JP7310677B2 - Tactile presentation device - Google Patents

Description

The present invention relates to a tactile sensation presentation device that allows a user to perceive vibration transmitted to the user as a tactile sensation.

Patent Literature 1 discloses a technique related to a tactile sensation presentation device that continuously presents two or more types of vibration patterns with different frequencies and waveforms.

JP 2019-36144 A

The technology disclosed in Patent Literature 1 has room for improvement in terms of reducing the sense of discomfort perceived by the user at the timing when the vibration pattern switches.
The present invention has been made in view of such circumstances, and its object is to reduce the sense of discomfort that the user perceives at the timing when the vibration patterns are switched.

A tactile sensation presentation device that solves the above problems is a tactile sensation presentation device that allows a user to perceive vibration transmitted to the user as a tactile sensation, and comprises an electroresponsive polymer actuator having a pair of electrodes and a voltage that changes based on drive waveform data. a control device for controlling driving of the electroresponsive polymer actuator by applying an electric current, the control device driving the electroresponsive polymer actuator during driving of the electroresponsive polymer actuator. When the drive waveform data for is changed, after applying to the electroresponsive polymer actuator a voltage that changes based on the intermediate waveform data that mitigates a sudden change in voltage that accompanies the change in the drive waveform data, the change destination and applying a voltage that changes based on the drive waveform data to the electroresponsive polymer actuator.

According to the above configuration, when an operation to change the drive waveform data is performed, instead of changing the drive waveform data immediately, a voltage that varies based on specific intermediate waveform data is applied to the electroresponsive polymer actuator. The application of the voltage based on the drive waveform data after the change is started through the period. As a result, at the timing when the operation to change the drive waveform data is performed, it is possible to alleviate a sudden change in voltage due to the change of the drive waveform data, compared to the case where the drive waveform data is changed immediately. As a result, when the drive waveform data is changed while the electroresponsive polymer actuator is being driven, it is possible to reduce the sense of discomfort felt by the user at the timing of switching the vibration pattern.

In the tactile sense presentation device, the intermediate waveform data is a predetermined reference in the waveform of the drive waveform data to be changed from a change instruction point, which is a point at which a change is instructed, in the current waveform of the drive waveform data. It is preferable that the waveform data is the waveform of the period up to the point that matches the wave height level of the point or the point that is closest to the wave height level of the reference point.

According to the above configuration, when the wave height level of the waveform of the current drive waveform data matches or is closest to the wave height level of the reference point of the waveform of the drive waveform data of the change destination, the waveform of the current drive waveform data is changed from the waveform of the change destination. Switching to dynamic waveform data waveform. As a result, sudden fluctuations in the voltage applied to the electro-responsive polymer actuator at the time of switching can be suppressed, and discomfort felt by the user at the timing of switching the vibration pattern can be reduced.

In the tactile sense presentation device, the intermediate waveform data is a waveform based on the waveform of the current drive waveform data, and includes a fade-out waveform adjusted to gradually decrease in amplitude, and the drive waveform data after change. It is preferable that the waveform data is a synthesized waveform obtained by synthesizing a waveform based on the waveform of (1) and a fade-in waveform whose amplitude is adjusted to increase stepwise.

In the tactile sense presentation device, the fade-out waveform and the fade-in waveform are waveforms that change stepwise from the current waveform period of the drive waveform data in synchronization with the waveform period of the drive waveform data to be changed. is preferred.

In the tactile sense presentation device, the intermediate waveform data is waveform data of a virtual synthesized waveform generated by inputting the waveform of the current drive waveform data and the waveform of the drive waveform data to be changed into a waveform generation model, The waveform generation model learns the waveform of the drive waveform data, and the virtual model gradually changes from the first waveform to the second waveform with respect to the input first waveform and second waveform. Preferably, the waveform generation model is configured to output a synthetic waveform.

According to each of the above configurations, when the vibration pattern of the electroresponsive polymer actuator is changed in accordance with a change in the drive waveform data while the electroresponsive polymer actuator is being driven, the vibration pattern is gradually changed. As a result, it is possible to make it difficult for the user to recognize the switching point of the vibration pattern. As a result, it is possible to further reduce the sense of discomfort that the user perceives at the timing when the vibration patterns are switched.

