TACTILE PRESENTATION APPARATUS AND TACTILE CONTROL APPARATUS

A tactile presentation apparatus according to an embodiment of the present technology includes a movable member, an elastic portion, and at least one drive unit. The elastic portion supports the movable member. The at least one drive unit is connected to the movable member, moves the movable member so as to elastically deform the elastic portion, and is capable of keeping the elastic portion elastically deformed.

TECHNICAL FIELD

The present technology relates to a tactile presentation apparatus for presenting a tactile sense to a user and to a tactile control apparatus.

BACKGROUND ART

Conventionally, apparatuses for presenting a tactile sense to a user have been developed. For example, these apparatuses can provide various experiences by presenting tactile senses in conjunction with video and sounds.

For example, Patent Literature 1 has disclosed a movement simulator that moves a seating tool on which the user sits in conjunction with a video or sound. This movement simulator includes a plurality of actuators for supporting the seating tool. Each actuator is coupled with a coupling base movable upward and downward. Moreover, the coupling base connects to an elastic member arranged to cancel a load applied to the actuator. This allows a reduction of a force necessary for moving the actuator upward. Thus, a compact drive apparatus can be employed (paragraphs [0009], [0054], [0055], and in specification, FIG. 11, FIG. 12, etc. of Patent Literature 1).

CITATION LIST

Patent Literature

DISCLOSURE OF INVENTION

Technical Problem

The technology for presenting a tactile sense to a user as described above is expected to be applied in various fields such as amusement and education. It is thus desirable to provide a technology capable of presenting a wide variety of tactile senses and downsizing the device.

In view of the above-mentioned circumstances, it is an objective of the present technology to provide a tactile presentation apparatus and a tactile control apparatus that can realize a compact device for presenting a wide variety of tactile senses.

Solution to Problem

In order to accomplish the above-mentioned objective, a tactile presentation apparatus according to an embodiment of the present technology includes a movable member, an elastic portion, and at least one drive unit.

The elastic portion supports the movable member.

The at least one drive unit is connected to the movable member, moves the movable member so that the elastic portion is elastically deformed, and is capable of keeping the elastic portion elastically deformed.

In this tactile presentation apparatus, the at least one drive unit is connected to the movable member supported by the elastic portion. Such a drive unit moves the movable member so as to be capable of keeping the elastic portion elastically deformed. This enables the movable member to move due to a force to restore the elastic portion. Thus, a compact device for presenting a wide variety of tactile senses can be realized.

The movable member may be a stage on which a user is able to get.

The tactile presentation apparatus may further include tactile control unit that acquires specifying information regarding a vibration or attitude of the movable member and controls the at least one drive unit on the basis of the specifying information.

The movable member may include at least one connection portion to which the at least one drive unit is connected. In this case, the at least one drive unit may move the movable member by pulling the connection portion to the at least one drive unit is connected.

The movable member may be a plate-like member arranged along a reference surface. In this case, the drive unit may pull the movable member in a direction crossing the reference surface.

The drive unit may pull the movable member in a direction orthogonal to the reference surface.

The drive unit may pull the movable member so that the movable member slides along the reference surface.

The drive unit may pull the movable member so that the movable member rotates using an axis orthogonal to the reference surface as a center.

The specifying information may include information specifying a vibration pattern of the movable member. In this case, the tactile control unit may select a drive unit of the at least one drive unit, which corresponds to the vibration pattern, and fluctuate an amount of pulling by which the selected drive unit pulls the movable member in accordance with the vibration pattern.

The specifying information may include information specifying a tilted attitude of the movable member. In this case, the tactile control unit may select a drive unit from the at least one drive unit, which corresponds to the tilted attitude, and keep an amount of pulling by which the selected drive unit pulls the movable member at a value according to the tilted attitude.

The drive unit may include a wire connected to the movable member, a reel for winding the wire, and a motor for rotating the reel. In this case, the tactile control unit may generate a control signal to control rotation of the motor on the basis of the specifying information.

The reel may be configured so that an amount of winding the wire decreases as a rotation amount of the motor increases.

The control signal may be a signal specifying a voltage to drive the motor or a rotation amount of the motor.

The tactile presentation apparatus may further include a load sensor that detects load information representing a load applied to the motor. In this case, the tactile control unit may correct the control signal on the basis of the load information.

The load sensor may include at least one of a current sensor that detects a current flowing through the motor, a pressure sensor that detects a pressure with respect to the movable member, and an attitude sensor that detects an attitude of the movable member.

The at least one drive unit may include a plurality of drive units. In this case, the tactile control unit may correct the control signal on the basis of the load information so that a load on the motor that each of the plurality of drive units has is equal.

The tactile control unit may estimate a load applied to the movable member on the basis of the load information and correct the control signal so that a force by which the motor pulls the movable member increases as the load increases.

The movable member may be a stage on which a user is able to get. In this case, the tactile control unit may estimate a position of user on the movable member on the basis of the load information and corrects the control signal to an amount of pulling by which the motor pulls the movable member decreases when the position of the user is an end of the movable member.

The tactile control unit may rotate the motor so as to eliminate slack of the wire.

A tactile control apparatus according to an embodiment of the present technology includes an acquisition unit and a control unit.

The acquisition unit acquires specifying information regarding a vibration or attitude of a movable member supported by an elastic portion.

The control unit controls at least one drive unit on the basis of the specifying information, the at least one drive unit being connected to the movable member, moving the movable member so that the elastic portion is elastically deformed, and being capable of keeping the elastic portion elastically deformed.

MODE(S) FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments according to the present technology will be described with reference to the drawings.

[Outline of Tactile Presentation System]

FIG.1is a schematic diagram outlining a tactile presentation system according to an embodiment of the present technology.FIG.2is a block diagram showing functional configuration examples of a tactile presentation system100.

The tactile presentation system100includes a display10, loudspeakers11, a tactile presentation apparatus20, and a system controller50.

The tactile presentation system100is a system for presenting a tactile sense to a user1with a video or sound through the tactile presentation apparatus20. In the present disclosure, a sensation that can be provided by physically moving the tactile presentation apparatus20to the user1in contact with the tactile presentation apparatus20will be referred to as a tactile sense.

As shown inFIG.1, the tactile presentation apparatus20is configured as a stage for the user1. For example, the tactile presentation apparatus20physically moves a member (top plate portion21to be described later) on which the user1stands in order to present to the user1various tactile senses such as a vibration sensation and an acceleration/deceleration sensation.

Here, the user1is assumed to stand on the tactile presentation apparatus20, though not limited thereto. For example, a sheet for the user1to sit on the tactile presentation apparatus20may be fixedly arranged.

The display10is a reproduction apparatus for reproducing a video.

For example, the display10is a self-emitting display such as a liquid-crystal display (LCD), an organic EL display, and an LED display. Alternatively, the display10may be a projector display using projection or the like. Otherwise, the display10may be a wearable display such as a head-mounted display (HMD).

The loudspeakers11are reproduction apparatuses for reproducing a sound. In the example shown inFIG.1A, the loudspeakers11are arranged on the right and left sides of the display10. Otherwise, the loudspeakers11may be earphones, headphones, or the like.

[Configuration of Tactile Presentation Apparatus]

FIG.3is a schematic diagram showing a configuration example of the tactile presentation apparatus20. The tactile presentation apparatus20is a generally box-shaped apparatus. The tactile presentation apparatus20is used arranged on a horizontal floor or the like.FIG.3Ais a schematic diagram of the interior of the tactile presentation apparatus20as viewed from above.FIG.3Bis a schematic diagram of the interior of the tactile presentation apparatus20as viewed from the side.

The tactile presentation apparatus20includes the top plate portion21(force floor), a base portion22, dampers23, and four drive units24.

The top plate portion21is a plate-like member provided in an upper portion of the tactile presentation apparatus20. The top plate portion21is a stage that can be moved by operation of the drive units24. The top plate portion21used here has a substantially square plane shape as viewed above. For example, the top plate portion21is a square plate member with one side of about 1000 mm. It should be noted that the plane shape and the size of the top plate portion21are not limited and can be arbitrarily set. In the present embodiment, the top plate portion21corresponds to a movable member.

Moreover, the top plate portion21is arranged along a reference surface12in a state in which the drive units24are inactive (halted state). Here, the reference surface12is a surface as a reference for moving the top plate portion21and is typically a horizontal surface. It should be noted that the reference surface12may be a surface tilted with respect to the horizontal surface.

An upper surface of the top plate portion21is a standing surface for the user1. The standing surface may have a mark showing a standing position for the user1, slippery stops, and the like. The top plate portion21is thus a stage configured so that the user1can stand on it.

Moreover, a lower surface of the top plate portion21is a connection surface to which the dampers23and the drive units24connect. As shown inFIG.3B, the connection surface has connection portions25for connecting to the drive units24, respectively. Therefore, the top plate portion21has four connection portions25to which the four drive units24connect respectively in the example shown inFIG.3. The connection portions25are fixtures for fixing wires30of the drive units24to be described later to the top plate portion21. For example, the connection portions25are wire hooks, anchor bolts, or the like. In addition, any fixtures capable of fixing the wires30may be provided.

The base portion22is arranged in a lower portion of the tactile presentation apparatus20. The base portion22serves as a base for a stage (top plate portion21) on which the user1stands. The base portion22has a columnar structure with an upper surface having a shape similar to the top plate portion21. The base portion22includes a lid portion26and a frame portion27for supporting the lid portion26. The lid portion26constitutes an upper surface of the base portion22. The frame portion27constitutes a side surface of the base portion22.

