JP7529322B2 - Vibration distribution control device, vibration distribution control program, and vibration distribution control method - Google Patents

Description

The technology described in this specification relates to a vibration distribution control device, a vibration distribution control program, and a vibration distribution control method.

It is known that by using a vibrator to reproduce a wide range of vibration frequencies, including high frequencies of several hundred Hz, it is possible to present realistic tactile sensations when colliding with or rubbing an object.

On the other hand, there is a demand for technology that allows users to experience vibrations at a virtual location as a form of artificial reality using a small number of transducers. Existing technology is known as phantom sensation (PS), a phenomenon in which the difference in intensity between multiple transducers causes users to perceive the presence of a vibration source on the body or on an object held in both hands.

In addition to PS, apparent movement is known, in which the time difference between stimulations of oscillators creates the illusion that the vibration source is moving.

The sensation of apparent movement can also be experienced by moving the position of the PS.

U.S. Pat. No. 9,880,621 JP 2021-65872 A

Israr, Ali & Poupyrev, Ivan. “Tactile Brush: Drawing on skin with a tactile grid display” Conference on Human Factors in Computing Systems - Proceedings. 2019-2028, May 2011 Kim, Y., Lee, J. & Kim, G.J. “Extending “out of the body” tactile phantom sensations to 2D and applying it to mobile interaction.” Pers Ubiquit Comput 19, 1295-1311, December 2015 Syunsuke Tawa, Hikaru Nagano, Yuichi Tazaki & Yasuyoshi Yokokohji “Extended phantom sensation: vibrotactile-based movement sensation in the area outside the inter-stimulus” Advanced Robotics, 35:5, 268-280, March 2021

However, in conventional PS generation methods, the strength difference of the vibrators is determined experimentally and empirically as a function of the amplitude ratio for the presentation position for simple vibration waveforms such as sine waves or square waves (which can be expressed by frequency and amplitude), and it is not possible to express a vibration source with an arbitrary vibration waveform that includes multiple frequencies.

In addition, most conventional PS involves placing multiple transducers in contact with the body and localizing the vibrations between the transducers. Some studies have reported localizing the vibrations outside the transducers on a straight line connecting the transducers, but no technology has been developed to localize the vibrations in two or three dimensions outside the transducers.

In one aspect, the technology described herein aims to present an arbitrary vibration waveform containing multiple frequencies to a human as if it were present at a specific location, thereby improving the realism of the experience.

In one aspect, a vibration distribution control device is a vibration distribution control device that generates a vibration source located at an arbitrary position using a plurality of transducers, and includes a calculation unit that calculates a perceived intensity from a vibration waveform of the vibration source, a distribution unit that distributes the perceived intensity to each of the plurality of transducers according to the azimuth angle and placement position of the vibration source, and a signal output unit that controls and outputs vibrations in the plurality of transducers based on information distributed by the distribution unit.

One aspect is that it is possible to present an arbitrary vibration waveform containing multiple frequencies to a human as if it were present at a specific location, improving the realism of the experience.

FIG. 13 is a diagram illustrating a distribution process of perceptual intensity. 2A to 2C are graphs briefly explaining Intensity Segment Modulation (ISM) processing used in the distribution processing of perceived intensity shown in FIG. 1. 2 is a diagram for explaining an example of calculation of a distribution coefficient in the distribution process of the perceived intensity shown in FIG. 1 . FIG. 2 is a flowchart illustrating a distribution process of the perceived intensity shown in FIG. 1 . 2 is a diagram for explaining an example of determining independent perception origins for multiple body parts in the distribution process of perception intensity shown in FIG. 1 . FIG. FIG. 2( a ) is a diagram for explaining a case where transducers are arranged two-dimensionally on the body surface in the distribution process of the perceived intensity shown in FIG. 1 , and FIG. 2( b ) is a diagram for explaining a case where transducers are arranged circumferentially on the body surface in the distribution process of the perceived intensity shown in FIG. 1 . 2 is a diagram for explaining a case where two perception origins are provided on the body in the distribution process of the perception intensity shown in FIG. 1 . FIG. FIG. 1A is a diagram for explaining an example in which transducers are arranged on a straight line in the conventional PS method, and FIG. 1B is a diagram for explaining an example in which transducers are arranged on a circumference in the conventional PS method. 2 is a diagram for explaining an example of generating another PS by using a PS as an artificial vibration source in the distribution process of the perceived intensity shown in FIG. 1 . 1A and 1B are diagrams illustrating an example in which distribution processing of perceived intensity is applied to a floor-mounted vibration device and a clothing-type vibration device. 13A and 13B are diagrams showing an example in which a distribution process of perceptual intensity when one perceptual origin is provided is applied to a wristband-type vibration device and a game controller. 13A and 13B are diagrams showing an example in which a distribution process of perceptual intensity when two perceptual origins are provided is applied to a wristband-type vibration device and a game controller. A figure showing an example of applying a distribution process of perceived intensity of augmented reality (AR) to a wristband-type vibration device and a smartphone. FIG. 13 is a diagram showing an example of applying distribution processing of perceptual intensity on the body to a wristband-type vibration device and a smartphone. FIG. 1 shows an example of integration of the distribution of perceived intensity into loudspeakers and a display device. FIG. 1A is a diagram for explaining a reference stimulus in an experiment to confirm the sense of orientation and vibration strength, and FIG. 1B is a diagram for explaining a method of answering the perceived orientation in the experiment to confirm the sense of orientation and vibration strength. FIG. 13 is a diagram illustrating the positional relationship between the vibrator and the vibration source in an experiment to confirm the sense of direction and vibration strength. 13A is a graph showing the results of responses regarding direction in an experiment to confirm the sense of direction and vibration strength, and FIG. 13B is a graph showing the results of responses regarding strength in the same experiment. 1 is a diagram for explaining the positional relationship between the vibrator and the vibration source in an experiment to control PS on the body with perceived intensity. (a) is a graph illustrating the presented stimulus before ISM conversion in an experiment to control PS on the body with perceived intensity, (b) is a graph illustrating the stimulus to oscillator V1 in the same experiment, and (c) is a graph illustrating the stimulus to oscillator V2 in the same experiment. 13 is a graph showing the results of an experiment in controlling PS on the body with perceived intensity. 1 is a block diagram illustrating a schematic configuration example of a vibration generating system according to an embodiment. 1 is a graph showing the discriminability of vibration by humans. 24 is a sample waveform of vibration used in a forced three-choice discrimination experiment conducted to determine the discriminability shown in the graph in FIG. 23. 23 is a graph showing signal waveforms before and after conversion for each segment by the vibration distribution control device shown in FIG. 22 . 13 is a graph showing an amplitude threshold _Tf used in calculating the correction energy. 13 is a graph showing the exponent threshold b used in calculating the corrected energy. FIG. 23 is a diagram for explaining the use of a window function in the vibration distribution control device shown in FIG. 22 . 23 is a graph illustrating an example of synthesis of low and high frequencies in the vibration distribution control device shown in FIG. 22. 23 is a graph showing a specific example of a signal waveform before and after conversion by the vibration distribution control device shown in FIG. 22. FIG. 23 is a block diagram illustrating an example of a functional configuration of an ISM unit in the vibration distribution control device shown in FIG. 22 . FIG. 23 is a block diagram illustrating a first embodiment of a vibration waveform generation process in the vibration distribution control device shown in FIG. 22. FIG. 32 is a block diagram illustrating details of the energy control process shown in FIG. 31. 32 is a block diagram illustrating the separation process of low-frequency components in the energy control process shown in FIG. 31 as a second example of the vibration waveform generation process in the vibration distribution control device shown in FIG. 22. 11A to 11C are graphs illustrating an example of generating vibration according to ISM without enhancing the waveform. 6A to 6C are graphs illustrating a first example of emphasizing and separating high frequency components of 3000 Hz or higher from a sound source. 6A to 6C are graphs illustrating a second example of emphasizing and separating high frequency components of 3000 Hz or more from a sound source. 11A to 11C are graphs illustrating an example of emphasizing and separating low-frequency components below 1000 Hz from a sound source. FIG. 32 is a block diagram illustrating a first modified example of the energy control process shown in FIG. 31 . FIG. 32 is a block diagram illustrating a second modified example of the energy control process shown in FIG. 31 . FIG. 32 is a block diagram illustrating details of the energy synthesis process shown in FIG. 31. 32 is a block diagram illustrating the details of the generation process of the corrected vibration waveform shown in FIG. 31. 23 is a block diagram showing an example of the configuration of a DAC when a plurality of vibration devices are used in the vibration generating system shown in FIG. 22. 23 is a block diagram showing an example of the configuration of a DAC when a single vibration device is used in the vibration generating system shown in FIG. 22.

Below, an embodiment will be described with reference to the drawings. However, the embodiment shown below is merely an example, and there is no intention to exclude the application of various modified examples and technologies not explicitly stated in the embodiment. In other words, this embodiment can be implemented with various modifications within the scope that does not deviate from its purpose.

In addition, each figure does not necessarily include only the components shown in the figure, but may include other components. In the following figures, parts with the same reference numerals indicate the same or similar parts unless otherwise specified.

[A] Embodiments [A-1] Distribution Processing of Perceptual Intensity FIG. 1 is a diagram for explaining distribution processing of perceptual intensity.

In this embodiment, the perceived intensity is calculated from an arbitrary vibration waveform based on a human intensity perception model. By substituting the perceived intensity, it becomes possible to calculate and adjust the amount of sensation that humans would normally perceive for an arbitrary waveform.

The perceived intensity is distributed to multiple transducers, and transducer 31 is driven so as to maintain the sum of the perceived intensity, thereby generating the bodily sensation of the vibration source that is to be expressed.

In this case, the directionality and distance of the vibration source can be expressed by allocating the ratio of the perceived intensity presented by each transducer 31 according to the desired position.

The location can be anywhere on the outside of the body, on the body such as around the arm, or close to the body such as just above the arm.

Using two or more (four in the example shown in Figure 1) vibrators 31 in contact with the body, vibrations are generated so that the bodily sensation obtained by vibrations emitted by a vibration source having an arbitrary waveform is conveyed as a sense of artificial reality of the direction and distance of the vibration source.