In the tactile sense presentation device described above, the electroresponsive polymer actuator is preferably a dielectric elastomer actuator.
A dielectric elastomer actuator generates a large vibration when the applied voltage is changed at high speed, such as when the applied voltage is suddenly dropped to zero. Therefore, if the driving waveform data is changed while the dielectric elastomer actuator is being driven, the dielectric elastomer actuator vibrates due to the sudden change in the voltage at the time of the change, and the user tends to perceive the vibration as uncomfortable. Therefore, when the dielectric elastomer actuator is used as the electroresponsive polymer actuator, the effect of reducing the sense of incongruity that the user perceives at the timing of switching the vibration pattern can be obtained more remarkably.

In the tactile sensation presentation device described above, it is preferable that the control device includes a display unit that displays the waveform of the drive waveform data.
According to the above configuration, by performing an operation to change the drive waveform data while confirming the waveform of the drive waveform data displayed on the display unit, the operation can be performed more smoothly.

ADVANTAGE OF THE INVENTION According to this invention, the discomfort which a user recognizes at the timing which a vibration pattern switches can be reduced.

Schematic of a tactile presentation device. Sectional drawing which shows the cross-sectional structure of a dielectric elastomer actuator. (a) to (c) are waveforms of drive waveform data. Explanatory drawing of delay time. (a) is an explanatory diagram of a first fade-out waveform, (b) is an explanatory diagram of a first fade-in waveform, and (c) is an explanatory diagram of a first synthesized waveform. (a) is an explanatory diagram of a second fade-out waveform, (b) is an explanatory diagram of a second fade-in waveform, and (c) is an explanatory diagram of a second synthesized waveform. Explanatory drawing of a waveform edit screen. 4 is a flowchart showing control in the first mode of the tactile sensation presentation device; 4 is a flow chart showing control in second to fourth modes of the tactile sensation presentation device;

An embodiment of the present invention will be described below.
As shown in FIG. 1 , the tactile sense presentation device includes a dielectric elastomer actuator (DEA) 11 as an electroresponsive polymer actuator and a control device 12 that controls driving of the DEA 11 .

As shown in FIG. 2, the DEA 11 includes a sheet-like dielectric layer 20 made of a dielectric elastomer, and a plurality of positive electrodes 21 and negative electrodes 22 as electrode layers disposed on both sides of the dielectric layer 20 in the thickness direction. It is a multi-layered structure. An insulating layer 23 is laminated on the outermost layer of the DEA 11 . In the DEA 11, when a DC voltage is applied between the positive electrode 21 and the negative electrode 22, the dielectric layer 20 is compressed in the thickness direction and along the surface of the dielectric layer 20 according to the magnitude of the applied voltage. The DEA 11 deforms so as to extend in the planar direction of the DEA 11 .

The dielectric elastomer constituting the dielectric layer 20 is not particularly limited, and known dielectric elastomers used for DEA can be used. Examples of the dielectric elastomer include crosslinked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer. One type of these dielectric elastomers may be used, or a plurality of types may be used in combination. The thickness of the dielectric layer 20 is, for example, 1-100 μm.

Materials constituting the positive electrode 21 and the negative electrode 22 include, for example, a conductive elastomer, carbon nanotubes, Ketjenblack (registered trademark), and a metal deposition film. Examples of the conductive elastomer include a conductive elastomer containing an insulating polymer and a conductive filler.

Examples of the insulating polymer include crosslinked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer. One type of these insulating polymers may be used, or a plurality of types may be used in combination. Examples of the conductive filler include Ketjenblack (registered trademark), carbon black, and metal particles such as copper and silver. One type of these conductive fillers may be used, or a plurality of types may be used in combination. The thickness of the positive electrode 21 and the negative electrode 22 is, for example, 0.1 to 100 μm.

The insulating elastomer constituting the insulating layer 23 is not particularly limited, and known insulating elastomers used for insulating portions of known DEAs can be used. Examples of the insulating elastomer include crosslinked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer. One type of these insulating elastomers may be used, or a plurality of types may be used in combination. The thickness of the insulating layer 23 is, for example, 1.0 to 100 μm.

As shown in FIG. 1, the control device 12 includes a driving device 30 that applies a periodically changing voltage between a pair of electrodes composed of the positive electrode 21 and the negative electrode 22 of the DEA 11, and the voltage applied to the DEA 11. and a waveform editing device 40 for editing the waveform of the waveform.

The drive device 30 includes a drive-side storage section 31 and a drive control section 32 . The driving waveform data transmitted from the waveform editing device 40 is stored in the driving side storage unit 31 . The drive waveform data is information about a waveform indicating a change in voltage applied to the DEA 11 for one cycle. The drive control unit 32 repeatedly applies a waveform voltage based on the drive waveform data stored in the drive-side storage unit 31 to the DEA 11 from a power supply (not shown) such as a battery.

