JP2005192577A - Palpation device, palpation instruction device and remote palpation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a palpation system which realizes massage and remote palpation with a feeling of presence as if a practitioner is directly touching the body of a treatment object from a remote location. <P>SOLUTION: The palpation system has: a palpation device provided with a recessed and projected shape recognition means for recognizing the recessed and projected shape of a pressing object, a partial pressing means for pressing the pressing object, and a communication means; and a palpation instruction device provided with a means for displaying the recessed and projected shape of the pressing object, a partial pressing instruction means for instructing a pressing position and pressing strength, and a communication means. Recessed and projected shape data recognized and generated by the recessed and projected shape recognition means are transmitted to the palpation instruction device and the recessed and projected shape display means displays the recessed and projected shape corresponding to the pressing object on the basis of the recessed and projected shape data. Pressing instruction data generated by the partial pressing instruction means are transmitted to the palpation device and the partial pressing means presses the pressing object on the basis of the pressing instruction data. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a tactile system capable of knowing the shape and hardness of a contact object for performing massage and palpation from a distance.

  Conventionally, communication tools that can be used when you want to know the state of parents and grandparents who live remotely, or want to talk to the public so as not to be lonely, have been telephone, e-mail, and videophone. However, telephones and videophones need to be careful not to interrupt the conversation, and e-mail is not real-time, so there is a problem of lack of realism.

  On the other hand, hitting the shoulder has been a typical way of filial piety since ancient times. Striking shoulders is real-time communication between skin and skin, and has the advantage that communication can be continued even if conversation is interrupted. In addition, shoulder hitting has a healing effect to remove fatigue on the applied side, and also has an effect of increasing intimacy by touching the skin. In addition, touching the body has an effect of knowing its body shape, weight, stiffness and lump, and also knowing its health condition. Therefore, if you can hit your shoulders and massage from a distance, you can communicate more comfortably, feel intimate, and communicate to understand the physical condition of the other party.

As a prior art, a remote massage system has already been proposed (see, for example, Patent Document 1). According to Patent Literature 1, massage information is sent from a server connected to a network to a client, and the client performs massage based on massage information sent from the server.
JP 2002-291824 A

  However, the system of Patent Document 1 described above has no way for the practitioner to know the state of the treatment target person. There was no means for knowing the shape and physique of the person to be treated, no means for knowing the stiffness of the person to be treated, and no means for confirming whether or not a proper position was being treated. For this reason, there was a lack of realism as if they were directly massaged, and it was impossible to know the physical condition of the other party.

  An object of the present invention is to provide a tactile system for realizing a realistic massage and remote palpation as if they are directly touching the body of a treatment target from a remote location.

In order to solve the above problems, the present invention mainly adopts the following configuration.
An uneven shape recognition means for recognizing the uneven shape of the pressurization object in the vicinity of the observation surface, a partial pressurization means for pressurizing an arbitrary position of the pressurization object, and a tactile device having a communication means,
A tactile system comprising: a concavo-convex shape display means for the pressurization object, a partial pressurization instruction means for instructing a pressurization position and a pressurization strength, and a tactile instruction device having a communication means,
The uneven shape data recognized and generated by the uneven shape recognizing means is transmitted to the communication means of the tactile instruction device through the communication means of the tactile device,
The uneven shape display means displays the uneven shape corresponding to the pressurization object according to the uneven shape data received by the communication means of the tactile instruction device,
The pressurization instruction data generated by the partial pressurization instruction means is transmitted to the communication means of the tactile apparatus through the communication means of the tactile instruction apparatus,
The partial pressurizing unit is configured to pressurize the pressurization object based on the pressurization instruction data received by the communication unit of the tactile device.

  Further, in the tactile system, the hardness of the pressurization object is obtained by detecting a change in the uneven shape data due to pressurization on the pressurization object based on the pressurization instruction data, and the obtained The hardness is embodied in the uneven shape display means.

  According to the present invention, the practitioner knows the shape of the treatment target from a remote location, and the hardness is obtained as a response from the uneven shape change when pressurized, so that it can be as if it is in direct contact. it can.

  Moreover, since the body shape and the condition of overweight (a kind of body shape) can be known and the unevenness and lump can also be understood from the change in the concavo-convex shape when pressurized, the symptoms of the treatment subject can be diagnosed.

  Furthermore, the position and strength to be pressed can be instructed, and it can be confirmed whether the pressure has been applied at the position and strength as intended from the uneven shape change, so that accurate treatment can be performed.

  A remote palpation massage system according to an embodiment of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a remote palpation massage system comprising a massage device and a massage instruction device according to an embodiment of the present invention.

  In FIG. 1, the remote palpation massage system according to the present embodiment includes a massage device 1 and a massage instruction device 9. And the massage apparatus 1 is provided with each means as shown in FIG. 1, Next, the function and effect | action of each means are demonstrated.

