DESCRIPTION TACTILE SENSE PRESENTATION APPARATUS, SIGNAL GENERATION DEVICE, TACTILE SENSE PRESENTATION SYSTEM, AND TACTILE SENSE PRESENTATION METHOD 5 Technical Field [0001] The present technology relates to a tactile sense presentation apparatus, a signal generation device thereof, a tactile sense presentation system, 10 and a tactile sense presentation method that are capable of presenting a tactile sense. Background Art [0002] Tactile sense feedback technologies have been proposed that provide a person with information through 15 his/her tactile sense. For example, the touch screen apparatus disclosed in Patent Document 1 controls the time between contact and separation of touch screen and the finger of a user (input means), thereby causing the user to feel textures on the surface such as fine 20 shapes thereon. Specifically, in this apparatus, a person adjusts the time when his/her finger is and is not in contact with the touch screen, thereby variably controlling the frictional force between the touch screen and the finger (see, for example, paragraphs 25 [0028] and [0029] of the specification of Patent Document 1) . SP357729WOOO 2 Citation List Patent Document [0003] Patent Document 1: Japanese Patent Application Laid-open No. 2011-159280 5 Summary Problem to be solved [0004] However, since a person needs to accurately place his/her finger on the vibrating touch screen to control the finger contact/non-contact time, that 10 cannot be considered practicable. In particular, the apparatus disclosed in Patent Document 1 uses a piezoelectric actuator as a vibration generating means. In this case, the vibration amplitude is several pm at most, and it is impossible for the person to adjust the 15 time when his/her finger is and is not in contact with the touch screen that vibrates with such amplitude. [0005] It is an object of the present technology to provide a tactile sense presentation apparatus, a signal generation device, a tactile sense presentation 20 system, and a tactile sense presentation method that are capable of presenting a tactile sense with a frictional force without need of finger non-contact time. Means for solving the Problem 25 [0006] In order to achieve the above-mentioned object, the tactile sense presentation apparatus SP357729WOOO 3 according to the present technology includes a movable body, an actuator unit, and a signal generation unit. The actuator unit is connected to the movable body. The signal generation unit is configured to supply 5 a driving signal to the actuator unit, the driving signal generating a vibration on the actuator unit, the vibration having within a period at least one of a plurality of different amplitudes and a plurality of different frequencies. 10 The vibration generated by such an actuator unit ' vibrates the movable body, which makes it possible to present, to the user, a tactile sense with a frictional force bet11een the movable body and the body (e.g., finger) of the user I•Tithout the time when the body of 15 the user and the movable body are not in contact with each other. [0007] The signal generation unit may be configured to generate the driving signal such that the actuator unit moves along a first direction under a first 20 frequency and along a second direction opposite to the first direction under a second frequency different from the first frequency. Alternatively, the signal generation unit may be configured to generate the driving signal such that the actuator unit moves along 25 a first direction under a first amplitude and along a second direction opposite to the first direction under SP357729WOOO 4 a second amplitude different from the first amplitude. According to the tactile sense presentation apparatus, it is possible to present, to the user, a tactile sense with a variably controlled frictional 5 force according to the first direction and the second direction opposite thereto. [0008] The signal generation unit may be configured to generate the driving signal such that a vibration having an amplitude and a frequency obtained on the 10 basis of a detection threshold value of a tactile receptor is generated on the actuator unit. The tactile sense presentation apparatus uses a detection threshold value of the tactile receptor as a designing value, which makes it possible to use the 15 amplitude or frequency corresponding to the tactile area and the non-tactile area, and to present various tactile senses to the user. [0009] The signal generation unit may be configured to generate the driving signal such that vibrations 20 including a vibration having a frequency corresponding to a tactile area of the tactile receptor and a vibration having a frequency corresponding to a nontactile area of the tactile receptor are generated on the actuator unit. Alternatively, the signal generation 25 unit may be configured to generate the driving signal such that vibrations including a vibration having an SP357729WOOO 5 amplitude corresponding to the tactile area of the tactile receptor and a vibration having an amplitude corresponding to the non-tactile area of the tactile receptor are generated on the actuator unit. 5 [0010) The actuator unit may include at least a first actuator that moves the movable body along