JP2001029485A - Electrostimulation device, device for presenting tactile sensation of force using electric stimulus and method for controlling the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To present a tactile sensation of force to a subject by use of interfering-wave electric stimuli. SOLUTION: In this electrostimulation device 1 having an effector for imparting functional electric stimuli to surface muscles and the skin, the effector 1a is provided with an electrode part 1ad comprising a group of electrodes used in contact with the skin surface. The electrostimulation device is provided with an electric stimulus generating part 1b for imparting interfering-wave electric stimuli to a subject by supplying electric signals of electric stimuli of different frequencies to the group of electrodes, and a control means 1d which constructs a database showing the configuration of human bones and muscles related to the subject and which selects the electrode to which the electric stimulus signal should be supplied, from among the group of electrodes, according to the database.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a medical treatment device utilizing electrical stimulation of muscles, a force / tactile presentation device for realizing presentation of force and tactile sense by utilizing electrical stimulation of muscles, and a device for providing them. The present invention relates to an apparatus control method.

[0002]

2. Description of the Related Art In the medical field, electrical stimulation and EMG (El
electro MyoGram: electromyogram = a recording of the membrane potential when the muscle cell membrane potential changes transiently when muscle fibers are excited.) Therapy to alleviate muscle atrophy by giving electrical stimulation to the subject by feedback to the subject Is known,
For example, in an interference wave treatment device, a method is used in which a desired position in a muscle is specified, and electrical stimulation by an interference wave is given through an effector attached to only one position.

In addition, virtual reality (virtual reality)
In fields such as telecommunications and remote reality (tele reality), virtual space (or virtual world) created by computers
Remote world (or remote environment,
A force-tactile presentation device using a force-tactile glove or the like as a man-machine interface for allowing the user to feel a force-tactile sensation (force and tactile sensation) and a temperature sensation in a minute world. Are known. This device creates a virtual reality that is perceived mainly by sight and hearing,
It is introduced to expand to a mechanical sensation (force tactile sensation) or to give a sense of realism to the operation sensation in the remote world. It acts on the arms and the like.

[0004] As for electrical stimulation of the skin surface and muscles, the use of "functional electrical stimulation" has been proposed.
In addition, "functional electrical stimulation" (Functional El)
electric Stimulation, FE for short
"S" means an electrical stimulation method that seeks to assist or control biological functions based on a clear sense of purpose and understanding of the mechanism of action. It is used to move paralyzed limbs by applying electrical stimulation to peripheral nerves and muscles.

[0005] To briefly explain the principle of FES,
Focusing on the fact that muscles contract by receiving motor commands from the brain as electrical signals in the motor nerves, try to contract the muscles by applying electric potential to the motor nerves by electrical stimulation instead of electrical signals from the brain. Is what you do.

[0006] In the FES, when controlling contraction of muscles, there are a case where electric stimulation is directly applied to the muscle and a case where electric stimulation is applied to nerve bundles that control the muscle. There are different forms. One of them is the "centrifugal FE
S ", which stimulates motor nerve fibers in the nerve bundle to directly contract the muscles under its control to reconstruct the target function, and the other is" afferent FE
S "means that by stimulating afferent nerve fibers in the same nerve bundle, the co-muscle of the muscle contracts at the same time, and useful control can be performed by itself.

[0007] For example, when the common peroneal nerve is strongly stimulated, dorsiflexion of the ankle joint is caused by the efferent FES, and at the same time, a flexion reaction of the hip joint and the knee joint occurs. This is due to the fact that bending reflex was caused by stimulating the stimulus.

[0008] Regarding the method of applying electrical stimulation to muscles, the "surface electrode method", the "percutaneous electrode method", and the "implanted electrode method" are known from the differences in the way electrodes are attached to the living body.

[0009]

By the way, since the conventional device has a configuration for alleviating muscle atrophy in the medical field, a part of the surface muscles and skin is specified. There is a problem that it is difficult to give a subject a sense of pseudo pressure.

[0010] Therefore, an object of the present invention is to present a force tactile sensation to a subject using interference wave electrical stimulation.

[0011]

The electric stimulator according to the present invention has the following components to solve the above-mentioned problems.

An effector (provided with an electrode portion comprising an electrode group used in contact with the skin surface) for applying electrical stimulation to muscles and skin on the surface layer.

An electrical stimulation generator for applying an interference electrical stimulation to a subject by supplying an electrical stimulation signal having a different frequency to each electrode or each electrode pair to the electrode group.

Control means for constructing a database showing the arrangement of bones and muscles of the human body relating to the subject, and selecting an electrode to be supplied with an electrical stimulation signal from the electrode group based on the database.

Therefore, according to the present invention, a database relating to the human body structure of the subject is constructed in advance, and when the apparatus is used, the effector for electrical stimulation is attached to the subject so that the electrode group is placed on the skin. After the contact with the surface, an electrode to which an electrical stimulation signal is to be supplied can be selected from the electrode group based on information on the muscle arrangement of the subject obtained from the database, and the interference wave electrical stimulation can be applied.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The electric stimulator according to the present invention is provided with an effector for applying electric stimulus to muscles, for example, a medical interference wave treatment device or a simple power supply for a person with muscle paralysis. The present invention can be applied to assist or a force / tactile presentation device in virtual reality or tele reality.

FIG. 1 shows a basic configuration of the apparatus. An electric stimulator 1 comprises an effector 1a and an electric stimulus generator 1.
b, a shape recognition unit 1c, and a control unit 1d.

The effector 1a includes an electrode unit 1ad composed of an electrode group used in contact with the skin surface, and a shape information obtaining unit 1as for obtaining information indicating the shape and shape change of the skin surface.
And For example, for the electrode portion 1ad, as described later, a configuration in which a large number of electrodes are arranged on a sheet-like base material formed of a highly flexible electric insulating material can be used. In addition, as a method of acquiring information in the shape information acquiring unit 1as, an optical method or a method by pressure detection is used.

The former method includes a method using a stereo (type) camera and a range finder, and a method using a panning shot using an image pickup means such as a CCD camera.
For example, in a shape recognition method using two stereo cameras, an object to be photographed is photographed (moving image or still image photographing) by a reference camera and a detection camera arranged with different line-of-sight directions, and according to the parallax between the two cameras. An object-based shape can be calculated from a captured image, and an area-based matching method using an epipolar line is known. In the range finder, for example, slit light obtained by laser irradiation is reflected by a galvanomirror, and the direction of reflection is gradually changed to perform light scanning on the subject. For example, the shape information is obtained by reading with a detection chip for a silicon range finder.

In any case, it is necessary to acquire the reflected light and image information from the object as primary information of the shape and perform shape recognition by subsequent image processing and the like. Therefore, a method utilizing the detection of pressure on the skin surface is preferable.

That is, when it is desired to acquire data on a shape having a smooth curved surface like the skin surface of a human body, for example, a shape or a shape change accompanying a bulge of a muscle on the human body surface, the following (1) to (1) What is necessary is just to perform shape recognition by the procedure shown in (3).

(1) Prepare pressure detecting means for wrapping around or wearing the subject's body to detect the pressure on the skin surface. (2) Obtain the relationship between the detection information obtained by the pressure detecting means and the surface shape in advance. Then, these are stored in the storage means as a data table or a function expression. (3) Upon receiving the detection information from the pressure detection means wound or attached to the subject, the surface shape data corresponding to the information is stored in the storage means. The shape data is calculated based on the information from.

As described above, the pressure on the surface of the object is detected, and the relationship between the pressure detection information and the surface shape is acquired in advance, and these are stored and learned as a data table or a function expression, and the actual shape recognition is performed. Is performed, the shape data can be obtained by referring to the stored and learned information. In addition, as described later, the pressure detecting means
When a method of forming on a sheet-like base material is used in the same manner as the above-mentioned electrode portion, there is an advantage that a pressure detecting portion (the configuration example thereof will be described later) can be easily attached to the electrode portion. is there. In addition, it is useful to provide a detection unit for detecting the temperature of the skin surface in addition to the pressure detection, because, for example, a clue regarding the exercise state can be further obtained from the heat generation state of the muscle.

The electric stimulus generator 1b supplies an electric signal for low-frequency electric stimulus or interference wave electric stimulus to the electrode group constituting the electrode section. The “low frequency electrical stimulation” is mainly used for muscles on the surface.
For example, it is used to obtain a therapeutic effect by passing an electric current through a living body, and promotes healing of fractures and wounds, autonomic nervous system functions such as urination, respiratory functions such as respiration pacing by phrenic nerve stimulation, and heart. Applications to circulatory system functions such as pacing have been made.

The "interference wave electric stimulation" is realized by supplying electric stimulation signals having different frequencies to the electrode group, and mainly stimulates internal muscles and phantom sensation (Phantom Sensation).
It is used to give a pseudo stimulus to the skin surface using In addition, “Phantom Sensation” means that when a plurality of (for example, two) vibrators are installed at different places on the skin and stimulations of the same frequency band are simultaneously applied to each vibrator, the skin between the vibrators is generated. If you feel the illusion that the center of the surface is stimulated by vibration, or if you change the frequency of another vibrator that makes a pair with one vibrator over time, the position of the vibratory stimulus moves between the two vibrators. It is a phenomenon that gives a sense of feeling as if you are. In the present invention, this is achieved by presenting a force sensation to the subject by realizing this by electrical stimulation of the living body through the electrode group.

The electrode section 1ad is generated by the electric stimulus generation section 1b.
It is preferable that the electric signal supplied to each of the muscles is controlled separately for each of the muscles to be applied with a stimulus, and that a stimulation pattern of a plurality of channels can be set for each muscle, and that synchronization with each channel can be performed. It is preferable that control can be performed.

The shape recognizing unit 1c includes a shape information obtaining unit 1as.
It is provided for recognizing the shape of the skin surface from the information obtained by the above, and the recognition result is sent to the control means 1d. For example, the shape recognizing unit 1c receives detection information from the pressure detecting means wound or attached to the subject, and calculates surface shape data corresponding to the information.
In other words, a numerical relationship between the surface pressure P and the shape S (position change in the normal direction of the surface) (this is expressed by a functional expression “S = F
(P) ". ) Can be approximated using a certain free curve (a spline curve, a Bezier curve, etc.), and if information necessary for specifying the free curve is stored in advance in the storage means, the surface at a certain specific position can be obtained. When the pressure is P = Pa, the shape data can be calculated as “S = Sa = F (Pa)”. It is needless to say that a known reference method or an interpolation method such as a method in which a functional relationship is stored in a database as a data table instead of the function expression and the data is referred after the pressure is detected can be used.

The control means 1d realized by a computer such as a computer constructs a database (described later) indicating the muscle arrangement of the human body relating to the subject, and also stores information on the muscle arrangement and the information from the shape recognition unit 1c. After selecting an electrode to which an electrical stimulation signal is to be supplied from the electrode group based on the recognition result of the muscle shape or shape change, the control signal is sent to the electrical stimulation generating unit 1b so as to supply the electrical stimulation signal to the electrode. Is sent.

In FIG. 1, the control means 1d includes the control unit 1
ds and an input / output (I / O) control unit 1dt.
Input / output (I / O) selection processing unit 1 from input / output control unit 1dt
The control of the selection between the electrode section 1ad and the shape information acquisition section 1as and the selection between the electrical stimulus generation section 1b and the shape recognition section 1c is performed by time division processing in accordance with the signal transmitted to e. That is, at the time of application of the electric stimulus, the electrode unit and the electric stimulus generation unit 1b are respectively selected in the switching units sw1 and sw2 indicated by the switch symbol in the figure, so that the control command from the control unit 1ds is transmitted to the electric stimulus generation unit 1b
Generates an electrical stimulus signal, which is supplied to a desired electrode in the electrode unit 1ad via the input / output selection processing unit 1e (in the figure, a signal line to the electrode group is typically represented by a single line). Is shown). When the shape information acquiring unit 1as and the shape recognizing unit 1c are selected in the switching units sw1 and sw2, the information obtained by the shape information acquiring unit 1as is used for the shape recognition via the input / output selection processing unit 1e. The signal is sent to the unit 1c (these signal lines are typically shown by a single line in the figure), and the shape recognition result is sent to the control unit 1ds.

When it is desired to supply the electric stimulus signal to the electrode section 1ad and obtain the shape information without passing through the input / output selection processing section 1e, the connection between the electric stimulus generation section 1b and the electrode section and the acquisition of the shape information are performed. It is sufficient to directly connect the part and the shape recognizing part 1c. In this case, the time correspondence between the time when the electrical stimulus is applied to the living body and the time when the shape change is recognized is clearly shown. Therefore, it is necessary to perform the time alignment process using a reference clock signal or the like.

FIG. 2 shows an example of application of the above-mentioned electric stimulator to a force / tactile presentation device.
Is an input unit 1Aa, a control unit 1Ab (including the above-described electrical stimulus generation unit 1b), an input / output buffer group 1Ac (input buffer group 1Aci and output buffer group 1Aco), an effector 1Ad, a model construction / calculation processing unit 1Ae. , An image processing section 1Af, a display section 1Ag, a pressure / temperature recognition section 1Ah, and a pressure / temperature detection section 1Ai.

The input section 1Aa includes all input means such as a keyboard and a pointing device, and is required for manual input or automatic input of data. It is sent to the calculation processing unit 1Ae.

The control unit 1Ab sends an electric signal to the effector 1Ad via the output buffer group 1Aco located at the subsequent stage, or sends the electric potential information (or the myoelectric potential information) from the effector 1Ad via the input buffer group 1Aci. Electrogram information)
Is what you get. The output terminals of the buffers constituting the output buffer group 1Aco and the input buffer group 1Aci
Are connected to respective electrodes (described later) of an electrode array provided in the effector 1Ad. Further, the pressure information and the temperature information of the skin surface detected by the pressure / temperature detecting section 1Ai attached to the effector 1Ad are transmitted to the control section 1Ab via the pressure / temperature recognizing section 1Ah. .

The effector 1Ad is formed to have a shape that conforms to the shape of the limbs, parts of the body, etc. of the human body for use in contact with the skin of the human body. For example, the form includes a glove, a body suit (or a wet suit), an arm band, a finger cot, a sock, and the like. still,
FIG. 2 shows an effector used by attaching it to an arm on a human body. In addition, in order to present a sense of temperature in addition to the force tactile sensation, a number of heat control elements (such as Peltier elements) are incorporated in the effector 1Ad, and by controlling the heat of these elements, a temperature range that is not dangerous to the human body. It is more effective to be able to feel the heat and the temperature in the device.

As for the method of electrical stimulation to a living body, the present invention employs the surface electrode method with respect to the method of attaching electrodes. The reason is that the method can be used without damaging the human body, and the transcutaneous electrode method and the embedded electrode method have problems such as damage or infection of electrodes and wiring.

FIGS. 3 to 14 show examples of the structure of an effector suitable for this surface electrode method.
An example of an electrode sheet 3 having 2,... (Electrode array) is shown.

The electrode sheet 3 is used by being attached to the surface of the skin of the human body. For example, as shown in FIG. In this example, the electrode sheet 3 is formed in a rectangular shape, and the length of one side is set to the forearm A
, And the length of the other side is substantially the same as the circumferential length of the forearm A. As a result, when the electrode sheet 3 is wound around the forearm A, the forearm A is almost entirely covered with the electrode sheet 3.

FIG. 4 schematically shows the layered structure of the electrode sheet 3. The electrode sheet 3 has a four-layered electrode layer 3A.
In this example, a four-layer pressure-sensitive / temperature-sensitive layer 3B is formed, and an insulating layer 3C is further formed thereon.

As shown on the left side of FIG.
Sheet 4, conduction sheet 5, wiring sheet 6, surface sheet 7
Are laminated.

The sheet 4 is the sheet located closest to the skin side, and includes small electrode holes 4a, 4a,... (See FIG. 5) having a polygonal shape (for example, a square or a regular hexagon). The electrode holes 4
a, 4a,... are filled with a conductive polymer,
The electrodes 2, 2, ... are regularly formed on the sheet. Each electrode hole 4a has a ridge 4b surrounding the electrode hole 4a.
Each of the ridges 4b has a substantially trapezoidal cross section in the thickness direction, and an end corresponding to the short side of the trapezoid is a contact portion with the skin, and corresponds to the hypotenuse. The portion forms a tapered surface around the periphery of the electrode hole 4a. The ridges 4b are provided to improve the adhesion between the electrode 2 and the skin (see FIGS. 5 and 13).

The conductive sheet 5 is laminated on the front side of the sheet 4, and the electrodes 2, 2,.
(See FIG. 6) are formed at the positions corresponding to .smallcircle. Which are sufficiently smaller than the electrodes and are filled with a conductive polymer. These are referred to as conducting parts 5b, 5b,... The conductive sheet 5 is provided to prevent a short circuit between each wiring pattern described later formed on the wiring sheet 6 and the electrodes 2, 2,... On the sheet 4.

The wiring sheet 6 is laminated on the front side of the conductive sheet 5 (see FIG. 7), and has terminal portions 6a and 6a.
, and wiring patterns 6b, 6b,... are formed. That is, the wiring sheet 6 includes
b, 5b,... are formed with terminal holes of the same size as these, and these holes are filled with a conductive polymer to form these terminal portions 6a, 6a,. Wiring patterns 6b, 6b,... Extending in the longitudinal direction of the wiring sheet 6 are formed for the portions 6a, 6a,. Note that these wiring patterns 6b, 6b,.
Is formed of a conductive polymer, and the wiring patterns are arranged so as not to contact each other (when it is difficult to secure a sufficient wiring formation area on the sheet, it is desirable to adopt a multilayer structure). And each wiring pattern 6
are extended to near the edge of the wiring sheet 6, and these end portions (input / output buffer group) 1Ac
Input / output terminal).

The surface sheet 7 (see FIG. 8) has an (electric) insulating sheet of the same size as the other sheets 4 to 6, for example, insulating polymer, nylon, polypropylene (P).
P), a synthetic resin material such as silicone or the like is used, and is attached to the wiring sheet 6.

In the electrode layer 3A having such a structure, the electrodes 2, the conducting portions 5b, the terminal portions 6a, the wiring patterns 6b, and the like can be formed by, for example, silk printing.

Next, the formation of the pressure-sensitive / temperature-sensitive layer 3B will be described (see FIGS. 9 to 12).

As shown in FIG. 4, the pressure-sensitive and temperature-sensitive layer 3B
It has a configuration in which a row electrode sheet 8, a pressure-sensitive / temperature-sensitive sheet 9, a column electrode sheet 10, and an insulating film 11 are laminated from the side closer to the skin.

The row electrode sheet 8 (see FIG. 9) has parallel electrodes 8a, 8a,... Made of a conductive polymer on an electric insulating film formed on a film of polyester or the like in a predetermined direction, for example. , Are formed along the longitudinal direction of the sheet, and the electrodes are insulated and separated by an electric insulating film interposed between these electrodes.

The pressure-sensitive and temperature-sensitive sheet 9 (see FIG. 10)
Polygonal (square in the figure) pressure and temperature sensing parts 9a, 9
have a configuration in which a,... are arranged at regular intervals, and the electrodes 2, 2,. In the case of a pressure-sensitive material, for example, a pressure-sensitive conductive rubber having elasticity or a piezoelectric material may be used in the case of the pressure-sensitive material. Examples of the conductive rubber include a pressure-sensitive conductive rubber in which a conductive substance such as metal powder or carbon fiber is dispersed in rubber, and examples of the piezoelectric material include a piezoelectric polymer material (eg, vinylidene fluoride). And a dielectric constant polymer. In the case of a heat-sensitive (warm) material, for example,
A thermally reactive material (thermistor constituent material) made by mixing manganese (Mn), nickel (Ni), or the like is used. It is needless to say that each pressure-sensitive / temperature-sensitive portion 9a is isolated from each other by an insulating material.

The column electrode sheet 10 (see FIG. 11) has the same structure as the row electrode sheet 8 except that the direction of forming the parallel electrodes 10a, 10a,...
That is, these electrodes 10a made of conductive polymer
The direction of formation is defined so as to be orthogonal to the direction in which the parallel electrodes 8a of the row electrode sheet 8 are formed with the pressure-sensitive and temperature-sensitive sheet 9 interposed therebetween. -Temperature sensing parts 9a, 9a, ... are individually arranged.
This results in a matrix arrangement (or a lattice arrangement) in which the mutual electrode groups have an orthogonal relationship,
When the integer variables “i” and “j” are introduced as indices, pressure detection near the corresponding intersection position can be performed by designating the i-th row and the j-th column.

The insulating film 11 (see FIG. 12) is formed by using an electric insulating material, for example, insulating silicone or polymer gel, and is formed on the outermost surface of the pressure-sensitive / temperature-sensitive layer 3B. Thus, the column electrode sheet 10 is insulated.

The insulating layer 3C (see FIG. 4) is located on the outermost surface when attached to the forearm A, and is made of a rubber material or the like.

When such an electrode sheet 3 is wound around the forearm A and stimulated by interference waves, the electrodes 2, 2,... Of the sheet 4 are applied to the skin of the forearm A. , (The contact state with the skin is shown in FIGS. 13 and 14), a predetermined frequency current is supplied from the control unit 1Ab to the set of electrodes 2, 2,... Via the output buffer corresponding to the electrode. Then, an interference wave is generated inside the forearm A, and it is possible to stimulate a portion of the muscle M where the waves reinforce due to the interference. For example, 4000 Hz (Hertz)
When a frequency current of 4010 Hz and a frequency current of 4010 Hz are supplied to each of the electrodes 2 and 2, interference occurs near the center of the line connecting the electrodes, and the muscle M located at the site of interference is stimulated at a frequency of about 10 Hz. Being shrunk. Also, when performing low-frequency stimulation on the superficial muscles on the skin surface,
After specifying each position of this pair of electrodes with two electrodes being used, stimulation may be given using a pulse waveform (negative rectangular wave or the like) of 100 Hz or less, for example, about 10 to 60 Hz.

In detecting the pressure distribution on the skin surface, a desired electrode of the row electrode sheet 8 and the column electrode sheet 10, that is, an electrode (row) corresponding to the i-th row and the j-th column with respect to the integer variables i and j. When the i-th electrode of the electrode sheet 8 and the j-th electrode of the column electrode sheet 10) are selected, when the pressure-sensitive material is pressed according to the pressure near the intersection of the electrodes, the change in the capacitance of the pressure-sensitive material changes. Can be detected. In other words, the pressure-sensitive pressure is applied between the i-th electrode in the row electrode sheet 8 and the j-th electrode in the column electrode sheet 10.
Since a capacitor including the temperature sensing portion 9a is formed and its equivalent capacitance value C becomes a function of the pressure P at that location, it is possible to obtain information on the pressure P by calculating backward from the equivalent capacitance value C. (That is, pressure distribution data specifying a local pressure at a desired position or a target range can be acquired by performing a matrix process on the detection data in the i-th row and the j-th column.) The control unit 1Ab obtains such pressure information from the pressure recognition unit 1h.

