JP2014155028A - Controller and control method, robot, control program,and integrated electronic circuit for control - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an arm controller and control method, a robot, an arm control program, and an integrated electronic circuit for arm control capable of moving a display device to an easily viewable position according to the direction of a user's posture when the user changes the direction of his posture on a bed.SOLUTION: A position of at least one part among the head, the shoulder and the waist of a user from a pressure per position on a bed, and the direction of the user's posture is estimated by using a distribution shape of pressures within a prescribed range including the position of the one part. A display device can be moved to a position easy for the user to view by moving the display device to a position facing the estimated direction of the user's posture.

Description

  The present invention relates to an arm control device and control method for generating an operation of an arm with a display device, a robot having an arm control device, an arm control program, and an integrated electronic circuit for arm control.

  When a bedridden patient on a hospital bed or the like views a display device such as a television, the display device is fixedly installed, so that the patient is placed in a position that is easy for the patient to see according to the display device mounting position. Need to move.

  Various techniques for moving the display device to a position where the user can easily see the display device without touching the display device by hand have been proposed (see Patent Document 1 and Patent Document 2).

JP 2003-186411 A JP-A-9-179502

  An object of the present invention is to provide an arm control device that can move a display device to a position that is easy for a user to see in an arm that controls the position and posture of a display device used by a user on a support such as a bed.

  In order to achieve the above object, according to the first aspect of the present invention, an arm control device according to an aspect of the present invention provides an arm for controlling the position and posture of a display device used by a user on a support base. In the control device, a pressure information acquisition unit that acquires a pressure at each position on the support table, and a position of the pressure acquired from the pressure information acquisition unit that is equal to or higher than a predetermined threshold is set on the support table by the user. A part estimation unit that estimates the position of at least one part of the head, shoulder, or waist, and the pressure distribution shape within a predetermined range including the position of the part estimated by the part estimation unit And a posture direction estimating unit that estimates the direction of the user's posture on the support base, and the display device is moved to a position facing the direction of the user's posture estimated by the posture direction estimating unit. of Comprising an operation information generation unit for generating information for controlling the serial arm, and a control unit for controlling the arm on the basis of the information generated from the operation information generating unit.

  These general and specific aspects may be realized by a system, a method, a computer program, and any combination of the system, method, and computer program.

  According to the one aspect of the present invention, the position of the display device used by the user on the support base and the posture of the display device used by the user can be controlled so that the user can easily see the arm on the support base.

Explanatory drawing of the entire system of the first embodiment of the present invention The block diagram of the arm in the robot of 1st Embodiment of this invention Data diagram of motion information in robot of first embodiment of the present invention Explanatory drawing of the attachment method of the pressure sensor in the robot of 1st Embodiment of this invention. Explanatory drawing of the attachment method of the pressure sensor in the robot of 1st Embodiment of this invention. Data diagram of pressure information in the robot of the first embodiment of the present invention Explanatory drawing of the pressure distribution of the sleeping state in the robot of 1st Embodiment of this invention Explanatory drawing of the pressure distribution of the sleeping state in the robot of 1st Embodiment of this invention The data figure of the site | part information in the robot of 1st Embodiment of this invention Explanatory drawing of the steady state in the robot of 1st Embodiment of this invention Explanatory drawing of the steady state on the back in the robot of 1st Embodiment of this invention. Explanatory drawing of the steady state on the back in the robot of 1st Embodiment of this invention. Explanatory drawing of the sitting steady state in the robot of 1st Embodiment of this invention. Explanatory drawing of the sitting steady state in the robot of 1st Embodiment of this invention. Explanatory drawing of the steady state of prone position in the robot of 1st Embodiment of this invention Explanatory drawing of the steady state of prone position in the robot of 1st Embodiment of this invention Explanatory drawing of the steady state of the horizontal direction facing right in the robot of 1st Embodiment of this invention. Explanatory drawing of the steady state of the horizontal direction facing right in the robot of 1st Embodiment of this invention. Explanatory drawing of the steady state of the horizontal direction leftward in the robot of 1st Embodiment of this invention. Explanatory drawing of the steady state of the horizontal direction leftward in the robot of 1st Embodiment of this invention. Explanatory drawing of posture direction estimation of the rolling action in the robot of 1st Embodiment of this invention. Explanatory drawing of posture direction estimation of the rolling action in the robot of 1st Embodiment of this invention. Explanatory drawing of posture direction estimation of the rolling action in the robot of 1st Embodiment of this invention. Explanatory drawing of the pressure distribution of the rolling operation in the robot according to the first embodiment of the present invention. Explanatory drawing of the pressure distribution of the rolling operation in the robot according to the first embodiment of the present invention. Explanatory drawing of the pressure distribution of the rolling operation in the robot according to the first embodiment of the present invention. Explanatory drawing of posture direction estimation of the state with an elbow in the robot of 1st Embodiment of this invention Explanatory drawing of pressure distribution of the state with an elbow in the robot of 1st Embodiment of this invention Explanatory drawing of posture direction estimation of the sitting motion in the robot according to the first embodiment of the present invention. Explanatory drawing of posture direction estimation of the sitting motion in the robot according to the first embodiment of the present invention. Explanatory drawing of posture direction estimation of the sitting motion in the robot according to the first embodiment of the present invention. Explanatory drawing of pressure distribution of the sitting motion in the robot according to the first embodiment of the present invention. Explanatory drawing of pressure distribution of the sitting motion in the robot according to the first embodiment of the present invention. Explanatory drawing of pressure distribution of the sitting motion in the robot according to the first embodiment of the present invention. Explanatory drawing of posture direction estimation at the time of reclining in the robot of 1st Embodiment of this invention Explanatory drawing of posture direction estimation at the time of reclining in the robot of 1st Embodiment of this invention Explanatory drawing of posture direction estimation at the time of reclining in the robot of 1st Embodiment of this invention Explanatory drawing of the pressure distribution at the time of reclining in the robot of 1st Embodiment of this invention Explanatory drawing of the pressure distribution at the time of reclining in the robot of 1st Embodiment of this invention Explanatory drawing of the pressure distribution at the time of reclining in the robot of 1st Embodiment of this invention Explanatory drawing of posture direction information in the robot according to the first embodiment of the present invention. Data diagram of posture direction information in the robot of the first embodiment of the present invention Explanatory drawing of movement control of the arm of the rolling operation in the robot of 1st Embodiment of this invention. Explanatory drawing of movement control of the arm of the rolling operation in the robot of 1st Embodiment of this invention. Explanatory drawing of movement control of the arm of the rolling operation in the robot of 1st Embodiment of this invention. Explanatory drawing of movement control of the arm of the rolling operation in the robot of 1st Embodiment of this invention. Explanatory drawing of the movement control of the arm at the time of reclining in the robot of 1st Embodiment of this invention Explanatory drawing of the movement control of the arm at the time of reclining in the robot of 1st Embodiment of this invention Explanatory drawing of the movement control of the arm at the time of reclining in the robot of 1st Embodiment of this invention Explanatory drawing of the movement control of the arm at the time of reclining in the robot of 1st Embodiment of this invention Data diagram of control method information in the robot of the first embodiment of the present invention Explanatory drawing of the movement of the arm in the robot of 1st Embodiment of this invention. Explanatory drawing of the movement of the arm in the robot of 1st Embodiment of this invention. Explanatory drawing of the movement of the arm in the robot of 1st Embodiment of this invention. Block diagram of an input / output IF in the robot according to the first embodiment of the present invention. The flowchart in the operation procedure of the control apparatus of the robot of 1st Embodiment of this invention. The flowchart in the operation procedure of the control apparatus of the robot of 1st Embodiment of this invention. The block diagram of the arm in the robot of 2nd Embodiment of this invention Data diagram of body information in robot of second embodiment of the present invention Explanatory drawing of extraction of the body information in the robot of 2nd Embodiment of this invention Explanatory drawing of the arm movement control of the rolling operation in the robot of 2nd Embodiment of this invention. Explanatory drawing of the arm movement control of the rolling operation in the robot of 2nd Embodiment of this invention. Explanatory drawing of the arm movement control of the rolling operation in the robot of 2nd Embodiment of this invention. Explanatory drawing of the arm movement control of the rolling operation in the robot of 2nd Embodiment of this invention. Explanatory drawing of the movement control of the arm at the time of reclining in the robot of 2nd Embodiment of this invention Explanatory drawing of the movement control of the arm at the time of reclining in the robot of 2nd Embodiment of this invention Explanatory drawing of the movement control of the arm at the time of reclining in the robot of 2nd Embodiment of this invention Explanatory drawing of the movement control of the arm at the time of reclining in the robot of 2nd Embodiment of this invention The flowchart in the operation procedure of the control apparatus of the robot of 2nd Embodiment of this invention. The block diagram of the arm in the robot of 3rd Embodiment of this invention Data diagram of display information in robot of third embodiment of the present invention Explanatory drawing of the steady state in the robot of 3rd Embodiment of this invention Explanatory drawing of the steady state in the robot of 3rd Embodiment of this invention The flowchart in the operation procedure of the control apparatus of the robot of 3rd Embodiment of this invention. The block diagram of the arm in the robot of 4th Embodiment of this invention Data diagram of environment information in robot of fourth embodiment of the present invention Explanatory drawing of the movement information generation in the robot of 4th Embodiment of this invention Explanatory drawing of the movement information generation in the robot of 4th Embodiment of this invention The flowchart in the operation procedure of the control apparatus of the robot of 4th Embodiment of this invention. The figure which shows the mode of a position and attitude | position control of the display apparatus in the robot of 1st Embodiment of this invention. Explanatory drawing of the motion information generation part in the robot of 1st Embodiment of this invention. The flowchart which judges the state of the user in the robot of 1st Embodiment of this invention. The block diagram of the control apparatus of the modification 1 of this invention The flowchart of the control apparatus of the modification 1 of this invention

  Embodiments according to the present invention will be described below in detail with reference to the drawings.

  Here, in the present specification, the “support base” means a bed, a reclining seat, a reclining sofa, a reclining chair, or the like that can be laid by the user.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Before embodiments of the present invention are described in detail with reference to the drawings, first, the knowledge underlying the present invention will be described, and then various aspects of the present invention will be described.

(Knowledge that became the basis of the present invention)
As shown in FIG. 1, when the user 105 watches the display device 102 such as a television while lying on a support base 103 such as a bed, when the user 105 changes posture by turning over, the display device 102. Therefore, the display device 102 becomes difficult for the user 105 to see. In such a case, if the user 105 looking at the display device 102 is a handicapped patient, the user 105 cannot change the orientation of the display device 102. Further, even if the user 105 can change the orientation of the display device 102 by hand, it is convenient that the orientation of the display device 102 can be changed without using the hand when another operation is performed by hand. is there. Therefore, a technique for changing the position or posture of the display device 102 without using a hand, or a technique for supporting the operation of the user 105 in a state of lying on a support base 103 such as a bed has been proposed.

  Specifically, in Patent Document 1, the presence of the user 105 or the line of sight of the user 105 is detected using a sensor, and the display device 102 is placed at a position corresponding to the line of sight of the user 105 closest to the display device 102. A technique for moving is disclosed. Further, in Patent Document 2, the position of the head of the user 105 is detected using a sensor, and is displayed at an easy-to-see angle by comparing it with a correspondence table of the head position stored in advance and the tilt of the display device 102. A technique for tilting the device 102 is disclosed.

  However, in the method of Patent Document 1, the display device 102 is moved in accordance with the line of sight of the user 105, so the display device 102 moves in response to a slight movement of the line of sight. Therefore, the display device 102 performs excessive follow-up, and the method of Patent Document 1 has a problem that it is difficult to see the image of the display device 102. Further, in the method of Patent Document 2, only the position of the head is measured. Therefore, when the user 105 greatly changes the posture on the support base 103, the display device 102 cannot be moved to an appropriate position. Further, in the method of Patent Document 2, only the tilt of the display device 102 can be adjusted.

  Therefore, in the arm that controls the position and posture of the display device 102 used by the user 105 on the support base 103, the orientation of the face or posture of the user 105 is estimated from the pressure for each position on the support base 103, and the user It is required to control the arm so that the display device 102 can be moved to 105 easy-to-see positions.

  Therefore, according to the first aspect of the present invention, the arm control device according to one aspect of the present invention is the arm control device that controls the position and orientation of the display device used by the user on the support base. A pressure information acquisition unit that acquires a pressure for each position on the table, and a position at which the pressure acquired from the pressure information acquisition unit is equal to or higher than a predetermined threshold; Using the part estimation unit that estimates the position of at least one part of the lower back and the distribution shape of the pressure within a predetermined range including the position of the part estimated by the part estimation unit, the support base A posture direction estimating unit for estimating a direction of the user's posture above, and controlling the arm for moving the display device to a position facing the direction of the user's posture estimated by the posture direction estimating unit. Comprising an operation information generation unit for generating information, and a control unit for controlling the arm on the basis of the information generated from the operation information generating unit.