The bodily sensation of a vibration source having an arbitrary waveform is calculated based on the perceived intensity perceived by a human. The sense of distance from the vibration source may be expressed by attenuating the perceived intensity using an attenuation formula according to the distance. The sense of direction of the vibration source may be expressed by multiplying the perceived intensity by an appropriate distribution coefficient and distributing it to each transducer 31.

The distance attenuation formula and distribution coefficient may be determined according to the distance and azimuth angle between the vibration source and the perception origin determined by the geometric arrangement of the multiple transducers 31. The vibration source may be experienced as being outside the body. The vibration source may also be experienced as being on the surface of the body or inside the body.

The perceived intensity perceived by humans is calculated from the vibration waveform of a vibration source at any position. This makes it possible to experience any waveform containing multiple frequencies.

Multiple transducers are placed on the body, and the central position of the vibration image obtained by the multiple transducers 31 is determined as the perception origin. The position of the vibration image perceived when all transducers 31 are driven with the same perceived intensity may be determined as the perception origin. Furthermore, if the perception origin is affected by intensity or has individual differences, a representative position may be determined.

The perceived intensity at the perception origin is calculated using a distance attenuation formula that attenuates depending on the distance from the vibration source to the perception origin. By appropriately setting the distance attenuation formula, the physical properties of the vibration propagation path and the sense of distance can be experienced. Note that the physical properties (in other words, physical characteristics) of the vibration propagation path include, for example, the hardness and material of the ground, and the propagation characteristics in the air and underwater.

The perceived intensity calculated at the perception origin is distributed to each transducer 31 using a distribution coefficient for each transducer 31 that is appropriately determined based on the orientation of the vibration source and the placement position of each transducer 31. This allows the perceived intensity at the perception origin to be experienced as if it were in the orientation of the vibration source. At this time, by keeping the sum of the distribution coefficients constant, it is possible to provide a bodily experience that is the same as the perceived intensity at the perception origin, regardless of the orientation.

In FIG. 1, k (k = 1, 2, ..., N) indicates the number of the vibrator 31, and the k-th vibrator 31 is indicated by _Vk . p is a vector from the perception origin O to the vibration source P, and _qk is a vector from the perception origin O to _{the k} -th vibrator Vk. _αk is the angle between the vector p to the vibration source and the vector _qk to the k-th vibrator. The distance from the perception origin O to the vibration source P is represented by r = ||p||. When the perceived intensity of the vibration source is _Io , the perceived intensity transmitted to the perception origin is I, and the distance attenuation formula is d(r), I = d(r) _Io holds. In addition, when the perceived intensity generated by each vibrator 31 is _Ik and the distribution coefficient is _gk , _Ik = _gkI holds. However, _Σgk = 1. By setting the sum of the distribution coefficients g _k to 1, it is possible to maintain the magnitude of bodily sensation equal to the perceived intensity I even when using multiple transducers 31. The value of the distribution coefficient g _k may be corrected for each transducer 31.

A perceptual intensity _Io perceived by a human being is obtained from the vibration waveform of the vibration source P. The ISM, which will be described later with reference to FIG. 2 etc., may be used to calculate this perceptual intensity.

Human Pacinian corpuscles, which perceive high-frequency vibration waveforms of 100 Hz or higher, are unable to distinguish between the waveforms themselves and generally perceive the energy of the vibration. The amount of energy of high-frequency vibrations perceived by humans is defined as perceived intensity. Perceived intensity can be calculated simply as a quantity proportional to the square of the vibration amplitude of the signal. Alternatively, the subjective strength relative to the amplitude of the vibration waveform to be used can be determined in advance through experiments and used instead of perceived intensity.

A more accurate perceptual intensity has frequency dependency and is calculated by the following formula: where A is the amplitude, _Tf is the amplitude threshold at frequency f, and _bf is an exponent value that depends on frequency f. The calculation of the perceptual intensity is not limited to the following formula 1.

The perceived intensity may be calculated for any vibration waveform by dividing it into parts over time at a fixed period. When using the above-mentioned perceptual intensity, it is necessary to estimate the frequency of the waveform for the divided signal using Fourier transform, wavelet analysis, empirical mode decomposition, etc. When there are multiple frequencies, the perceptual intensity can be calculated for each frequency component and then calculated as the sum of these. The perceived intensity may be emphasized depending on the content of the vibration source to be presented.

Furthermore, even if the perceived intensity is the same, humans can distinguish between sounds if the perceived intensity fluctuates at around 80 Hz or less, using the fluctuation information as a clue. In consideration of this point, when calculating the perceived intensity by time division, it is necessary to maintain the fluctuation of the perceived intensity at least up to 80 Hz. To achieve this, it is desirable to calculate the perceived intensity by time division at least at frequencies greater than 80 Hz.

Figures 2 (a) to (c) are graphs that briefly explain the ISM processing used in the perceptual intensity distribution processing shown in Figure 1.

ISM is a technique for modulating high-frequency vibrations to low frequencies while maintaining their tactile feel. The original signal shown in Figure 2(a) is transformed to calculate the vibration intensity for each segment shown in Figure 2(b). The transformed waveform shown in Figure 2(c) is then generated while maintaining the vibration intensity.

In Figure 2, before conversion the vibration is between 400 and 600 Hz, while after conversion the waveform is 200 Hz, but any frequency can be selected for the converted waveform.

In generating high frequency component signals, a vibration waveform equivalent to the distributed perceived intensity is generated. Simply put, since the waveforms of each transducer 31 have the same frequency, the original waveform may be multiplied by a gain value calculated from the distribution coefficient to drive it (the same method as for the low frequency components described below). However, tactile transducers 31 generally have a narrow response frequency band, making it difficult to generate any vibration waveform as is. In addition, when an acoustic signal is used as the waveform of the vibration source, there is a problem that noise is generated when the transducer 31 is driven because it contains frequencies in the audible range.

Therefore, the signal is converted into an amplitude modulated wave with an appropriate carrier frequency so as to generate the distributed perceived intensity I _k . This results in a single carrier frequency for the generated signal. The carrier frequency can be selected according to the frequency response characteristics of the transducer. Considering the human perception characteristics of high-frequency vibration, a carrier frequency in the range of 150 to 400 Hz is appropriate.

Taking into account the human perception characteristics of high-frequency vibrations, in the high-frequency band, rather than focusing on the waveform itself, we focus on the vibration energy that is correlated with human perception characteristics, and by replacing it with another waveform that has the same vibration energy, it is possible to change the frequency band.

By dividing any continuous vibration signal into appropriate time intervals that take into account human perception characteristics and converting each divided segment into vibration energy, it is possible to convert the signal into any signal waveform while maintaining the same tactile sensation felt by humans, or allowing the sensation of high frequencies that are difficult to sense to be felt.

By appropriately selecting the frequency of the converted vibration, it is possible to drive the transducer efficiently to match its response range, reduce auditory noise, or convert it into any sound source.

It is said that humans can only perceive vibrations up to about 1 kHz. For this reason, vibrations above 1 kHz are often ignored. On the other hand, it is known that even with vibrations above 1 kHz, if the amplitude is an amplitude modulated wave whose amplitude fluctuates within a band that can be sensed by humans, the envelope component can be perceived.

On the other hand, a vibration energy model is known as a human perception characteristic for high-frequency vibrations of about 100 Hz or more. From this, it is known that vibrations cannot be distinguished even if the carrier frequency of an amplitude-modulated wave is replaced while maintaining the high-frequency vibration energy. However, as mentioned above, even if the vibration energy is maintained, there are cases where the envelope components of the vibration can be perceived as differences in tactile information, and the range of perception has not been investigated. Furthermore, although a method has been devised to convert signals based on vibration energy using time division, a method for maintaining low-frequency components has not been considered.

Figure 3 is a diagram illustrating an example of calculation of the distribution coefficient in the distribution process of perceived intensity shown in Figure 1.

The distribution coefficient _gk of the perceived intensity may be determined based on the azimuth angle (θ, φ) of the vibration source from the perception origin. Let p be the vector from the perception origin O to the vibration source P, _qk be the vector to the k-th transducer _Vk , and _αk be the angle between the two vectors. In this case, the distribution coefficient _gk of the transducer Vk is maximum when _αk = 0 and minimum when _αk = π, so the output rate _Rk of each transducer 31 can be set as follows using the trigonometric function cos _αk :

Here, g ₀ is a constant that adjusts the minimum value of the perceived intensity. In this case, the distribution coefficient is normalized by the sum of the output rates of all the oscillators and is calculated by the following formula.

cos α _k is calculated using the inner product of two vectors p and q _k as follows:

As shown in FIG. 3, when the azimuth angle of the transducer V _k is θ _k , the elevation angle is φ _k , the azimuth angle of the vibration source is θ, and the elevation angle is φ, cos α _k can be found as follows.

When the minimum perceived intensity transmitted from the vibration source to the perception origin is I _min , if the perceived intensity distributed to each transducer 31 falls below the human perception threshold, the appropriate intensity distribution ratio cannot be experienced. Therefore, when determining the output ratio R _k of each transducer 31, a constant g ₀ is determined to adjust the minimum intensity. The condition for the minimum intensity I _{min k} in each transducer 31 to be equal to or greater than the perception threshold is that I = 1 when the vibration amplitude A is equal to the perception threshold T _f according to the definition of perceived intensity, and therefore the following condition is satisfied.

Therefore, the minimum condition that g ₀ must satisfy is expressed as follows:

Figure 4 is a flowchart illustrating the perceptual intensity distribution process shown in Figure 1.

The vibration waveform y(t) of the vibration source is input to a Low Pass Filter (LPF) and a low frequency component y _low (t) is output (step S111). The cutoff frequency of the LPF may be about 80 to 400 Hz.

The vibration waveform y(t) of the vibration source is also input to a High Pass Filter (HPF), which outputs a high frequency component y _high (t) (step S112).

The intensity _Io of the vibration source is calculated from the high frequency component y _high (t) (step S113).

Based on the intensity _Io of the vibration source and the distance r from the vibration source, the intensity I of the perception origin is calculated (step S114).