  The voice input means 2 takes in the voice of the person receiving massage and generates voice data. Specifically, it is realized with a microphone or the like. The concavo-convex shape recognition means 4 recognizes the shape of the person receiving the massage and generates concavo-convex shape data. In the massage device of the present embodiment, a planar uneven sensor (a large number of sensors arranged in a matrix) using the electrostatic capacity of the human body is used. The uneven shape of the human body is determined using the fact that the electrical characteristics change according to the distance from the planar sensor to the human body. Also, as a concave / convex sensor, instead of a sensor using electrostatic capacity, pressure sensors are arranged in a matrix on a sponge-like observation surface that allows the human body, particularly the back, to come into contact with the entire surface. The shape may be recognized.

  For example, when massaging the back when sitting on a chair, the uneven shape observation surface is the backrest surface, and if this sensor is built in the backrest, the back shape can be recognized while leaning against the backrest. Is possible. In addition, even if it is not in contact with the sensor surface, the uneven shape can be recognized as long as it is close, so even if there is a part that is not in contact with the backrest due to the unevenness of the human body, the part that is in contact is not in contact Each part can also recognize the uneven shape. The same applies to the seating surface and bed.

  By the way, the human body is slightly deformed in contact with the backrest. The uneven shape recognizing means 4 corrects the uneven shape so that the practitioner does not feel uncomfortable. In other words, when the soft part of the human body is in contact with the backrest and is crushed, the original crushed uneven shape is obtained by this correction. In order to perform this correction, the wide-area pressurizing unit 18 applies pressure to the shape recognition object (for example, the back of the human body). Specifically, the wide-area pressurizing means 18 is a roller that is as soft as muscles. For example, the roller is moved from bottom to top along the back of the chair. The contact pressure increases and the uneven shape changes in the portion where the roller is in contact. The softer part of the human body has a larger deformation amount of the uneven shape. Based on the amount of deformation, the hardness of each part is estimated, and correction for obtaining a human body shape in a state in which no contact pressure is received is performed. Furthermore, the body contour shape is obtained from the contour of the concavo-convex shape, and correction is performed using the positions of bones and muscles estimated from the contour shape.

  As a specific example, even if the roller of the wide-area pressurizing means is in contact with the bone part of the human body, the amount of deformation is extremely small, so that the correction of the uneven shape obtained by the sensor is extremely small. Considering the position of the bone in the standard model of the human body from the contour of the concave and convex shape by the sensor, it can be seen that the part where the deformation is extremely small corresponds to the bone, so the standard irregularity correction amount in the bone can be added. it can. Conversely, at the fat part of the human body, the amount of deformation by the roller increases, and the amount of unevenness correction increases accordingly, and the standard model shows that it is a fat part of the human body. Alternatively, correction can be performed again.

  The photographing means 6 shoots the scenery around the person receiving massage and generates video data. Specifically, it is realized with a camera or the like. Reflect the object of the story and your body. The communication unit 7 transmits the voice data, the concavo-convex shape data, and the video data generated by the voice input unit 2, the concavo-convex shape recognition unit 4, and the photographing unit 6 to the massage instruction device 9. Specifically, it is realized by a communication function via the Internet or a mobile phone.

  Further, the communication means 7 receives voice data and partial pressurization instruction data transmitted from a massage instruction device 9 described later. The voice output means 3 outputs voice based on the voice data received by the communication means 7. Specifically, it is realized by a speaker or the like. Thereby, the person who receives massage can hear the voice of the person who massages remotely.

  The partial pressurizing means 5 performs a massage operation based on the partial pressurization instruction data received by the communication means 7. Specifically, it is realized by a massage mechanism that moves and massages, strikes, and acupressures. The partial pressurization instruction data includes position data and strength data, and the ball moves to the position indicated by the position data, and the movement operation can be performed by moving according to the time series change of the strength indicated by the strength data. Achieve strength and weakness of tapping and acupressure. As a result, massage can be performed indirectly from a remote location.

  The recording unit 31 records the audio data and the partial pressurization instruction data received by the communication unit 7. Specifically, it is realized by a hard disk or memory. The reproduction unit 32 reproduces the audio data and partial pressurization instruction data recorded in the recording unit 31. At the time of reproduction, the audio output means 3 outputs sound based on the reproduced audio data, and the partial pressurizing means 5 performs a massage operation based on the reproduced partial pressurization instruction data. The control means 8 controls each of the above means constituting the massage device 1.

  Further, the massage instructing device 9 is provided with each means as shown in FIG. 1, and the function and action of each means will be described below. The communication means 16 receives audio data, uneven shape data, and video data transmitted from the massage device 1. The voice output unit 11 outputs voice based on the voice data received by the communication unit 16. Thereby, the person who massages can hear the voice of the person who receives massage.

  The concavo-convex hardness display means 12 displays the contour and concavo-convex shape of the body of the person receiving massage based on the concavo-convex shape data received by the communication means 16 (see the concavo-convex shape display of the back shown in FIG. 3 described later). Thereby, the range of the body which can be massaged, and the position of a bone can be known, and the person who performs massage can grasp | ascertain the place which should give a massage. In addition to the human body contour and the uneven shape display, the uneven hardness display means 12 can display the hardness of the human body as will be described later.

