JP2023111791A - Massage supporting system, massage driving device, and program - Google Patents

Abstract

To provide massage therapeutic support that gives out satisfaction close to direct physical contact satisfaction, while suppressing risk incidental to the direct physical contact.SOLUTION: A massage support system 100 supports massage therapeutics performed on a user Hm1 who is a therapeutic object arranged in a room A and by a practitioner Hm2 who is arranged in a room B different from the room A and who performs massage. The massage support system 100 includes: a massage driving device OT1 that is arranged in the room A to massage a part of the body of the user Hm1; a control device 110 that is arranged in the room A to control the massage driving device OT1; a massage input device IN2 that is arranged in the room B to accept a driving order concerning the massage by the massage driving device OT1; and a control device 120 that is arranged in the room B to transmit the driving order to the control device 110. Te control device 110 drives the massage driving device OT1 in accordance with the driving order and makes the massage driving device OT1 perform massage.SELECTED DRAWING: Figure 1

Description

It relates to a massage support system, a massage driving device, and a program.

Humans are creatures that have strong sociality and cooperativeness compared to other creatures. Hunting in the Stone Age and manufacturing, which contributed greatly to the Industrial Revolution, were also carried out through the cooperation and cooperation of many people. As a result, humans have formed an advanced culture and succeeded in forming a modern digital society.

It goes without saying that since the Stone Age, human beings have built such sociality and cooperativeness through close communication with each other. Means of communication include, for example, talking, shaking hands, showing one's facial expressions to the other party, and embracing each other. In addition, communication can also include close contact such as kissing, massage, and sexual intercourse as more intense communication.

In recent years, due to the development of technology, telephone conversations, emails, chats on the Internet, video calls, and communication in VR space (metaverse) using VR are used as alternatives to the above-mentioned direct communication. ing. Patent Document 1 (Japanese Patent Application Laid-Open No. 2021-073541) discloses communication using a robot hand.

On the other hand, none of the communication using technology can match the satisfaction of meeting face-to-face and having skin-to-skin contact with a human being. Humans have overcome various hardships by relieving stress by having physical contact with people they have opened their hearts to. It would not be an exaggeration to say that the advanced civilization of today was formed precisely because of the physical contact with the people who opened their hearts. In other words, it can be said that physical contact was essential in the development of the human species.

JP 2021-073541 A

However, direct physical contact involves risks. For example, as seen in the coronavirus outbreak that was discovered in early 2020, direct physical contact was restricted to reduce the risk of viral transmission.

Moreover, the risk may not be limited to viral infections. For example, even if direct physical contact is allowed, there is a risk of being unexpectedly assaulted by the person taking physical contact.

The present disclosure has been made in order to solve the above-mentioned problems, and its purpose is to reduce the risks associated with direct skinship and achieve a level of satisfaction close to that of direct skinship. Provide assistance with massage treatments that give

This massage support system assists a massage treatment performed by a user to be treated who is placed at a first position and a massage practitioner who is placed at a second position different from the first position. The massage assistance system comprises: a driving device arranged at a first position for massaging a part of a user's body; a first control device arranged at the first position for controlling the driving device; An input device for receiving a driving command for massage by the driving device, and a second control device arranged at a second position for transmitting the driving command to the first control device. The first control device drives the drive device according to the drive command, and causes the drive device to perform massage.

Advantageous Effects of Invention According to the present disclosure, it is possible to provide support for massage treatment that provides a degree of satisfaction close to that of direct physical contact while reducing the risks associated with direct physical contact.

1 is a diagram showing the configuration of a massage support system 100 according to Embodiment 1; FIG. FIG. 4 is a diagram for explaining interlocking between a massage driving device and a massage input device; FIG. 3 is a diagram for explaining a VR space; FIG. FIG. 4 is a diagram for explaining a user's viewpoint in a VR space; FIG. FIG. 4 is a diagram for explaining a practitioner's viewpoint in a VR space; FIG. 10 is a diagram for explaining the configuration of a massage support system according to Embodiment 2; FIG. FIG. 11 is a diagram for explaining the operation of the massage driving device according to Embodiment 2; It is a flowchart which shows the processing procedure of the program performed by the control apparatus by the side of a practitioner. 4 is a flow chart showing a processing procedure of a program executed by a control device on the user's side;

[Embodiment 1]
FIG. 1 is a diagram showing the configuration of a massage support system 100 according to Embodiment 1. As shown in FIG. The massage assistance system 100 assists the user Hm1 in the room A in performing massage. That is, the user Hm1 receives a massage offer. On the other hand, the practitioner B in the room B is a person who provides a massage to the user Hm1. Room A and room B are different rooms. The room A and the room B are arranged in separate positions. In Embodiment 1, room A and room B are located in a remote location separated by several kilometers or more, for example.

