JP2000005317A - State control assistance apparatus for living body and robot controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To support the state control of a living body by drawing the living body to the state that this body ought to be by the behavior of a controlled object. SOLUTION: The state control assistance apparatus of the living body 100 drives and controls the controlled object 200 which carries out the action to appeal to the sensation of the living body 100, thereby orienting the living body 100 to the posture which ought to be by the drawing effect. This apparatus has a detecting section 102 for detecting vital information from the living body 100. The predetected vital information is stored as the comparison information corresponding to the state that the living body ought to be into a memory section 106 by a memory control section 104. The vital information detected again by the detecting section 102 in a state control assistance mode is compared with the comparison information in a comparison section 108. The control section 110 controls the controlled object 200 in accordance with the result of the comparison and has the action appealing to the sensation of the living body executed by the controlled object 200 in such a manner that the living body orients to the state that the living body ought to be.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a living body state control support device for assisting a living body in, for example, a strained or moving state to a resting state, and a robot control device using the same.

[0002]

2. Description of the Related Art Conventionally, as a pharmacological treatment for autonomic imbalance, a tranquilizer, an autonomic nervous regulator or a vitamin preparation has been prescribed to a patient. Is used for the treatment of various diseases including autonomic dysfunction (literature "The practice of autonomic training" by Yuji Sasaki, published by Sogensha).

[0003] Separately, a treatment method using a physiological phenomenon called biofeedback has been conventionally used (for example, see the document "Biofeedback method for clinicians, translated by Hisashi Hirai, Medical Shoin"). This treatment uses various biological information, such as muscle tension, skin temperature, and pulse, which are not usually noticeable.
And try to control body reactions.
For example, in treatment using muscle tension, treatment is performed by converting a muscle activity detected by an electromyogram or the like into an acoustic signal and allowing the user to listen to the signal. As a technology to which this biofeedback is applied, for example,
-200440 and JP-A-59-232380.

On the other hand, the present applicant has made a proposal in WO98 / 01177 in which the techniques described in the above publications are further improved.

[0005]

However, in each of these conventional techniques, a target value of biological information is set in advance.
The system compares the information with the biological information measured by the user, and notifies the user of any difference.

[0006] Therefore, in these prior arts, it is premised that the user himself / herself relaxes, for example, using the notified information as an index.

An object of the present invention is to further improve the solution of the prior art, and to provide an apparatus capable of supporting the control of the state of a living body by drawing the living body into a desired state by the behavior of the controlled object. .

[0008]

According to a first aspect of the present invention, there is provided an apparatus for controlling the state of a living body, comprising: a control target; detecting means for detecting biological information from the living body; Storage means for storing information; comparison means for comparing the biological information detected by the detection means with the comparison information stored in the storage means; and the storage means based on a comparison result by the comparison means. And control means for controlling the control target so as to cause the control target to perform an operation of appealing to the sensation of the living body so that the living body should be in a desired state.

According to the first aspect of the present invention, the biological information reflecting the current state of the living body (for example, the excited or active state) and the comparison information corresponding to the desired state of the living body (for example, the resting state) stored in advance. And compared. Thereby, it is possible to know how much the living body deviates from a desired state. In the present invention, the operation of appealing to the sensation of the living body is not limited to simply announcing the current state, but driving and controlling the controlled object based on the comparison result so that the living body moves toward the desired state. Is done. This allows
The mental state of the living body that recognizes the movement of the controlled object moves toward a desired state by a pull-in phenomenon or a synchronization phenomenon.

The controlled object can be configured to execute at least a basic operation. In this case, the control unit changes and controls the operation mode of the basic operation based on the comparison result while maintaining the function of the basic operation of the controlled object.

In this case, the control of the controlled object for causing the pull-in phenomenon needs to be changed only in the operation mode of the basic operation. Therefore, a complicated program is required as compared with the case of changing the basic operation itself. Control becomes easy.

Here, the change of the operation mode of the basic operation is as follows.
As described in claims 3 to 5, one or more of the operation speed, operation cycle, or operation amplitude may be changed.

According to a sixth aspect of the present invention, when the basic operation of the controlled object includes a sound output, the control means outputs the sound emitted toward the living body based on the comparison result. The form may be changed and controlled. For example, control such as distinction depending on the use of honorifics or changing the tone is used.

As the comparison information, the manufacturer may previously store general biometric information in the storage means, but it is preferable that the user actually collects the comparison information by himself. in this case,
As set forth in claim 7, a storage control means for storing and controlling the storage means is further provided. The storage control means controls the storage means to store the biological information detected by the detection means as comparison information.

In this case, as set forth in claims 8 and 9,
The living body information at the time of rest or movement of the living body can be stored in the storage means as comparison information as a desired state of the living body.