Based on the intensity I of the perception origin and the direction (θ, φ) of the vibration source, distribution is performed using a distribution coefficient g _k (step S115).

The gain _hk is calculated based on the distribution coefficient _gk and the low-frequency component _ylow (t) (step S116).

Based on the intensity I _k according to the distribution coefficient g _k , a vibration H _k (t) having an equivalent intensity is generated (step S117).

Based on the high-frequency vibration H _k (t) and the low-frequency vibration L _k (t) according to the gain h _k , waveforms are synthesized to generate the drive waveform S _k (t) for each transducer 31 (step S118).

The low frequency components are output by multiplying the amplitude of the original waveform by a gain _hk . _hk may be determined based on the distribution coefficient _gk used in the intensity distribution.

h _k may be set so that the total amplitude value is equal to the original amplitude, using the distribution coefficient g _k as the gain value as is.

h _k may be set using a distribution coefficient g _k such that the sum of the squared amplitudes is equal to the square of the original amplitudes.

It is known that the amplitude decreases due to the diffusion of energy. Geometric damping can be expressed in amplitude as follows. Here, A is the amplitude at the origin of perception, _A0 is the amplitude at the vibration source, and n is the geometric damping constant determined by the type of wave. For example, the value of n is known to be n = 0.5 for surface waves (Rayleigh waves).

Moreover, when the amplitude is converted to the intensity, the following equation holds:

In addition to the geometric damping mentioned above, internal damping is known, in which energy is absorbed due to friction between particles when vibration is propagated. The geometric damping and internal damping are expressed in terms of amplitude by the following formula. Here, α is the internal damping constant that depends on the material through which the vibration propagates and the frequency. For example, at 50 Hz, a = 0.1 to 0.3 on soft ground, and a = 0.003 to 0.03 on hard ground.

Moreover, when the amplitude is converted to the intensity, the following equation holds:

Figure 5 is a diagram illustrating an example of determining independent perceptual origins for multiple body parts in the perceptual intensity distribution process shown in Figure 1.

When transducers 31 are placed in separate body parts, two or more transducers 31 may be placed on each body part, and an independent perception origin may be defined for each area.

A large number of transducers 31 may be arranged in advance, and the combination of transducers 31 to be vibrated and the perception origin may be determined according to the state of contact with the body and the position of the vibration source. For example, tiles with built-in transducers 31 may be laid out over the entire floor, and the contact points with the body may be detected. Each time a contact point is detected, the combination of transducers 31 to be vibrated may be dynamically rearranged.

When the body is divided into multiple body parts, different distance attenuation formulas may be used for each body part depending on the properties of the vibration medium with which it is in contact. For example, when dividing into the feet (body part #2 in Fig. 5) which are in contact with the floor and the chest (body part #1 in Fig. 5) which is in contact with the air, the vibration source on the floor is easily transmitted to the feet but is not easily transmitted to the chest, so the distance attenuation formula for the feet can be set to be smaller. Body parts that are typically used include, but are not limited to, the soles of the left and right feet, buttocks and lower back, chest and upper back, palms and wrists, left and right forearms, and head.

Figure 6 (a) is a diagram explaining the case where transducers are arranged two-dimensionally on the body surface in the distribution process of perceived intensity shown in Figure 1, and (b) is a diagram explaining the case where transducers are arranged circumferentially on the body surface in the distribution process of perceived intensity shown in Figure 1.

In (a) of Figure 6, it is possible to generate a sensation of a vibration source moving on the surface of the body part. The vibration source may be located inside between the transducers 31.

In FIG. 6(b), the vibration source can generate a sensation of moving inside the body in addition to the surface of the body part.

Figure 7 is a diagram illustrating the case where two perceptual origins are set on the body in the perceptual intensity distribution process shown in Figure 1.

In Figure 7, the first perception origin #1 is formed by four vibrators 31 on the left side of the figure, and the second perception origin #2 is formed by four vibrators 31 on the right side of the figure, and a method is shown in which a vector is obtained from each perception origin to the vibration source. If the distance between the eight vibrators 31 is close, one perception origin may be provided near the center.

Figure 8 (a) is a diagram explaining an example in which the vibrators 31 are arranged on a straight line in the PS method, and (b) is a diagram explaining an example in which the vibrators 31 are arranged on a circumference in the PS method. In Figures 8 (a) and (b), the vibration source is on the straight line or circumference connecting the two vibrators 31.

8A and 8B, the distribution coefficient is determined by the internal division ratio β:1-β of the distances of the two transducers 31 (V ₁ , V ₂ ). The distribution coefficient may be expressed as an exponential function of the internal division ratio.

When the vibration source is on the line or circumference connecting the two oscillators 31, the angle between the vector from the perception origin to the vibration source and oscillator 31 is 0, and the distribution coefficient cannot be calculated. In this case, the distribution coefficient may be determined based on the ratio of the distance between oscillator 31 and the vibration source and oscillator 31.

Figure 9 is a diagram illustrating an example of generating another PS by using a PS as a virtual vibration source in the perceptual intensity distribution process shown in Figure 1.

In FIG. 9, the distribution coefficients of the transducers _V1 and _V2 are determined so that a virtual vibration source V _a is generated between the transducers 31 ( _V1 , _V2 ) at a position with an internal division ratio of the distance β ₁ :1-β _1. The distribution coefficient may be corrected by an exponential function. Similarly, a virtual vibration source V _b is generated between the transducers V ₅ and V _6. Using the two virtual vibration sources V _a and V _b , a vibration source to be presented is generated on a straight line connecting V _a and V _b based on an internal division ratio of the distance β:1-β. The sum of the distribution coefficients of the above four transducers 31 is set to be constant.

The calculation formula for the distribution coefficient and perceived intensity of the transducers _V1 and _V2 is, for example, as follows: γ is an exponent value for finding the distribution coefficient from the internal division ratio β.

Figure 10 shows an example of applying perceptual intensity distribution processing to a floor-mounted vibration device 101 and a wearable vibration device 102.

Figure 10 shows an example of combining visual presentation using a display device 33 such as VR goggles, stereophonic sound using headphones 32, and a floor-mounted vibration device 101 and a wearable vibration device 102.

Perception origin #1 is formed by the vibrators 31 (four in the figure) of the floor-mounted vibration device 101. Perception origin #2 is formed by the vibrators 31 (four in the figure) of the wearable vibration device 102. Note that the reference numeral 31 is omitted in the following Figures 10 to 15.

Vibration source #1 represents a collision with the floor, and the perceived intensity of vibration source #1 is mainly transmitted to perception origin #1, and the transmission to perception origin #2 is made relatively small. This is achieved by making the attenuation effect of the distance attenuation formula from vibration source #1 to perception origin #1 small, and making the attenuation effect of the distance attenuation formula from vibration source #1 to perception origin #2 relatively large.

Vibration source #2 represents a vibration source suspended in the air, and the perceived intensity of vibration source #2 is mainly transmitted to perception origin #2. This is achieved by reducing the attenuation effect of the distance attenuation formula from vibration source #2 to perception origin #2 and relatively increasing the attenuation effect of the distance attenuation formula from vibration source #2 to perception origin #1.

Figure 11 shows an example of applying perceptual intensity distribution processing when one perceptual origin is provided to a wristband-type vibration device 103 and a game controller 104.

Figure 11 shows an example of localizing an external vibration source by combining a vibrator 31 of a game controller 104 held in both hands with a wristband-type vibration device 103. Wristband-type vibration device #1 is worn on the left hand, and wristband-type vibration device #2 on the right hand. In this example, four vibrators 31 are built into each wristband-type vibration device 103 and arranged in a ring shape. The game controller 104 has two built-in vibrators 31 on the left and right. The game controller 104 and the two wristband-type vibration devices 103 communicate wirelessly via Bluetooth (registered trademark) or the like, and all vibrators 31 are driven in sync.

The perception origin is formed by all the vibrators 31 of the game controller 104 and the two wristband-type vibration devices 103.

The external vibration source can be localized by calculating the distribution coefficient of the perceived intensity according to the direction of the azimuth vector from the perception origin to the vibration source and the direction of the vector to each transducer 31.

Figure 12 shows an example of applying perceptual intensity distribution processing when two perceptual origins are provided to a wristband-type vibration device 103 and a game controller 104.

In Fig. 12, the vibrator 31 on the left side of the game controller 104 and the vibrator 31 of the wristband-type vibration device 103 (#1) in the left hand form the perception origin #1, and vibration source #1 is localized. The vibrator 31 on the right side of the game controller 104 and the vibrator 31 of the wristband-type vibration device 103 (#2) in the right hand form the perception origin #2, and vibration source #2 is localized. In this way, the vibration sources can be experienced independently in the left and right hands.

In this example, the left and right vibration sources are moved from inside the arm to the front of the hand as shown by path #1 and path #2, creating a sensation as if the vibration source is being shot from inside the body. The timing of the shot may be synchronized with the operation of the left and right buttons of the game controller 104 to generate a bodily sensation for each side independently.

Figure 13 is a diagram showing an example of applying distribution processing of the perceived intensity of the outside world AR to a wristband-type vibration device 103 and a smartphone 105.

Figure 13 shows an example of the configuration of an AR system that combines a smartphone 105 and a wristband-type vibration device 103 to allow the user to experience the outside world. Using a GPS, geomagnetic sensor, inertial sensor, etc. mounted on the smartphone 105 that can be held by the user, the position and direction of the camera are identified, and characters, etc. are superimposed on the screen of the smartphone 105 on the real environment captured by the camera. The smartphone 105 and wristband-type vibration device 103 communicate wirelessly via Bluetooth, etc., and all vibrators 31 are driven in sync.

The perception origin is formed by one vibrator 31 of the smartphone 105 and four vibrators 31 of the wristband-type vibration device 103.

By matching the position of the character mapped onto the real world with the position of the vibration source, even when the character is not visible on camera, it is possible to present sensory information based on the character's direction, distance, and movement, emphasizing the character's sense of reality.

Figure 14 shows an example of applying distribution processing of perceptual intensity on the body to a wristband-type vibration device 103 and a smartphone 105.