In detecting the pressure distribution on the skin surface, when a desired electrode of the row electrode sheet and the column electrode sheet, that is, integer variables i and j are introduced as an index, the i-th row and the j-th column (The i-th electrode of the row electrode sheet and the j-th electrode of the column electrode sheet) are selected, thereby detecting a change in the electric resistance value of the thermosensitive material according to the temperature near the intersection of the electrodes. be able to. That is, the resistance value R between the i-th electrode in the row electrode sheet and the j-th electrode in the column electrode sheet is a function of the temperature T at that location. Such information can be obtained. In this manner, the temperature distribution data specifying the local temperature at the desired position or the target range can be obtained by the matrix processing on the detection data in the i-th row and the j-th column (for example, 1 ≦ i ≦ N). If 1 ≦ j ≦ M (N and M are natural numbers), a matrix of N rows and M columns can be obtained as temperature data, and a specific range is selected to calculate an average temperature, a variance, a deviation, and the like. Can be.).

The pressure-sensitive and temperature-sensitive sheet 9 has a multi-layer structure, that is, a pressure-sensitive sheet between the row electrode sheet and the column electrode sheet (the pressure-sensitive and temperature-sensitive portion 9a is made of only a pressure-sensitive material). The structure sandwiching the temperature-sensitive sheet between the row electrode sheet and the column electrode sheet (the above-described structure in which the pressure-sensitive and temperature-sensitive portion 9a is formed only of a heat-sensitive material) is overlapped. A multi-layered configuration may be adopted by combining them.

As described above, when the electrode portion and the shape information acquiring portion are formed in a multilayer structure on a sheet-like base material (for example, a structure in which a pressure and temperature detection layer is formed on the electrode layer. ), When the effector is made into a shape that can be used by wearing it on the human body (for example, adopting a wet suit shape), it is easy to put on and take off, so the preparation time required for changing clothes is easy There is an advantage that it can be completed.

A so-called data glove is used to acquire data on the shape or movement of a hand or a finger by attaching it to a human hand.

FIGS. 15 to 17 are explanatory diagrams of the detection principle in the data glove. The detection method is as follows.

(I) A method for detecting the bent state of the hand or finger = a method for grasping the resistance by a change in the resistance value with a change in the length of the resistor pattern (or the resistor pattern) (II) Temperature of the hand or finger And pressure detection method: A method that uses a change in the resistance value of a heat-sensitive (thermal) material for temperature detection, and a method that uses a change in the capacitance of the pressure-sensitive material for pressure detection.

FIG. 15 shows a configuration example in which a resistance pattern RP is formed on a base material G (made of an insulating material) of a glove in order to detect a bent state of a finger portion. The resistance pattern RP is formed using a material (such as carbon) whose resistance value changes according to the amount of elongation.

The U-shaped resistance pattern RP extends along the longitudinal direction on the back surface of the finger, where "L" indicates a natural length and "R" indicates a resistance value at that time.

As shown in FIG. 16, when the finger is bent with the glove put on the hand, the resistance pattern RP is elongated by bending of the finger (the amount of extension is set to “ΔL” (> 0)), As a result, the resistance value R becomes “R + ΔR” (ΔR ≠
0). That is, in this example, the DIP joint (D
isal Phalangeal joint: the distal interphalangeal joint, ie, the joint located at the most distal end of the second to fifth fingers, and the PIP joint (Proximal P)
halageal joint: a change in the length of the resistance pattern RP corresponding to the bending of the proximal interphalangeal joint (ie, the joint located second from the tip of the second to fifth fingers) (see the small circle in the figure). As a result, a resistance value change ΔR occurs.

As described above, in the above (I), the resistance pattern for detecting the bending state of the hand or the finger as a change in the resistance value is formed on the base material of the data glove formed of the electrically insulating material. The bending state of the joint is detected using the fact that the length of the resistance pattern changes when the joint of the hand or the finger is bent, and that the resistance value of the resistance pattern changes at this time. can do. When a material whose resistance “L” does not change depending on the bending state (ΔL ≒ 0) and only the resistance value changes at this time is used, the bending / extension Since the influence of stress due to repetition becomes a problem as a change with time, it is desirable to use a material whose resistance value changes as the length of the resistance pattern changes as described above.

As for the above (II), the same method as that described for the effector may be adopted, whereby the temperature detection and the pressure detection have the same structure (however, the material used for the detection is used). Is realized.), It is possible to reduce the thickness and cost.

FIG. 17 schematically shows a main part of a data glove having a resistance pattern, a pressure and temperature detecting portion, and a base material (not shown) formed of an insulating material (not shown). ) (A hatched portion in the drawing) and pressure and temperature detecting element portions DP, DP,... (Circled in the drawing). ) Are stacked in the thickness direction. As described above, the detection element portion DP is made of a heat-sensitive material interposed between the row electrodes and the column electrodes (these electrodes are not in contact with the resistance pattern RP nor with each other). Alternatively, a structure in which a heat-sensitive layer and a pressure-sensitive layer are formed of a pressure-sensitive material may be used, or each of the detection element portions DP may be a pressure detection element or a temperature detection element. Can be defined as a planar pattern arrangement (for example, elements for pressure detection and elements for temperature detection are alternately arranged).

FIG. 17 employs a configuration in which a part of the electrode pattern for detecting pressure or temperature and a part RP1 of the resistance pattern RP are shared (that is, a configuration in which the electrode pattern is also used as a resistance pattern). Thus, the number of wirings can be reduced.

Next, the model construction / calculation processing section 1Ae shown in FIG. 2 will be described. This is realized by a computer (memory) or a calculation (processing) device configured by a predetermined recording medium, and is used to construct a database (hereinafter, “database”) for constructing a numerical model of a human body structure.
Is abbreviated as “DB”. ), And its maintenance and management. In addition, all the peripheral devices used for acquiring the basic data necessary for constructing the numerical model of the human body are included in the input unit 1Aa.

The image processing section 1Af exchanges information with the control section 1Ab and the model construction / calculation processing section 1Ae, sends a video signal to the display section 1Ag, and displays the image. For example, display image information to convey an object (virtual object) in a virtual space appearing as a CG (computer graphics) display as visual information to a user of the apparatus, or construct a numerical model of a human body Performs screen display etc. necessary for work. When the auditory information is handled in addition to the visual information, an audio signal processing unit may be included in the image processing unit 1Af, and the audio information may be transmitted to the apparatus user through audio output means such as a speaker. Also,
When information printing is required, a printing unit such as a printer is attached to the image processing unit 1Af.

Regarding a method of constructing a numerical model of a mechanical structure related to the human body, the applicant of the present invention has already disclosed in Japanese Patent Application No.
The method proposed in No. 66 can be followed.

The point is briefly described. The numerical model includes, for example, the following models.

(I) Skeletal model (ii) Muscle model (iii) Nerve (motor nerve, sensory nerve, etc.) model (iv) Skin model (v) Fat or visceral model Note that (iii) nerve model It does not include cranial nerves that perform advanced information processing, but includes nerves that have a direct relationship to the mechanical structure and movement of the subject. Although attention is paid to the influence of the weight and position, not the structure, on the balance and movement of the center of gravity, the electrical resistance, and the like, the following mainly describes (i) and (ii) which are particularly relevant in the present invention. .

The simplest numerical model of the human body structure includes only the skeleton model of the above (i).
This can be created by the following procedure.

(1) Classify the body shape and prepare skeleton data including the shape, length and weight of all bones for each classified reference body shape. (2) Height, weight and external shape data relating to the subject (3) Specify the subject's body type from the input data in (2),
Interpolate based on the skeletal data of each reference body type and calculate the conversion ratio of the skeletal data related to the subject. (4) Each bone of the subject based on the conversion ratio of (3) and the height and weight of the subject Determine the length and weight of the skeleton and create a numerical model of the skeleton.

First, in step (1), the reference body shape of the human body is
For example, as shown in FIG. 18, it is classified into a lean type, a warrior type, and an obese type. That is, the lean type (asthenicus; hereinafter, abbreviated as “as”) is a thin body type, a warrior type (a
theticus. Hereinafter, it is abbreviated as “at”. ) Indicates a body with an inverted triangular shape of the chest torso, and obesity type (piknicu).
s. Hereinafter, it is abbreviated as “pi”. ) Is an enlarged body such as the abdomen.

Then, a human body representing each body type is selected one by one, and skeletal data (including the shape, length, and weight of bones) is obtained for each subject, or an existing human body textbook or the like is used. Use data from That is, a numerical model (hereinafter, referred to as a “reference body model”) is created by examining all information relating to the skeleton for each of the human bodies representing the lean, warrior, and obese types, respectively, and making them into a database. In this case, if the difference in gender affects the reference body type,
It is preferable to create a model in consideration of this. For this purpose, a method of preparing a reference body model different for each gender, or preparing a reference body model of each body for one gender of both genders, and calculating a conversion ratio to the reference body model for the other gender. There is a method of deriving a reference body model of each body from the data shown. As for the shape of each bone, it is preferable to use a format suitable for image display (three-dimensional display or the like) on a computer as three-dimensional model data (for example, polygon data or the like).

With respect to the obtained skeleton data, in addition to the length and weight values of the respective bones, data of the ratio (ratio) to the height and weight are obtained, and based on these ratio data, as will be described later. Is used to calculate ratio data pertaining to the user.

Further, since it is troublesome to compare data if the height of a human body representing each figure is different, it is necessary to prepare a reference height and prepare data when each data is converted to the height. Is preferred.

In the model M shown in FIG.
“GHT_ref” is the height of the reference body model (reference height)
The variable “HEIGHT_xx_XX” indicates the vertical length of each part of the human body in the standing posture (“xx” indicates a part of the human body, and “XX” indicates the reference body shape). For example, "HEIGHT_arm_u_a
“s” indicates the length of the upper arm in the lean reference body model, and “HEIGHT_test_at” indicates the chest length in the warrior-type reference body model.

In this case, “HEIGHT” indicates the length of each part of the human body including the skeleton and the muscle.
If “T” is the length of the bone in the vertical direction or the longitudinal direction, “HEIGHT_xx_XX” is the reference height “HE”.
IGHT_ref ”(hereinafter“ _hr_x
x_XX ”. ) Can be used to calculate the bone length ratio.

The variable “WEIGHT_xx_XX” obtained by replacing “HEIGHT” with “WEIGHT” indicating the weight of each part of the human body and each bone is replaced with the weight “WEIGH”.
By dividing by T_ref_XX, a weight ratio (hereinafter, referred to as “_mr_xx_XX”) can be similarly obtained.

FIG. 20 is a graph showing the concept of the above-mentioned body shape on a two-dimensional coordinate plane (XY plane). The three axes “Ax_XX” (XX = a
s, at, and pi) are set to have an angle interval of 120 ° from each other.

The intersection P_XX between the circle cir centered on the origin O and each axis Ax_XX indicates the position occupied by each reference body model. That is, the point “P_as” indicates the position on the XY plane for the lean model, the point “P_at” indicates the position on the XY plane for the warrior model, and the point “P_pi” is obese. The position on the XY plane for the model of the mold is shown.

For example, if the subject has a body type that is located exactly halfway between the lean type and the warrior type, the two axes Ax_as (the axis that matches the positive Y axis in the figure) and A pass through the origin O.
A point on axis Bx extending at an angle of 60 ° to x_at (for example, intersection Q of axis Bx and circle cir)
Indicates the body type of the subject.

The meaning of each axis when a polar coordinate system including the r axis and the θ axis is set with respect to the XY plane will be described later in detail.

FIG. 21 shows a space in which orthogonal axes (Z axes) are added to the XY plane in FIG.
That. ).

For example, when the above-described length ratio “_hr_xx_XX” is taken as the Z axis, a point “H_xx_XX” indicating the value of “_hr_xx_XX” corresponds to each point P_XX described above.

Now, the portion indicated by xx is defined as the humerus (humer
us) and the body type indicated by XX is a lean type (as), the value indicated by the point “H_humerus_as” (that is, the height (Z value) of the perpendicular from the point on the XY plane) is The ratio of the length of the humerus to the reference length (height) in the lean reference body model is shown.

A point Pt (xt, y on the XY plane
The following procedure is used to calculate the corresponding Z value from t).

First, three points P_XX (XX = as, at,
Once the points “H_xx_XX” for each of pi) are determined, one plane (πh_xx) passing through these points can be determined. That is, by selecting any two points out of the three points “H_xx_XX”, two vectors connecting both points can be created (for example, the point “H_xx_XX”).
pi ”to the point“ H_xx_as ”,
A vector or the like from the point “H_xx_pi” to the point “H_xx_at”. ), A normal vector in a direction orthogonal to both vectors is defined as a vector n (a, b, c) (where a,
b and c indicate components in the X, Y and Z axis directions, respectively. )), The plane πh_xx is calculated by the equation “aX + bY”
+ CZ = d "(where d is a constant). Therefore, for example, a point Pt (x on the XY plane
Once (t, yt) is determined, the Z value can be obtained by substituting X = xt and Y = yt into the above equation.

Note that a large number of planes πh_xx exist for each part indicated by xx, and in that sense, the Z axis can be regarded as a variable axis that collectively represents multiple variables as one axis.

FIG. 22 shows the weight ratio “_mr_xx_X”.
"X" is further added to the Z axis of the body shape coordinate space, and "_mr_xx" is defined for each point P_XX.
_XX ”correspond to points“ M_xx_XX ”, respectively.

For example, the part indicated by xx is defined as the humerus (hum)
erus) and the body type indicated by XX is a lean type (as), the value indicated by the point “M_humerus_as” (that is, the height (Z value) of the vertical line perpendicular to the XY plane from the point) is The figure shows the ratio of the weight of the humerus to the weight in the lean reference body model.

The point Pt (xt, y) on the XY plane
The same method as described above is used to determine the Z value corresponding to that point from t).

That is, when each point “M_xx_XX” for each of the three points P_XX is determined, one plane (πm_xx) passing through these points can be determined (the normal vector of the surface is defined as a vector nn (aa, bb). , Cc), the expression “aa · X + bb · Y + cc · Z = d
d "(where dd is a constant). ) So XY
When the point Pt (xt, yt) on the plane is determined, X =
By substituting xt and Y = yt into the above equation, the corresponding Z value can be obtained.

Since there are only three reference body type models in FIGS. 21 and 22, generally, the function expression “Z = Fn (X, Y)” in the body shape coordinate space (where n is _h
r_xx, _mr_xx, etc. ) Is a plane (that is, expressed by a linear expression of X, Y, and Z).
However, the number of reference body models is increased, or interpolation processing (for example, Bezier) is performed using the accumulation results of data (body shapes, ratios, etc.) concerning a large number of subjects.
er), spline interpolation, etc. ) Can of course improve the accuracy of the functional expression (curved surface expression).

In determining the reference body model, there is a method of selecting a plurality of human bodies belonging to each body type, or averaging data, etc. In order to prioritize, the human body representing each reference body type is assumed to be one body, and the gender is fixed to one of both genders, and the explanation will be given after ignoring the influence of age .

In the next step (2), height, weight, and external shape data are input as basic data on the subject.

[0098] As the input method, there are a method of inputting manually and a method of obtaining an input value from image data of the subject.

For example, for the height and weight, when the values are known by the knowledge of the subject, a method of directly inputting numerical values using input means such as a keyboard, or automatically inputting values measured by height and weight scale There is a way to do that.

As for the shape, the image data and three-dimensional data of the subject are acquired (for example, using a stereo camera, hologram camera, range finder, etc.) to recognize the shape of each part of the human body. Then, there is a method of automatically inputting shape data. For example, a method using interference fringes of light (to generate an interference fringe of the subject by monochromatic light or three primary colors of light,
Data on the depth (irregularities) of the subject in the shooting direction is obtained from the formation interval of the interference fringes generated on the subject, and a subject image without interference fringes is attached to the data.
The following briefly describes the procedure for adopting the method of obtaining dimensional data).

(1) Attachment of a marker for detecting the position of the center of gravity (a mark in image processing or a radio wave generating source or a communication device, etc.) to the subject (subject) and check of the communication state (2) Generation of interference fringes and shape reading device (3) Determine the type, color, formation interval, etc. of the interference fringes to be used (4) Automatically track the subject according to the movement of the marker for detecting the center of gravity (5) Interference fringes Based on the image, generate three-dimensional shape data (polygon data) by stereoscopic image processing and create an (outer) shape model of the subject (6) Equalization and color correction of the shape model (7) For the shape model Pasting processing of two-dimensional images (surface images).

FIG. 23 schematically shows image data G obtained for a subject in a standing posture. In the diagram on the left side, “HEIGHT_tgt” indicates the height of the subject. The figure on the right side is obtained by reducing (or expanding) the image data of the subject to the reference height, that is, multiplying the ratio of “HEIGHT_ref / HEIGHT_tgt” to the length of all the components of the image data G. FIG. Note that this ratio “HEIGHT_ref / HEIGH
Since “T_tgt” is required in a later step, it needs to be stored in a memory or the like.

FIGS. 24 and 25 show slice processing at a predetermined interval “ds” along the height direction based on three-dimensional data (outer shape data and surface state data) obtained for a subject in a standing posture. 5 shows an example of sampling of a tomographic plane on which the above-mentioned is performed.

FIG. 24 schematically shows a front view of the subject, in which the starting point of the slicing process is the top.

As shown in FIG. 25, the identification numbers i (i = 1, 2,.
Area fragment ΔS_i (i = 1,
2,...) Have meaning only in the shape and cross-sectional area, and there is no data indicating the internal structure related to the area element ΔS_i. This is because it is necessary and sufficient that the three-dimensional data of the subject consist of shape data relating to the external shape of the subject and data relating to the state of the outer surface (image data, etc.), and the internal structure of the body is not required. It is because it is.

Therefore, the information extracted from the three-dimensional data of the subject is what shape each area segment ΔS_i has and the magnitude of the cross-sectional area (see FIG. 22). still,
In this example, the area element was obtained from the slicing process. Instead, a volume element obtained by multiplying the area element by the interval ds in the slice direction may be used (in this case, instead of the cross-sectional area, Use volume in cross section.).

The slice interval ds may be set equally, but the slice interval is reduced for a specific portion (abdomen, chest, etc.) which is characteristic of the body shape, and the slice interval ds is reduced. More detailed sampling may be performed.

By the above-described method, three-dimensional data of the subject is obtained, and data on the shape and cross-sectional area of the target tomographic plane or the volume between the tomographic planes is obtained from the data, thereby obtaining the shape of the subject's body. Can be efficiently obtained, and the data input operation can be easily performed.

In the next step (3), first, processing for specifying the subject's body type is performed.

For example, data indicating the shape of each area element ΔS_i obtained in the step (2) (for example, data indicating a deformation rate of the shape such as an eccentricity when the cross-sectional shape is approximated by an ellipse) is represented by “t_i (I = 1, 2,...) And the area of the area unit ΔS_i is “s_i” (i = 1, 2,...)
26, as shown in FIG. 26, the point PT_i (s_i, t__) at the polar coordinates (r, θ) set on the XY plane.
Plot i). That is, in the XY plane, the radius of the circle centered on the origin O indicates the cross-sectional area, and the θ direction indicates the shape of the area element.

FIG. 27 is an XY plan view when FIG. 26 is viewed from the Z-axis direction. For each area element ΔS_i, a point PT_i (s_i, t_i) (i = 1, 2,...)
・) Is supported.

After all the positions of the points PT_i are plotted on the XY plane, the center of gravity of a polygon (including convex and concave polygons) having each point PT_i as an apex (this is described as a point G).
Ask for. For example, as shown, a point PT_i, a point P
T_ (i + 1), point PT_ (i + 2) (where i = 1,
2, ..., n-2, and n is a natural number. ) And the center of gravity of the triangle having the vertices as “Gi”,
The combined center of gravity of the point Gi is the center of gravity G. That is, the origin O
The position vector of the point Gi with reference to the vector "V_G
i "and the position vector of the point G as the vector" V_G ", the vector expression" Σ (V_Gi-V_G) = 0 "
(However, “Σ” indicates the total sum of i.) The center of gravity position is determined by calculating the coordinates of the point G that satisfies i.

In FIG. 27, it is assumed that each point PT_i is located in the same quadrant on the XY plane. However, in some cases, as shown by a point PT ′ or a point PT ″ in FIG.
i is located in a quadrant different from i, or is present in an isolated location away from a region where many points are located together (for example, most points are surrounded by an as axis and an at axis). Some points are as
For example, when the pixel belongs to a sector surrounded by the axis and the pi axis. ), But it is preferable to ignore these points or treat them as exceptions.

Further, it is not always necessary to use all of the area fragments (or volume fragments) obtained as a result of the above-described sampling, and it is necessary to use a specific portion (abdomen, chest, etc.) characteristic of the body shape. It goes without saying that the processing may be speeded up by selecting only such sampling results.

As described above, after the polar coordinates (r, θ) are set on the coordinate plane (XY plane) indicating the data on the body shape, the shape data (t_θ) on the tomographic plane of the subject is set.
i) defines the polar angle θ, and defines the polar radius (r) from the cross-sectional area data (s_i) or the volume data between the cross-sectional planes (volume data of the volume segment) on the cross-sectional plane. PT_i) is arranged on the coordinate plane (XY plane), and the body shape of the subject can be specified from the position of the center of gravity G of the polygon formed by connecting the points with a line segment. Since the calculation required for the calculation requires only about four arithmetic operations, even if the number of area pieces or volume pieces increases, the calculation load does not increase significantly.

The coordinates of the center of gravity G (this is expressed in polar coordinates as “(r
g, θg) ". ) Is determined, it is possible to calculate the conversion ratio of the skeletal data relating to the subject (the ratio used for creating the model relating to the subject) from the functional equation Z = Fn (X, Y) in the body shape coordinate space described above. it can. That is, as described above, since the function formula Z = Fn (X, Y) is obtained from the interpolation calculation based on the skeleton data of each reference body type, “Xg = Fn (X, Y)” is calculated using the conversion formula from the polar coordinate system to the two-dimensional orthogonal coordinate system. r
g · cos (θg) ”,“ Yg = rg · sin (θ
g) ”and substituting these into a function expression,
The value of n (Xg, Yg) can be obtained.

FIG. 28 conceptually shows how to obtain a function value from the center of gravity G (Xg, Yg).
As for Y), a case where n is selected as “_hr_xx” and a case where n is selected as “_mr_xx” are shown together. That is, the height (Z_hr) of the point Q_hr indicates the value (_hr_xx) of Fn (Xg, Yg) related to the length ratio, and the height (Z_mr) of the point Q_mr indicates Fn (Xg, Yg) related to the weight ratio. ) Is shown (_mr_xx).

When the conversion rate of the subject with respect to the length and weight of the bone is obtained as described above, the actual length and weight can be calculated based on the height and weight of the subject, and this processing is performed in the next step (4). ).