As this kind of biological information, various kinds of information can be cited, and as the one which reflects the state of the living body and is easily detected, the pulse rate of the living body, the finger plethysmogram Examples include the amplitude of the wave and the frequency component included in the pulse wave.

According to another aspect of the present invention, the biological information detected by the detecting means after the operation of the controlled object is compared with the comparison information in the storage means again by the comparing means, and the biological information is compared based on the comparison result. It is preferable to further provide a means for notifying the state of (1).

Thus, the effect of the pull-in phenomenon or the tuning phenomenon caused by the operation of the controlled object can be recognized by the living body through the notification means.

The detecting means may detect the biological information in one of a positive state and a negative state with respect to a desired state of the living body. In this case, the comparing means outputs the absolute value of the difference between the comparison information and the detection information and the sign of the difference. Then, the control means can control the controlled object based on the detected absolute value and the sign.

In this way, even if the absolute value is the same, if the sign is different, the operation form of the controlled object can be different.
Therefore, the controlled object can be controlled so as to be in an operation mode for drawing the living body toward a desired state.

Further, the present invention is suitable for a robot control apparatus which controls a robot, such as a pet-type robot or a nursing robot, which often comes into contact with a living body at all times. Also in this case, it is possible to draw the living body toward a desired state by changing the operation speed, the operation cycle, the operation amplitude, the voice quality, the language, and the like while maintaining the functions of the basic operation.

[0022]

DESCRIPTION OF THE PREFERRED EMBODIMENTS (Explanation of the Principle of the Present Invention) First, the principle of the present invention will be described with reference to FIGS. As shown in FIG. 1B, the apparatus of the present invention includes a robot controller 101 and a robot 200 controlled by the robot controller.
And Note that some functions of the robot control device 101 may be built in the robot 200.

FIG. 1A shows a detection mode of biological information in a desired state of the living body 100 (for example, in a resting state). FIG. 1B shows a robot 2 to be controlled.
00 shows a state control support mode of the living body 100 in which the movement of 00 causes the living body 100 to draw in and causes the living body 100 to return to the desired state.

In FIG. 1B, when the living body 100 is not in a desired state (for example, a resting state) (for example, a nervous state or an excited state), the movement of the robot 200 is determined based on the biological information detected at that time. Robot controller 101
Drive control. The robot 200 repeats, for example, a circular motion and a meandering motion as its basic operation. As the control of the operation mode of the basic operation of the robot 200, for example, the moving speed V of the circular motion, the radius R of the circular motion, the meandering period T, and the meandering amplitude A are changed and controlled.

First, as shown in FIG. 1A, a detection mode of biological information is performed, which is performed by the robot controller 10.
It is actually observed using one biological information detection unit 102, storage control unit 104, and storage unit 106. That is, biological information such as a pulse wave is detected by the biological information detecting unit 102 from the human body 100 and stored in the storage unit 106 under the control of the storage control unit 104. This stored biological information is
This becomes comparison information in the comparison unit 108 shown in FIG.

The biological information of the current living body 100 is also detected by the biological information detecting unit 102 in the living body state control support mode of FIG. The biological information detected this time is
The comparison information previously stored in the storage unit 106 and the comparison unit 108
Are compared. For example, if the comparison information is the biometric information at rest and the biometric information detected this time is that at the time of tension, the difference between the biometric information can be known by the comparing unit 108.

The control unit 110 changes and controls the operation mode of the robot 200 based on the comparison result of the comparison unit 108, while maintaining the basic operation function of the robot 200. For example, the operation mode of the basic operation of the robot 200 is changed and controlled so that the living body 100 in a nervous or active state is pulled into a resting state. Conversely, the living body 100 in a resting state can be drawn into a moving state. The operation form of the basic operation of the robot 200 is, for example, as shown in Table 1 below.

Table 1 Living Body State Robot Motion Desired State Current State Velocity V Radius R Cycle T Amplitude A Resting State Jumping State Small Large Large Large Jumping State Resting State Large Small Small Small

According to such a control example, it is expected that the living body 100 that is currently in a lively state will be drawn into a resting state in synchronization with the robot 200 that moves slowly and slowly. on the other hand. Living body 1 at rest
00 is expected to see the robot 200 moving finely and quickly and to be drawn into a dynamic state in synchronization with it.

(Biological Information to be Detected) The biological information to be detected only needs to be an index indicating a biological state. Here, the following three will be described, but the present invention is not limited thereto. .

Pulse rate The pulse rate is a representative index indicating a biological condition. If the pulse rate is a standard value (for example, about 60), it can be said that the living body 100 is in a resting state. If the pulse rate is higher than the standard value,
0 can be said to be an excited or vigorous state.