Figure 14 shows an example in which a smartphone 105 is combined with a wristband-type vibration device 103 to allow the user to experience the vibration source passing over the body.

Vibration source #1 is moved along path #1. In this example, the user feels as if a vibration source has been taken into the user's body from the outside world via smartphone 105. Vibration source #2 is moved along path #2. In this example, the user feels as if the vibration source is circling around the user's arm. This allows the user to feel a sensation synchronized with the operation of smartphone 105 and video in conjunction with wristband-type vibration device 103.

In Figures 10 to 14, the vibration source may be determined by the vibration of an artificial object, or may be determined by the recorded vibration of a real object. When the vibration source is determined by the vibration of an artificial object, the vibration source may be determined in accordance with the video or the like viewed by the user, and the perceived intensity may be distributed to each transducer 31 according to the vibration source. On the other hand, when the vibration source is determined by the recorded vibration of a real object, the vibration source may be determined, for example, by the collision of a ball with the floor surface, and the perceived intensity may be emphasized and distributed to each transducer 31 according to the vibration source.

Figure 15 shows an example of integrating the distribution processing of perceived intensity into the speaker 32 and the display device 33.

In FIG. 15, a system is shown that is composed of a display device 33 such as a video screen, a speaker 32 such as a stereophonic speaker system, and vibration devices 106 to 108 for the back, seat, and floor. By matching the sound source position localized by stereophonic sound with the vibration source position, the sense of localization of the content can be improved and the sense of realism can be improved. In addition, by localizing the vibration source outside the screen, the presence of an object that does not appear on the video screen can be perceived. Furthermore, by localizing the acoustic information of a specific object as a vibration source, or by localizing multiple objects individually as vibration sources, the sense of reality of the object can be individually experienced. For example, in live video, a vibration source can be set according to the position of each instrument, and the perceived intensity can be calculated individually from the acoustic signal of each instrument and localized to the respective vibration source positions.

Figure 16 (a) is a diagram explaining the reference stimulus in the experiment to confirm the sense of orientation and vibration intensity, and (b) is a diagram explaining the method of answering the perceived orientation in the experiment to confirm the sense of orientation and vibration intensity.

In the experiment to confirm the sense of orientation and vibration intensity, the sense of orientation and vibration intensity are investigated when a vibration source generated outside the body is presented by four vibrators 31, giving the sensation of vibration being transmitted from the ground to the soles of the feet.

The experiment was carried out according to the following procedure.
1. Present the reference stimulus (see Figure 16(a)) and the test stimulus.
2. Ask participants to report perceived intensity
3. Present the same test stimulus as in 1.
4. Ask participants to report perceived direction

The subjects responded to the intensity using integers of their choice, with 10 being the reference stimulus and 20 being twice as strong, and 5 being half as strong. For the direction, they responded using numbers from 0 to 15, referring to Figure 16(b).

The experimental conditions were that the intensity of the test stimulus was constant, and eight conditions in eight directions (0 to 315°, in 45° increments) were presented. The subjects were five adult males, and the number of trials was 50 (8 conditions x 6 + 2 dummy stimuli with double amplitude).

Figure 17 is a diagram explaining the relative positioning of the vibrator 31 and the vibration source in the experiment to confirm the sense of direction and vibration strength.

As shown in Fig. 17, transducers 31 ( _V1 to _V4 ) were placed in each of the four quadrants on a two-dimensional coordinate plane centered on the perception origin. The subject placed the left foot on transducers _V1 and _V2 , and the right foot on transducers _V3 and _V4 . The direction from the perception origin to the vibration source was defined as θ, and the direction from the perception origin to transducer _Vk was defined as _θk .

Figure 18 (a) is a graph showing the results of the directional responses in the experiment to confirm the sense of direction and vibration intensity, and (b) is a graph showing the results of the intensity responses in the same experiment.

The directional response results shown in Figure 18(a) show that the responses were made according to the intended presentation direction. Directional dependency may be observed. For example, the variance for vibrations from the vertical direction (0°, 180°), which is the direction of the toes or heels, was small, indicating that the vertical direction was easier to distinguish.

The intensity response results shown in Figure 18 (b) indicate that it is possible to present a nearly constant intensity regardless of the orientation. In the experimental results, the overall intensity was higher than that of the reference stimulus (10), but this is thought to be due to the fact that the frequency characteristics of the transducer when the frequency is converted by the ISM are not taken into consideration.

Figure 19 is a diagram explaining the relative positioning of the transducer 31 and the vibration source in an experiment to control PS on the body with perceived intensity.

In the experiment shown in Figure 19, the sensation of any vibration generated by two transducers 31 being transmitted and moved across the surface of the forearm was presented.

In order to generate PS, the intensity ratio is determined for each transducer 31. The formula for determining the distribution coefficient g _k is as follows: β is the internal division ratio (0≦β≦1) of the presented vibration source position, and γ is an exponential coefficient for correcting the distribution coefficient.

If the perceived intensity presented by the vibration source is I, then the perceived intensities allocated to the transducers V ₁ and V ₂ are I ₁ = g ₁ I and I ₂ = g ₂ I.

Figure 20 (a) is a graph illustrating the presented stimuli before ISM conversion in an experiment to control PS on the body with perceived intensity, (b) is a graph illustrating the stimuli to oscillator _V1 in the experiment, and (c) is a graph illustrating the stimuli to oscillator _V2 in the experiment.

In order to identify γ such that the perceived intensity is constant, an experiment was carried out using the following procedure.
1. Adjust the strength of the two vibrators so that they are the same
2. Stimuli presented in the order of β = 0, 0.5, 1
3. Ask participants to answer whether the three stimulus intensities are equal or not
4. Change γ and repeat the process to identify the solution using the stepwise method.

For the presented stimulus before ISM conversion shown in FIG. 20(a), when β=0.25 and γ=1, a stimulus to transducer _V1 shown in FIG. 20(b) and a stimulus to transducer _V2 shown in FIG. 20(c) are presented.

Figure 21 is a graph showing the results of an experiment in controlling PS on the body with perceived intensity.

For the four subjects, when γ was around 0.6 to 0.8, the perceived intensity of the stimulus was felt to be constant by most of the subjects. This suggests that the perceived intensity can be made uniform with a certain parameter, regardless of the distance d between the transducers 31. In addition, after identifying γ, five stimuli (β = 0, 0.25, 0.5, 0.75, 1) were presented again, and the subjects responded that they did not feel uncomfortable even if they thought that the presentation position of the stimulus was moving at equal intervals.

[A-2] Vibration Generating System FIG. 22 is a block diagram showing a schematic configuration example of a vibration generating system 100 according to an embodiment.

The vibration generating system 100 comprises a vibration distribution control device 1, a digital-to-analog converter (DAC) 2, n vibrators 31 (#1 to #n), a speaker/headphones 32, and a display device 33. Different types of vibrators 31 may be combined.

The DAC 2 may be referred to as a Universal Serial Bus (USB) audio, and converts the digital signal input from the vibration distribution control device 1 into an analog signal. The DAC 2 then outputs the converted analog signal to the vibrator 31 and the speaker/headphones 32. Note that an amplifier (not shown) for driving the vibrator 31 and the speaker/headphones 32 may be provided downstream of the DAC 2.

The display device 33 is an LCD display, an Organic Light-Emitting Diode (OLED) display, a Cathode Ray Tube (CRT), an electronic paper display, etc., and displays various contents for humans output from the vibration distribution control device 1.

The vibration distribution control device 1 has a Central Processing Unit (CPU) 11, a memory 12 and a storage device 13.

The vibration distribution control device 1 in one example of this embodiment may convert acoustic information such as music, movies, and voice into a tactile signal. When the frequency exceeds about 300 to 400 Hz, the vibration becomes audible as sound, resulting in noise. For this reason, in conventional vibration experience devices for music, movies, and the like, a low-pass filter is often applied at about several hundred Hz to cut the high frequency band. On the other hand, the vibration distribution control device 1 in one example of this embodiment converts the waveform of the high frequency band into another frequency in the low frequency band and outputs it.

In addition, the vibration distribution control device 1 in one example of this embodiment may modulate the high-frequency vibrations generated when an object comes into contact with the environment to a frequency band that humans can perceive. By transmitting the vibrations generated when an object comes into contact with the environment, it is possible to grasp the strength of the collision between the object and the environment and the state of friction. If the object is a metal tool, for example, vibrations in a band that humans cannot perceive may occur when the object comes into contact. Therefore, the vibration distribution control device 1 in one example of this embodiment modulates the frequency band of the output signal.

Furthermore, the vibration distribution control device 1 in one example of this embodiment may be applied to chairs, suits, headsets, etc. that include a vibration device.

Memory 12 is a storage device including Read Only Memory (ROM) and Random Access Memory (RAM).

The storage device 13 is a device that stores data in a readable and writable manner, and may be, for example, a hard disk drive (HDD), a solid state drive (SSD), or a storage class memory (SCM). The storage device 13 stores the generated teacher data, learning models, etc.

The CPU 11 is a processing device that performs various controls and calculations, and realizes various functions by executing an Operating System (OS) and programs stored in the memory 12. That is, the CPU 11 may function as a frequency removal control unit 111, a time division control unit 112, an energy control unit 113, and a signal output unit 114, as shown in FIG. 22.

The CPU 11 is an example of a computer, and illustratively controls the operation of the entire vibration distribution control device 1. The device for controlling the operation of the entire vibration distribution control device 1 is not limited to the CPU 11, and may be, for example, any one of an MPU, DSP, ASIC, PLD, FPGA, and a dedicated processor. The device for controlling the operation of the entire vibration distribution control device 1 may be a combination of two or more of a CPU, MPU, DSP, ASIC, PLD, FPGA, and a dedicated processor. Note that MPU is an abbreviation for Micro Processing Unit, DSP is an abbreviation for Digital Signal Processor, and ASIC is an abbreviation for Application Specific Integrated Circuit. Also, PLD is an abbreviation for Programmable Logic Device, and FPGA is an abbreviation for Field Programmable Gate Array.

The frequency removal control unit 111 removes a first signal component having a frequency below a predetermined frequency.