Specifically, the drive control unit 32 calculates the voltage to be applied next based on the drive waveform data stored in the drive-side storage unit 31 and the drive conditions transmitted from the waveform editing device 40, which will be described later. The process of applying the calculated voltage to the DEA 11 is repeatedly executed at intervals of several milliseconds to several tens of milliseconds. The vibration frequency range of the DEA 11 is, for example, 1 to 1000 Hz. In particular, when the above frequency is in a low frequency range of 200 Hz or less, the user is likely to perceive discomfort at the timing when the vibration pattern of the DEA 11 is switched.

The waveform editing device 40 is configured as a computer including a pointing device 41 as an input unit, a display unit 42, a first storage unit 43, a second storage unit 44, an editing control unit 45, a condition setting unit 46, and an image processing unit 47. be done.

The pointing device 41 is, for example, a pointing device such as a keyboard, touch panel, mouse, or joystick, and receives operation instructions and the like from the user. The display unit 42 is, for example, a display device such as a liquid crystal display or an organic EL display.

A plurality of types of drive waveform data are stored in the first storage unit 43 . In this embodiment, drive waveform data of waveforms A to C shown in FIGS. 3(a) to 3(c) are assumed to be stored. Note that, as shown in FIG. 3, the waveform of the drive waveform data stored in the first storage unit 43 is a waveform for one cycle in which both the wave height levels at the start point P1 and the end point P2 are 0. Further, the waveform cycles of the drive waveform data stored in the first storage unit 43 may be the same or different.

The second storage unit 44 stores a program for causing the waveform editing device 40 and the driving device 30 to execute processes of steps S11 to S16 and S21 to S26, which will be described later. The waveform editing device 40 and the driving device 30 execute processing of each step according to the program.

The editing control unit 45 transmits the drive waveform data selected based on the user's operation to the control device 12 . The editing control unit 45 is designed to mitigate a sudden change in voltage due to the change in the drive waveform data when the drive waveform data for driving the DEA 11 is changed based on the user's operation while the DEA 11 is being driven. delay time and intermediate waveform data to the controller 12 .

As shown in FIG. 1, the editing control unit 45 includes a mode setting unit 51, a phase adjustment unit 51, and a phase adjustment unit 51 as components for generating delay time and intermediate waveform data for alleviating abrupt changes in voltage accompanying changes in drive waveform data. 52 , a synthetic waveform generator 53 , and a virtual waveform generator 54 .

The mode setting unit 51 sets one change form from the first to fourth modes based on the selection by the user's operation regarding the change form when changing the drive waveform data. In the following, regarding the change of the drive waveform data for driving the DEA 11, the waveform of the drive waveform data currently used is referred to as the current waveform, and the waveform of the drive waveform data after change is referred to as the next waveform. .

When an operation to change the drive waveform data is performed while the first mode is set, the phase adjustment unit 52 applies a voltage to the DEA 11 based on the changed drive waveform data from the input of the operation. Calculate the delay time until transition to the state of applying voltage.

As shown in FIG. 4, the delay time is the voltage at the point (end point P2) immediately before the change instruction point t1, which is the timing at which an operation to change the drive waveform data is performed, and the peak level of the current waveform becomes 0. is the period until timing t2 when the voltage is applied to the DEA 11. In other words, the delay time is the time from the change instruction point t1 until the wave height level coincides with the wave height level at the start point P1 of the next waveform in the current waveform. In this embodiment, the start point P1 of the next waveform is the reference point described in the claims.

As shown in FIGS. 5A to 5C, the composite waveform generator 53 generates intermediate waveform data when an operation to change the drive waveform data is performed while the second mode is set. , to generate waveform data of the first synthesized waveform. The first composite waveform is a waveform obtained by synthesizing a first fade-out waveform based on the current waveform and a first fade-in waveform based on the next waveform.

The first fade-out waveform is a repetition of the current waveform, the amplitude of which is adjusted to decrease in steps from the amplitude of the current waveform. The first fade-out waveform has a first section A1 in which the amplitude is constant at 100% of the current waveform, and following the first section A1, the amplitude gradually decreases from 100% to 0%. and a third interval A3 whose amplitude is constant at 0%. The starting point of each section of the first fade-out waveform is the starting point P1 of the current waveform.

