JP7375351B2 - Body motion acquisition device and method - Google Patents

Description

The present invention relates to a body motion acquisition device and a body motion acquisition method for acquiring body motions handling objects.

In order to analyze body motion, it is first necessary to obtain the body motion. In particular, because work skills are acquired through experience by repeatedly performing the work, it is difficult to verbalize, document, or illustrate, so it is important to analyze the physical movements associated with the work. Therefore, it is important to capture the body movements associated with the work.

To obtain this body motion, optical motion capture is often used, for example, as in Patent Document 1, because the body motion can be obtained relatively easily. This optical motion capture generally uses a plurality of markers attached to various parts of the subject's body, a camera that captures images of the plurality of markers during body movements, and an image captured by the camera. and an information processing device that obtains the positions of the plurality of markers as motion information representing the motion of the body.

Japanese Patent Application Publication No. 2006-171184

By the way, since the marker is attached to the external surface of the subject, if the position of the marker is used as the motion information, there is a risk that the motion information may be influenced by individual differences or errors due to differences in the body shape or clothing of the subject. be. As a result, when acquiring the movement of a body handling an object, the accuracy of the relationship between the movement of the body represented by the movement information and the movement of the object also decreases due to the influence contained in the movement information. .

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to provide a body motion acquisition device and a body motion acquisition method that can more accurately acquire body motions when handling objects.

As a result of various studies, the present inventors have found that the above object can be achieved by the following present invention. That is, the body motion acquisition device according to one aspect of the present invention measures a plurality of markers attached to a plurality of locations on the body of a subject handling a predetermined object and each of the objects, and measures each position of the plurality of markers. and a position measuring unit that calculates the positions of the centers of gravity of each of the body parts of the target person and the center of gravity of the object based on the positions of the plurality of markers measured by the position measurement unit. a motion information processing unit that obtains body motion information representing the body motion of the subject and object motion information representing the movement of the object , wherein the body motion of the subject is a motion accompanying execution of a predetermined task. , further comprising: an activity amount acquisition section that acquires the amount of activity of the muscle that maintains the posture required for the predetermined task; and a work result acquisition unit that acquires a work result in the work, the work result being the accuracy of the product of the work and the time required for the work. A body motion acquisition method according to another aspect of the present invention includes a position measuring step of measuring each position of a plurality of markers attached to a plurality of locations on the body of a subject who handles a predetermined object and each of the objects; Based on the positions of the plurality of markers measured in the position measuring step, the positions of the centers of gravity of each body part of the subject's body divided into a plurality of parts and the position of the center of gravity of the object are calculated based on the positions of the bodies of the subject. and a motion information processing step of obtaining body motion information representing the movement of the object and object movement information representing the movement of the object, wherein the body movement of the subject is a movement accompanying execution of a predetermined task, and an activity amount acquisition step of acquiring the amount of activity of the muscle that maintains the posture required for the work, and a work result in the predetermined task that is obtained in association with the amount of activity of the muscle that was acquired in the activity amount acquisition step. and a work result acquisition step, wherein the work result is the accuracy of the product of the work and the time required for the work .

Such a body motion acquisition device and a body motion acquisition method attach a plurality of markers to a plurality of locations on the subject's body and the object, and based on the positions of the plurality of markers, the plurality of body motion acquisition methods of the subject The center of gravity positions of each body part and the center of gravity of the object are determined as body motion information and object movement information. In this way, the body motion acquisition device and body motion acquisition method described above do not use each position of a plurality of markers as they are as body motion information and object movement information, but instead use each center of gravity position of each body part that is unique to each body part. Since the position of the center of gravity of the object, which is unique to the object, is used, it is possible to reduce the influence of differences in the subject's body shape and clothing, as well as the influence of differences in the size of the object, and it is possible to more accurately acquire the movement of the body handling the object. Since the body motion acquisition device and body motion acquisition method described above also attach a marker to the object, the object movement information can be acquired together with the body motion information, and both pieces of information can be acquired efficiently. Since it is possible to obtain various data from various viewpoints for a given task, it is important to determine from what perspective the skills related to the given task are quantified. . As a result of various studies, the present inventor has found that, in quantifying skills related to a predetermined task performed by body movements, one aspect is the amount of activity of the muscles that maintain the posture required for the predetermined task. New findings were obtained that show the importance of The body motion acquisition device and body motion acquisition method described above acquire the amount of activity of a muscular part that maintains a posture required for the predetermined task, correlate it with the acquired amount of activity of the muscle section, and perform the predetermined task. Since the work result in is acquired, the activity amount of the muscular part and the work result, which are associated with each other, can be acquired as skill information . Therefore, based on the new knowledge, the body motion acquisition device and the body motion acquisition method can acquire skill information that contributes to skill quantification (skill information that is useful for skill quantification).

In another aspect, in the above-mentioned body motion acquisition device, the position measurement unit includes a plurality of imaging units that capture images of the plurality of markers from a plurality of mutually different directions, and each image captured by the plurality of imaging units. and a position processing unit that calculates the positions of the plurality of markers based on. In another aspect, in the above-mentioned body motion acquisition method, the position measuring step includes an imaging step of imaging the plurality of markers from a plurality of mutually different directions, and a and a position processing step of determining the positions of the plurality of markers.

These body motion acquisition devices and body motion acquisition methods obtain the positions of multiple markers based on multiple images, so they can easily obtain both body motion information and object movement information in a non-contact manner without interfering with body motion. Information can be obtained.

In another aspect, in each of the above-described body motion acquisition device and body motion acquisition method, the plurality of body parts include a trunk, and at least one of a left upper limb and a right upper limb.

When grasping and handling an object with both hands or one hand, the movement is performed by the left upper limb or right upper limb that grips the object, and also by the trunk that supports the left upper limb or right upper limb. It can be characterized. In the body motion acquisition device and body motion acquisition method, the plurality of body parts include the trunk and at least one of the left upper limb and the right upper limb, so that the body motion of grasping and handling an object is provided. Information and object movement information can be suitably acquired.

In another aspect, in each of the above-described body motion acquisition device and body motion acquisition method, the plurality of body parts further includes at least one of a left lower extremity and a right lower extremity.

The trunk of the body is supported by both lower limbs, with the weight being applied to both lower limbs, or the trunk is supported by the lower limbs, with the weight mainly being applied to one of the lower limbs. Therefore, when grasping and handling an object with both hands or one hand, the motion is further characterized by the left lower limb and the right lower limb. In the body motion acquisition device and body motion acquisition method, the plurality of body parts further include at least one of the left lower limb and the right lower limb, so that the body motion information of the motion of grasping and handling the object and the object Motion information can be acquired more appropriately.