The time division control unit 112 divides the second signal component other than the first signal component removed by the frequency removal control unit 111 for each predetermined time. In other words, the time division control unit 112 divides a signal related to a vibration source of an arbitrary waveform located at a certain position for each predetermined time.

The energy control unit 113 converts the waveform of the second signal component while maintaining the energy of the second signal component for each predetermined time divided by the time division control unit 112. In other words, the energy control unit 113 functions as an example of a calculation unit that calculates the perceived intensity from the vibration waveform of the vibration source, and also functions as an example of a distribution unit that distributes the perceived intensity to each of the multiple transducers 31 according to the orientation and placement position of the vibration source.

The energy control unit 113 may calculate the perceived intensity at the perception origin using the perception origin determined based on the vibration images obtained by the multiple transducers 31 and information that attenuates according to the distance from the vibration source. The energy control unit 113 distributes the perceived intensity calculated at the perception origin to each of the multiple transducers 31 using a distribution coefficient determined based on the orientation and placement position.

The energy control unit 113 may apply a predetermined attenuation formula to the energy of the signal depending on the distance and direction from the vibration source to each of the multiple transducers for each of the predetermined times divided by the time division control unit 112, and distribute the energy of the signal to the multiple transducers, thereby converting the signal into a waveform having a different frequency.

The signal output unit 114 outputs the first signal component removed by the frequency removal control unit 111 in addition to the second signal component after waveform conversion by the energy control unit 113. In other words, the signal output unit 114 outputs the signal after conversion by the energy control unit 113, and causes a person to feel the output vibration generated from the converted signal using multiple vibrators.

The signal output unit 114 may output an output vibration related to a vibration source that occurs at a position on or inside the human body. The signal output unit 114 may also output an output vibration related to a vibration source that occurs at a position remote from the human body.

The signal output unit 114 may be combined with stereophonic sound to allow a person to experience the output vibration. Furthermore, for stereophonic sound having sound sources localized at multiple positions, the signal output unit 114 may allow a person to experience the output vibration according to the position of each sound source. Furthermore, the signal output unit 114 may be combined with a stereoscopic visual device to allow a person to experience the output vibration.

The signal output unit 114 may combine a vibration source at a three-dimensional position with three or more transducers arranged in two dimensions and stereophonic sound or video to reinforce the three-dimensional vibration localization sense, or the stereophonic sound or video localization sense, and allow a person to experience the output vibration. Also, the signal output unit 114 may combine a vibration source at a three-dimensional position with three or more transducers arranged in three dimensions and stereophonic sound or video to reinforce the three-dimensional vibration localization sense, or the stereophonic sound or video localization sense, and allow a person to experience the output vibration.

[A-3] ISM

Figure 23 is a graph showing the discrimination ability of vibrations by humans (quoted from Nan Cao, Masashi Konyo, Hikaru Nagano and Satoshi Tadokoro, "Dependence of the Perceptual Discrimination of High-Frequency Vibrations on the Envelope and Intensity of Waveforms," IEEE Access, vol. 7, pp. 20840-20849, February. 2019). Figure 24 is a sample waveform of vibration used in a forced three-choice discrimination experiment conducted to determine the discrimination ability shown in the graph in Figure 23.

Based on a conventionally known vibration energy model, the graph shown in Figure 23 is obtained by investigating human perceptual discrimination characteristics while maintaining vibration energy. Symbols B1 and B2 in Figure 24 show the same waveform, while symbol B3 in Figure 24 shows a different waveform. The subjects are asked to compare the constant amplitude vibration shown in symbols B1 and B2 in Figure 24 with the amplitude modulated stimulus shown in symbol B3, and to answer which is the amplitude modulated wave. In Figure 23, the correct answer rate obtained in a forced three-choice discrimination experiment is expressed as Sensitivity (d': d-prime), which is a discrimination performance index based on signal detection theory, and when d' is 1 or less, the correct answer rate falls below about 60%.

According to the graph in Figure 23, the upper limit of the frequency at which the envelope components can be distinguished is about 80 to 125 Hz. It also shows that there is no need to preserve the envelope components above this upper limit of frequency, and that if the carrier frequency of the amplitude modulated wave is replaced while maintaining the vibration energy, the stimuli cannot be distinguished.

As mentioned above, even if the vibration energy is maintained, if the energy fluctuates in the low-frequency range, the fluctuations may be perceived as differences in tactile information, but the range of perception has not been investigated. Based on the discovery that the upper limit of perceptible low-frequency fluctuations is approximately 80 to 125 Hz, we will convert the vibration energy while maintaining the low-frequency components using two measures (see measures [1] and [2] below).

Figure 25 is a graph showing the signal waveforms before and after conversion for each segment by the vibration distribution control device 1 shown in Figure 22.

Human high frequency perception is based on vibrational energy rather than the waveform itself, so if the vibrational energy is maintained, the same sensation will be felt. However, if the vibrational energy fluctuates below 80-125 Hz, it is necessary to reproduce the fluctuations in the vibrational energy.

Therefore, in one example of this embodiment, as a means of maintaining the fluctuation of vibration energy below a predetermined frequency (e.g., approximately 80 to 125 Hz), the vibration is divided into time segments, for example, between approximately 80 and 200 Hz, and the vibration energy is determined for each segment and replaced with a vibration having a different carrier frequency.

In the example shown in Figure 25, the original vibration signal shown with reference symbol C1 and the transformed signal shown with reference symbol C2 are transformed so that the energy of the transformed signal is the same as the energy of the original vibration signal within the same time segment.

The width of the time division (in other words, the division width) should be set to a level that can express energy fluctuations below 80 to 125 Hz (in other words, to a level where the peaks of the fluctuations are aligned) (Measure [1]). The frequency of the division width may be 80 to 125 Hz or more, but if the division width is made too short, the accuracy of estimating vibration energy with a period longer than the division width will deteriorate. Therefore, by using the following measure [2], the waveform of vibrations whose energy cannot be estimated is output as is.

Furthermore, components below a predetermined frequency may be extracted and presented as such as a vibration stimulus (measure [2]). The predetermined frequency may be 80-125 Hz or higher, but components above the predetermined frequency may be represented by the energy control unit 113 of the second signal component. This allows for flexibility in frequency selection. However, if the predetermined frequency is set too high, noise problems may occur or a wideband vibration device may be required.

According to the above measures [1] and [2], the predetermined frequency may be about 80 to 400 Hz. 400 Hz is the upper limit from the viewpoint of noise issues and the performance of the vibration device.

Setting a specific frequency also involves the selection of the carrier frequency when converting vibrations. Since the peak vibration frequency at which human perception improves is around 200 to 250 Hz, a practical carrier frequency that increases sensitivity without causing noise is around 150 to 400 Hz. The carrier frequency may be a constant multiple of the division width. Additionally, multiple different carrier frequencies may be used, and may include a high frequency range of 400 Hz or higher.

In addition, the specified frequency that separates low and high frequencies does not necessarily have to match the frequency of the division width for calculating energy.

Corrected energy, which is vibrational energy corrected to improve human perceptibility, can be expressed as follows:

Aは、分離された基底信号g_kの振幅である。T_fは、振幅閾値であり、周波数fの信号においてヒトが感じられる最小の振幅である。b_fは、指数値であり、周波数fの信号における非線形特性である。

A is the amplitude of the separated base signal g _k . T _f is the amplitude threshold, which is the minimum amplitude that humans can sense in a signal of frequency f. b _f is the exponential value, which is the nonlinear characteristic in a signal of frequency f.

FIG. 26 is a graph showing the amplitude threshold _Tf used in calculating the correction energy.

As shown in FIG. 26, the amplitude threshold varies depending on the frequency. In the range of approximately 10 ² to 10 ³ Hz, humans can sense even relatively small amplitudes, but in other ranges, humans can only sense relatively large amplitudes.

FIG. 27 is a graph showing the exponent value _bf used in calculating the correction energy.

The exponent value _bf in FIG. 27 is an example in which a value obtained by linearly interpolating the exponent value _bf below 400 Hz that has been previously reported is used.

Figure 28 is a diagram explaining the use of window functions in the vibration distribution control device 1 shown in Figure 22.

As shown by reference D1, a high-frequency signal H(t) is input. As shown by reference D2, the high-frequency signal H(t) is divided into frames as signals h _i , h i+1 , h i+2 , ... for each frame i, _i+1 , i ₊₂ , .... As shown by reference D3, the signal h of each divided frame is separated into a plurality of basis signals g ₁ , g ₂ , g ₃ .... As shown by reference D4, scalar values E _i , E i+1 , E _{i +2 ,} ... obtained by combining the correction energies of all basis signals g ₁ , g ₂ , g ₃ ... are output based on the frequencies f ₁ , f ₂ , f ₃ ... of the basis signals g ₁ , g ₂ , g 3 .... As shown by reference D5, the scalar values _Ei , _Ei+1 , _Ei+2 , ... of the vibration energy calculated in each frame i are converted into vibration waveforms having the same vibration energy but different carrier frequencies, and windowing processing using a window function is performed on the amplitudes _ai (t), _ai+1 (t), _ai+2 (t), ... of the waveforms. As shown by reference D6, frame synthesis is performed on the 1st to Nth frames, and the amplitude A(t) of the vibration waveform is output. As shown by reference D7, a second vibration waveform _S2 (t) having a carrier frequency such that the amplitude is A(t) is output.

Figure 29 is a graph illustrating an example of synthesis of low and high frequencies in the vibration distribution control device 1 shown in Figure 22.

The second vibration waveform _S2 (t) shown in E1, which is generated from the high-frequency signal H(t) using the window function in Fig. 28, is synthesized with the first vibration waveform S1(t) shown in E2, which is the low-frequency signal L(t) output as is. As a result, _the synthesized waveform _S1 (t)+ _S2 (t) shown in E3 is output.

Figure 30 is a graph showing a specific example of a signal waveform before and after conversion by the vibration distribution control device 1 shown in Figure 22.

In Figure 30, the waveform of the violin sound before conversion (see symbol F1) and after conversion (see symbol F2) are represented by amplitude over time.