  Thereby, the part of the user in contact with the support base is estimated, the direction of the user's posture is estimated based on the estimated part, and the display device is moved to a position that is easy for the user to see based on the estimated direction of the posture. be able to.

  Further, it is possible to estimate the position of at least one part of the user's head, shoulder, or waist, and to estimate the direction of the user's posture more accurately based on the estimation. This is because the torso part, which is the main part of the human body and determines the direction of the posture, is closely related to the position of the head, shoulder or waist. Moreover, since the pressure applied to the support base is higher than the other parts in the head, shoulders, and waist due to the skeleton shape of the human body, the pressure can be acquired more reliably.

  In addition, since the orientation of the user's posture is estimated from the pressure applied to the support base, unlike the case of Patent Document 1, the orientation of the user's posture is accurately estimated even when there are obstacles around the user. Can do.

  Moreover, according to the 2nd aspect of this invention, the side with the said user's head on the said support stand is made into the upper side of the said support stand, and the said site | part estimation part is the said support stand acquired from the said pressure information acquisition part. A position where the pressure applied is equal to or higher than a predetermined threshold is determined as a high pressure position, and when each of the high pressure positions is within a predetermined distance, the same high pressure position is determined. According to a), (b), or (c), it is estimated that the position is any part of the user's head, shoulder, or waist that touches the support base. (a) The high-pressure position is 1 If the number of the high pressure positions is two, the shoulder position and the waist position are estimated in order from the upper side on the support base. (C) The high pressure position is 3 In this case, the position of the head, shoulder Positions, and estimates the position of the waist, may function as a control apparatus according to the first aspect.

  Thereby, a user's part which touches on a support stand can be presumed from the pressure applied on a support stand.

  According to the third aspect of the present invention, the posture direction estimation unit estimates the direction of the posture of the user on the support base according to the following (A), (B), or (C): ) When the high pressure position is estimated to be a waist position by the part estimation unit, the user is assumed to be sitting on the support base, the sitting state is estimated, and the pressure distribution shape is The direction of the user's posture on the support table is estimated using (B). When the position estimation unit estimates the shoulder position and the waist position, the user lies on the support table. (C) estimating the direction of the user's posture on the support base using the pressure distribution shape and the estimation of the prone state, and (C) from the part estimation unit Estimated position, shoulder position and waist position In this case, it is estimated that the user is in a supine state or a lateral state on the support base, and the user is in a supine state or a lateral state based on the shape of the pressure distribution, and the estimated state The control device according to the second aspect may be configured to estimate a direction of the posture of the user on the support base using the pressure distribution shape.

  Thereby, based on the estimated part of the user, it is estimated whether the user is sitting on the support base, lying down, lying on his back, or facing sideways, and based on the estimated state Thus, the direction of the user's posture on the support base can be estimated.

  According to the fourth aspect of the present invention, when the posture direction estimating unit estimates that the user is sitting on the support base according to (A), the pressure distribution shape is concave. It is good also as a control apparatus as described in a 3rd aspect which shows the shape of a character and estimates the direction where the said concave character is vacant as the direction of the said user's attitude | position on the said support stand.

  Thus, when the estimated user's state is a sitting state, the pressure distribution shape is similar to the concave character shape, and the direction in which the concave character is vacant is the user's posture. It can be estimated that the direction is.

  According to the fifth aspect of the present invention, the motion information generation unit controls the arm for moving the display device to a position opposite to the user's face direction or posture direction and to a corresponding posture. It is good also as a control device given in the 1st mode which generates information to do.

  Thereby, a display apparatus can be moved to the position and attitude | position which are easier to see for a user.

  Further, according to the sixth aspect of the present invention, the motion information acquisition unit that acquires the position and orientation information of the display device, the information acquired from the motion information acquisition unit, and the part estimation unit are estimated. A distance calculation unit that calculates a distance between the display device and the user from the position of the part, and the motion information generation unit is configured to keep the distance calculated by the distance calculation unit constant. It is good also as a control device given in the 1st mode which generates information which controls an arm.

  Thereby, since the distance of a display apparatus and a user is kept constant, the danger that a user will collide with a display apparatus can be avoided. Further, since the distance between the display device and the user is kept constant, the display device is kept in a position that is easy for the user to see.

  Further, according to the seventh aspect of the present invention, the pressure information acquisition unit acquires a pressure for each position on the support base at a predetermined time, and the posture direction estimation unit receives the pressure information from the pressure information acquisition unit. From the time-series change of the pressure to be acquired, it is determined whether or not the movement of the user's posture has ended, and the control unit determines that the posture direction estimation unit has finished moving the posture of the user. After the determination, the control device according to the first aspect may start the control of the arm based on the information generated by the motion information generation unit.

  Thereby, since the movement of the display device starts after the movement of the user is completed, the danger of a collision between the user and the display device can be avoided.

  According to an eighth aspect of the present invention, when the support base has a reclining mechanism, the control unit controls the arm in conjunction with the operation of the reclining mechanism. It is good also as a control apparatus as described in.

  Thereby, since a display apparatus moves in conjunction with a reclining mechanism, the danger of a collision with a user and a display apparatus can be avoided.

  According to a ninth aspect of the present invention, there is provided a body information acquisition unit that receives input of body information having at least one of the height, sitting height, or shoulder width of the user from the user, and the motion information generation The unit generates information for controlling the arm so that a distance between the user and the display device is a predetermined distance or more based on the user's physical information acquired from the physical information acquisition unit. The control device described in the aspect may be used.

  As a result, the arm can be controlled in accordance with the size of the user's body, so that the danger of a collision between the user and the display device can be avoided.

  According to the tenth aspect of the present invention, the body information calculation unit that calculates the body information having at least one of the height, the sitting height, and the shoulder width of the user from the position of the part estimated by the part estimation unit. And the motion information generation unit controls the arm so that the distance between the user and the display device is a predetermined distance or more based on the physical information of the user calculated by the physical information calculation unit. It is good also as a control device given in the 1st mode which generates information to perform.

  As a result, the arm can be controlled in accordance with the size of the user's body, so that the danger of a collision between the user and the display device can be avoided.

  According to an eleventh aspect of the present invention, there is provided a surrounding environment information acquisition unit that acquires information on a position of an obstacle existing around the user and the arm, and the motion information generation unit includes the body The distance between the user and the obstacle and the display device is a predetermined distance or more based on the physical information of the user acquired from the information acquisition unit and the position information of the obstacle acquired from the surrounding environment information acquisition unit. It is good also as a control device given in the 9th mode which generates information which controls the arm so that it may be kept.

  As a result, the arm is controlled in consideration of the size of the user's body and the obstacles existing around the user and the arm, so that the danger of a collision between the user and the display device can be avoided.

  According to a twelfth aspect of the present invention, the display device is a touch panel display, and the control device acquires information displayed on the screen of the touch panel display, and displays the information on the screen of the touch panel display. A display information acquisition unit that determines whether the content needs to be touched, and when the operation information generation unit determines that the content needs to be touched by the display information acquisition unit, The control device according to the first aspect, which generates information for controlling the arm so that the distance between the user and the touch panel display is smaller than when it is determined that the content does not need to be touched. It is good.

  Thereby, when the display device is a touch panel display and the content displayed on the screen of the touch panel display requires a touch operation, the display device can be moved to a position closer to the user.

  According to the thirteenth aspect of the present invention, a brightness information acquisition unit that acquires brightness information about the user, and the lower the brightness of the periphery acquired from the brightness information acquisition unit, the lower the display device. A brightness adjustment unit that adjusts the brightness of the screen to be low, and may be the control device according to the first aspect.

  Thereby, since the brightness of the screen of a display apparatus is adjusted according to the brightness of a user's periphery, a user becomes easier to see a display apparatus.

  According to the fourteenth aspect of the present invention, the solar position storage unit that stores the position of the sun for each latitude, longitude, and date and time, and the current information that indicates the latitude and longitude of the display device and the date and time when the display device is used Current information acquisition unit that acquires the solar position acquisition unit that acquires the position of the sun from the solar position storage unit based on the current information acquired from the current information acquisition unit, and the display that is acquired from the operation information generation unit A reflection determination unit that determines whether or not the sun is reflected on the display screen of the display device, using the position and orientation of the device and the position of the sun acquired from the solar position acquisition unit; The motion information generation unit is opposed to a position where the sun is not determined to be reflected on the display screen of the display device by the reflection determination unit, and the direction of the user's posture estimated by the posture direction estimation unit Do Generates information for controlling the arm for moving the display device in the location may be a control device according to the first aspect.

  Thereby, it is possible to determine whether or not the display screen is difficult to see due to the reflection of the sun on the display screen of the display device. If it is difficult to see, the display device can be moved to a position that is easier for the user to see.

  Further, according to the fifteenth aspect of the present invention, the control device is further configured so that the control device is in a state in which the user's posture is sitting, lying down, lying on the back, or facing sideways. A steady state acquisition unit that receives an input of a steady state indicating whether or not, and the posture direction estimation unit estimates the orientation of the user's posture from a time series change of the distribution shape from the steady state, It is good also as a control device given in the 1st mode.

  Thereby, since a user's attitude | position direction is estimated based on the time series change of the distribution shape from the steady state which the user input initially, a user's attitude | position direction can be estimated more correctly.

  Further, according to the sixteenth aspect of the present invention, when the position of the user's head is estimated by the part estimation unit, the steady state acquisition unit receives the steady state input from the user. The distance between the position of the user's head and the display device is acquired, and the motion information generation unit is a position facing the direction of the user's posture estimated by the posture direction estimation unit, and the steady acquisition The control device according to the fifteenth aspect may be configured to generate information for controlling the arm for moving the display device to a position having the same distance as the distance acquired by the unit.

  Thereby, even when the user changes the orientation of the posture, the display device can be moved to a position at the same distance as the distance between the user and the display device in the steady state input by the user first, which is easier for the user to see. The display device is moved to the position.

  According to a seventeenth aspect of the present invention, a robot comprising the control device according to any one of the first to sixteenth aspects and the arm.

  According to the eighteenth aspect of the present invention, in the arm control method for controlling the position and orientation of the display device used by the user on the support base, the pressure information acquisition unit is provided for each position on the support base. The pressure is acquired, and the part estimation unit obtains a position where the pressure acquired from the pressure information acquisition unit is equal to or higher than a predetermined threshold, at least one of the user's head, shoulder, or waist contacting the support base. The posture direction estimation unit estimates the position of the part, and the posture direction estimation unit uses the pressure distribution shape within a predetermined range estimated by the part estimation unit and includes the position of the part. The direction of the posture is estimated, and the motion information generation unit generates information for controlling the arm for moving the display device to a position facing the direction of the user's posture estimated by the posture direction estimation unit. ,control But it controls the arm on the basis of the information generated from the operation information generating unit.

  According to the nineteenth aspect of the present invention, in the arm control program for controlling the position and orientation of the display device used by the user on the support base, the pressure information acquisition unit is provided for each position on the support base. A step of acquiring pressure, and a part estimation unit, wherein the pressure acquired from the pressure information acquisition unit is a position equal to or higher than a predetermined threshold, at least of the user's head, shoulder, or waist that touches the support base A step of estimating the position of one part, and a posture direction estimating unit using the distribution shape of the pressure within a predetermined range estimated by the part estimating unit and including the position of the part; Estimating the direction of the user's posture in the step, and the motion information generating unit moving the display device to a position facing the direction of the user's posture estimated by the posture direction estimating unit. And generating the information for controlling the arm of the control unit, to execute a step of controlling the arm on the basis of the information the generated from the operation information generation unit to the computer.

  According to the twentieth aspect of the present invention, in the integrated electronic circuit for controlling the arm that controls the position and orientation of the display device used by the user on the support base, the pressure information acquisition unit is provided on the support base. The pressure for each position is acquired, and the part estimation unit is located on the support base at a position where the pressure acquired from the pressure information acquisition unit is equal to or higher than a predetermined threshold, among the user's head, shoulder or waist. It is estimated that the position is at least one part, and the posture direction estimation unit uses the pressure distribution shape within a predetermined range that is estimated by the part estimation unit and includes the position of the part. Information for estimating the direction of the user's posture, and for the motion information generation unit to control the arm for moving the display device to a position opposite to the direction of the user's posture estimated by the posture direction estimation unit Raw And, the control unit controls the arm on the basis of the information generated from the operation information generating unit.

