CONTROL SIGNAL ESTIMATION DEVICE, PSEUDO FORCE SENSE GENERATION DEVICE, WAVEFORM ESTIMATION DEVICE, CONTROL SIGNAL ESTIMATION METHOD, WAVEFORM ESTIMATION METHOD, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To estimate a target control signal for acquiring a target response waveform pattern that causes a user to perceive a desired pseudo force sense.SOLUTION: A trial signal waveform is adjusted on the basis of an error between an estimated waveform acquired by applying a trial signal waveform, as a control signal waveform, to a forward dynamics model of a control object representing the relationship between the control signal waveform and a waveform corresponding to any one of the position, speed, acceleration of a grip part of a pseudo force sense generation device, and a force to be applied to the skin, which is obtained on the basis of a plurality of models including a dynamic characteristic model of the pseudo force sense generation device comprising a motion member that performs a periodic asymmetrical motion according to the control signal waveform and the grip part to which a force generated through the asymmetrical motion is applied, and a dynamic characteristic model of the skin in contact with the grip part, and a target response waveform pattern corresponding to at least one of a target position, speed, acceleration of the grip part, and a force to be applied to the skin, so as to acquire a target control signal waveform to control the asymmetrical motion.SELECTED DRAWING: Figure 12