A voice input and output apparatus is comprised of a voice output section that produces a sound field by outputting a sound on the basis of a voice output signal. A voice signal control section derives a calculation expression of a filtering process on the basis of a space transfer characteristics between the voice output section and control points. The voice signal control section produces the voice output signal by executing the filtering process of a voice input signal, so that a balance among sound pressures at predetermined control points in the sound field takes a predetermined balance.