It is difficult to hear as an unpleasant sound, and generates an output sound that can reduce discomfort. An output sound generating device for generating an output sound for controlling a body includes an acquiring unit 1 for acquiring sound information indicating a sound to be modulated based on a base sound as a base of an output sound, A modulated sound in which at least one of a volume, a pitch, and a tone of a sound indicated by the sound information is periodically changed, or a modulated sound that generates a modulated sound in which the sound indicated by the sound information is cyclically continued And a sound generating section 3.耳障りな音として聞こえにくく、不快感を軽減しうる出力音を生成する。身体を制御するための出力音を生成する出力音生成装置は、出力音のベースとなるベース音に基づき、変調対象となる音を示す音情報を取得する取得部1と、出力音に少なくとも含まれる音として、音情報が示す音の音量、音程、及び音色の少なくとも1つを周期的に変化させた変調音、又は、音情報が示す音を周期的に連続させた変調音を生成する変調音生成部3と、を備える。
