the first tactile specific information and a second axis indicating the second tactile specific information, and an operator that is arranged on the coordinate system and can be displaced in response to a user's operation. The tactile reception unit receives the displacement of the operator displayed by the display unit. The tactile setting unit sets the first and second tactile specific information corresponding to the displacement of the operator received by the tactile reception unit.

The tactile presentation system further includes a display unit that displays a plurality of options corresponding to a plurality of types of tactile sensations. The tactile reception unit selects one option from the plurality of options displayed by the display unit in response to a user operation. The tactile setting unit sets tactile specific information corresponding to the option selected by the tactile reception unit.

The tactile setting unit sets the current value to be supplied to the tactile presentation device as tactile specific information.

The tactile setting unit sets the frequency of the current to be supplied to the tactile presentation device as tactile specific information.

According to another embodiment, a tactile presentation method by a computer includes the steps of receiving tactile identification information that identifies a desired tactile sensation in response to a user's operation, setting the received tactile identification information, and controlling a tactile presentation device to present the desired tactile sensation based on the set tactile identification information.

According to yet another embodiment, the tactile presentation program causes a computer to execute the steps of accepting tactile identification information that identifies a desired tactile sensation in response to a user's operation, setting the accepted tactile identification information, and controlling the tactile presentation device to present the desired tactile sensation based on the set tactile identification information.

<Details of the embodiment>
Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the drawings, the same or corresponding parts are designated by the same reference characters, and the description thereof will not be repeated.

FIG. 1 is a schematic diagram showing a tactile presentation system 100 in this embodiment. The tactile presentation system 100 is a game system, and includes an information processing device 1 and a tactile presentation device (hereinafter, sometimes referred to as a tap unit) 2. The information processing device 1 and the tactile presentation device 2 are connected by short-range wireless communication to transmit and receive data between them.

As shown in FIG. 1, the information processing device 1 is a smartphone. The information processing device 1 is not limited to a smartphone, and may be a tablet terminal. The information processing device 1 may be a laptop PC (Personal Computer). The information processing device 1 may be a dedicated gaming device. The information processing device 1 may be a dedicated gaming device integrated with the tactile presentation device 2, that is, a gaming machine that includes the tactile presentation device 2 in the controller portion.

The tactile presentation device 2 is a device that allows an operator to operate the device by moving his/her finger while holding the finger along the displacement unit 202. The tactile presentation device 2 reads the position of the displacement unit 202, which is displaced by the operator's finger movement, and controls the built-in MRF (Magneto-Rheological Fluid) device 24 according to the position to generate a force sensation due to a reaction force (rotational resistance) against the operator's operation of the displacement unit 202, thereby presenting a tactile sensation. The form of the displacement unit 202 of the tactile presentation device 2 is not limited to that shown in FIG. 1, and may be a button, a stick, or a cushion-like object covered with a cover. The tactile presentation device 2 may employ a motor or a piezoelectric element instead of the MRF device 24, and may generate a force sensation due to a rotational force or vibration in response to the operator's operation, and may be combined with a device that presents vibration, a warm sensation, a cold sensation, or an electrical stimulation in addition to the displacement unit 202. It can also be installed on the ground or a wall and operated by the operator's palm, foot, etc.

In the tactile presentation system 100, an information processing device 1 with a game application program (hereafter referred to as a game app) installed presents images (visual) from a built-in display unit 14, sounds (auditory) from an audio output unit 15, and tactile sensations from a connected tactile presentation device 2 based on acquired game content. For example, as shown in FIG. 1, the information processing device 1 displays a character C on the display unit 14, and when an operator presses the displacement unit 202 of the tactile presentation device 2 with a finger, it changes the image of the displayed character while outputting a tactile sensation according to the type and level of character C, and outputs audio or sound effects according to the change from the audio output unit 15.

The tactile presentation system 100 allows the user to select the character C to be operated. In the tactile presentation system 100, the information processing device 1 changes the tactile sensation in the tactile presentation device 2 according to the character C, and changes and outputs images and sounds according to the displacement in the displacement unit 202.