For example, the function formula Fn relating to the length ratio
(X, Y) is a value obtained when the height of each of the reference body models is adjusted to the reference height and the height of the subject is converted to the reference height. To calculate the ratio, the ratio “H
EIGHT_ref / HEIGHT_tgt "is required. That is, HEIGHT_tg is added to “_hr_xx”.
By multiplying t, the length of the portion indicated by xx is determined. Note that other quantities having a dimension of length, such as the thickness of the bone, can be obtained in exactly the same manner as in the process of deriving _hr_xx.

The weight ratio is obtained by multiplying the weight (weight etc.) of the subject by “_mr_xx”.
The weight of the portion indicated by is determined, and an amount having a dimension of the nth power of length (n is a natural number of 2 or more) such as a cross-sectional area or a volume can be obtained in exactly the same manner as in the process of deriving the weight.

In this way, by obtaining the lengths and weights of all the bones related to the subject, a numerical model relating to the skeleton (structure) of the subject can be created. For example, a model based on polygon data is used as a numerical model expression form. In such a case, polygon data of all bones is prepared in advance, and a three-dimensional model of the skeletal structure can be obtained by making full use of deformation processing such as morphing.

In the above description, the three-dimensional data (outer shape data) of the subject is obtained and the data relating to the body shape of the subject is obtained. However, two-dimensional data of the subject is used without using the three-dimensional data. When a simple model is created by using only the three-dimensional image data, the length ratio (length / width ratio, etc.) of the human body characteristic of the body shape is substituted from the image data for the cross-sectional area of the area element described above. Of course, it may be possible. For example, image data of a subject in a standing posture such that a chest shape is typically a warrior type inverted triangular (reverse trapezoidal), an obese type is substantially trapezoidal, and a lean type is substantially rectangular. Can obtain information on the body shape.

On the contrary, in order to improve the accuracy of the model, the data is corrected based on the length of each part of the human body obtained from the three-dimensional data of the subject, or the weight sum of the whole bones is reduced. It is necessary to minimize errors between the structural model and the actual target human body as much as possible so as to avoid inconsistency such as exceeding the weight.

Next, the creation of a numerical model in which the above-mentioned (ii) muscle model is added to the skeletal model will be described.

In this case, in addition to the shape, length, and weight of the muscle, various quantities related to the exercise performance of the muscle (for example, the contraction rate of the muscle, the power, the reaction speed of the muscle contraction, etc.) are subjected to the numerical model. It is preferable to quantify the performance of the muscle by including it in

That is, the length and weight of the muscle can be obtained by following the same procedure as that of “_hr_xx” or “_mr_xx”. That is, it may be considered that “_hr_xx” indicates the ratio of the length of each muscle indicated by xx, and “_mr_xx” indicates the ratio of the weight of each muscle indicated by xx.

On the other hand, the muscle contraction rate and the power are determined depending on what influences these values.

For example, the muscle contraction rate is a ratio indicating how much the muscle contracts with respect to the natural length of the muscle. The reference length (natural length) of the muscle is represented by a variable “L”, When the muscle length is represented by the variable “LL”, the function expression f
(L, LL) (in a simple model, “f
(L, LL) = LL / L ". ) And the function formula can be calculated from the data of each reference body type model in the same manner as the function Fn (X, Y) described above. Therefore, "L
g = Fn (Xg, Yg), LLg = Fm (Xg, Y
g) "(where Fn indicates a function when the Z axis is set to a variable L, and Fm indicates a function when the Z axis is set to a variable LL). The muscle contraction rate of the subject can be calculated from the substituted f (Lg, LLg).

Similarly, the power (work per unit time) can be obtained as a function of the weight of the action point and the action time, and the reaction rate of muscle contraction can be determined by the distance from the peripheral nerve to the muscle and the muscle. Determined as a function of the onset time of the contraction.

[0130] Regarding the process of creating a model including the skeleton and the muscle, the shape and length of the bone,
In addition to weight, skeleton and muscle data including muscle shape and length, weight, and muscle contraction rate are prepared, and interpolation calculation is performed based on the skeleton and muscle data for each reference body type in the step (3). Then, the conversion ratio of the skeletal and muscular data of the subject is calculated. In the step (4), the length, weight, and muscle contraction of each bone or muscle of the target are calculated based on the conversion ratio obtained in the step (3) and the length and weight of the target input in the step (2). You only have to determine the rate.

According to the model created in this way, for example, it is possible to make a simulated movement of a muscle when a bone, a joint or the like is moved.

The description of the numerical model of the skeleton and the muscle has been completed above. However, since the above-mentioned method has universality that can be adopted regardless of the numerical data, this method is described above ( It is easy to apply to the models iii) to (v).

Next, the database constituting the human body structure model will be described. Here, "human body structure model"
The term means a numerical model constructed on a computer as a structural model including skeleton, muscle, nerve, skin, fat, and the like, based on basic data such as physique and weight of a human body.

This human body structure model is constructed from a large number of DBs.
B.

(A) DB for bones (B) DB for joints and ligaments (C) DB for muscles (D) DB for nerves (motor nerves and reflexes) (E) DB for internal organs and fat (F) Skin DB (G) DB related to physical exercise First, (A) is a DB related to basic information of the skeleton, including items such as bone weight, weight distribution, shape, and fracture modulus.

[0136] Also, (B) contains information on the degree of freedom and the breaking coefficient of the joint, the connection relation between the pair and the pair, the connection relation between the pair and the muscle, the relation between the contraction rate of the muscle and the angle of the joint, and the like. included.

(C) includes information on the free length, contraction (or expansion) length, contraction rate, rupture coefficient, weight, reaction speed, power, etc. of the muscle.

(D) includes, for example, information on the relationship between motor nerve signals and muscle contraction in the brainstem, central nervous system, terminal nerve, and muscular contraction for motor nerves, or tactile nerve and terminal nerve for reflexes. , Central nervous system, pressure in the brainstem, heat, information about the relationship between nerve signals of pain sensation and muscle contraction.

(E) includes information on the weight and weight distribution of visceral organs and fat, and (F) includes information on skin aging and wrinkling.

(G) is a DB for representing only the mechanical motion state of the human body. The DB includes data obtained by extracting information on the whole body motion and partial motion of the human body as a wire frame model, and data associated with the motion. Information about the change in the position of the center of gravity is included.

The above-mentioned DBs are not always generated as one DB (for example, a certain DB is formed as a set of a plurality of DBs).

The outline of the process related to the creation of the human body structure model is summarized as follows, and is summarized as follows.

Step SS1: Input of basic data relating to the body Step SS2: Data processing based on DB Step SS3: Acquisition of three-dimensional data concerning the human body and generation of a wire frame model relating to movement Step SS4: Acquisition of three-dimensional data concerning the human body Step SS5: Acquisition of three-dimensional data about the human body and acquisition of balance nerve signals and body balance by the semicircular canal nerve Step SS6: Acquisition of three-dimensional data about the human body and exercise using electromyogram and the like Acquisition of relationship between nerve signal and muscle contraction Step SS7: Acquisition of three-dimensional data on the human body and acquisition of relationship between muscle contraction and nerve signals of pressure, heat, and pain sensation by reflex nerve test Step SS8: Muscle related to stretch reflex nerve Acquisition of electrogram information.

Among the above steps, steps SS1 to SS4 related to the present invention will be described below.

The above-mentioned SS1 is a step of inputting data such as the physique, gender, age, etc. of the individual to be subjected to the human body structure model. In the subsequent step SS2, the data is processed based on various DBs and the data of the target person is processed. DB about body structure
Generate

Here, various DBs are, for example, as shown in the following (a) to (f).

(A) Weight DB This is a DB relating to the weight ratio of bones, muscles, fats, heads, organs, etc. (the ratio to the body weight).

(B) Weight distribution DB This is a DB relating to the weight distribution (position, center of gravity, etc. in the human body) of bones, muscles, fats, heads, organs and the like.

(C) Destruction Coefficient DB D relating to the destruction coefficient (fracture coefficient, etc.) of bones, ligaments, muscles, etc.
B.

(D) Joint freedom DB This is a DB relating to the degrees of freedom of each joint, and is used for setting the movable range of the joint.

(E) Connection DB This is a DB that defines connection between a pair and a pair, between a pair and a muscle, between a pair and a ligament, and the like.

(F) Muscle motion DB This is a DB relating to the drive angles of the joints, the drive ratio of each working muscle, the free length, contraction rate, power, and reaction speed of muscle contraction of muscles.

(G) Nerve arrangement DB This is a DB relating to nerve arrangement and length in the human body.

The DB relating to the body structure (hereinafter referred to as “body structure DB”) is defined as a DB generated by linking (data combining or associating) the above DBs (a) to (f). .

Then, the above DBs (a) to (f) are
Table 1 below shows an example of the relationship between the above DBs shown in (A), (B), (C), and (E).

[0156]

[Table 1]

In Table 1, “に お い て” indicates each D shown in the horizontal column.
B means that the DB shown in the column is included, and "-" means that there is no such inclusion relationship. For example, the DB relating to the bone in (A) includes a DB relating to the weight and weight distribution of the bone and the fracture coefficient of the bone. Also,
Regarding the DB of (B), the weight and weight distribution of the ligament are neglected because the weight of the joint is mainly composed of the weight of the bone. However, these models are also incorporated into the model for more detailed modeling. Of course, it can be achieved.

The DB relating to the shape is generated from the body shape and gender data using the above-described method based on the shape model of the skeleton, fat, etc. of the reference human body (the reference body model, etc.).

FIGS. 29 and 30 show steps SS1
FIG. 7 is a flowchart showing a main part of a specific example for SS2 and SS2.

First, for the following data items defined in advance in step S1 of FIG. 29, the numerical value of the subject is input (manual or automatic input), and in the case of a selection value, any of them is designated. .

Height (unit: mm) Weight (unit: Kg) Body shape (type such as lean type, warrior type, obesity type, and the degree) Gender (male / female) Age (unit: age) ).

For example, examples of the data structure of the input values are shown in Table 2 below.

[0163]

[Table 2]

That is, in this case, a value that requires an area for storing continuous numerical values, such as height and weight, and a value indicating the type, such as body shape (coordinate axis θ in the body shape coordinate space). ) And a numerical value indicating the degree (corresponding to the value of the coordinate axis r in the body shape coordinate space), or 1-bit data of “0” or “1” such as gender. Those that can be easily expressed are listed.

In generating the body structure model,
A mode for generating a model based on a relatively small number of input parameters as described above (hereinafter, referred to as “normal mode”) and a mode for changing a model generated in normal mode (hereinafter, “special mode”) .)
Therefore, in the mode determination processing in step S2, first, the processing in steps S3 to S8 will be described assuming that the normal mode has been selected.

In step S3, the weight DB of (a)
To perform the weight setting process. That is, the weight ratio of bones, muscles, fats, heads, organs, etc. is set based on the body shape data of the subject, and the weight of muscles and fats is further divided into chest, abdomen, upper limbs, and lower limbs. Set. In addition, since the manner in which muscle fat is applied differs depending on the sex, the weight ratio is set in consideration of the difference.
It is needless to say that the weight must be assigned so that the difference between the total weight after the setting and the input value of the above-mentioned weight becomes substantially zero.

In the next step S4, referring to the weight distribution DB of (b), the shape of the skeleton and fat is set based on the data of the height and the body shape of the subject. And
The weight distribution between the bones and the head is set based on the weight distribution of the bones (center of gravity, specific gravity, etc.), and the weight distribution of the muscles and fats is set based on the weight distribution of the flesh. Here, the "weight distribution of flesh" will be described separately for the case of the upper limb and the lower limb and the case of the chest. In the former case, a virtual circle centered on the weight point of the bone weight distribution will be described. Set multiple trajectories (this is the shape of a human body in a standing posture when viewed from the front, and more precisely, it is spherical), and weight each trajectory equally at equal intervals. Distribute. In the latter case, a plurality of virtual trajectories are set at a certain distance outward from the weight point of the rib cage in the bone weight distribution, and the weight is evenly spaced at equal intervals for each trajectory. Distribute. And
If the gender input data is female, additional settings are made for the weight distribution of chest fat.

The weight distribution of the visceral organs is set at equal intervals on the visceral weight line connecting the visceral part of the head, the first tibia, and the pubis, and the weight distribution changes with the movement of the vertebrae. In addition, regarding the weight distribution of abdominal fat, a virtual elliptical trajectory centered on weight points set at equal intervals along the visceral weight line (this is a shape when a human body in a standing posture is viewed from the front) Yes, it is in the shape of an ellipsoid, to be precise.), And weights are equally distributed at equal intervals to each orbit. In addition, bones,
There is a method in which regions for muscles, internal organs, and fat are provided, a DB is created for each region, and weights of equal distribution are set for each region.

Since the distribution of the visceral organs and fats is clarified by the above, it is possible to set a range in which the pair cannot enter (the range in which the pair is prohibited from penetrating through the internal organs and entering the body).

In step S5, fracture coefficient data for bones, ligaments, muscles, etc. is read from the fracture coefficient DB of (c). This is necessary in order to avoid in the human body structure model a posture in which excessive force that causes damage to bones, ligaments, and the like is applied, that is, a state of the human body that is impossible in a healthy body.

In step S6, the driving range and the degree of freedom of the joint (the degree of freedom at the time of destruction are determined by referring to the joint degree of freedom DB shown in (d) and the destruction coefficient DB shown in FIG. Is included). This is to eliminate movements that are not allowed or impossible as a healthy body from the joint structure.

In step S7, the above (e) connection relation D
After reading data on various connection relationships with reference to B, in the next step S8, settings are performed for muscle exercise.

As for the muscle movement, the muscle movement DB of the above (f) is used.
, Refer to the input data (height, weight, body shape, gender,
The driving angle of the joint and the contraction rate of the working muscle are set in consideration of the weight of the pair driven based on age or the like.

By the above steps S3 to S8, a body structure model in the normal mode and a body structure DB which is a database of the body structure model are created. The nerve arrangement DB of (g) is created by a single processing from the nerve arrangement of the reference human body (reference body model or the like) in accordance with the body structure DB.

In step S9 of FIG. 30, it is determined whether or not to proceed to the special mode. If the special mode is selected, the process proceeds to step S10, and if not, the process proceeds to step S17.

If the special mode has been selected in step S2 or S9, the flow advances to step S10 to determine whether to select the ratio conversion mode. still,
The “ratio conversion mode” is a mode in which the size of the arm, torso, leg, etc. is input to the data generated in the normal mode, the data is compared, and the length and weight are reset. When the ratio conversion mode is selected in the same step, the process proceeds to step S11, and when not selected, the process proceeds to step S17.

In step S11, the ratio conversion mode is further divided into two modes, that is, a "length setting mode" and a "ratio setting mode", and one of the two is selected. If the “length setting mode” is selected, the process proceeds to step S12, where the length of the arm, trunk, leg, etc. (unit:
mm). Also, "Ratio setting mode"
If is selected, the process proceeds to step S13, where the ratios of the arms, the torso, the legs, and the like to the reference length (for example, height) are input. Note that the input data in steps S12 and S13 are used, for example, for correcting the free length of the muscle in the connection relation DB of (e).

In the following step S14, the weight mode is divided into two modes, that is, an "adjustment mode" and an "adjustment mode", and one of the two modes is selected. Then, when the “fit mode” is selected, the process proceeds to step S15, in which a process of matching the weight obtained from the generated data with the input data of the weight is performed, and then the process returns to step S2 in FIG. "Adjustment mode"
If is set, the process proceeds to step S16 to perform a process of giving an increase / decrease amount to the weight obtained from the generated data, and then returns to step S2. These steps S15, S
16 allows the weight setting and the weight distribution correction in steps S3 and S4 to be further performed.

In step S17, the "joint weight mode"
It is determined whether or not is selected. If it is selected, the process proceeds to step S18, and if not, the process proceeds to step S19.
The “joint weight mode” is used, for example, when registering the weight of a joint driving motor or the like in a bipedal walking robot that imitates a human body instead of a human body,
This is a mode for adding / subtracting a weight value at one point for each joint and setting an even weight distribution so as to maintain the overall balance. After the processing in step S18, step S1 is executed.
Go to 9.

In step S19, the "muscle weight mode"
It is determined whether or not to select, and if it is selected, the process proceeds to step S20, where the desired weight is added or subtracted for each muscle or fat weight associated with each pair to maintain the weight balance of the muscles and the like. Make settings as follows.

If the “muscle weight mode” is not selected, the generation of the body structure model is terminated. However, only a relatively small number of data concerning the physique, gender, etc. are required in the steps so far.

Next, steps SS3 and SS4 will be described with reference to the flowchart of the main part shown in FIG. In this step, the following (G) DB relating to the physical exercise is created as described below, and the contents will be clear from the description of the processing described later.

(G1) Movement wire frame DB (G2) Movement center of gravity position DB.

First, in step S1 in FIG. 31, the subject provided with the marker for detecting the center of gravity is maintained in a standing posture, and then in step S2, the subject is obtained by using a method of acquiring three-dimensional data. Is obtained. still,
Here, “three-dimensional data” is data that is distinguished from a two-dimensional image pasted on a plane, and refers to a curved surface that forms a three-dimensional shape and image data that is pasted on the curved surface.

As a method for obtaining three-dimensional data, any method may be used as long as it can obtain data including the shape and image of a subject. For example, the method using the above-described light interference fringes may be used. Methods can be mentioned.

In the next step S3, the model obtained in the previous step is sliced (that is, a tomographic cross section is formed) in the vertical direction from the head to the toes, thereby forming a body. Recognize each component and even number. For example, the direction indicated by an arrow R with respect to the model mdl schematically illustrated in FIG. 32 is the slice direction, the point Ps indicates the crown, the area “A1” is an area related to head recognition,
The area “A2” is an area relating to recognition of the cervical vertebra, and the area “A3”
Represents a region relating to recognition of the shoulder, region "A4" represents a region relating to recognition of the chest and abdomen, and region "A5" represents a region relating to recognition of the leg. In the tomogram schematically shown on the right side in FIG. 32, the number of regions sliced at the lower boundary surface of the region A1 is 1, the number of regions sliced at the lower boundary surface of the region A3 is 3, and the leg is three. This indicates that the number of regions obtained by slicing the part in the middle is two.

[0187] Recognition of an even number or the like is performed by comparing and contrasting a body structure model of a subject with a model obtained from three-dimensional data. For example, subject (subject)
Recognizes that the axis connecting the center of gravity of the head with the center of gravity corresponding to the marker for detecting the center of gravity attached to the body is the spine axis of the body structure model, and the position of both shoulder joints of the upper limb And can be determined based on the physical characteristics of the human body, such as recognition as the most protruding portion.

In step S4 in FIG. 31, the subject is asked to perform the knee bending and stretching motion, and the above steps S2 and S
The processing related to the acquisition of the three-dimensional data and the recognition of the knee joint is performed by the same method as described in 3. That is, the knee joint cannot be accurately specified only with the three-dimensional data in the standing posture.

In step S5, the subject is asked to move his or her arm so that its forearm is parallel to the ground. Acquisition of three-dimensional data and elbow joint are performed in the same manner as described in steps S2 and S3. Performs processing related to recognition of.

In the next step S6, after the basic data obtained in the above steps S2 to S5 are corrected (error correction, etc.), the process proceeds to the next step S7, in which the data is determined, that is, the human body shape related to the target person. Determine the data.

Then, the process proceeds to a step S8, wherein the shape of the subject and the human body shape data obtained in the above step are subjected to a fitting process so that no remarkable difference occurs between the shape and the human body shape. Minimize the difference that occurs with the body structure model.

In step S9, the subject is caused to perform a predetermined exercise, and three-dimensional data on the exercise state is obtained by using the same method as described in step S2.

In step S10, the torso is recognized based on the positions of the head and the center of gravity position detection marker in the three-dimensional data, and a frame model representing information on the subject's body movements (such as a paired state). To generate a wireframe model. Then, the above-described motion wireframe DB is created by converting the wireframe model into a database.

In step S11, based on the wire frame model and the human body shape obtained in the above step, only the data relating to the position of the center of gravity, which is the center of motion, and its change are extracted to create the above-mentioned center of motion DB.

Thus, a numerical model relating to the structure and movement of the body can be obtained by the processing performed so far.
By adding polygon data (data based on polygonal approximation or polyhedral approximation) on the shapes of muscles and fats to them, a polygon model relating to the human body and a database thereof (hereinafter referred to as “human polygon D”)
B ". ) Can be obtained.

FIG. 33 shows an example of the dependency of the human body polygon DB on the following body structure DB, exercise wire frame DB, exercise center of gravity position DB, and other DBs shown below. “→” means that when “X → Y” is written, the database “Y” is generated based on the database “X”, and the double arrow indicates a link.

(H) Muscle polygon DB (i) Fat polygon DB (j) Special fat polygon DB (k) Skin aging polygon DB

The DB of (h) to (j) will be briefly described. First, (h) muscle polygon DB is a collection of muscle-shaped polygon data corresponding to muscle contraction.
(I) The fat polygon DB is a collection of polygon data of a fat shape corresponding to muscle contraction and movement of the center of gravity. Also,
(J) The special fat polygon DB is a polygon data collection of the shape of fat (visceral fat, chest fat, etc.) which is not directly related to muscle contraction but mainly involved in the movement of the center of gravity.

(K) The skin aging polygon DB is a polygon data collection (or two-dimensional image data) on the amount and approach of wrinkles required when artificially aging the skin. (F) that constitutes a DB relating to the skin.

The "muscle contraction polygon DB" shown in FIG.
Is a database generated from the muscle polygon DB, the body structure DB, the exercise wire frame DB, and the exercise center-of-gravity position DB. The database is required to express the contraction state of the muscle accompanying the exercise of the human body. Generated along.

(1) Generation of body structure DB (2) Exercise wireframe DB and exercise centroid position DB
(3) Link between the muscle polygon DB and the DB of (1) or (2).

"Fat contraction polygon DB" means a muscle polygon DB, a body structure DB, and an exercise wire frame D.
B, fat polygon DB with reference to the movement center of gravity position DB
And a database generated from the special fat polygon DB, which is necessary for expressing changes in the position and thickness of fat due to muscle contraction and center of gravity movement.

FIG. 34 is a flowchart showing a main part of a processing example of the generation of the human body polygon DB, and shows in parallel the processing relating to the generation of the muscle contraction polygon DB and the processing relating to the fat contraction polygon DB.

First, regarding the processing relating to the generation of the muscle contraction polygon DB, in step S1, a muscle polygon DB, a body structure DB, a movement wire frame DB, and a movement center of gravity position DB are prepared, and in step S2, the movement of the human body is determined. Obtain a relationship for the change in contraction rate of each muscle.

Then, in step S3, a polygon data collection indicating muscle shapes corresponding to the contraction of all muscles, that is, a muscle contraction polygon DB is created. In this case, the data of the human body shape and the data of the muscle polygon DB are referred to in the body structure DB.

In the next step S4, after adding muscle polygon data to the exercise wire frame DB,
Proceed to step S5.