The distance between room A and room B is not limited to several kilometers. For example, room A may be located at the north pole and room B may be located at the south pole. Alternatively, Room A may be on Earth and Room B on Mars. Alternatively, the rooms may be adjacent rooms in the same building.

As shown in FIG. 1, the massage support system 100 includes a microphone MK1, a speaker SP1, smart glasses SG1, cameras CM1 and CM2, a massage driving device OT1, a control device 110, a microphone MK2, and a speaker SP2. , smart glasses SG2, a massage input device IN2, and a control device 120.

As shown in FIG. 1, a microphone MK1, a speaker SP1, smart glasses SG1, cameras CM1 and CM2, a massage driving device OT1, and a control device 110 are arranged in a room A. Also, the microphone MK2, the speaker SP2, the smart glasses SG2, the massage input device IN2, and the control device 120 are arranged in the room B.

The control device 110 is electrically connected to the microphone MK1, the speaker SP1, and the massage driving device OT1. Also, the control device 110 is connected to the Internet 10 . The connection method between the control device 110 and each component may be wired or wireless.

The microphone MK1 picks up the voice uttered by the user Hm1, converts it into a digital format, and transmits it to the control device 110. FIG. That is, the microphone MK1 includes an A/D converter. The speaker SP1 emits voice, music, etc. to the user Hm1. The smart glasses SG1 display an image representing the VR space to the user Hm1. Smart glasses are also referred to as “VR headsets”.

It is preferable that the speaker SP1 be worn directly on the ear of the user Hm1. Thereby, in the massage support system 100, the user's sense of immersion in the VR space can be enhanced. The VR space is also called the Metaverse. Moreover, it is preferable that all of the microphone MK1, the speaker SP1, and the smart glasses SG1 be an integrated headset. Thereby, the number of parts in the massage support system 100 can be reduced.

The control device 110 performs display processing of the VR space using the microphone MK1, speaker SP1, and smart glasses SG1, and drive processing of the massage drive device OT1. More specifically, the control device 110 receives a drive command for the massage drive device OT1 from the control device 120 via the Internet, and drives the massage drive device OT1 according to the drive command.

The massage driving device OT1 in Embodiment 1 is a robot hand. The massage drive device OT1 in Embodiment 1 is, for example, a robot hand as disclosed in Japanese Patent Application Laid-Open No. 2021-073541. The user Hm1 receives a massage by bringing a part of the body of the user Hm1 into contact with the robot hand. In Embodiment 1, the user Hm1 contacts the robot hand with the hand Hd1 of the user Hm1. More specifically, the user Hm1 has the massage driving device OT1, which is a robot hand, grasp the index finger of the user Hm1. As a result, the robot hand applies various massages to the index finger of the user Hm1, and the index finger of the user Hm1 is massaged. Thereby, the user Hm1 can obtain pleasure. Note that the part of the user Hm1's body that is brought into contact with the robot hand is not limited to the index finger. The part of the body of the user Hm1 to be massaged includes, for example, the user's own shoulders, back, feet, buttocks, head, temples, ears, mouth, palms, soles, calves, and genitals.

In Embodiment 1, the camera CM1 images the robot hand OT1 and the hand Hd1 of the user Hm1. That is, the camera CM1 captures an image for the practitioner Hm2 to determine whether or not the massage is performed appropriately. Camera CM2 images the face of user Hm1. The camera CM2 captures an image for judging whether or not the result of the massage treatment is appropriate from the facial expression of the user HM1.

Control device 110 transmits an image captured by camera CM1 to control device 120 via the Internet. The control device 110 acquires data indicating emotion from the face image captured by the camera CM2. For example, the control device 110 uses artificial intelligence to acquire data indicating the emotion of the user Hm1 from the facial expression of the user Hm1. The control device 110 discards the face image of the user Hm1 and transmits only the acquired data representing the emotion to the control device 120 . As a result, the massage support system 100 can transmit data indicating the emotion of the user Hm1 to the practitioner Hm2 while suppressing leakage of personal information that can identify the user Hm1.