FIG. 2 is a block diagram showing the internal configuration of the information processing device 1. The information processing device 1 includes a processing unit 10, a storage unit 11, a first communication unit 12, a second communication unit 13, a display unit 14, an audio output unit 15, and an operation unit 16. The information processing device 1 further includes a haptic reception unit 17 and a haptic setting unit 18.

The processing unit 10 is a processor that uses a CPU (Central Processing Unit) and/or a GPU (Graphics Processing Unit). The processing unit 10 executes game-related processing based on the game application P1 stored in the memory unit 11.

The storage unit 11 uses a non-volatile memory such as a flash memory or SSD. The storage unit 11 stores the game application P1, a sensory DB 110 described below, and other data referenced by the processing unit 10. The game application P1 may be a game application P8 stored in the storage medium 8 that has been read by the processing unit 10 and copied to the storage unit 11. The game application P1 is downloaded from the server device via the first communication unit 12 and stored in an executable manner.

The storage unit 11 stores a sensory DB 110 that contains tactile data, visual (images, videos, text) data, and auditory (audio, sound effects) data corresponding to characters. The sensory DB 110 stores the tactile data, visual data, and auditory data to be output for each displacement data of the displacement unit 202 in the tactile presentation device 2, in association with a content ID that identifies a character or item.

The first communication unit 12 realizes communication with the server device via a network including the Internet or a carrier network. Specifically, the first communication unit 12 may be a wireless communication device that connects to a carrier network, or may be a wireless communication device for Wi-Fi. The processing unit 10 can send and receive data between the server device and the first communication unit 12.

The second communication unit 13 is a communication module for short-range wireless communication, for example Bluetooth (registered trademark). The processing unit 10 can transmit and receive data to and from the tactile presentation device 2 via the second communication unit 13.

The display unit 14 is a display such as a liquid crystal display or an organic EL (Electro Luminescence) display. The display unit 14 is, for example, a display with a built-in touch panel. The processing unit 10 displays on the display unit 14 game content stored in the memory unit 11 or game content such as images and text provided from the server device based on the game application P1.

The audio output unit 15 includes a speaker, etc. The processing unit 10 outputs game content stored in the storage unit 11 or game content such as sound and music provided by the server device from the audio output unit 15 based on the game application P1.

The operation unit 16 is a user interface capable of inputting and outputting data to and from the processing unit 10, and is a touch panel built into the display unit 14. The operation unit 16 may be a physical button. The operation unit 16 may also serve as a voice input unit.

The tactile reception unit 17 receives tactile identification information that identifies a desired tactile sensation in response to a user's operation. The tactile setting unit 18 sets the tactile identification information received by the tactile reception unit 17. The tactile presentation device 2 presents the desired tactile sensation based on the tactile identification information set by the tactile setting unit 18. The processing unit 10 executes the game application P1, thereby causing the computer to function as the tactile reception unit 17 and the tactile setting unit 18.

FIG. 3 is an explanatory diagram showing an example of the contents of the sensory DB 110. The sensory DB 110 stores, as tactile data, the value and frequency of the current supplied to the MRF device 24 of the tactile presentation device 2 for each displacement amount (angle) of the displacement unit 202. In addition to tactile data, the sensory DB 110 may also store visual data, auditory data, etc.

FIG. 4 is a block diagram showing the configuration of the tactile presentation device 2. As shown in FIG. 1, the tactile presentation device 2 is configured by providing a flat, bottomed, cylindrical gripper 200 with a belt-like flat plate-like displacement section 202 having a curved section that partially follows the circumferential direction. The displacement section 202 is made of a material that is itself flexible, but may be made of a highly rigid material and rotatably supported by the gripper 200 via a support shaft. A cloth tape-like binding device 203 is provided on the outer surface of the tip of the displacement section 202. A link mechanism 204 that connects to the rotating shaft of the rotor of the MRF device 24 housed inside the gripper 200 is provided on the inner surface of the tip of the displacement section 202. The displacement section 202 may be provided with a material that adds a variety of textures, such as silicone rubber or a material with fur on its surface.