In another aspect, in each of the above-described body motion acquisition device and body motion acquisition method, the body motion of the subject is a motion accompanying execution of a predetermined task, and the object is a motion used in the task. It's a tool.

Such a body motion acquisition device and a body motion acquisition method can suitably acquire body motion information and object movement information of motions associated with execution of work using a tool.

In another aspect, in each of the body motion acquisition device and body motion acquisition method described above, the work is one of grinding or polishing work, welding work, and painting work.

When the work is a grinding or polishing work, the body motion acquisition device and the body motion acquisition method can suitably acquire body motion information and object movement information of the motion accompanying the grinding or polishing work. When the work is a welding work, the body motion acquisition device and the body motion acquisition method can suitably acquire body motion information and object movement information of the motion accompanying the welding work. When the work is a painting work, the body movement acquisition device and the body movement acquisition method can suitably acquire body movement information and object movement information of the movement accompanying the execution of the painting work.

In another aspect, in each of the above-described body motion acquisition device and body motion acquisition method, the operation is grinding or polishing of the mold.

The body motion acquisition device and body motion acquisition method described above can suitably acquire body motion information and object movement information of motions associated with grinding or polishing a mold.

In another aspect, in these above-mentioned body motion acquisition devices, an output unit outputs the amount of activity of the muscular part associated with a work result that is equal to or higher than a predetermined threshold value as a standard of proficiency of a skill related to the work. Furthermore, it is equipped with. In another aspect, in the above-mentioned body motion acquisition methods, an output step of outputting the amount of activity of the muscular part associated with a work result that is equal to or higher than a predetermined threshold value as a standard of proficiency of a skill related to the work. Furthermore, it is equipped with.

Such a body motion acquisition device and a body motion acquisition method can output a standard of proficiency of the skill.

The body motion acquisition device and the body motion acquisition method according to the present invention can more accurately acquire the motion of a body handling an object.

FIG. 1 is a block diagram showing the configuration of a body motion acquisition device in an embodiment. FIG. 7 is a diagram for explaining attachment positions of a plurality of markers used in the body motion acquisition device and placement positions of a force plate used in the body motion acquisition device with respect to a worker. FIG. 3 is a diagram for explaining the positions of the centers of gravity of each part of the body. It is a figure for explaining the content of work and the test piece used for the said work. It is a flowchart showing the operation of the body motion acquisition device in the embodiment. It is a histogram showing the distribution of the amount of eye movement in each of the subjects belonging to the E class and the subjects belonging to the A class. FIG. 6 is a diagram for explaining the displacement of each center of gravity position with respect to the passage of time.

Hereinafter, one or more embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the disclosed embodiments. It should be noted that structures with the same reference numerals in each figure indicate the same structure, and the description thereof will be omitted as appropriate. In this specification, when referring to a general term, a reference numeral without a subscript is used, and when referring to an individual configuration, a reference numeral with a suffix is used.

FIG. 1 is a block diagram showing the configuration of a body motion acquisition device in an embodiment. FIG. 2 is a diagram for explaining attachment positions of a plurality of markers used in the body motion acquisition device and placement positions of force plates used in the body motion acquisition device with respect to the worker. FIG. 3 is a diagram for explaining the positions of the centers of gravity of each part of the body. In FIG. 3, the positions of the centers of gravity of each part are indicated by ●.

The body motion acquisition device D in the embodiment is a device that acquires body motion information representing the body motion of a subject handling a predetermined object and object movement information representing the movement of the object. In this embodiment, the body motion acquisition device D is configured to further acquire analysis information for analyzing the body motion. For example, as shown in FIG. 1, such a body information acquisition device D includes a plurality of imaging units 11-1 to 11-k (k is 2 or more) in order to acquire body motion information and object movement information. integer), a position processing section 51, a motion information processing section 53 and a control section 56, which will be described later, in the control processing section 5, and a storage section 9. 3, a shape measurement section 41, a time measurement section 42, an activity mass processing section 52, a line of sight processing section 54, a work result processing section 55 and a control section 56, which will be described later in the control processing section 5, and a storage section 9. As an input/output interface of the body motion acquisition device D, an input section 6, an output section 7, and an interface section (IF section) 8 are provided. The control unit 56 and the storage unit 9 are commonly used for acquiring body motion information and object movement information and for acquiring analysis information.

The plurality of imaging units 11-1 to 11-k are each connected to the control processing unit 5, and according to the control of the control processing unit 5, the plurality of imaging units 11-1 to 11-k capture images of the subject with the plurality of markers from a plurality of mutually different directions. This is a device that generates an image (image data) by capturing images of the plurality of markers. For example, in the upper four corners of a rectangular parallelepiped space (for example, 4 m x 4 m x 2 m, etc.) in which the subject enters, the four imaging units 11-1 to 11-4 are arranged with optical axes facing the central area of the space. is arranged to face diagonally downward, and four imaging units 11-5 to 11-8 are arranged at four lower corners of the space with their optical axes facing diagonally upward so as to face the central region of the space. be done. As a result, the eight imaging units 11-1 to 11-8 each image the marker attached to the subject from eight different directions to generate an image. Each of the plurality of imaging units 11-1 to 11-k outputs the captured and generated image to the control processing unit 5, and the control processing unit 5 receives the images from the plurality of imaging units 11-1 to 11-k. A plurality of images are stored in the storage unit 9 in association with each other. More specifically, such imaging units 11-1 to 11-k each include, for example, an imaging optical system that forms an infrared optical image of the imaging target on a predetermined imaging plane, and an area image sensor that is arranged with a light receiving surface aligned with the image plane and converts an infrared optical image of the imaged object into an electrical signal; This is a digital infrared camera that includes an image processing unit that generates image data that represents an infrared image.

Each of the plurality of markers is a member that reflects infrared light (infrared rays), and is attached to a plurality of locations on the body of a subject (worker, test subject) handling a predetermined object and on each of the objects. For example, as shown in FIG. 2, the plurality of markers MK are attached to each of the 41 locations on the subject's body LB in order to measure the center of gravity of each of the 19 body regions, and In order to measure the position of the center of gravity of an object, it is attached to each of three points on the object. In this embodiment, the 19 body parts include, for example, the head, neck, chest, right shoulder, left shoulder, right upper arm, left upper arm, right forearm, left forearm, right hand, left hand, These are the lower back, the buttocks, the right ilium, the left ilium, the right knee, the left knee, the right foot, and the left foot. In order to suitably analyze body movements, the sampling frequency of the plurality of imaging units 11-1 to 11-k is, for example, 100 [Hz]. In this embodiment, the body motion of the subject is expressed as body motion information by each center of gravity position (time displacement of each center of gravity position) of each of 19 body parts, as shown in FIG. 3, for example, The movement of the object caused by the body movement of the subject is represented by the position of the center of gravity (time displacement of the center of gravity) of the object as object movement information.