  The acupoint position display means 13 stores information about the acupoint position of the body, determines the body part displayed by the unevenness hardness display means 12 from the uneven shape data, searches the acupuncture information existing in that part, and The fact that it is the acupoint position is displayed at the corresponding acupoint position of the body shape displayed by the hardness display means 12 (see reference numeral 55 shown in FIG. 3 described later).

  The video display means 15 outputs a video based on the video data received by the communication means 16. Specifically, it is realized with a display or the like. Thereby, the person performing massage can see the scenery and body around the person receiving massage. The voice input means 10 takes in the voice of the person performing massage and generates voice data.

  The partial pressurization instruction means 14 receives an instruction from a person performing massage and generates partial pressurization instruction data. The partial pressurization instructing means 14 is composed of a position instructing means 21, a display position changing means 22, and a strength instructing means 23, and the partial pressurization instructing data is composed of position data and strength data. A person performing massage instructs the position to be massaged by the position instruction means 21 while looking at the shape displayed on the uneven hardness display means 12. The position instruction means 21 generates position data to be massaged.

  When the uneven hardness display means 12 is small and the entire range that can be massaged by the partial pressurizing means 5 cannot be displayed, the person performing massage uses the display position changing means 22 (see FIG. 3 described later) to provide the uneven hardness display means 12. Change the range of the shape to be displayed. The display position changing unit 22 changes the range of the shape displayed on the uneven hardness display unit 12 and also changes the range of positions that can be specified by the position instruction unit 21. The strength instruction means 23 acquires the strength instruction of the person performing massage in time series and generates strength data.

  The communication unit 16 transmits the voice data generated by the voice input unit 10 and the partial pressurization instruction data generated by the partial pressurization instruction unit 14 to the massage device 1. When a massage operation is performed by the massage device 1 based on the partial pressurization instruction data, the pressurization part is deformed and the uneven shape of the human body changes. The change is recognized by the concavo-convex shape recognizing means 4 at a sufficiently short time interval, transmitted to the massage instruction device 9 as concavo-convex shape data, and displayed on the concavo-convex hardness display means. Therefore, the person performing massage can know the deformation amount with respect to the strength instruction in real time.

  That is, when a certain part of the human body is strongly pressed once with the massage instruction device and the certain part is pressed with the massage device based on the instruction data, the soft part is crushed and fed back to the massage instruction device as uneven shape data Since the hard part is not crushed, the uneven shape data at that time is not different from the previous data. As described above, since the unevenness shape data recognized by the massage device is fed back to the massage instruction device, the hardness of the part of the human body can be known from this feedback value. How the detected hardness is implemented by the massage instruction apparatus will be described later with reference to FIGS. 5 and 6.

  The recording unit 33 records the voice data generated by the voice input unit 10 and the partial pressurization instruction data generated by the partial pressurization instruction unit 14. The reproduction unit 34 reproduces the audio data and partial pressurization instruction data recorded in the recording unit 33. During reproduction, the communication means 16 transmits the reproduced voice data and partial pressurization instruction data to the massage apparatus 1. The control means 17 controls the above respective means constituting the massage instruction device 9.

  Next, FIG. 2 is a diagram illustrating a configuration example of a massage apparatus in the remote palpation massage system according to the embodiment of the present invention. The massage device 1 has a chair shape, and a person 51 who receives a massage sits down and uses it. The backrest has a built-in massage mechanism, which is a partial pressurizing means 5, and also has a sensor for the concavo-convex shape recognizing means 4 so as to cover the massageable area. In the backrest, the voice output means 3 is attached near the ear of the person receiving massage, the voice input means 2 is attached near the head, and the photographing means 6 is attached near the eyes. The person receiving the massage can freely change the photographing direction of the photographing means 6. It is better to point in the direction of what you want to talk about, such as the surrounding scenery 52.

  The operation unit 40 is for a person receiving massage to instruct the control means 8 to control each means, and includes a connection button, a record button, a play button with sound, a play button without sound, and a massage. A strength range adjustment button and an automatic massage mode button are provided. The start / end of communication with the massage instruction device 9 is instructed by ON / OFF of the connection button, the start / end of recording by the recording means 31 is instructed by ON / OFF of the recording button, the playback button with sound and the playback without sound Audio data is accompanied by ON / OFF of the button, or reproduction start / end of only the partial pressurization instruction data is instructed, and the range of the maximum strength and the minimum strength of the massage is instructed by the massage strength range adjustment button. Moreover, it can instruct | indicate to perform the massage based on the partial pressurization instruction | indication data incorporated beforehand by the automatic massage mode button, The utilization as a normal massage chair which does not require the massage instruction | indication apparatus 9 is also possible.