As shown in FIG. 1, the operator holds the gripping body 200 with, for example, the thumb and middle finger, and inserts the index finger and other fingers into the fastener 203 along the displacement portion 202. The operator can move the displacement portion 202 by pushing the index finger in, and can also move the displacement portion 202 away from the gripping body 200 by extending the index finger.

When the displacement unit 202 is at the position farthest from the gripping body 200 (upper limit), the displacement amount (angle) of the displacement unit 202 shown in FIG. 3 is 0 degrees. When the displacement unit 202 is at the position closest to the gripping body 200 (lower limit), the displacement amount (angle) of the displacement unit 202 is 90 degrees. In this example, the movable range of the displacement unit 202 is 90 degrees from the upper limit to the lower limit, but is not limited to this. Also, in FIG. 3, the tactile data is set in increments of 1 degree, but it is possible to set it more finely, for example, in increments of 0.1 degrees.

The tactile presentation device 2 includes a gripping body 200 as shown in FIG. 1, a control unit 20, a memory unit 21, a communication unit 22, a power supply unit 23, an MRF device 24, and a sensor 25. The gripping body 200 has an internal MRF device 24. The control unit 20, the memory unit 21, the communication unit 22, and the power supply unit 23 may be provided integrally with the gripping body 200, or may be provided separately and connected to the gripping body 200 wirelessly or via a wire.

The control unit 20 includes a processor such as a CPU and an MPU (Micro-Processing Unit), and memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The control unit 20 is, for example, a microcontroller. The control unit 20 controls each component based on a control program P2 stored in the built-in ROM, and realizes tactile presentation.

The storage unit 21 is an auxiliary memory for the control unit 20, and stores the control data (haptic data) of the MRF device 24 in a rewritable manner.

The communication unit 22 is a communication module for short-range wireless communication, such as Bluetooth (registered trademark). The control unit 20 can transmit and receive data to and from the information processing device 1 via the communication unit 22.

The control unit 20 is connected to the power supply unit 23, the MRF device 24, and the sensor 25 via I/O, and exchanges signals with each other.

The power supply unit 23 includes a rechargeable battery. When the power supply unit 23 is turned on, it supplies power to each component and the MRF device 24.

The MRF device 24 has a yoke that is arranged to sandwich a disk-shaped rotor with a gap between them, and generates a magnetic field by passing a control current through a coil attached to the yoke, and controls the viscosity (shear stress) of the magnetorheological fluid sealed in the gap to provide rotational resistance to the rotor. When the control unit 20 adjusts the magnitude of the control current to the MRF device 24, the rotational resistance is immediately changed.

The sensor 25 measures the position (angle) of the displacement unit 202 and outputs it to the control unit 20. The sensor 25 measures the displacement of the displacement unit 202 as an angle and outputs it. The sensor 25 may be composed of multiple sensors such as a gyro sensor and an acceleration sensor.

In the tactile presentation device 2 configured as shown in FIG. 4, when the displacement unit 202 is operated by the operator, the displacement of the displacement unit 202 is transmitted in the rotational direction to the rotation shaft of the rotor of the MRF device 24 via the link mechanism 204. When the MRF device 24 is not operating, that is, while the control current is zero, the rotation shaft rotates freely, so the displacement unit 202 fluctuates without resistance. On the other hand, when the MRF device 24 is operating and the control current is not zero, the viscosity (shear stress) of the magnetorheological fluid inside the MRF device 24 is changed according to the magnitude of the current flowing to the MRF device 24. The control unit 20 can change the force of resistance to the displacement unit 202 and the way in which it appears by continuously changing the magnitude of the current to the MRF device 24 or vibrating the current value at a predetermined frequency.

In this way, the tactile presentation device 2 can present a slippery sensation by varying the resistance (current value) according to the amount of pressure applied to the displacement section 202, or a firm sensation by increasing the resistance as the pressure increases, or a crunchy sensation by repeatedly varying the resistance or by repeatedly switching on and off in a square wave pattern.

The progress of the game in the tactile presentation system 100 configured in this manner will be described below. FIG. 5 is a flowchart showing an example of the processing procedure based on the game application P1. The information processing procedure by the information processing device 1 shown in FIG. 5 is executed when the game application P1 is launched, or when the communication connection with the tactile presentation device 2 is cut off.