Ratio of frequency component of pulse wave (LF / HF) In an electrocardiogram, a time interval between an R wave of a certain heartbeat and the next R wave is generally called an RR interval. This RR interval also
It is a numerical value serving as an index indicating the autonomic nervous function of the human body, that is, a biological state. FIG. 3 illustrates heartbeats in an electrocardiogram and RR intervals obtained from the waveforms of these heartbeats. As shown in FIG.
It can be seen that the R interval changes with time.

On the other hand, a change in blood pressure measured in a peripheral portion such as a radial artery is defined as a change in beats in systolic blood pressure and diastolic blood pressure, and corresponds to a change in RR interval in an electrocardiogram.

FIG. 4 shows the relationship between the electrocardiogram and the blood pressure. As can be seen from this figure, the systolic and diastolic blood pressures for each beat are measured as the maximum value of the arterial pressure at each RR interval and the local minimum seen immediately before the maximum value.

When a spectrum analysis of these heart rate fluctuations or blood pressure fluctuations is performed, it is known that these fluctuations are composed of waves of a plurality of frequencies. These waves are classified into the following three types of fluctuation components.

HF (High F) which is a fluctuation corresponding to respiration
requency) component ・ LF (Low Frequency) which fluctuates with a period of about 10 seconds
Component ・ Trend that fluctuates at a lower frequency than the measurement result (Tren
d) In order to obtain these components, first, for each of the measured pulse waves, an RR interval which is an interval between adjacent R waves is obtained, and the obtained discrete value of the RR interval is interpolated by an appropriate method. By performing FFT (Fast Fourier Transform) processing on the interpolated curve and performing spectrum analysis, the above-described fluctuation component can be extracted as a peak on the frequency axis.

FIG. 5A shows the waveform of the fluctuation of the measured pulse wave interval, and the waveform of each fluctuation component when the fluctuation waveform is decomposed into the three frequency components. FIG.
(B) is the result of the spectrum analysis for the fluctuation waveform of the pulse wave interval shown in FIG. 5 (A).

As can be seen from this figure, peaks are observed at two frequencies around 0.07 Hz and around 0.25 Hz, the former being the LF component and the latter being the HL component. Since the components of the trend are below the measurement limit, they cannot be read from the figure.

Here, the LF component is related to the activity of the sympathetic nervous system, and the greater the amplitude of this component, the more the tension tends to be. On the other hand, the HF component is related to the activity of the parasympathetic nerve, and the greater the amplitude of this component, the more relaxed (rest) the state is.

Also, since there are individual differences in the amplitude values of the LF component and the HF component, taking this into account,
“LF / HF”, which is the amplitude ratio of the components, is useful as an index of a biological condition.

Here, the larger the value of LF / HF, the more nervous, and the smaller the value of LF / HF, the more relaxed.

It is known that the amount of blood can be determined from the amount of hemoglobin pigment in the blood vessel of the fingertip. The amount of the hemoglobin dye can be optically detected, and the light passing through the hemoglobin is absorbed and the light amount is attenuated. Therefore, the amplitude of the detected signal changes according to the amount of light that has passed through hemoglobin.

Here, when in the excited state, the amount of hemoglobin increases, so that the amplitude of the detection signal decreases. On the other hand, in the resting state, the amount of hemoglobin is smaller than at the time of excitement, so that the amplitude of the detection signal becomes larger.

(Explanation of Block Diagram of Robot Controller)
In FIG. 2, a CPU (Central Processing Unit) 1 controls each unit. This CPU 1 is configured as shown in FIG.
(B) performs a part of the function of the biological information detection unit 102 and also performs the functions of the comparison unit 108 and the control unit 110.

A ROM (Read Only Memory) 2
Various control programs executed by the CPU 1 and control data are stored.

The RAM (random access memory) 3 stores the biometric information detected in the biometric information detection mode of FIG. 1A as comparison information.
This corresponds to the storage unit 106 in (A) and (B). Also, R
The AM 3 is also used as a work memory area when the CPU 1 performs various calculations.

The operation unit 4 is manually operated by the user, and performs, for example, the setting of the living body information detection mode shown in FIG. 1A and the setting of the living body state control support mode shown in FIG. Will be

The pulse wave sensor 5 is for detecting the various kinds of biological information described above. The pulse wave sensor 5 has a configuration corresponding to the detection position as shown in FIGS. For example, in the case of FIG. 7, the pulse wave sensor 5 includes an optical sensor using a phototransistor or the like and a light emitting diode. According to this configuration, the light emitted from the light emitting diode is reflected via a blood vessel such as a fingertip, received by the optical sensor, and photoelectrically converted into a pulse wave detection signal. In consideration of the SN ratio, it is preferable to use a blue light emitting diode as the light emitting diode.