The body movement of the subject may be any movement as long as it involves handling an object. Preferably, in one example, the body movement is a movement accompanying the execution of any predetermined work, and the work is, for example, not only manufacturing work of goods, work of transporting goods, etc., but also performing arts, sports, etc. May be included. The object is any predetermined object used in the operation, preferably, in one example, the object is a tool used in the operation. More specifically, in this embodiment, the work is a grinding or polishing work on a vehicle member molding die for molding a member used in a vehicle. In this case, the tool is, in one example, a hand grinder. Of course, the invention is not limited to this. For example, the work is a welding work, the tool is a welding machine such as a torch, and the work is, for example, a painting work, and the tool is a welding machine such as a torch. The tool is, for example, a painting tool such as a spray gun. Preferably, the work is a work related to manufacturing a vehicle, and the tool is a tool related to the work.

In the above description, the marker is a member that reflects infrared light, and accordingly, the imaging unit 11 is a digital infrared camera. In this case, the imaging unit 11 may be a visible light camera.

Returning to FIG. 1, the external force measuring unit 2 is a device that is connected to the control processing unit 5 and measures the external force acting on the body of the subject under the control of the control processing unit 5. The measurement result (external force acting on the body) is output to the control processing section 5. The control processing section 5 stores this measurement result in the storage section 9 in association with the body motion information and object movement information obtained by the position processing section 51 as described later. The external force measurement unit 2 includes a force plate manufactured by AMTI that measures displacement, velocity, and acceleration in each of the XYZ components, for example. In this embodiment, three first to third force plates 2-1 to 2-3 are used, and as shown in FIG. 2, the first force plate 2-1 acts on the right foot of the subject. The second force plate 2-2 is placed on the floor along the left-right direction with the first force plate 2-1 so as to measure the external force acting on the subject's left foot. The third force plate 2-3 is arranged on the floor in parallel with the work object (verification described below) so as to measure an external force (reaction force from the tool) acting on the hand that grips the tool. In the example of the experiment, a test piece TP) is placed on the workbench on which the subject is working. The sampling frequency of these first to third force plates 2-1 to 2-3 is 100 [Hz] so as to be synchronized with the sampling of the imaging section 11.

The line of sight measuring section 3 is a device that is connected to the control processing section 5 and measures the position of the gaze point (point of gaze position) of the subject under the control of the control processing section 5. The line of sight measurement section 3 outputs the measurement result (point of gaze position) to the control processing section 5. The control processing section 5 stores this measurement result in the storage section 9 in association with the body motion information and object movement information obtained by the position processing section 51. The line of sight measuring unit 3 includes, for example, an eye tracker manufactured by Tobii Technology that measures the gaze point in three-dimensional coordinate values in a non-contact manner using the corneal reflection method. The sampling frequency of the eye tracker is, for example, 50 [Hz] in order to suitably analyze the movement of the gaze point.

The shape measurement section 41 is a device that is connected to the control processing section 5 and measures the shape of a measurement target (in the example of a verification experiment described later, a test piece TP after work) under the control of the control processing section 5 . The shape measurement section 41 outputs the measurement result (the shape of the measurement target) to the control processing section 5. The control processing section 5 stores this measurement result in the storage section 9 in association with the body motion information and object movement information obtained by the position processing section 51. The shape measuring unit 41 includes, for example, a 3D shape measuring machine manufactured by KEYENCE, which measures the shape of the measurement target using three-dimensional coordinate values.

The timer 42 is a device that is connected to the control processor 5 and measures the time required for the work (work time) under the control of the control processor 5, and is, for example, a stopwatch. The clock unit 42 outputs the measurement result (work time) to the control processing unit 5. The control processing section 5 stores this measurement result in the storage section 9 in association with the body motion information and object movement information obtained by the position processing section 51.

The input unit 6 is connected to the control processing unit 5 and inputs various commands such as a command to start acquisition, and various data necessary for acquiring body motion information and object movement information such as the name of a subject. It is a device for inputting information into the body motion acquisition device D, and is, for example, a plurality of input switches, a keyboard, a mouse, etc. to which predetermined functions are assigned. The output section 7 is connected to the control processing section 5, and outputs commands and data input from the input section 6, images from the imaging section 11, and measurement results of each section 2, 3, 41, and 42 under the control of the control processing section 5. (analytical information), as well as body motion information and object movement information acquired by the body motion acquisition device D, such as display devices such as CRT displays, liquid crystal displays, and organic EL displays, and printers, etc. equipment, etc.

Note that the input section 6 and the output section 7 may constitute a so-called touch panel. When configuring this touch panel, the input section 6 is a position input device that detects and inputs an operating position, such as a resistive film type or a capacitive type, and the output section 7 is a display device. In this touch panel, the position input device is provided on the display surface of the display device, one or more input content candidates that can be input are displayed on the display device, and a display displaying the input content that the user wants to input is displayed. When a position is touched, the position is detected by the position input device, and the display content displayed at the detected position is input to the body motion acquisition device D as the user's operation input content. With such a touch panel, it is easy for the user to intuitively understand the input operations, so a body motion acquisition device D that is easy for the user to handle is provided.

The IF section 8 is a circuit that is connected to the control processing section 5 and performs input/output of data with an external device under the control of the control processing section 5, and is, for example, an interface circuit for RS-232C, which is a serial communication method. , an interface circuit using the Bluetooth (registered trademark) standard, an interface circuit that performs infrared communication such as the IrDA (Infrared Data Association) standard, and an interface circuit using the USB (Universal Serial Bus) standard. Further, the IF section 8 is a circuit that performs communication with an external device, and may be, for example, a data communication card, a communication interface circuit according to the IEEE802.11 standard, or the like.

The storage section 9 is a circuit that is connected to the control processing section 5 and stores various predetermined programs and various predetermined data under the control of the control processing section 5. The various predetermined programs include, for example, a position processing program that calculates the positions of a plurality of markers based on each image captured by the plurality of imaging units 11-1 to 11-k, and a an activity amount processing program that calculates each muscle activity amount (each activity amount of each muscle part) in each body part of the subject based on each position of the marker and the external force measured by the external force measurement unit 2; Based on each position of a plurality of markers determined by a processing program, each center of gravity position of a plurality of body parts obtained by dividing the body of the subject into a plurality of parts and the position of the center of gravity of the object represent the movement of the body of the subject. A motion information processing program that obtains body motion information and object movement information representing the movement of the object, and gaze information regarding the amount of gaze movement of the subject based on the position of the subject's gaze point measured by the gaze measurement unit 3. The line of sight processing program, the work result processing program that calculates dimensional accuracy (processing accuracy) based on the shape measured by the shape measuring section 41, and each section 11, 2, 3, 41, 42, 6 to 9 of the body motion acquisition device D It includes a control processing program such as a control program that controls the respective parts according to their functions. The various predetermined data include the image of the imaging unit 11, the measurement results of each part 2, 3, 41, and 42, and the processing results obtained by processing the images and measurement results according to a predetermined processing method (for example, the center of gravity position described above). This includes data necessary to run each of these programs, such as the amount of eye movement, etc.) and the name of the subject. Such a storage unit 9 includes, for example, a ROM (Read Only Memory) which is a nonvolatile storage element, an EEPROM (Electrically Erasable Programmable Read Only Memory) which is a rewritable nonvolatile storage element, and the like. The storage unit 9 includes a RAM (Random Access Memory), which serves as a so-called working memory of the control processing unit 5 that stores data generated during execution of the predetermined program.