On the other hand, with regard to the processing relating to the polygon DB of fat and special fat, after preparing both DBs in step ST1, the relationship between the movement of the human body and the change in the contraction rate of each fat is obtained in the next step ST2.

Then, in step ST3, for all fats, a polygon data collection indicating a fat shape corresponding to the muscle contraction and the center of gravity movement, that is, a fat contraction polygon DB
Create At this time, it is necessary to refer to the data on the human body shape and the data on the muscle polygon DB in the body structure DB.

[0209] In the next step ST4, the polygon data of the fat part is added to the exercise wire frame DB, and then the process proceeds to step S5.

[0210] In step S5, the image data of the exercise wire frame model taking into account the muscles and fats is stored in the image data.
By processing polygon data of muscles and fats for each frame, the dynamics of muscles and shaking of fats are expressed. Note that this processing is performed as data processing for dots and patches on the surface of the polygon. For example, connection processing and Bey processing for dots, or these processings are performed.
Processing such as performed after compression of a certain surface is included.

In the next step S6, the skin aging polygon DB and the movement wire frame DB are linked (in FIG. 33, indicated by double-headed arrows). Thereby, for example, the wrinkles of the skin around a certain joint can be changed according to the joint angle and the distance from the joint.

[0212] The human body polygon DB is thus created. For the electrical stimulation of the muscle, for example, the following steps (a) to (c) are performed.

(A) Identify the joints to be driven (B) Muscles (eg, extensor and flexor muscles as paired muscles) required to operate the joints in (A) or objects to be stimulated (C) In the muscles selected in (b), a low-frequency stimulus (or a phantom sensation described later) is given to the superficial muscles close to the skin surface through an effector, Muscles are stimulated by interference waves through effectors.

In other words, by using an electrical stimulation mode (interference wave electrical stimulation or low-frequency electrical stimulation) in accordance with the position of the muscle to be stimulated, the stimulation can be efficiently applied to each muscle, and exercise without discomfort A sensation can be presented to the device user.

In the above procedure (a), the joint to be driven is specified. However, depending on the effector, the target joint related to the effector may already be specified. Can be selected.

In (b), when extensors and flexors are selected as the muscles necessary for the joint operation, the extensors and flexors are not contracted to the same extent. More contraction (for example, the contraction ratio of flexor to extensor is about 20: 1), and conversely, the extensor contracts more when the joint is extended. In selecting a muscle, a database that associates the joint with the expansion and contraction of the muscle that drives the joint is built in advance, and then, when the target joint is specified in the process (a), It is preferable to select muscles necessary for driving the joint based on the database.
The "database relating the joints to the expansion and contraction of the muscles that drive the joints" can be generated, for example, by associating the aforementioned (B) DB relating to joints and ligaments with the aforementioned (C) DB relating to muscles. , (A) to (f)
Data items (eg, joint names and positions, muscle names and shape data required for driving the joints, and joint names of starting points supporting the couples) in the DB shown in FIG. Etc.). Using this database, for example, when targeting the elbow joint,
Information on the involved muscles can be obtained according to the operation.

For example, the drive of the elbow joint will be described as follows.

Of the muscles involved in the movements of the elbow joint and forearm in the human body, the muscles of the upper arm include the biceps brachii,
The triceps brachii muscle and the elbow muscle are mentioned, and the forearm muscles include the brachioradialis muscle, the supination muscle, the pronator muscle, the square pronation muscle, and the like.

[0219] Regarding the muscles of the upper arm, the biceps brachii, which is a biarticular muscle, has a flexion action on the elbow joint and a supination action on the forearm. It is known to have work. In addition, the triceps brachii is a two-joint muscle whose long head has an origin at the scapula. The extension of the forearm at the elbow joint is performed mainly by the muscle belonging to the medial head, and it may have a strong extension force. Are known.

In mounting the above-mentioned effector having a multilayer structure on muscles, efficiency is improved by arranging the electrode group only in a specific region, rather than arranging the electrode group uniformly over the entire surface of the sheet. It is preferable to aim. This is because the effect of the electrical stimulation differs depending on the location of the muscle. The “specific region” refers to a region on the sheet-like base material corresponding to a muscle start point or a muscle belly of the muscle, or a region in the vicinity thereof or a range extending from the muscle start point to the end point. For example, taking the biceps brachii muscle as an example, in this case, the electrode placed on the muscle belly is the negative electrode, the electrode placed on the muscle start point is the positive electrode, and the By applying the low-frequency electrical stimulation, it is possible to stimulate the superficial muscle in which the expansion and contraction of the muscle can be visually recognized from the skin surface.

Further, it is preferable not to dispose an electrode group constituting the electrode section in a region on the skin surface which is involved by the movement of the joint. The reason is that the movement of the electrode position accompanying the deformation of the sheet-shaped base material is large, and in the case where the number of the resistance patterns, the number of the pressure and temperature detecting elements are large, the processing of the acquired data is burdensome. That's why.
Therefore, in order to avoid such inconveniences, as shown in the following (i) to (iv), it is necessary to examine in advance the region where the pressure greatly changes during the operation of the joint (bending, extension, etc.). Is preferred.

(I) Attach the effector to the subject (ii) Ask the subject to perform a constant motion of flexion or extension of the joint (iii) Change in the resistance value of the resistance pattern during the operation of (ii) or In addition to acquiring surface pressure information, a predetermined threshold value is set for a resistance value and a pressure value, and location information indicating a position or range exceeding the threshold value is converted to data to obtain an RO.
M (read only memory) or an auxiliary storage device (or an external storage device) is stored in storage means (iv) (iii) by referring to the location information stored in (iii) , A region where pressure detection is not performed (or a detection value should be ignored) is determined.

In (ii), it is preferable to use a method in which a visual display device such as a head-mounted display (HMD) is attached to the subject and the operation to be imitated is displayed on the device. In other words, a video in which image information obtained by camera shooting is displayed as a moving image and a virtual video indicating an operation to be imitated are displayed on the visual display device, and the target person is provided with a virtual image indicating the actual operation of the user. It is more efficient to imitate a certain motion by following the motion so as to be superimposed on the video, rather than mimicking the verbal explanation or the motion of the instructor.

When the effector is formed into a shape that can be worn on a human body and used, it has air permeability and elasticity in a place where the electrode group constituting the electrode portion is not arranged in the sheet-like base material. Preferably, a material is used. In other words, in order to cope with the heat and sweating caused by the movement of the subject (that is, to prevent stuffiness) and to guarantee the ease of movement,
It is desirable to use a material that is highly breathable and has excellent elasticity.
For example, as a fabric obtained by laminating a Darlington stretch woven fabric and a thermoplastic film that allows water vapor to pass through, a cooling property is applied to "DARLEXX (trademark)" of LeBand and a cotton material excellent in moisture absorption and water supply. High eval fiber (polyester in the core, Ethiene in the sheath)
As a functional material obtained by mixing and knitting a composite fiber using vinyl alcohol: a trademark of Kuraray Co., Ltd., "Ice Touch" (trademark) of Mizuno Corporation, etc., is not limited thereto.
Materials developed in the field of sports clothing and the like can be used.

Then, instead of covering the entire joint and the parts driven by the joint with the effector, the effector having the electrode portion only at the part corresponding to the pair of the joint is partially mounted. (That is, an electrode section is created for each pair, and an effector having a shape suitable for the shape characteristics of each pair is worn.) By applying electrical stimulation,
Light and easy to wear. For example, taking the elbow joint of the forearm or the joint of the wrist as an example, it suffices to attach each effector to the area near these joints. The pair shape recognition will be described later.

The following is a summary of the basic procedure of the control method according to the present invention, which is summarized as an item.

(1) A database showing the muscle arrangement of the human body relating to the subject is previously constructed. (2) By attaching the effector to the subject, the electrode group constituting the effector comes into contact with the skin surface. (3) Acquire information indicating the shape and shape change of the skin surface and perform shape recognition. (3) Information on the muscle arrangement of the subject obtained from the database of (1) and (2) An electrode to which an electric stimulation signal is to be supplied is selected from the electrode group based on the shape recognition result. (4) An electric signal for low-frequency electric stimulation or interference wave electric stimulation is supplied to the electrode selected in (3). I do.

The outline has been described above, and the following basic matters will be described in detail.

(I) Shape Recognition Method Using Pressure Detection (II) Construction of Database Using Information on Bone Cross Section, Muscle and Fat Cross Section (III) Low Frequency Electrical Stimulation Method and Interference Wave Electrical Stimulation Method (IV) Phantom Sensation (V) Motion estimation method using electromyogram (VI) Prevention of low-temperature burn and adjustment of stimulus output First, as described above, regarding the shape recognition unit 1c in FIG. 1, a recognition method using pressure detection will be described. However, in this method, it is necessary to obtain in advance the numerical relationship between the surface pressure P and the shape S, and the initial learning process for that is shown in FIG.
This will be described with reference to FIGS.

FIG. 35 shows a pressure detecting sheet 1 formed by laminating a row and column electrode sheet and a pressure-sensitive layer on a sheet-like base material.
2 shows a state in which 2 is rounded into a cylindrical shape (or a truncated conical shape), and the ends are adhered to each other using silicone, a rubber material, a cloth, or the like (a hatched portion in the figure indicates an adhered portion 13). Also,
Alternatively, as shown in FIG. 36, the adhesive region 14 may be formed so as to cover the entire side surface of the cylinder (the pressure detecting sheet 12) (see the hatched portion in the figure).
In addition, it is preferable to provide a warp yarn (for example, a strong industrial yarn such as hemp) along the generatrix on the side surface of the cylinder on the adhesive portion or on the inner or outer surface of the sheet substrate (the sheet substrate in a direction parallel to the cylinder axis). However, when the electrode sheet or the pressure-sensitive sheet is deformed when the pressure detecting sheet is stretched, the resistance value or the dielectric constant may change. It is preferable that the change rate of the physical quantity is measured in advance, and the data correction is performed in consideration of the change rate.

FIG. 37 schematically shows a structure for selecting each pressure detecting element on the pressure detecting sheet. The matrix selecting circuit 15 includes the row electrode groups 8a, 8a,. Connection line group "X" connected to
Have a connection line group “Y” connected to the column electrode groups 10a, 10a,.
(RAM or ROM) are connected to an address bus 18 and a data bus 19. That is, when an address is specified for the pressure detection element group by the address specification from the CPU 16 to the matrix selection circuit 15,
A corresponding electrode of the row electrode group and the column electrode group corresponding to the address is selected, and the position of the pressure detecting element is specified. Then, the detection information of the selected pressure detecting element is returned, and the CPU 16 and the memory 1 are connected via the data bus 19.
7 will be used.

FIG. 38 shows a reference cylinder (a cylinder may be used, but the shape must not easily change due to the force received from the pressure detection sheet when inserted into the pressure detection sheet) used in the initial learning. In this example, three cylinders α, β, and γ having different radii are prepared, and the radius “r_α” of the cylinder α is the smallest diameter among the three, and the next cylinder β The radius “r_β” is larger than the radius of the column α, and the radius “r_γ” of the column γ is the largest.

Each of these reference cylinders is inserted into a pressure detecting sheet 12 (in the figure, it has a truncated cone shape), and the numerical relationship between the pressure distribution and the shape (radius of the reference cylinder) is calibrated. Acquisition by option. In other words, it is clear that the larger the diameter of the reference cylinder is, the greater the pressure when this is inserted into the cylindrical pressure detection sheet (the higher the surface pressure), and the pressure detection information at that time (correctly). Can obtain, as numerical information, the correspondence between the shape and the data group obtained by each pressure detecting element.

In this example, three reference cylinders are used for the sake of simplicity. Therefore, although the number of points for determining the free curve is small, it is necessary to prepare many reference cylinders having different radii. Alternatively, by providing a mechanism for continuously changing the radius of one reference cylinder (for example, attaching an artificial muscle using pneumatic or electromagnetic mechanisms to the reference cylinder), data necessary for interpolation can be obtained. Needless to say, the number can be secured. Regarding the shape of the reference cylinder, a quadratic prism, a polygonal prism, or the like may be used in addition to the cylinder.

FIG. 39 is a flowchart showing an example of the procedure of the initial learning. First, in step S1, one of the reference cylinders (or a reference cylinder, a prism, or the like) is selected and used for detecting a cylindrical pressure. Insert into sheet 12.

In the next step S2, each pressure detecting element in the pressure detecting sheet is connected to the matrix selecting circuit 15 described above.
To obtain pressure detection information based on the above information and store it in a memory (RAM).

In this case, in order to cope with the inconvenience that the amount of data increases due to the enormous number of pressure detecting elements, the above-mentioned “numerical model of the mechanical structure related to the human body” is used. By selecting the minimum necessary number of pressure detection points by utilizing the above, the data amount can be significantly reduced. In other words, in order to reduce the amount of data, it is conceivable to reduce the number of pressure detecting elements to a necessary minimum in advance. This makes it impossible to select a pressure detection point at an appropriate position.

In the next step S3, it is determined whether or not the operation of obtaining the pressure distribution data by inserting the prepared reference cylinders and the like into a cylindrical pressure detection sheet has been completed. Proceeds to step S1, but otherwise returns to step S1.

In step S4, an approximation process is performed using a free curve, a quadratic curve, or the like in order to obtain a functional relationship between the shape S and the pressure P for each pressure detection point. For example, free curves include Lagrange's interpolation curve, Ferguson curve,
Spline interpolation curve, Bezier polynomial curve, B (Bezier)
-A spline curve or the like, and it is preferable to use properly according to the number of interpolation points. Note that the interpolation processing may follow a known method, and a description thereof will be omitted.

In the next step S5, the initial learning is completed by registering the functional relation obtained in the previous step as data in the ROM in one time, but the EPROM (erasable programmable ROM) or the EEPROM (electrically erasable) is completed. By using a writable ROM) or the like, it is possible to easily cope with the subsequent data correction.
As described above, it is a matter of course that the data may be filed and stored in the auxiliary storage (or external storage) device.

FIG. 40 is a flow chart showing the procedure for recognizing the shape from the pressure distribution information obtained when the pressure detecting sheet is wound around the object.
At 1, the target is inserted into a cylindrical pressure detection sheet. For example, a pressure detection sheet is wrapped around the subject's arm.

In the next step S2, after pressure detection points are selected, pressure detection information is obtained by the pressure detection elements corresponding to each point, and in the next step S3, the obtained information is compared with ROM data.

In the next step S4, the shape data corresponding to the acquired pressure detection information is obtained from the ROM data. However, since the data that matches exactly is not always stored in the ROM, the ROM data close to the pressure detection information is obtained. Is calculated and the expected shape data is calculated based on this. In order to specify the shape from the pressure information, it is important to have a large number of data related to various shapes and to store the data in a database in order to determine whether recognition is possible and the accuracy.

In recognizing the surface shape of a human body using the pressure detecting sheet (pressure detecting means), it is important to determine the joints. It is preferable to adopt a configuration in which a range in which the change is large is recognized as a joint by the shape recognition means, and configuration data of a wire frame model as a shape model is output.

FIGS. 41 to 44 illustrate the shape recognition of the upper limb as an example.

FIG. 41 is a flow chart showing an example of the procedure of shape recognition. It is assumed that the above-described initial learning has been completed at the start time.

First, in step S1, pressure information at each detection point is obtained with the pressure detection sheet wound around the entire upper limb surface.

In the next step S2, the subject is asked to perform a certain operation, and the operation is performed stably. For this purpose, as shown in FIG. 42, a visual display device such as a head mounted display (HMD) is attached to the subject, and the movement of the upper limb to be imitated is projected on the device. In other words, as shown in the screen W in the figure, the target person has the image RH indicating the actual hand is the virtual image VH of the operation to be imitated.
It imitates the movement by making his / her hand follow a virtual hand so as to overlap.

In step S3, a region in which a pressure equal to or higher than a predetermined reference value is detected is selected from each pressure detection point, and then, in step S4, a joint discrimination process is performed. That is, as shown in FIG. 43, the wrist, elbow,
Because the change in pressure due to pairing at the shoulder is large,
The joint can be recognized from the pressure information at the detection point corresponding to this portion. In the drawing, positions indicated by circles of “+” conceptually indicate joints, and a range indicated by an arrow “Ra” indicates a remarkable range of pressure change at the wrist,
The range indicated by the arrow “Rb” indicates the remarkable pressure change range at the elbow, and the range indicated by the arrow “Rc” indicates the remarkable pressure change range at the shoulder.

In the next step S5, a bone wire model (a skeleton structure expressed as a wire frame model) is created by obtaining the length between the joints from the recognition result of each joint, and shape data is obtained. The recognition result of the upper limb shape can be output as, for example, polygon data. Although the description is omitted, it is needless to say that the same method can be followed for other parts such as legs.

In recognizing the joint angle, when recognizing the joint as described above, a point or a range in which a pressure change is newly added to the paired operation is searched for, and the pressure detection information at the point or the range is searched. It is preferable to determine the joint angle. In other words, as described above, the surface around the joint is a place where the pressure change accompanying the pair's movement is remarkable,
This is because as the bending angle of the joint increases, the pressure gradually increases as compared with other places.

In recognizing the pair position, FIG.
It is preferable to search for a detection point that satisfies several pressure change patterns shown in (1) and find a position from the pressure change. In the graphs shown in FIGS. 44A to 44C, the horizontal axis represents time t (the starting point of the constant operation described in step S2 in FIG. 41 is defined as the starting point of the time axis), and the vertical axis is detected. FIG. 3 schematically shows a temporal change of the pressure P. FIG.

FIG. 44 (a) shows how the pressure P rises with a substantially constant slope from the start of the operation as shown by the graph line g, and FIG. 44 (b) shows the graph line g1. As shown in Fig. 7, after the pressure at a certain detection point rises first and saturates, the pressure at another detection point rises and saturates as shown by a graph line g2.

In FIG. 44 (c), as shown by the graph lines gi (i = 1, 2,...) Showing the pressures at a plurality of detection points, the pressures rise one after another with a certain delay time. You can see how it saturates afterwards.

By capturing a place where a pattern characteristic of such a temporal change in pressure is recognized, it is possible to recognize an even-numbered position, which is useful, for example, for recognition of a hand, finger, elbow, shoulder and the like. .

When recognizing the joint whose shape changes due to the twisting operation by the shape recognizing means, it is necessary to obtain the joint angle from the pressure change caused by the twist in the sheet-like base material constituting the pressure detecting means. preferable. For example, the shape change can be recognized by capturing the torsion of the muscle in the rotation of the neck and waist, the pronation / supination of the forearm, and the like.

[0257] Regarding the recognition of wrinkles formed when the pressure detection sheet separates from the body surface due to the twisting of the skin surface, etc., a rapid pressure change is continuously detected over two or more detection points. It can be processed by regarding a place where the image has occurred as a wrinkle. However, when the shape data is created as, for example, polygon data, the shape becomes complicated due to including a large number of wrinkle data, and the data amount is inevitably increased. When it is desired to obtain only the surface shape data, a joining process for polygon data is used. This is a standard process used when compressing data by simplifying the polygon mesh and thinning out points and lines, taking into account the importance of the edge and how much it contributes to the shape characteristics Various methods are known, such as the method described above, a method of using the volume change after edge removal or the sum of the distances between the new vertex set after edge removal and the vertex of the original triangular patch as an evaluation amount.

The above-described shape recognition method is effective for obtaining shape data of the skin surface of a human body, and at this time, an imaging means for image recognition is not required. It is also useful when acquiring the external shape data of the described subject. That is, when the subject wears an effector in which the electrode portion and the pressure detecting portion are formed in a multilayer structure on a sheet-like base material, at that time, the shape data of the skin surface obtained by the pressure detecting portion is acquired. By recognizing the external shape of the target person as described above, the body shape of the target person can be specified as described above, and a database showing the muscle arrangement can be created.

Next, the construction of a database using the information on the above-mentioned item (II), bone section, muscle and fat section, will be described.

So far, the method of acquiring data relating to the external shape and surface state of the object has been described with an interest.
Helical CT (Computer Tomograph)
y) and helical MRI (Magnetic Reson)
If image information obtained by tomographic plane imaging means, such as an imaging method, can be used, it is preferable to actively utilize the image information.

That is, after the subject takes a reference posture (for example, a basic standing posture or the like) or the target portion is fixed on the imaging table with a cast, the bone cross section obtained by helical CT and the helical MRI In addition to acquiring the image information of the muscle and fat cross-section obtained in the above, a database of a static human body structure related to the subject is constructed by stacking a large number of image data having different cross-sectional positions and forming a database. Then, while operating the joint, image data obtained by photographing the pair along the time axis is acquired, and a dynamic database including the passage of time is created by creating a static database relating to the pair's shape for each angle of the joint. Build a human body structure database. If this database is used to create a database showing the muscle arrangement of the subject, a more precise model that includes the internal structure and density distribution of bones, muscles, tendons, etc., in addition to the external shape of the subject (or the target site) Can be obtained.

FIGS. 45 to 47 are flow charts showing an example of such a procedure.

First, in step S1 of FIG. 45, a pair to be photographed is selected, and in the next step S2, the target part is fixed on the imaging table by casting in consideration of the state of the pair.
Here, the “state” means a state in which a change in the joint angle is considered for muscles that affect paired movement. For example, when it comes to the forearm,
The state of the target portion is set so that tomography in pronation / supination movements can be performed in consideration of movements such as squat flexion, radius flexion, and palm flexion. At this time, care is taken so that photographing can be performed in a state where the muscles are tensioned and a state where the muscles are not tensioned.

In the next step S3, after setting the number of times of imaging in the longitudinal direction of the target part, the flow advances to step S4 to perform imaging of bones by helical CT and imaging of bones and muscles by helical MRI. That is, the outline of the bone can be identified using helical CT, and the outline of the muscle can be identified from the imaging data obtained by helical MRI using the lubricating film between the muscles. In the latter case (strain identification in the cross section of the tomography), a method of automatically identifying by image processing using the color difference between the lubricating film and the muscle, and a manual or semi-manual method using image processing software (For example, there is a method of identification by a partial auto-trace function related to contour extraction), but in any case, it is possible to distinguish each muscle. In addition, for the identification of fat, a known method has been established which utilizes the fact that there is a difference in resonance frequency between water protons (protons) and fat protons.

In the next step S5, a region where a difference in brightness (brightness difference between a white portion and a black portion) is detected in the image information obtained by the helical CT is detected. That is, since the outline of the bone is white and its surroundings are black, the area of the bone can be identified by extracting the outline of a portion where the contrast between black and white is large.

In step S6, a white area is extracted from the image information obtained by the helical MRI, and then the next step S6 is performed.
In step 7, data in which the bone region has been deleted by the difference calculation of the data obtained in steps S5 and S6 is obtained.

In step S8 in FIG. 46, muscle data (including contour shape information) is extracted from the white area (the bone area has been removed in the previous step) in the image information obtained by helical MRI. Then, assign the name of the line to this. At that time, a method of manually assigning a name to each extracted region and a method of automatically or semi-automatically using the model of the human body structure (such as display of candidate names and presentation of options) are used to name muscles. There is a way.