A / D (analog-digital) converter 6
Samples the pulse wave detection signal detected by the pulse wave sensor 5, converts it into a digital signal, and outputs this to the bus of the CPU 1.

The sound source 7 and the sound source control unit 8 make a notification by appealing to the user's hearing based on a signal from the CPU 1, and are an example of the notification unit 112 in FIG. 1B.
The details of this notification will be described later.

The display device 10 and the display control device 11 are also examples of the notification unit 112 in FIG. 1B.

The timer 12 has a normal clock function.
This is to add timekeeping information to PU1.

The I / O interface unit 15 is configured as shown in FIG.
A communication means for exchanging various kinds of information with the robot 200 shown in FIG.

(External Configuration of Robot Control Device) Since the robot control device 101 needs to detect the biological information of the living body 100 in FIG. 1, it is desirable that the robot control device 101 has a configuration that does not cause any trouble even when worn by a user on a daily basis. Although various configurations are conceivable as such a configuration, an example in which the configuration is incorporated as a part of the function of the timepiece as shown in FIGS. 6 to 9 will be described. 6 to 9, members having the same functions as those in FIG. 2 are denoted by the same reference numerals.

FIG. 6 is a diagram showing a first embodiment in which the robot control device 101 is incorporated in a wristwatch 20. 6, buttons 21 and 22 correspond to the operation unit 4 in FIG. The button 21 corresponds to the mode shown in FIG.
This is for switching between the mode of FIG. The button 22 is for inputting an instruction to start / end each mode.

The cable 25 electrically connects the pulse wave sensor 5 mounted on the finger to the A / D converter 6 provided inside the timepiece 20. Note that the pulse wave sensor 5 shown in FIG. 6 can be configured by the above-described optical sensor or pressure pulse wave sensor.

FIG. 7 shows an example in which a pulse wave sensor 5 attached to a fingertip for measuring a fingertip plethysmogram is connected to an A / D converter 6 inside a wristwatch 20 via a cable 25. I have. The pulse wave sensor 5 is composed of a light emitting diode and a phototransistor as described above, and optically measures the fingertip volume pulse wave from the amount of hemoglobin dye in the blood vessel at the fingertip.

8 differs from FIGS. 6 and 7 in that the light emitting diode 28 having a light emitting surface exposed on the main body of the wristwatch 20 is provided.
And a phototransistor 29 whose light receiving surface is exposed. Further, a partition 30 is provided between the light-emitting diode 28 and the phototransistor 29 so that the light does not directly enter the phototransistor 29.

In order to measure a pulse wave using the wristwatch 20 shown in FIG. 8, it is necessary to cover the light emitting diode 28 and the phototransistor 29 with the fingertip of the hand on which the wristwatch is not mounted. Good.

In FIG. 9, the pulse wave sensor 5 is attached to the band 27 of the wristwatch 20 via the attaching portion 26.
The pulse wave sensor 5 is constituted by a pressure type sensor using a strain gauge. When this watch 20 is worn on the arm,
The pulse wave sensor 5 is appropriately pressed against the radial artery with pressure. Thereby, a pulse wave signal indicating a radial artery waveform is obtained from the pulse wave sensor 5. This pulse wave signal is
Watch 2 via a signal line (not shown) embedded in
0 is sent to the A / D converter 6 built in.

The robot controller 101 may be configured to detect two or more types of pulse wave signals obtained in FIGS.

(Description of Robot to be Controlled) The robot 200 to be controlled is described in, for example, JP-A-6-19.
0759 or the micro robot disclosed in JP-A-7-168622 can be used by partially improving it.

FIG. 10 is a side view of the robot 200, and FIG.
Is a top view thereof, and FIG. 12 is a bottom view thereof.

The robot 200 has a pair of eyeballs 212 and 214 on its front. This eyeball 214, 21
Reference numeral 6 can be used as a sensor. In this embodiment, for example, a light emitting diode that can change color in red, green, and yellow is used. The pair of eyeballs 212 and 214 can be used as the notification unit 112 in FIG.
Lights or flashes to bring 0 to the desired state. In addition, a transmission / reception unit 213 for transmitting / receiving data to / from the I / O interface unit 15 of the robot control device 101 in FIG. Transceiver 2
Reference numeral 13 includes, for example, a light emitting diode for transmitting an optical signal and a photodiode for receiving an optical signal, and can optically transmit and receive to and from the I / O interface unit 15 in FIG. Near-infrared light (for example, a center wavelength of 940 nm) is used for this optical communication, and visible light is cut off by a filter (not shown).

As shown in FIG. 12, a chargeable power supply unit 2
16 is arranged at the center of the robot 200. The tactile part 218 and the tail 220 of the robot 200 are connected to the power supply part 216.
It is used for charging and also functions as a balancer.