The control processing unit 5 controls each unit 11, 2, 3, 41, 42, 6 to 9 of the body motion acquisition device D according to the function of each unit, and acquires body motion information and object movement information. It is a circuit. The control processing unit 5 includes, for example, a CPU (Central Processing Unit) and its peripheral circuits. By executing the control processing program, the control processing section 5 has a position processing section 51, an activity amount processing section 52, a movement information processing section 53, a line of sight processing section 54, a work result processing section 55, and a control section 56. Functionally configured.

The control section 56 controls each section 11, 2, 3, 41, 42, 6 to 9 of the body motion acquisition device D according to the function of each section, and controls the entire body motion acquisition device D. .

The position processing unit 51 determines the positions of the plurality of markers based on each image captured by the plurality of imaging units 11-1 to 11-k. In an image generated by capturing a marker that reflects infrared light with the imaging unit 11 (11-1 to 11-k), the image area in which the marker is imprinted has a pixel value that is equal to the surrounding pixel value. (for example, the pixels in the image area where the marker is imprinted are brighter and have higher pixel values than the surrounding pixels), so the position processing unit 51 first converts the image into two for each of the images. By performing image processing such as value conversion processing, the image area in which the marker is imprinted is extracted from the image, and the two-dimensional coordinate values of the extracted image area in the image are determined. Then, the position processing unit 51 calculates the camera parameters (from the two-dimensional coordinate values of each image region extracted from each image captured by the plurality of different imaging units 11 for the same marker). A three-dimensional coordinate value of the marker is determined as the marker position by so-called epipolar matching using each arrangement position and each orientation (in each optical axis direction).

In this embodiment, the plurality of imaging units 11-1 to 11-k and the position processing unit 51 correspond to an example of a position measurement unit that measures the positions of the plurality of markers, and are, for example, optical sensors manufactured by OptiTrack Japan. Configured with motion capture.

The activity amount processing unit 52 calculates the amount of muscle activity in each body part of the subject based on the positions of the plurality of markers determined by the position processing unit 51 and the external force measured by the external force measurement unit 2. It is. The activity amount processing program is musculoskeletal modeling simulation software, for example, AnyBody manufactured by Terabyte Co., Ltd. In the musculoskeletal modeling simulation, the joint torque is estimated based on the joint angle obtained from each position of a plurality of markers obtained by the position processing section 51 and the external force measured by the external force measurement section 2, and the amount of muscle activity is estimated. Presumed. By installing this AnyBody, the activity amount processing unit 52 is functionally configured.

Then, the activity amount processing section 52 determines the amount of activity (muscle activity amount) of the muscle part that maintains the posture required for the predetermined task based on the determined amount of muscle activity in each body part. In this embodiment, the work is a grinder work, and based on the knowledge described later, the activity amount processing unit 52 calculates the activity amount of the muscle parts related to the trunk and the activity amount of the muscle parts related to the lower limbs to the predetermined value. It is calculated as the amount of muscle activity required to maintain the posture required for the task. More specifically, the activity amount processing unit 52 calculates the amount of activity of the muscles related to the trunk by aggregating (totaling) the amounts of muscle activity of the head, neck, chest, lower back, and buttocks, By aggregating the amount of muscle activity in the left iliac region, left knee region, and left foot region, the amount of activity of the muscle regions related to the left lower limb region is determined. By aggregating the amount of muscle activity, the amount of muscle activity of the muscles related to the right lower limb is determined. In addition, the activity amount of the muscle part related to the left lower limb and the muscle activity amount of the muscle part related to the right lower limb may be aggregated (added) to form the activity amount of the muscle part related to the lower limb.

The motion information processing unit 53 calculates the positions of the centers of gravity of each of the body parts of the subject and the center of gravity of the object based on the positions of the plurality of markers measured by the position measurement unit. The information is obtained as body motion information representing the body motion of the subject and object movement information representing the movement of the object. More specifically, the motion information processing unit 53 calculates the position of the plurality of markers determined by the position processing unit 51 at each sampling timing (in the above example, each sampling timing at a sampling frequency of 100 [Hz]). Based on this, the positions of the centers of gravity of each of the 19 body parts are determined. For example, for each of the 19 body parts, a first calculation formula for calculating the center of gravity position of the body part from the positions of a plurality of markers related to the body part is determined in advance and stored in the storage unit 9, and the motion information processing unit 53 calculates, for each of the 19 body parts, the position of the center of gravity of the body part based on the first calculation formula from each position of a plurality of markers related to the body part determined by the position processing unit 51. Similarly, a second arithmetic expression for determining the center of gravity of an object (a tool in this embodiment) from the positions of a plurality of markers related to the object is calculated in advance and stored in the storage unit 9, and the motion information processing unit 53 calculates the position of the center of gravity of the object. The position of the center of gravity of the object is determined based on the second arithmetic expression from each position of a plurality of markers related to the object determined by the processing unit 51. In the present embodiment, the motion information processing unit 53 further determines the movement range (maximum displacement) of the center of gravity in each of the 19 body parts, and calculates the movement range of the center of gravity of the object. In this embodiment, the body motion information includes not only the position of the center of gravity of each body part but also the range of movement thereof, and the object movement information includes not only the position of the center of gravity of the object but also the range of movement thereof.

The line-of-sight processing unit 54 obtains line-of-sight information regarding the amount of movement of the subject's line of sight based on the position of the target's gaze point measured by the line-of-sight measurement unit 3. More specifically, the line-of-sight processing unit 54 calculates the distance between the first gaze point position at a first time point and the second gaze point position at a second time point after a predetermined time has elapsed from the first time point. The amount of line-of-sight movement is determined as one piece of line-of-sight information. More specifically, at each sampling timing (each sampling timing at a sampling frequency of 50 [Hz] in the above example), the line of sight processing unit 54 calculates the moving distance of the gaze point between two adjacent sampling timings as described above. Obtained as the amount of gaze movement of the subject. That is, at each sampling timing, the distance from the position of the gaze point measured at the previous sampling timing to the position of the gaze point measured at the current sampling timing is determined as the amount of eye movement of the subject. In the present embodiment, the line-of-sight processing unit 54 further obtains the average value and standard deviation of the amount of line-of-sight movement of the subject as another piece of the line-of-sight information.