  Next, FIG. 3 is a diagram illustrating a configuration example of a massage instruction apparatus in the remote palpation massage system according to the embodiment of the present invention. Reference numeral 24 in FIG. 3 indicates a combination of the uneven hardness display means 12, the partial pressure position indication means 21 and the partial pressure strength indication means 23. The unevenness hardness display means and the partial pressure position indication / strength indication means 24 display the shape of the back of the person receiving the massage by the unevenness display method described later.

  And the position and intensity which the person 53 who massages pushed with the fir tree ball 25 (it touches and rubs the part which wants to massage on a finger | toe) are detected. When the person 53 who applies the massage instructs the pressure intensity with the actual pressing force, the person 53 who applies the massage applies the same force and the one where the partial pressurizing means 5 applies the force to the object to be pressed have the same shape. It should have a hardness distribution. That is, when the partial pressurizing means 5 applies a force with a kneading ball, the person 53 performing massage may apply a force through a similar kneading ball to indicate the pressure strength. Then, the force felt by the person 51 receiving the massage and the reaction force felt by the person 53 performing the massage can be made similar.

  The concave / convex hardness display means and the partial pressure position indication / strength indication means 24 display the human body shape in the same size as the real object so that it can be easily pushed by the kneading balls 25. On the other hand, in order to make the massage instruction device 9 compact in consideration of storage and portability, the size of the uneven hardness display means, the partial pressure position indication and strength indication means 24 is smaller than the size of the back. Therefore, the range of the human body shape to be displayed is changed by the lever of the display position changing means 22. The display changes to the neck when the lever is raised and toward the waist when the lever is lowered.

  The acupoint position display means 13 is a projector, and displays the acupoint position 55 at the corresponding position of the human body shape displayed on the unevenness hardness display means and the partial pressure position indication and strength indication means 24. The video display means 15 displays the scenery 54 photographed by the photographing means 6.

  The massage instruction device 9 is provided with means for a person who massages to instruct the control means 17 to control each means. That is, a connection button 44, a record button 41, a playback button with sound 42, and a playback button 43 without sound are provided. The start / end of communication with the massage apparatus 1 is instructed by turning on / off the connection button 44, the start / end of recording by the recording means 33 is instructed by turning on / off the recording button 41, the playback button 42 with sound and the sound The reproduction start / end of only the partial pressurization instruction data is instructed by the ON / OFF of the none reproduction button 43 accompanied by audio data.

  If recording is performed while performing a massage, the person who receives the massage can later reproduce and apply the same massage when a request for the same thing is received because the massage was good. If playback without sound is performed, only massage can be played and conversation can be newly performed. In addition, when there is time to spare, massage instructions are given in a disconnected state and recording is performed while voice messages are being input. You can do it. A voice message can also be transmitted if playback with voice is performed.

  Next, FIG. 4 shows the configuration of the uneven hardness display means and the partial pressure position indication and strength indication means 24 which are a part of the massage instruction apparatus according to the present embodiment. The surface is covered with a flexible cover 80. In the inside, shape display pins 81 for expressing the uneven shape are arranged. The shape display pin 81 is supported by a support member 74, and pushes up the flexible cover by changing the height based on the uneven shape data to display the human body shape.

  Next, FIG. 5 shows a cross section of the configuration of the shape display pin 81. The surface plate 61 supports the flexible cover 80 by contacting the flexible cover 80. The surface plate 61 incorporates a kneading ball position detection magnetic sensor 75 and detects the magnetism of a magnet built in the kneading ball 25 to identify the position of the kneading ball 25. The surface plate 61 is connected to a spring adjustment shaft 64 via a hardness adjustment spring 62. The spring adjustment gear 65 that is rotated by the spring adjustment stepping motor 66 rotates the spring adjustment shaft 64 whose surface is geared, so that the position of the spring adjustment claw 63 inserted into the hardness adjustment spring 62 changes, and the spring is soft. Changes. By this mechanism, the position of the bone is hard and the position where the surface skin layer is thick is expressed softly.

  The spring adjustment claw 63 is fixed to the pin main body 67, and the pin main body 67 is provided with a height adjustment groove 68 and a height adjustment rack 73. When the height adjustment pinion 72 moves the height adjustment rack 73, the height of the pin body 67 with respect to the fixed support member 74 changes. The height adjustment at this time is a height obtained by subtracting the length of the hardness adjustment spring 62 from the pin body 67 to the surface plate 61.

  The adjusted height is fixed by hooking the height adjusting claw 69 on the height adjusting groove 68. The height adjustment claw 69 is pressed against the height adjustment groove 68 by a claw fixing spring 70, and at the time of height adjustment, the height adjustment claw 69 is removed from the height adjustment groove 68 by a claw release solenoid 71. The spring adjustment claw 63 incorporates a pressing force sensor 76 and measures the pressing force transmitted via the hardness adjustment spring 62.

  As described above, in the configuration example shown in FIG. 5, basically, the height of the shape display pin 81 is adjusted by rotating the height adjustment pinion 72 after removing the height adjustment claw 69 from the groove 68. The softness of the shape display pin 81 is adjusted by moving the spring adjustment shaft 64 up and down with respect to the main body 67 by the stepping motor 66, and the hardness is adjusted accordingly. The adjustment spring 62 is rotated to change the position of the spring adjustment claw 63 on the hardness adjustment spring 62 and to change the softness of the hardness adjustment spring 62 between the spring adjustment claw 63 and the surface plate 61.