The circuit section 222 is located close to the power supply section 216.
Is provided. The circuit section 222 is provided on the circuit board 22.
3 includes a CPU-IC 224 and a chip resistor 226 for pull-down.

The driving units 228 and 230 each include a stepping motor and a speed reduction mechanism. The driving units 228 and 230 are controlled by the circuit unit 222 to drive the wheels 236 and 238 fixed to the output shafts 232 and 234.

The spacer 239 is provided between the power supply section 216, the circuit section 220, and the drive section 22 with respect to the housing 239a.
8,230 are fixed.

FIG. 13 is a block diagram showing details of the CPU-IC 224. A ROM 242 storing a program, an address decoder 244 of the ROM 242, a RAM 246 storing various data, and an address decoder 248 of the RAM 246 are connected to a CPU core 240 including an ALU and various registers. I have.

The crystal oscillator 250 is connected to the oscillator 252, and the oscillation signal of the oscillator 252 is supplied to the CPU core 240 as a clock signal. The pair of sensors 212 and 214 and the transmission / reception unit 213 are connected to the input / output control circuit 254. The voltage regulator 256 stabilizes the voltage of the power supply unit 216 at a low voltage and supplies the voltage to the circuit unit 222. The motor drive control circuit 258 transmits and receives control signals to and from the CPU core 240, and receives the stepping motors 264 and 2 through the motor drive circuits 260 and 262.
66 is controlled.

The motor drive control circuit 258 transmits the control signal transmitted via the CPU 1 and the I / O interface unit 15 shown in FIG. 2 to the transmission / reception unit 213 shown in FIGS.
It is input via the input / output unit 254 and drives and controls the motor drive circuits 260 and 262 based on the control signal. Thus, the circular motion and the meandering motion as the basic operations shown in FIG. 1B are performed while setting the speed V, the radius R of the circular orbit, the meandering period T, and the meandering amplitude A to desired values. can do.

(Explanation of Biological Condition Control Support Mode) FIG. 1
The state control support mode of the living body 100 shown in (B) will be described with reference to FIG. Prior to the execution of this mode, it is assumed that the biological information detection mode shown in FIG.

First, in step 1, the operation unit 4 shown in FIG.
Based on the operation of (the button 21 in FIGS. 6 to 8), the living body 10
Confirm that the state control support mode is set to 0. Thereafter, the operation unit 4 shown in FIG. 2 (the button 2 shown in FIGS. 6 to 8)
After waiting for a mode start command from 2) (step 2), information of the living body 100, for example, a pulse wave is detected by the pulse wave sensor 5 in FIG. 2 (step 3). This biological information
The digital signal is converted by the A / D converter 6 in FIG.
The data is stored in, for example, the RAM 3 via the bus under the control of the CPU 1. Note that the CPU 1 can also perform arithmetic processing on the biological information in the RAM 3 according to the program in the ROM 2.

Next, the CPU 1 shown in FIG. 2 compares the comparison information collected and stored in the RAM 3 in the biological information detection mode shown in FIG. The detected information is compared (step 4).

Here, when the pulse rate at rest (for example, 60 beats / minute) is registered as comparison information, it is compared whether the pulse rate detected this time is higher than the pulse rate at rest. If the detection information is higher than the comparison information,
0 can be said to be in an excited state or a dynamic state at present.

In addition to the pulse rate, L at rest as comparison information
When the F / HF value is registered, the LF /
It is compared whether HF is larger than the LF / HF value at rest. If the detection information is higher than the comparison information,
0 can be said to be in an excited state or a dynamic state at present.

When the amplitude of the fingertip plethysmogram at rest is registered as comparison information in addition to the pulse rate and the LF / HF value, the amplitude of the fingertip plethysmogram detected this time is Compare whether the amplitude of the plethysmogram is larger or smaller. If the detection information is lower than the comparison information, it can be said that the living body 100 is currently in an excited state or an active state.

The result of this comparison is shown in the notification section 11 in FIG.
2 to the living body 100 (step 5). This notification method will be described later. This notification allows the living body 100 to recognize the current state, as described in the section of the background art. As a result, for example, it is possible to encourage the user to perform a motion necessary for relaxing, for example, deep breathing, exercise, and the like, and thereby, the living body 100 can be expected to be in a desired shape.

However, in the present embodiment, further progress is made to positively act on the living body 100 with a pulling-in phenomenon or a synchronizing phenomenon, so that the living body 100 is brought to a desired state.

First, the CPU 1 compares the comparison information with the detection information in the manner described above, whereby the current living body 10
A figure where 0 is shifted from it (for example, excited or active state)
Is determined (step 6).

When the CPU 1 determines that there is no difference between the detection information and the comparison information, the CPU 1 stops this state control support mode. Otherwise, the CPU 1 pulls the living body 100 into a desired state. The drive of the robot 200 is controlled (step 7).