The work result processing unit 55 determines dimensional accuracy (processing accuracy) based on the shape measured by the shape measurement unit 41. The shape of the product of the work measured by the shape measurement unit 41 may be considered as one of the work results, but in this embodiment, the work result processing unit 44 measures the accuracy (dimensional accuracy, processing accuracy) of the product of the work. ) is obtained as one of the work results.

Then, the work result processing unit 55 calculates the amount of activity of the muscles that maintain the posture required for the work determined by the activity amount processing unit 52 (in this embodiment, the amount of muscle activity of the trunk, the amount of muscle activity of the left lower extremity) The work result (in this embodiment, dimensional accuracy and work time) of the work is stored in the storage unit 9 in association with the amount of activity, the amount of muscle activity in the right lower limb (or the amount of muscle activity in the lower limb), and The output signal is output to the output section 7 or the IF section 8 according to the output. The motion information processing section 53 stores in the storage section 9 body motion information and object movement information of the worker (target person) in the work in association with the activity amount of the muscle part determined by the activity amount processing section 52, It is output to the output section 7 or the IF section 8 as necessary. The line-of-sight processing unit 54 stores the line-of-sight information of the worker in the work in the storage unit 9 in association with the amount of activity of the muscle part determined by the amount of activity processing unit 52, and stores the information on the line of sight of the worker in the work in the storage unit 9, and outputs the information to the output unit 7 or the IF unit as necessary. Output to 8.

Here, the plurality of imaging units 11-1 to 11-k, position processing unit 51, external force measurement unit 2, and activity amount processing unit 52 are configured to calculate the amount of activity of muscles that maintain the posture required for the predetermined task. This constitutes an activity amount acquisition unit AD that acquires , and corresponds to an example of an activity amount acquisition unit. These shape measurement section 41, timekeeping section 42, and work result processing section 55 are connected to the work result acquisition section 4 which acquires the work result of the predetermined work in association with the activity amount of the muscular part acquired by the activity amount acquisition section. , and corresponds to an example of a work result acquisition unit. In the present embodiment, as described above, the work is, for example, the work of grinding or polishing a die for molding a vehicle component, and therefore the work product is a vehicle after the grinding or polishing work. This is a mold for molding parts. Therefore, in this embodiment, the work result is the accuracy (processing accuracy, dimensional accuracy) of the product of the work and the time required for the work (work time), and in order to measure these, the work result is A shape measurement section 41 and a time measurement section 42 are used as an example of the acquisition section. Therefore, the shape measuring section 41 and the time measuring section 42 are changed to appropriate devices depending on the work and the result of the work.

Note that in the above description, the plurality of imaging units 11-1 to 11-k, the external force measurement unit 2, the line of sight measurement unit 3, the shape measurement unit 41, and the time measurement unit 42 are each connected to the control processing unit 5. However, one or more (including all) of the plurality of imaging units 11-1 to 11-k, external force measurement unit 2, line of sight measurement unit 3, shape measurement unit 41, and time measurement unit 42, It operates separately from the control processing unit 5, and images and measurement results may be input and acquired by the operator (user) from the input unit 6 to the body motion acquisition device D, or images and measurement results may be recorded or stored. The data may be acquired via the IF section 8 from a recorded recording medium (for example, a CD-R, etc.) or a storage medium (such as a USB memory). In this case, the input section 6 and the IF section 8 correspond to an example of the activity amount acquisition section, the work result acquisition section, and the additional acquisition section.

Next, verification of the new knowledge and operation of the body motion acquisition device will be explained. FIG. 4 is a diagram for explaining the contents of the work and the test pieces used in the work. FIG. 4A is a perspective view schematically showing a test piece before work, and FIG. 4B is a perspective view schematically showing a test piece after work. FIG. 5 is a flowchart showing the operation of the body motion acquisition device in the embodiment. FIG. 6 is a histogram showing the distribution of eye movement amounts for each of the subjects belonging to the E class and the subjects belonging to the A class. The horizontal axis of FIG. 6 is each class of line-of-sight movement amount, and the vertical axis is the frequency. FIG. 7 is a diagram for explaining the displacement of each center of gravity position with respect to the passage of time.

In this verification, the work is the above-mentioned mold grinding or polishing work (grinder work) using a grinder as the tool. More specifically, this grinder work involves two steps: a roughing process in which the mold is roughly ground, and a finishing process in which the rough-ground surface is polished to a smooth surface. In order to improve the dimensional accuracy and processing accuracy of the target, it is usually important to perform the roughing process with high precision and efficiency. For this reason, as a verification experiment, subjects (subjects, workers) were made to carry out the rough process of grinder work on the test piece TP, which was likened to a mold, and various measurements were performed using the body motion acquisition device D. Ta.

For example, as shown in FIG. 4A, this test piece TP is made of a 100 x 100 x 35 mm SS material (general structure rolled steel material). For this test piece TP, the work of the rough process is performed by forming the grooved line TPb, so that one of the protrusions TPa and TPc with a height of 0.1 mm formed on both sides of the grooved line TPb, for example, the protrusion This work involves grinding TPc uniformly by 0.1 mm using a hand-held grinder. After such a rough process, a ground plane portion TPd substantially flush with the bottom surface of the grooved line TPb is formed on the test piece TP, as shown in FIG. 4B. There were 46 subjects, ranging from beginners to experts.