(First embodiment)
FIG. 2 shows a block diagram of the robot 101 having the arm control device 203 in the first embodiment of the present invention. In FIG. 2, the robot 101 includes an arm 202 and an arm control device 203.

  The arm control device 203 is a control device for the arm 202 that controls the position and orientation of the display device 102. The arm control device 203 includes at least a pressure information acquisition unit 207, a part estimation unit 208, a posture direction estimation unit 211, a motion information generation unit 213, and a control unit 214.

  Hereinafter, the main configuration of the arm control device 203 will be briefly described first.

  The pressure information acquisition unit 207 acquires the pressure for each position of the support base 103.

  The part estimation unit 208 is a position of at least one part of the head, shoulder, or waist of the user 105 that is in contact with the support base 103 at a position where the pressure acquired from the pressure information acquisition unit 207 is equal to or greater than a predetermined threshold. Estimated.

  The posture direction estimation unit 211 estimates the posture direction of the user 105 on the support base 103 using the pressure distribution shape within a predetermined range including the position of the part estimated by the part estimation unit 208.

  The motion information generation unit 213 generates information for controlling the arm 202 for moving the display device 102 to a position facing the posture direction of the user 105 estimated by the posture direction estimation unit 211.

  The control unit 214 controls the arm 202 based on the information generated by the motion information generation unit 213.

  As a result, the part of the user 105 in contact with the support base 103 is estimated, the direction of the posture of the user 105 is estimated based on the estimated part, and is displayed at a position that is easy for the user 105 to view based on the estimated direction of the posture. The device 102 can be moved. Further, since the orientation of the user 105 is estimated from the pressure applied to the support base 103, unlike in the case of Patent Document 1, the orientation of the user 105 is accurate even when there is an obstacle around the user 105. Can be estimated.

  Hereinafter, the first embodiment will be described in detail.

<Description of arm control device>
The arm control device 203 includes a control device 204 and a peripheral device 205.

<Description of control device main body>
The control device 204 includes a motion information acquisition unit 206, a pressure information acquisition unit 207, a part estimation unit 208, a steady state acquisition unit 209, a steady state switching unit 210, a posture direction estimation unit 211, and a control method switching unit. 212, an operation information generation unit 213, and a control unit 214.

  The peripheral device 205 includes an input / output IF (interface) 215 and a motor driver 216. Each function will be described below.

(Operation information acquisition unit 206)
The movement information acquisition unit 206 receives position information and posture information of the arm 202 from the input / output IF 215 and time information from a timer built in the input / output IF 215. Further, the operation information acquisition unit 206 acquires speed information by differentiating the position information acquired from the input / output IF 215 with respect to time information. Further, the motion information acquisition unit 206 acquires angular velocity information by differentiating the posture information with respect to time information. FIG. 3 shows time information, position information, posture information, speed information, and angular speed information acquired by the motion information acquisition unit 206.

  The motion information acquisition unit 206 outputs the acquired position information, posture information, velocity information, angular velocity information, and time information of the arm 202 to the steady state acquisition unit 209 and the motion information generation unit 213.

(Pressure sensor 104)
The pressure sensor 104 is attached to the support base 103 and detects the magnitude of the pressure applied by the user 105 to the support base 103 for each position on the support base 103.

  As an example of a method of attaching the pressure sensor 104, FIG. 4A shows an example of attaching the sheet-like pressure sensor 104 to the support base 103. FIG. As an example of use of the pressure sensor 104, FIG. 4B shows an example in which the pressure distribution applied to the support base 103 by the user 105 when the user 105 is sleeping on the support base 103 is shown.

  The pressure sensor 104 is realized by using, for example, a pressure-sensitive conductive ink type sensor sheet. For example, the pressure sensor sheet measures a pressure every 10 mm square on the sheet. The unit of pressure is kPa, for example.

  The measured pressure information is output to the pressure information acquisition unit 207 every predetermined time (for example, 1 msec).

(Pressure information acquisition unit 207)
The pressure information acquisition unit 207 receives pressure information from the pressure sensor 104 and time information from a timer built in the input / output IF 215.

  FIG. 5 shows an example of pressure information and time information acquired by the pressure information acquisition unit 207.

  Note that the pressure information acquisition unit 207 can also acquire pressure information from the pressure sensor 104 via the input / output IF 215.

  Note that when the pressure information acquisition unit 207 acquires and outputs the pressure information, the pressure information is output in a stable state, so that erroneous detection can be prevented and the arm 202 can be accurately controlled. Specifically, the pressure information is sent to the site estimation unit 208 when the change in the pressure distribution continues for the first threshold (for example, 0.1 kPa) or more for the second threshold (for example, 100.0 msec) or more. Output. If the above condition is not satisfied, the pressure information is not output to the part estimation unit 208.

  The pressure information acquisition unit 207 outputs the acquired pressure information and time information to the part estimation unit 208.

(Part estimation unit 208)
The part estimation unit 208 receives pressure information and time information from the pressure information acquisition unit 207. The part estimation unit 208 estimates the part of the user 105 based on the input pressure distribution. Hereinafter, a method for estimating the part of the user 105 based on the pressure distribution will be described.

  The part estimation unit 208 classifies the pressure information by a predetermined method, and estimates the part based on the classified information.

  The pressure information is classified based on whether the pressure is larger or smaller than a predetermined threshold value. The predetermined threshold value is not limited to one and may be a plurality. The pressure information is classified into n + 1 when n threshold values (n is an integer) are provided.

  As an example of the classification method, the part estimation unit 208 classifies the magnitude of pressure into a low pressure part, a medium pressure part, and a high pressure part (hereinafter also referred to as a low pressure position, a medium pressure position, and a high pressure position) based on a predetermined threshold. To do. The predetermined threshold is, for example, 0.1 kPa, 3.0 kPa, or 9.0 kPa. Specifically, the site estimation unit 208 classifies the pressure magnitudes as 0.1 kPa to 3.0 kPa as a low pressure part, 3.0 kPa to 9.0 kPa as an intermediate pressure part, and 9.0 kPa or more as a high pressure part. . As the estimation of the part, the part estimation unit 208 estimates, for example, the head, the shoulder, and the waist from the upper side to the lower side of the support base 103.

  Regarding the estimation method, two estimation methods will be described with reference to FIGS. 6A and 6B. 6A and 6B show the pressure distribution in a state where the user 105 is lying on the support base 103. FIG. 6A and 6B is a portion corresponding to the head of the user 105, and a direction indicated as lower in FIGS. 6A and 6B is a portion corresponding to the user's 105 foot. As for the symbols in the pressure distribution, the white circle mark is a low pressure part (for example, the pressure is 0.1 kPa to 3.0 kPa), and the white triangle mark is a medium pressure part (for example, the pressure is 3.0 kPa to 9.0 kPa). ), A black circle mark indicates a high-pressure portion (for example, the pressure is 9.0 kPa or more).

  FIG. 6A shows an explanatory diagram of the first method. A 1st system estimates a site | part according to the number of the high voltage | pressure parts (For example, the magnitude | size of a pressure is 9.0 kPa or more) of pressure information. The part estimation unit 208 detects a high pressure part divided into upper and lower parts in the high pressure part, and estimates the lower part, the shoulder part, and the head part from the lower side. For example, in FIG. 6A, the part estimation unit 208 searches for the high-voltage unit one row at a time from the top. The part estimation unit 208 searches for the high-pressure part from the upper side, and when the low-pressure part, the medium-pressure part, or the high-pressure part is within a predetermined distance, estimates the same part. The predetermined distance is determined based on the size of the human body and is, for example, 15 cm. Moreover, the part estimation part 208 classify | categorizes as the same site | part, when the row | line | column detected is continuous. In addition, the part estimation unit 208 estimates that one row before and after the detected row is the same portion even in rows where the low pressure portion, the medium pressure portion, and the high pressure portion are not detected. By estimating as described above, the part estimation unit 208 classifies the reference symbols A to C in FIG. 6A, from the lower side, the reference symbol C is the waist, the reference symbol B is the shoulder, and the reference symbol A Is assumed to be the head.

  FIG. 6B shows an explanatory diagram of the second method. The second method estimates according to the number of continuous pressure distributions. The part estimation unit 208 regards the part where the pressured part is connected as the same part regardless of the magnitude of the pressure, and distinguishes it from the other part at the interrupted part. The part estimation unit 208 estimates the distinguished part as the waist, shoulder, and head from below. In the example of FIG. 6B, the reference signs A to C in FIG. 6B can be distinguished by dividing the pressure distribution at the discontinuous portion. The part estimation unit 208 estimates from the lower side that the reference symbol C is the waist, the reference symbol B is the shoulder, and the reference symbol A is the head.

  Note that the site estimation unit 208 can also estimate the site using a method that estimates by combining the above two methods or a method that estimates based on the shape of the pressure distribution.

  FIG. 7 shows an example of part information and time information. In FIG. 7, the estimated part is represented by 1 and the part that was not estimated is represented by 0.

  Part estimation unit 208 outputs the estimated part information, pressure information, and time information to steady state acquisition unit 209, steady state switching unit 210, and posture direction estimation unit 211.

(Steady state acquisition unit 209)
The steady state acquisition unit 209 acquires operation information and time information from the operation information acquisition unit 206, and acquires site information, pressure information, and time information from the site estimation unit 208.

  The steady state acquisition unit 209 calculates the distance between the head of the user 105 and the display device 102 based on the acquired motion information and part information. Such a calculation may be performed by a distance calculation unit instead of the steady state acquisition unit 209.

  The steady state acquisition unit 209 stores the acquired distance information, pressure information, part information, and motion information as steady state information. Here, the steady state means a state in which the user 105 can see the display device 102 with a reasonable posture. The position and orientation of the display device 102 in the steady state are determined by the user 105 moving the display device 102 and setting the display device 102 at a position where the user 105 can easily see. At this time, the steady state is determined by inputting that the user 105 is in the steady state using the input / output IF 215 via the input / output IF 215.

  In the steady state, the distance from the user 105 to the display device 102 is stored as distance information as indicated by reference symbol A in FIG.

  The steady state acquisition unit 209 acquires one of the following four states as the steady state.

  The first state is a supine state. Specifically, as shown in FIG. 9A, the first state is a state in which the user 105 is lying on the back on the support base 103 (hereinafter also referred to as a “back-up state”). FIG. 9B shows the pressure distribution at this time.

  The second state is a sitting state (hereinafter also referred to as “sitting state”). Specifically, the second state is a state in which the user 105 gets up from the support base 103 and sits down as shown in FIG. 10A. FIG. 10B shows the pressure distribution at this time.

  The third state is the prone state (hereinafter also referred to as “the prone state”). Specifically, the third state is a state in which the user 105 is lying on the support table 103 as shown in FIG. 11A. FIG. 11B shows the pressure distribution at this time.

  The fourth state is a sideways state (hereinafter also referred to as a “sideways state”). Specifically, the fourth state is a state in which the user 105 is sleeping on the support base 103 in either the left or right direction as shown in FIG. 12A or 13A.

  The right sideways direction (hereinafter also referred to as “right sideways state”) is a state in which the user 105 is lying sideways facing the right on the support base 103 as shown in FIG. 12A. FIG. 12B shows the pressure distribution at this time.

  The left sideways direction (hereinafter also referred to as “left sideways state”) is a state where the user 105 is lying sideways facing the left on the support base 103 as shown in FIG. 13A. FIG. 13B shows the pressure distribution at this time.

  The steady state acquisition unit 209 can reliably acquire the posture that the user 105 takes by acquiring the state classified as described above from the user 105 as a steady state.

  Although the four states have been described here, the steady state acquisition unit 209 can acquire the posture of the user 105 by holding at least one of the four states as a steady state. is there.

  The steady state acquisition unit 209 outputs the acquired distance information, pressure information, part information, and operation information to the steady state switching unit 210.

(Steady state switching unit 210)
Steady state switching unit 210 obtains part information, pressure information, and time information from part estimation unit 208, and steady state information composed of distance information, pressure information, part information, and operation information from steady state acquisition unit 209. To get. Based on the acquired information, the steady state switching unit 210 selects steady state information to be used at that time.

  In selecting one of the four states described above, a priority order is set. The priority order selected is the order of the supine state, the sideways state, the sitting state, and the prone state. The prone state is selected as an exceptional state. Other states are prioritized according to the following I and II, and states are selected in descending order of priority.