Here, when the desired state of the living body 100 is in a resting state, and when the state detected this time is determined to be an excitement or a vigorous state, the drive of the robot 200 is controlled as shown in the upper part of Table 1 described above.

That is, the speed V of the circular motion shown in FIG. 1B is reduced, the radius R of the circular locus is increased, the cycle T of the meandering motion is increased, and the amplitude A of the meandering motion is further increased. The drive control is performed so that the basic operation of the robot 200 is performed slowly.

Here, when the pulse rate, the LF / HF value, and the amplitude of the fingertip plethysmogram are obtained as the biological information, the velocity V and the radius R are controlled by comparing the pulse rate, and the LF / HF Preferably, the period T is controlled by comparing the values, and the amplitude A is controlled by the amplitude of the finger plethysmogram.

As the contents of these controls, the control values can be changed stepwise or continuously according to the magnitude of the difference between the comparison information and the detection information.

Thereafter, steps 3 to 7 are repeatedly executed as long as there is a difference between the detection information and the comparison information. By seeing the movement of the robot 200, the living body 100 is expected to be pulled from the excitement or dynamism state to the rest state, and to synchronize with the desired state.

Contrary to the above, when the desired form of the living body 100 is in a lively state and the state detected this time is determined to be a resting state, as shown in the lower part of Table 1 above, the robot 2
00 is drive-controlled.

That is, the speed V of the circular motion shown in FIG. 1B is increased, the radius R of the circular locus is reduced, the cycle T of the meandering motion is reduced, and the amplitude A of the meandering motion is reduced. The drive control is performed so that the basic operation of the robot 200 is performed promptly.

Alternatively, the living body 100 may be set to a quasi-jump state between a resting state and a jiggle state as a desired form. In this case, if the detection information is between the target value (quasi-jumping state) and the resting state, the CPU 1 determines that the sign is a negative sign together with the absolute value of the difference. Conversely, if the detected information is between the target value (quasi-jump state) and the jiggle state, it is determined that the sign of the difference is a positive sign together with the absolute value of the difference.
U1 determines. Then, the CPU 1 varies the content of the drive control of the robot 200 according to not only the absolute value of the difference between the detection information and the comparison information but also the sign thereof.

That is, the control content of the negative sign increases the speed V of the circular motion shown in FIG. 1B, reduces the radius R of the circular locus, and makes the meandering as compared with the control content of the positive sign. The period T of the movement is set to be small, and the amplitude A of the meandering movement is set to be small.

(Method of notifying comparison result to living body) FIG.
Shows an example of the notification content displayed on the display device 10 in FIG. FIG. 15 shows the ratio of the detection information to the comparison information using a pie chart. The numerical value in the figure is the magnification of the detection information with respect to the comparison information. In the example of FIG. 15, (detection information / comparison information) = 1.25. For example, if the pulse rate is taken as an example, the comparison information is 60, whereas the detection information indicates that the pulse rate is 75.

FIG. 16 shows an example in which the above magnifications are graded and displayed on a face sheet. That is, depending on the magnitude of the magnification G, for example, grade “0” to
It is divided into 5 into “4”, and different face sheets are prepared for each grade. Then, the CPU 1 can display the face sheet of the corresponding grade on the display device 10 of FIG. 2 based on the above-described comparison result.

As another notification method, a pair of eyes 212 and 214 provided in the robot 200 may output different colors by lighting or blinking based on the detected biological information.

The pair of glasses 212 and 21 of the robot 200
Reference numeral 4 is not limited to a color notification of the current state of the living body 100. For example, based on the result of the comparison in step 5 of FIG. 14, a display form that causes a pull-in phenomenon in the living body 100 may be adopted. For example, if it is desired to bring the living body 100 into a resting state, it is conceivable that the living body 100 blinks slowly in green. Conversely, if it is desired to bring the living body 100 into a lively state, it is effective to quickly flash the red color.

As a notification method, a method of appealing to the hearing of the living body 100 may be adopted. That is, the sound source 7 in FIG.
Is used to convert the content of the above-mentioned notification, for example, the grade or the numerical value of the biological information into voice and output it. At this time,
You may make the user listen to music pieces associated with each grade in advance.

As another notification method, a method of appealing to the sense of the living body 100, for example, smell or touch can be used.

In making these announcements, what is unique in the present embodiment is as follows. That is, in the present embodiment, after the first step 7 in FIG. 14 is performed to drive the robot 200, for example, after the timer 12 in FIG. Is performed, and the biological information is detected again.
Thereafter, the second steps 4 and 5 in FIG. 14 are performed,
The comparison result is notified to the living body 100 again. In the second notification, the living body 100 can know the result of the pull-in phenomenon after the execution of the first step 7. Thereafter, every time Steps 3 to 7 are repeated, the living body 100 can know the result of the pull-in phenomenon using the five senses.