Each of these 46 subjects sequentially performs the rough process on the test piece TP. During the implementation, the above-mentioned body motion acquisition device D is used, and first, each image of the subject and a plurality of markers attached to the tool is generated by each of the plurality of imaging units 11, and the subject's name (subject The external force acting on the body of the subject is measured by the external force measurement unit 12 (12-1 to 12-3), and the subject name of the subject is stored in the storage unit 9 in association with the ID) (S1-1). are stored in the storage unit 9 in association with each other (S1-2), and the position processing unit 51 generates the plurality of images based on each image generated by the plurality of imaging units 11-1 to 11-k in the process S1-1. The positions of the markers are determined and stored in the storage unit 9 in association with the subject name of the subject (S2), and the motion information processing unit 53 calculates the positions of the markers determined by the position processing unit 51 in step S2. Based on each position, the subject's body movement information (the position of the center of gravity of each body part and its movement range) and object movement information (the center of gravity position of the tool and its movement range) are obtained, and the subject's name and The markers are stored in the storage unit 9 in association with each other (S3), and the activity amount processing unit 52 uses the positions of the plurality of markers obtained by the position processing unit 51 and the external force measured by the external force measurement unit 2 to Each muscle activity amount (each activity amount of each muscle part) in each body part of the subject is determined and stored in the storage unit 9 in association with the subject name of the subject (S4). Next, the activity amount processing unit 52 calculates the amount of activity of the muscles in the trunk as the amount of activity of the muscles that maintain the posture required for the work, based on the obtained amounts of muscle activity of each body part. The amount of muscle activity (muscle active mass), the amount of muscle activity of the left lower limb (Left foot), the amount of muscle activity of the right lower limb (Right foot) (or the amount of muscle activity of the lower limb)) are determined and stored in the storage unit 9. (S5). Here, in this verification, the amount of muscle activity in the left shoulder, left upper arm, left forearm, and left hand is further aggregated as the amount of muscle activity in the left arm, and , the amount of muscle activity in the right forearm and the right hand is aggregated as the amount of muscle activity in the right upper limb, and each of the muscle activity in the trunk, left lower limb, right lower limb, left upper limb, and right upper limb is The amount of muscle activity is aggregated as the total amount of muscle activity (Total).

During the execution, the timer 42 measures the work time of the subject as one of the work results, and the work result processing unit 55 correlates it with the amount of activity of the muscles that maintain the posture required for the work. is stored in the storage unit 9 (S1-3), the gaze point of the subject is measured by the gaze measurement unit 3, and stored in the storage unit 9 in association with the subject name of the subject (S1-4). The processing unit 54 obtains the eye gaze information (the amount of eye movement, its average value, and standard deviation) of the subject, and stores it in the storage unit 9 in association with the subject name of the subject (S6). Further, after the work is completed, the shape measuring section 41 measures the shape of the test piece TP after the work, and stores it in the storage section 9 in association with the subject name of the subject (S1-5), and the work result processing section 55, the dimensional accuracy is determined based on the measured shape, and is stored in the storage unit 9 in association with the amount of activity of the muscles that maintain the posture required for the work (S7). Note that the measurements of the subject's body movements, external forces, and gaze points (time for movement analysis) were set for 2 minutes from the start of grinding in the rough process. The positions of these measured and calculated marks, external force, working time, point of gaze, shape of the test piece TP, body movement information, object movement information, line of sight information, and dimensional accuracy are required for the work. The activity amounts of the muscles that maintain the posture (in this example, the muscle activity amounts of the trunk, left lower limb, and right lower limb) are outputted by the control processing unit 5 to the output unit 7, and the process ends (S8).

In verifying the quantification of skills, first, five classes A to E were established depending on skill proficiency. Class A is a beginner's class with the lowest level of proficiency. Class B is a class for intermediate players whose proficiency level is normal (intermediate). Class C is a class for semi-advanced players whose proficiency level is semi-advanced. The D class is a class of advanced users whose proficiency level is advanced. E class is the highest level of proficiency. In the roughing process of the grinder work mentioned above, it is thought that the higher the level of proficiency of the skill, the higher the dimensional accuracy (processing accuracy), the higher the work efficiency, that is, the shorter the work time, and the less variation there is. It will be done. Therefore, in this embodiment, each standard deviation σ of dimensional accuracy and working time is determined, and the range within approximately 3σ is set as the E class, starting from the one with the highest dimensional accuracy and the shortest working time, and the range exceeding approximately 3σ, The range within approximately 2.5σ is set to D class, the range exceeding approximately 2.5σ and within approximately 2σ is set to C class, and the range exceeding approximately 2σ and within approximately 1σ is set to D class. The size and work time thresholds (dimension threshold, work time threshold) that separate each class were set so that the range exceeding approximately 1σ was set as the A class. Specifically, each dimension threshold value [mm] and each work time threshold value [min] that separate each class are as shown in Table 1.

Here, the dimensional accuracy for the test piece TP is determined by using, for example, a plane including the bottom surface of the grooved line TPb as a reference plane, and each lattice point of a square lattice virtually set on the grinding plane part TPd as each measurement point. At each measurement point, the difference in the height direction with respect to the reference plane (height or depth from the reference plane) is determined, and the average value of the absolute values of the differences at each measurement point is determined. The average value Aves of dimensional accuracy is 0.032 [mm], its standard deviation σs is 0.022 [mm], and the average value Avet of working time is 14.4 [min], and its standard deviation σs is 0.022 [mm]. The standard deviation σt was 8.0 [min].

In this classification, of the 46 subjects, 3 belonged to class A, 11 to class B, 13 to class C, 14 to class D, and 5 to class E. It was divided to belong to The five people belonging to the E class were evaluated by the sensory evaluation, but they were seen by other subjects as having the highest level of proficiency, and the three people belonging to the A class were new, so they were evaluated according to Table 1. Classification is appropriate. In addition, in the above, three classes, B class, C class, and D class, were established between A class and E class, but the number of classes between A class and E class may be arbitrary. , may be one, two, or four or more.

The inventor believes that during work, humans visually recognize the work situation, judge the work situation, and move the body according to the result of this judgment to progress the work. We believe that eye movements, body movements, and muscle activity, which are a series of behavioral information that humans judge and act upon, can be used to quantify work-related skills. A comparison was made with the subject Pa belonging to the class from the viewpoints of muscle activity amount, gaze information, and body movement information. In particular, the so-called tips for skills are related to the degree of force exerted in physical movements, that is, the amount of muscle activity.

The amount of muscle activity is the ratio of muscle strength F[N] to maximum possible muscle strength Fmax[N], and the unit is [%]. When comparing muscle activity amounts, the amount of muscle activity in each of the 19 body parts (the amount of activity of each muscle part) determined by the activity amount processing unit 52 can be roughly divided into the trunk, right upper limb, , the left upper extremity, the right lower extremity, and the left lower extremity, and were therefore aggregated into these five areas as described above. Table 2 shows the comparison results between the subject Pe belonging to the E class and the subject Pa belonging to the A class in terms of the amount of muscle activity in each of the five major regions.

As can be seen from Table 2, the amount of muscle activity of subject Pe, who belongs to E class, is higher than that of subject Pa, who belongs to A class. It is the highest, and there is little difference in the amount of muscle activity between the left and right lower limbs. On the other hand, the muscle activity of subject Pa who belongs to class A has a high proportion on the left side, and is biased to the left. Furthermore, the total amount of muscle activity of subject Pe who belongs to E class is smaller than that of subject Pa who belongs to A class. (See the Total and Tool reaction force columns in Table 2). From the above, compared to subject Pa who belongs to A class, subject Pe who belongs to E class has a firmer body axis during work, has less left and right deviation, and can efficiently use the force generated by himself to grind (tool). is being communicated to.