The lid portion26is a plate-like member having a plane shape similar to the top plate portion21. The lid portion26is disposed on the base portion22. Moreover, the lid portion26has four apertures for the wires30of the four drive units24. Hereinafter, the description will be given using an upper surface of the lid portion26as the reference surface12.

The frame portion27is a frame-type member having a plane shape similar to the lid portion26(top plate portion21). The frame portion27is connected to a lower surface of the lid portion26, supporting a peripheral edge of the lid portion26. This enables the entire frame portion27to receive a load applied to the lid portion26.

Moreover, the drive units24(motors32) are put in a space surrounded by the lid portion26and the frame portion27as shown inFIG.3B. In this manner, the base portion22functions as a casing for the four drive units24(motors32). In addition, the base portion22may house an amplifier35and a tactile controller40to be described later and other components such as a power source.

It should be noted that the bottom of the base portion22is opened in the example shown inFIG.3. This allows facilitation of maintenance and the like for the tactile presentation apparatus20. For example, a member for closing the bottom of the base portion22may be provided as a matter of course.

The dampers23support the top plate portion21. The dampers23are elastic members that are elastically deformable. In the present disclosure, the elastic member is, for example, a member having properties that it is elastically deformed due to an external force and that it returns to the original shape due to a restoring force when the external force decreases.

For example, the dampers23are gel dampers used for anti-vibration and impact reduction. For example, a gel damper with a thickness of about 20 mm can ensure a range of deformation of about 10 mm. The thickness of the damper23is not limited and can be set as appropriate as a matter of course.

Alternatively, the dampers23may be elastic members such as rubbers and springs. Otherwise, the dampers23may be elastically deformable mechanisms such as air suspensions.

The dampers23are provided between the top plate portion21and the base portion22and support the top plate portion21on the base portion22. Typically, the dampers23are arranged to support the peripheral edge of the top plate portion21. In the example shown inFIG.3, the dampers23are provided at eight positions which are four vertices of the square top plate portion21and middle points of the four sides.

It should be noted that the number and arrangement of dampers23are not limited.

The four drive units24are each connected to the top plate portion21and move the top plate portion21so as to elastically deform the dampers23. That is, while the respective drive units24are moving the top plate portion21, the dampers23are deformed in an elastic region and the top plate portion21receives forces from both the drive units24and the dampers23.

Moreover, the respective drive units24are configured to keep the dampers23elastically deformed. That is, the respective drive units24can constantly output forces larger than restoring forces of the dampers23so as to continuously deform the dampers23.

In the present embodiment, the respective drive units24are configured to move the top plate portion21by pulling the connection portions25connected to the respective drive units24. Here, a mechanism for pulling the connection portions25via the wires30is used. The drive units24can be thus considered as pulling units for pulling the top plate portion21via the wires30.

As shown inFIG.3B, the four drive units24include the wires30each connected to the top plate portion21, reels31for winding the wires30, and the motors32for rotating the reels31.

The wires30are, at one ends thereof, fixed to the corresponding connection portions25and are, at the other ends thereof, fixed to the reels31. The wire30is typically a metal wire. However, the material and shape of the wire30are not limited.

The reel31is fixed to a rotational shaft of the motor32. The reel31has a groove for guiding the wound wire30, for example. The shape of the reel31will be described later.

The motor32rotates the rotational shaft (reel31) in accordance with an input driving signal. Hereinafter, the direction of winding the wire30will be referred to as a normal rotation and the opposite direction will be referred to as an opposite rotation. The kind and the like of the motor32are not limited as long as it can output rotational torque capable of deforming the dampers23, for example.

As shown inFIG.3B, the respective motors32are fixed in the base portion22with predetermined fixtures33. Thus, the top plate portion21is pulled to the lower side where the base portion22is located. In this manner, the respective drive units24pull the top plate portion21in a direction crossing the reference surface12. This enables the position and attitude of the top plate portion21to change with respect to the reference surface12. Thus, various tactile senses can be expressed.

It should be noted that in the example shown inFIG.3, the lower surface of the lid portion26has the fixtures33and the motors32are fixed to the lid portion26. Therefore, the motors32are pushed against the lid portion26when pulling the top plate portion21. This prevents the fixtures33from receiving unnecessary forces. It can prevent the fixtures33from being loosened and damaged, for example.

Hereinafter, the left, right, upper, and lower sides inFIG.3Awill be referred to as left, right, front, and rear sides of the tactile presentation apparatus20. For example, the front side of the tactile presentation apparatus20is a side where the display10is placed. Moreover,FIG.3Bshows an internal structure of the tactile presentation apparatus20as viewed from the rear side.

Moreover, the four drive units24(four motors32) will be referred to as drive units24ato24d(motors32ato32d), respectively. The motors32ato32dare respectively arranged with the reels31(rotational shafts) oriented toward the middle on the left side, the middle on the right side, the middle on the front side, and the middle on the rear side of the base portion22(frame portion27).

Moreover, the connection portions25to which the wires30fixed to the respective reels connect are respectively provided at positions on the lower surface of the top plate portion21, which are directly above the reels31connected to the motors32ato32d. At that time, the positioned relationship between the connection portions25and the reels31is set so that a direction of pulling the wires30is a direction (vertical direction) orthogonal to the reference surface12, for example.

In this manner, in the present embodiment, the respective drive units24(motors32) are arranged to pull the top plate portion21in the direction orthogonal to the reference surface12.

This allows efficient transmission of forces to pull the top plate portion21vertically. As a result, positions of the respective connection portions25in upper and lower directions can be changed with a minimum energy.

InFIG.3B, the motor32(motor32a) on the left side normally rotates, thereby winding the wire30. In this case, the left side of the top plate portion21(connection portion25at the middle on the left side) is pulled downward. At that time, the damper23for supporting the left side of the top plate portion21contracts in accordance with the amount of pulling. This deformation of the damper23is elastic deformation. In this manner, the motor32winding the wire30fixed to the top plate portion21can cause the top plate portion21to sink toward the base portion22.

Moreover, the motor32(motor32b) on the right side inFIG.3Bstops winding of the wire30(rotation of the motor32) after winding the wire30by a certain amount. In this case, the top plate portion21is pushed up due to a restoring force of the damper23elastically deformed by winding the wire30. In this manner, the top plate portion21returns to the original position due to the restoring force of the damper23when the motor32stops winding.

It should be noted that the top plate portion21can also be pushed up when reducing torque to wind the wire30below the restoring force of the damper23without completely stopping winding of the motor32. In this case, the top plate portion21returns to a position where the torque of the motor32is balanced with the restoring force.

As described above, the tactile presentation apparatus20moves the top plate portion21by winding of the wires30and restoring forces of the dampers23. The simple configuration to wind the wires30by the motors32can change the position and attitude of the top plate portion21. It can sufficiently downsize the apparatus, for example, as compared to a case of using actuators movable upward and downward, other vibration elements, or the like.

As shown inFIG.2, the tactile presentation apparatus20further includes the amplifier35, a current sensor36, a storage unit37, and the tactile controller40.

The amplifier35is a signal amplifier circuit for amplifying a control signal for driving each drive unit24(motor32). The amplifier35includes the same number of amplifier circuits as the drive units24, for example, and uses each of the amplifier circuits to amplify each control signal.

The amplifier35receives inputs of control signals of the respective motors32generated by the tactile controller40to be described later. The amplifier35amplifies these control signals into a level (driving voltage) to drive the motors32. The amplifier35outputs the amplified control signals to the respective motors32.

A specific configuration of the amplifier35is not limited. For example, amplifier circuits may be used as appropriate depending on the kind and the like of the motors32.

The current sensor36is a sensor for detecting a current flowing through each motor32. The current sensor36is arranged to detect a current flowing through the wire connecting the motor32and the amplifier35.

For example, it is known that a current flowing through the motor32(hereinafter, referred to as a motor current) increases as a load (torque load) applied to the motor32increases. Therefore, for example, the motor current becomes minimum when the motor32rotates freely and the motor current becomes maximum when a load to stop the rotation of the motor32is applied.

Therefore, detecting the motor current by the use of the current sensor36can detect a load applied to the motor32. A detection result of the motor current detected by the current sensor36is used as load information indicating the load applied to the motor32.

In this manner, in the present embodiment, the current sensor36functions as a load sensor that detects the load information indicating the load applied to the motor32.

It should be noted that the load sensor that detects the load information may be a sensor other than the current sensor36. For example, a pressure (load) applied to the top plate portion21changes the load applied to each motor32. Therefore, the load sensor may be a pressure sensor that detects a pressure with respect to the top plate portion21.

Moreover, the load applied to each motor32is considered to change, for example, also in a case where the attitude of the top plate portion21changes depending on the standing position or the like of the user1. Therefore, the load sensor may be an attitude sensor (e.g., an acceleration sensor) that detects the attitude of the top plate portion21.

The storage unit37is a nonvolatile storage device. For example, the storage unit37is a recording medium using a solid-state element such as a solid state drive (SSD) or a magnetic recording medium such as a hard disk drive (HDD). In addition, the kind and the like of the recording medium used as the storage unit37are not limited, and for example, an arbitrary recording medium for recording non-temporary data may be used.