I: When the number of parts is large, the priority is high. II: When the time series change of the pressure distribution is small, the priority is high. More specifically, according to the flowchart of FIG. 46, the supine state, the sideways state, or the sitting state. Select one of the states.

  In step S10101, it is determined whether or not the number of parts is 1. If the number of parts is 1, the process proceeds to step S10102. If the number of parts is not 1, the process proceeds to step S10103.

  In step S10102, a sitting state is selected.

  In step S10103, it is determined whether or not the time-series change in the pressure distribution has moved sideways. If it has moved sideways, the process proceeds to step S10104. If it has not moved sideways, the process proceeds to step S10105.

  In step S10104, the landscape state is selected.

  In step S10105, the supine state is selected.

  Below, an example of the selection method of a steady state is demonstrated. The steady state switching unit 210 selects a steady state according to the part information acquired from the part estimation unit 208. The steady state switching unit 210 selects a steady state on the back when the three types of parts of the head, shoulder and waist are estimated in the part information, and sits when only the waist is estimated. Select steady state. The steady state switching unit 210 selects a steady state on the back when another pattern is estimated in the part information.

  In addition to the above-described method, the steady state switching unit 210 can also select a steady state of prone position when two types of parts, a waist and a shoulder, are estimated in the part information.

  Further, even when the steady state switching unit 210 selects the back-facing steady state, the steady state switching unit 210 looks at the shape of the waist and shoulders and selects the right-sided or left-sided steady state. It is also possible.

  The steady state to be selected can be input by the user 105 using the input / output IF 215.

  The steady state switching unit 210 outputs the selected steady state information (distance information, pressure information, part information, and motion information) and time information to the posture direction estimation unit 211 and the motion information generation unit 213.

(Attitude direction estimation unit 211)
The posture direction estimation unit 211 acquires part information, pressure information, and time information from the part estimation unit 208, and acquires steady state information (distance information, pressure information, part information, and motion information) from the steady state switching unit 210. . The posture direction estimation unit 211 measures the time series change of the pressure distribution from the steady state based on the acquired information, and estimates the face direction or posture direction of the user 105.

  The posture direction estimation unit 211 includes the number of parts where pressure is applied to each part of the head, shoulder or waist, the area of the part where pressure is applied to each part, the shape of the part where pressure is applied to each part, According to at least one piece of information on the position of the part where pressure is applied, the number of high-pressure parts in each part, the area of the high-pressure part in each part, the shape of the high-pressure part in each part, or the position of the high-pressure part in each part. Is estimated (the details will be described later).

  A specific method for estimating the orientation or orientation of the face of the user 105 by the orientation direction estimation unit 211 will be described using the following three specific examples.

  In the first example, a method for estimating the posture and the face direction when the user 105 turns over on the support base 103 will be described. 14A, 14B, and 14C, when the user 105 turns over, a method of estimating the posture and face direction of the user 105 in the state of turning over shown in FIG. 14B and the completion of turning over shown in FIG. 14C Will be described. 15A, 15B, and 15C show pressure distributions in FIGS. 14A, 14B, and 14C, respectively. Here, the face direction of the user 105 is estimated in steps of about 10 ° (details will be described later).

  In FIG. 15B and FIG. 15C, the posture direction estimation unit 211 changes the shape of the waist and shoulder from the steady state shown in FIG. Estimate that Specifically, the posture direction estimation unit 211 indicates that the shape of the region surrounded by the solid line of reference symbol A extends in the direction of the arrow of reference symbol B in FIG. 15B and FIG. Since it is moving in the direction, it is estimated that the user 105 is sideways on the support base 103. Further, the posture direction estimating unit 211 compares the position of the shoulder high pressure portion indicated by reference symbol C in FIG. 15C with the position of the shoulder high pressure portion indicated by reference symbol C in FIG. If it is above the distribution and close to the head, it is estimated that it is in a state where it has turned over and has turned over.

  The posture direction estimation unit 211 compares the position of the shoulder high pressure portion indicated by reference symbol C in FIG. 15C with the position of the shoulder high pressure portion indicated by reference symbol C in FIG. If it is not the upper side, it is estimated that it is in the middle of turning over.

  Further, the posture direction estimation unit 211 can distinguish whether or not the user 105 is wearing an elbow on the support base 103 as shown in FIG. 16A. FIG. 16B shows a pressure distribution in a state where the elbow of FIG. 16A is attached. From FIG. 16B, it can be seen that in the state where the elbow is attached, the area of the portion to which the pressure on the shoulder is applied is small and the area of the portion to which the pressure on the head is applied is large as compared to the state of lying on the side. Thereby, the posture direction estimation part 211 can distinguish whether it is in the state which has the elbow.

  In the second example, a method for estimating the posture and the face direction when the user 105 is sitting on the support base 103 will be described. FIG. 17A shows a state where the user 105 is sitting on the support base 103 facing the front. FIG. 17B shows a state where the user 105 is sitting on the support base 103 facing the right side. FIG. 17C shows a state where the user 105 is sitting on the support base 103 facing the left side. 18A, 18B, and 18C show pressure distributions in FIGS. 17A, 17B, and 17C, respectively. The posture direction estimation unit 211 can estimate the face direction or posture direction of the user 105 from FIG. 18A or 18B showing the pressure distribution in FIG. 17A or FIG. 17B. Further, the posture direction estimation unit 211 can also estimate the face direction or posture direction of the user 105 from the order of FIG. 18A and FIG. 18B showing the states that change in the order of FIG. 17A and FIG. 17B.

  The posture direction estimation unit 211 is in a steady state where it is sitting facing the right side as shown in FIG. 17B from the steady state sitting facing the front as shown in FIG. 17A or on the left side as shown in FIG. 17C. It can be distinguished whether it is a steady state sitting facing. Here, the posture direction estimation unit 211 can determine whether it is in a steady state where it is sitting facing to the left or right side, depending on the portion to which pressure is applied to the waist or the shape of the high-pressure unit. When the waist pressure or the high pressure part of the waist as shown in reference marks A and B in FIGS. 17A to 17C is a concave shape, the posture direction estimation unit 211 is configured as shown in FIGS. It can be presumed that the posture or the direction of the face is in the upward direction of the concave character (hereinafter also referred to as “vacant direction”), which is the direction indicated by the arrow of reference symbol C in FIG. 17C.

  The third example describes a method for estimating the posture or face direction of the user 105 when the support base 103 on which the user 105 is sleeping has a reclining function or mechanism. 19A to 19C are explanatory diagrams for explaining the third example. FIG. 19A shows a state in which the backrest portion of the support base 103 is sleeping (angle 0 ° when the horizontal direction of the support base 103 is 0 °). FIG. 19B shows a state where the backrest portion of the support base 103 is raised halfway (when the horizontal direction of the support base 103 is an angle of 0 °, the angle is about 30 °). FIG. 19C shows a state in which the backrest portion of the support base 103 is raised (angle is about 90 ° when the horizontal direction of the support base 103 is 0 °). 20A, 20B, and 20C show pressure distributions in FIGS. 19A, 19B, and 19C, respectively.

  When the reclining mechanism is in operation, that is, when the backrest portion of the support base 103 has an angle other than 0 ° when the horizontal direction of the support base 103 is 0 °, the posture of the user 105 or the face direction is This is determined by the size of the area of the high-pressure portion and the size of the area of the shoulder where the pressure is applied.

  As shown in FIGS. 20A to 20C, the posture direction estimation unit 211 increases the angle of the backrest portion of the support base 103 in the order of FIGS. 19A, 19B, and 19C in the order of FIGS. 20A, 20B, and 20C. By increasing the area of the high-pressure part of the waist of the reference symbol A and decreasing the area of the shouldered portion of the reference symbol B, the posture of the user 105 or the face direction can be estimated. At this time, the posture direction estimation unit 211 estimates that the posture of the user 105 is awakened in the order of FIGS. 20A, 20B, and 20C.

  In the pressure distributions of FIGS. 20A to 20C, the area of the high-pressure portion of the waist indicated by reference sign A is 3 squares in FIG. 20A, 6 squares in FIG. 20B, and 12 squares in FIG. 20C. Further, the area of the shoulder-applied portion indicated by reference sign B is as small as 54 squares in FIG. 20A, 45 squares in FIG. 20B, and 31 squares in FIG. 20C.

  The reclining angle can be obtained by attaching an angle sensor to the support base 103. Thereby, the posture direction estimation unit 211 can estimate the posture or face direction of the user 105.

  The posture direction estimation unit 211 estimates the posture of the user 105 using the pressure distribution as described above, and estimates the direction of the face of the user 105 based on the posture of the user 105. Therefore, the posture direction estimation unit 211 estimates that the face direction does not change if the posture does not change. Therefore, the arm control method according to the first embodiment does not cause an excessive change in the estimated position that occurs when only the line of sight of the user 105 as shown in Patent Document 1 is detected.

  FIG. 21 is an explanatory diagram for explaining an example of posture direction information to be generated. The posture direction information is represented by face position information (x, y, z) and a face direction (rx, ry, rz). The origin O in the face position information is the origin O of the arm 202, and is indicated by the origin O in FIG. As shown in FIG. 21, the coordinate system of the arm 202 is used as the coordinate system. The direction in which the face is directed follows the coordinate system of the arm 202 shown in FIG. 21, and the arrow represented by the reference symbol A in FIG. The posture direction information and the time information are information represented by position information, posture information, and time information as represented in FIG.

  Hereinafter, specific estimated values regarding the first example, the second example, and the third example will be described.

  In the first example, the coordinates on the support base 103 of the high-pressure part of the head indicated by reference symbol a in FIGS. 15A to 15C are used as face position information.

  Regarding the posture information, the position of the high-pressure portion of the shoulder portion indicated by the reference symbol C in FIGS. 15B and 15C is the percentage in the vertical direction of the shoulder portion indicated by the reference symbol D in FIGS. 15B and 15C. The rotation angle is estimated depending on whether it is positioned approximately upward. For example, in FIG. 15C, the posture direction estimation unit 211 can estimate that the shoulder has been rotated by 90 ° because the high-pressure portion of the shoulder is located on the uppermost side of the shoulder.

  In the second example, for the position information, the coordinates that have advanced in the + y direction for the sitting height of the user 105 from the support base 103 of the high-pressure part of the waist shown by reference sign B in FIGS. 18A to 18C are used as the face position information.

  The sitting height information of the user 105 is input by the user 105 using the input / output IF 215 or detected from a steady state (details will be described later). As for the posture information, the angle at which the arrow of the reference symbol C is rotated with reference to the direction of the reference symbol C in the steady state in FIG. 18A is the posture information. For example, the posture information is −100 ° in FIG. 18B and 80 ° in FIG. 18C.

  In the third example, regarding the position information, the coordinates on the bed of the high-pressure part of the head indicated by the reference symbol a in FIG.

  When the head is not detected as in FIGS. 20B and 20C, the posture direction estimation unit 211 changes from the high pressure portion of the shoulder (reference symbol b) indicated by the reference symbol c in FIG. 20A to the high pressure portion of the head (reference symbol). Using the distance to a), the above-described coordinates advanced by the distance from the high-pressure portion of the shoulder (reference symbol b in FIGS. 20B and 20C) are used as position information.

  As for the posture information, the angle is estimated according to the number of the high-pressure portions (reference symbol A) of the waist that is increased based on the steady state of FIG. 20A. For example, the posture information is 3 ° in FIG. 20B and 30 °, and 9 ° in FIG. 20C and 90 °.

  The posture direction estimation unit 211 outputs the generated posture direction information, part information, pressure information, and time information to the control method switching unit 212.

(Control method switching unit 212)
The control method switching unit 212 acquires posture direction information, part information, pressure information, and time information from the posture direction estimation unit 211. The control method switching unit 212 switches the control method of the arm 202 based on the acquired information.

  The control method switching unit 212 changes the control method between when the user 105 changes the posture without changing the posture of the support base 103 and when the posture of the support base 103 changes and the posture of the user 105 changes. The distinction between the above two states is detected by a time-series change in pressure distribution. Specifically, the rolling operation of FIGS. 14A to 14C corresponds to the former, and the reclining operation of FIGS. 19A to 19C corresponds to the latter.

  When the posture of the support base 103 does not change and the user 105 changes the posture, the control method switching unit 212 controls the arm 202 not to move while the user 105 is changing the posture. When the user 105 has finished changing the posture, the control method switching unit 212 controls the arm 202 to move to a desired position. By controlling in this way, the display device 102 does not move when the user 105 changes the posture without looking at the display device 102, and the display device when the user 105 finishes changing the posture and looks at the display device 102. 102 follows. For this reason, the display device 102 does not follow the user 105 excessively like a line of sight, and the display device 102 can be moved only when the display device 102 is viewed while avoiding unnecessary movement of the display device 102.