From the above, in quantifying the skills involved in a given task performed through body movements, one aspect that is important is the amount of activity of the muscles that maintain the posture required for the given task. There is a significant difference between the amount of muscle activity of the subject Pe who belongs to the E class and the amount of muscle activity of the subject Pa who belongs to the A class. It is preferable that the activity amount of the muscle parts includes the activity amount of the muscle parts related to the trunk, and it is preferable that the activity amount of the muscle parts further includes the activity amount of the muscle parts related to the lower limbs.

Regarding the line-of-sight information, the comparison results between the subject Pe who belongs to the E class and the subject Pa who belongs to the A class in terms of the amount of line-of-sight movement are as shown in FIG. Note that error values caused by blinking or the like are removed.

As can be seen from FIG. 6, in this example, the line-of-sight movement amount of subject Pe belonging to the E class is concentrated around 350, and the standard deviation of the line-of-sight movement amount is 12.9. On the other hand, the amount of line of sight movement of subject Pa belonging to class A widens from around 300 to around 750, and the standard deviation of the amount of line of sight movement is 111.5. Therefore, the amount of line-of-sight movement of the subject Pe belonging to the E class is smaller than that of the subject Pa belonging to the A class. It is thought that he is concentrating his gaze on the body part. On the other hand, the amount of eye movement of the subject Pa belonging to the A class is large, and the subject Pa belonging to the A class is unable to decide on the part to focus on during the grinder work, resulting in delays in searching for information and making decisions in order to proceed with the grinder work. It seems like time is being wasted. Furthermore, since the head is displaced according to the amount of line of sight movement and affects the posture, it is thought that cutting accuracy (processing accuracy, dimensional accuracy) is also affected. For this reason, subject Pe, who belongs to class E, which has a relatively small amount of eye movement, has relatively high dimensional accuracy and short work time, while subject Pa, who belongs to class A, who has a relatively large amount of eye movement, Relatively low dimensional accuracy and long working time.

From the above, in quantifying skills related to a predetermined task performed by body movements, another point of view is the amount of eye movement associated with the predetermined task. There is a significant difference between the variation in the amount of line-of-sight movement (in one example, the spread range and standard deviation of the above-mentioned distribution) and the variation in the amount of line-of-sight movement in subject Pa belonging to class A.

Regarding the body motion information, the comparison results between the subject Pe belonging to the E class and the subject Pa belonging to the A class in terms of body motion are as shown in FIG. The upper part of FIG. 7 is a graph showing each displacement of each center of gravity position over time; the left side shows the graph of subject Pe who belongs to E class, and the right side shows the graph of subject Pa who belongs to A class. show. The lower part of FIG. 7 shows the movement range (maximum displacement) of the center of gravity, the left side shows the movement range of subject Pe belonging to E class, and the right side shows the movement range of subject Pa belonging to A class. FIG. 7 also shows the results of the tool.

As can be seen from FIG. 7, in this example, subject Pe belonging to class E has small movements of the trunk, and the left and right movements of the grinder and forearm of the tool are synchronized. On the other hand, in subject Pa belonging to class A, the grinder of the tool and the movements of the whole body including the trunk are synchronized.

From the above, in quantifying skills related to a predetermined task performed by body movements, one other point of view is that the body movements accompanying the predetermined task are important, and the subject Pe who belongs to the E class There is a significant difference between the body movements of the subject Pa who belongs to the A class and the body movements of the subject Pa who belongs to the A class.

In the process S8, the control processing unit 5 may also output the amount of muscle activity of the left upper limb and the amount of muscle activity of the right upper limb to the output unit 7.

As explained above, the body motion acquisition device D of the present embodiment and the body motion acquisition method implemented therein attach a plurality of markers to a plurality of locations on the subject's body and the object, and Based on the positions of the markers, the positions of the centers of gravity of the plurality of body parts of the subject and the positions of the centers of gravity of the object are determined as body motion information and object movement information. In this way, the body motion acquisition device D and the body motion acquisition method do not use each position of a plurality of markers as they are as body motion information and object movement information, but instead use each center of gravity of each body part that is unique to each body part. Since the center of gravity position of the object is used, which is unique to the position and the object, it is possible to reduce the effects of differences in the subject's body shape and clothing, as well as the effects of differences in the size of the object, and it is possible to more accurately acquire the movement of the body when handling the object. Since the body motion acquisition device D and body motion acquisition method described above also attach a marker to the object, the object movement information can be acquired together with the body motion information, and both pieces of information can be acquired efficiently.

The body motion acquisition device D and the body motion acquisition method determine the positions of multiple markers based on multiple images, so that both body motion information and object movement information can be easily obtained without interfering with body motion and without contact. can be obtained.

When grasping and handling an object with both hands or one hand, the movement is performed by the left upper limb or right upper limb that grips the object, and also by the trunk that supports the left upper limb or right upper limb. It can be characterized. This can be understood from the fact that, as described above with reference to Figure 7, in subject Pe belonging to class E, the movement of the trunk was small, and the left and right movements of the tool grinder and the forearm were synchronized. Ru. In the body motion acquisition device D and the body motion acquisition method, the plurality of body parts include the trunk and at least one of the left upper limb and the right upper limb. Motion information and object movement information can be suitably acquired.

The trunk of the body is supported by both lower limbs, with the weight being applied to both lower limbs, or the trunk is supported by the lower limbs, with the weight mainly being applied to one of the lower limbs. Therefore, when grasping and handling an object with both hands or one hand, the motion is further characterized by the left lower limb and the right lower limb. This means that, as mentioned above using Table 2, the amount of muscle activity of subject Pe who belongs to class E is higher than that of subject Pa who belongs to class A, and the amount of muscle activity of the subject Pe who belongs to the E class is higher than that of the subject Pa who belongs to the A class. This can be understood from the fact that the proportion of muscle activity in the left and right lower limbs is the highest, and there is little difference in the amount of muscle activity between the left and right lower limbs. In the body motion acquisition device D and body motion acquisition method, the plurality of body parts further include at least one of the left lower limb and the right lower limb, so that the body motion information of the motion of grasping and handling an object and Object movement information can be acquired more suitably.

The body motion acquisition device D and the body motion acquisition method described above can suitably acquire body motion information and object movement information of motions associated with execution of work using a tool.

The body motion acquisition device D and the body motion acquisition method described above can suitably acquire body motion information and object movement information of motions associated with grinding or polishing work, in this embodiment, mold grinding or polishing work. . The same applies to cases where the above-mentioned work is welding work or painting work.