The storage unit37stores a control program according to the present embodiment. The control program is a program that controls the overall operation of the tactile presentation apparatus20, for example.

The tactile controller40controls a tactile sense presented to the user1by controlling the movement of the top plate portion21. Specifically, the tactile controller40acquires a force sense control file and controls the respective drive units24on the basis of the force sense control file. The force sense control file is specifying information specifying the vibration or attitude of the top plate portion21.

In the present embodiment, a force sense control file recorded in a library of the system controller50to be described later is read. The force sense control file will be described later in detail.

The tactile controller40controls the operation of the tactile presentation apparatus20. The tactile controller40has a hardware configuration necessary for a computer such as a CPU and memories (RAM, ROM), for example. The CPU loads the control program stored in the storage unit37to the RAM and executes it so as to execute various types of processing. In the present embodiment, the tactile controller40corresponds to a tactile control unit of the tactile presentation apparatus. Moreover, in the present embodiment, the tactile controller40functions as a tactile control apparatus.

For example, the tactile controller40may be a programmable logic device (PLD) such as a field programmable gate array (FPGA) or another device such as an application specific integrated circuit (ASIC). Moreover, for example, the tactile controller40may be a processor such as a graphics processing unit (GPU).

In the present embodiment, the CPU of the tactile controller40executes the control program according to the present embodiment so as to realize a signal control unit41and a calibration processing unit42as functional blocks. Then, these functional blocks execute a tactile control method according to the present embodiment. It should be noted that dedicated hardware such as an integrated circuit (IC) may be used as appropriate in order to realize the respective functional blocks.

The signal control unit41acquires a force sense control file and generates a control signal for controlling the rotation of the motors32on the basis of the acquired force sense control file. For example, the force sense control file output from the system controller50(data output unit52) is read as appropriate and a control signal depending on its contents is generated for each of the motors32.

The control signal is a signal specifying a voltage to drive the motor32, for example. This is a signal specifying a direction of rotation of the motor32, a rotation velocity (rotation torque), and the like as a voltage value.

For example, in a case where the force sense control file includes an instruction (e.g., a vibration pattern) to vibrate the top plate portion21, a control signal to vibrate a voltage is generated in accordance with the vibration pattern.

It should be noted that in a case where the positions of the motors32can be controlled, the control signal may be a signal specifying rotation positions of the motors32instead of the voltage. It will be described with reference toFIG.18, etc.

The calibration processing unit42corrects a control signal on the basis of the load information indicating the load applied to the motor32. Here, the load information is a value of each motor current detected by the current sensor36. Alternatively, the load information may be detection results of a pressure sensor, an attitude sensor, and the like.

For example, a motor32having a high load applied is determined on the basis of the load information. There is a possibility that driving such a motor32with a control signal without any correction cannot provide a desired amount of pulling. In such a case, correction, e.g., increasing the voltage of the motor32is performed so as to present the tactile sense specified by the force sense control file.

The calibration processing unit42calculates, for example, correction parameters for correcting the control signal (e.g., an offset value, an amplification of the amplitude) and output them to the signal control unit41.

Alternatively, the calibration processing unit42may generate a superimposed signal to be superimposed on the control signal, for example. In this case, a signal combining the control signal and the superimposed signal is a corrected control signal.

In the present embodiment, the signal control unit41functions as an acquisition unit. Moreover, the signal control unit41and the calibration processing unit42cooperate to realize the control unit.

Specific operations of the signal control unit41and the calibration processing unit42will be described later in detail.

The system controller50controls operations of the respective units of the tactile presentation system100. For example, the system controller50is a computer such as a PC and a server. As shown inFIG.2, the system controller50includes a library51and a data output unit52. It should be noted that the system controller50may realize the above-mentioned tactile controller40.

The library51is a storage medium for storing data about various types of content to be reproduced by the tactile presentation system100. The library51stores a video file, an audio file, and a force sense control file.

The video file is video data, e.g., a movie or live broadcast. The audio file is typically audio data of the video file.

The force sense control file is data recording contents of a tactile sense (force sense) that the tactile presentation apparatus20(top plate portion21) presents to the user1. The tactile sense presented to the user1is typically set in conjunction with contents of the video file and the audio file.

The force sense control file includes, for example, information specifying a vibration pattern of the top plate portion21(vibration information). The vibration information is, for example, information specifying a time for generating a vibration, the kind of vibration (e.g., up and down vibration or tilted vibration), a waveform of the vibration, parameters of the vibration (amplitude and frequency), and the like.

Moreover, the force sense control file includes, for example, information specifying the attitude of the top plate portion21(attitude information). Here, a tilt of the top plate portion21is specified as the attitude of the top plate portion21. In this case, the attitude information is information specifying a time for making a tilt, an orientation of the tilt, an angle of the tilt (degree of tilt), and the like.

It should be noted that the kind and time of the vibration and the tilt are set in conjunction with the contents of the video file and the audio file. Moreover, the above-mentioned audio file may be used as the vibration information as it is. In this case, the audio file functions as the force sense control file.

The data output unit52outputs a file stored in the library51to each unit of the tactile presentation system100. For example, the data output unit52outputs a video file to the display10. Moreover, the data output unit52outputs an audio file to the loudspeakers11. In this manner, the display10and the loudspeakers11reproduce the video and sound of the content.

Moreover, the tactile control file is output to the signal control unit41of the tactile controller40. This enables the top plate portion21to move in accordance with the tactile control file.

[Basic Operation of Tactile Presentation Apparatus]

FIG.4is a schematic diagram showing an operation example of the tactile presentation apparatus.FIG.4AandFIG.4Bschematically show configurations simplifying the tactile presentation apparatus20.

InFIG.4A, all the motors32pull the top plate portion21simultaneously. In this case, each damper23contracts by an amount of pulling, and the top plate portion21sinks as a whole. Next, when lowering torque of all the motors32(or stopping all the motors32), the top plate portion21is pushed back due to the restoring forces of the dampers23. Repeating such an operation can vibrate the top plate portion21upward and downward.

Simultaneously pulling towing all the motors32using control signals at a synchronized time in this manner can generate an up and down vibration.

InFIG.4B, the right and left motors32in the figure alternately pull the top plate portion21. For example, torque of the left motor32is reduced (or stopped) when the right motor32pulls the top plate portion21as shown inFIG.4B. In this case, the right damper23contracts and the left damper23pushes up the top plate portion21. As a result, the top plate portion21is tilted rightward.

In contrast, torque of the right motor32is reduced (or stopped) when the left motor32pulls the top plate portion21. As a result, the top plate portion21is tilted leftward.

Alternately pulling the left/right (front/rear) of the top plate portion21in this manner can present a vibration tilted leftward/rightward (forward/rearward).

Moreover, continuously pulling the top plate portion21can keep it tilted. In this case, a control signal to generate constant torque is continuously output to the motor32that pulls the top plate portion21.

This allows presentation of the state tilted forward, rearward, leftward, or rightward.

It should be noted that two or more motors32may be used as a pair for tilting the top plate portion21. Specifically, pairs each consisting of two motors32combining one of the front and rear motors32and one of the left and right motors32are configured and the respective pairs are caused to alternately pull the top plate portion21. This provides a state tilted to the front left (rear right) or a state tilted to the front right (rear left), for example.

Vibrating the top plate portion21in this manner can present to the user1, for example, an impact of an explosion scene or the like displayed on the display10or a vibration sensation appropriate for a music piece, a sound, or the like.

Moreover, tilting the top plate portion21can give an illusion as if the body loses balance. Presenting such a tilt of the top plate portion21in conjunction with a video on the display10as a cross-modal interaction can give the user1an illusion that is the feel of acceleration when an automobile or train starts to run, for example.

FIG.5is a schematic diagram for describing properties of the reel31for winding the wire30.FIG.5Aschematically shows the reel31winding the wire30. Here, the wire30is fixed to a fixing position P and a counter-clockwise rotation of the reel31as the normal rotation winds the wire30. Moreover, a clockwise rotation of the reel31as the opposite rotation releases the wire30.

The normal rotation and the opposite rotation of the motor32are repeated in such a manner for vibrating the top plate portion21. At that time, the rotation amount of the normal rotation of the motor32, i.e., the amount of winding the wire30corresponds to an amplitude of the vibration. Thus, the amplitude A is represented as a product (R×ω×t) of a radius R of the reel31, an angular velocity ω (rotation velocity) of the motor32, and a rotation time t.

The reciprocal of the rotation time t among them is a frequency f of the vibration. Thus, an amplitude A is represented as A=R×ω/f. In a case of presenting the vibration, the amplitude A is thus inversely proportional to the frequency f (presentation frequency) to drive the motor32.

FIG.5Bshows a schematic graph showing a relationship between the amplitude A and the frequency f of a circular reel with a constant radius R as the solid line. As shown in the graph, the amplitude A (amount of winding) decreases in inverse proportion as the frequency f increases in a case where the reel has the constant radius R.

In a case of using the simple circular reel in this manner, there is a possibility that the amplitude of the vibration that can be presented, i.e., intensity of the vibration decreases and it becomes difficult to suitably present higher-frequency vibration as the frequency f of the vibration increases.

FIG.6is a schematic diagram showing a configuration example of the winding reel.

In the present embodiment, the reel31is configured so that the amount of winding the wire30decreases as the rotation amount of the motor32increases. Specifically, a spiral reel31whose radius R at a portion for winding the wire30gradually decreases is used.