(Modification of Robot Control Device) The robot control device 101 is not limited to the wristwatch type shown in FIGS.
The following configuration is also possible.

(1) Necklace type FIG. 17 shows a necklace type robot controller 101. In FIG. 17, a pulse wave sensor 5 is mounted in a sensor pad 31 so as to contact the skin. When this necklace is put on the neck, the pulse wave sensor 5
Can contact the skin behind the neck and measure the pulse wave. Further, in FIG. 17, components other than the pulse wave sensor 5 of the robot controller 101 are incorporated in a case 32 having a hollow portion similar to a broach. The pulse wave sensor 5 and the A / D converter 6 in the case 32 are connected via a signal line (not shown) embedded in the chain 33.

(2) Glasses type FIG. 18 shows an example in which the robot controller 101 is attached to glasses. In FIG. 18, the apparatus main body is attached to a vine 41 of a frame, and this main body is
2b, and are connected via signal lines (not shown) embedded in the vine 41 or crawled along the vine 41. The liquid crystal panel 4 is provided on the inner surface of the case 42a.
The liquid crystal screen is reflected by a mirror 45 and projected on a lens 43 of spectacles. Therefore, components necessary for driving the liquid crystal, such as a liquid crystal driving circuit and a light source, are mounted on the case 42a. These correspond to the display device 10 and the display control unit 11 shown in FIG.

On the other hand, the case 42b includes the pulse wave sensor 5,
Except for the display device 10 and the display control unit 11, the configuration of the main part shown in FIG. The pulse wave sensor 5 is built in two pads 46, 46 that sandwich the earlobe, and is connected to the A / D converter 6 in the case 42b via a signal line 46A.

(3) Card type The card type device 47 shown in FIG. 19 is housed in, for example, a user's breast pocket. This card type device 4
The pulse wave sensor 5 connected to the sensor 7 via the cable 5A is attached between the base of the index finger of the user's left hand and the second joint, for example, similarly to the wristwatch type shown in FIG.

(4) Pedometer type The pedometer type device 48 shown in FIG. The A / D converter 6 in the pedometer main body 48 is connected to the pulse wave sensor 5 via the cable 5A.

(Modified Example of Controlled Object) In the above-described embodiment, a micro robot has been described as an example of a controlled object. However, this type of controlled object has a chance to come into contact with the living body 100 every day. It is preferable from the viewpoint of the effect of the pull-in phenomenon.

For example, a pet type robot is suitable as this type of controlled object. Micro robot 20 described above
Although 0 is a basic motion that repeats a circular motion and a meandering motion, the basic motion of a pet-type robot may be controlled. The pet-type robot has its own basic operation according to the type of the pet.For example, the speed, operation cycle, operation amplitude, and the like of the basic operation of the dog-type robot and the cat-type robot are the same as those in the above-described embodiment. Should be controlled. Further, it is possible to control the cry of the pet type robot. For example, if it is desired to bring the user into the resting state, the sound may be controlled to be gentle and gentle, and if the user wants to bring the user into the dynamic state, the sound may be violently controlled.

More preferably, this type of controlled object includes various types of robots, such as nursing robots, which take care of the living body 100. The nursing robot also performs various basic operations according to the program, and the speed, operation cycle, operation amplitude, and the like of each basic operation may be controlled in the same manner as in the above-described embodiment. Also, the voice to be responded by the nursing robot can be a control target, and when it is desired to bring the user into a resting state, in addition to speaking gently and gently, an honorific may be used or the tone may be changed.

[0107]

[Brief description of the drawings]

FIG. 1A is a schematic explanatory view showing a biological information detection mode, and FIG. 1B is a schematic explanatory view showing a biological state control support mode thereafter.

FIG. 2 is a block diagram of the robot control device shown in FIG.

FIG. 3 is a characteristic diagram showing a relationship between an electrocardiogram and an RR interval.

FIG. 4 is a characteristic diagram showing a relationship between an electrocardiogram and a pulse wave waveform.

FIG. 5A is a characteristic diagram showing a relationship between an RR interval and a frequency component constituting the fluctuation, and FIG.
It is a characteristic view showing the result of having performed spectrum analysis of change of an interval.

FIG. 6 is a schematic perspective view showing an embodiment in which the robot control device is a wristwatch type and a pulse wave sensor is attached to the base of a finger.

FIG. 7 is a schematic perspective view showing an embodiment in which the robot control device is a wristwatch type and a pulse wave sensor is attached to a fingertip.

FIG. 8 is a schematic perspective view showing an embodiment in which the robot control device is a wristwatch type and a pulse wave sensor is brought into contact with a radial artery.