  When the massager 53 indicates the partial pressurization position and strength, using the kneading balls 25, the unevenness hardness display means and the partial pressurization position instruction and strength indication means 24 are pressed down to detect the kneading ball position. The position of the shape display pin 81 where the magnetism of the kneading balls 25 is detected by the magnetic sensor 75 is set as partial pressurization position data, and the pressing force detected by the pressing force sensor 76 of the shape display pin 81 is set as massage strength data.

  When the massage is actually performed according to the strength data, the uneven shape of the massage site changes. By calculating the softness of the position from the amount of change, the softness of the hardness adjusting spring 62 of the pin at the corresponding position is changed in real time to express the actual response of the partial pressurizing position. The height adjustment pinion 72 may express the softness by directly changing the height of the surface plate 61 without using the hardness adjustment spring 62, but when the hand touches a portion other than the partial pressurization instruction, The hardness adjusting spring 62 is used to express the approximate hardness other than the partial pressurization instruction position so that the softness corresponding to the bone or muscle of the part can be felt.

  When the mechanism of use varies depending on the type of operation such as the scrambling operation, the striking operation, the acupressure operation, etc., the control unit 8 may switch the mechanism of use by inferring the operation from the change in strength data, The instruction device 9 may be provided with an operation switching means, and a person performing massage may select an operation to transmit and switch the operation type data.

  Next, FIG. 6 shows another configuration example of the massage instruction apparatus in the remote palpation massage system according to the embodiment of the present invention. In order to reduce the cost, the unevenness hardness display means 12, the massage position instruction means 21, and the strength instruction means 23 are realized by a general-purpose personal computer.

  The image display means 15, the uneven hardness display means 12, and the acupoint position display means 13 are realized by the display 30, and the massage position instruction means 21 and the strength instruction means 23 are realized by the mouse 26. The display 30 and the mouse 26 are connected to the personal computer main body 28 with a cable 29 and a cable 27. The communication means 16, the recording means 33, the reproducing means 34, and the control means 17 are each realized by a communication device, a recording device, and a CPU built in the personal computer body. The voice input means 10 and the voice output means 11 are realized by a speaker and a microphone of a personal computer system.

  A connect button 44, a record button 41, a play button with sound 42, and a play button 43 without sound are provided on the display 30, and are clicked with the mouse 26 to be switched ON / OFF. The display 30 is also provided with buttons for turning ON / OFF the target acupoint position display, for example, a back pain acupuncture display button 45 and a stiff shoulder acupuncture display button 46.

  Since the display 30 can only be visually displayed, the human body shape is also visually expressed. For example, the convex portion is light in color and the concave portion is dark in color. In addition, since the massage operation is performed directly by hand and the partial pressurization position is not indicated, the human body shape display does not need to be an actual size, and can be reduced to display all the human body shapes in the massage range. In that case, the display position changing means 22 is unnecessary. In order to obtain a more natural human body display, a clothing picture is synthesized on the uneven display, and a head picture 58 and an arm picture are also synthesized and displayed. A clothing person can select an arbitrary clothing picture by a clothing selection button 47.

  The partial pressurization position is instructed by clicking the mouse after moving the mouse cursor to the position to be massaged in the human body display. However, a normal personal computer system has only one mouse and one mouse cursor. On the other hand, massage is usually performed symmetrically with both hands.

  Therefore, the symmetry axis 59 is provided in the human body shape display, and the position 57 symmetrical to the mouse cursor position 56 with respect to the symmetry axis 59 is automatically set as the partial pressurization position. The position of the symmetry axis 59 is set while viewing the human body shape display on the setting screen that appears when the symmetry axis setting button 48 is clicked. Move the mouse cursor while holding down the click button at the partial pressurization position to indicate the strength of the massage. For example, it is strong when moved upward and weak when moved downward. In FIG. 6, reference numeral 55 represents the position of the pot.

  FIG. 7 shows an operation flow of the remote palpation massage system according to the embodiment of the present invention. First, when the power is turned on, the control means of the apparatus turns on the sound output means of the apparatus (S101). Next, when the connection button of the massage apparatus 1 is turned on (S102), the control means 8 turns on the voice input means 2 of the massage apparatus 1 (S103). When the connection button of the massage instruction apparatus 9 is turned on (S104), the control means 17 turns on the voice input means 10 of the massage apparatus 9 (S105).

  If the voice input means 2 is ON, the communication means 7 transmits the voice data generated by the voice input means 2, and if the voice input means 10 is ON, the communication means 16 transmits the voice data generated by the voice input means 10. (S106). When the communication means 7 receives the sound data, the sound output means 3 outputs the sound based on the sound data, and when the communication means 16 receives the sound data, the sound output means 11 outputs the sound based on the sound data (S107). . The processes from S102 to S107 are repeated until the connection buttons of both apparatuses are turned on (S108).