In the room B, the practitioner Hm2 uses the massage input device IN2 to input a drive command to the massage drive device OT1, which is a robot hand. Similar to the user Hm1, the practitioner Hm2 uses the smart glasses SG2 to display an image representing the VR space. Also, the microphone Mk2 picks up the sound emitted by the practitioner Hm2, and the speaker SP2 provides voice and music to the practitioner Hm2. The speaker SP2 can emit the voice uttered by the user Hm1.

The control device 120 is electrically connected to the microphone MK2, the speaker SP2, the massage input device IN2, and the camera CM21. Also, the control device 120 is connected to the Internet 10 . The connection method between the control device 120 and each component may be wired or wireless.

The massage input device IN2 is a glove that works in conjunction with the massage driving device OT1, which is a robot hand. FIG. 2 is a diagram for explaining interlocking between the massage driving device OT1 and the massage input device IN2.

In Embodiment 1, the movement of the hands of the operator Hm2 sensed by the massage input device IN2, which is a glove installed in the room A, serves as the driving command. That is, as shown in the upper part of FIG. 2, when the massage input device IN2 causes the hand of the practitioner Hm2 to make a fist-clenching motion, the control device 120 transmits the fist-clenching motion to the control device 110 as a drive command. do. The fist-clenching motion is the goo of the so-called goo-chokipa used in rock-paper-scissors.

The control device 110 can cause the massage drive device OT1 to perform a fist-clenching motion based on the received drive command. As a result, further pressure can be applied to the index finger of the user Hm1 gripped by the robot hand. The user Hm1 can get pleasure.

Furthermore, as shown in the middle of FIG. 2, when the massage input device IN2 moves the hands of the operator Hm2 to open, the control device 120 transmits the movement of opening the hands to the control device 110 as a drive command. .

The control device 110 can cause the massage drive device OT1, which is a robot hand, to open the hand based on the received drive command. As a result, the index finger of the user Hm1 can be rubbed with the fingertip or palm of the robot hand. Also, as shown in the lower part of FIG. 2, the robot hand can give a stimulus to wrap the tip of the index finger of the user Hm1 with each of the five fingers. Thereby, the tip of the index finger of the user Hm1 can obtain individual contact from each of the five fingers, and the massage assistance 100 can assist in providing a suitable massage.

<Communication in VR space>
Communication in the VR space will be described below with reference to FIGS. 3 to 5. FIG. FIG. 3 is a diagram for explaining the VR space. As shown in FIG. 3, a user Hm1 and a practitioner Hm2 are immersed in the same VR space via smart glasses SG1 and SG2. That is, a similar 3D space is displayed on each smartglass.

FIG. 4 is a diagram for explaining the viewpoint of the user Hm1 in the VR space. As shown in FIG. 4, the VR space experienced by the user Hm1 and the practitioner Hm2 is the sun and the outdoors with lush vegetation. As a result, the massage support system 100 can allow the user Hm1 to experience an outdoor massage treatment, which is difficult in the real world. FIG. 4 shows a model Md1 imitating the hand Hd1 of the user Hm1.

FIG. 4 shows the avatar Av2 of the practitioner Hm2. Avatar Av2 does not have to represent the operator himself/herself. In Embodiment 1, it is an anthropomorphic cat character. Note that the avatar Av2 may be any character, for example, it may differ from the actual gender of the practitioner Hm2, and models of various ages and races may be used. Furthermore, avatar Av2 may be a creature that does not exist in the real world.

A creature that does not exist in the real world is, for example, a human with animal characteristics, a human with wings, a human with sharp ears, a human with horns, and all kinds of things. A character whose motif is a fantasy world can be considered.

In Embodiment 1, the avatar Av2 of this practitioner Hm2 is determined by the user Hm1. That is, in the massage support system 100, an avatar is selected by the user Hm1 in advance before the massage is performed. The user Hm1 may select from existing avatars, or may create an avatar himself. Thereby, the massage support system 100 can provide massage by the user Hm1's favorite avatar Av2.

At this time, the user Hm1 can input what name the practitioner Hm2 wants to be called during the treatment. As a result, the user Hm1 can receive treatment under the user Hm1's favorite name while being spoken to by the user Hm1's favorite avatar Av2 while ensuring the leakage of personal information.

As shown in FIG. 4, the massage assistance system 100 in Embodiment 1 provides interactive communication. FIG. 4 shows lines Vc1 and Vc3 uttered by the practitioner Hm2 and lines Vc2 and Vc4 uttered by the user Hm1. These lines Vc1-Vc4 are output by speakers SP1 and SP2. In FIG. 4, the characters are displayed as balloons for explanation, but the characters are not displayed in the actual embodiment. That is, the serifs Vc1-Vc4 are attached for the purpose of explaining the present disclosure.