For example,FIG.6(a)shows a spiral reel31aconfigured using the Archimedean spiral. A winding groove shape of the reel31a, which constitutes the respective steps, is the Archimedean spiral in a planar view.

Moreover,FIG.6(b)shows a spiral reel31bconfigured using a logarithmic spiral. A winding groove shape of the spiral reel31b, which constitutes the respective steps, is the logarithmic spiral in a planar view. In addition, a spiral reel using a parabolic spiral, a hyperbolic spiral, or the like may be used.

As to those spiral reels31, the wire30is fixed using a portion with the maximum radius R as the fixing position P. The wire30is wound so that the radius gradually decreases from this fixing position P. This allows a great reduction of a difference between the amount of winding at a higher frequency f and the amount of winding at a lower frequency f.

Using the spiral reel31as described above can make frequency characteristics related to the amplitude of the reel31closer to characteristics (broken-line graph inFIG.5B) that achieves a constant amplitude A irrespective of the frequency f.

It should be noted that the shape of the reel31is selected as appropriate in accordance with properties of the motor32, for example. Moreover, the amplitude of the control signal and the like may be adjusted in accordance with the shape of the reel31. This allows accurate reproduction of a vibration pattern specified by a force sense control file.

FIG.7is a flowchart showing a basic operation example of the tactile controller40. The processing shown inFIG.7is loop processing repeated during the operation of the tactile controller40(tactile presentation system100), for example.

The tactile controller40executes motor driving processing to drive the motors32(Step101). Next, the tactile controller40executes correction processing to correct control signals in view of a result of the motor driving processing (Step102). Then, the tactile controller40executes slack elimination processing for eliminating slack of the wires30(Step103).

InFIG.7, the motor driving processing, the correction processing, and the slack elimination processing are repeated as a series of processing. The present technology is not limited thereto, and the respective processing may be independently executed at different times.

For example, the correction processing and the slack elimination processing may be executed at an initial start, a scene change time of the content, or the like. Alternatively, the correction processing and the slack elimination processing may be executed in accordance with an instruction from the user1.

Hereinafter, the motor driving processing, the correction processing, and the slack elimination processing will be each described specifically.

FIG.8is a flowchart showing an example of the motor driving processing.

First of all, the signal control unit41acquires a force sense control file (Step201). Specifically, the signal control unit41reads the force sense control file output from the data output unit52of the system controller50.

Next, the signal control unit41determines whether or not the force sense control file includes an instruction (vibration information) to vibrate the top plate portion21(Step202). In a case where the signal control unit41determines that the force sense control file does not include the vibration information (No in Step202), the signal control unit41determines whether or not the force sense control file includes an instruction (tilt information) to tilt the top plate portion21(Step203). In a case where the signal control unit41determines that the force sense control file does not include the tilt information (No in Step203), the motor driving processing ends without generating any control signals for controlling the motors32.

In Step202, in a case where the signal control unit41determines that the force sense control file includes the vibration information (Yes in Step202), the signal control unit41generates vibration signals that are control signals to vibrate the top plate portion21(Step204).

The vibration signals are, for example, signals to fluctuate voltages applied to the motors32. It can also be said that these are signals to fluctuate torque of the motors32and signals to fluctuate the amount of pulling (amplitude) by which the motors32pull the top plate portion21.

The signal control unit41generates vibration signals respectively corresponding to the motors32so that the top plate portion21vibrates in a vibration pattern specified by the force sense control file.

Here, a case of vibrating the top plate portion21by using the motors32ato32d(drive units24ato24d) in the tactile presentation apparatus20shown inFIG.3will be described.

For example, in a case where a vibration pattern (seeFIG.4A) to vibrate the top plate portion21upward and downward is specified, identical vibration signals are generated for all the motors32ato32d. These vibration signals cause the respective motors32ato32dto pull the top plate portion21by the same length at the same time. The top plate portion21can be thus vibrated upward and downward.

Moreover, for example, in a case where a vibration pattern (seeFIG.4B) to vibrate the top plate portion21tilted leftward and rightward is specified, vibration signals whose phases are offset by 180 degrees are generated for the motors32aand32b. In a case of vibrating the top plate portion21tilted forward and rearward similarly, vibration signals whose phases are offset by 180 degrees are generated for the motors32cand32d. These vibration signals cause the left/right (or the front/rear) of the top plate portion21to be alternately pulled. The top plate portion21can be thus vibrated tilted leftward/rightward (or forward/rearward).

Moreover, it is assumed that the vibration pattern is a pattern to alternately tilt the top plate portion21to the front left or the rear right. In this case, vibration signals corresponding to the motor32aand the motor32cand vibration signals corresponding to the motor32band the motor32dare generated as signals whose phases are offset from each other by 180 degrees. Moreover, with the pattern to alternately tilt the top plate portion21to the front right or the rear left, the corresponding vibration signals are generated by changing one of the above-mentioned pairs to the other.

In addition, for example, a vibration pattern in which each of the front, rear, left, and right motors32ato32dvibrates alone may be used. In this case, a vibration signal for the motor32corresponding to a specified direction is generated.

When these vibration signals are generated, the vibration signals are output to the amplifier35(Step206). Then, the corresponding motors32are driven on the basis of the vibration signals amplified by the amplifier35.

In this manner, in the present embodiment, the signal control unit41selects motors32corresponding to the vibration pattern from among the respective motors32(drive units24) and vibrates the vibration pattern in accordance with the amount of pulling by which the selected motors32pull the top plate portion21.

Accordingly, the top plate portion21can be vibrated in various vibration patterns. Thus, a wide variety of tactile senses can be presented to the user1.

FIG.9is a graph showing an example of an original signal indicating a vibration waveform.FIG.9shows a graph of an original signal V0(t) representing the vibration waveform (amplitude) as a voltage. The vertical axis of the graph indicates a voltage and the horizontal axis indicates a time. Moreover, the waveform of the graph is the vibration waveform.

Here, the original signal V0(t) is a sine wave of a predetermined frequency and vibrates at a constant amplitude using a zero-voltage state as a center.

An input control file thus includes data about the original signal V0(t) representing a vibration waveform to vibrate the top plate portion21. Therefore, the original signal V0(t) can be said to be a force sense input signal representing a tactile sense (force sense) presented to the user1.

FIG.10is a schematic diagram for describing the vibration signal.

FIG.10Ashows a graph of a vibration signal V1(t) generated on the basis of the original signal V0(t) shown inFIG.9. The vertical axis of the graph indicates a voltage and the horizontal axis indicates a time. The vibration signal V1(t) is a signal specifying the voltage of the motor32. Specifying the voltage of the motor32in advance can achieve feed-forward control to control the rotational operation of the motor32in advance.

Moreover,FIG.10Bschematically shows the position of the top plate portion21that changes in accordance with the vibration signal V1(t).

Here, the vibration signal V1(t) will be described exemplifying a case where the top plate portion21vibrates in the upper and lower directions (Z-direction). Moreover, the position of the lower surface of the top plate portion21is considered as the position of the top plate portion21.

FIG.10Brespectively shows a position (Zmax) at which the top plate portion21is located highest, a position (Zmin) at which the top plate portion21is located lowest, and a position (Zref) that is the middle between Zmax and Zmin. The range of Zmax to Zmin is a range in which the top plate portion21can move by elastically deforming the dampers23, i.e., a range of movement of the top plate portion21.

In the example shown inFIG.10A, the vibration signal V1(t) to drive the motor32in a positive voltage range is generated on the basis of the original signal V0(t). That is, V1(t) is a signal obtained by offsetting V0(t) in a positive direction. An offset value (Vofs) at this time is, for example, set so that the voltage is equal to or larger than zero at all points of V1(t).

This causes the voltage applied to the motor32to be constantly positive. As a result, the motor32is controlled to constantly perform a normal rotation, which generates torque only in the direction of winding the wire30.

It should be noted that the amplitude of V1(t) does not necessarily need to equal the amplitude of V0(t) and may be adjusted as appropriate.

InFIG.10A, an offset value Vofs is set so that the minimum value of the vibration signal V1(t) becomes zero. Moreover, the maximum value of the vibration signal V1(t) is set to a voltage at which the amount of pulling becomes maximum in the range of movement of the top plate portion21, for example.

The motor32does not rotate when V1(t) is minimum (voltage=0), for example. Thus, the position of the top plate portion21is Zmax. When V1(t) increases, the torque of the motor32also increases, the top plate portion21is pulled, and the damper23contracts. The damper23is the most contracted in the range of movement when V1(t) becomes maximum. Thus, the position of the top plate portion21is Zmin.

Moreover, the torque of the motor32decreases when V1(t) decreases after V1(t) becomes maximum. At that time, the damper23starts to push up the top plate portion21due to the restoring force. Thus, the position of the top plate portion21increases during the process in which V1(t) decreases. Then, the position of the top plate portion21returns to Zmax when V1(t) becomes minimum.

It should be noted that the restoring force of the damper23can be higher than the torque of the motor32in a low-voltage range, depending on properties of the damper23and the motor32. In this case, the damper23can return to the original size (position of the top plate portion21becomes Zmax) before V1(t) becomes minimum.

In such a case, V1(t) may be associated with the position of the top plate portion21in a one-to-one relationship by increasing the offset value Vofs, for example.