  For example, when the user of either the massage apparatus 1 or the massage instruction apparatus 9 turns on the power and calls the other party with a voice or a ringing tone, when the other party's apparatus is turned on, the voice output means outputs the voice. Is output. The partner who heard it turns on the connection button of his device. Until the connection button is turned ON, the voice input means is OFF, so that the user's voice is not output to the other party and privacy is maintained. When the connection buttons of both apparatuses are turned on, the photographing of the photographing means 6 is started (S109).

  The massage apparatus 1 first performs shape recognition by the concave / convex shape recognition means 4 (S110), audio data generated by the voice input means 2, video data generated by the photographing means 6, and concave / convex shape data generated by the concave / convex shape recognition means 4. Is transmitted by the communication means 7 (S111). Then, the communication means 16 of the massage instruction device 9 receives the data (S112), the sound output means 11 outputs the sound based on the data, the image display means 15 displays the image (S113), and the uneven hardness display means 12 displays the data. The shape is displayed (S114). Then, the pressure point display means 13 displays the pressure point position (S115).

  Then, the partial pressurization instruction means 14 detects a massage instruction (S116), and the communication means 16 transmits the partial pressurization instruction data generated by the partial pressurization instruction means 14 and the voice data generated by the voice input means 10 ( S117). When the communication means 7 of the massage apparatus 1 receives it (S118), based on the data, the partial pressurizing means 5 performs massage and the voice output means 3 performs voice output (S119). Steps S110 to S119 are repeated at short time intervals that do not hinder voice conversation and massage until the connection button of any device is turned off (S120). The device whose connection button is turned off turns off the voice input means of the device (S121).

  As described above, according to the remote palpation massage system according to the present embodiment, the practitioner can remotely know the shape of the treatment target person, and the hardness can be obtained as a response from the uneven shape change when pressed. Since the conversation can be performed in the presence of being in direct contact, even if the conversation is interrupted, the virtual contact communication by the massage can be continued, and it is possible to perform easy communication without having to worry so that the conversation is not interrupted.

  In addition, if you receive a massage request by voice, you can receive a response from the massager by changing the voice or massage method. You can feel the presence. In addition, since the same scenery can be seen, it can be used as a seed for conversation.

  In addition, massage instructions can be given using a portable special-purpose machine or a general-purpose computer, so it is possible to give massage anytime, anywhere, such as on a company desk or train while working overtime.

  Moreover, since the position and intensity | strength which should be pressurized can be instruct | indicated and it can be confirmed whether it was pressurized with the position and intensity | strength as intended from the uneven | corrugated shape change, exact massage can be performed. In addition, the body shape and weight can be seen, and since the unevenness and lump can be seen from the change in uneven shape when pressurized, it is possible to know the health status of the person receiving the massage. As a result, it is also possible to receive an accurate treatment by having a professional judge a symptom accurately by a palpation from a distance.

  It can also be used for palpation without massage. You can touch and check the softness and lump of a specific part from a distance. In that case, the palpation device may be appropriately shaped so that the palpation site touches, such as a chair type when examining the back according to the palpation site, a bed type when viewing the back and abdomen, and a tube type when viewing the extremities. In the case of a chair or bed, the palpation surface is almost fixed by gravity and friction by sitting or sleeping, and in the case of a cylindrical type, it can be fixed by pressing, so the palpation site does not move even during palpation and is appropriate. The position can be palpated.

  It is recommended to instruct how to sit down, sleep, and attach from a remote location, and check whether the camera is sitting, sleeping, or attached correctly. If the approximate position of the body is in contact with the tactile device, the detailed position of the affected area to be palpated can be remotely determined by a remote palpator, for example, a doctor, by means of a concavo-convex shape display, and the partial pressurizing means can be remotely operated. Even an amateur can perform sitting, sleeping and mounting.

  Next, an automatic massage apparatus according to another embodiment of the present invention will be described below with reference to FIGS. FIG. 8 is a block diagram showing a configuration of an automatic massage apparatus according to another embodiment of the present invention. FIG. 9 is a diagram showing a specific configuration of an automatic massage apparatus according to another embodiment of the present invention. In another embodiment of the present invention, a pressure distribution sensor is used to detect the contact pressure between the observation surface and the object as the uneven shape recognition means.

  The automatic massage device 301 shown in FIG. 8 has the following configuration. The concavo-convex shape recognition means 302 recognizes the shape of the person receiving the massage using the contact pressure between the observation surface and the object, and generates concavo-convex shape data. Specifically, the pressure applied to the contact surface is detected by a pressure distribution sensor, and the uneven shape of the body is estimated and recognized from the pressure intensity. A position where the pressure is high is a convex portion, and a position where the pressure is low is a concave portion.