In the information processing device 1, the processing unit 10 establishes a communication connection with the tactile presentation device 2 via the second communication unit 13 (step S11). The processing unit 10 reads out standard tactile data from the sensory DB 110 (step S12) and transmits the read out standard tactile data to the tactile presentation device 2 (step S13).

The standard tactile data read from the sensory DB 110 in step S13 is a table that stores the corresponding current value and frequency for each displacement amount (angle), as shown in FIG. 3.

The tactile presentation device 2 executes the process shown on the right side of FIG. 5 based on the transmitted tactile data. When the control unit 20 of the tactile presentation device 2 is started and a communication connection with the information processing device 1 is established, the control unit 20 executes the following process.

When the tactile presentation device 2 receives tactile data from the information processing device 1 during communication connection (step S21), the tactile presentation device 2 stores the data in the storage unit 21 (step S22). The tactile data received in step S21 is a list table of the current values and frequencies for each amount of displacement described above.

The control unit 20 of the tactile presentation device 2 samples a signal corresponding to the displacement amount (angle) of the displacement unit 202 output from the sensor 25 (step S23). The control unit 20 transmits the displacement amount obtained by sampling to the information processing device 1 (step S24). The displacement amount (angle) may be a relative displacement from the upper end, or may be an absolute position detected by the sensor 25.

The control unit 20 references the current value corresponding to the amount of displacement obtained by sampling from the tactile data stored in the memory unit 21 (step S25), and outputs the referenced current to the MRF device 24 (step S26).

In the information processing device 1, after the standard tactile data is transmitted to the tactile presentation device 2, the tactile reception unit 17 receives tactile specific information that identifies the desired tactile sensation in response to the user's operation (step S14). The tactile setting unit 18 sets the tactile specific information received by the tactile reception unit 17 (step S15). The tactile presentation device 2 presents the desired tactile sensation based on the tactile specific information set by the tactile setting unit 18 (steps S21 to S26).

　Below, we will explain the details of the process of accepting and setting tactile specific information with reference to the flow diagram in Figure 6.

In the information processing device 1, the display unit 14 displays a confirmation screen for the standard tactile sensation, as shown in FIG. 7 (step S31). Specifically, the display unit 14 displays an animation of the tactile presentation device 2 and guides the user on how to operate the tactile presentation device 2. Additionally, the audio output unit 15 may also guide the user on the operation method by audio. Initially, the tactile presentation device 2 presents a standard tactile sensation. The user can confirm the standard tactile sensation presented by the tactile presentation device 2 by operating the tactile presentation device 2.

When the user operates the tactile presentation device 2, the display unit 14 displays a screen for selecting whether or not to create the desired tactile sensation, as shown in FIG. 8. The animation of the tactile presentation device 2 continues as is, and the tactile sensation presented by the tactile presentation device 2 also continues as is. When the user taps the displayed Create button, the process of creating the desired sensation begins. On the other hand, when the user taps the displayed OK button, the standard tactile sensation is maintained.

When the user taps the create button, the display unit 14 displays a hardness selection screen as shown in FIG. 9 (step S32). Specifically, the display unit 14 displays five options. In this example, to express hardness, "raw egg," "tofu," "initial," "gummy," and "rock okoshi" are displayed in order from softest to softest. When this screen is first displayed, the standard hardness "initial" is selected by default.

Next, the haptic reception unit 17 selects the desired hardness in response to the user's tap operation (step S33). That is, the haptic reception unit 17 receives haptic specific information that specifies the desired hardness. The haptic setting unit 18 adjusts the parameters of the current value of the standard haptic data in response to the selected hardness (step S34). That is, the haptic setting unit 18 sets the haptic specific information that specifies the desired hardness received by the haptic reception unit 17. Specifically, when "raw egg" is selected, the current value is set to, for example, 0.6 times the standard haptic data. When "tofu" is selected, the current value is set to, for example, 0.8 times the standard haptic data. When "initial" is selected, the current value is maintained as it is in the standard haptic data. When "gummy" is selected, the current value is set to, for example, 1.2 times the standard haptic data. When "rock-raising" is selected, the current value is set to, for example, 1.4 times the standard haptic data. Note that no adjustment is made to parameters other than the current value of the standard haptic data (for example, "frequency"). The "raw egg" used in the explanation here is merely an example, and other expressions of hardness may be used. The current value multiplier is also merely an example, and other multipliers may be used.