  Hereinafter, the processing content of the control method switching unit 212 will be described using an operation in which the user 105 in FIGS. 23A to 23D turns over on the support base 103. FIG. 23A to FIG. 23D show states in the middle of turning (FIG. 23B) and when the user 105 is turned over (FIGS. 23C and 23D) when the user 105 turns over in the order of FIGS. 23A, 23B, 23C, and 23D.

  In FIG. 23A, the user 105 is viewing the display device 102 in a steady state, and the display device 102 does not move. In FIG. 23B, the user 105 is turning over and the display device 102 does not move. In FIG. 23C, it is the moment when the user 105 finishes turning over, and the display device 102 has not moved yet. In FIG. 23D, the user 105 finishes turning over and is in a stable posture, and the display device 102 moves.

  The stable state is detected when the state in which the pressure distribution changes below the first threshold (for example, 0.1 kPa) continues for the second threshold (for example, 100.0 msec) or more. I do.

  When the posture of the support base 103 changes and the posture of the user 105 changes, the control unit 214 controls so that the arm 202 moves following the face direction while the posture of the support base 103 is changing. When the posture of the support base 103 has been changed, the control unit 214 is controlled so that the arm 202 does not move. By controlling the control unit 214 in this way, when the user 105 changes the posture of the support base 103 while looking at the display device 102, the display device 102 is moved, and the posture of the support base 103 has been changed and the user 105 has changed. When viewing the display device 102, the display device 102 does not move. Thereby, when the user 105 is adjusting the attitude of the support base 103 while looking at the display device 102, the display device 102 can be moved to a position where it can be easily seen. Furthermore, there is an effect of preventing the user 105 from colliding with the display device 102.

  Hereinafter, the processing contents of the control method switching unit 212 will be described by taking, as an example, an operation of changing the posture of the user 105 using the reclining function of the support base 103 in FIGS. 24A to 24D. FIGS. 24A to 24D show states in the middle (FIG. 24B) and completion (FIGS. 24C and 24D) when the support base 103 is reclined in the order of FIGS. 24A, 24B, 24C, and 24D.

  FIG. 24A is an explanatory diagram for explaining that the display device 102 is not moved while the user 105 is viewing the display device 102 in a steady state. FIG. 24B is an explanatory diagram for explaining that the movement of the display device 102 is controlled in accordance with the posture of the user 105 during the reclining. FIG. 24C is an explanatory diagram for explaining the movement control of the display device 102 at the moment when the reclining is completed. FIG. 24D is an explanatory diagram for explaining that the reclining is completed and the posture of the user 105 is stable and the display device 102 is not moved.

  The stable state is detected when the state in which the pressure distribution changes below the first threshold (for example, 0.1 kPa) continues for the second threshold (for example, 100.0 msec) or more. It is done by doing. The control unit 214 moves the display device 102 so as to face the front in the direction of the face of the user 105 represented by the posture direction information. In addition, the control unit 214 moves the display device 102 to a position separated from the face position by the distance information based on the distance information from the steady state information.

  Further, at the moment when the user 105 in FIG. 23B starts to change his / her posture or the moment when he / she starts to recline in FIG. 24B, the next operation can be performed after moving the display device 102 away from the user 105. Thus, when the posture of the user 105 starts to change, the user 105 and the display device 102 can be prevented from interfering with each other because the display device 102 is once separated.

  The control method information and the time information are information as shown in FIG. 25, and are expressed as 0 when not moving, 1 when following the face direction, and 2 when moving away from the person.

  The control method switching unit 212 outputs control method information, posture direction information, and time information to the motion information generation unit 213.

(Operation information generation unit 213)
The motion information generation unit 213 acquires motion information and time information from the motion information acquisition unit 206, acquires steady state information and time information from the steady state switching unit 210, and controls method information and time from the control method switching unit 212. Posture direction information and time information are acquired. The motion information generation unit 213 generates motion information of the arm 202 using the acquired information.

  The generation method of the operation information generated by the operation information generation unit 213 differs depending on the control method information and time information acquired from the control method switching unit 212. There are three types of control method information: 0 (does not move), 1 (follows the face direction), and 2 (leaves away from a person), and each method will be described below. Note that the motion information generation unit 213 cannot select a plurality of control methods, and selects only one of the control methods.

  When the control method information is 0 (does not move), this means that the arm 202 is stopped at the current position. Here, the motion information generation unit 213 generates motion information that causes the arm 202 to remain at the current position and posture acquired from the motion information acquisition unit 206.

  When the control method information is 1 (follows the face direction), this indicates that the arm 202 is moved so that the display device 102 is moved to a position and posture that the user 105 can easily see. Here, using the position information and posture information represented by the posture direction information, the motion information generation unit 213 moves from the position of the position information to the direction of the posture information by the distance of the distance information represented by the steady state information. Operation information for moving the display device 102 to a distant position is generated. When the control unit 214 performs movement control, the current operation information acquired from the operation information acquisition unit 206 is used. Further, the display device 102 takes a posture such that the display unit of the display device 102 faces the face of the user 105.

  When the control method information is 2 (away from a person), this indicates that the arm 202 is moved so as to move the display device 102 to a position away from the user 105. Here, the motion information generation unit 213 generates motion information that moves in the posture direction represented by the posture direction information from the current position acquired from the motion information acquisition unit 206 (details will be described later).

  In addition, when the user 105 determines a steady state or finely adjusts the position of the display device 102, when the display device 102 is moved, the motion information generation unit 213 moves the arm 202 in accordance with the operation of the user 105. Generate motion information to move. The motion information is generated when the user 105 directly touches the arm 202 and moves the arm 202. For example, the movement information is derived by attaching a force sensor 2601 to the arm 202 and multiplying the magnitude of the force applied by the user 105 to the arm 202 by a gain to derive the movement amount of the arm 202. At this time, by increasing the gain value, the arm 202 can move with a light force.

  FIG. 26A shows an example in which the force sensor 2601 is attached to the arm 202. FIG. 26B and FIG. 26C show an example in which the user 105 applies a force to the force sensor 2601 to move the arm 202. The method for generating the movement information of the arm 202 described above can be distinguished based on whether or not the user 105 is applying force to the force sensor 2601. The motion information generation unit 213 generates the motion information of the arm 202 by the method described above when no force is applied to the force sensor 2601, and according to the force applied by the user 105 when the force is applied. Generate motion information.

  Further, the motion information generation unit 213 generates different motion information according to the time series change of the number of parts or the pressure distribution, as in I or II below.

  I: When the number of parts is large, motion information that rotates about the longitudinal direction of the support base 103 is generated. When the number of parts is small, motion information that rotates about the direction perpendicular to the support base 103 is generated. To do.

  II: When the time series change of the pressure distribution is small, the time of the state of not moving (the control method information is 0) is short, and when the time series change of the pressure distribution is large, the time of the state of not moving is long.

  More specifically, in the case of a state where there are a large number of parts, such as a supine state or a sideways state, the support base 103 is rotated about the long direction of the support base 103 which is rz direction rotation as indicated by reference symbol A in FIG. Generate motion information. In the case where the number of parts in the sitting state is small, motion information is generated that rotates about the direction perpendicular to the support base 103 that is the ry direction rotation as indicated by reference symbol B in FIG.

  Further, when the movement of the user 105 is small and the time series change of the pressure distribution is small, the time for the state of not moving (the state where the control method information is 0) is short. When the movement of the user 105 is large and the time-series change of the pressure distribution is large, the time during which the user 105 does not move is long. By changing the time during which the user 105 does not move in this manner, the arm 202 also moves when the user 105 moves a lot, so that there is an effect of preventing interference between the user 105 and the arm 202.

  The operation information and time information are information as shown in FIG.

  The motion information generation unit 213 outputs the generated motion information and time information to the control unit 214.

(Control unit 214)
The control unit 214 acquires operation information and time information from the operation information generation unit 213. The control unit 214 controls the arm 202 using the acquired operation information.

  The control method controls the operation of the arm 202 by outputting the acquired operation information to the input / output IF 215 at certain intervals (for example, every 1 msec) using a timer built in the input / output IF 215. .

<Description of peripheral devices>
The input / output IF 215 outputs the operation information input from the control unit 214 to the motor driver 216. The input / output IF 215 obtains the position information and posture information of the arm 202 from the values input from the encoders of the respective axes of the arm by a calculation unit inside the encoder, and the position information and posture information and a timer built in the input / output IF 215 are obtained. Is output to the motion information acquisition unit 206. Pressure information is acquired from the pressure sensor 104, and pressure information and time information from a timer built in the input / output IF 215 are output to the pressure information acquisition unit 207. Further, as shown in FIG. 27, the input / output IF 215 includes an input unit 215A and an output unit 215B. The input unit 215A is an input IF, and when the user 105 selects an item using a keyboard, mouse, touch panel, or voice input, or the user 105 inputs a number using a keyboard, mouse, touch panel, voice input, or the like. Used in cases. The output unit 215B is an output IF, and is used when the acquired information or the like is output to the outside or displayed on a display or the like.

  The motor driver 216 outputs to the arm 202 command values to the motors of the respective axes of the arm 202 in order to control the arm 202 based on the operation information acquired from the input / output IF 215.

<Description of arm>
In the arm 202, by using a timer built in the input / output IF 215, the operation information of the arm 202 is obtained by a calculation unit in the encoder using each encoder of the arm 202 at certain time intervals (for example, every 1 msec). To the input / output IF 215. The arm 202 is controlled according to a command value from the motor driver 216.

  The arm 202 has a motor and an encoder at each joint, and can be controlled to a desired position and posture. Here, a multi-link manipulator with 6 degrees of freedom having 6 joints is used. Note that the number of joints and the degree of freedom of the arm 202 are not limited to the number of the present embodiment, and any number of 1 or more is possible.

<Flowchart>
The operation procedure of the control device 204 of the arm 202 of the first embodiment will be described with reference to the flowcharts of FIGS.

  FIG. 28 shows an example of the operation of the control device 204 of the arm 202 of the first embodiment.

  First, in step S2801, the user 105 moves the display device 102 to a position and posture that is easy to see, and the process proceeds to step S2802.

  Next, in step S2802, a steady state is detected based on the pressure distribution of the user 105 and the position and orientation of the display device 102, and the process proceeds to step S2803. Here, the steady state is detected every time, but when the same steady state is used, step S2802 can be skipped by using the steady state stored once.

  Next, in step S2803, the display apparatus 102 does not move while the user 105 is viewing the display apparatus 102, and the process proceeds to step S2804.

  Next, in step S2804, the posture at which the user 105 is looking at the display device 102 is changed, and the change in the posture is detected from the change in the pressure distribution, and the flow proceeds to step S2805.

  Next, in step S2805, the display apparatus 102 is moved to a position or posture that is easy for the user 105 to see based on the pressure distribution change when the user 105 changes his posture, the steady state, and the arm motion information.

  29, the posture change detection in step S2804 and the arm control in step S2805 of the flowchart shown in FIG. 28 will be described in detail.

  First, in step S2901, the operation information acquisition unit 206 acquires operation information, the pressure information acquisition unit 207 acquires pressure information, and the process proceeds to step S2902.

  Next, in step S2902, in the pressure information acquisition unit 207, if the change in the pressure distribution of the acquired pressure information is stable, the process proceeds to step S2903, and if not, the flow ends.

  Next, in step S2903, the site | part estimation part 208 estimates the site | part in pressure information, and progresses to step S2903.

  Next, in step S2904, in the steady state switching unit 210, the pressure information acquired from the pressure information acquisition unit 207, the region information acquired from the region estimation unit 208, and the steady state information acquired from the steady state acquisition unit 209. Based on the current steady state, the process proceeds to step S2905.

  Next, in step S2905, the posture / direction estimation unit 211 estimates the posture or face direction of the user 105 using the time-series change of the pressure distribution from the steady state, and the process proceeds to step S2906.

  Next, in step S2906, the control method switching unit 212 switches the control method based on when the posture of the support base 103 changes when the posture of the user 105 changes. If the control method information is 0, the process proceeds to step S2907. If the control method information is not 0, the process proceeds to step S2908.

  Next, in step S2907, the operation information generation unit 213 generates operation information that does not move from the current position based on the control method information acquired from the control method switching unit 212, and proceeds to step S2911.

  Next, in step S2908, in the control method switching unit 212, when the control method information is 1, the process proceeds to step S2909, and when the control method information is not 1, the process proceeds to step S2910.