  The partial pressurizing unit 303 pressurizes an arbitrary part of the uneven shape recognition target surface. The deformation amount detecting unit 304 detects the uneven deformation amount at the pressing position when the partial pressurizing unit 303 pressurizes. The symptom treatment method determination means 305 determines the symptom by obtaining the hardness of the part from the pressure intensity of the partial pressure means 303 and the deformation amount detected by the deformation amount detection means 304, and performs the treatment from the stored symptom treatment rules. Select a method. The control means 306 controls the above means.

  Next, the operation and action of an automatic massage apparatus according to another embodiment of the present invention will be described with reference to FIG. FIG. 9 is a diagram showing a specific configuration example of an automatic massage apparatus according to another embodiment of the present invention.

  The air pressurization box 307 is a box whose upper part is made of rubber. Can be sealed with air. Pressure sensors are arranged on the upper rubber surface 312 in a planar shape (matrix shape). Air is pressurized and sealed in the air pressurization box 307 and a massage object (foot in the example shown) 311 is placed on the top. Then, the contact pressure distribution between the rubber surface 312 that is the observation surface and the massage object 311 is detected. The uneven shape recognizing means 302 estimates and recognizes the uneven shape from this pressure distribution. The symptom treatment method determining means 305 obtains the position of the part whose hardness is to be examined from the uneven shape, and the control means 306 moves the partial pressurizing means 303 to that position.

  The partial pressure unit 303 is moved by the XY stage 310. The partial pressurization means 303 is moved upward by the pressurization motor 309 via the spring 308 and applies force to the massage object 311. The spring 308 contracts to balance the reaction force of the massage object 311. Since the pressing surface is rubber, it can stretch locally and apply force to the massage object 311. However, in that case, since it becomes difficult to obtain the uneven distribution from the output of the pressure sensor, the hardness of the pressed portion is obtained by the following method. That is, the amount of movement of the partial pressurizing unit 303 is detected by the deformation amount detecting unit 304. Then, from the detection amount of the deformation amount detecting means 304 and the movement amount by the pressure motor 309, the spring pressure proportional to the spring contraction amount and the deformation amount of the massage object 311 are obtained, and the hardness of the pressure position is obtained.

  The symptom treatment method determination means 305 determines the symptom of the massage object 311 from the hardness of each diagnosis point. The symptom treatment method determination means 305 stores rules of the treatment method for the symptoms, and selects a necessary treatment method from the rules. And the control means 306 moves the partial pressurization means 303 to the position of the site | part according to the treatment method, and pressurizes with the strength according to the treatment method. This makes it possible to automatically determine the symptom and to receive an appropriate treatment according to the symptom at an appropriate position.

  As described above, according to the embodiment of the present invention, a remote massage system that can perform a realistic massage to a person in a remote place, a remote palpation, an automatic that performs massage by diagnosing symptoms Available for massage devices.

  According to the present invention, the practitioner can know the shape of the treatment target person while being remote, can indicate the pressure position and the pressure strength, and can change the object shape from the uneven shape when pressurized. It is possible to confirm whether the position is pressed as instructed, and the hardness of the pressed position can be known from the change in the concavo-convex shape. Moreover, the uneven | corrugated shape of treatment surfaces, such as a backrest and the back which is contacting the bed, in the state in which the treatment subject is sitting or sleeping can be recognized. Furthermore, even if the treatment subject is sitting or sleeping and the treatment surface is in contact with the backrest or the bed surface, the unevenness can be recognized even if the treatment surface is not completely in contact with the treatment surface. Furthermore, even if the person to be treated is sitting or sleeping and the treatment surface is in contact with the backrest or the bed surface and deformed, the practitioner can know an uneven shape that is close to the non-contact state. Further, it is possible to perform pressure treatment while confirming the state of the treatment subject such as the uneven shape of the treatment subject surface and the hardness of an arbitrary position.

It is a block diagram which shows the structure of the remote palpation massage system which consists of a massage apparatus and a massage instruction | indication apparatus based on embodiment of this invention. It is a figure which shows the structural example of the massage apparatus in the remote palpation massage system which concerns on this embodiment. It is a figure which shows the structural example of the massage instruction | indication apparatus in the remote palpation massage system which concerns on this embodiment. It is a figure which shows the structure of the uneven | corrugated hardness display means which is a part of the massage instruction | indication apparatus which concerns on this embodiment, the position instruction | indication of a partial pressurization, and a strength indication means. It is a figure which shows the cross section of the structure of the shape display pin which is a part of the uneven | corrugated hardness display means regarding this embodiment, the position instruction | indication of partial pressurization, and a strength indication means. It is a figure which shows the other structural example of the massage instruction | indication apparatus in the remote palpation massage system which concerns on embodiment of this invention. It is a flowchart which shows the flow of operation | movement of the remote palpation massage system which concerns on embodiment of this invention. It is a block diagram which shows the structure of the automatic massage apparatus which concerns on other embodiment of this invention. It is a figure which shows the specific structure of the automatic massage apparatus which concerns on other embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Massage apparatus 2 Voice input means 3 Voice output means 4 Uneven shape recognition means 5 Partial pressurization means 6 Imaging means 7 Communication means 8 Control means 9 Massage instruction apparatus 10 Voice input means 11 Voice output means 12 Uneven hardness display means 13 Acupoint position Display means 14 Partial pressurization instruction means 15 Video display means 16 Communication means 17 Control means 31, 33 Recording means 32, 34 Reproducing means 51 Massage recipient 52 Surrounding scenery 53 Massage recipient 54 Photographed scenery