The speed of decrease of the amplitude in the second section A2 is, for example, a speed of decrease of 1 to 20% per millisecond when the amplitude of the current waveform is 100%. The rate of decrease may be set in advance to a predetermined amount, or may be determined depending on one or both of the frequency of the current waveform and the frequency of the next waveform. For example, the amplitude is set so that it changes from 100% to 0% in 5 cycles of the current waveform. Also, the number of repetitions of the second interval A2 may be 1 or less.

The first fade-in waveform is a repetition of the next waveform, and is a waveform adjusted so that its amplitude increases stepwise from 0 to the amplitude of the next waveform. The first fade-in waveform has a constant first section B1 with its amplitude at 0%, and after the first section B1, its amplitude changes from 0% to the amplitude of the next waveform (100% state). It has a second section B2 adjusted to increase stepwise and a third section B3 whose amplitude is constant at 100% of the next waveform. The starting point of each section of the first fade-in waveform is the starting point P1 of the current waveform. The phase of the first fade-in waveform is adjusted so that the starting point of the second section B2 coincides with the starting point of the second section A2 of the first fade-out waveform.

The speed of increase of the amplitude in the second section B2 is, for example, the speed of increase of 1 to 20% per millisecond with the amplitude of the current waveform as 100%. The rate of increase may be set in advance to a predetermined amount, or may be determined depending on one or both of the frequency of the current waveform and the frequency of the next waveform. For example, it is set so that the amplitude changes from 0% to 100% in 5 cycles of the current waveform. Also, the number of repetitions of the second interval B2 may be 1 or less. The decreasing speed of the second section A2 of the first fade-out waveform and the second section B2 of the first fade-in waveform are adjusted so that the amplitude of the first fade-in waveform increases by the amount that the amplitude of the first fade-out waveform decreases. It is preferable to adjust the rate of increase of

As shown in FIGS. 6A to 6C, the synthesized waveform generator 53 generates intermediate waveform data when an operation to change the drive waveform data is performed while the third mode is set. , to generate the waveform data of the second synthesized waveform. The second composite waveform is a composite waveform obtained by synthesizing a second fade-out waveform based on the current waveform and a second fade-in waveform based on the next waveform.

The second fade-out waveform and the second fade-in waveform differ from the first fade-out waveform and the first fade-in waveform in that the cycle changes in each of the second sections A2 and B2. It is similar to the first fade-in waveform. The second section A2 of the second fade-out waveform and the second section B2 of the second fade-in waveform are adjusted so that their periods change stepwise from the period of the current waveform in synchronization with the period of the next waveform. .

The rate of change in the period of the second fade-out waveform and the second fade-in waveform is not particularly limited, but is 1 to 20 per millisecond, assuming that the difference between the period of the current waveform and the period of the next waveform is 100%. It is the rate of change that changes by %.

The virtual waveform generation unit 54 generates waveform data of a virtual synthesized waveform as intermediate waveform data when an operation to change the drive waveform data is performed while the fourth mode is set.

As shown in FIG. 1, the virtual waveform generator 54 has a learned waveform generation model 54a. The waveform generation model 54a is an artificial intelligence model that has learned waveform patterns of various drive waveform data as learning data. , a waveform generation model configured to output a virtual composite waveform that gradually changes from a first waveform to a second waveform. The waveform generation model 54a is, for example, a learned adversarial generation network (GAN: Generative Adversarial Networks).

The virtual waveform generator 54 inputs the current waveform and the next waveform to the waveform generation model 54a when an operation to change the drive waveform data is performed while the fourth mode is set. Then, the waveform data of the virtual synthesized waveform is generated from the current waveform output from the waveform generation model 54a to the next waveform.

The condition setting unit 46 changes the driving conditions for repeatedly applying the waveform voltage based on the driving waveform data to the DEA 11 based on the user's operation, and transmits the driving conditions to the driving device 30 . The drive conditions include, for example, the magnitude of the output (Amp), the magnitude of the offset voltage (Offset), the maximum voltage (Max voltage), the length of the standby time provided between cycles (Interval), and the speed of one cycle. (BeatCount).

The image processing unit 47 creates an edit screen and displays it on the display unit 42 . An example of the edit screen is shown in FIG.
The edit screen 60 shown in FIG. 7 includes a condition setting screen 61, a drive status screen 62, and a waveform change screen 63. FIG. The condition setting screen 61 displays sliders for changing various drive conditions. The driving status screen 62 displays an image showing a waveform in which the current driving conditions are reflected in the waveform of the driving waveform data currently used for driving the DEA 11 .