In the next step S9, after measuring and acquiring the lengths of the contour lines obtained from the contour data of the bones and muscles, respectively, the process proceeds to step S10, where all the photographing operations in the longitudinal direction of the target part are performed. It is determined whether the process has been completed. Then, the process proceeds to step S11 at the time of termination, but returns to step S4 of FIG.

In step S11, after selecting an object from the bones and muscles obtained in the process up to the previous step,
In the next step S12, the ratio of each contour obtained in step S9 is calculated for the image information at each tomographic section. That is, based on the length of the contour line of the bone on a certain tomographic plane, a ratio is calculated for the length of the contour line length of the bone on another tomographic plane.

For example, as shown in FIG. 48, the contour of each tomographic plane “Sn” (n = 0, 1,...) Has a crescent shape, and the length of the contour is "L
gn "(n = 0, 1,...)
0 = 30, lg1 = 40, lg2 = 50, lg3 = 4
0, lg4 = 30 (length unit is omitted).
Therefore, on the basis of lg0 = 30, this is referred to as “10
It is possible to obtain the ratio of each length as "0".

In the next step S12, polygon points (contour data at this point are planar data) are set for contours in each cross section in accordance with the ratio data (precisely, data group) obtained in the previous step. However, as will be described later, this point is used as a main vertex of the polygon when it is three-dimensionally generated to generate polygon data. In this sense, this point is called a "main polygon point".) (This is referred to as “X0” lines).
For example, the number of points increases as the contour length increases.

In the example shown in FIG. 48, each contour line length "lg
n ”(n = 0, 1,...) is represented by“ X
0_n "(n = 0, 1,...), X0_0
= 30, X0_1 = 40, X0_2 = 50, X0_3 =
40, X0_4 = 30 (for convenience of explanation, l
The ratio of X0_n to gn was “1: 1”. ).

In step S13, a pointed portion (sharp portion) in each section is identified, and the point (the number is set to "X1") is extracted and registered as a main polygon point.

For example, in the crescent shape as shown in FIG. 49, there are acute portions at both ends,
“P0” and “MMP1” are registered as the main polygon points, and X1 in this case is two.

Then, in step S14 of FIG. 46, the center of gravity of the portion (plane) surrounded by the contour is calculated. For example, when a reference point “O” is set for a figure surrounded by a spline curve Sp as shown in FIG.
A large number of triangles (Tr
See 0 to Trn-1. ), The surface centroid (point G) can be obtained by combining the position vectors of the centroids (G0 to Gn-1) of each triangle.

In step S15 in FIG. 47, the contour is divided at equal angles around the center of gravity G obtained in the previous step.
That is, if the number of divisions is “N”, “N = X0−X1”
Then, “360 ° / N” straight lines (radial half lines) are drawn from the center of gravity G, the intersection of these with the contour (or its spline curve) is obtained, and the intersection is additionally registered as a main polygon point. .

FIG. 51 shows dividing lines Ln_0 to Ln_n-1 when the spline curve Sp (contour line) is divided into N equal parts (conformal division) around the point G, and intersections Q0 to Qn- of these and the contour line. 1 is shown.

In the case of FIG. 49, the surface centroid G calculated for the crescent shape (for example, the shape on the tomographic plane S0)
And "N = X0_0-X1 = 30-2" passing through the center of gravity G
= 28 "dividing lines (center lines) Li (i = 2, 3,...)
, 29), the figure is divided (see FIG. 2B), and the intersection point “MMPi” (i = 2, 3,...) Between each division line Li and the outline (Sp) of the figure is determined. These are calculated and registered as main polygon points.

As described above, in the division number N, X0 to X1
The reason for subtracting is that the points set in the X1 sharp parts are registered in advance as main polygon points, so that the number is reduced from X0 (the number of assignments) to make the number of division lines constant. (By doing so, the ratio of the number of assignments for each fault plane “X
0_n / X0_0 ”(n = 1, 2,...) Can be set so as not to be distorted. ).

As described above, in creating three-dimensional shape data from the contours of bones or muscles in each cross section, after calculating the surface centroid of the inner region of the contour, the angle intervals from the surface centroids are equal. When the intersections between the group of straight lines extending radially and the contour line are obtained by using the intersections and these intersections are used as the reference points of the three-dimensional shape data, step S1 in FIG.
Since points having more detailed information contents can be added to the points temporarily set in step 3, the degree of approximation to the outline can be increased. That is,
However, it is preferable to reduce the load of data processing by selecting the positions of points accurately rather than performing higher-order approximation by increasing the number of points in a dark cloud. The data processing is easier if the polygon points are set so as to have an equal angular interval as shown by the points Q1 to Qn, rather than the angular intervals of line segments connecting the polygon points and the polygon points are not equal. From.)

It is preferable to increase the number “N” of the dividing lines in proportion to the size of the area from the viewpoint of high accuracy. However, in the above description, in the determination of N, the polygon vertex is used instead of the area. The processing time is reduced by substituting the number (X0-X1).

In step S18 of FIG. 47, it is determined whether or not there is a large difference in the distance between the main polygon points (whether or not the ratio of the distance between the points or the average value or the variance thereof is greater than or equal to a reference value). If the difference is large, the process proceeds to step S19.
If the difference is within the allowable range, the process proceeds to step S20.

In step S19, in order to correct the distance difference between the main polygon points, an auxiliary polygon point (hereinafter, referred to as "a") is inserted between the main polygon point where the difference is a problem and a main polygon point adjacent thereto. Sub-polygon points "). If a certain main polygon point overlaps another main polygon point, or if the distance between the two points is smaller than the distance between adjacent subpolygon points, the main polygon point registered first has priority (N = X0). Assuming that N = X0 instead of -X1, overlapping points or points with narrow intervals are skipped and a dividing line is arranged.)

Then, in the next step S20, it is determined whether or not all of the series of processes from steps S2 to S19 has been completed. If so, the process proceeds to the next step S21, and if not completed, returns to step S2 in FIG. .

In step S21, three-dimensional shape data (polygon data) is generated based on the main polygon points and the sub-polygon points, and the shape data is specified by names of bones, muscles, and the like represented by these. Generate a database with.

When the movement of the muscle is represented by polygon data (dynamic representation of the shape), a spline curve passing through the surface centroid (group of centroids) at each tomographic plane is defined as a center line, and the center line is defined. If the polygon data of the streaks is changed over time in accordance with the shape of the line (by the positional change of the polygon points), the shape of the streaks can be predicted.

[0287] The change in skin can be expressed by defining a spline curve passing through the center of the even face. However, the skin may be in a no-load state at the time of helical CT or MRI imaging. For this purpose, it is preferable to perform the complementing process in consideration of the surface shape at the time of pressure detection. For this purpose, for example, the following procedure is performed.

(1) Create a model in which a skin model is added to the model of the subject's skeleton and muscles. (2) Obtain the shape data of the skin surface by detecting the surface pressure. (3) If the polygon data based on the skin model and the polygon data of the surface shape based on the pressure detection do not match within an allowable error range, either of them is viewed from the center of the polygon. It is determined whether the data is far from the center (for example, the center of the pair is defined as a reference point “O”, and a point (polygon point) at which a half-line passing through the reference point intersects a polygon figure based on the skin model is “PP1”. When the point at which the half line intersects the polygonal figure of the surface shape based on the pressure detection is “PP2”, the length of the line segment “OPP1” and the line segment (4) When the polygon data based on the skin model and the polygon data of the surface shape based on the pressure detection do not match within the range of the allowable error, the two-dimensional spread of the two. Are relatively compressed or decompressed with respect to the ratio (that is, the length of the line segment “OPP1” and the line segment “OPP1”).
The compression ratio (or expansion ratio) is obtained by calculating the ratio to the length of “2” for an arbitrary point. (5) Based on the ratio obtained in (4), the expansion and contraction processing is performed so that the sizes of the data of both models are almost the same, and the reference center (paired even) of the image created from helical CT or MRI is performed. Compression or decompression processing (center, etc.) (change of image size, not data compression or decompression).

In naming bones, muscles, and skin, the center line is determined from the data on the arrangement of bones, muscles, and the like obtained from the above-described model of the human body structure, and the polygon data obtained in step S21 in FIG. It is preferable to specify the name related to the polygon data by checking the inclusion relationship of whether or not the polygon data is included in the area specified by (i.e., the estimated area of bone or muscle), thereby automatically or semi-automatically identifying Processing becomes possible.

It is to be noted that the number of times of shooting and the amount of data to be processed can be reduced by partially shooting the inside of the pair in the shooting in step S4 of FIG.

When the quantitative ratio of the red and white streaks is determined from the color information of the streak distribution in the image information in step S8 of FIG. 46 (corresponding to the area ratio of each streak on the tomographic plane, the red and white streaks are determined). The distinction can be easily distinguished from the difference in color by image processing (by applying a color filter). The reaction speed and endurance of the subject can be estimated from the ratio of red and white muscles (red muscle ratio When there are many, the endurance is excellent, and when the ratio of white streaks is large, the instantaneous power is excellent.)

Next, the description will proceed to the low frequency electric stimulation method and the interference wave electric stimulation method (III).

First, the low frequency electrical stimulation method will be described.

The basic elements (stimulation conditions) in the low-frequency electrical stimulation method are as shown below (various quantities are shown in FIG. 5).
2).

I) Current intensity (intensity I) ii) Stimulation pulse duration (pulse width Tw) iii) Stimulation pulse polarity and waveform iv) Stimulation frequency v) Stimulation time and rest time (Ts) vi) Electrode Arrangement vii) The firing and mobilization of motor units by electrical stimulation.

Regarding i), when exciting nerves and muscles, a certain level of current intensity and electrical energy are required to cause a potential change in the cell membrane.
It should be noted that the stronger the intensity, the higher the stimulating effect, but the more discomfort and pain will be.
A (mA) or less, for example, 20 mA to 30 mA
The degree is a guideline (the output current is 20 mA as the upper limit for medical devices). In addition, the duration of i) and i
Stimulation intensity (or muscle contraction force) depending on the frequency of v)
It should be noted that changes occur.

If the (time) average value of the stimulation current is not zero, a polarization phenomenon occurs between the electrode and the living body, which changes the electrochemical composition, which is not preferable. For this purpose, a DC component is cut using a capacitor (capacitor), an insulating transformer, or the like.

Regarding the duration of ii), how to define the duration of the stimulation pulse for exciting nerves and muscles by supplying a certain amount of electrical energy becomes a problem. That is, the energy amount of the stimulus waveform is determined based on the product of the stimulus intensity I and the pulse width Tw. Generally, as the pulse width increases, the degree of muscle contraction increases, but on the contrary, pain is induced. So that
A pulse width on the order of about 0.2-0.3 milliseconds is used.

It is known that there is a certain relationship between the stimulus intensity and the pulse width (a so-called intensity-time curve). When the stimulus intensity is weak, a long pulse width is required. Conversely, when the stimulus intensity is high, muscle contraction is performed with a short pulse width. No matter how long the pulse width is, the strength of the current when contraction does not occur below a certain current value is called the "base current", and the pulse width at twice the current value of the base current It is called the value (chronaxie).

A pulse voltage (or current) having a short duration is used for electrical stimulation applied to nerves and muscles. For example, a modulation method for a stimulation pulse train for controlling the amount of muscle contraction includes amplitude modulation. (AM), pulse width modulation (PWM), and frequency modulation (FM).

Regarding the polarity of the above iii), the stimulating electrode is set to the cathode, and the indifferent electrode (the electrode that does not feel stimulation when electric stimulation is applied) is set to the anode. This is because the muscle is highly excitable when the stimulation current for inducing muscle contraction is under the cathode, and a negative pulse is often used (for example, in the case of a negative square wave, pain due to stimulation or It reduces discomfort as much as possible and provides smooth and powerful muscle contraction with less muscle fatigue.)

Further, in order to excite nerves and muscles, a steep current change of a certain level or more is required together with the amount of electric energy, and the slope (or the slope angle) at the rising edge of the waveform needs to be large to some extent. . That is, if the current intensity is increased very slowly even with a large amount of current, it does not become a stimulus due to adaptation. still,
This "slope" (the angle of rise of the stimulation pulse,
See “θ” in FIG. ) Is related to the stimulus waveform (90 ° in an ideal rectangular wave), and the waveform includes a negative rectangular wave, a corrected single-phase exponential increase / decrease wave, and the like.

Regarding the frequency of iv), “low frequency”
Although there is no clear definition because there are various ideas on what range of frequency is to be set, a range of 200 Hz or less or 100 Hz or less is a guide. It should be noted that a single electrical stimulus does not cause twitch but only a single contraction of the muscle.
In other words, a stimulus frequency equal to or higher than a certain value is required to induce tonicity, which is normally about 15 Hz or more (15H).
Muscle tremor appears when stimulated at low frequencies below z. ).
Also, the contraction force increases as the stimulation frequency approaches the muscle response band frequency.

The ratio between the stimulation time and the pause time in v) becomes a problem, and it is necessary to consider muscle fatigue when determining the duty cycle (or duty ratio). In other words, if the stimulation time is too long, muscle fatigue easily occurs. Therefore, depending on the stimulation intensity and frequency, a pause of 1: 1 or more is generally required for the stimulation time. . If the muscle endurance is to be increased, the pause time is set shorter than the reference value, and if the maximum muscle strength is to be increased, a stimulating condition for inducing strong muscle contraction while securing a sufficient pause time is set. Consideration such as is necessary.

[0305] The electrode arrangement in vi) above is preferably determined in consideration of the most responsive site (so-called motor point) when applying electrical stimulation to induce muscle contraction. That is, after recognizing the shape and movement of the target part by the shape recognizing unit 1c, the muscle arrangement is specified and the stimulation area for the muscle is determined so as to include the movement point. The movement point is a portion where the nerve enters the muscle, and the place is considered to be near the neuromuscular junction.

When the nerve trunk is shallow under the skin, the site responds well. Therefore, regarding the electrode arrangement and shape for applying stimulation to this moving point, the energization method is monopolar. It is preferable to define the method separately for the method, the bipolar method, and the group stimulation method.

In other words, in the unipolar method, a large indifferent electrode is
Stimulation is performed by placing a small stimulating electrode (seki electrode) on the exercise point, away from the target muscle, in a region with few muscles. For example, in the above-described effector, an indifferent electrode having a large occupied area may be constituted by a large number of electrodes, and an indifferent electrode having a small occupied area may be constituted by a small number of electrodes.

In the bipolar method, stimulation is performed by placing the moving point between electrodes having the same size and relatively large electrodes, or by placing the cathode at the moving point. In the above-described effector, the stimulation area can be easily set by selecting the number and position of the electrodes to be used.

In the group stimulation method, an electrode arrangement is used so as to contract a certain muscle group.

When a plurality of pairs of electrodes are provided at a target site in the case of low-frequency electrical stimulation, the conduction prediction lines (stimulation current path prediction lines) between the electrodes of each pair do not cross each other. It is desirable to set the electrode arrangement in the following manner. This is because there is a possibility that a strong interference wave stimulus may be applied to the streaks where the predicted conduction line intersects, and it is necessary to avoid such a situation. In calculating and determining the expected conduction line between the electrodes, the resistance component of the adjacent electrode in the electrode group is detected, and the data of the internal structure of the target portion obtained from the tomographic plane information described above is applied to the material of each part. It can be calculated by setting a corresponding resistivity (or specific resistance). For example, when the electrodes 2, 2,... Are arranged in a lattice as described above, when a certain electrode is selected as a center, eight adjacent electrodes exist around the electrode. By selecting one of the electrodes and the center electrode and applying a constant weak voltage, the resistance value between the two can be known. By performing such detection on another electrode in the same manner, the resistance value distribution on the surface can be obtained. You can know. Further, regarding the resistance distribution relating to the internal structure, a known resistivity relating to each component (bone, muscle, tendon, fat, etc.) is set for each part based on the result of the above-described tomographic plane analysis, and then a finite element is set. It can be obtained using a known method such as a method (a predicted conduction line is calculated as a path passing through a place having the lowest resistance between the two electrodes when a paired electrode is specified).

Regarding the above vii), in normal voluntary muscle contraction, the motor unit fired with an increase in load is changed from the slow muscle (type I) muscle fiber, which is controlled by thinner nerve fibers, to the thicker nerve fiber and its control. Fast muscles (type
eII) Participate as firing of muscle fibers (this is referred to as "S
It is called "size principal". ).

[0312] However, in the case of electrical stimulation, conversely, when the stimulation intensity is increased, the muscles are stimulated from thicker nerve fibers, so that muscle fatigue appears early. , Setting of appropriate stimulation conditions) is required.

Also, in the case of electrical stimulation, stimulation is performed from thick nerve fibers (namely, motor nerve fibers), and thinner sensory nerve fibers are subsequently stimulated. Within this range, it is possible to stimulate the motor nerves and obtain muscle contraction without causing pain due to superficial sensory nerve stimulation.

Next, the electric interference wave stimulation method will be described.

In this method, a low-frequency current (beat current) corresponding to a frequency difference is generated by using a medium-frequency current (for example, 4000 Hz and 3900 Hz) that can neglect the skin resistance. This method has the advantage of supplying a sufficient amount of electric stimulation energy to a target site because the method is a method of generating low frequency in a part of a human internal tissue with low power loss (low frequency current is directly applied to the skin). When flowing, most of the electrical energy is consumed by the electrical resistance of the skin, making it difficult to supply sufficient energy to the internal tissues.) In addition, interference wave electrical stimulation is desirable for lining muscles (eg, finger extensors, etc.) in which muscle contraction cannot be visually recognized from the skin surface.

Basic Elements of Interference Electric Stimulation (Stimulation Conditions)
Is as follows.

I) Stimulation frequency difference (interference frequency) ii) Energy amount of beat current.

[0318] Stimulation conditions suitable for muscle stimulation include, for example, when a three-dimensional conductor wave (tripolar interference wave) is used as a pulse waveform, the output current is 100 mA or less, the carrier frequency is 5000 Hz, and the interference frequency is 0.5 to 200 Hz. It is about. Stimulation conditions suitable for skin stimulation include, for example, when the pulse waveform is a negative rectangular wave,
0 mA or less, carrier frequency 4000-4150H
z, the interference frequency is 150 Hz or less.

In setting the electrodes to be used in the effector, there is a method of experimentally examining the state of interference wave stimulation.
Interference wave simulator (a device that simulates interference waves at multiple points of motion by determining different propagation coefficients for human bones and muscles using an electromagnetic field simulator used in the design of mobile phone antennas, etc.) )
It is preferable to use

At this time, by setting an attenuation rate (σ) for each material such as bones, muscles, fats, and tendons, and setting an electrode at a place on the skin surface where energy loss to each part is small, energy Efficient in consumption. That is, when information on the internal tissue (i.e., bones, muscles, etc.) is obtained from the tomographic plane information of the target site by the above-described method, the attenuation of the three-dimensional shape data (polygon data) for each material is obtained. The interference wave simulation can be performed by setting the ratio.

FIG. 53 shows an arbitrary point Sa (S
ax, Say) and the inner point P of the part XP such as a bone or a muscle are separated by a distance “r”, and the energy loss “L” when the wave attenuation rate “σ” is given to the part XP Is the point Sa
Is represented as a function L (Sax, Say) of the position coordinates (in the figure, simply referred to as “L (Sa)”). That is, by detecting a place having a small function value for the inner point P by simulation, an electrode located at the place or an electrode at a place closest to the place can be set as an electrode to be used. When the electrode to be used is determined, the inner point P of the target part at that time becomes an interference point. It is desirable to set this point for each joint drive angle, and it is also desirable to set a dense muscle such as a finger muscle group. As for the arrangement, it is desirable to set the interference points at different positions in the longitudinal direction of the pair (to prevent the interference points from being concentrated in a narrow area).

Further, if the material density or the mass density (ρ) is set for each material for each part XP and the electrode is set at a place where the phase shift of the wave to each part on the skin surface is small, interference An effective place for wave stimulation can be selected. The material density (ρ) can be determined from the mass density (mass per unit volume) according to the material.

In order to obtain an ideal interference wave at the inner point P of the part XP, it is preferable to further perform the following procedures (1) to (4) for setting the electrode position.

(1) Set the reflectance (α) and the refractive index (β) of the wave for each material for bone, muscle, fat, and tendon. (2) For the bone, muscle, fat, and tendon, As described above, a plurality of electrodes are selected from the electrode candidates at the location of the minimum energy loss and the location of the minimum phase shift based on the attenuation rate (σ) and the material density (ρ) set respectively (see FIG. 54). Surface S
The three electrode candidate positions are “Sa1”, “Sa2”, and “S
a3 ". (3) By simulating in a plane the waveform that is reflected or refracted by the part XP with respect to the temporal transition of the carrier wave from the electrode position selected in (2) toward the inner point P of the target part XP, the plane can be simulated. Find the frequency distribution of the interference wave above (4) Until the ideal interference wave at the inner point P is obtained
After repeating the steps (2) and (3), the position of the electrode to be used is finally determined.

In the procedure of the above (2), the selection of the electrode candidate in consideration of the attenuation rate (σ) and the material density (ρ) from the beginning, rather than the selection of the electrode candidates in the initial trial, the attenuation rate (σ) and the material density After selecting electrode candidates without considering (ρ), it is more simulated to set the attenuation rate (σ) and material density (ρ) and select electrode candidates based on this after a certain degree of prospect about the electrode location is obtained. It is preferable for improving efficiency.

It is preferable to configure the apparatus so that the output current value of the electrode thus set can be changed to set the output of the electrical stimulation to the inner point P of the target portion XP (interference). This is to make appropriate output settings for the electrode arrangement in the wave.) In addition, since the muscle placement area sometimes changes significantly due to joint movements (for example, pronation / supination movements of the forearm), a simulation is performed for each joint movement (ie, the dynamic It is preferable to determine the position of the electrode to be used by performing an interference wave simulation that considers the passage of time based on a database of the human body structure. It is difficult to properly set the electrode for the interference wave to the corresponding muscle.) At this time, a database is constructed in which information (including polygon data and the like) indicating the movement state of the pair is associated with information on the ideal stimulation area and the position of the electrode to be used. It is desirable to use the data (for example, to assign a priority to each used electrode or to include, in a database, attribute data for substituting another candidate electrode when a problem occurs in the used electrode). For this purpose, after obtaining a plurality of electrode candidates, the position information thereof is stored in a storage means such as a memory or an auxiliary storage device, and when the electrodes are actually used as electrodes, the position information of the electrode candidates is read out and read. An electrode suitable for the target area of the electrical stimulation is selected from among them.

In the above description, the target of the simulation is the inner point P. However, in the case of electrical stimulation of the inner muscle group,
A method of simulating a surface within a region having a constant (width) frequency band instead of a point, and further expanding the surface to a three-dimensional object (eg, a sphere, a cylinder, a polyhedron, a prism, etc.)
And a simulation is performed on the object, and the processing becomes more complicated as the number of dimensions increases.