The motor32rotates in the direction of winding the wire30by offsetting the original signal in a positive-voltage range as shown inFIG.10A. This allows suppression of slack of the wires30. Moreover, keeping such a control can eliminate the slack of the wires30over time.

In this manner, the vibration signal shown inFIG.10Acan be said to be a control signal for preventing slack (loose) of the wire30.

FIG.11is a graph showing another example of a voltage signal to vibrate the top plate portion.

FIG.11shows a graph of the vibration signal V1(t) to drive the motor32in a positive-voltage and negative-voltage range. In this case, an offset value in generating a vibration signal V1(t) from an original signal V0(t) is set so that trough parts of the vibration waveform are at negative voltages.

Thus, the offset value Vofs does not necessarily need to be set to prevent the voltage from becoming negative.

For example, the motor32performs an opposite rotation in a range in which V1(t) has a negative voltage. For example, the wire can be released by a constant amount when the motor32performs an opposite rotation. This enables the damper23to return to the original size without adding an extra force (e.g., a force that causes the motor32to spin the wrong way via the wire30) to the damper23.

The velocity to push up the top plate portion21can be prevented from lowering by early reducing the force added to the damper23in this manner when the damper23restores slowly, for example. This allows appropriate expression of even a high-frequency vibration.

Moreover, the offset value Vofs for the vibration signal may be set in accordance with a vibration frequency.

For example, as described above with reference toFIG.5, the winding time decreases as the frequency increases in the configuration to wind the wire30through the reel31. Therefore, assuming a constant winding velocity (angular velocity ω), the amount of winding the wire30, i.e., the amplitude decreases as the frequency increases.

For example, increasing Vofs increases the torque of the motor32and can increase the velocity to wind the motor32. Therefore, Vofs is set to increase as the vibration frequency increases. This causes the winding velocity to increase at a higher frequency. Thus, a decrease in the amount of winding can be suppressed.

FIG.12is a schematic diagram showing a generation example of the vibration signal, using an audio signal as the original signal.FIG.12Ashows a graph representing the audio signal. Here, it is assumed that the audio signal included in the audio file is used as vibration information of the force sense control file. That is, the audio signal is used as the original signal V0(t).

FIG.12Bshows a graph of the vibration signal V1(t) generated from the audio signal shown inFIG.12A.

In a case where the audio signal becomes the original signal V0(t), the vibration signal V1(t) is generated by performing signal processing to eliminate negative voltage parts of the audio signal.

In the example shown inFIG.12B, the offset value Vofs that is a constant amount is added to the audio signal so as to perform driving at positive voltages only. Moreover, the amplitude of the audio signal is normalized to be equal to or lower than a predetermined threshold voltage Vmax. The threshold voltage Vmax is, for example, a voltage capable of pulling the wire30so that the position of the top plate portion21becomes Zmin.

This allows expression of a vibration according to the audio signal.

It should be noted that in the method shown inFIG.12B, a region in which V1(t) increases again without dropping to zero is generated. In this region, the top plate portion21is clipped in half way without returning to the original position.

Therefore, for example, normalization processing to bend negative-voltage parts of the waveform of the audio signal to positive-voltage parts, using a voltage=0 as a boundary, can prevent the top plate portion21from being clipped. This allows an increase in amplitude that can be expressed by the top plate portion21. Thus, dynamic tactile presentation can be realized.

Referring back toFIG.8, in a case where the signal control unit41determines in Step203that the force sense control file includes the tilt information (Yes in Step203), the signal control unit41generates tilt signals that are control signals to tilt the top plate portion21(Step205).

The tilt signals are, for example, signals to keep voltages applied to the corresponding motors32constant. These can also be said to be signals to keep the amount of pulling (amplitude) by which the motors32pull the top plate portion21constant by making torque of the motors32constant.

The signal control unit41generates a tilt signal corresponding to the motor32as a target so that the top plate portion21is kept in a tilted attitude specified by the force sense control file.

Here, a case of tilting the top plate portion21by the use of the motors32ato32d(drive units24ato24d) in the tactile presentation apparatus20shown inFIG.3will be described.

For example, in a case where a tilted attitude in which the top plate portion21is tilted rightward is specified, a tilt signal for the motor32athat pulls the right side of the top plate portion21is generated. Similarly, tilt signals to drive the motor32b, the motor32c, and the motor32dare respectively generated for tilting the left side, the front side, and the rear side of the top plate portion21. This enables the top plate portion21to be tilted forward, rearward, leftward, or rightward.

Moreover, for example, in a case of tilting the top plate portion21to the front left, tilt signals for the motor32aand the motor32care generated. Similarly, in a case of tilting the top plate portion21to the rear left, the front right, the rear right, or the like, tilt signals are generated for a pair that pulls the motors32on the tilted side.

Moreover, the use of three or more motors32can achieve an arbitrary tilt. In this case, a tilt signal to specify the amount of pulling is generated for each motor32.

When these tilt signals are generated, the tilt signals are output to the amplifier35(Step206). Then, the corresponding motors32are driven on the basis of the tilt signal amplified by the amplifier35.

In this manner, in the present embodiment, the signal control unit41selects the motors32of the respective motors32(drive units24), which correspond to the tilted attitude, and keeps the amount of pulling by which the selected motors32pull the top plate portion21a value according to the tilted attitude.

This enables the top plate portion21to be tilted in various directions. Thus, a wide variety of tactile senses can be presented to the user1.

FIG.13is a schematic diagram for describing the tilt signal.

FIG.13Ashows a graph of the tilt signal V2(t). The vertical axis of the graph indicates a voltage and the horizontal axis indicates a time. The tilt signal V2(t) is a signal specifying the voltage of the motor32. Here, it is assumed that a single motor32pulls the top plate portion21. In this case, a control signal for the motor32other than the motors32that pull the top plate portion21is a signal whose voltage takes a constant value (typically 0).

Moreover,FIG.13Bschematically shows the position of the top plate portion21pulled by the motor32driven in accordance with the tilt signal V2(t). Here, it is assumed that the tilt signal V2(t) is input to the right motor32in the figure.

As to the tilt signal V2(t) shown inFIG.13A, the voltage is set to be zero until a time t1. The position of the top plate portion21in this period is Zmax. The voltage increases until the time t1and the voltage becomes maximum at a time t2. The maximum value of the voltage at this time is, for example, a value with which the position of the top plate portion21becomes Zmin. Therefore, the right side of the top plate portion21is located lowest at the time t2. It should be noted that the left side of the top plate portion21does not move from the position Zmax.

The voltage value is kept maximum in a period of the time t2to a time t3. The top plate portion is kept tilted rightward as shown inFIG.13during this period. The voltage is lowered after the time t3. Then, the voltage=0 at a time t4. Therefore, the top plate portion21returns to the horizontal state after the time t4.

For example, reducing the time of the period t1to t2to tilt the top plate can express a rapid floor change. This can express the feel of acceleration sensation or the feel of deceleration along with sudden start or sudden braking.

In addition, a velocity to return the top plate portion21to the original position, a tilt angle of the top plate portion21, or the like can be set as appropriate.

FIG.14is a flowchart showing an example of the correction processing.

The correction processing corrects a control signal (vibration signal or tilt signal) output to the motor32on the basis of the load information representing the load applied to the motor32. This correction is reflected to, for example, next motor driving processing (more specifically, processing of generating the control signal in Step204or205ofFIG.8).

Here, processing of correcting the control signal in accordance with the tilt of the top plate portion21will be described as an example of the correction processing.

First of all, the calibration processing unit42acquires load information (Step301). Here, it is assumed that the load information is a detection result of the current sensor36described above with reference toFIG.2.

In the tactile presentation apparatus20, for example, the amplifier35amplifies the control signal output in Step206ofFIG.8and inputs the amplified control signal to each motor32. The current sensor36detects a motor current flowing through the motor32to which the amplified control signal is input in this manner. Then, the calibration processing unit42reads a detection result of the current sensor36(a measurement value of the motor current).

Next, the calibration processing unit42determines whether or not the motor currents of the respective motors32are non-uniform (Step302).

For example, observing a change in motor current can estimate by how much force and on which place of the top plate portion21the user1is stepping. That is, the motor32and the current sensor36also function as a stepping sensor that detects stepping of the user1.

The determination as to whether or not the motor currents are non-uniform is processing of determining a tilt of the top plate portion21due to stepping (or the standing position) of the user1.

FIG.15is a schematic diagram describing correction processing according to the tilt of the top plate portion21.

For example, when the user1is standing at an end of the top plate portion21, the damper23(in the figure, the right damper23) on the standing side of the user1is more contracted than the damper23opposite to this damper23. That is, the top plate portion21is tilted.

It is assumed that the same torque is generated by adding the same voltage to each motor32in this state. In this case, the damper23is already contracted on the standing side of the user1. Therefore, the amount of pulling with the same force is smaller than that on the opposite side. That is, the load applied to the motor32on the standing side of the user1is larger than that on the opposite side. As a result, the motor32that pulls the tilt side of the top plate portion21has a larger motor current, for example, in a case of driving each motor32at the same voltage.

Therefore, the tilt of the top plate portion21can be detected by comparing values of motor currents of the respective motors32and checking the motor32having the load applied (motor32with a higher motor current).

It should be noted that the attitude of the top plate portion21may be estimated from a detection result of an attitude sensor, for example, provided in the top plate portion21.