The second communication unit 13 transmits tactile data including the adjusted current value to the tactile presentation device 2 (step S35). The tactile presentation device 2 executes the processes of steps S21 to S26 to present a tactile sensation of hardness according to the adjusted current value. This allows the user to experience the selected hardness through the tactile presentation device 2.

The user can reselect the hardness any number of times until tapping the OK button, and each time a hardness different from the currently selected hardness is selected, the information processing device 1 adjusts the current value according to the selected hardness and transmits tactile data including the adjusted current value to the tactile presentation device 2 (steps S32 to S35). The tactile presentation device 2 performs the processes of steps S21 to S26 to present a tactile sensation based on the latest tactile data received. When the user taps the OK button, the tactile setting unit 18 determines the currently selected hardness as the desired hardness. At this time, the processing unit 10 stores the latest tactile data with the adjusted current value (hereinafter referred to as "first adjusted tactile data") in the sensory DB 110.

When the user taps the OK button, the display unit 14 displays a texture selection screen as shown in FIG. 10 (step S36). Specifically, the display unit 14 displays five options. In this example, to express the textures, "rubber," "potato starch," "initial," "electric shock," and "sand" are displayed in order from smoothest to lightest. When this screen is first displayed, the standard texture "initial" is selected by default. In this state, the tactile presentation device 2 stores the same first adjusted tactile data as stored in the sensory DB 110, and presents a tactile sensation corresponding to the first adjusted tactile data.

Next, the haptic reception unit 17 selects the desired texture in response to the user's tap operation (step S37). That is, the haptic reception unit 17 receives haptic specific information that identifies the desired texture. The haptic setting unit 18 adjusts the frequency parameters of the first adjusted haptic data in response to the selected texture (step S38). That is, the haptic setting unit 18 sets the haptic specific information that identifies the desired texture received by the haptic reception unit 17. Specifically, when "rubber" is selected, the frequency is set to, for example, 0.5 times the standard haptic data. When "potato starch" is selected, the frequency is set to, for example, 0.8 times the standard haptic data. When "initial" is selected, the frequency is maintained as the standard haptic data. When "agar" is selected, the frequency is set to, for example, 1.6 times the standard haptic data. When "sand" is selected, the frequency is set to, for example, 2.0 times the standard haptic data. The "rubber" and the like used in the explanation here are merely examples, and other textures may be used. Additionally, the frequency multiplication factor is merely an example, and other multiplication factors may be used.

For example, when the displacement is 2 degrees or more but less than 3 degrees, referring to the standard tactile data shown in FIG. 3, the current is 0.5 A and the frequency is 100 Hz (period is 0.01 seconds). When "initial" is selected in steps S33 and S37, the MRF device 24 is supplied with the current shown in FIG. 11. The duty ratio of this current is 50%.

Furthermore, when the displacement is between 3 degrees and 4 degrees, referring to the standard tactile data shown in FIG. 3, the current is 0.5 A and the frequency is 100 Hz (period is 0.01 seconds). In addition, when "initial" is selected in step S33 and "sand" is selected in step S37, the current remains at 0.50 A, but the frequency is increased to 200 Hz (period is 0.005 seconds), as in the tactile data shown in FIG. 12. In this case, the current shown in FIG. 13 is supplied to the MRF device 24. The duty ratio of this current is also 50%, but the feel may be changed by changing the duty ratio, as shown in FIG. 14.

The second communication unit 13 transmits the first adjusted tactile data (hereinafter referred to as "second adjusted tactile data") with the frequency parameters adjusted to the tactile presentation device 2 (step S39). The tactile presentation device 2 executes the processes of steps S21 to S26 to present a tactile sensation according to the received second adjusted tactile data. This allows the user to experience the selected texture through the tactile presentation device 2.