In the former method, if a surface is set inside or at the boundary of the target portion XP instead of the point P in FIG. 53 or FIG. 54, the area of a region which stimulates a plurality of muscles at the same time or responds to the electrical stimulation is reduced. An increased interference wave simulation can be realized.

In the surface setting, there are the following cases.

A) Simultaneous stimulation of adjacent muscles b) When muscles not desired to be operated and muscles desired to be operated are mixed.

First, in a), when a target surface is set so that adjacent muscles among a plurality of muscles are simultaneously stimulated, it is possible to simultaneously obtain interference wave simulation results for a specific muscle and a nearby muscle. it can. For example, for simultaneous operation of a plurality of adjacent muscles, electrical stimulation is performed on a wide range of interference regions so that an ideal frequency band region for each center of the adjacent muscles is included in the range of the plurality of muscles. Is preferably performed. When the actual electrical stimulation is applied, the surface set at the time of the simulation of the interference wave is used as the stimulation area, and the electrodes to be used are selected from the electrode candidates suitable for the stimulation area and the electrical stimulation is applied.

[0332] In b), the muscles that the user does not want to operate can be excluded from the stimulation targets by selectively using the interior point P or the surface for the target portion XP for each region. That is, when the muscle to be moved and the muscle to be inoperative intersect, an interference wave simulation is performed by setting a plurality of point-like or planar stimulation areas for these muscles. Is preferred.

When selecting an electrode for electrical stimulation of the inner layer muscle group, when performing an interference wave simulation using a stimulation region having a constant (width) frequency band as a three-dimensional region, that is, the simulation is performed for a three-dimensional region in the target portion XP. When performing, for example, a plurality of surfaces are set to “SPi” (i
= 1, 2,...), “ΣSPi” (Σ is i
Represents the sum of ), A three-dimensional region is determined by an arbitrary point in the boundary surface and an inner region of the boundary surface, and an interference wave simulation result is obtained. Therefore, the region (volume) that responds to electrical stimulation can be larger than that of the surface. Will be possible.

[0334] When the simulation is performed simultaneously for the low-frequency electrical stimulation and the interference-wave electrical stimulation, the simulation processing for the interference area is performed on the assumption of the expected area of the low-frequency stimulation, so that the target area can be simulated. At the same time, it is possible to select an appropriate electrode position for a stimulating region when stimulating by low frequency and interference waves (that is, it is necessary to avoid crossing of the expected conduction line as described above for low frequency electrical stimulation). .).

The amount of calculation required for the above-described interference wave simulation becomes more remarkable as the number of candidate electrodes increases. Therefore, in order to reduce the load on the simulator and improve the processing speed, the following procedure is required. Step on.

(1) Based on the angles of the joints to be driven and the three-dimensional shape data (polygon data of bones, muscles, fats, tendons, etc.) for each joint angle, and the positional relationship of each part based on the data. (2) Actually stimulate electrical stimulation at a used electrode position as a candidate in (1) for a certain joint angle (3) (2) The paired drive amount obtained by the electrical stimulation and the paired drive amount corresponding to the joint angle in (1) are compared to determine whether they match or not. (4) The joint angle is changed (2) and Repeat step (3).

If no coincidence of the driving amounts is found in step (3), information necessary for correcting the difference (for example, a difference in joint angle) is registered as data, or the position of the electrode used is used. It is necessary to perform error compensation by changing the stimulus intensity and the like. That is, when the pair drive does not work as expected, a method of changing the set value of the stimulus output to the electrode, a method of selecting another electrode, and a method of using both of them can be used.

It is also effective to simplify polygon data at the time of simulation. For example, for a muscle, a wire frame model combining the centers of gravity of polygonal tomographic sections may be used (for example, three-dimensional polygon data indicating a muscle shape). Is simplified as wire frame data to create a database.) And various parameters are uniformly defined for each muscle.

When simultaneously operating a plurality of muscles, in addition to the method of simultaneously applying electrical stimulation to these muscles, the muscles to be contracted may be time-divided within a time period during which the muscles do not contract and extend again. There is a method of applying an electric stimulus (a method of setting a point-like, planar, or three-dimensional region as a stimulating region of an interference wave, and applying an electric stimulus to these regions by time division processing). The latter method is also advantageous in preventing low-temperature burns in that electrical stimulation is not continuously applied to the same place on the skin.

When an electrical stimulus is actually given to muscles, an interference wave is generated in the form of a point-like, planar or three-dimensional interference wave region. In the case of operating independently, the interference wave regions are set so as not to interfere with each other due to the overlap (∵ If the regions overlap, there is a possibility that the independent operation of the streaks cannot be guaranteed). In addition, it is not possible to ignore the influence of gravity on the couple or joint, and therefore it is preferable to stimulate the muscle in consideration of the relationship between the position of the joint or couple and the gravity applied to them (for example, joints). When the kinematic pair takes a certain position or posture, the contraction ratio between the extensor and flexor muscles is changed according to how much weight is added to them and at what angle. It is possible to prevent inconvenience such as instability of the even operation due to the influence.)

Next, the description will proceed to (IV) phantom sensation.

In this case, electric stimuli having different frequencies are applied to the skin on the surface from a plurality of electrodes, thereby providing a tactile sensation. That is, it is possible to present a tactile stimulus to a subject by applying the above-described electrical interference stimulation to the skin surface.

At this time, the following presentations are given.

I) Point tactile ii) Line tactile iii) Surface tactile iv) Change from point tactile to surface tactile or vice versa v) Change in stimulation area due to movement of point tactile or line tactile.

First, i) presentation of a point tactile sensation can be realized by expressing the above-mentioned interference wave area as a point (interference point). That is, the inner point P of the target part
By designating the (dot-like area) and applying the interference wave electrical stimulation through the electrode selected in the area, a feeling as if the skin surface was pressed by a sharp object is obtained.

[0347] Further, ii) the line tactile sensation can be realized by expressing the interference wave region as a line (that is, a line connecting a plurality of interference points). In this case, by specifying the linear area and applying the interference wave electrical stimulation through the electrode selected in the area, a feeling as if the skin surface was pressed by the side of the board will be obtained .

Iii) The surface tactile sensation can be realized by expressing the interference wave region as a surface. In this case, a surface region is designated and the interference wave electric stimulation is applied through the electrodes selected in the region. By applying, a feeling of pressure as if the skin surface was pressed by a flat plate or a curved plate can be obtained.

With regard to ii) and iii), if attention is paid to the fact that a line is a set of points and a surface is a set of lines,
By moving a point-like (or linear) interference wave region at high speed (it is necessary to move the region within a short time so as not to be conscious of the movement of the point or line of the subject). ) In a pseudo manner. That is,
Even if it is a point-like area or a linear area, when applying the interference wave electrical stimulation while moving these at high speed, it is possible to feel as if pressed by a line or surface without causing a time lag .

The iv) can be realized by alternately applying the interference electric stimulation to the point-like area and applying the interference electric stimulation to the planar area. That is, the electrical stimulation is applied by changing the interference wave region from point to plane or vice versa. For example, in application to a game machine or the like utilizing virtual reality, in order to realize the feel of impact when an attack is made from an enemy visually appearing in a virtual space, it is necessary to start with a point-like area. , The interference wave electrical stimulation is applied to the planar area while gradually expanding the area, and then the interference wave electrical stimulation is applied so that the area is gradually reduced and returned to the point-like area again. In this case, the stimulation area may be converged from the circle to a point after the circle is expanded from the circle to a point.) To this end, the electrode position and range may be selected.

[0350] Regarding v), the application of the interference wave electrical stimulation to a point-like area or a plane-like area can be realized by moving along a linear or curved locus, which can be realized by a tactile sensation or a line. This is a feeling associated with a change in the stimulation area when the tactile sense is slowly moved. For example, in application to a game machine or the like using virtual reality, a dot or line is used to realize a feeling when a sword is injured by an attack from an enemy visually appearing in a virtual space. The electrical stimulation may be applied to the subject while the electrode position or range is temporally changed by moving the shape of the stimulation area along a line (indicating the locus of the blade tip) along the sword wound.

In the case of simultaneously simulating the interference wave and the phantom sensation, a stimulus region of the interference wave related to a part to which the stimulus is applied by the phantom sensation and a stimulus region of the inner layer muscle by the interference wave are assumed. By performing the calculation processing of the simulation for the interference region, it is possible to select an appropriate electrode position for the stimulation region when simultaneous stimulation is applied to the target site.

Next, the use of (V) electromyogram will be described.

Conventionally, an electrotherapy device using EMG feedback has been known, but muscle tonus (muscle tonus) is known.
tonus: muscle tension = slight resistance felt by the subject when passively stretching a muscle that has not been subjected to force. The essence of the muscle stretching reflex is the central nerve, peripheral nerve (α,
γ-system), complicated control by muscle itself.
The muscle extension reflex refers to a reflex in which, when a muscle is stretched passively, the muscle contracts in response to a movement command from the spinal cord, resulting in a force. )), Together with the ATP (adenosine triphosphate) multi-muscle fiber motion aggregate signal
Since it appears in the MG, it was not possible to make a motion prediction before the muscle motion. In addition, this "movement set signal of multi-muscle fibers" is generated by nerve excitation when a command is transmitted from the central nervous system to the peripheral nerves and accompanying muscle cell contraction by muscle tonus, It fluctuates depending on physique, blood sugar level, and muscle fatigue.

Therefore, the muscle tonus is predicted as follows, and the motion is predicted by learning the relative relationship between the predicted muscle tonus and the surface electromyogram.

FIG. 55 shows an example of a device for acquiring a motion aggregate signal of multi-muscle fibers by ATP. In this case, the target region is the biceps brachii (biarticular muscle), It has a supination action on the forearm.).

The biceps of the biceps has a negative (polar) electrode 20N
And a detection electrode 20D, and a positive (polar) electrode 20P is disposed at the muscle start point. These electrodes receive an electric stimulus signal from an electric stimulus generator (for example, a medical low-frequency therapeutic device or the like) 21. Supplied.

The two-channel FFT (fast Fourier transform) alanizer 22 prepared for frequency analysis of the myoelectric waveform is supplied to the first channel via the amplifier 23 after the supply signal to the positive electrode 20P is branched at the point A. (Channel) FF
It is sent to the T section 22a. Also, a signal extracted from the detection electrode 20D via the amplifier 24 is sent to the FFT unit 22b of the second channel, and the output of each FFT unit is sent to the difference operation processing unit 22c at the subsequent stage, and the output Is digitized and is taken into the computer 25. The computer 25 sends the FFT alanizer 22
Is supplied with a control signal necessary for timing control and the like.

The frequency components of the signal sent from the electric stimulus generator 21 to the positive electrode 20P are analyzed by the FFT units 22a and 22b, which are the original signals of the electric stimulus and do not include the muscle response. Not in.

The frequency component generated by the electrical stimulation of the muscle is transmitted from the detection electrode 20D via the amplifier 24 to the FFT.
The analysis is performed by the unit 22b. That is, the frequency analysis is performed on the response generated by the muscle following the electrical stimulus.

The difference data obtained as a result of the difference calculation by comparing the frequency components for each band in the difference calculation processing unit 22c is the frequency component generated from the muscle by the electrical stimulation by the electrical stimulus generator 21 (the frequency component of the original signal is Excluding). In other words, when the muscle contracts only by the application of the electrical stimulus, the potential information accompanying the contraction of the muscle cell can be obtained without the appearance of the muscle tonus. Therefore, the difference from the EMG data including the contraction of the muscle tonus and the muscle cell can be obtained. Muscle tonus can be predicted by subtracting the data (multi-muscle fiber motion set signal by ATP), and thereby the individual's individual muscle characteristics can be obtained.

FIG. 56 is a graph schematically showing the frequency characteristics after the FFT. The frequency (f) is plotted on the horizontal axis, and the power spectrum is plotted on the vertical axis. .

The graph curve ga in the figure shows the result of FFT analysis including muscle tonus and muscle cell contraction, and the graph curve gb shows the frequency component of muscle cell contraction obtained from the difference data. In other words, the portion obtained by subtracting the component of the graph curve gb from the frequency component indicated by the graph curve ga (see the hatched portion in the figure) represents the muscle tonus component.

As described above, the muscle tonus predicted based on the difference data when the waveform of the electrical stimulus applied to the muscle is variously changed is associated with the information on the surface electromyogram at that time and stored and learned. , The motion can be predicted.

[0364] The procedure described above is summarized as an itemized list as follows.

(1) The analysis result of the frequency component of the electrical stimulation signal to the muscle and the analysis result of the frequency component of the signal containing the frequency component generated from the muscle by the electrical stimulation are obtained and compared. Only the frequency components generated from the muscle by the electrical stimulation (that is, the waveform components associated with the contraction of the muscle cells not due to the muscle tonus) are extracted as the difference data.

(2) A muscle tonus (prediction muscle tonus) predicted from the difference data obtained in (1) and data of actual myoelectric waveform (including muscle tonus) is obtained. That is,
Based on the frequency characteristics by the FFT analysis, data is obtained according to a conceptual diagram of “EMG data (frequency component) − (multiple muscle fiber motion set signal by ATP (frequency component) = predicted muscle tonus (frequency component)”).

(3) Changing the electrical stimulation signal waveform (1)
By repeating the procedure of (2) and (2), the relationship between the predicted muscle tonus and the surface electromyogram waveform data at that time is stored and learned (for example, using a neural network).

(4) When surface myoelectric waveform data for the target site is obtained, the movement of the muscle is predicted from the muscle tonus predicted based on the information acquired in (3). That is,
By knowing the predicted muscle tonus before the muscle actually moves, it becomes possible to predict the movement of the muscle. (Since the data of muscle tonus contains frequency components having different characteristics for each movement, for example, From now on, it is possible to know immediately before that, such as trying to grab a heavy object.)

In FIG. 55, the electrode of the electric stimulus generator 21 is described as an example. However, in the effector described above, the electrode position suitable for the electric stimulus (that is, the position selected by the interference wave simulator) and Myoelectric waveform data can be acquired from electrodes at the same position. That is, in addition to applying electrical stimulation to muscles through the electrodes 2, 2,... Of the effector, these electrodes can be used for acquiring electromyographic information (that is, as an electromyograph). Available.).

FIG. 57 is a conceptual diagram showing an example of a configuration in which the electric stimulation through the electrodes and the acquisition of the myoelectric potential information from the electrodes are performed by time division processing under the switching control in the input / output interface section (input / output selection processing section 1e). (Equivalent circuit for one electrode is shown in the figure).

The signal supplied from the electrical stimulus generator 1b passes through the output buffer 26, and then is sent out from the switching unit 27 (indicated by a switch symbol in the figure) to the electrode unit 1ad. The signal from the electrode unit 1ad through the switching unit 27 is sent to the myoelectric potential information acquisition unit 29 (the FFT
Units 22a and 22b and a difference calculation processing unit 22c. ). The state of the switching unit 27 is defined by a control signal sent from a control unit (not shown). When the output buffer 26 side is selected in the switching unit 27, electrical stimulation is applied to the muscle through the electrodes, and the input buffer 28 side is When selected, the information of the myoelectric waveform is obtained through the electrodes.

As described above, the input / output (I
/ O) is switched so that the application of electrical stimulation and the acquisition of myoelectric potential information through the same electrode can be performed, or the same electrode is not used for both (selected). It is necessary to select different electrodes so that the application of electrical stimulation through the electrodes and the acquisition of myoelectric potential information using the electrodes as detection electrodes are not performed at the same time by the same electrodes).

If the actual operation obtained when the electric stimulus is applied to the muscle through the electrode used in the above-described method and the actual operation differs from the result of the interference wave simulation, the position of the electrode used is changed to another candidate electrode ( It is preferable to select the electrode position that best matches the actual operation by changing to the position of the candidate registered electrode).

The target region is predicted next by using the database for associating the predicted muscle tonus with the surface electromyogram waveform data in the above procedure (4) and the database of the dynamic human body structure described above. It becomes possible to learn information on the motion based on the surface myoelectric waveform data. For example, when this is used, a motion capture device (in a virtual space created by a computer or the like, a human image simulating an operator or an imaginary human image appears in a moving image processing as a real human body that becomes a model of the human being) And an input device for acquiring the shape or movement of a part of the body as data suitable for computer processing.

In addition, when the muscle contraction occurs without the pair even moving (static contraction), such as when pushing the wall by hand, the electromyogram is also used for acquiring the work amount of the muscle and the operation speed of the pair. It is preferable to use, for example, to have the subject wear a visual display device such as a head-mounted display, and then imitate the operation projected on the device, or temporarily fix the joint with a brace or keep it constant. Acquire data on myoelectric patterns while applying a load.

Next, (VI) prevention of low-temperature burn and adjustment of stimulus output will be described.

In order to prevent low-temperature burns due to insulation contact resistance, the following method can be used.

A) A method of changing the electrode used by limiting the use time so that the same electrode is not used for applying the electrical stimulus for a certain period of time or more b) The insulation resistance of the skin surface If is greater than or equal to a predetermined threshold, use of the electrode is prohibited.

First, the method of changing the electrodes to be used in a) is a method by changing the arrangement pattern of the electrodes, or a method of limiting the duration of energizing time to each electrode by time-division processing (for example, a method of simultaneously using adjacent electrode groups). If the electrode groups belonging to each group are used according to a time-sharing process so as not to be performed, it is possible to avoid applying a long-time stimulus to the same region of the skin surface.) .

In the case of b), the resistance between the electrode groups used was measured, and when it was found that the resistance was above a certain value (above a predetermined threshold), electric stimulation was forcibly applied. To stop. The use of electrodes is temporarily prohibited (prohibition with a release condition. For example, when the insulation resistance value is measured when the power is turned on again, and when the insulation resistance value is equal to or less than the threshold value, use prohibition is released, etc.) and permanent. Prohibition (prohibition without setting a release condition) is included.

With respect to the electrodes for which use is denied in this manner, an interference wave simulation is performed again by excluding the electrodes, and candidate electrodes are selected to find alternative electrodes to the prohibited electrodes, or the registered electrodes are already registered. It is necessary to select a substitute electrode for the prohibited electrode in consideration of the priority and the like from among the candidate electrodes, whereby a safe use electrode can be guaranteed. In addition, since low-temperature burns are likely to occur when skin resistance increases due to the adhesion of redness or dirt, electrical stimulation can be prohibited when it is detected that the insulation resistance of the skin has exceeded the allowable range. is necessary.

The fat of the human body directly becomes the insulation resistance in the electrical stimulation, which is deeply related to the discomfort caused by the stimulation (that is, the low-temperature burn is caused by Joule heat proportional to the resistance value).

Therefore, it is possible to classify the subjects according to their body fat percentages and perform a subjective evaluation of the stimulus intensity and discomfort in each of the classes in a finite stage (for example, 5 stages including pleasant and uncomfortable). Preferable (∵Because the body fat percentage alone does not provide enough information on how to get fat.) By utilizing this result, it is possible to identify individual differences related to low-temperature burns and adjust the output of electrical stimulation.

FIGS. 58 and 59 are flow charts showing an example of a subjective evaluation method based on fat and stimulation of the human body. In this example, the evaluation target site is the biceps biceps, which is a flexor muscle, and the evaluation of the stimulation intensity is performed by the subject. (For example, with both arms straight forward,
The greater the discomfort, the greater the spacing between the hands with both arms. Therefore, a method of relatively recognizing the degree of discomfort recognized by the subject as to the subject is used for each individual subject (∵Because it is difficult to evaluate discomfort using an absolute index). ).

First, in step S1 of FIG. 58, after the subject wears the above-described effector on the upper arm, a plurality of electrical stimuli (for example, three-stage stimuli A, B, and C) are passed through the effector. Are given individually in S2 in the next step so that the subject can recognize the stimulus A as the minimum, the stimulus B as the middle, and the stimulus C as the maximum stimulus.

[0386] In the next step S3, the degree of discomfort caused by the stimulus C to the subject is expressed by the distance between both arms, and then the process proceeds to step S4 in which the stimuli A, B, and C are randomly (randomly). And given to the subject.
The number of times is set to a predetermined number (for example, about 15 times).

In the next step S5, each stimulus (A, B,
Ask the subject to express how much discomfort C) gives by the distance between his arms. Thereby, the evaluation is made based on a relative value based on the interval between both arms in the case of the stimulus C (for example, the interval in the case of the stimulus C is 100, and the stimulus B is 50
%, Stimulus A is 25%, etc.).

In the next step S6, it is inquired whether or not the random stimulus application for a predetermined number of times has been completed. At the end, the process proceeds to step S7 of FIG. 59, but if not completed, the process returns to step S4.

In step S7, the intensity of the stimulus C is increased by one step from the previous level and applied to the subject, and in the next step S8, the degree of discomfort caused by the stimulus is expressed to the subject by the distance between both arms. get.

Then, in step S9, it is determined whether or not both arms of the subject have opened widely beyond a predetermined interval. If so, the process proceeds to the next step S10, and if not, the process returns to step S7.

In step S10, a remarkable place is specified based on the myoelectric potential information obtained from the electrode group of the effector, and a predetermined number of electrode positions and myoelectric pattern data are obtained from the top.

Thus, the relationship between the stimulus intensity and the discomfort of the subject can be relatively evaluated as personal characteristics.

In determining the maximum applied current (maximum intensity) to the subject's muscle, the subject was required to tension the muscle and the stimulation current was gradually increased, and the current value when the following condition was observed Is multiplied by the safety factor or when the value exceeds the upper limit value of the stimulation current (the maximum current value or the allowable upper limit value), the upper limit value is set.

I) When the joint is dropped by electrical stimulation. Ii) When it feels painful.

As for the relationship between the joint angle and the electrical stimulation, a constant stimulus output may be given to the target muscle, and the output may be set or adjusted according to the joint angle at that time.

When the electrical stimulator according to the present invention is used in the medical field, consideration must be given to aspects different from those described above. For example, with respect to a patient having a weak myoelectric pulse or a waveform different from that of a healthy person, it is not possible to apply electrical stimulation using the model of the human body structure of the subject created in a healthy state as it is.

Therefore, the following procedure is taken.

(1) Obtain surface myoelectric potential information from the electrode section for each joint operation. (2) Information indicating the operation of each muscle for an even-numbered operation when a model of the human body structure of the subject is used. Create a database that associates (normal) myoelectric potential information estimated at the time of operation with myoelectric potential information obtained in (1). (3) Acquires surface myoelectric potential information at various parts of the skin, and Acquire the data showing the change of the surface myoelectric pattern accompanying it and make it into a database. (4) Link the database created in (2) and (3), and obtain the actual myoelectric potential information from the surface myoelectric potential information of the skin at the target site. Is estimated, and the electrical stimulation is adjusted so as to obtain a normal myoelectric waveform and output to the muscle. In other words, the normal myoelectric pulse at this time is obtained by extracting the difference between the pulse and the actual myoelectric pulse and applying this to the muscle as a correction pulse, thereby obtaining the actual myoelectric pulse. Abnormal movements due to muscular dystrophy (for example, abnormal movement due to muscular dystrophy or abnormal muscle tonus)
Can be suppressed.