Conventional tactile vibration produces a lot of auditory noise when used with high-frequency vibrations such as those of a violin, and applying a low-pass filter eliminates the vibrations that humans can perceive. Therefore, the correction energy is calculated so that the waveform becomes a single wavelength with a low-frequency carrier frequency over time.

Figure 31 is a block diagram illustrating an example functional configuration of the ISM section 1000 in the vibration distribution control device 1 shown in Figure 22.

The ISM unit 1000 functions as a time division control unit 112, an energy control unit 113, an energy vibration conversion unit 114a, and a vibration generation unit 114b. In this embodiment, the ISM unit 1000 controls the vibrations including high frequency components of about 100 Hz or more by the vibrator 31 using a signal. The methods of controlling vibrations including high frequency components of 100 Hz or more according to the present invention are collectively referred to as ISM.

The time division control unit 112 divides the vibration signal X(t) containing high frequency components of about 100 Hz or more into N frames in time, and inputs the time-divided i-th frame signal h _i to the energy control unit 113. The number of frames N may be determined by a predetermined period and an overlap rate of the windowing process.

The energy control unit 113 calculates a corrected energy e _i for the signal h _i of the i-th frame, and inputs the calculated corrected energy to the energy vibration conversion unit 114 a.

The energy vibration conversion section 114a generates a signal A(t) by combining the corrected energies e ₁ to e _N of the 1st to Nth frames, and inputs the signal A(t) to the second vibration generation section 114b.

The vibration generating unit 114b outputs a signal waveform S(t) based on the synthesized signal A(t).

A first embodiment of the vibration waveform generation process in the vibration distribution control device 1 shown in Figure 22 will be explained according to the block diagram (steps S1 to S7) shown in Figure 32.

The signal elimination unit 111a and the low-pass filter 111b shown in Fig. 32 correspond to the frequency elimination control unit 111 shown in Fig. 22. Also, the energy vibration conversion unit 114a, the second vibration generation unit 114b, and the first vibration generation unit 114c shown in Fig. 32 correspond to the signal output unit 114 shown in Fig. 22.

The signal removal unit 111a removes components below a predetermined frequency from the acquired pre-conversion signal X(t) to generate a high-frequency signal H(t) and inputs it to the time division control unit 112 (step S1).

The time division control unit 112 divides the high frequency signal H(t) into N frames and inputs the time-divided i-th frame signal h _i to the energy control unit 113 (step S2). The number of frames N may be determined by a predetermined period and an overlap rate of the windowing process.

The energy control unit 113 calculates a corrected energy e _i for the signal h _i of the i-th frame, and inputs the calculated corrected energy to the energy vibration conversion unit 114 a (step S3).

The energy vibration conversion section 114a generates a signal A(t) by combining the corrected energies e ₁ to e _N of the 1st to Nth frames, and inputs the signal A(t) to the second vibration generation section 114b (step S4).

The second vibration generating unit 114b outputs a second vibration waveform S ₂ (t) based on the synthesized signal A(t) (step S5).

Meanwhile, the low-pass filter 111b inputs a low-pass signal L(t) obtained by filtering out components below a predetermined frequency from the acquired pre-conversion signal X(t) to the first vibration generating unit 114c (step S6).

The first vibration generating unit 114c outputs a first vibration waveform S ₁ (t) based on the low-frequency signal L(t) (step S7).

Next, details of the energy control processing shown in step S3 of Figure 32 will be explained according to the block diagram shown in Figure 33 (steps S11 to S14).

As shown in FIG. 33, the energy control unit 113 functions as a basis signal separation control unit 113a, a frequency calculation unit 113b, an energy correction parameter calculation unit 113c, and a correction energy calculation unit 113d.

The basis signal separation control unit 113a separates the time-divided i-th frame signal h _i , which is an input signal, into a plurality of basis signals g, and inputs the separated k-th basis signal g _k to the frequency calculation unit 113b (step S11). For example, the signals may be separated by short-time Fourier analysis, wavelet analysis, Empirical Mode Decomposition (EMD) method, or the like.

The frequency calculation unit 113b calculates the frequency f _k of the k-th basis signal g _k by, for example, discrete Fourier analysis or Hilbert Spectrum analysis, and inputs the frequency f k to the energy correction parameter calculation unit 113c (step S12).

The energy correction parameter calculation unit 113c calculates the exponent value _bk and the amplitude threshold value _Tk described with reference to Figs. 26 and 27 based on the frequency _fk , and inputs them to the corrected energy calculation unit 113d (step S13).

The corrected energy calculation unit 113d calculates the corrected energy _Ipc for each base signal _gk based on the exponent value _bk and the amplitude threshold _Tk in accordance with the formula shown in equation 16, and outputs a scalar value _ej obtained by adding up the corrected energies of all the base signals _gk (step S14).

Next, as a second example of the vibration waveform generation process in the vibration distribution control device 1 shown in Figure 22, the separation process of low-frequency components in the energy control process shown in Figure 31 will be explained according to the block diagram shown in Figure 34 (steps S101 to S105).

As shown in FIG. 34, the energy control unit 113 functions as a basis signal separation control unit 113a, a frequency calculation unit 113b, an energy correction parameter calculation unit 113c, and a correction energy calculation unit 113d, and may also have the function of separating low-frequency components to a low-frequency component synthesis unit 113g.

The basis signal separation control unit 113a separates the time-divided i-th frame signal h _i , which is an input signal, into a plurality of basis signals g, and inputs the separated k-th basis signal g _k to the frequency calculation unit 113b (step S101). For example, the signals may be separated by short-time Fourier analysis, wavelet analysis, EMD method, or the like.

The frequency calculation unit 113b calculates the frequency f _k of the k-th basis signal g _k by, for example, discrete Fourier analysis or Hilbert Spectrum analysis, and inputs the frequency f k to the energy correction parameter calculation unit 113c (step S102).

The energy correction parameter calculation unit 113c calculates the exponent value _bk and the amplitude threshold value _Tk described with reference to Figs. 26 and 27 based on the frequency _fk , and inputs them to the corrected energy calculation unit 113d (step S103).

The corrected energy calculation unit 113d calculates the corrected energy _Ipc for each basis signal _gk based on the exponent value _bk and the amplitude threshold _Tk in accordance with the formula shown in Equation 16, and outputs a scalar value _ej obtained by adding up the corrected energies of all the basis signals _gk (step S104).

The low-frequency component synthesis unit 113g synthesizes a base signal having a frequency f _k of the base signal g _k that is lower than a predetermined frequency, thereby generating a low-frequency component L(t) (step S105).

For a sound source that contains signals in multiple frequency bands, it may be desirable to emphasize the vibration energy of a specific frequency band and present it as vibration. In such a case, the energy control units 1131 and 1132 are modified examples that are applied when adjusting the energy of the base signal present in a predetermined frequency band to convert the waveform, as described below with reference to Figures 35 to 40.

Figure 35 (a) to (c) are graphs that explain an example of generating vibrations according to ISM without emphasizing the waveform. Figure 35 shows a band corresponding to the high-frequency component of the cymbal (drum) waveform from a piano trio piece, and bands corresponding to the piano and bass waveforms. In Figure 35 (a) to (c), the horizontal axis represents time [s] and the vertical axis represents frequency [Hz], with darker spectra indicating greater power and lighter spectra indicating less power.

Figure 35 (a) shows the distribution of the sound source spectrum, with the cymbal waveform of the high-frequency components shown by the dashed line and the piano and bass waveforms of the low-frequency components shown by the dotted and dashed lines.

Figure 35(b) shows the spectral distribution (centered at 200 Hz) after conversion with ISM. In Figure 35(b), the cymbals, piano, and bass are all extracted as intensities due to the effect of ISM.

Figure 35 (c) shows an example of converting the signal to a signal using the representative frequency of the base signal, rather than converting to a signal with a frequency of 200 Hz based on the intensity. This makes it possible to visualize which frequency bands have been emphasized.

Figure 36 (a) to (c) are graphs explaining a first example of emphasizing and separating high frequency components from a sound source. Figure 36 shows an example of emphasizing and separating the high frequency components of cymbals (drums) from a piano trio piece of music. In Figure 36 (a) to (c), the horizontal axis represents time [s] and the vertical axis represents frequency [Hz], with darker spectra indicating greater power and lighter spectra indicating less power.

Figure 36 (a) shows the distribution of the sound source spectrum, with the cymbal waveform of the high-frequency components shown by the dashed line and the piano and bass waveforms of the low-frequency components shown by the dotted and dashed lines.

Figure 36(b) shows the spectral distribution (centered at 200 Hz) after ISM conversion. In Figure 36(b), only the intensity above 3000 Hz is increased by +20 dB (100 times).

Figure 36(c) shows an example of converting the signal to a signal using the representative frequency of the base signal, rather than converting to a signal with a frequency of 200 Hz based on the intensity. This makes it possible to visualize which frequency bands have been emphasized. In Figure 36(c), the power of the cymbal spectrum has increased.

Figure 37 (a) to (c) are graphs explaining a second example of emphasizing and separating high frequency components from a sound source. Figure 37 shows an example of emphasizing and separating the high frequency components of cymbals (drums) from a piano trio piece of music. In Figure 37 (a) to (c), the horizontal axis represents time [s] and the vertical axis represents frequency [Hz], with darker spectra indicating greater power and lighter spectra indicating less power.

Figure 37 (a) shows the distribution of the sound source spectrum, with the cymbal waveform of the high-frequency components shown by the dashed line and the piano and bass waveforms of the low-frequency components shown by the dotted and dashed lines.

Figure 37(b) shows the spectral distribution (centered at 200 Hz) after conversion using ISM. In Figure 37(b), the intensity above 3000 Hz is increased by +20 dB (100 times), while the intensity below 1000 Hz is decreased by -10 dB (1/10 times).

Figure 37(c) shows an example of converting the signal to a signal using the representative frequency of the base signal, rather than converting to a signal with a frequency of 200 Hz based on the intensity. This makes it possible to visualize which frequency bands have been emphasized. In Figure 37(c), the power of the cymbal spectrum has increased.