Claims (8)

An uneven shape recognition means for recognizing the uneven shape of the pressurization object in the vicinity of the observation surface, a partial pressurization means for pressurizing an arbitrary position of the pressurization object, and a tactile device having a communication means,
A tactile system comprising: a concavo-convex shape display means for the pressurization object; a partial pressurization instruction means for instructing a pressurization position and pressurization strength; and a tactile instruction device having a communication means,
The uneven shape data recognized and generated by the uneven shape recognizing means is transmitted to the communication means of the tactile instruction device through the communication means of the tactile device,
The uneven shape display means displays the uneven shape corresponding to the pressurization object according to the uneven shape data received by the communication means of the tactile instruction device,
The pressurization instruction data generated by the partial pressurization instruction means is transmitted to the communication means of the tactile apparatus through the communication means of the tactile instruction apparatus,
The tactile system pressurizes the pressurizing object based on the pressurization instruction data received by the communication unit of the tactile device. In claim 1,
Obtaining the hardness of the pressurization object by detecting the change in the uneven shape data due to pressurization to the pressurization object based on the pressurization instruction data,
The tactile system characterized in that the obtained hardness is embodied in the uneven shape display means. In claim 1 or 2,
The tactile sensation system is characterized in that the concavo-convex shape recognizing means recognizes the concavo-convex shape by using a capacitance of the pressurizing object. In claim 1 or 2,
The tactile sensation system is characterized in that the concavo-convex shape recognition means recognizes a concavo-convex shape using a contact pressure between the observation surface and the pressurization target. In claim 1, 2, 3 or 4,
The tactile device is provided with a wide pressure means for applying pressure to a wide range of the pressurization object,
The concavo-convex shape recognition means obtains the flexibility or hardness of the pressurization object based on the change in the concavo-convex shape data before and after applying pressure by the wide-area pressurization means,
Correcting the uneven shape data based on the obtained flexibility or hardness of the pressed object so that the uneven shape data approximates a state in which the pressed object is not deformed by contact with the observation surface. A tactile system characterized by A concavo-convex shape display means for displaying the concavo-convex shape of the pressurization object in the vicinity of the observation surface in the tactile device, a partial pressurization instruction means for instructing the pressurization position and the pressurization strength to the pressurization target, and the touch A tactile instruction device comprising communication means for communicating with the intelligent device,
The partial pressurization instruction means generates pressurization instruction data instructing a pressurization position and pressurization strength to the pressurization object, and transmits the pressurization instruction data to the tactile device through the communication means.
The uneven shape display means receives the uneven shape data of the pressurization object generated by the tactile device through the communication means, and displays the uneven shape corresponding to the pressurization object according to the uneven shape data. With
Further, the uneven shape display means embodies the hardness of the pressurization object obtained by detecting a change in the uneven shape data due to the pressurization on the pressurization object based on the pressurization instruction data. A tactile instruction device as a feature. Concave and convex shape recognition means for recognizing the concave and convex shape of the pressurizing object in the vicinity of the observation surface, partial pressurizing means for pressurizing an arbitrary position of the pressurizing target, and tactile instructions for instructing the partial pressurizing means A tactile device comprising communication means for communicating with the device,
The tactile device is provided with a wide pressure means for applying pressure to a wide range of the pressurization object,
The concavo-convex shape recognizing unit recognizes the concavo-convex shape of the pressurizing object, creates concavo-convex shape data, and transmits the concavo-convex shape data to the tactile instruction device through the communication unit.
Furthermore, the concavo-convex shape recognition means obtains the flexibility or hardness of the pressurization object based on the change in the concavo-convex shape data before and after applying pressure by the wide-area pressurization means,
The uneven shape data is corrected by the flexibility or hardness of the obtained pressure object so that the uneven shape data approximates the state without deformation due to the contact of the pressure object with the observation surface,
Pressurization instruction data generated based on the uneven shape displayed on the tactile indicating device according to the corrected uneven shape data is received by the communication means,
The tactile system pressurizes the object to be pressurized based on the received pressurization instruction data. A tactile device comprising a concavo-convex shape recognizing unit for recognizing a concavo-convex shape of a pressurized object near the observation surface, and a partial pressurizing unit that pressurizes an arbitrary position of the pressurized object,
The concavo-convex shape recognition means recognizes the concavo-convex shape of the pressed object and creates concavo-convex shape data,
Detect the uneven deformation amount of the pressing position when the partial pressurizing means pressurizes,
Obtaining the hardness of the pressing position based on the detected uneven deformation amount and the pressing strength of the partial pressing means,
The next pressure position is determined based on the result of the obtained hardness.

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