For example, as to the four motors32(seeFIG.2) that pull the front, rear, left, or right of the top plate portion21, when even one of the motors32has a higher load (higher motor current), the top plate portion21is considered to be tilted on the side of this motor32. In this manner, in a case where it is determined that the motor currents are non-uniform (Yes in Step302), processing of correcting the control signal is executed (Step303). It should be noted that in a case where it is determined that the motor currents are uniform (Yes in Step302), the processing of correcting the control signal is not executed and the correction processing ends.

In Step303, the calibration processing unit42recalculates an output to each motor32(e.g., a voltage value applied to each motor32) by using the motor current of each motor32that is the load information. Then, parameters according to the control signal (input waveform) are adjusted. The parameters according to the control signal are, for example, an offset value Vofs and an amplitude described above with reference toFIG.10, etc.

Specifically, the control signal is corrected on the basis of the load information so that loads of the motors32of the plurality of drive units24are equal.

Offset values Vofs for the control signals of the other motors32are adjusted so that loads similar to the load of the motor32having the higher load (motor32on the tilt side) are applied to the other motors32, for example. Moreover, the amplitude of each control signal for each motor32is adjusted to be capable of vibrating at a similar amplitude.

This enables the top plate portion21to uniformly vibrate even when the standing position of the user1deviates. Thus, the vibration pattern can be appropriately expressed.

FIG.16is a schematic diagram describing correction processing depending on the load applied to the top plate portion21.

Here, the processing of correcting the control signal in accordance with the load applied to the top plate portion21, i.e., the weight of the user1standing on the top plate portion21or the number of users1will be described. This processing is, for example, processing dynamically executed in accordance with the load applied to the top plate portion21.

FIG.16Ais a schematic diagram showing a state in which the top plate portion21is displaced toward the base portion22due to the load. When the load is applied to the top plate portion21, the damper23contracts and the top plate portion21sinks. Here, a displacement amount of the top plate portion21with respect to the position of the top plate portion21(Zmax) in a no-load state is denoted as A.

The displacement amount A increases as the load applied to the top plate portion21increases. That is, the amount of contraction of the damper23increases as the load applied to the top plate portion21increases.

Moreover, it is necessary to further contract the already contracted damper23in order to pull the top plate portion21with the added load more downward. Therefore, the torque of the motor32required for pulling the top plate portion21increases as the load applied to the top plate portion21increases.

In the correction processing of the control signal depending on the load, the load applied to the top plate portion21is first estimated on the basis of the load information (motor current). For example, the motor current of each motor32is compared with the motor current in the no-load state. Then, the magnitude of the load is estimated on the basis of an amount of increase of the motor current with respect to the no-load state.

It should be noted that the load applied to the top plate portion21may be estimated on the basis of a detection result of a pressure sensor, for example, provided in the top plate portion21.

Next, the offset value Vofs of the control signal for each motor32is set in accordance with the estimated load.FIG.16Bshows a graph showing the control signal (vibration signal V1(t)) for which Vofs is adjusted. For example, Vofs is set to increase as the load increases.

This causes the torque to increase as the entire signal. Thus, the top plate portion21can be appropriately vibrated also after the damper23is contracted.

It should be noted that correction to shift the entire signal so as to increase the signal level is executed in accordance with the load value as to the tilt signal to cause a tilt.

In this manner, the calibration processing unit42estimates the load applied to the top plate portion21on the basis of the load information and corrects the control signal so as to increase the force by which the motors32pull the top plate portion21as the load increases.

For example, in a case where a plurality of users1is on the top plate portion21, there is a possibility that a sufficient magnitude of vibration or tilt cannot be caused with the control signal without any correction. Therefore, a similar vibration or tilt can be expressed irrespective of the magnitude of the load applied to the top plate portion21by changing the magnitude of the movement in accordance with the load.

Moreover, processing of changing the control depending on a standing position of the user1may be executed as the processing of correcting the control signal.

For example, when the user1stands on an end of the top plate portion21, an amount of operation (vibration amplitude or tilt angle) or the like of the top plate portion21is set to be smaller for safety in case where the user1loses balance. The standing position of the user1is estimated on the basis of a tilt amount of the top plate portion21, for example. In this case, for example, when the tilt amount is larger than a constant threshold, it is determined that the user1is positioned at the end of the top plate portion21. Alternatively, the standing position of the user1may be estimated on the basis of a detection result of the pressure sensor.

In a case where it is determined that the user1is positioned at the end of the top plate portion21, the control signal is corrected to reduce the operation amount of the top plate portion21, i.e., the amount of pulling by the motor32. Specifically, the amplitude of the control signal is set to be smaller. Alternatively, the offset value for the control signal is set to be smaller.

In this manner, the calibration processing unit42estimates a position of the user1on the top plate portion21on the basis of the load information. Then, the control signal is corrected to reduce the amount of pulling by which the motors32pull the top plate portion21when the position of the user1is the end of the top plate portion21.

This allows prevention of the situation where the user1falls from the top plate portion21. Thus, it can enhance the safety.

FIG.17is a flowchart showing an example of the slack elimination processing.

In the slack elimination processing, the motor32is driven to eliminate slack of the wire30.

First of all, the signal control unit41determines whether or not the wire30is slack (Step401). In this determination, the signal control unit41determines whether or not a period of outputting a control signal such as a vibration signal and a tilt signal exceeds a predetermined threshold, for example.

In the configuration to wind the wires30, the wires of the other motors32are expected to be slack when a time of continuously driving a certain motor32exceeds a constant time. For example, keeping winding the wire30connected to the top plate portion21in one direction can make the wires of the motors32other than the wound motor32slack.

Therefore, determining an output period of a currently output control signal can detect a state in which slack of the wires30is generated at a high possibility.

It should be noted that in contrast to the above-mentioned determination processing, the motor32rotates freely, which can make the wire30slack, also when the motor32is not driven for a long time. Thus, whether or not the wire30is slack may be determined on the basis of the time for which the motor32is halted.

Alternatively, the slack of the wire30may be directly detected by rotating the halted motor32and calculating a load applied to the motor32on the basis of its motor current.

In a case where the signal control unit41determines that the wire30is slack, the signal control unit41generates a control signal to eliminate the slack of the wire30and output the control signal to each motor32(Step402). Specifically, the signal control unit41generates a control signal to perform a normal rotation of the motor32at low torque to halt the top plate portion21for a constant time. The signal control unit41outputs this low-torque control signal in order from the not driven motor32.

Accordingly, as to the motor32whose wire30is slack, the reel31winds the wire30so as to eliminate the slack of the wire30.

In this manner, the signal control unit41rotates the motor32so as to eliminate the slack of the wire30. This prevents the situation where the time to pull the top plate portion21is delayed. Thus, the vibration or attitude can be changed at an appropriate time.

Moreover, the slack elimination processing may be executed as calibration at the start of activation of the tactile presentation apparatus20. In this case, each wire30is wound to a position where it is not slack at the start of the operation of the tactile presentation apparatus20so as to compensate for slack or the like generated due to degradation of the wires30over time.

It should be noted that positions of the motors32when rotating so as to prevent slack of the wires30may be set, for example, as initial positions of the motors32in a case where the rotation positions of the motors32can be controlled, for example, as will be described later.

Moreover, the slack elimination processing may be executed when the load applied to the top plate portion21or the like has suddenly changed. For example, when the user1gets on the top plate portion21brutally or when the user1jumps on the top plate portion21, there is a possibility that the top plate portion21suddenly sinks, which makes the wires30slack. Therefore, processing of rotating the motors32at low torque so as to prevent slack of the wires30is executed, for example, when a sudden change in load has been detected on the basis of the load information (detection result of the current sensor36or the pressure sensor). This allows presentation of a vibration or the like at an appropriate time irrespective of behaviors of the user1.

[Position Control of Motor]

In the above description, the control signals to specify voltages applied to the motors32have been mainly described. For example, in a case of performing feedback control of the motors32by the use of a potentiometer, an encoder, or the like, the amplitude of the control signal may be handled as a position command value of position control (e.g., PID control), not a voltage command value.

In this case, the control signal is a signal specifying the rotation amount of the motor32.

FIG.18is a schematic diagram showing an example of position control of the motor. The graphs shown on the upper side ofFIG.18AandFIG.18Bshow a vibration signal R(t) specifying the rotation amount of the motor32.

Here, the rotation amount of the motor32is, for example, an amount by which the rotational shaft of the motor32(reel31) rotates from a predetermined reference position. Therefore, the rotation amount increases as the rotated angle and the r.p.m. increase.

InFIG.18AandFIG.18B, the reference position of this rotation amount is different.

InFIG.18A, a middle position (Zref) of the range of movement of the top plate portion21is set as the reference position of the rotation amount. In this case, as shown on the lower side ofFIG.18A, the vibration signal R(t)=0 represents a state in which the position of the top plate portion21is Zref that is the reference position. Moreover, for example, the minimum value and maximum value of the vibration signal R(t) respectively represent a state in which the top plate portion21is at the position Zmax on the uppermost side of the range of movement and a state in which the top plate portion21is at the position Zmin on the lowermost side.

This method enables intuitive representation of a vibration or the like as viewed from a center position Zref of the range of movement. For example, this method enables the use of the vibration signal R(t) in place of the original signal without offsetting the original signal.