  Next, in step S2909, the motion information generation unit 213 generates motion information that follows the estimated posture and face direction of the user 105 based on the control method information acquired from the control method switching unit 212. The process proceeds to S2911.

  Next, in step S2910, the operation information generation unit 213 generates operation information that leaves the user 105 based on the control method information acquired from the control method switching unit 212, and the process proceeds to step S2911.

  Next, in step S2911, the control unit 214 controls the arm to move the display device 102 based on the motion information acquired from the motion information generation unit 213.

<< Effects of First Embodiment >>
By controlling the arm according to the time series change of the pressure distribution from the steady state, it is possible to avoid unnecessary movement of the display device and move it to a position that is easy to see at an easily viewable time.

(Modification 1)
FIG. 47 is a block diagram showing a functional configuration of the control device 204E in the first modification of the present invention.

  The control device 204E includes a pressure information acquisition unit 207, a part estimation unit 208, a posture direction estimation unit 211, a motion information generation unit 213, and a control unit 214.

  The pressure information acquisition unit 207 acquires the pressure for each position on the support base 103. The pressure at each position on the support base 103 is measured by the pressure sensor 104.

  The part estimation unit 208 is a position of at least one part of the head, shoulder, or waist of the user 105 that is in contact with the support base 103 at a position where the pressure acquired from the pressure information acquisition unit 207 is equal to or greater than a predetermined threshold. Estimated.

  The posture direction estimation unit 211 estimates the posture direction of the user 105 on the support base 103 using the pressure distribution shape within a predetermined range including the position of the part estimated by the part estimation unit 208.

  The motion information generation unit 213 generates information for controlling the arm 202 for moving the display device 102 to a position facing the posture direction of the user 105 estimated by the posture direction estimation unit 211. The display device 102 is fixedly attached to a part of the arm 202.

  The control unit 214 controls the arm 202 based on the information generated by the motion information generation unit 213.

  As described above, the function of each component included in the control device 204E has been briefly described. However, the detailed function of each component is the same as that of the first embodiment, and thus the description thereof is omitted.

  FIG. 48 is a flowchart showing an operation procedure of the control device 204E.

  First, in step S <b> 101, the pressure information acquisition unit 207 acquires the pressure for each position on the support base 103.

  Next, in step S102, the part estimation unit 208 sets a position at which the pressure acquired from the pressure information acquisition unit 207 is equal to or higher than a predetermined threshold at least among the head, shoulder, or waist of the user 105 in contact with the support base 103. Presumed to be the position of one part.

  Next, in step S <b> 103, the posture direction estimation unit 211 uses the pressure distribution shape within a predetermined range including the position of the part estimated by the part estimation unit 208 to determine the posture of the user 105 on the support base 103. Estimate the direction.

  Next, in step S <b> 104, the motion information generation unit 213 generates information for controlling the arm 202 for moving the display device 102 to a position facing the posture direction of the user 105 estimated by the posture direction estimation unit 211. To do.

  Next, in step S <b> 105, the control unit 214 controls the arm 202 based on the information generated by the motion information generation unit 213.

  As described above, the operation procedure of the control device 204E has been briefly described, but the details of each step are the same as those in the first embodiment, and thus the description thereof is omitted.

  With the above configuration, the control device 204E can control the arm 202 that moves the display device 102 in accordance with the posture of the user 105 on the support base 103. Specifically, the arm 202 can move the display device 102 to a position where the user 105 can easily see.

  Further, the control device 204E estimates the position of at least one part of the head, shoulder, or waist that is information for estimating the posture of the user 105 from the pressure at each position on the support base 103. Thereby, the control device 204E can estimate the posture of the user 105 on the support base 103.

  Further, the control device 204E generates information for controlling the arm 202 for moving the display device 102 to a position facing the estimated posture of the user 105. Thereby, the arm 202 can move the display device 102 to a position opposite to the posture of the user 105.

(Second Embodiment)
FIG. 30 shows a block diagram of the robot 101B in the second embodiment of the present invention. In the robot 101B of the second embodiment of the present invention, the arm 202, the peripheral device 205, the motion information acquisition unit 206 of the control device 204B, the pressure information acquisition unit 207, the part estimation unit 208, and the steady state switching unit. Since 210, the posture direction estimation unit 211, the control method switching unit 212, the control unit 214, and the pressure sensor 104 are the same as those in the first embodiment, common reference numerals are given and descriptions of common parts are omitted. Only different parts will be described in detail below.

(Physical information acquisition unit 3001)
The body information acquisition unit 3001 acquires body information, which is information related to the body size of the user 105 such as height, sitting height, or shoulder width, from the input / output IF 215. The user 105 inputs physical information using the input / output IF 215. The body information can also be acquired from the steady state acquisition unit 3002. In addition, when acquiring body information from the steady state acquisition unit 3002, the body information may be calculated by the body information calculation unit instead of the steady state acquisition unit 3002.

  The body information is information as shown in FIG. 31, and indicates information about the body such as height, sitting height, or shoulder width for each user 105. Further, by storing the physical information acquired in the internal storage unit, the physical information once input can be used without being input the next time it is used.

  The physical information acquisition unit 3001 outputs the acquired physical information to the motion information generation unit 3003.

(Steady state acquisition unit 3002)
The steady state acquisition unit 3002 is provided in the control device 204B instead of the steady state acquisition unit 209 of the first embodiment, and uses a steady state pressure distribution in addition to the function of the steady state acquisition unit 209 of the first embodiment. And has the function of extracting physical information.

  A method for extracting physical information will be described using a pressure distribution in a steady state shown in FIG. For height, the length (reference number A in the figure) from the uppermost side of the head to the lowermost side of the waist in the pressure distribution is measured. The sitting height measures the length (reference number B in the figure) from the uppermost side of the head to the uppermost side of the waist in the pressure distribution. The shoulder width is measured by measuring the length from the rightmost side to the leftmost side of the height at which the high pressure portion is located (reference symbol C in the figure).

  The steady state acquisition unit 3002 outputs the extracted body information to the body information acquisition unit 3001.

  The processing of the steady state acquisition unit 3002 may be performed by the body information calculation unit instead of the steady state acquisition unit 3002.

(Operation information generation unit 3003)
The motion information generation unit 3003 is provided in the control device 204B instead of the motion information generation unit 213 of the first embodiment, and in addition to the function of the motion information generation unit 213 in the first embodiment, It has a function of acquiring information and generating operation information that does not interfere with the user 105 based on the acquired physical information.

  As a method for generating motion information that does not interfere with the user 105, for example, the motion information generation unit 3003 is configured such that when the user 105 is sleeping sideways as shown in FIGS. 12A and 12B, The motion information of the trajectory that does not enter the inside of the length of the shoulder width is generated. As another example, when sitting on the bed represented in FIG. 10A and FIG. 10B, the motion information generation unit 3003 has a trajectory motion information that does not enter the inside of the seat height from the bed at the waist. Is generated. As described above, the movement information generation unit 3003 can generate a safe trajectory in which the user 105 and the display device 102 do not interfere with each other by generating the entry prohibition area.

  In addition, as a method for generating operation information that does not interfere with the user 105, the operation information generation unit 3003 can generate the following operation information. At the moment when the user 105 starts to change posture or the moment when the support base 103 starts to recline, the motion information generation unit 3003 can generate motion information that is retracted from the user 105 to a position away from the steady state and then controlled. .

  In the example of the turning operation in FIGS. 23A to 23D, the motion information generation unit 3003 performs control so as to follow the turning operation after retreating to a position that does not interfere with the user 105 at the moment of performing the turning operation in FIG. 23A. Operation information can be generated. Hereinafter, a specific example of the motion information generated by the motion information generation unit 3003 will be described with reference to FIGS. 33A to 33D.

  In FIG. 33A, it is the moment when the user 105 starts to turn over, and the display device 102 does not stop the display device 102 at that position, but retreats to a position away from the user 105 so as not to interfere with the user 105. In FIG. 23A in the first embodiment, the display device 102 stops at that position. This operation is different from the first embodiment.

  FIG. 33B is an explanatory diagram for explaining a state in which the display device 102 is stopped at the retracted position and the user 105 is performing the turning operation.

  FIG. 33C is an explanatory diagram for explaining a point in time when the display device 102 is stopped at the retracted position and the user 105 completes the turning operation.

  FIG. 33D is an explanatory diagram for explaining that the user 105 completes the turning operation and the posture is stable, and the display device 102 moves from the retracted position to a position where the user 105 can easily see.

  In the reclining example of FIGS. 24A to 24D, the motion information generation unit 3003 retreats to a position where it does not interfere with the user 105 at the moment of starting the reclining of FIG. Operation information for controlling the arm 202 is generated.

  Hereinafter, the operation information generated by the operation information generation unit 3003 will be described with reference to FIGS. 34A to 34D.

  In FIG. 34A, it is the moment when the reclining operation starts, and the display device 102 does not stop the display device 102 at that position, but retreats to a position away from the user 105 so as not to interfere with the user 105. In FIG. 24A in the first embodiment, the display device 102 stops at that position. This operation is different from the first embodiment.

  In FIG. 34B, during the reclining operation, the display device 102 is moved to a position that is easy for the user 105 to see while maintaining the distance by which the display device 102 is retracted.

  In FIG. 34C, it is the moment when the reclining operation is completed, and the display device 102 has moved to a position that is easy for the user 105 to see while maintaining the distance by which the display device 102 is retracted.

  In FIG. 34D, the reclining operation is completed and the posture is stable, and the display device 102 has moved from the retracted position to the steady state position.

  The retreat distance can be input by the user 105 using the input / output IF 215.

  The motion information generation unit 3003 outputs the generated motion information and time information to the control unit 214.

<Flowchart>
The operation procedure of the control device 204B of the arm 202 of the second embodiment will be described with reference to the flowchart of FIG.

  An example of the operation of the control device 204B of the arm 202 of the second embodiment is the same as FIG. Here, the posture change detection in step S2804 and the arm control in step S2805 of the flowchart shown in FIG. 28 will be described with reference to FIG.

  First, in step S3501, the operation information acquisition unit 206 acquires operation information, the pressure information acquisition unit 207 acquires pressure information, the body information acquisition unit 3001 acquires body information, and the process proceeds to step S2902.

  Next, in step S2902, in the pressure information acquisition unit 207, if the change in the pressure distribution of the acquired pressure information is stable, the process proceeds to step S2903, and if not, the flow ends.

  Next, in step S2903, the site | part estimation part 208 estimates the site | part in pressure information, and progresses to step S2903.

  Next, in step S2904, in the steady state switching unit 210, the pressure information acquired from the pressure information acquisition unit 207, the part information acquired from the part estimation unit 208, and the steady state information acquired from the steady state acquisition unit 3002 are obtained. Based on the current steady state, the process proceeds to step S2905.

  Next, in step S2905, the posture / direction estimation unit 211 estimates the posture or face direction of the user 105 using the time-series change of the pressure distribution from the steady state, and the process proceeds to step S2906.

  Next, in step S2906, the control method switching unit 212 switches the control method based on when the posture of the support base 103 changes when the posture of the user 105 changes. If the control method information is 0, the process proceeds to step S2907. If the control method information is not 0, the process proceeds to step S2908.

  Next, in step S2907, the operation information generation unit 3003 generates operation information that does not move from the current position based on the control method information acquired from the control method switching unit 212, and the process proceeds to step S3502.

  Next, in step S2908, in the control method switching unit 212, when the control method information is 1, the process proceeds to step S2909, and when the control method information is not 1, the process proceeds to step S2910.

  Next, in step S2909, the motion information generation unit 3003 generates motion information that follows the estimated posture and face direction of the user 105 based on the control method information acquired from the control method switching unit 212. The process proceeds to S3502.

  Next, in step S2910, the operation information generation unit 3003 generates operation information that leaves the user 105 based on the control method information acquired from the control method switching unit 212, and the process proceeds to step S3502.

  In step S3502, the motion information generation unit 3003 checks whether the motion information interferes with the user 105 based on the generated motion information and physical information. If there is interference with the user 105, the process proceeds to step S3503, and if there is no interference with the user 105, the process proceeds to step S2911.

  Next, in step S3503, the operation information generation unit 3003 corrects the generated operation information to operation information that does not interfere with the user 105, and the process proceeds to step S2911.

  Next, in step S2911, the control unit 214 controls the arm 202 to move the display device 102 based on the motion information acquired from the motion information generation unit 3003.

  In addition, although the movement control which does not interfere with the user 105 using physical information was demonstrated here, it is also possible to acquire surrounding environmental information other than physical information, and to prevent interference with the surrounding environment.