On the waveform change screen 63, a mode selection screen 64, a waveform selection screen 65, a current waveform screen 66, a next waveform screen 67, and an intermediate waveform screen 68 are displayed.
The mode selection screen 64 is a screen on which buttons and the like for setting the change format are displayed. The waveform selection screen 65 is a screen on which buttons and the like for calling waveforms of various drive waveform data stored in the first storage unit 43 are displayed.

The current waveform screen 66 is a screen that displays the current waveform, which is the waveform of the driving waveform data currently used to drive the DEA 11 . The next waveform screen 67 is a screen for displaying the next waveform, which is the waveform of the drive waveform data to be changed, and a change execution button 67a. The intermediate waveform screen 68 displays the intermediate waveform data generated according to the set modification format based on the current waveform displayed on the current waveform screen 66 and the next waveform displayed on the next waveform screen 67. This is a screen displaying waveforms. The user can change the drive conditions and the drive waveform data by operating the pointing device 41 to change the display contents of various screens displayed on the display unit 42 .

Next, the processing executed by the tactile sensation presentation device when changing the drive waveform data while the DEA 11 is being driven will be described.
The flowchart of FIG. 8 shows the processing when the change format set in the mode setting unit 51 is the first mode.

In step S11, when the user selects the next waveform from the waveforms of various drive waveform data stored in the first storage unit 43, the selected next waveform is read and the waveform change screen 63 is displayed. The next waveform is displayed on the next waveform screen 67 . At this time, the intermediate waveform screen 68 of the waveform change screen 63 displays an image in which the current waveform and the next waveform are continuous as shown in FIG.

As step S12, when the execution button 67a is pressed based on the user's operation to input the execution of changing the driving waveform data, as step S13, the editing control unit 45 causes the phase adjustment unit 52 to delay Calculate time. Then, in step S<b>14 , the editing control unit 45 transmits the driving waveform data of the next waveform and the calculated delay time to the driving device 30 . At this time, the transmitted drive waveform data of the next waveform and the delay time are stored in the drive-side storage unit 31 of the drive device 30 . Note that the timing at which the change execution of the drive waveform data is input becomes the change indication point t1.

In step S15, the drive device 30 continues applying the voltage based on the drive waveform data of the current waveform during the period from the change indication point t1 until the delay time elapses. Then, in step S16, after the delay time has elapsed, the application of the voltage based on the drive waveform data of the next waveform is started following the application of the voltage based on the drive waveform data of the current waveform.

In the first mode, in step S15, the period of the delay time during which the application of the voltage based on the drive waveform data of the current waveform is continued corresponds to the period of applying the voltage that changes based on the intermediate waveform data to the DEA 11. do. Therefore, as shown in FIG. 4, in the first mode, the waveform in the period from the change instruction point t1 to the timing t2 when the wave height level becomes 0 in the current waveform corresponds to the intermediate waveform. The waveform data corresponds to the intermediate waveform data.

The flowchart of FIG. 9 shows the processing when the change format set in the mode setting section 51 is the second mode, the third mode, or the fourth mode.
In step S21, when the user selects the next waveform from the waveforms of various drive waveform data stored in the first storage unit 43, the selected next waveform is read and the waveform change screen 63 is displayed. The next waveform is displayed on the next waveform screen 67 . Then, as step S22, the editing control section 45 generates an intermediate waveform corresponding to the modification format. When the modification format is the second mode, the synthesized waveform generator 53 generates a first synthesized waveform as an intermediate waveform. When the modification format is the second mode, the synthesized waveform generator 53 generates a second synthesized waveform as an intermediate waveform. When the modification format is the third mode, the virtual waveform generator 54 generates a virtual synthesized waveform as an intermediate waveform. At this time, the generated intermediate waveform is displayed on the intermediate waveform screen 68 of the waveform change screen 63 .

In step S23, when the execution button 67a is pressed based on the user's operation to input the execution of changing the driving waveform data, in step S24, the editing control unit 45 converts the driving waveform data of the intermediate waveform into , and the driving waveform data of the next waveform to the driving device 30 . At this time, the transmitted driving waveform data of the intermediate waveform and the driving waveform data of the next waveform are stored in the driving side storage section 31 of the driving device 30 .

In step S25, the driving device 30 starts applying the voltage based on the drive waveform data of the intermediate waveform following the application of the voltage based on the drive waveform data of the current waveform. Then, after the application of the voltage based on the drive waveform data of the intermediate waveform is completed, in step S26, the application of the voltage based on the drive waveform data of the next waveform is started following the application of the voltage based on the drive waveform data of the intermediate waveform. .