InFIG.18B, the position (Zmax) on the uppermost side of the range of movement of the top plate portion21is set as the reference position of the rotation amount. In this case, as shown on the lower side ofFIG.18B, the vibration signal R(t)=0 represents a state in which the position of the top plate portion21is Zmax that is a default position. Moreover, for example, the maximum value of the vibration signal R(t) represents a state in which the top plate portion21is at the position Zmin on the lowermost side of the range of movement.

This method enables representation of a vibration using the default position Zmax of the top plate portion21as a starting point. In this case, the vibration signal R(t) is calculated by offsetting the original signal so as not to generate negative portions of the position control.

It should be noted that even in a case of specifying the rotation amount of the motor32(rotation position), the wires30may be released at a velocity higher than the restoring velocity of the damper23, depending on the velocity of moving the motors32. In such a case, a constant upper limit may be set to the rotation velocity in the release direction (i.e., the direction of opposite rotation in which the rotation amount decreases) so as to prevent slack of the wires30. This allows sufficient prevention of slack of the wires30even at a high frequency.

[Other Configuration Examples of Tactile Presentation Apparatus]

FIG.19is a schematic diagram showing another operation example of the tactile presentation apparatus.FIG.19AandFIG.19Bschematically show configurations of a tactile presentation apparatus60and a tactile presentation apparatus70. The tactile presentation apparatus60and the tactile presentation apparatus70are different in the configuration of the drive units24from the tactile presentation apparatus20shown inFIG.3.

In the tactile presentation apparatus60shown inFIG.19A, a connection portion25is provided at a center position O of a lower surface of a top plate portion21. Moreover, motors32that are the drive units24are arranged respectively at positions that are opposite to each other across the connection portion25. The respective motors32are provided with the reels31. The respective reels31are connected to the connection portion25provided at the middle of the top plate portion21via wires30. It should be noted that the illustrations of the main bodies of the motors32are omitted fromFIG.19A.

In this manner, in the tactile presentation apparatus60, the drive units24are arranged to pull the center position O of the top plate portion21in directions opposite to each other. It should be noted that the position of the connection portion does not need to be the center position O.

For example, when the left motor32in the figure pulls the top plate portion21, each damper23is deformed to deviate leftward. As a result, the top plate portion21slides leftward as a whole. Moreover, when the torque of the left motor32decreases, the top plate portion21is pushed back due to the restoring forces of the dampers23and returns to the original position. On the contrary, the top plate portion21slides rightward when the right motor32in the figure pulls the top plate portion21, and the top plate portion21returns to the original position when the torque of the right motor32decreases.

In this manner, in the tactile presentation apparatus60, the drive units24(motors32) pull the top plate portion21so that the top plate portion21slides along the reference surface12.

In the example shown inFIG.19A, for example, two motors32provided in opposite to each other alternately pull the top plate portion21. As a result, the top plate portion21can be vibrated to slide leftward and rightward. Alternately pulling the center portion of the top plate portion21in this manner can present a horizontal displacement sensation.

It should be noted that an operation of displacing the top plate portion21in one direction by one degree may be performed. In this case, a sudden horizontal displacement or the like can be expressed.

Moreover, the direction of pulling the top plate portion21is not limited, and for example, the drive units24to pull the top plate portion21in front and rear directions (direction orthogonal to the sheet ofFIG.19A) may be provided. Moreover, the four drive units24may be provided so as to pull the top plate portion21in both left and right directions and the front and rear directions. This enables the top plate portion21to slide in an arbitrary direction along the reference surface12.

Sliding the top plate portion21in this manner can give the user1an illusion such as a sensation of unbalancing when a train starts to move, for example.

In the tactile presentation apparatus70shown inFIG.19B, the connection portions25are respectively provided at the positions opposite to each other across the center position O of the lower surface of the top plate portion21. Moreover, the drive units24(motors32) that pull the connection portions25in a direction crossing a direction connecting the center position O and the connection portions25are respectively arranged at the respective connection portions25. These drive units24pull the respective connection portions25in directions opposite to each other. InFIG.19B, the motor32that pulls the left connection portion25forward (upward in the figure) and the motor32that pulls the right connection portion rearward (downward in the figure) are respectively provided.

In this manner, in the tactile presentation apparatus70, the drive units24are arranged so as to pull the points opposite to each other across the center position O of the top plate portion21in directions opposite to each other.

For example, when each motor32pulls the top plate portion21, each damper23is deformed to twist. As a result, the top plate portion21rotates using a normal vector of the top plate portion21(reference surface12) at the center position O as a center. Moreover, when the respective motors32decrease in torque, the top plate portion21is pushed back due to the restoring forces of the dampers23and returns to the original position.

In this manner, in the tactile presentation apparatus70, the drive units24(motors32) pull the top plate portion21so that the top plate portion21rotates using the axis orthogonal to the reference surface12(normal vector at the center position O) as a center.

In the example shown inFIG.19B, the two motors32are provided so as to rotate the top plate portion21in a clockwise direction from the initial position. Additionally, for example, a rear motor32that pulls the left connection portion and a front motor32that pulls the right connection portion may be provided. This enables the top plate portion21to rotate in the clockwise direction from the initial position.

In addition, the positions and number of the connection portions25, the direction of pulling the top plate portion21, and the like are not limited. The top plate portion21is set as appropriate to be rotatable using the axis orthogonal to the reference surface12as a center.

In a case of controlling the operation of the tactile presentation apparatus70, for example, the signal control unit41reads information specifying the rotation position of the top plate portion21as the force sense control file. The information specifying the rotation position specifies the direction of rotation and the rotation amount, for example. This may be information specifying a vibration involving a rotation, for example.

The signal control unit41selects a motor32(drive unit24) that has to be rotated on the basis of the information specifying the rotation position, and generates a control signal related to the motor32. This enables the necessary motor32to rotate and the top plate portion21to appropriately rotate.

Hereinabove, in the tactile presentation apparatuses20,60, and70according to the present embodiments, the plurality of drive units24(motors32) is connected to the top plate portion21supported by the dampers23. These drive units24move the top plate portion21so as to keep the dampers23elastically deformed. This enables the top plate portion21to move due to forces for the dampers23to restore. Thus, a compact device for presenting a wide variety of tactile senses can be realized.

FIG.20is a schematic diagram showing a configuration example of the vibration apparatus shown as a comparative example. In a vibration apparatus55shown inFIG.20, a vibration actuator56such as a voice coil motor (VCM) is directly connected to a stage57. Vibration of the vibration actuator56can vibrate the stage57. On the other hand, for example, it is difficult for the vibration actuator56using the VCM or the like to keep the stage57sunk, for example. It makes a tactile sense that the vibration apparatus55can express merely a vibration expression.

In the present embodiment, the drive units24that move the top plate portion21can keep the position and attitude of the top plate portion21changed, i.e., the dampers23elastically deformed. This allows expression of a state in which the top plate portion21is tilted or the like besides the vibration expression of the top plate portion21. Accordingly, various tactile senses can be presented to the user1standing on the top plate portion21. As a result, an acceleration sensation and a vibration as if the user is on a vehicle can be simultaneously expressed, and high entertainment properties can be provided.

Moreover, the motor32used as the drive unit24of the present embodiment often has a smaller element size as compared to the vibration actuator such as the VCM. Moreover, the arrangement of the motors32can be freely set in this configuration to pull the top plate portion21through the wires30. It can sufficiently downsize the apparatus.

Other Embodiments

The present technology is not limited to the above-mentioned embodiments, and various other embodiments can be made.

FIG.21is a schematic diagram showing a configuration example of a tactile presentation apparatus according to another embodiment.

FIG.21shows a perspective view showing schematic shapes of tactile presentation apparatuses80ato80f. In the tactile presentation apparatuses80ato80f, the shape of the top plate portion21and the number and arrangement of the drive units24(motors32) are different from each other.

It is assumed that in each of the tactile presentation apparatuses80ato80f, the width of the top plate portion21is about 1000 mm and the motor32to be used has a size of approximately ϕ70 mm×100 mm. The size of each unit is not limited thereto as a matter of course.

It should be noted thatFIG.21shows the arrangement positions of the motors32as positions of the fixtures33to fix the motors32.

The tactile presentation apparatus80ahas a configuration similar to the tactile presentation apparatus20described above with reference toFIG.3. Specifically, the tactile presentation apparatus80aincludes a top plate portion21and a base portion22each having a square plane shape and the four motors32arranged in a cross-form to face each other at center portions of four sides of the base portion22.

The tactile presentation apparatus80bincludes a top plate portion21and a base portion22each having a circular plane shape and four motors32arranged in a cross-form inside the base portion22.

Using the four motors32as in the tactile presentation apparatuses80aand80bcan easily control the vibration and tilt of the top plate portion21.

The tactile presentation apparatus80cincludes a top plate portion21and a base portion22each having a square plane shape and three motors32arranged inside the base portion22. The three motors32are respectively positioned at three vertices of an equilateral triangle.

The tactile presentation apparatus80dincludes a top plate portion21and a base portion22each having an equilateral hexagon plane shape and three motors32arranged in an equilateral triangle shape to face each other at vertex positions of the base portion22.

The configuration using the three motors32as in the tactile presentation apparatuses80cand80dis a minimized configuration capable of tilting the top plate portion21in an arbitrary direction.

The tactile presentation apparatus80eincludes a top plate portion21and a base portion22each having a square plane shape and two motors32arranged corresponding to center portions of two sides of the base portion22, which are opposite to each other.