<< Effects of Second Embodiment >>
By acquiring the user's physical information and controlling the arm so as not to interfere with the user, it is possible to move the display device to a position and posture where the display device can be seen more safely and conveniently.

(Third embodiment)
FIG. 36 shows a block diagram of the robot 101C in the third embodiment of the present invention. The arm 202, the peripheral device 205, the motion information acquisition unit 206, the pressure information acquisition unit 207, the part estimation unit 208, and the steady state switching unit of the control device 204C in the robot 101C of the third embodiment of the present invention. Since 210, the posture direction estimation unit 211, the control method switching unit 212, the control unit 214, and the pressure sensor 104 are the same as those in the first embodiment, common reference numerals are used for description of the common parts. Omitted and only different parts will be described in detail below.

(Display information acquisition unit 3601)
The display information acquisition unit 3601 acquires display information and time information from the display device 102. The display information indicates content information displayed on the display device 102. Here, the display device 102 includes information indicating whether the user 105 performs content that is touched or not. For example, when the display device 102 is a touch panel display and content for performing a touch operation on the display is displayed, the display information indicates 1. On the other hand, when a moving image that only allows viewing is flowing on the display device 102 and content that does not perform a touch operation on the display is displayed, the display information indicates 0.

  The display information and the time information are information as shown in FIG. 37, and are information indicating whether the content displayed on the display device 102 is content to be touched or not. In the case of content for which a touch operation is performed, it is represented by 1, and in the case of content for which no touch operation is performed, it is represented by 0.

  The display information acquisition unit 3601 outputs the acquired display information and time information to the operation information generation unit 3603.

(Steady state acquisition unit 3602)
The steady state acquisition unit 3602 is provided in the control device 204C in place of the steady state acquisition unit 209 of the first embodiment. In addition to the function of the steady state acquisition unit 209 of the first embodiment, the steady state acquisition unit 3602 is included in the display device 102 as a steady state. On the other hand, the distance from the user 105 to the display device 102 when the user 105 performs a touch operation is stored as distance information.

  In the first embodiment, only the distance represented by reference symbol A in FIG. 8 is stored as distance information. Here, in addition to this, an appropriate distance when the user 105 performs a touch operation on the display device 102 is stored as distance information in a steady state.

  An appropriate distance will be described using an example shown in FIGS. 38A and 38B. FIG. 38A shows a case where the touch operation is performed, and FIG. 38B shows a case where the touch operation is not performed. An appropriate distance in FIG. 38A is a distance indicated by reference numeral A, and is a distance that reaches the display device 102 by extending the arm of the user 105. The appropriate distance in FIG. 38B is a distance indicated by reference symbol A, and is a distance that does not reach the display device 102 even if the user 105 is extended because the user 105 does not need to touch the display device 102.

  When the touch operation is performed on the display device 102 in FIG. 38, the user 105 needs to directly touch the display device 102 as compared to the case where the display device 102 in FIG. 8 is viewed without performing the touch operation. Therefore, it is considered that the appropriate distance between the user 105 and the display device 102 is different as in the example of FIGS. 38A and 38B.

  The steady state acquisition unit 3602 outputs the acquired distance information, pressure information, part information, and operation information to the steady state switching unit 210.

(Operation information generation unit 3603)
The motion information generation unit 3603 is provided in the control device 204C instead of the motion information generation unit 213 of the first embodiment. In addition to the function of the motion information generation unit 213 of the first embodiment, the operation information generation unit 3603 displays from the display information acquisition unit 3601. It has a function of acquiring information and generating operation information that is easy for the user 105 to operate based on the acquired display information.

  As a method for generating motion information, the motion information generation unit 3603 uses a steady state in which a touch operation is performed when the display information acquired from the display information acquisition unit 3601 is 1 (content to be touched). In the case of 0 (content that is not touch-operated), the steady state described in the first embodiment is used to generate operation information. As described above, the control unit 214 can change the distance between the display device 102 and the user 105 in accordance with the operation of the user 105 by generating the operation information by switching the display information.

  The motion information generation unit 3603 outputs the generated motion information and time information to the control unit 214.

  Further, in the third embodiment, based on the content information acquired by the display information acquisition unit 3601, in the case where the content information is a content that reads characters such as text, it corresponds to the face direction as shown in FIG. If the content information is content that does not read other characters, the display device 102 can be controlled regardless of the face direction as shown in FIG. It is.

<Flowchart>
The operation procedure of the control device 204C of the arm 202 of the third embodiment will be described with reference to the flowchart of FIG.

  An example of the operation of the control device 204C of the arm 202 of the third embodiment is the same as FIG. Here, the posture change detection in step S2804 and the arm control in step S2805 of the flowchart shown in FIG. 28 will be described with reference to FIG.

  First, in step S3901, the operation information acquisition unit 206 acquires operation information, the pressure information acquisition unit 207 acquires pressure information, the display information acquisition unit 3601 acquires display information, and the process proceeds to step S2902.

  Next, in step S2902, in the pressure information acquisition unit 207, if the change in the pressure distribution of the acquired pressure information is stable, the process proceeds to step S2903, and if not, the flow ends.

  Next, in step S2903, the site | part estimation part 208 estimates the site | part in pressure information, and progresses to step S2903.

  Next, in step S2904, in the steady state switching unit 210, the pressure information acquired from the pressure information acquisition unit 207, the region information acquired from the region estimation unit 208, and the steady state information acquired from the steady state acquisition unit 3602 are obtained. Based on the current steady state, the process proceeds to step S2905.

  Next, in step S2905, the posture / direction estimation unit 211 estimates the posture or face direction of the user 105 using the time-series change of the pressure distribution from the steady state, and the process proceeds to step S2906.

  Next, in step S2906, the control method switching unit 212 switches the control method based on when the posture of the support base 103 changes when the posture of the user 105 changes. If the control method information is 0, the process proceeds to step S2907. If the control method information is not 0, the process proceeds to step S2908.

  Next, in step S2907, the operation information generation unit 3603 generates operation information that does not move from the current position based on the control method information acquired from the control method switching unit 212, and the process proceeds to step S3902.

  Next, in step S2908, in the control method switching unit 212, when the control method information is 1, the process proceeds to step S2909, and when the control method information is not 1, the process proceeds to step S2910.

  Next, in step S2909, the motion information generation unit 3603 generates motion information that follows the estimated posture or face direction of the user 105 based on the control method information acquired from the control method switching unit 212. The process proceeds to S3902.

  Next, in step S2910, the operation information generation unit 3603 generates operation information that leaves the user 105 based on the control method information acquired from the control method switching unit 212, and the process proceeds to step S3902.

  Next, in step S3902, the operation information generation unit 3603 checks whether the display information is display information for performing a touch operation based on the display information. If the touch operation is performed, the process proceeds to step S3903. If the touch operation is not performed, the process proceeds to step S2911.

  Next, in step S3903, the motion information generation unit 3603 corrects the generated motion information to motion information appropriate for the touch operation, and the process proceeds to step S2911.

  Next, in step S2911, the control unit 214 controls the arm to move the display device 102 based on the motion information acquired from the motion information generation unit 3603.

<< Effects of Third Embodiment >>
By acquiring the display information of the display device and controlling the arm according to the user's operation, the display device can be moved to a position and posture that are easier to operate.

(Fourth embodiment)
FIG. 40 is a block diagram of the robot 101D according to the fourth embodiment of the present invention. Operation information acquisition unit 206, pressure information acquisition unit 207, part estimation unit 208, and steady state switching among the arm 202, the peripheral device 205, and the control device 204D in the robot 101D of the fourth embodiment of the present invention. Since the unit 210, the posture direction estimation unit 211, the control method switching unit 212, the control unit 214, and the pressure sensor 104 are the same as those in the first embodiment, common reference numerals are used for description of the common parts. Are omitted, and only different parts will be described in detail below.

(Environmental information acquisition unit 4001)
The environment information acquisition unit 4001 acquires environment information (for example, room brightness) in which the robot 101D and the display device 102 are installed, and time information. For example, in the case of room brightness, the environment information acquisition unit 4001 measures the brightness of the room using an illuminance sensor and acquires the value as environment information.

  As an example of environment information and time information, in the case of room brightness using an illuminance sensor, the environment information and time information are as shown in FIG.

  The environment information acquisition unit 4001 outputs the acquired environment information and time information to the operation information generation unit 4003.

(Steady state acquisition unit 4002)
The steady state acquisition unit 4002 is provided in the control device 204D instead of the steady state acquisition unit 209 of the first embodiment, and in addition to the function of the steady state acquisition unit 209 in the first embodiment, the brightness of the room as a steady state. The function stores the position and orientation information of the display device 102 and the brightness information on the display screen of the display device 102 according to the environmental information.

  For example, the steady state acquisition unit 4002 stores, as steady state information, information that the brightness on the display screen of the display device 102 is also dark when the brightness of the room is dark. The brightness on the display screen of the display device 102 in the steady state is set by the user 105 using the input / output IF 215.

  In addition, when the light of the sun 4201 is inserted from the outside and it is difficult to see the image on the display screen of the display device 102, the steady state acquisition unit 4002 displays the adjusted display in order to make the image on the display screen of the display device 102 easy to see. The position information and posture information of the device 102 are stored as steady state information in association with the environment information.

  The position of the sun 4201 is calculated based on the latitude and longitude of a room where the display device 102 is located and the date and time when the display device 102 is used.

  The steady state acquisition unit 4002 outputs the acquired environment information, brightness information on the display screen of the display device 102, distance information, pressure information, part information, and operation information to the steady state switching unit 210.

(Operation information generation unit 4003)
The operation information generation unit 4003 is provided in the control device 204D instead of the operation information generation unit 213 of the first embodiment, and in addition to the function of the operation information generation unit 213 in the first embodiment, the operation information generation unit 4003 receives the environment information from the environment information acquisition unit 4001. It has a function of acquiring information and generating operation information easy for the user 105 to see based on the acquired environment information.

  An example of operation information easy for the user 105 to see will be described with reference to FIGS. 42A and 42B. FIG. 42A shows an example of operation information that does not consider environmental information, and FIG. 42B shows an example of operation information that is easy for the user 105 to view considering environmental information.

  In FIG. 42A, the light of the sun 4201 entering from the window 4202 (reference symbol A) is reflected by the surface of the display device 102 and travels toward the user 105 (reference symbol B). For this reason, the user 105 is dazzled by the light of the sun 4201, and the screen of the display device 102 is difficult to see.

  In FIG. 42A, the light of the sun 4201 entering from the window 4202 (reference symbol A) is reflected on the back surface of the display device 102 and travels in a different direction from the user 105 (reference symbol B). For this reason, the user 105 does not see the light of the sun 4201, and the screen of the display device 102 is easy to see.

  In order to perform such operation control of the display device 102, the control device 204D of the arm 202 of the fourth embodiment further includes a sun position storage unit, a current information acquisition unit, a sun position acquisition unit, What is necessary is just to provide a determination part.

  The solar position storage unit stores the position of the sun 4201 for each latitude, longitude, and date / time.

  The current information acquisition unit acquires current information indicating the latitude and longitude of the display device 102 and the date and time when the display device 102 is used.

  The solar position acquisition unit acquires the position of the sun 4201 from the solar position storage unit based on the current information acquired from the current information acquisition unit.

  The reflection determination unit determines whether or not the sun 4201 is reflected on the display screen of the display device 102 acquired from the motion information generation unit 4003.

  In the case of the control device 204D of the arm 202 according to the fourth embodiment having the above-described configuration, the motion information generation unit 4003 has a position and posture at which the sun 4201 is not determined to be reflected on the display screen of the display device 102 by the reflection determination unit. Information for controlling the arm 202 for moving the display device 102 to a position facing the posture direction of the user 105 estimated by the direction estimation unit 211 is generated.

  As a method for generating the operation information, the operation information generation unit 4003 generates operation information by using a steady state corresponding to the environment information acquired from the environment information acquisition unit 4001. As a method for dealing with environmental information, the operation information generation unit 4003 detects the value of the environmental information in a steady state that is closest to the acquired value of the environmental information. The motion information generation unit 4003 generates motion information so that the brightness of the display and the position and orientation of the display device correspond to the detected environment information.

  The motion information generation unit 4003 outputs the generated motion information and time information to the control unit 214.

<Flowchart>
The operation procedure of the control device 204D of the arm 202 according to the fourth embodiment will be described with reference to the flowchart of FIG.

  An example of the operation of the control device 204D of the arm 202 of the fourth embodiment is the same as FIG. Here, the posture change detection in step S2804 and the arm control in step S2805 of the flowchart shown in FIG. 28 will be described with reference to FIG.