Figure 38 (a) to (c) are graphs that explain an example of emphasizing and separating low-frequency components from a sound source. Figure 38 shows an example of emphasizing and separating the low-frequency components of piano and bass from a piano trio piece. In Figure 38 (a) to (c), the horizontal axis represents time [s] and the vertical axis represents frequency [Hz], with darker spectra indicating greater power and lighter spectra indicating less power.

Figure 38 (a) shows the distribution of the sound source spectrum, with the cymbal waveform of the high-frequency components shown by the dashed line and the piano and bass waveforms of the low-frequency components shown by the dotted and dashed lines.

Figure 38(b) shows the spectral distribution (centered at 200 Hz) after ISM conversion. In Figure 38(b), the intensity below 1000 Hz is increased by +10 dB (10 times).

Figure 38 (c) shows an example of converting the signal to a signal using the representative frequency of the base signal, rather than converting to a signal with a frequency of 200 Hz based on the intensity. This makes it possible to visualize which frequency bands are emphasized. In Figure 38 (c), the power of the piano and bass spectra is increased.

The first variant of the energy control process shown in Figure 31 will be explained according to the block diagram shown in Figure 39 (steps S41 to S45).

As shown in Figure 39, the energy control unit 1131 functions as a gain calculation unit 113e in addition to the basis signal separation control unit 113a, frequency calculation unit 113b, energy correction parameter calculation unit 113c and correction energy calculation unit 113d shown in Figure 33.

The basis signal separation control unit 113a separates the time-divided i-th frame signal h _i , which is an input signal, into a plurality of basis signals g, and inputs the separated k-th basis signal g _k to the frequency calculation unit 113b (step S41). For example, the signals may be separated by short-time Fourier analysis, wavelet analysis, EMD method, or the like.

The frequency calculation unit 113b calculates the frequency f _k of the k-th basis signal g _k by, for example, discrete Fourier analysis or Hilbert Spectrum analysis, and inputs the frequency f k to the energy correction parameter calculation unit 113c (step S42).

The energy correction parameter calculation unit 113c calculates the exponent value _bk and the amplitude threshold value _Tk described with reference to Figs. 26 and 27 based on the frequency _fk , and inputs them to the corrected energy calculation unit 113d (step S43).

The gain calculation unit 113e outputs a gain value G _k for each predetermined frequency band according to the frequency f _k of the calculated base signal g _k (step S44). When it is desired to emphasize the energy, G _k is set to >1, and when it is desired to suppress the energy, 0≦G _k <1 is set. The adjustment of the energy by the emphasis or suppression may be performed for one frequency band or for multiple frequency bands. Moreover, the adjustment of the energy may be performed for the entire frequency band input to the energy control unit 1131.

The corrected energy calculation unit 113d calculates a gain-adjusted corrected energy _Ipc for each of the separated base signals _gk in accordance with the following formula 2 for the amplitude A of the base signals _gk , and outputs a scalar value _ej obtained by adding up the corrected energies of all the base signals _gk (step S45).

A second variant of the energy control process shown in Figure 31 will be explained according to the block diagram shown in Figure 40 (steps S51 to S56).

As shown in Figure 40, the energy control unit 1132 functions as a gain calculation unit 113e and a signal source identification unit 113f in addition to the basis signal separation control unit 113a, frequency calculation unit 113b, energy correction parameter calculation unit 113c and correction energy calculation unit 113d shown in Figure 33.

The basis signal separation control unit 113a separates the time-divided i-th frame signal h _i , which is an input signal, into a plurality of basis signals g, and inputs the separated k-th basis signal g _k to the frequency calculation unit 113b (step S51). For example, the signals may be separated by short-time Fourier analysis, wavelet analysis, EMD method, or the like.

The frequency calculation unit 113b calculates the frequency f _k of the k-th basis signal g _k by, for example, discrete Fourier analysis or Hilbert Spectrum analysis, and inputs the frequency f k to the energy correction parameter calculation unit 113c (step S52).

The energy correction parameter calculation unit 113c calculates the exponent value _bk and the amplitude threshold value _Tk described with reference to Figs. 26 and 27 based on the frequency _fk , and inputs them to the corrected energy calculation unit 113d (step S53).

The signal source identification unit 113f estimates identification candidates from the input signals h _i and the history of h _i based on the set signal features, identifies which signal source the basis signal g _k belongs to, and outputs the identification result as an ID (identifier) or the like (step S54). The signal source identification unit 113f may prepare a classifier in advance by machine learning or the like. For example, the features of many musical instruments may be learned by deep learning, and a group of candidates (e.g., piano, bass, drums) may be estimated as to which musical instrument is included in the current input signal h _i (or the history of each of the multiple input signals h _i when the input signal h _i is too short), and it may be identified as to which musical instrument the basis signal g _k belongs to.

The gain calculation unit 113e outputs a gain value G _k for each predetermined frequency band according to the ID identified by the signal source identification unit 113f (step S55). When it is desired to emphasize energy, G _k is set to >1, and when it is desired to suppress energy, 0≦G _k <1 is set. The adjustment of energy by emphasis or suppression may be performed for one frequency band or for multiple frequency bands. Moreover, the adjustment of energy may be performed for the entire frequency band input to the energy control unit 1132.

The corrected energy calculation unit 113d calculates a gain-adjusted corrected energy _Ipc for each of the separated base signals _gk in accordance with the formula shown in Equation 17 for the amplitude A of the base signals _gk , and outputs a scalar value _ej obtained by adding up the corrected energies of all the base signals _gk (step S56).

Next, details of the energy synthesis process shown in step S4 of Figure 31 will be explained according to the block diagram shown in Figure 41 (steps S21 to S23).

The energy vibration conversion unit 114a functions as an energy equivalent conversion unit 1141a, a windowing processing unit 1142a, and a frame synthesis unit 1143a.

As shown in FIG. 41, the energy equivalent conversion unit 1141a converts the scalar value e _i of the vibration energy calculated for each frame i into a vibration waveform having an equivalent vibration energy but a different carrier frequency, and outputs the amplitude a _i (t) of the waveform to the windowing processing unit 1142a (step S21).

The windowing processor 1142a performs windowing processing on the input amplitude a _i (t) of each frame i using the window function shown in FIG. 28, and inputs the processing result to the frame synthesizer 1143a (step S22).

The frame synthesis unit 1143a performs frame synthesis on the input from the windowing processing unit 1142a for frames 1 to N, and outputs the amplitude A(t) of the vibration waveform (step S23).

Next, the details of the process for generating the corrected vibration waveform shown in step S5 of Figure 31 will be explained according to the block diagram shown in Figure 42 (steps S31 and S32).

As shown in FIG. 42, the second vibration generating unit 114b functions as an amplitude vibration converting unit 1141b and a waveform output unit 1142b. The second vibration generating unit 114b has an input signal A(t) and outputs a sine wave having a carrier frequency. The generated waveform may be phase-controlled so that the vibrations are smoothly connected.

The amplitude vibration conversion unit 1141b converts the input amplitude A(t) into vibration (step S31).

The waveform output section 1142b outputs a sine wave S ₂ (t) having a carrier frequency such that the amplitude becomes A(t) (step S32).

[B] Effects According to the vibration distribution control device 1, the signal control program, and the signal control method in one example of the embodiment, for example, the following operational effects can be achieved.

The time division control unit 112 divides a signal related to a vibration source of an arbitrary waveform located at a certain position into predetermined time intervals. The energy control unit 113 applies a predetermined attenuation formula to the energy of the signal according to the distance and direction from the vibration source to each of the multiple transducers for each of the predetermined time intervals divided by the time division control unit 112, and distributes the energy of the signal to the multiple transducers to convert the signal into a waveform with a different frequency. The signal output unit 114 outputs the signal converted by the energy control unit 113, and allows a person to experience the output vibration generated from the converted signal using the multiple transducers.

This allows humans to experience any vibration waveform that includes multiple frequencies, improving the reality of the tactile sensation. It also allows humans to experience the direction and distance or movement of an external vibration source, the position and movement of a vibration source on the body surface or within the body, and the sensation of a vibration source moving from the outside world to the body or from the body to the outside world.

Furthermore, by adapting the vibration distribution control device 1, the vibration distribution control program or the vibration distribution control method to various devices as shown in Figures 10 to 15, etc., it is possible to add a sense of direction, distance, movement, etc. to the vibration sensation and notify the user, thereby creating a sense of the presence of the object that is the source of vibration, a sense of realism present in the environment, and a sense of reality to the sensation.

[C] Others The disclosed technology is not limited to the above-described embodiments, and can be modified in various ways without departing from the spirit of the embodiments. The configurations and processes of the embodiments can be selected as necessary, or can be combined as appropriate.

Figure 43 is a block diagram showing an example configuration of DAC2 when multiple vibration devices 310, 320 are used in the vibration generating system 100 shown in Figure 22.

In the example shown in Figure 43, the DAC2 shown in Figure 22 functions as a high-frequency gain adjuster 21a, a low-frequency gain adjuster 21b, a high-frequency vibration device drive circuit 22a, and a low-frequency vibration device drive circuit 22b. Also, the vibrator 31 shown in Figure 22 functions as a high-frequency vibration device 310 and a low-frequency vibration device 320. The set of the high-frequency gain adjuster 21a, the high-frequency vibration device drive circuit 22a, and the high-frequency vibration device 310 and the set of the low-frequency gain adjuster 21b, the low-frequency vibration device drive circuit 22b, and the low-frequency vibration device 320 are provided in the same number as the vibrators 31 shown in Figure 22.

The high-frequency gain adjuster 21a outputs the second vibration waveform _S2 (t) input from the vibration distribution control device 1 to the high-frequency vibration device 310 via the high-frequency vibration device drive circuit 22a. The low-frequency gain adjuster 21b outputs the first vibration waveform _S1 (t) input from the vibration distribution control device 1 to the low-frequency vibration device 320 via the low-frequency vibration device drive circuit 22b.

Figure 44 is a block diagram showing an example of a DAC configuration when a single vibration device is used in the vibration generating system 100 shown in Figure 22.