The tactile presentation apparatus80fincludes a top plate portion21and a base portion22each having a circular plane shape and two motors32arranged in opposite to each other across the center of the base portion22.

Using the two motors32as in the tactile presentation apparatuses80eand80fcan uniformly generate a vibration in the left and right directions or a vibration in the front and rear directions, for example.

In addition, the number and the position of the drive units24(connection portions25) are not limited to the direction of pulling the top plate portion21. For example, at least two of a mechanism (seeFIG.3,FIG.4, etc.) of vibrating the top plate portion21in the vertical direction (Z-direction), a mechanism (seeFIG.19A) of sliding the top plate portion21in the horizontal direction (XY-direction), and a mechanism (seeFIG.19B) of rotating the top plate portion21using the vertical direction as the axis can be combined and used.

Moreover, the mechanism of sliding the top plate portion21in the horizontal direction enables an X-vibration or Y-vibration (e.g., front and rear vibration or left and right vibration) in the horizontal direction. Moreover, the mechanism of vibrating the top plate portion21in the vertical direction (Z-direction) enables roll vibration so that the top plate portion21alternately shakes in the front and rear or the left and right directions.

Differently controlling the motors32of each mechanism in this manner can achieve a wide variety of tactile expressions.

Moreover, the present technology is not limited to the case of using the plurality of drive units24, and for example, a single drive unit24may constitute the tactile presentation apparatus.

For example, only one drive unit24(motor32) that pulls the top plate portion21in the vertical direction may be provided. This allows presentation of a tactile sense with an up and down vibration.

Alternatively, for example, a configuration in which a motor32is vertically arranged at the middle of the base portion22and the reel31winds a wire30extending from an end of the top plate portion21may be made. In this case, one motor32can rotate the top plate portion21.

Moreover, the present technology is not limited to the configuration using the wires30, and for example, the top plate portion21may be directly rotated by directly connecting the motors32to the top plate portion21.

FIG.22is a schematic diagram showing other configuration examples of the tactile presentation apparatus.

In the above description, the tactile presentation apparatus configured as the stage on which the user1stands has been mainly described. The present technology is not limited thereto, and for example, the tactile presentation apparatus may be configured with a size that the user1can hold in hand.

FIG.22schematically shows a compact tactile presentation apparatus90on which a single motor32is mounted. The tactile presentation apparatus90includes a square top plate portion21, dampers23that support four vertices of the top plate portion21, and motors32that pull the middle of the top plate portion21. It should be noted that the illustrations of the reel31and the wires30are omitted fromFIG.22. For example, vibrating the rotation of the motors32can vibrate the top plate portion21. Such a tactile presentation apparatus90can replace a conventional compact vibrator (e.g., VCM) by configuring it to have a size that the user1can hold in hand, for example.

In the above description, the reels for winding the wires are directly fixed to the rotational shafts of the motors. For example, a configuration in which the reels and the motors are connected via a gear mechanism or the like may be employed. This allows a reduction of loads applied to the motors. Thus, the apparatus can be downsized.

Moreover, a guide member such as a pulley for changing the direction of the wire may be provided between the connection portion and the reel. This enables the arrangement of the motors to be designed freely.

The configuration to pull the wire may be a power source other than the motor. For example, the wire may be pulled using a linear actuator or the like. The wire may be replaced as the member that pulls the top plate portion by a rod or the like connected to the top plate portion via a free joint or the like.

Hereinabove, the case where the computer (tactile controller) of the tactile presentation apparatus on which the user gets executes the tactile control method according to the present technology is described. However, another computer capable of communicating with the tactile controller via a network or the like may execute the tactile control method and the program according to the present technology.

For example, processing in which a system controller or another computer in a network generates control signals may be executed.

That is, the tactile control method and the program according to the present technology can be executed not only in a computer system configured by a single computer but also in a computer system in which a plurality of computer cooperates. It should be noted that In the present disclosure, the system means a set of a plurality of components (apparatuses, modules (components), and the like) and it does not matter whether or not all components is in the same casing. Therefore, a plurality of apparatuses housed in separate casings and connected via a network and a single apparatus in which a plurality of modules is housed in a single casing are both systems.

The execution of the tactile control method and the program according to the present technology by the computer system includes, for example, both a case where the processing of acquiring the specifying information and the processing of controlling the drive unit are executed by a single computer and a case where the respective processes are executed by different computers. Moreover, execution of the respective processes by a predetermined computer includes causing another computer to execute some or all of the processes to acquire the results.

That is, the tactile control method and the program according to the present technology can also be applied to a cloud computing configuration in which a single function is shared and processed cooperatively by a plurality of apparatuses via a network.

At least two features of the features according to the present technology as described above may be combined. That is, the various features described in the respective embodiments may be arbitrarily combined across the respective embodiments. Moreover, the above-mentioned various effects are merely exemplary and not limitative, and other effects may be provided.

In the present disclosure, it is assumed that “the same”, “equal”, “orthogonal”, and the like are concepts including “substantially the same”, “substantially equal”, “substantially orthogonal”, and the like. For example, states included in a predetermined range (e.g., ±10% range) using “completely the same”, “completely equal”, “completely orthogonal”, and the like as bases are also included.

It should be noted that the present technology can also take the following configurations.(1) A tactile presentation apparatus, including:a movable member;an elastic portion for supporting the movable member; andat least one drive unit that is connected to the movable member, moves the movable member so as to elastically deform the elastic portion, and is capable of keeping the elastic portion elastically deformed.(2) The tactile presentation apparatus according to (1), in whichthe movable member is a stage on which a user is able to get.(3) The tactile presentation apparatus according to (1) or (2), further includinga tactile control unit that acquires specifying information regarding a vibration or attitude of the movable member and controls the at least one drive unit on the basis of the specifying information.(4) The tactile presentation apparatus according to (3), in whichthe movable member includes at least one connection portion to which the at least one drive unit is connected, andthe at least one drive unit moves the movable member by pulling the connection portion to the at least one drive unit is connected.(5) The tactile presentation apparatus according to (4), in whichthe movable member is a plate-like member arranged along a reference surface, andthe drive unit pulls the movable member in a direction crossing the reference surface.(6) The tactile presentation apparatus according to (5), in whichthe drive unit pulls the movable member in a direction orthogonal to the reference surface.(7) The tactile presentation apparatus according to (5), in whichthe drive unit pulls the movable member so that the movable member slides along the reference surface.(8) The tactile presentation apparatus according to (5), in whichthe drive unit pulls the movable member so that the movable member rotates using an axis orthogonal to the reference surface as a center.(9) The tactile presentation apparatus according to any one of (4) to (8), in whichthe specifying information includes information specifying a vibration pattern of the movable member, andthe tactile control unit selects a drive unit of the at least one drive unit, which corresponds to the vibration pattern, and fluctuates an amount of pulling by which the selected drive unit pulls the movable member in accordance with the vibration pattern.(10) The tactile presentation apparatus according to any one of (4) to (9), in whichthe specifying information includes information specifying a tilted attitude of the movable member, andthe tactile control unit selects a drive unit from the at least one drive unit, which corresponds to the tilted attitude, and keeps an amount of pulling by which the selected drive unit pulls the movable member at a value according to the tilted attitude.(11) The tactile presentation apparatus according to any one of (3) to (10), in whichthe drive unit includes a wire connected to the movable member, a reel for winding the wire, and a motor for rotating the reel, andthe tactile control unit generates a control signal to control rotation of the motor on the basis of the specifying information.(12) The tactile presentation apparatus according to (11), in whichthe reel is configured so that an amount of winding the wire decreases as a rotation amount of the motor increases.(13) The tactile presentation apparatus according to (11) or (12), in whichthe control signal is a signal specifying a voltage to drive the motor or a rotation amount of the motor.(14) The tactile presentation apparatus according to any one of (11) to (13), further includinga load sensor that detects load information representing a load applied to the motor, in whichthe tactile control unit corrects the control signal on the basis of the load information.(15) The tactile presentation apparatus according to (14), in whichthe load sensor includes at least one of a current sensor that detects a current flowing through the motor, a pressure sensor that detects a pressure with respect to the movable member, and an attitude sensor that detects an attitude of the movable member.(16) The tactile presentation apparatus according to any one of (11) to (15), in whichthe at least one drive unit includes a plurality of drive units, andthe tactile control unit corrects the control signal on the basis of the load information so that a load on the motor that each of the plurality of drive units has is equal.(17) The tactile presentation apparatus according to any one of (11) to (16), in whichthe tactile control unit estimates a load applied to the movable member on the basis of the load information and corrects the control signal so that a force by which the motor pulls the movable member increases as the load increases.(18) The tactile presentation apparatus according to any one of (11) to (17), in whichthe movable member is a stage on which a user is able to get, andthe tactile control unit estimates a position of user on the movable member on the basis of the load information and corrects the control signal to an amount of pulling by which the motor pulls the movable member decreases when the position of the user is an end of the movable member.(19) The tactile presentation apparatus according to any one of (11) to (18), in whichthe tactile control unit rotates the motor so as to eliminate slack of the wire.(20) A tactile control apparatus, including:an acquisition unit that acquires specifying information regarding a vibration or attitude of a movable member supported by an elastic portion; anda control unit that controls at least one drive unit on the basis of the specifying information, the at least one drive unit being connected to the movable member, moving the movable member so as to elastically deform the elastic portion, and being capable of keeping the elastic portion elastically deformed.

REFERENCE SIGNS LIST