a direction of a first axis. Accordingly, the tactile sense presentation apparatus is capable of presenting, to the user, a 10 tactile sense with the frictional force along the direction of the first axis. [0011) The actuator unit may further include a second actuator that moves the movable body along a direction of a second axis different from the first 15 axis. The signal generation unit may be configured to further supply the driving signal to the second actuator. Accordingly, the tactile sense presentation apparatus is capable of presenting, to the user, a 20 tactile sense with the frictional force along the first and second axes. [0012) The signal generation unit may be configured to synchronize timing of a peak value of the driving signal supplied to the first actuator with timing of a 25 peak value of the driving signal supplied to the second actuator. Alternatively, the signal generation unit may SP357729WOOO 6 be configured to displace timing of a peak value of the driving signal supplied to the first actuator from timing of a peak value of the driving signal supplied to the second actuator. 5 According to the tactile sense presentation . apparatus, it is possible to present, to the user, various tactile senses with the frictional force. [0013] The actuator unit may further include a third actuator that moves the movable body along a direction 10 of a third axis different from the first axis and the second axis. The signal generation unit may be configured to further supply the driving signal to the third actuator. In this case, the signal generation unit may be 15 configured to synchronize timing of a peak value of the driving signal supplied to the first actuator, timing of a peak value of the driving signal supplied to the second actuator, and timing of a peak value of the driving signal supplied to the third actuator 1-1ith each 20 other. Alternatively, the signal generation unit may be configured to displace timing of a peak value of the driving signal supplied to the first actuator, timing of a peak value of the driving signal supplied to the second actuator, and timing of a peak value of the 25 driving signal supplied to the second actuator from each other. SP357729WOOO 7 According to the tactile sense presentation apparatus, it is possible to present, to the user, various tactile senses with the frictional force. [0014] Another tactile sense presentation apparatus 5 according to the present technology includes the movable body, the actuator unit, and a reception unit configured to receive a driving signal generating a vibration on the actuator unit, the vibration having within a period at least one of a plurality of 10 different amplitudes and a plurality of different frequencies. [0015] Another tactile sense presentation apparatus according to the present technology includes a signal generation unit and a transmission unit. 15 The signal generation unit is configured to generate a driving signal generating a vibration on an actuator unit connected to a movable body of a tactile sense presentation apparatus, the vibration having within a period at least one of a plurality of 20 different amplitudes and a plurality of different frequencies. The transmission unit is configured to transmit the generated driving signal. [0016] Another signal generation device according to 25 the present technology is configured to supply, to an actuator unit connected to a movable body, a driving SP357729WOOO 8 signal such that a vibration is generated on the movable body, the vibration providing directionality to a frictional force between the movable body and a target object being in contact 1·li th the movable body, 5 [0017) Another tactile sense presentation apparatus according to the present technology includes a movable body, an actuator unit, and a signal generation unit. The actuator unit is connected to the movable body, The signal generation unit is configured to supply, 10 to the actuator unit, a driving signal such that a vibration is generated on the movable body, 11herein direction of a frictional force between the movable body and a target object that contacts the movable body is variably controlled. 15 [0018) The tactile sense presentation system according to the present technology includes a tactile sense presentation apparatus and a signal generation device. The tactile sense presentation apparatus includes 20 a movable body, an actuator unit, and a reception unit. The actuator unit is connected to the movable body. The reception unit is configured to receive a signal from outside. The signal generation device includes a signal 25 generation unit and a transmission unit. The signal generation unit is configured to generate a driving SP357729WOOO 9 signal such that a vibration is generated on the actuator unit, the vibration having withirt a period at least one of a plurality of different amplitudes and a plurality of different frequencies. 