The user can select the texture any number of times until tapping the OK button, and each time a texture different from the currently selected texture is selected, the corresponding texture (touch) can be presented to the user. Specifically, each time a texture different from the currently selected texture is selected, the information processing device 1 adjusts the frequency parameters of the first adjusted tactile data according to the selected texture, and transmits second adjusted tactile data including the adjusted frequency to the tactile presentation device 2 (steps S36 to S39). The tactile presentation device 2 presents a tactile sensation based on the latest received second adjusted tactile data by executing the processes of steps S21 to S26. When the user taps the OK button, the tactile setting unit 18 determines the currently selected texture as the desired texture. At this time, the processing unit 10 stores the latest second adjusted tactile data in the sensation DB 110 separately from the first adjusted tactile data.

When the user taps the OK button, the display unit 14 displays a pattern selection screen as shown in FIG. 15 (step S40). Specifically, the display unit 14 displays five options. When this screen is first displayed, the standard pattern "initial" is selected by default. In the standard pattern, the current value is constant even if the displacement (angle) changes. The hardness and texture have already been selected above. In this state, the tactile presentation device 2 stores the same second adjusted tactile data stored in the sensory DB 110, and presents a tactile sensation corresponding to the second adjusted tactile data. In the other four patterns, the displacement (angle) is shown on the horizontal axis, and the current value is shown on the vertical axis. In the top pattern, the current value gradually increases while the displacement is small, and the current value suddenly increases as the displacement increases. In the second pattern from the top, the current value suddenly increases while the displacement is small, and the current value gradually increases as the displacement increases. In the second pattern from the bottom, the current value gradually decreases while the displacement is small, and the current value suddenly decreases as the displacement increases. In the bottom pattern, the current value suddenly decreases while the displacement is small, and then gradually decreases as the displacement increases.

Next, the haptic reception unit 17 selects a desired pattern in response to the user's tap operation (step S41). That is, the haptic reception unit 17 receives haptic specific information that specifies the desired pattern. The haptic setting unit 18 adjusts the parameter of the current value of the second adjusted haptic data in response to the selected pattern (step S42). That is, the haptic setting unit 18 sets haptic specific information that specifies the desired pattern received by the haptic reception unit 17. Specifically, the current value is adjusted by multiplying the parameter of the current value of the second adjusted haptic data by a predetermined coefficient for each displacement. For example, when a pattern that increases quadratically is selected, the current value corresponding to each displacement is multiplied by "nX ² (X is a displacement)" as a coefficient.

The second communication unit 13 transmits the second adjusted tactile data (hereinafter referred to as "third adjusted tactile data") in which the current value parameters have been adjusted to the tactile presentation device 2 (step S43). The tactile presentation device 2 executes the processes of steps S21 to S26 to present a tactile pattern according to the received third adjusted tactile data. Therefore, the user can experience the tactile pattern selected through the tactile presentation device 2.

The user can reselect a pattern any number of times until tapping the OK button, and each time a pattern different from the currently selected pattern is selected, a corresponding pattern (tactile sensation) can be presented to the user. Specifically, each time a pattern different from the currently selected pattern is selected, the information processing device 1 adjusts the parameters of the current value of the second adjusted tactile data according to the selected pattern, and transmits third adjusted tactile data including the adjusted current value to the tactile presentation device 2 (steps S36 to S39). The tactile presentation device 2 presents a tactile sensation based on the latest received third adjusted tactile data by executing the processes of steps S21 to S26. When the user taps the OK button, the tactile setting unit 18 determines the currently selected pattern as the desired pattern. At this time, the processing unit 10 stores the latest third adjusted tactile data in the sensory DB 110 separately from the first adjusted tactile data and the second adjusted tactile data.

The pattern is not limited to these, but may be wavy, zigzag, etc. Also, instead of displaying the pattern as a shape, it may be displayed as words such as "wavy," "zigzag," "squiggly," or "flat."

When the user taps the OK button, the display unit 14 displays a confirmation screen for the created tactile sensation, as shown in FIG. 16 (step S44). In this state, the tactile presentation device 2 stores the same third adjusted tactile data as that stored in the sensory DB 110, and presents a tactile sensation corresponding to the third adjusted tactile data. Therefore, the user can experience the created tactile sensation through the tactile presentation device 2.