If the massage support system 100 does not have the speakers SP1 and SP2, characters may be displayed on the screen displayed by the smart glasses SG1 and SG2 as shown in FIG. This allows users with hearing impairments to enjoy the system of the present disclosure.

Specifically, as shown in the line Vc1, the operator Hm2 asks the user Hm1, "Are you feeling better? Do you want it to be a little stronger? Do you want it to be a little closer to the tip?" In response to this, as indicated by the line Vc2, the user Hm1 responds to the operator Hm2, "Massage the area around the root more strongly!"

Furthermore, as shown in the line Vc3, the practitioner Hm2 responds to the user Hm1 by saying, "Ufufu, it can't be helped." to operate. At this time, the operator Hm2 does not need to respond to the request of the user Hm1 in order to frustrate the user Hm1. In response to this, the user Hm1 responds to the practitioner Hm2 by saying, "Arigatou Happiness!", as indicated by the line Vc4.

As described above, the massage support system 100 according to the first embodiment allows the operator Hm2 to operate the massage driving device OT1 in accordance with the interactive communication between the user Hm1 and the operator Hm2, thereby realizing actual physical contact. It is possible to support the provision of a massage that is close to satisfaction. Furthermore, since there is no physical contact between the user Hm1 and the practitioner Hm2, it is possible to reduce the risk of infection with viruses and pathogens, and the practitioner Hm2 is attacked by the malicious user Hm1. You can also reduce risks such as

FIG. 5 is a diagram for explaining the viewpoint of the operator Hm2 in the VR space. As shown in FIG. 5, the practitioner Hm2 experiences the same VR space as the user Hm1 experiences. FIG. 5 shows a model Md2 imitating the hands of the practitioner Hm2.

Also, in FIG. 5, an avatar Av1 representing the user Hm1 is displayed. The user Hm1 can also preset the avatar Av1 in the same manner as the avatar Av2. In other words, the massage support system 100 according to Embodiment 1 can provide the user Hm1 with massage in the user's preferred appearance. Furthermore, the user Hm1 can preset the place where the VR space is set.

For example, the user Hm1 can set places represented by the VR space such as the back of the school gymnasium, trains crowded with other avatars, bedrooms, and hot springs instead of outdoors. The place models represented by these VR spaces may be models representing places that actually exist in the real world. For example, a model of the school that the user Hm1 actually attended before may be selected. As a result, the massage support system 100 can allow the user Hm1 to experience the provision of a massage in a place that is impossible in the real world.

As shown in FIG. 5, windows Wd1 and Wd2 are displayed from the viewpoint of the operator Hm2. An image captured by the camera CM11 appears in the window Wd1. That is, the control device 120 displays to the operator Hm2 the image captured by the camera CM11 received from the control device 110 via the Internet. As a result, the operator Hm2 can actually check the moving image of the treatment, making it easier to adjust the amount of force applied, adjust the location where the force is applied, and the like.

Furthermore, as shown in FIG. 5, the window Wd2 displays emotion information generated based on the image captured by the camera CM12. In the example of the first embodiment, "80% pleasure, 10% fun, 6% excitement, 2% love, and 2% sadness" are displayed as emotional information. As a result, the massage support system 100 can let the practitioner Hm2 know that the user Hm1 is generally enjoying a pleasant sensation without displaying the actual face of the user Hm1.

The emotion information and the actual facial expression of the user Hm1 may be expressed as face information of the avatar Av1. That is, in the first embodiment, control device 120 that has received emotion information with a strong sense of pleasure displays the face of avatar Av2 expressing a pleasant expression. As a result, the massage support system 100 can intuitively provide the practitioner Hm2 with not only character information but also information indicating the emotion of the user Hm1.

[Embodiment 2]
In Embodiment 1, the massage support system 100 using the robot hand and the VR space has been described. However, without using a robot hand or a VR space, it is possible to support a massage that gives a feeling of satisfaction close to actual physical contact.

In the second embodiment, the massage support system includes a cylindrical massage driving device OT1 and a massage input device IN1 such as a keyboard instead of a robot hand, and displays Ds1 and Ds2 instead of smart glasses SG1 and SG2 for displaying the VR space. 200 will be described. It should be noted that, in the following description, with respect to the configuration of massage support system 200 of the second embodiment, the same configuration as that of massage support system 100 of the first embodiment will not be described repeatedly.