5 The transmission unit is configured to transmit the generated driving signal to the tactile sense presentation apparatus. Accordingly, for example, the signal generation device transmits the driving signal to the tactile 10 sense presentation apparatus via cloud, and the tactile sense presentation apparatus can receive it. [0019] The tactile sense presentation method' according to the present technology includes supplying a driving signal to an actuator unit, the driving 15 signal generating a vibration on the actuator unit, the vibration having within a period at least one of a plurality of different amplitudes and a plurality of different frequencies. The movable body connected to the actuator unit is 20 driven by the actuator unit on the basis of the supplied driving signal. [0020] The tactile sense presentation method according to the present technology includes supplying, to an actuator unit connected to a movable body, a 25 driving signal such that a vibration is generated on the movable body, 1·1herein direction of a frictional / ::_, SP357729WOOO 10 force between the movable body and a target object that contacts the movable body is variably controlled. The movable body is driven by the actuator unit supplied with the driving signal. 5 Effects [0021] Hereinabove, according to the present technology, it is possible to present a tactile sense with a frictional force without need of finger noncontact time. 10 It should be noted that effects described herein are not necessarily limited, and may be any of the effects described herein. Brief Description of Drawings [0022] [Fig. lA] A perspective view showing an 15 example of the tactile sense presentation apparatus according to a first embodiment. [Fig. lB] A perspective view showing a touch panel and an actuator unit connected thereto. [Fig. 2] A perspective view showing a 20 configurational example of the actuator. [Fig. 3] A block diagram showing mainly an electrical configuration of the tactile sense presentation appqratus including the signal generation unit. 25 [Fig. 4] A graph showing a detection threshold value of tactile receptors of persons against vibration. SP357729WOOO 11 [Fig. 5] A table showing an example of a vibration waveform having the amplitude and frequency areas obtained on the basis of the tactile receptor. [Fig. 6A) A diagram shmving vibration waveform 5 corresponding to an example 1 of the table of Fig. 5. [Fig. 6B) A diagram showing vibration waveform corresponding to the example 1 of the table of Fig. 5. [Fig. 7A) A diagram shov1ing another example of a vibration 1·1aveform corresponding to the example 1. 10 [Fig. 7B) A diagram sho\o/ing another example of a vibration 1vaveform corresponding to the example 1. [Fig. SA] A diagram schematically showing, for example, the direction in v1hich a ·frictional force or a force sense of a fingertip is generated. 15 [Fig. BB] A diagram schematically shmving, for example, the direction in Vlhich a frictional force or a force sense of a fingertip is generated. [Fig. 9) A diagram showing an example of a parabolic vibration waveform (no acceleration 20 directionality). [Fig. 10] A diagram showing an example of a parabolic vibration waveform (small force sense) . [Fig. 11] A diagram sho\o/ing an example of a parabolic vibration waveform (large force sense) . 25 [Fig. 12A) A diagram schematically showing, for example, the direction in \o/hich a frictional force ~~ SP357729WOOO 12 or a force sense of a fingertip is generated. [Fig. 12B] A diagram schematically showing, for example, the direction in which a frictional force or a force sense of a fingertip is generated. 5 [Fig. 13A] A perspective view showing the tactile sense presentation apparatus according to a second embodiment. [Fig. 138] A perspective view shmving the touch panel and the actuator unit connected thereto. 10 [Fig. 14A] A diagram shovling a vibration waveform and a vibration direction obtained by combining vibrations in the t1vo biaxial directions of an X actuator and a Z actuator 1vith each other (synchronization of peak values) . 15 [Fig. 148] A diagram showing a vibration 1vaveform and a vibration direction obtained by combining vibrations in the tl-10 biaxial directions of the X actuator and the Z actuator with each other (synchronization of peak values) . 20 [Fig. 14C] A diagram showing a vibration waveform and a vibration direction obtained by combining vibrations in the two biaxial directions of the X actuator and the Z actuator with each other (synchronization of peak values). 25 [Fig. 140] A diagram showing a vibration 1·1aveform and a vibration direction obtained by SP357729WOOO 13 combining vibrations in the two biaxial directions of the X actuator and the Z actuator with each other (synchronization of peak values). [Fig. 15A] A diagram schematically showing the 5 state where the frictional force increases and decreased by running a finger on the touch panel by the user in the case where vibration 1·1aveforms shm·m in Figs. 14A to 140 are used. [Fig. 15B] A diagram schematically shmling the 10 state v1here the frictional force increases and decreased by running a finger on the touch panel by the user in the case 1-1here vibration waveforms shm·m in Figs. 14A to 140 are used. [Fig. 16A] A diagram shmling a vibration 15 waveform and a vibration direction obtained by combining vibrations in the tl-10 biaxial directions of the X actuator and the Z actuator with each other (nonsynchronization of peak values) . [Fig. 16B] A diagram showing a vibration 20 waveform and a vibration direction obtained by combining vibrations in the two biaxial directions of the X actuator and the Z actuator 1·lith each other (nonsynchronization of peak values). [Fig. 17A] A diagram showing an actuator unit 25 according to another embodiment. [Fig. 17B] A diagram showing an actuator unit fl SP357729WOOO 14 according to another embodiment. [Fig. 18A] A diagram showing an actuator unit according to still another embodiment. [Fig. 188] A diagram showing an actuator unit 5 according to still another embodiment. [Fig. 18C] A diagram showing an actuator unit according to still another embodiment. [Fig. 180] A diagram showing an actuator unit according to still another embodiment. 