Next, the operation of this embodiment will be described.
The tactile sense presentation device of this embodiment is a device for recognizing vibration transmitted to the user's skin as a tactile sense, and is used with the DEA 11 in contact with a part of the user's skin such as a fingertip. With the DEA 11 in contact with the skin, the user performs an operation to vibrate the DEA 11 based on the drive waveform data stored in the first storage unit 43 . A user recognizes the vibration as a tactile sensation by being transmitted the vibration of the DEA 11 . As a result, a tactile sensation is presented to the user from the tactile sensation presentation device. At this time, if the driving waveform data for driving the DEA 11 is changed, the vibration pattern of the DEA 11 changes, so that the user can perceive a tactile sensation that changes according to the vibration pattern.

Here, in the tactile sensation presentation device of the present embodiment, when an operation to change the drive waveform data for driving the DEA 11 is performed, the drive waveform data is not changed immediately, but based on specific intermediate waveform data. During the period in which the changing voltage is applied to the DEA 11, the application of the voltage based on the changed drive waveform data is started. As a result, at the timing when the operation to change the drive waveform data is performed, it is possible to alleviate a sudden change in voltage due to the change of the drive waveform data, compared to the case where the drive waveform data is changed immediately. As a result, when the drive waveform data is changed while the DEA 11 is being driven, it is possible to reduce the sense of incongruity that the user perceives at the timing when the vibration pattern switches.

Next, the effects of this embodiment will be described.
(1) The tactile sensation presentation device includes a DEA 11 and a control device 12 that controls driving of the DEA 11 . When the drive waveform data is changed while the DEA 11 is being driven, the control device 12 applies to the DEA 11 a voltage that changes based on the intermediate waveform data that mitigates a sudden change in voltage accompanying the change in the drive waveform data. A voltage that changes based on the drive waveform data is applied to the DEA 11 .

According to the above configuration, when the driving waveform data is changed while the DEA 11 is being driven, it is possible to reduce the sense of incongruity that the user perceives at the timing when the vibration pattern is switched.
(2) The intermediate waveform data in the first mode is the waveform data of the current waveform in the period from the change indication point t1 to the timing t2 at which the wave height level of the current waveform becomes the wave height level of the start point of the next waveform.

In other words, when the drive waveform data is changed while the DEA 11 is being driven, the control device 12 continues to apply a voltage that changes based on the current waveform, and after a predetermined delay time has elapsed from the change indication point, the control device 12 applies the next voltage. A voltage that varies based on the waveform is applied to the DEA 11 . The delay time is the time from the change indication point t1 to the timing t2 at which the crest level of the current waveform becomes the crest level of the starting point P1 of the next waveform.

According to the above configuration, the current waveform is switched to the next waveform at the timing when the wave height level of the current waveform matches the wave height level of the starting point of the next waveform. As a result, sudden fluctuations in the voltage applied to the DEA 11 at the time of switching are suppressed, and discomfort perceived by the user at the timing of switching the vibration pattern can be reduced.

(3) The intermediate waveform data in the second mode are the repetition of the current waveform, the first fade-out waveform adjusted to gradually reduce the amplitude, and the repetition of the next waveform, the amplitude of which is gradually reduced. is waveform data of a first synthesized waveform obtained by synthesizing the first fade-in waveform adjusted to be increased to .

According to the above configuration, when the vibration pattern of the DEA 11 is changed in accordance with the change of the drive waveform data while the DEA 11 is being driven, the vibration pattern is gradually changed so that the switching point of the vibration pattern can be set by the user. can be difficult to recognize. As a result, it is possible to further reduce the sense of discomfort that the user perceives at the timing when the vibration patterns are switched.

(4) The intermediate waveform data in the third mode are the repetition of the current waveform, the second fade-out waveform adjusted so that the amplitude gradually decreases, and the repetition of the next waveform, the amplitude of which is gradually reduced. is waveform data of a second synthesized waveform obtained by synthesizing the second fade-in waveform adjusted to increase to . The second fade-out waveform and the second fade-in waveform have sections that change stepwise in synchronization with the period of the current waveform and the period of the next waveform.

When the period of the current waveform and the period of the next waveform are different from each other, the first synthesized waveform generated in the second mode may have unintended peaks in the phase-shifted portions of the waveforms to be synthesized. According to the third mode configured as described above, it is possible to suppress the occurrence of an unintended peak by suppressing the phase shift of each waveform to be combined. As a result, the above effect (3) can be obtained more remarkably.