The body motion acquisition device D and the body motion acquisition method acquire the amount of activity of a muscular part that maintains the posture required for the predetermined task, correlate it with the acquired amount of activity of the muscle part, and obtain the amount of activity of the muscle part that maintains the posture required for the prescribed task. Since the work results of the work are acquired, the activity amount of the muscle parts and the work results that are associated with each other can be acquired as skill information. Therefore, based on the new knowledge, the body motion acquisition device D and the body motion acquisition method can acquire skill information that contributes to skill quantification (skill information that is useful for skill quantification).

In the above-described embodiment, the body motion acquisition device D and the body motion acquisition method implemented therein use the control processing unit 5 to determine the amount of activity of the muscular part associated with a work result that is equal to or greater than a predetermined threshold. may be output to the output unit 7 as a standard for the proficiency level of the skill. According to this, the standard of the proficiency level of the skill can be output. For example, in the example of grinder work, the dimensional accuracy and work time (0.03 [mm] and 10 [min] in the example shown in Table 1) that distinguish the E class of the highest level of skill are as follows. The amount of activity of the muscles related to the trunk, the amount of activity of the muscles related to the left lower limb, the amount of activity of the muscles related to the right lower limb (or the amount of activity related to the lower The amount of muscle activity) is output to the output unit 7. In this case, the line of sight information of the subject Pe belonging to the E class may be further output to the output unit 7, and the body movement information of the subject Pe belonging to the E class may be output to the output unit 7. Furthermore, in these cases, the amount of activity of muscles related to the trunk, the amount of activity of muscles related to the left lower limb, the amount of activity of muscles related to the right lower limb (or the amount of activity of muscles related to the lower The amount of activity of the related muscle parts) may be output to the output unit 7. According to this, by comparing and referencing the measurement results of the worker with standards that contribute to the quantification of such skills, the worker can recognize the difference between himself and the standards from a quantitative perspective. , you can learn skills efficiently.

In order to express the present invention, the present invention has been adequately and fully described through embodiments with reference to the drawings in the above description, but those skilled in the art will easily be able to modify and/or improve the embodiments described above. It should be recognized that this is possible. Therefore, unless the modification or improvement made by a person skilled in the art does not depart from the scope of the claims stated in the claims, such modifications or improvements do not fall outside the scope of the claims. It is interpreted as encompassing.

D Body movement acquisition device AD Activity amount acquisition unit 1 Position measurement unit 2 External force measurement unit 4 Work result acquisition unit 5 Control processing unit 6 Input unit 7 Output unit 8 Interface unit (IF unit)
9 Storage units 11-1 to 11-k A plurality of imaging units 41 Shape measurement unit 42 Time measurement unit 51 Position processing unit 52 Activity amount processing unit 53 Movement information processing unit 54 Line of sight processing unit 55 Work result processing unit 56 Control unit

Claims (18)

a plurality of markers attached to a plurality of locations on the body of a subject handling a predetermined object and each of the objects;
a position measuring unit that measures each position of the plurality of markers;
Based on the positions of the plurality of markers measured by the position measuring unit, the positions of the centers of gravity of each body part of the subject's body divided into a plurality of parts and the position of the center of gravity of the object are calculated based on the position of the center of gravity of the subject's body. and a motion information processing unit that obtains body motion information representing the movement of the object and object movement information representing the movement of the object,
The body movement of the subject is a movement accompanying the performance of a predetermined task ,
Furthermore, an activity amount acquisition section that acquires the amount of activity of the muscle that maintains the posture required for the predetermined task; and a work result acquisition unit that acquires work results in ,
The work result is the accuracy of the product of the work and the time required for the work ,
Body movement acquisition device. The position measuring unit includes:
a plurality of imaging units that image the plurality of markers from a plurality of mutually different directions;
a position processing unit that calculates the positions of the plurality of markers based on each image captured by the plurality of imaging units;
The body motion acquisition device according to claim 1. The plurality of body parts include a trunk and at least one of a left upper limb and a right upper limb,
The body motion acquisition device according to claim 1 or 2. The plurality of body parts further includes at least one of a left lower limb and a right lower limb.
The body motion acquisition device according to claim 3. The body movement of the subject is a movement accompanying the performance of a predetermined task,
the object is a tool used in the work;
The body motion acquisition device according to any one of claims 1 to 4. The work is any one of grinding or polishing work, welding work, and painting work,
The body motion acquisition device according to claim 5. The work is a grinding or polishing work of the mold,
The body motion acquisition device according to claim 5. The mold is a vehicle member molding mold for molding a member used in a vehicle.
The body motion acquisition device according to claim 7. further comprising an output unit that outputs the amount of activity of the muscular part associated with a work result that is equal to or higher than a predetermined threshold value as a standard of proficiency of a skill related to the work;
The body motion acquisition device according to claim 1 . a position measuring step of measuring each position of a plurality of markers attached to a plurality of locations on the body of a subject handling a predetermined object and each of the objects;
Based on the positions of the plurality of markers measured in the position measuring step, the positions of the centers of gravity of each body part of the subject's body divided into a plurality of parts and the position of the center of gravity of the object are calculated based on the positions of the bodies of the subject. and a motion information processing step of obtaining body motion information representing the movement of the object and object movement information representing the movement of the object,
The body movement of the subject is a movement accompanying the performance of a predetermined task ,
Furthermore, an activity amount acquisition step of acquiring an amount of activity of a muscular part that maintains the posture required for the predetermined work, and an activity amount acquisition step of acquiring the amount of activity of the muscle part that maintains the posture required for the predetermined work, and a and a work result acquisition step of acquiring work results in ,
The work result is the accuracy of the work product and the time required for the work ,
How to acquire body movements. The position measuring step includes:
an imaging step of imaging the plurality of markers from a plurality of directions different from each other;
a position processing step of determining the positions of the plurality of markers based on each image taken in the imaging step;
The body motion acquisition method according to claim 10 . The plurality of body parts include a trunk and at least one of a left upper limb and a right upper limb,
The body motion acquisition method according to claim 10 or 11 . The plurality of body parts further includes at least one of a left lower limb and a right lower limb.
The body motion acquisition method according to claim 12 . The body movement of the subject is a movement accompanying the performance of a predetermined task,
the object is a tool used in the work;
The body motion acquisition method according to any one of claims 10 to 13 . The work is any one of grinding or polishing work, welding work, and painting work,
The body motion acquisition method according to claim 14 . The work is a grinding or polishing work of the mold,
The body motion acquisition method according to claim 14 . The mold is a vehicle member molding mold for molding a member used in a vehicle.
The body motion acquisition method according to claim 16 . further comprising an output step of outputting the amount of activity of the muscle part associated with a work result that is equal to or higher than a predetermined threshold value as a standard of proficiency of a skill related to the work;
The body motion acquisition method according to claim 10 .