When the user taps the OK button ("OK" in step S45), the hardness, texture, and pattern selected above are confirmed, and the setting of the desired tactile sensation is completed. On the other hand, when the user taps the Remake button ("Remake" in step S45), the process returns to step S32. It may also return to step S36 or S40. In these cases, the third adjusted tactile sensation data can be remade midway by using the first adjusted tactile sensation data or the second adjusted tactile sensation data stored in DB110. In addition, after the setting of the desired tactile sensation is completed, at least one of the set current value, frequency, and pattern may be fine-tuned. For fine adjustment, a displaceable operator such as a slide bar may be displayed, and this operator may be displaced according to the user's operation.

<Other embodiments>
As shown in FIG. 17, a displaceable operator such as a pointer may be displayed, and the operator may be displaced in two dimensions in response to a user's operation. In the screen shown in FIG. 17, two-dimensional coordinates including an X axis and a Y axis and an operator arranged on the two-dimensional coordinates are displayed. The X axis indicates the touch. The Y axis indicates the hardness. The user can set the touch and the hardness at the same time by moving the operator. When the user taps the OK button, the process proceeds to step S40. The screen shown in FIG. 17 is used instead of the screens shown in FIG. 9 and FIG. 10. When the OK button is touched on the screen shown in FIG. 17, the screens shown in FIG. 15 and FIG. 16 are displayed in order. When the Remake button is touched on the screen shown in FIG. 16, the tactile sensation set immediately before is selected, so the pointer is placed at a position corresponding to that tactile sensation. The origin of the coordinates corresponds to the standard tactile sensation data. In the initial stage, the pointer is placed at the origin of the coordinates. The user touches the pointer and swipes it to move the pointer on the coordinates. The information processing device 1 adjusts the tactile data in real time in response to the movement of the pointer (Y-axis: current value, X-axis: frequency), and transmits the adjusted tactile data (corresponding to the second adjusted tactile data in the above embodiment) to the tactile presentation device 2. The tactile data is adjusted based on the standard tactile data. The current parameter of the standard tactile data is multiplied by a coefficient corresponding to the position on the Y-axis, and the frequency parameter of the standard tactile data is multiplied by a coefficient corresponding to the position on the X-axis to generate new tactile data. In the case of the origin, the current and frequency coefficients are both "1". The current coefficient becomes larger than "1" in the "hard" direction, and becomes smaller than "1" in the "soft" direction. However, it never becomes 0 or less. The frequency coefficient becomes larger than "1" in the "rough" direction, and becomes smaller than "1" in the "soft" direction. The minimum value is "0".

In the above, tactile data is transmitted to the tactile presentation device 2 in real time according to the position of the pointer, but tactile data may also be transmitted for a position where finger movement stops for a predetermined period of time or when the pointer is removed from the finger. Coordinates have limits on the top, bottom, left, and right. For example, if the user swipes diagonally upwards to the right when the limit of the X axis is reached, the pointer moves upwards (Y axis) without moving to the right (X axis direction). In this example as well, the user can experience a sense of touch through the tactile presentation device 2 at the time the tactile data is received by the tactile presentation device 2.

This screen can also include the pattern selection screen in FIG. 15. This allows the third adjustment tactile data to be created on a single screen.

The above system includes a tactile presentation device and a smartphone that can be connected to the device, but it may also be a tactile presentation system that includes a touch panel monitor that integrates the tactile presentation device and the smartphone.

Furthermore, the tactile presentation device is not limited to one using an MRF, but may be another passive type device, or an active type device using a motor or the like. It may also be a device that combines passive and active types. Furthermore, non-transitory storage media that store programs for causing a computer to function as an information processing device, a tactile presentation device, or a tactile presentation system are also included in the embodiments of the present invention.

Touch panel devices are available that use vibrations to guide users with weak eyesight on how to use them, and the present invention can also be applied to such devices.