(5) The intermediate waveform data in the fourth mode is waveform data of a virtual composite waveform generated by inputting the current waveform and the next waveform to the waveform generation model 54a. The waveform generation model 54a learns the waveform of the driving waveform data, and outputs a virtual composite waveform that gradually changes from the first waveform to the second waveform with respect to the input first waveform and second waveform. It is a generative model configured to

According to the above configuration, when the vibration pattern of the DEA 11 is changed in accordance with the change of the drive waveform data while the DEA 11 is being driven, the vibration pattern is gradually changed so that the switching point of the vibration pattern can be set by the user. can be difficult to recognize. As a result, it is possible to further reduce the sense of discomfort that the user perceives at the timing when the vibration patterns are switched. Further, according to the above configuration, it is possible to suppress fluctuations in the amplitude of each waveform in the intermediate waveform.

(5) The electroresponsive polymer actuator is DEA11.
The DEA causes a large vibration when the applied voltage is changed at high speed, such as when the applied voltage is suddenly dropped to zero. Therefore, if the drive waveform data is changed while the DEA is being driven, the DEA vibrates due to the rapid voltage fluctuations at the time of the change, and the user tends to perceive the vibration as an uncomfortable feeling. Therefore, when DEA is used as the electroresponsive polymer actuator, the effect of reducing the sense of incongruity perceived by the user at the timing when the vibration pattern is switched can be obtained more remarkably.

(6) The control device 12 has a display section 42 that displays the waveform of the drive waveform data.
According to the above configuration, by performing an operation to change the drive waveform data while confirming the waveform of the drive waveform data displayed on the display unit 42, the operation can be performed more smoothly.

In addition, this embodiment can be changed and implemented as follows. This embodiment and the following modified examples can be implemented in combination with each other within a technically consistent range.
- The waveform of the drive waveform data is not limited to the waveform of the above embodiment. For example, it may be a waveform that does not have a specific cycle, or it may be a waveform with different crest levels at the start point P1 and the end point P2. Also, the wave height level at the start point P1 and the wave height level at the end point P2 may be different for each drive waveform data.

- Regarding the first change mode, the delay time may be set using a point other than the start point P1 of the next waveform as a reference point. For example, in the current waveform, the period from the change indication point t1 to the point where the crest level of the current waveform matches the crest level of the preset reference point of the next waveform, or to the point closest to the crest level of the reference point Let time be the delay time. In this case, in step S14, after the delay time has passed, application of the voltage based on the next waveform is started from the position of the reference point. The position of the reference point of the next waveform is, for example, a position where the wave height level is half the maximum wave height level of the next waveform. Although the position of the reference point of the next waveform is not particularly limited, it is preferable to set the reference point to the point where the crest level in the next waveform is closest to zero.

Regarding the first change mode, in the above-described embodiment, the driving device 30 performs phase adjustment to delay the application of the voltage based on the next waveform by the delay time. good. In this case, for example, the timing of transmitting the driving waveform data of the next waveform from the waveform editing device 40 to the driving device 30 may be delayed by the delay time.

- The first fade-out waveform and the first fade-in waveform that constitute the first composite waveform may have second sections A2 and B2 adjusted so that the amplitude changes stepwise. may be omitted if necessary. The same applies to the second fade-out waveform and the second fade-in waveform that constitute the second composite waveform.

The tactile sense presentation device of the above embodiment was configured to be able to select the change form from the first to fourth modes when changing the drive waveform data. Alternatively, the configuration may be fixed in advance to one.

- Instead of the DEA 11, other electroresponsive polymer actuators such as an ion exchange polymer metal composite (IPMC: Ionic Polymer Metal Composite) may be used.
・The tactile sense presentation device reads driving waveform data stored in an external storage medium such as an optical disk, a magnetic disk, or a magneto-optical disk, and uses the read driving waveform data to change the driving waveform data and drive the DEA 11. can be anything.

- In addition to the function of changing the drive waveform data, the waveform editing device 40 may have other editing functions such as changing the shape of the waveform itself of the drive waveform data.
- The input unit and the display unit 42 may be external devices prepared separately from the waveform editing device 40 .

- The electric field responsive polymer actuator such as the DEA 11, the driving device 30, and the waveform editing device 40, which constitute the tactile sensation presentation device, may be configured in one part or all. For example, the electroresponsive polymer actuator and the drive device 30 may be integrated, the drive device 30 and the waveform editing device 40 may be integrated, or the electroactive polymer actuator , the driving device 30 and the waveform editing device 40 may be integrated.