  First, in step S4301, the operation information acquisition unit 206 acquires operation information, the pressure information acquisition unit 207 acquires pressure information, the environment information acquisition unit 4001 acquires environment information, and the process proceeds to step S2902.

  Next, in step S2902, in the pressure information acquisition unit 207, if the change in the pressure distribution of the acquired pressure information is stable, the process proceeds to step S2903, and if not, the flow ends.

  Next, in step S2903, the site | part estimation part 208 estimates the site | part in pressure information, and progresses to step S2903.

  Next, in step S2904, in the steady state switching unit 210, the pressure information acquired from the pressure information acquisition unit 207, the part information acquired from the part estimation unit 208, and the steady state information acquired from the steady state acquisition unit 4002 are obtained. Based on the current steady state, the process proceeds to step S2905.

  Next, in step S2905, the posture / direction estimation unit 211 estimates the posture or face direction of the user 105 using the time-series change of the pressure distribution from the steady state, and the process proceeds to step S2906.

  Next, in step S2906, the control method switching unit 212 switches the control method based on when the posture of the support base 103 changes when the posture of the user 105 changes. If the control method information is 0, the process proceeds to step S2907. If the control method information is not 0, the process proceeds to step S2908.

  Next, in step S2907, the operation information generation unit 4003 generates operation information that does not move from the current position based on the control method information acquired from the control method switching unit 212, and the process advances to step S4302.

  Next, in step S2908, in the control method switching unit 212, when the control method information is 1, the process proceeds to step S2909, and when the control method information is not 1, the process proceeds to step S2910.

  Next, in step S2909, the motion information generation unit 4003 generates motion information that follows the estimated posture or face direction of the user 105 based on the control method information acquired from the control method switching unit 212. The process proceeds to S4302.

  Next, in step S2910, the operation information generation unit 4003 generates operation information that leaves the user 105 based on the control method information acquired from the control method switching unit 212, and the process proceeds to step S4302.

  Next, in step S4302, the operation information generation unit 4003 checks whether the user 105 has difficulty in viewing the display device 102 due to environmental influences based on the environmental information. If it is difficult to see, the process proceeds to step S4303. If not easy to see, the process proceeds to step S2911.

  Next, in step S4303, the motion information generation unit 4003 corrects the generated motion information to the motion information that is less affected by the environment, that is, easy for the user 105 to view, and proceeds to step S2911.

  Next, in step S2911, the control unit 214 controls the arm 202 to move the display device 102 based on the motion information acquired from the motion information generation unit 4003.

<< Effect of Fourth Embodiment >>
By acquiring environmental information such as the brightness of the room and controlling the brightness and arm of the display according to the environmental information, the display device can be moved to a position and posture that are easier to see.

  INDUSTRIAL APPLICABILITY The present invention can move a display device to a position that is easy for a user to see without using a hand. It is useful as an integrated electronic circuit for control.

101, 101B, 101C, 101D Robot 102 Display device 103 Support base 104 Pressure sensor 105 User 202 Arm 203, 203B, 203C, 203D Arm control device 204, 204B, 204C, 204D, 204E Control device 205 Peripheral device 206 Motion information acquisition unit 207 Pressure information acquisition unit 208 Site estimation unit 209, 3002, 3602, 4002 Steady state acquisition unit 210 Steady state switching unit 211 Posture direction estimation unit 212 Control method switching unit 213, 3003, 3603, 4003 Motion information generation unit 214 Control unit 215 I / O IF
216 Motor driver 2601 Force sensor 3001 Physical information acquisition unit 3601 Display information acquisition unit 4001 Environmental information acquisition unit 4201 Sun 4202 Window

Claims (20)

In the control device of the arm that controls the position and posture of the display device used by the user on the support base,
A pressure information acquisition unit for acquiring a pressure for each position on the support;
The part estimation which estimates that the position where the pressure acquired from the pressure information acquisition part is equal to or greater than a predetermined threshold is the position of at least one part of the user's head, shoulder or waist contacting the support base And
A posture direction estimating unit that estimates the direction of the posture of the user on the support base using the distribution shape of the pressure within a predetermined range including the position of the part estimated by the part estimating unit;
An operation information generating unit that generates information for controlling the arm for moving the display device to a position facing the posture direction of the user estimated by the posture direction estimating unit;
A control unit that controls the arm based on the information generated by the motion information generation unit;
A control device comprising: The side on which the user's head is located on the support base is the upper side of the support base,
The part estimation unit is
A position where the pressure acquired from the pressure information acquisition unit is equal to or higher than a predetermined threshold is determined as a high pressure position,
When each of the high pressure positions is within a predetermined distance, determine the same high pressure position,
According to the following (a), (b), or (c), the determined high-pressure position is estimated to be the position of any part of the user's head, shoulder, or waist that is in contact with the support base. To
(A) When there is one high-pressure position, the position of the waist is estimated. (B) When there are two high-pressure positions, the shoulder position and the waist position are estimated in order from the upper side on the support base. The control device according to claim 1, wherein when there are three high-pressure positions, the head position, the shoulder position, and the waist position are estimated in order from the upper side on the support base. The posture direction estimating unit estimates the direction of the posture of the user on the support base according to the following (A), (B), or (C).
(A) When the high-pressure position is estimated as the position of the waist by the part estimation unit,
Presuming that the user is sitting on the support base,
The direction of the user's posture on the support base is estimated using the estimation of the sitting state and the pressure distribution shape. (B) The position of the shoulder and the position of the waist from the region estimation unit If estimated,
Presuming that the user is prone on the support base,
The direction of the user's posture on the support base is estimated using the estimation of the prone state and the pressure distribution shape. (C) The position of the head, the position of the shoulder, If it is estimated to be the waist position,
Presuming that the user is lying on his or her back on the support base,
Estimating whether the user is in a supine state or a sideways state from the pressure distribution shape,
The control device according to claim 2, wherein the direction of the user's posture on the support base is estimated using the estimated state and the pressure distribution shape. When the posture direction estimating unit estimates that the user is sitting on the support base according to (A), the pressure distribution shape indicates a concave shape, and the concave shape is empty. The direction of the user is estimated as the direction of the posture of the user on the support base,
The control device according to claim 3. Further, the control device includes:
An operation information acquisition unit for acquiring position and orientation information of the display device;
A distance calculation unit that calculates a distance between the display device and the user from the information acquired from the motion information acquisition unit and the position of the part estimated by the part estimation unit;
With
The motion information generation unit generates information for controlling the arm so as to keep the distance calculated by the distance calculation unit constant.
The control device according to claim 1. The motion information generation unit generates information for controlling the arm for moving the display device to a position opposite to the orientation of the user and to a corresponding attitude;
The control device according to claim 1. The pressure information acquisition unit acquires a pressure for each position on the support base at a predetermined time,
The posture direction estimation unit determines whether or not the movement of the user's posture has been completed based on a time-series change in the pressure acquired from the pressure information acquisition unit,
The control unit starts control of the arm based on the information generated by the motion information generation unit after the posture direction estimation unit determines that the movement of the user's posture has ended.
The control device according to claim 1. When the support base has a reclining mechanism,
The control unit controls the arm in conjunction with the operation of the reclining mechanism.
The control device according to claim 1. Further, the control device includes:
A physical information acquisition unit that receives input of physical information having at least one of the height, sitting height, or shoulder width of the user from the user;
With
The motion information generation unit generates information for controlling the arm so that the distance between the user and the display device is a predetermined distance or more based on the user's physical information acquired from the physical information acquisition unit. ,
The control device according to claim 1. Further, the control device includes:
A body information calculation unit that calculates body information having at least one of the height, sitting height, and shoulder width of the user from the position of the part estimated by the part estimation unit;
With
The motion information generating unit generates information for controlling the arm so that a distance between the user and the display device is a predetermined distance or more based on the user's physical information calculated by the physical information calculating unit. ,
The control device according to claim 1. Further, the control device includes:
A surrounding environment information acquisition unit for acquiring information on positions of obstacles existing around the user and the arm;
With
The motion information generation unit uses the physical information of the user acquired from the physical information acquisition unit and the position information of the obstacle acquired from the surrounding environment information acquisition unit, and the user and the obstacle Generating information for controlling the arm so that the distance between the display device and the display device is a predetermined distance or more,
The control device according to claim 9. The display device is a touch panel display;
Further, the control device includes:
A display information acquisition unit that acquires information displayed on the screen of the touch panel display and determines whether the content needs to be touched on the screen of the touch panel display;
With
When the operation information generation unit determines that the content needs to be touched by the display information acquisition unit, the operation information generation unit compares the user with the touch panel display as compared with the case where it is determined that the content does not need to be touched. Generating information for controlling the arm so that the distance of
The control device according to claim 1. Further, the control device includes:
A brightness information acquisition unit for acquiring brightness information around the user;
A brightness adjustment unit that adjusts the brightness of the screen of the display device to be lower as the brightness of the surroundings acquired from the brightness information acquisition unit is lower;
The control device according to claim 1. Further, the control device includes:
A solar position storage unit that stores the position of the sun for each latitude, longitude, and date and time;
A current information acquisition unit for acquiring current information indicating the latitude and longitude of the display device and the date and time when the display device is used;
A solar position acquisition unit that acquires the position of the sun from the solar position storage unit based on the current information acquired from the current information acquisition unit;
Whether or not the sun is reflected on the display screen of the display device using the position and orientation of the display device acquired from the motion information generation unit and the position of the sun acquired from the sun position acquisition unit. A reflection determination unit for determining,
With
The motion information generation unit is a position that is not determined by the reflection determination unit to reflect the sun on the display screen of the display device, and a position that faces the direction of the user's posture estimated by the posture direction estimation unit Generating information for controlling the arm for moving the display device
The control device according to claim 1. Further, the control device includes:
From the user, a steady state acquisition unit that receives a steady state input indicating whether the user's posture is sitting, lying down, lying on the back, or sideways;
With
The posture direction estimation unit estimates the orientation of the user's posture from a time series change from the steady state of the distribution shape,
The control device according to claim 1. When the position of the user's head is estimated by the part estimation unit,
The steady state acquisition unit acquires a distance between the display device and the position of the user's head when receiving the steady state input from the user,
The motion information generation unit moves the display device to a position facing the direction of the user's posture estimated by the posture direction estimation unit and to a position having the same distance as the distance acquired by the steady state acquisition unit. Generating information to control the arm for
The control device according to claim 15. The control device according to any one of claims 1 to 16,
The arm;
Robot equipped with. In the arm control method for controlling the position and posture of the display device used by the user on the support base,
The pressure information acquisition unit acquires a pressure for each position on the support;
The position estimation unit is a position of at least one of the user's head, shoulders, or waist that is in contact with the support base at a position where the pressure acquired from the pressure information acquisition unit is equal to or greater than a predetermined threshold. And
The posture direction estimation unit estimates the direction of the user's posture on the support using the pressure distribution shape within a predetermined range including the position of the part estimated by the part estimation unit,
A motion information generating unit that generates information for controlling the arm for moving the display device to a position facing the posture direction of the user estimated by the posture direction estimating unit;
A control unit controls the arm based on the information generated by the motion information generation unit;
Control method. In the arm control program for controlling the position and posture of the display device used by the user on the support base,
The pressure information acquisition unit acquiring a pressure for each position on the support;
The position estimation unit is a position of at least one of the user's head, shoulders, or waist that is in contact with the support base at a position where the pressure acquired from the pressure information acquisition unit is equal to or greater than a predetermined threshold. Estimating, and
A posture direction estimating unit estimating a direction of the posture of the user on the support base using the pressure distribution shape within a predetermined range including the position of the portion estimated by the portion estimating unit;
A step of generating information for controlling the arm for moving the display device to a position facing the posture direction of the user estimated by the posture direction estimating unit;
A control unit controlling the arm based on the information generated by the motion information generation unit;
A control program that causes a computer to execute. In an integrated electronic circuit for arm control that controls the position and orientation of a display device used by a user on a support base,
The pressure information acquisition unit acquires a pressure for each position on the support;
The position estimation unit is a position of at least one of the user's head, shoulders, or waist that is in contact with the support base at a position where the pressure acquired from the pressure information acquisition unit is equal to or greater than a predetermined threshold. And
The posture direction estimation unit estimates the direction of the user's posture on the support using the pressure distribution shape within a predetermined range including the position of the part estimated by the part estimation unit,
A motion information generating unit that generates information for controlling the arm for moving the display device to a position facing the posture direction of the user estimated by the posture direction estimating unit;
A control unit controls the arm based on the information generated by the motion information generation unit;
Integrated electronic circuit for control.

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