Furthermore, in step S11, multiple tactile presentation devices may be paired so that tactile sensations can be set simultaneously. Furthermore, by setting a tactile sensation on one device, the other device may automatically be set to the same tactile sensation. Furthermore, in a five-finger glove-type device, by setting a tactile sensation on one finger, the same tactile sensation may be automatically set on all five fingers. Furthermore, by setting a tactile sensation on a basic finger, the tactile sensation may be automatically set for each finger by referring to the set tactile sensation.

In the embodiment shown in FIG. 17, since the position of the pointer is hidden by the finger, confirmation coordinates may be displayed separately from the coordinates operated by the user, so that the position of the pointer can be confirmed using these coordinates. The confirmation coordinates may be an enlarged display of only the area around the position of the user's finger. The resolution and scale of the coordinates operated by a pinch operation may also be changed. When pinching in the X-axis direction (Y-axis direction), the scale of only the parameters in the X-axis direction (Y-axis direction) is changed. The scales of the X and Y parameters can also be changed simultaneously, and the scales of the X and Y parameters can also be changed at a ratio according to the pinch direction.

9, 10, 15, 16, and 17, the animation and sound of the tactile presentation device 2 described in FIG. 7 and FIG. 8 may be displayed. The animation and sound may be changed in conjunction with the operation of the tactile presentation device 2. In addition, in each of these screens, an animation of an object that evokes a tactile sensation may be further displayed, and sound associated with the animation may be output. For example, when "tofu" is selected in FIG. 9, an animation corresponding to "tofu" is displayed. When the tactile presentation device 2 is operated, an animation of tofu being crushed in conjunction with the operation is displayed, and sound that is generated when the tofu is crushed is output. The same applies to the cases of FIG. 10 and FIG. 15. In the case of FIG. 16, an object close to the third adjusted tactile data generated by the three combinations selected in FIG. 9, FIG. 10, and FIG. 16 is detected by referring to a tactile database (not shown) in which tactile data of various objects is stored, and an animation of the object may be displayed and sound may be output.

The above describes an embodiment of the present invention, but the present invention is not limited to the above embodiment, and various improvements and modifications are possible without departing from the spirit of the invention.

1: Information processing device 2: Tactile presentation device 17: Tactile reception unit 18: Tactile setting unit 24: MRF device 100: Tactile presentation system

Claims

a tactile reception unit that receives tactile identification information that identifies a desired tactile sensation in response to a user's operation;
a tactile setting unit that sets tactile specific information received by the tactile reception unit;
a tactile presentation device that presents the desired tactile sensation based on the tactile specification information set by the tactile setting unit.
The tactile presentation system according to claim 1, further comprising:
a display unit that displays a coordinate system including a first axis indicating the first tactile specific information and a second axis indicating the second tactile specific information, and an operator that is arranged on the coordinate system and can be displaced in response to an operation by the user;
the tactile sense reception unit receives a displacement of an operator displayed by the display unit;
The tactile setting unit sets first and second tactile specification information corresponding to the displacement of the operator received by the tactile reception unit.
The tactile presentation system according to claim 1, further comprising:
A display unit is provided that displays a plurality of options corresponding to a plurality of types of tactile sensations,
the tactile reception unit selects one option from a plurality of options displayed by the display unit in response to an operation by the user;
The tactile setting unit sets tactile specification information corresponding to the option selected by the tactile reception unit.
The tactile presentation system according to claim 2 or 3,
A tactile presentation system, wherein the tactile setting unit sets a current value to be supplied to the tactile presentation device as the tactile identification information.
The tactile presentation system according to claim 2 or 3,
A tactile presentation system, wherein the tactile setting unit sets a frequency of a current to be supplied to the tactile presentation device as the tactile identification information.
A tactile presentation method by a computer, comprising:
receiving tactile identification information that identifies a desired tactile sensation in response to a user operation;
setting the received tactile specific information;
and controlling a tactile presentation device so as to present the desired tactile sensation based on the set tactile identification information.
receiving tactile identification information that identifies a desired tactile sensation in response to a user operation;
setting the received tactile specific information;
and a step of controlling a tactile presentation device so as to present the desired tactile sensation based on the set tactile identification information.