10 [Fig. 19] A diagram showing another operational example of the actuator unit. [Fig. 20] A diagram showing the configuration of the tactile sense presentation system (transmission and reception to/from the tactile sense presentation 15 apparatus) . [Fig. 21] A diagram for describing another application example (application example 1) of the tactile sense presentation apparatus. [Fig. 22] A diagram for describing another 20 application example (application example 2) of the tactile sense presentation apparatus. [Fig. 23] A diagram for describing another application example (application example 3) of the tactile sense presentation apparatus. 25 [Fig. 24A] A diagram showing the position of the finger on a keyboard and the height 1vaveform for SP357729WOOO 15 presenting a tactile sense corresponding thereto, in the application example 3. [Fig. 24B] A diagram showing the position of the finger on a keyboard and the height waveform for 5 presenting a tactile sense corresponding thereto, in the application example 3. [Fig. 24C] A diagram showing the position of the finger on a keyboard and the height waveform for presenting a tactile sense corresponding thereto, in 10 the application example 3. [Fig. 25A] A diagram for describing the application example 3. [Fig. 25B] A diagram for describing the application example 3. 15 Description of Embodiments [0023] Hereinafter, embodiments of the present technology will be described with reference to the dra1·1ings. [0024] 1.First Embodiment 20 [0025] 1) Configuration of Tactile Sense Presentation Apparatus 1-1) Overall Configuration Fig. 1A is a perspective view showing an example of a tactile sense presentation apparatus 100 according 25 to a first embodiment. [0026] The tactile sense presentation apparatus 100 SP357729WOOO 16 includes a touch panel (touch sensor) 10 serving as, for example, a movable body, and an actuator unit 30 connected to the touch panel 10. The touch panel 10 may be integrally formed 1vi th a display panel, for example. 5 It should be noted that hereinafter, a panel obtained by integrating the touch panel 10 with the display panel is called as a panel unit in some cases. Moreover, the tactile sense presentation apparatus 100 includes a signal generation unit (signal generation device) 60 10 that supplies a driving signal to the actuator unit 30 as will be described later. It should be noted that the actuator unit 30 is supported by a supporting body 20 such as an enclosure or a frame. [0027] Typical examples of the tactile sense 15 presentation apparatus 100 include a portable device such as a mobile phone and a tablet. [0028] 1-2) Actuator Unit Fig. lB is a perspective vieH sho1-1ing the touch panel 10 and the actuator unit 30 connected thereto.· 20 [0029] The actuator unit 30 includes a plurality of X actuators 35X and a plurality of Y actuators 35Y. The plurality of X actuators 35X and the plurality of Y actuators 35Y have the same configuration. Therefore, in the folloHing description, an arbitrary actuator out 25 of the actuators 35X and the actuators 35Y is represented simply as "actuator." The same shall apply SP357729WOOO 17 to a Z actuator to be described later. [0030) Fig. 2 is a perspective view showing a configurational example of the actuator 35. The actuator 35 according to this example is a 5 piezoelectric device, for example. The actuator 35 includes, for example, a plate-like piezoelectric element 31, and connection portions 32 and a connection portion 33 fixed to the piezoelectric element 31. The connection portions 32 are provided at the both end 10 portions of the piezoelectric element 31, for example, and are fixed to the supporting body 20 (see Fig. 1A). The connection portion 33 is provided to the center portion of the piezoelectric element 31, for example, and is connected to the touch panel 10. To the 15 piezoelectric element 31, an input terminal for an electric signal (not shown) is provided, and a driving signal to be described later is input. Accordingly, the actuator 35 is capable of vibrating upward and dmmward in the figure with the connection portions 32 as.a node 20 and the connection portion 33 as an anti-node. [0031) It should be noted that the above-mentioned configuration of the actuator 35 is only an example, and devices that use the piezoelectric element 31 and have various shapes, sizes, and structures can be 25 applied to the actuator 35. [0032) As shown in Fig. 1B, (the connection portions '· SP357729WOOO 18 33 of) the actuators 35 are connected to the four sides of the touch panel 10 having a rectangular shape. For example, the number of actuators 35 connected to one side is two. In the following description, the 5 assumption is made that the axis along the short side of the touch panel 10 is an X axis and the axis along the long side is a Y axis perpendicular to the X axis in the figure, for illustrative purposes. [0033] The tactile sense presentation apparatus 100 10 configured as described above is capable of vibrating the touch panel 10 in both axial directions of the X axial direction and theY axial direction, i.e., in an arbitrary direction in a two dimension being an X-Y plane, in the enclosure. 