Next, technical ideas that can be grasped from the above embodiment and modifications will be described below.
(b) A tactile sensation presentation device that allows a user to perceive vibration transmitted to the user as a tactile sensation, comprising an electro-responsive polymer actuator having a pair of electrodes, and applying a voltage that varies based on drive waveform data to generate the electric field. a control device for controlling driving of the responsive polymer actuator, wherein the control device receives the driving waveform data for driving the electroresponsive polymer actuator while the electroresponsive polymer actuator is being driven. When changed, the application of the voltage that changes based on the waveform of the current drive waveform data is continued, and after a predetermined delay time has passed from the change indication point where the change is indicated, the change destination of the change destination is continued. A voltage that changes based on the waveform of the drive waveform data is applied to the electroresponsive polymer actuator, and the delay time is set so that the current waveform of the drive waveform data changes from the change indication point to the change destination drive waveform. A tactile sense presentation device, characterized in that it is the time of a period until a point in a waveform of data that matches a wave height level of a preset reference point or a point that is closest to the wave height level of the reference point.

(b) A control method for controlling the driving of an electro-responsive polymer actuator that allows a user to perceive vibration transmitted to the user as a tactile sensation, wherein the electro-responsive high When the drive waveform data for controlling the driving of the molecular actuator and for driving the electroresponsive polymer actuator is changed while the electroresponsive polymer actuator is being driven, the drive waveform data is changed. After applying to the electroresponsive polymer actuator a voltage that varies based on the intermediate waveform data that mitigates a sudden change in voltage, a voltage that varies based on the changed drive waveform data is applied to the electroresponsive polymer actuator. A control method characterized by applying

11 Dielectric Elastomer Actuator (DEA)
12... Control device 30... Driving device 40... Waveform editing device

Claims (5)

A tactile sensation presentation device that allows a user to recognize vibration transmitted to the user as a tactile sensation,
an electroresponsive polymer actuator having a pair of electrodes;
a control device for controlling driving of the electroresponsive polymer actuator by applying a voltage that varies based on drive waveform data;
The control device is
An intermediate waveform that mitigates a sudden change in voltage due to a change in the drive waveform data when the drive waveform data for driving the electroresponsive polymer actuator is changed while the electroresponsive polymer actuator is being driven. After applying a voltage that varies based on the data to the electroresponsive polymer actuator, applying a voltage that varies based on the changed drive waveform data to the electroresponsive polymer actuator ,
The intermediate waveform data is a waveform based on the waveform of the current drive waveform data, and includes a fade-out waveform whose amplitude is adjusted to gradually decrease, and a waveform based on the waveform of the drive waveform data to be changed. A tactile sensation presentation device characterized by waveform data of a synthesized waveform obtained by synthesizing a fade-in waveform whose amplitude is adjusted to increase stepwise. 2. The fade-out waveform and the fade-in waveform according to claim 1 , wherein the fade-out waveform and the fade-in waveform are waveforms that change step by step in synchronization with the waveform period of the drive waveform data to be changed from the current waveform period of the drive waveform data. A tactile presentation device. A tactile sensation presentation device that allows a user to recognize vibration transmitted to the user as a tactile sensation,
an electroresponsive polymer actuator having a pair of electrodes;
a control device for controlling driving of the electroresponsive polymer actuator by applying a voltage that varies based on drive waveform data;
The control device is
An intermediate waveform that mitigates a sudden change in voltage due to a change in the drive waveform data when the drive waveform data for driving the electroresponsive polymer actuator is changed while the electroresponsive polymer actuator is being driven. After applying a voltage that varies based on the data to the electroresponsive polymer actuator, applying a voltage that varies based on the changed drive waveform data to the electroresponsive polymer actuator ,
The intermediate waveform data is waveform data of a virtual synthesized waveform generated by inputting the waveform of the current drive waveform data and the waveform of the drive waveform data to be changed into a waveform generation model,
The waveform generation model learns the waveform of the drive waveform data, and virtual synthesis gradually changes from the first waveform to the second waveform with respect to the input first waveform and second waveform. A waveform generation model configured to output a waveform,
A tactile sensation presentation device , wherein the waveform generation model is a waveform generation model using a hostile generation network . The tactile sense presentation device according to any one of claims 1 to 3 , wherein the electroresponsive polymer actuator is a dielectric elastomer actuator. The tactile sensation presentation device according to any one of claims 1 to 4 , wherein the control device comprises a display section for displaying the waveform of the drive waveform data.