In the example shown in Figure 44, the DAC 2 shown in Figure 22 functions as a high-frequency gain adjuster 21a, a low-frequency gain adjuster 21b, and a vibration device drive circuit 22. Also, the vibrator 31 shown in Figure 22 functions as a vibration device 30. The same number of sets of the high-frequency gain adjuster 21a, the low-frequency gain adjuster 21b, the vibration device drive circuit 22, and the vibration device 30 are provided as the number of vibrators 31 shown in Figure 22.

The high-frequency gain adjuster 21a and the low-frequency gain adjuster 21b respectively output the second vibration waveform _S2 (t) and the first vibration waveform _S1 (t) input from the vibration distribution control device 1 to a common vibration device 30 via a common vibration device driving circuit 22.

100: Vibration generating system 101: Floor-mounted vibration device 102: Clothing-type vibration device 103: Wristband-type vibration device 104: Game controller 105: Smartphone 1: Vibration distribution control device 11: CPU
1000: ISM unit 111: Frequency elimination control unit 111a: Signal elimination unit 111b: Low-pass filter 111d: Corrected energy calculation unit 112: Time division control unit 113, 1131, 1132: Energy control unit 113a: Basis signal separation control unit 113b: Frequency calculation unit 113c: Energy correction parameter calculation unit 113d: Corrected energy calculation unit 113e: Gain calculation unit 113f: Signal source identification unit 113g: Low-frequency component synthesis unit 114: Signal output unit 114a: Energy vibration conversion unit 114b: Second vibration generation unit 114c: First vibration generation unit 1141a: Energy equivalent conversion unit 1142a: Windowing processing unit 1143a: Frame synthesis unit 1141b: Amplitude vibration conversion unit 1142b: Waveform output unit 12: Memory 13 :Storage device 2 :DAC
21a: High-frequency gain adjuster 21b: Low-frequency gain adjuster 22: Vibration device drive circuit 22a: High-frequency vibration device drive circuit 22b: Low-frequency vibration device drive circuit 30: Vibration device 31: Vibrator 310: High-frequency vibration device 320: Low-frequency vibration device 32: Speaker/headphone 33: Display device

Claims (34)

A vibration distribution control device that generates a vibration source present at an arbitrary position by a plurality of vibrators,
A calculation unit that calculates a perceived intensity from a vibration waveform of the vibration source;
a distribution unit that distributes the perceived intensity to each of the plurality of transducers according to an azimuth angle of the vibration source and arrangement positions of the plurality of transducers;
a signal output unit that controls and outputs vibrations of the plurality of transducers based on the information distributed by the distribution unit;
A vibration distribution control device comprising: the calculation unit calculates the perception intensity at the perception origin by using a perception origin obtained based on vibration images obtained by the plurality of transducers and information attenuating according to a distance from the vibration source;
The distribution unit distributes the perceived intensity calculated at the perception origin to each of the plurality of transducers by using a distribution coefficient determined based on the azimuth angle and the arrangement position.
The vibration distribution control device according to claim 1 . A vibration distribution control device for controlling vibrations in a plurality of vibrators,
a time division control unit that divides a signal related to a vibration source of an arbitrary waveform at a certain position into predetermined time intervals;
a control unit that distributes energy of the signal to the plurality of transducers in accordance with an azimuth angle between the vibration source and each of the plurality of transducers for each of the predetermined times divided by the time division control unit, and converts the signal into a waveform having a different frequency from that of the signal;
a signal output unit that outputs the signal converted by the control unit and causes a person to feel an output vibration generated from the converted signal using the plurality of transducers;
A vibration distribution control device comprising: the control unit applies a predetermined attenuation formula to the energy of the signal in accordance with a distance between the vibration source and each of the plurality of transducers.
The vibration distribution control device according to claim 3 . The predetermined attenuation formula and the distribution of the energy of the signal are determined according to a distance and an azimuth angle between a perception origin determined by a geometric arrangement of the plurality of transducers and the plurality of transducers.
The vibration distribution control device according to claim 4. The output vibration is experienced by the human by individually defining a combination of the plurality of transducers and the perception origin for a plurality of different body parts of the human.
The vibration distribution control device according to claim 5. The attenuation formula is determined according to the physical characteristics of a propagation path from the vibration source to the perception origin, and attenuates the energy of the signal to allow the person to experience a sense of distance to the vibration source.
The vibration distribution control device according to claim 5 or 6. The vibration source is an artificial vibration source.
The vibration distribution control device according to any one of claims 3 to 7. The vibration source is located on or within the human body.
The vibration distribution control device according to any one of claims 3 to 8. the vibration source is located at a point remote from the human body;
The vibration distribution control device according to any one of claims 3 to 5. The signal output unit causes the person to experience the output vibration in combination with stereophonic sound.
The vibration distribution control device according to any one of claims 3 to 10. The signal output unit makes the person experience the output vibration according to the position of each sound source for the stereophonic sound having sound sources localized at a plurality of positions.
The vibration distribution control device of claim 11. The signal output unit is combined with a stereoscopic vision device to allow the person to experience the output vibration.
The vibration distribution control device according to any one of claims 3 to 12. The plurality of transducers are attached to the human body.
The vibration distribution control device according to any one of claims 3 to 13. The plurality of transducers are arranged in a ring shape.
The vibration distribution control device of claim 14. The plurality of vibrators are built into a handheld device.
The vibration distribution control device according to any one of claims 3 to 13. The plurality of transducers are disposed in an environment in contact with the human body.
The vibration distribution control device according to any one of claims 3 to 13. The signal output unit combines the vibration source in a three-dimensional position with the multiple transducers arranged in two dimensions and stereophonic sound or video to reinforce a three-dimensional sense of vibration localization, or to reinforce the sense of localization of the stereophonic sound or video, and to allow the person to experience the output vibration.
The vibration distribution control device according to any one of claims 3 to 17. The signal output unit combines a vibration source at a three-dimensional position with the plurality of transducers arranged three-dimensionally and a stereophonic or visual device to reinforce the three-dimensional vibration localization and output the output vibration.
The vibration distribution control device according to any one of claims 3 to 17. A computer generates a vibration source at any position using multiple oscillators,
Calculating a perceived intensity from a vibration waveform of the vibration source;
Distributing the perceived intensity to each of the plurality of transducers according to an azimuth angle of the vibration source and an arrangement position of the plurality of transducers;
controlling and outputting vibrations in the plurality of transducers based on the distributed information;
A vibration distribution control program that executes the processing. Calculating the perceived intensity at the perception origin using a perception origin obtained based on vibration images obtained by the plurality of vibrators and information attenuating according to a distance from the vibration source;
Distributing the perceived intensity calculated at the perception origin to each of the plurality of transducers using a distribution coefficient determined based on the azimuth angle and the arrangement position.
The vibration distribution control program according to claim 20, which causes the computer to execute processing. A computer that controls the vibrations of the multiple vibrators,
A signal related to a vibration source of an arbitrary waveform at a certain position is divided into predetermined time intervals;
distributing energy of the signal to the plurality of transducers in accordance with an azimuth angle between the vibration source and each of the plurality of transducers for each of the divided predetermined time periods, and converting the signal into a waveform having a different frequency from that of the signal;
outputting the converted signal, and causing a person to feel an output vibration generated from the converted signal using the plurality of transducers;
A vibration distribution control program that executes the processing. applying a predetermined attenuation formula to the energy of the signal in response to a distance between each of the plurality of transducers and the vibration source;
The vibration distribution control program according to claim 22, which causes the computer to execute processing. The predetermined attenuation formula and the distribution of the energy of the signal are determined according to a distance and an azimuth angle between a perception origin determined by a geometric arrangement of the plurality of transducers and the plurality of transducers.
The vibration distribution control program according to claim 23. The output vibration is experienced by the human by individually defining the combination of the plurality of transducers and the perception origin for a plurality of different body parts of the human.
The vibration distribution control program according to claim 24. The attenuation formula is determined according to the physical characteristics of a propagation path from the vibration source to the perception origin, and attenuates the energy of the signal to allow the person to experience a sense of distance to the vibration source.
26. The vibration distribution control program according to claim 24 or 25. The vibration source is an artificial vibration source.
The vibration distribution control program according to any one of claims 22 to 26. A vibration distribution control method for generating a vibration source present at an arbitrary position by a plurality of vibrators, comprising the steps of:
Calculating a perceived intensity from a vibration waveform of the vibration source;
Distributing the perceived intensity to each of the plurality of transducers according to an azimuth angle of the vibration source and an arrangement position of the plurality of transducers;
controlling and outputting vibrations in the plurality of transducers based on the distributed information;
Vibration distribution control method. Calculating the perceived intensity at the perception origin using a perception origin obtained based on vibration images obtained by the plurality of vibrators and information attenuating according to a distance from the vibration source;
Distributing the perceived intensity calculated at the perception origin to each of the plurality of transducers using a distribution coefficient determined based on the azimuth angle and the arrangement position.
29. The vibration distribution control method of claim 28. A vibration distribution control method for controlling vibrations in a plurality of vibrators, comprising the steps of:
A signal related to a vibration source of an arbitrary waveform at a certain position is divided into predetermined time intervals;
distributing energy of the signal to the plurality of transducers in accordance with an azimuth angle between the vibration source and each of the plurality of transducers for each of the divided predetermined time periods, and converting the signal into a waveform having a different frequency from that of the signal;
outputting the converted signal and generating output vibrations generated from the converted signal using the plurality of transducers;
Vibration distribution control method. applying a predetermined attenuation formula to the energy of the signal in response to a distance between each of the plurality of transducers and the vibration source;
31. The vibration distribution control method of claim 30. The predetermined attenuation formula and the distribution of the energy of the signal are determined according to a distance and an azimuth angle between a perception origin determined by a geometric arrangement of the plurality of transducers and the plurality of transducers.
32. The vibration distribution control method of claim 31. The output vibration is generated by individually defining a combination of the plurality of oscillators and the perception origin for a plurality of different body parts of a human.
33. The vibration distribution control method of claim 32. The attenuation formula is determined according to the physical characteristics of a propagation path from the vibration source to the perception origin, and the sense of distance to the vibration source is reflected in the output vibration by attenuating the energy of the signal.
34. A vibration distribution control method according to claim 32 or 33.

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