15 [0034] 1-3) Signal Generation Unit Fig. 3 is a block diagram showing an electrical configuration of the tactile sense presentation apparatus 100 including the above-mentioned signal generation unit 60. 20 [0035] The tactile sense presentation apparatus 100 includes a controller 50 and the signal generation unit 60. The controller 50 is configured to transmit a control signal to the signal generation unit 60 on the basis of the information on a user's operation input 25 from the touch panel 10, for example. The controller 50 includes hard1·1are such as a CPU (Central Processing ~/ r SP357729WOOO 19 Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory), and stores soft1·1are necessary for the ROM. The controller 50 may include a PLD (Programmable Logic Device) instead of the CPU. 5 [0036] The signal generation unit 60 includes an X driver 60X and a Y driver 60Y. The X driver 60X supplies the X actuators 35X with the driving signal for driving (vibrating) the X actuators 35X in synchronization with each other. The Y driver 60Y 10 supplies the Y actuators 35Y with the driving signal for driving (vibrating) the Y actuators 35Y in synchronization with each other. By such a configuration of the signal generation unit 60, it is possible to supply the driving signal to the actuator 15 unit 30 according to the control signal from the controller 50 and to vibrate the touch panel 10 in an arbitrary direction in the X-Y plane. [0037] The information on a user's operation received by the controller 50 is information on the 20 contact position of a target object such as the body (e.g., finger) of the user on the touch panel 10, for example. If the user moves his/her finger on the touch panel 10, the controller 50 receives data on the contact position one after another and thus is capable 25 of detecting the direction of the movement of the contact position at any time. The controller 50 outputs SP357729WOOO 20 the control signal on the basis of the direction of the movement, thereby driving the actuator 35 via the signal generation unit. [0038] As described above, by using a piezoelectric 5 device as the actuator 35, it is possible to increase the response speed by the actuator unit 30 as compared with a device using an eccentric motor, a linear motor, or the like. It is possible to achieve not more than 5 ms of the response speed of the piezoelectric device 10 [0039] 2) Vibration Waveform 2-1) Detection Threshold Value of Tactile Receptor Fig. 4 is a graph showing a detection threshold value of a plurality of types of tactile receptors of persons against vibration, for example. The horizontal 15 axis represents the frequency (Hz), and the vertical axis (~m) represents the amplitude. Examples of the types of tactile receptors of persons include SA I, FA I, and FA II. Specifically, it is generally known that there are an amplitude area and a frequency area for 20 each type of the tactile receptors, which can be detected or cannot be detected by persons. [0040] The assumption is made that an envelope a (represen.ted by dashed line) of these types of threshold values is the detection threshold value 25 herein. The area on or above the envelope is an area in 1vhich persons can perform detection, i.e., the tactile SP357729WOOO 21 area. On the other hand, the area less than the envelope a (area below the envelope a) is an area in l'lhic;h persons cannot perform detection, i.e., the nontactile area. According to the present technology, by 5 applying such a detection threshold value of the tactile receptor, for example, it is possible to present various tactile senses to the user. [0041] Specifically, the tactile sense presentation apparatus 100 generates a special vibration v1aveform 10 that all01vs the amplitude area of a non-tactile sense to a tactile sense or the frequency area of a nontactile sense to a tactile sense to coexist within a period of vibration, and generates a frictional force bebveen the touch panel 10 and the finger, as a main 15 embodiment. [0042] 2-2) Example of Vibration Waveform Fig. 5 is a table showing an example of a vibration 1'/aveform having the amplitude and frequency areas obtained on the basis of this tactile receptor. 20 These examples 1 to 4 each show that the one period has two kinds of vibration waveforms 1 and 2. Frequencies fO, f1, and f2 and amplitudes A, B, and C sh01vn in Fig. 5 correspond to those shown in the graph representing the detection threshold value of the tactile receptor 25 shown in Fig. 4. The content of the tables is shown as follows. SP357729WOOO 22 [0043] [Example 1]: Waveform 1 (tactile area): Amplitude A, Frequency f1