In setting the stimulus position (or selecting the electrode to be used), three-dimensional data (polygon data, etc.) indicating the muscle arrangement of the subject is created and then manually set (for example, in rehabilitation). This is to clarify the selection of the target muscle and the stimulation position.) For example, the following steps are taken.

(1) Generation of polygon data of target area and image display of polygon (2) One or more stimulus positions are set by manual input while referring to the image display of (1) (3) Stimulus location Is subjected to electrical stimulation. That is, in the case of a point stimulation, an electrical stimulation is applied to the stimulation point (at that time, the stimulation point is temporally changed so that the same place is not stimulated for a long time), and the stimulation area is lined. In the case where a point, a line, or a plane is designated as a stimulus region, the dimension is extended (the number of dimensions is increased by one) by moving the stimulus region in a point, line, or plane (for example, the line is moved by moving the point). , The plane is represented by the movement of the line, and the solid is represented by the movement of the plane.)

[0401]

FIG. 60 to FIG. 65 are views for explaining an embodiment of an electric stimulator according to the present invention. The electric stimulator comprises an I / O processing unit (mechanical unit) 100, an electric stimulus generating unit. 300 and an overall control unit 500.

Each component is as follows (the numbers in parentheses indicate the symbols).

* I / O processing part (100) Electrode part (101) It is composed of a large number of electrode groups arranged and formed on a sheet-like base material (see FIGS. 4 to 8), and generates an electric stimulus described later. Part 3
An electric signal transmitted from 00 through the electrode selection unit 104 is supplied to each electrode.

A pressure and temperature detecting section (102) and an element selecting section (103) are arranged above the electrode section 101 in a sheet-like base material.
A large number of formed detection element portions (see FIGS. 9 to 12).
The selection of pressure and temperature detection elements is performed by matrix processing in the element selection processing unit 103.

Electrode selection unit (104) Regarding the output system, a signal group (for example, “the number of channels” × 2 signals) from the electrical stimulation generation unit 300 is sent to the output selector 104o, where the control signal is output. "Sel
An output signal is supplied to the electrode selected in response to “_o” through the buffer amplifier 104b. The buffer amplifier 104b is configured so that the output current is set by the control signal "Sc". For the input system, a signal from each electrode is sent to the input selector 104i, where the control signal “Sel_
The information selected in response to “i” is the myoelectric detection unit 20 described later.
Sent to 1.

A three-axis position detecting unit (105) is a detecting unit for detecting a reference origin position of the subject, and a coordinate system (a three-dimensional orthogonal coordinate system, a cylindrical coordinate system, or a joint structure) for the subject. Axis coordinate system). The detection method is optical, magnetic,
A gyro sensor system and the like are known.

* Electromyogram detection unit (201) This unit recognizes the myoelectric potential information acquired by the electrode specified by the electrode selection unit 104 by A / D conversion from an analog signal to a digital signal. This detection may be performed at all times, may be performed at a specified timing by a timer interrupt, or may be performed when a detection command is received. Further, as for the data processing form after the A / D conversion, only the number of rises per unit pulse when the threshold value specified for the pulse of the myoelectric waveform is exceeded may be used. Integrated electromyogram (Integrated) time-integrated for conversion
Electromyogram (IEMG), or data obtained by applying a spectrum interchange method after performing FFT processing on the myoelectric waveform.

* Shape Recognition Unit (202) This part receives pressure detection information obtained from the pressure and temperature detection unit 102 via the element selection processing unit 103, and recognizes the surface shape from the pressure distribution information. The processing of the pressure detection information is all performed through matrix processing.

* Individuality Recognition Unit (203) This is a part for recognizing the individuality of the subject based on information from the myoelectricity detection unit 201 and the shape recognition unit 202. The recognition result is sent to the overall control unit 500 described later. In the “recognition of individuality”, a method of discriminating from components of a predetermined band (for example, 200 to 300 Hz) by frequency analysis of electromyogram information, and electromyogram information or shape recognition information obtained for a plurality of pairing operations are used. A method of synthesizing and recognizing difference information between the configuration information and the personal information as individuality (a method in which a speech recognition technique is applied to myoelectric potential information or the like) or the like can be used, but any method may be used.

* Electrical stimulus generation section (300) The low frequency stimulus generation section 301 and the interference wave stimulus generation section 302 are provided according to the required number of channels, and these are placed under the command of the general control section 500 described later. Has been.

* Pair / Even Position Recognition Unit (401) This is a part for recognizing the position information of a pair even based on the information from the triaxial position detection unit 105, the myoelectricity detection unit 201, and the shape recognition unit 202. In other words, the information from the three-axis position detection unit 105 is used as the origin position information, and while the subject performs a specific operation, the relationship between the shape recognition result at each time and the paired movement, the myoelectric potential information during the movement, The position of the pair is recognized based on the relationship such as the movement speed.

* Skeletal muscle arrangement recognition section (402) Based on the information from the even number position recognition section 401, three-dimensional human body shape data from the human body structure model processing section 602 (the arrangement of bones and muscles within the even couple is represented by polygon data. This is a part for recognizing the arrangement of bones and muscles using a modeled model.
It is preferable that the information is displayed on the screen 03 so as to be visually recognized.

* General control section (500) This section controls the main functions of control, and includes the following elements.

[0414] Stimulation selection function processing section (501) This section sends a control signal for selecting the type of electrical stimulation to the electrical stimulation generating section 300. That is, whether to perform low-frequency electrical stimulation or interference-wave electrical stimulation in accordance with the depth from the skin of the muscle at the target site where electrical stimulation is to be performed, and for low frequency, one set of two electrodes is used. An electric stimulus is generated, and for an interference wave, for example, four electrodes are combined to generate an electric stimulus. Note that the analysis results from the interference wave simulator (or a simplified version of the interference wave simulator) are used for the electrical stimulation as described above.

F. S. (Phantom sensation)
Stimulation function processing unit (502) This is a unit that generates a signal pattern such as selection of an electrode and stimulus intensity used when applying a pseudo stimulus to the skin surface. In this case, as described above, an interference wave is generated. used. In addition, in order to perform tactile sensation presentation in accordance with the command information from the later-described force / tactile pattern recognition unit 505, a control output is sent to a later-described electrode change processing unit 507. If the functional electrical stimulation is disturbed by the phantom sensation stimulation, change the arrangement of the electrode patterns used,
It is necessary to quickly adopt another electrode pattern arrangement.

A low-temperature burn prevention processing unit (503) is provided to prevent low-temperature burns due to insulation contact resistance. The pattern of the electrodes used is such that electrical stimulation is not applied using the same electrode over a certain period of time. Is changed in a timely manner, or when the resistance value of the skin surface is equal to or more than a threshold value or when the electrode is in a severely soiled state, use of the electrode is prohibited. Then, a control command for that is transmitted to a used electrode change processing unit 507 described later. As described with reference to FIGS. 58 and 59, the information from the myoelectric detecting unit 201 is referred to (indicated by a broken line in the drawings), and measures to prevent the generation of discomfort to the stimulus may be taken according to individual differences. preferable.

A function processing unit (50) for following a change in muscle arrangement
4) This is a part for performing control for changing the arrangement of the electrodes to be used as the muscle moves. For example, since the movement of the muscle during the pronation / supination operation of the forearm is very large, it is necessary to temporally change the electrode arrangement used in consideration of the muscle movement at that time. Therefore, the information on the muscle arrangement obtained by the skeletal muscle arrangement recognition unit 402, the pairwise driving amount predicted from the myoelectric detection unit 201 (see the motion prediction based on the predicted muscle tonus), and the actual paired position information The driving amount of the pair is recognized in real time based on the change of the pair, and the position of the electrode to be used and the waveform of the electrical stimulation are changed according to the positional relationship between the pair.

A haptic pattern recognition unit (505) is a unit for recognizing what kind of haptic sensation is given to a target part. The control method is haptic feedback control (that is, how much haptic feedback control is applied to the command value). The control is performed so as to recognize whether or not the force tactile sensation is given and to reduce the error obtained from the difference processing between the two to zero. In this case, three-dimensional human body shape data from the human body structure model processing unit 602 described later is used. The recognition result is sent to the phantom sensation stimulus function processing unit 502, the muscle arrangement change following function processing unit 504, and the like.

A selection processing / output setting processing section (506) Selection of an electrode to be used (including selection of an electrode position, use or non-use or inhibition), application of an electric stimulus using the selected electrode, or the electrode concerned Is used to acquire the myoelectric potential information or to set the electrodes to the ground. In addition, output setting for applying an electric stimulus through the selection electrode is performed. The selection processing / output setting processing unit 506
From the control signal Sel_ through the selector unit 512.
o, Sel_i, Sc are sent to various places, but the selector unit 512 is completely selected / output-set processing unit 506.
Is controlled by a used electrode change processing unit 50 described later.
7 is not required (that is,
This means that the instruction is given priority to the selector unit 512. ).

[0420] Used electrode change processing unit (507) This is a unit for changing the used electrode according to various conditions, and its output is sent to the selector unit 512. Note that the output of this processing section acts preferentially on the selector section 512. Further, regarding the command to change the electrode to be used, the phantom sensation function processing unit 502, the low-temperature burn prevention processing unit 503, and the follow-up function processing unit 50 for the change in muscle arrangement are described above.
4. Various electrode arrangement patterns are prepared according to the functions of the processing units, which are sent from a signal correction processing unit 508 described below.

A signal correction processing unit (508) compares the haptic feedback (state) expected based on the data obtained from the skeletal muscle arrangement recognition unit 402 with the haptic feedback (state) actually occurring. And a correction signal transmitting unit 507 that transmits a correction signal to the stimulus pattern setting unit 510 and the used electrode change processing unit 507 so that they match or the difference is reduced.

A personality adaptation function processing unit (509) is a part having a function of changing the electrical stimulation waveform from its standard form based on the personality recognition data of the subject. In response, a control signal is transmitted to stimulation pattern setting section 510.

Stimulus pattern setting unit (510) Each unit (502-504, 508,
509), a control signal relating to a stimulus pattern (various stimulus signal patterns having different stimulus conditions described above) is transmitted to the electric stimulus generator 300 to change the waveform and the like.

A simplified version of the interference wave simulator (511) By using the information obtained by the interference wave simulator 603 to create a database of the positions of the electrode candidates and the driving amount of the pair in advance, the use frequency of the interference wave simulation is reduced. In use, an electrode to be used is determined by determining whether an anticipated pair driving amount matches an expected pair driving amount when an electrical stimulus is actually applied through a candidate electrode.

* Input / output processing unit Includes all devices necessary for setting a haptic pattern (command pattern), displaying three-dimensional polygon data in an image, and the like. For example, in addition to output devices such as a computer input device 601 (keyboard and mouse, etc.), a monitor device 403, a head-mounted display device, a printer, etc., means necessary for data input / output processing relating to the above-mentioned human body structure (model) database Is also included.

* Human body structure model processing unit (602) This corresponds to the model construction / calculation processing unit 1Ae described above.
In constructing the model, as described above, it is possible to obtain skeleton and muscle arrangement data of the target site from the tomographic plane information obtained by helical CT or MRI.

* Interference wave simulator (603) As described above, this is used for selecting electrode candidates to be used when applying interference wave electrical stimulation.

Note that application to a haptic sense presentation device requires processing relating to the generation of an object in a virtual reality space and a command to present a haptic sense. For example, application to a game machine is shown in FIGS. 64 and 65. As described above, in addition to the above-described components, the following elements are required in the game machine 700 (numbers in parentheses indicate symbols).

A stereo video output unit (701) is a unit that outputs a stereo video (signal) in accordance with the story development, and the video signal is transmitted to a visual display device 702 such as a head-mounted display (or a 3D scope). Provided to the subject. Note that sound signals such as sound effects are also provided to the subject using sound output means such as headphones or speakers incorporated in the visual display device, but are not shown. Data and the like necessary for the progress of the game are provided by an information recording medium (not shown).

A command section for generating a haptic sense (703) This is a section for giving a command regarding the generation of a haptic sensation. In a scene where presentation of a haptic sense is required in a story development, a haptic sense presentation instruction is issued and the Tactile pattern recognition unit 5
05. Thereby, the haptic pattern recognition unit 50
At step 5, the contents of the presentation instruction are interpreted. In addition, according to a command sent from the command unit to the paired position recognition unit 401, the paired position is recognized and the position information is acquired for the target site for the presentation of the haptic sense.

Next, a control method of the force / tactile sensation providing device by the functional electrical stimulation will be described with reference to the flowcharts shown in FIGS.

FIG. 66 shows the outline of the flow of the entire control. A database in which data of paired operations and electromyograms has been linked to a database relating to the human body structure of the subject has been established. Then, it is premised that the results of the interference wave simulation using the database are also stored in the database.
As for the human skeleton and muscle placement data corresponding to the joint angle, skeleton data is acquired by helical CT as described above, and muscle arrangement data is acquired by helical MRI and stored in a database.

At the start of the process, first, the electrode unit 1
01, an effector including the pressure and temperature detection unit 102, and a head-mounted display are mounted on the subject. that time,
The entire skin needs to be firmly covered by the effector for the target site of the electrical stimulation.

In step S1, a calibration process (the details will be described with reference to FIG. 67) necessary for obtaining the reference surface pressure information is performed.

Then, in the next step S2, a calibration process necessary for obtaining information on the surface pressure change due to the joint angle is performed (this is necessary for recognition of afferent contraction and efferent contraction. 68.).

In the next step S3, a calibration process for the muscle work (for details, see FIG.
This will be described with reference to FIG. ), In the next step S4, the data obtained in the previous steps S1 to S3, the data generated according to the algorithm of the human body structure model described above, and the polygon data generated using the information of helical CT and MRI ( This is necessary for recognizing how the center line and shape of the muscle change due to the movement of the joint. For details, refer to FIGS. 45 to 47 and related descriptions.) In this case, the reference of the link is the joint angle, and in this case, the joint angle estimated from the pair shape is also considered.

Then, in step S5, the haptic sense presentation command is interpreted. That is, the instruction is the instruction unit 70 for generating the haptic sense.
3 is sent to the haptic pattern recognition unit 505 and its contents are interpreted (the higher-order commands are reduced to lower-dimensional commands as they go to lower-level components).

For example, the setting conditions of the force / tactile pattern include a motion pattern, speed, work amount, and the like. Based on the conditions, the stimulus position, intensity, and type (for example, receiving a sword wound or impact, etc. Various parameters are defined, such as a type corresponding to a difference in feeling of bouncing. In addition, when setting the stimulation position, it is necessary to specify according to the story development in the case of a game machine,
Data for that purpose is stored in the information recording medium in advance.

In the next step S6, control is performed in consideration of the relationship between the pair position and gravity and the load. In other words, the position of the pair is recognized by a command sent from the command unit 703 for generating the force and tactile sensation to the pair position recognition unit 401. At this time, the influence of gravity on the subject becomes a problem.

The following three types of control methods can be used (here, when one joint is driven by a plurality of muscles,
For example, an upper arm is assumed. ).

A database relating to the contraction of the joints and the muscles assisting the driving thereof is constructed in advance, and at the time of electrical stimulation, the databases are always used to specify the paired muscles and to control them so that they are tense. Method-A database of the relationship between the position of the joints and the pair and the gravity is pre-constructed. At the time of electrical stimulation, the database is used to identify the paired muscles according to the positions of the joints with respect to the gravity and to tension them. Method of controlling so that the driving force is applied ・ For the load (for example, due to a heavy object held by the hand), the driving muscle to be stimulated is added to the database, and the driving muscle is selected for the electric stimulation. How to control this to be nervous.

In the next step S7, the selection of the electrodes to be used and the setting of the stimulating conditions are performed in accordance with the haptic sense presentation command, and the electrical stimulation is applied (the details will be described later with reference to FIG. 71).

FIG. 67 is a flowchart relating to the acquisition (calibration) of the reference surface pressure information.
In step S1, information on the base pair position is acquired based on information from the three-axis position detection unit 105 using a magnetic sensor or the like, and in the next step S2, information from the three-axis position detection unit 105 is used. Obtains visual position (viewpoint) information of a subject in a video on a visual display device (such as a head-mounted display).

[0444] In the next step S3, based on the pair position obtained in the previous step S1, three-dimensional polygon data for the human body part from the pair to the end thereof is generated according to the algorithm of the human body structure model. Proceeding to S4, an image corresponding to the polygon data is displayed on the visual display device 702.

[0445] In step S5, the subject is asked to present his / her own pair (video) to the video of the polygon data.
I have you imitate an operation state so that may overlap. In this case, navigation by voice is also performed at the same time.

In the next step S6, it is determined whether or not the imitation of the operation has been completed based on the degree of overlap of the images. When the operation has been completed, the process proceeds to the next step S7, where the pressure distribution at that time is obtained from the information of the pressure detecting element group of the effector. Then, the process proceeds to step S8, but if the imitation is not completed, the process returns to step S5.

In step S8, the numerical data obtained in the previous step S7 is stored and registered as a reference value (for example, “100” when percentage display is adopted), and a database of reference surface pressure information is created based on this. I do.

FIG. 68 is a flowchart relating to the acquisition (calibration) of the surface pressure information according to the joint angle. Steps S1 and S2 are the same as steps S1 and S2 in FIG.

[0449] In step S3, based on the pair position and joint angle obtained in the previous step S1, three-dimensional polygon data of a human body part from the pair to its end is generated according to the algorithm of the human body structure model.
In the next step S4, an image corresponding to the polygon data is displayed on the visual display device 702.

[0450] In step S5, the subject is asked to display his / her even number (video) of the video of the polygon data.
Are imitated so that they are superimposed on each other (at this time, navigation by voice is also performed at the same time). In the next step S6, it is determined whether or not the imitation of the operation has been completed based on the degree of overlap of the images. When the process is completed, the process proceeds to the next step S7, the pressure distribution at that time is obtained from the information of the pressure detecting element group of the effector, and then the process proceeds to step S8. If the imitation is not completed, the process returns to step S5.

In step S8, step S8 in FIG.
Based on the data of the database of the reference surface pressure information created in the above, the place and the pressure value where the change is large in the pressure information obtained in the previous step S7 are acquired. For example, when comparing with the reference surface pressure information, only predetermined places from among the top places where the change in the detected pressure value is rich are selected, and their positions and pressure values are stored and registered. Create a database of surface pressure information.

In step S9, it is determined whether or not the processing in steps S3 to S8 has been completed for all angles of the joint. If not, the process returns to step S3 to change the joint angle from the previous value. The processes in steps S3 to S8 are repeated.

In this manner, the change in surface pressure when the joint angle is changed as a parameter can be obtained as a relative value to the reference surface pressure.

FIGS. 69 and 70 are flow charts showing the acquisition (calibration) of myoelectric (pattern) information based on the amount of muscle work. Steps S1 to S6 in FIG. 69 are the same as the respective steps in FIG. .

In step S7 of FIG. 70, after setting so that the myoelectric potential information can be obtained through the electrode section 101 of the effector, a myoelectric waveform pattern is obtained a plurality of times.

In step S8, it is determined whether the information obtained in the previous step has already been stored and registered. If so, the process proceeds to step S9, and if not, the process proceeds to step S1.
Go to 0.

In step S10, after averaging the data obtained in the previous step, it is stored and registered as a reference value (for example, “100” when percentage display is adopted). A database relating to myoelectric pattern information at the time of load is created. Then, the process proceeds to the next step S11, in which a brace for applying a predetermined load to the target portion is mounted, and then the process returns to step S3.

In step S9, data with a large change is acquired from the myoelectric potential information obtained in the previous step S7 based on the no-load myoelectric pattern information created in step S10. For example, a predetermined number of data having a remarkable change in potential when compared with a myoelectric pattern under no load is selected from a high order and stored / registered. Create a database.

Thus, the myoelectric potential information at the time of loading (applying) can be obtained as a relative value with respect to the myoelectric potential information at the time of no load of the target portion.

FIG. 71 is a flowchart showing an example of a procedure for presenting a force sense by generation of an electric stimulus.

First, after setting the drive angle of the joint in step S1, the pair shape is grasped in step S2 based on the pressure detection. Then, in step S3, the target part 3
After generating the two-dimensional polygon data (or the shape data of the internal structure based on the tomographic analysis result), in the next step S4, a stimulus area (point, plane, or solid in the description of the above-described interference wave simulation) is set for the muscle to be driven. To provide electrical stimulation.

Thus, in step S5, the pair is actually driven, but in the next step S6, the previous step S1 is performed.
It is determined whether or not the drive angle set in (1) has been achieved. When the drive angle has been achieved, the processing so far ends, but if the angle has not been achieved, the process returns to step S2.

In the movement of the human body, many muscles cooperate with each other in the upper arm and hand, and it is very difficult to individually apply the interference wave electric stimulation to all the muscles.
Therefore, it is desirable to use low-frequency electrical stimulation and interference-wave electrical stimulation (including a stimulation method using a phantom sensation for providing tactile sensation) in accordance with the arrangement of muscles operating the pair.

FIG. 72 to FIG. 77 are explanatory diagrams in the case where electrical stimulation is applied to the elbow joint, and the motion is expressed using only bone polygon data.

The elbow joint is a one-degree-of-freedom joint located between the humerus and the ulna. Electric stimulation is applied to the biceps brachii and the triceps brachii. In doing so, first, the subject wearing the effector is kept in a standing, unloaded state as shown in FIG. 72, and in this state, electrical stimulation with a minimum output is applied to the flexor muscle. As a result, the forearm slightly moves as shown in FIG. 73, so that the output is adjusted until the subject complains of muscle pain (the current value is within the range of 10 mA or less).

[0466] Although it depends on the individual difference of the target person, FIG.
The elbow bending state shown in FIG. 4 can be obtained.

Next, as shown in FIG. 75, the subject was kept in a state in which the elbow was bent upward (the posture immediately before the spike in volleyball) and the electrical stimulus with the minimum output was applied to the extension muscle. Give. Then, as shown in FIG. 76, the forearm slightly moves (elbow flexion returns due to extension), so the output is adjusted until the subject complains of muscle pain (the current value is within a range of 10 mA or less). . As a result, the state shown in FIG. 77 can be finally obtained depending on the individual difference of the target person.

According to the force / tactile sense presentation device, the following advantages can be obtained.

Since an exoskeleton type mechanism using a conventional shaft arm or the like is not required, it is advantageous for weight reduction, and the subject can use it as if wearing clothes.

The power consumption for generating external force is small. In other words, a power source such as a servomotor, a pneumatic source of an air cylinder, and the like are not required, and driving of a joint and presentation of a tactile sense can be performed by applying a stimulus to a muscle of a subject.

[0471] Since there is no noise at the time of driving and the presentation of force and tactile sensation can be performed without sound, for example, there is no adverse effect on sound effects or environmental sounds when used in a game machine.