FIG. 9 is a schematic perspective view showing another embodiment in which the robot control device is a wristwatch type and a pulse wave sensor is brought into contact with a radial artery.

FIG. 10 is a side view of the controlled robot shown in FIG.

FIG. 11 is a top view of the controlled robot shown in FIG.

FIG. 12 is a bottom view of the controlled robot shown in FIG.

FIG. 13 is a block diagram of a control system built in the robot shown in FIGS.

14 is an operation flowchart of the living body state control support mode shown in FIG. 1 (B).

FIG. 15 is a diagram showing an example of a notification method in the display device shown in FIG.

FIG. 16 is a diagram for explaining another notification method in the display device shown in FIG. 2;

FIG. 17 is a schematic explanatory view showing an embodiment in which the apparatus of the present invention is a necklace type.

FIG. 18 is a schematic explanatory view showing an embodiment in which the apparatus of the present invention is a spectacle type.

FIG. 19 is a schematic explanatory view showing an embodiment in which the device of the present invention is a card type.

FIG. 20 is a schematic explanatory view showing an embodiment in which the device of the present invention is of a pedometer type.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 CPU 2 ROM 3 RAM 4 Operation part 5 Pulse wave sensor 7 Sound source 10 Display device 15 I / O interface part 20 Wristwatch-type robot control device 21, 22, Button 25 Cable 26 Attachment part 27 Band 28 Light emitting diode 29 Phototransistor 100 Living body 101 Robot control device 102 Biometric information detection unit 104 Storage control unit 106 Storage unit 108 Comparison unit 110 Control unit 112 Notification unit 200 Robot 212, 214 A pair of eyes 213 Transmission / reception unit 216 Power supply unit 218 Tactile unit 220 Tail 222 Circuit unit 224 CPU-IC 226 Chip resistance 228,230 Drive unit 232,234 Output shaft 236,238 Wheel 239 Spacer 239a Housing

Claims (13)

[Claims] 1. A control target, a detecting means for detecting biological information from a living body, a storing means for storing comparison information corresponding to an expected state of the living body, and a biological information detected by the detecting means. A comparison unit that compares the comparison information stored in the storage unit; and controlling the controlled object based on a comparison result of the comparison unit so that the living body moves toward a desired state. Control means for causing the controlled object to perform an operation appealing to the sense of the living body. 2. The control device according to claim 1, wherein the controlled object performs at least a basic operation, and the control unit controls the controlled object based on the comparison result while maintaining the basic operation function of the controlled object. And controlling the operation mode of the basic operation. 3. The biological condition control support device according to claim 2, wherein the control unit changes and controls the speed of the basic operation of the controlled object based on the comparison result. 4. The biological condition control support device according to claim 2, wherein the control unit changes and controls an operation cycle of the basic operation of the controlled object based on the comparison result. 5. The state control of a living body according to claim 2, wherein the control unit changes and controls an operation amplitude of the basic operation of the controlled object based on the comparison result. Support device. 6. The control device according to claim 2, wherein the basic operation of the controlled object includes a sound output, and the control unit outputs a sound to the living body based on the comparison result. A biological state control support device that changes and controls an output mode. 7. The storage device according to claim 1, further comprising a storage control unit configured to store and control the storage unit, wherein the storage control unit converts the biological information detected by the detection unit into the comparison information. A biological state control support device, wherein the storage control is performed in the storage means. 8. The biological condition control support device according to claim 7, wherein the storage means stores biological information of the biological body at rest. 9. The biological condition control support device according to claim 7, wherein the storage means stores biological information when the biological body moves. 10. The apparatus according to claim 1, wherein the detecting means detects at least one of a pulse rate of a living body, an amplitude of a fingertip plethysmogram, and a frequency component included in the pulse wave. A biological condition control support device characterized by the above-mentioned. 11. The comparison result of the comparison unit according to claim 1, wherein the biological information detected by the detection unit after the operation of the controlled object is compared with the comparison information of the storage unit. A biological condition control support device, further comprising means for notifying the biological condition based on the information. 12. The method according to claim 1, wherein the detecting unit is configured to perform one of a time of a positive state and a time of a negative state with respect to a desired state of the living body. Detecting biological information, the comparing means outputs an absolute value of a difference between the comparison information and the detected information and a sign of the difference, and the control means, based on the detected absolute value and the sign A biological state control support device for controlling the controlled object. 13. A robot control device for controlling a robot which comes into contact with a living body by performing a basic operation, comprising: detecting means for detecting living body information from the living body; A comparing unit that compares the biological information detected by the detecting unit with the comparison information stored by the storing unit; and a function of the basic operation of the robot based on a comparison result. And a control means for changing and controlling the operation mode while maintaining the above condition.