[0472] By using phantom sensation, pseudo stimulation on the skin surface can be expressed.

[0473]

As is apparent from the above description, according to the first and thirty-third aspects of the present invention, a tactile sensation can be given to muscles and skin on the surface layer by using electric interference wave stimulation.

According to the second and eighteenth aspects of the invention, it is possible to present a tactile sensation as if the skin were pressed with a sharp object.

According to the third and 19th aspects of the invention, it is possible to present a tactile sensation as if the skin were pressed by a linear object.

According to the fourth and twentieth aspects of the present invention, it is possible to present a tactile sensation as if the skin were pressed with a surface.

According to the fifth, twenty-first, and thirty-fifth aspects of the present invention, the point-like stimulation area is moved at a high speed,
A tactile sensation can be presented as if the skin were pressed with a linear object.

According to the present invention, the linear stimulation area is moved at a high speed,
A tactile sensation can be presented as if the skin were pressed with a surface.

[0479] According to the inventions of claims 7, 23, and 37, a tactile sensation accompanied by a temporal change in area can be presented by a change in a stimulus region from point to plane or from plane to point.

According to the eighth, twenty-fourth, and thirty-eighth aspects of the present invention, by moving a point-like or linear area along a predetermined trajectory, it is possible to present a tactile sensation where the stimulus position moves.

According to the ninth to twelfth and twenty-fifth to twenty-eighth aspects, an electrode group can be efficiently arranged on a sheet-like substrate.

According to the thirteenth to sixteenth and twenty-ninth to thirty-second aspects, the effector can be easily mounted on a human body, and stuffiness during mounting can be prevented.

[0483] According to the seventeenth aspect, the tactile sensation by phantom sensation can be presented to the muscles and skin on the surface by using the interference wave electrical stimulation.

According to the thirty-fourth aspect, it is possible to appropriately designate a point-like, linear, or planar region and to apply the interference electric stimulation to the region. It is effective for showing skin sensation as if cut by something.

[0485] According to the thirty-ninth aspect, the external shape of the subject can be grasped based on the pressure detection information by the worn effector without the need for an imaging means such as a camera.

According to the forty-fourth aspect, by obtaining a database including internal structures such as bones and muscles, it is possible to improve model accuracy.

According to the forty-first aspect, the streak can be easily identified by the image processing based on the difference in the color difference, and the streak differentiation can be easily automated.

According to the forty-second aspect, three-dimensional shape data can be created by easily obtaining point information that defines the shape of a bone, a muscle, or the like.

According to the inventions of claims 43 and 44, an electrode position suitable for a stimulation area of a target portion can be grasped by performing an interference wave simulation in advance when selecting an electrode to be used, thereby realizing the actual position. An ideal interference wave stimulus can be obtained when the electric stimulus is applied. In addition, when an electrode that is not preferably used due to fouling or the like occurs,
By executing a re-simulation in advance, it is possible to acquire a proper position of the substitute electrode.

According to the forty-fifth aspect, by storing and registering the electrode candidates in advance, the electrode to be used can be immediately selected from the electrode candidates at the time of actual application of the electrical stimulus.

[Brief description of the drawings]

FIG. 1 is a diagram showing a basic configuration of an electric stimulator according to the present invention.

FIG. 2 is a diagram illustrating a configuration example of a force / tactile sense presentation device using functional electrical stimulation.

FIG. 3 is a diagram for explaining a configuration of an electrode sheet used for an effector together with FIGS. 4 to 14, and FIG. 3 is a diagram showing a state in which the electrode sheet is wound around an arm.

FIG. 4 is an exploded perspective view of an electrode sheet.

FIG. 5 is a view partially showing a sheet 4 closest to the skin which constitutes an electrode layer 3A.

FIG. 6 is a view partially showing a conductive sheet 5 constituting an electrode layer 3A.

FIG. 7 is a view partially showing a wiring sheet 6 constituting an electrode layer 3A.

FIG. 8 is a view partially showing a top sheet 7 constituting an electrode layer 3A.

FIG. 9 is a view partially showing a row electrode sheet 8 constituting a pressure-sensitive / temperature-sensitive layer 3B.

FIG. 10 is a diagram partially showing a pressure-sensitive / temperature-sensitive sheet 9 constituting a pressure-sensitive / temperature-sensitive layer 3B.

FIG. 11 shows a column electrode sheet 1 constituting a pressure- and temperature-sensitive layer 3B.
FIG. 7 is a diagram partially showing 0.

FIG. 12 is a diagram partially showing an insulating film 11 constituting a pressure-sensitive / temperature-sensitive layer 3B.

FIG. 13 is an enlarged sectional view showing a part of an electrode sheet.

FIG. 14 is a schematic cross-sectional view showing the electrode sheet wound around an arm.

FIG. 15 is a diagram for explaining detection of a bending state of a finger in the data glove together with FIG. 16, and FIG. 15 shows a back surface of a finger portion of the data glove.

FIG. 16 is a diagram showing a state in which a finger is bent.

FIG. 17 is a diagram schematically showing a configuration of a main part of a data glove including a resistance pattern, a pressure and temperature detection unit.

FIG. 18 is an explanatory diagram of human body type classification.

FIG. 19 is a diagram showing definitions of various quantities in a reference body model.

FIG. 20 is an explanatory diagram of a two-dimensional coordinate plane forming a body shape coordinate space.

FIG. 21 is a diagram illustrating a state in which a variable of a length ratio is set on a Z-axis in a body shape coordinate space.

FIG. 22 is a diagram illustrating a state where variables of a length ratio and a weight ratio are set on a Z-axis in a body shape coordinate space.

FIG. 23 is an explanatory diagram of image data acquired from a subject and an expansion / contraction operation thereof.

24 is an explanatory diagram of the slicing process for the three-dimensional data of the subject together with FIG. 25. FIG. 24 shows the subject (image) in the standing posture and the slice interval.

FIG. 25 is a diagram showing a relationship between slice processing and a tomographic plane for three-dimensional data of a subject.

FIG. 26 is a diagram showing an example of an arrangement of points in a polar coordinate system (r, θ) set on an XY plane forming a space for a figure-shaped seat;

FIG. 27 is an explanatory diagram of a process of specifying the body shape of the subject by calculating the center of gravity of the polygon.

FIG. 28 is a diagram showing a state in which a function value corresponding to the center of gravity G (Xg, Yg) is obtained.

FIG. 29 is a flowchart showing an example of processing relating to input and data processing of basic data relating to the body, together with FIG. 30. This figure shows the first half of the processing.

FIG. 30 shows the latter half of the process.

FIG. 31 is a flowchart illustrating an example of processing related to acquisition of three-dimensional data on a human body, generation of a wireframe model relating to exercise, and acquisition of center-of-gravity position data accompanying exercise.

FIG. 32 is a schematic explanatory diagram of a slice process regarding three-dimensional data of a subject.

FIG. 33 is a diagram showing a dependency relationship between a human body polygon DB and its configuration DB.

FIG. 34 is a flowchart illustrating a processing example related to generation of a human body polygon DB.

35 is a diagram for explaining the initial learning together with FIGS. 36 to 40. FIG. 35 shows a pressure detection sheet wound in a cylindrical shape.

FIG. 36 is a diagram showing another example of the pressure detection sheet wound in a cylindrical shape.

FIG. 37 is a diagram for describing element selection for a pressure detection sheet.

FIG. 38 is a diagram showing a set of reference cylinders used by being inserted into a pressure detection sheet.

FIG. 39 is a flowchart illustrating a procedure example of initial learning.

FIG. 40 is a flowchart illustrating an example of a procedure for acquiring a shape from pressure distribution information using a pressure detection sheet.

41 is a diagram for explaining the shape recognition of the upper limb together with FIG. 42 to FIG. 44. FIG. 41 is a flowchart showing an example of the procedure of shape recognition.

FIG. 42 is an explanatory diagram showing a state where the visual display device is attached to the subject and the movement of the upper limb to be imitated is displayed on the visual display device.

FIG. 43 is a diagram schematically showing the upper limb of the human body.

FIG. 44 is a graph showing several examples of pressure patterns.

FIG. 45 is a flowchart for explaining an example of processing for creating a shape model including an internal structure of a target part from tomographic plane data together with FIGS. 46 and 47, and FIG. 45 shows the beginning of the processing.

FIG. 46 shows an intermediate part of the processing.

FIG. 47 shows the end part of the processing.

FIG. 48 is an explanatory diagram showing the assignment of the number of polygon points to the contour length for each tomographic plane and a figure (crescent) on the plane.

FIG. 49 shows a crescent shape and its center of gravity G, and the center of gravity G
FIG. 9 is an explanatory diagram showing a state in which polygon points are generated on a contour line by conformal division lines centered at.

FIG. 50 is an explanatory diagram of a calculation process of a surface centroid position.

FIG. 51 is an explanatory diagram showing polygon points obtained as intersections between contour lines and equiangular division lines centered on the center of gravity of the surface.

FIG. 52 is a waveform chart for explaining definitions of various quantities with respect to stimulation conditions.

53 is a diagram for explaining the interference wave simulation together with FIG. 54. FIG.
It is the schematic which shows the relationship between a point and the inside target part XP.

FIG. 54 is a schematic view showing a relationship between three points on the skin surface S and an internal target portion XP.

FIG. 55 is a diagram for explaining a method for acquiring a motion aggregate signal of multi-muscle fibers by ATP together with FIG. 56, and FIG. 55 is a diagram schematically showing an example of an apparatus.

FIG. 56 is a graph conceptually showing frequency characteristics after FFT.

FIG. 57 is a diagram conceptually illustrating a configuration example in the case where electrical stimulation through electrodes and processing for acquiring myoelectric potential information from electrodes are performed by time-division processing.

58 is a flowchart showing an example of a subjective evaluation method based on fat and stimulation of the human body together with FIG. 59, and this figure shows the first half thereof.

FIG. 59 is a diagram illustrating the latter half of the process.

60 shows an embodiment of the present invention together with FIGS. 61 to 77, and is a block diagram showing the entire configuration of the electric stimulator. FIG.

FIG. 61 is a diagram mainly illustrating an I / O processing unit.

FIG. 62 is a diagram showing a configuration of an overall control unit.

FIG. 63 is a diagram showing the relationship between the overall control unit and its peripheral parts.

FIG. 64 shows an example of application to a game machine as a haptic sense presentation device together with FIG. 65, and FIG. 64 is a block diagram showing the overall configuration of the device.

FIG. 65 is a diagram showing only a configuration of a main part taken out.

FIG. 66 is a flowchart for explaining the control method of the force / tactile sense presenting device by functional electrical stimulation together with FIG. 67 to FIG. 71, and FIG. 66 is a flowchart showing the overall flow of control.

FIG. 67 is a flowchart regarding acquisition of reference surface pressure information.

FIG. 68 is a flowchart regarding acquisition of surface pressure information according to a joint angle.

FIG. 69 is a flowchart showing the acquisition of myoelectric information based on the amount of work performed by the muscle, together with FIG. 70. This figure shows the first half of the processing.

FIG. 70 shows the latter half of the process.

FIG. 71 is a flowchart illustrating an example of a procedure for presenting a force sense by generation of an electric stimulus.

72 shows an example of a situation in which electrical stimulation is applied to the elbow joint by using bone polygon data together with FIGS. 73 to 77, and FIG. 72 shows a standing no-load state; FIG.

FIG. 73 is a diagram showing a state in which the forearm has slightly moved by the application of the electrical stimulus at the minimum output to the flexor muscle.

FIG. 74 is a diagram showing a final bending state of the elbow.

FIG. 75 is a view showing a state in which the elbow is bent and raised.

FIG. 76 is a diagram showing a state in which the forearm has slightly moved by the application of the electrical stimulus at the lowest output to the extension muscle.

FIG. 77 is a diagram showing a final extension state of the elbow.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Electric stimulation device, 1a ... Effect device, 1as ... Shape information acquisition part, 1ad ... Electrode part, 1b ... Electric stimulation generation part, 1c ...
Shape recognition unit, 1d: control means, 1A: force / tactile presentation device,
1Ad: Effector, 2 ... Electrode

Claims (45)

[Claims] 1. An electric stimulator having an effector for applying electric stimulation to superficial muscles and skin, wherein the effector comprises an electrode group used in contact with the skin surface. (B) electrical stimulation for providing an interference wave electrical stimulation to a subject by supplying an electrical stimulation signal having a different frequency to each of the electrodes or electrode pairs to the electrode group; (C) constructing a database showing the arrangement of bones and muscles of the human body relating to the subject, and selecting an electrode to be supplied with an electrical stimulation signal from an electrode group based on the database; An electrical stimulator, comprising control means. 2. The electrostimulation apparatus according to claim 1, wherein a point-like area is designated to apply the interference wave electrostimulation. 3. The electrostimulation device according to claim 1, wherein a linear region is designated to apply the interference wave electrostimulation. 4. The electrical stimulation apparatus according to claim 1, wherein a planar area is designated and the interference electrical stimulation is applied to the area. 5. The electrostimulation device according to claim 2, wherein the electrostimulation device applies the interference wave electrostimulation while moving the point-like area at a high speed. 6. The electrical stimulator according to claim 3, wherein the interference stimulus is applied while moving the linear region at a high speed. 7. The electrical stimulator according to claim 1, wherein the application of the interference wave electrical stimulation to the point-like area and the application of the interference wave electrical stimulation to the planar area are performed alternately. Stimulator. 8. The electrical stimulation apparatus according to claim 1, wherein the application of the interference wave electrical stimulation to the point-like area or the plane-like area is performed while moving along a linear or curved locus. And an electrical stimulator. 9. The electrostimulation apparatus according to claim 1, wherein the electrode portion is formed with a multilayer structure on the sheet-like base material. 10. The electrostimulation apparatus according to claim 2, wherein the electrode portion is formed with a multilayer structure on the sheet-like substrate. 11. The electrostimulation apparatus according to claim 3, wherein the electrode portion is formed with a multilayer structure on the sheet-like base material. 12. The electrostimulation apparatus according to claim 4, wherein the electrode portion is formed with a multilayer structure on the sheet-like base material. 13. The electrical stimulator according to claim 9, wherein the effector has a shape used by being worn on a human body.
An electric stimulator wherein a material having air permeability and elasticity is used in a place where an electrode group constituting an electrode portion is not arranged in a sheet-like base material. 14. The electrical stimulator according to claim 10, wherein the effector has a shape used by being worn on a human body,
An electric stimulator wherein a material having air permeability and elasticity is used in a place where an electrode group constituting an electrode portion is not arranged in a sheet-like base material. 15. The electrical stimulator according to claim 11, wherein the effector has a shape used by being worn on a human body,
An electric stimulator wherein a material having air permeability and elasticity is used in a place where an electrode group constituting an electrode portion is not arranged in a sheet-like base material. 16. The electrical stimulator according to claim 12, wherein the effector has a shape used by being worn on a human body,
An electric stimulator wherein a material having air permeability and elasticity is used in a place where an electrode group constituting an electrode portion is not arranged in a sheet-like base material. 17. A force-tactile presentation device using an electric stimulus, comprising an effector for presenting a force sensation or a tactile sensation by applying an electric stimulus to superficial muscles or skin; The device comprises an electrode portion comprising an electrode group used in contact with the skin surface; (b) supplying an electric stimulation signal having a different frequency to each of the electrodes or electrode pairs to the electrode group. (C) constructing a database showing the arrangement of bones and muscles of the human body relating to the subject, and based on the database. And a control means for selecting an electrode to which an electric stimulus signal is to be supplied from an electrode group. 18. The force-tactile presentation apparatus using electric stimulation according to claim 17, wherein the point-like area is designated to apply the interference wave electric stimulation. apparatus. 19. The force-tactile presentation device using electrical stimulation according to claim 17, wherein the interference stimulus is applied by designating a linear region. apparatus. 20. The force tactile sensation presentation device using electrical stimulation according to claim 17, wherein a force is applied using the electrical stimulation, wherein a planar area is designated and interference wave electrical stimulation is applied to the area. Tactile presentation device. 21. The force tactile sensation presentation device using electrical stimulation according to claim 18, wherein the interference stimulus is applied while moving the point-like area at high speed. Tactile presentation device. 22. The force tactile sensation presentation device using electrical stimulation according to claim 19, wherein the interference stimulus is applied while moving the linear region at high speed. Tactile presentation device. 23. The force-tactile sense presentation device using electrical stimulation according to claim 17, wherein the application of the interference wave electrical stimulation to the point-like region and the application of the interference wave electrical stimulation to the planar region are performed alternately. A force tactile sensation presentation device using electrical stimulation. 24. The force-tactile sense presentation device using the electric stimulus according to claim 17, wherein the application of the interference wave electric stimulus to the point-like area or the plane-like area is moved along a linear or curved trajectory. A force tactile sensation presentation device using electrical stimulation, which is performed while being performed. 25. The force-tactile presentation device according to claim 17, wherein the electrode portion is formed in a multilayer structure on the sheet-like base material. Tactile presentation device. 26. The force-tactile force presenting device according to claim 18, wherein the electrode portion is formed with a multilayer structure on the sheet-like base material. Tactile presentation device. 27. The force tactile sensation presentation device using electrical stimulation according to claim 19, wherein the electrode portion is formed with a multilayer structure on a sheet-like substrate. Tactile presentation device. 28. The force-tactile presentation device according to claim 20, wherein the electrode portion is formed with a multilayer structure on the sheet-like base material. Tactile presentation device. 29. The force-tactile presentation device using electrical stimulation according to claim 25, wherein the effector has a shape worn on a human body and used.
A force-tactile sense presentation device using electrical stimulation, wherein a material having air permeability and elasticity is used in a portion of the sheet-shaped substrate where the electrode group constituting the electrode portion is not arranged. 30. The force-tactile presentation device using electrical stimulation according to claim 26, wherein the effector has a shape worn on a human body and used.
A force-tactile sense presentation device using electrical stimulation, wherein a material having air permeability and elasticity is used in a portion of the sheet-shaped substrate where the electrode group constituting the electrode portion is not arranged. 31. The force-tactile presentation device using electrical stimulation according to claim 27, wherein the effector has a shape used by being worn on a human body,
A force-tactile sense presentation device using electrical stimulation, wherein a material having air permeability and elasticity is used in a portion of the sheet-shaped substrate where the electrode group constituting the electrode portion is not arranged. 32. The force-tactile presentation device using electrical stimulation according to claim 28, wherein the effector has a shape worn on a human body and used.
A force-tactile sense presentation device using electrical stimulation, wherein a material having air permeability and elasticity is used in a portion of the sheet-shaped substrate where the electrode group constituting the electrode portion is not arranged. 33. A method for controlling an electric stimulator used to apply electric stimulus to a superficial muscle or skin or to present a force sensation or a tactile sensation by the electric stimulus. A database showing the arrangement of bones and muscles is built in advance. (B) By attaching the effector to a subject, the electrodes forming the effector are brought into contact with the skin surface, C) After selecting an electrode to which an electrical stimulation signal is to be supplied from the electrode group based on the information on the muscle arrangement of the subject obtained from the database, (d) each of the electrodes or electrode pairs for the electrode group A method for controlling an electric stimulator, comprising supplying electric stimulus signals having different frequencies to the electric stimulator. 34. The control method for an electrostimulation apparatus according to claim 33, wherein a point-like, linear, or planar area is designated to apply the interference wave electric stimulation. Method. 35. The control method for an electrostimulation apparatus according to claim 34, wherein the point-like area is moved at a high speed and the interference wave electric stimulation is applied to the area. . 36. The control method for an electrostimulation apparatus according to claim 34, wherein an interference wave electric stimulation is applied to the planar area while moving the area at high speed. . 37. The control method for an electric stimulator according to claim 33, wherein, after starting from a point-like area, the interference wave electric stimulation is applied to the planar area while gradually expanding the area. A method for controlling an electrostimulation device, characterized in that an interference wave electric stimulation is applied so that an area is gradually reduced and returned to a point-shaped area again. 38. The control method for an electric stimulator according to claim 33, wherein the point-like area or the plane-like area is moved along a linear or curved trajectory while interfering with the interference wave. A method for controlling an electrical stimulator, the method comprising applying a stimulus. 39. The method for controlling an electrostimulator according to claim 33, wherein after attaching an effector in which the electrode section and the pressure detecting section are formed in a multilayer structure on the sheet-like base material to the subject, the pressure is applied to the subject. A control method for an electrical stimulation apparatus, characterized by acquiring shape data of a skin surface obtained by a detection unit, recognizing an external shape of a subject, and creating a database indicating a muscle arrangement thereof. 40. The control method for an electric stimulator according to claim 39, wherein (a) the subject has a reference posture or a target part is fixed with a cast, and then the skeleton cross section and the muscle or the like are obtained. After obtaining the image information of the fat cross-section and stacking a large number of image data with different cross-section positions and creating a database, a database of a static human body structure related to the subject is constructed. While acquiring image data of an even number along the time axis, create a dynamic database of the human body structure including the passage of time by creating a static database for the shape of the even number for each joint angle (C) A method for controlling an electric stimulator, wherein a database showing the muscle arrangement of the subject is created from the database obtained in (b). 41. The control method for an electric stimulator according to claim 40, wherein the muscle is identified on the cross section of the tomography by a color difference between the muscle and the lubricating film between the muscles. Control method of the electric stimulator. 42. The control method for an electric stimulator according to claim 40, wherein when creating three-dimensional shape data from a contour line of a bone or a muscle in each tomographic section, the surface center of gravity of an inner region of the contour line After calculating, the intersection of the straight line group extending radially at equal angular intervals from the center of gravity of the surface and the contour,
A method for controlling an electric stimulator, comprising using these intersections as reference points for three-dimensional shape data. 43. The control method for an electric stimulator according to claim 40, wherein an attenuation rate or a material density is set for each of the bones, muscles, fats, and tendons, so that each part of the skin surface can be controlled. A method for controlling an electrostimulation device, comprising: obtaining a place where the energy loss or phase shift is small, and setting an electrode for interference wave electrical stimulation at the place. 44. The method for controlling an electrical stimulator according to claim 43, wherein: (a) the bone, muscle, fat, and tendon for each material, in addition to the wave attenuation rate and the material density, the reflectance and After setting the refractive index respectively, (b) Based on the attenuation rate or material density set in (A), find a place where the energy loss from the skin surface to the target site is small or a place where the phase shift is small, and determine the place. Select a plurality of electrodes from among the electrode candidates in (2), and (c) simulate in a planar manner the waveform reflected or refracted from the electrode position selected in (b), with respect to the temporal transition of the carrier toward the target site. (D) repeating the procedures (b) and (c) until an ideal interference wave at the target site is obtained. Control method of the gas-stimulation device. 45. The control method for an electric stimulator according to claim 43, wherein after obtaining a plurality of electrode candidates, the positional information thereof is stored, and when the electrode is actually used as an electrode, the position of the electrode candidate is determined. A method for controlling an electrostimulation device, comprising reading out position information and selecting an electrode suitable for an electric stimulation target region from the readout position information.