FIG. 6 is a diagram for explaining the configuration of massage support system 200 according to the second embodiment. The massage support system 200 includes a cylindrical massage driving device OT1. The massage driving device OT1 wraps around part of the body of the user Hm1. The massage driving device OT1 performs massage by applying pressure or rubbing a part of the body of the user Hm1 that is wrapped. Also, the user Hm1 and the practitioner Hm2 visually recognize each other's avatars on the display.

A massage driving device OT1 according to the second embodiment includes a heater Ht1. The heater Ht1 can output a temperature of about human skin. Thereby, the massage support system 200 can give the user Hm1 the sensation of being actually massaged by a human being.

The practitioner Hm2 transmits a driving command for the massage driving device OT1 to the control device 110 using the input device IN2 such as a keyboard and mouse. Also, the user Hm1 and the practitioner Hm2 use a chat function to perform interactive communication using characters. That is, the user Hm1 inputs character information to the input device IN1, and the operator Hm2 inputs character information to the input device IN2.

That is, the communication indicated by the lines Vc1 to Vc4 described in Embodiment 1 is performed using only characters, not actual voice. As a result, it is possible to suppress the leakage of personal information related to the voice of the user Hm1, and it is possible to encourage the user Hm1, who is not good at speaking, to have smooth communication with the chat function.

In the communication performed by such a chat function, the practitioner Hm2 sees the reaction of the user Hm1 and operates the massage driving device OT1. FIG. 7 is a diagram for explaining the operation of the massage driving device OT1 according to the second embodiment.

As shown in the upper part of FIG. 7, the control device 120 receives an instruction A from the practitioner Hm2 to increase the pressure on the upper portion of the cylindrical massage driving device OT1. Control device 120 transmits command A to control device 110 via the Internet. In response to receiving the command A, the control device 110 operates to increase the pressure on the upper portion of the massage driving device OT1.

Further, as shown in the lower part of FIG. 7, the control device 120 receives a command B from the practitioner Hm2 to increase the pressure on the lower portion of the cylindrical massage driving device OT1. Control device 120 transmits command B to control device 110 via the Internet. In response to receiving the command B, the control device 110 operates to increase the pressure of the lower portion of the massage driving device OT1.

As described above, in the second embodiment as well, the chat function is used to ensure interactive communication, and the massage driving device OT1 is operated by the practitioner Hm2. You can feel that part of your body is being touched. As a result, the massage support system 200 can also provide a satisfying massage that is close to actual physical contact.

<Processing procedure>
FIG. 8 is a flow chart showing the processing procedure of the program executed by the control device 120 on the operator's side. The control device 120 determines whether or not it has received a drive command from the massage input device IN2. The control device 120 outputs the drive command to the control device 110 when receiving the drive command.

FIG. 9 is a flow chart showing the processing procedure of the program executed by the control device 110 on the user side. Control device 110 determines whether or not a drive command has been received from control device 120 . When receiving the driving command, the control device 110 causes the massage driving device OT1 to output the driving command.

[Modification 1]
The massage support system 200 may include a temperature detection device that detects the temperature of a part of the body of the operator Hm2. Control device 120 transmits the temperature information acquired from the temperature detection device to control device 110 . The control device 110 drives the heater Ht1 based on the temperature information. As a result, the massage support system 200 can transmit the actual temperature of the operator Hm2 to the user Hm1, and can provide a more realistic massage.

[Modification 2]
The massage drive device OT1 may be rod-shaped instead of cylindrical. The rod-shaped massage drive device OT1 is pressed against a part of the body of the user Hm1 or inserted into a hole in the body such as the mouth. Thereby, a massage can be applied from the inside of the human body.

[Modification 3]
The massage driver OT1 may perform movements that a real human being cannot do. For example, the massage driving device OT1 may have a vibrating function to tremble. Thereby, a more suitable massage can be realized.

[Modification 4]
In the massage support system 300, the user uses a massage input device IN3 different from the massage input device IN2 to input a drive command to a massage drive device OT2 different from the massage drive device OT1, which is a robot hand, to perform a massage. It may be configured to massage a part of the body of the operator Hm2 via the driving device OT2, or to be inserted into a hole of the body such as the mouth.

100 massage support system, 110, 120 control device, OT1 massage drive device, IN2 massage input device, CM11, CM12, CM21 camera, MK1, MK2 microphone, SP1, SP2 speaker.

Claims (9)

A massage support system for assisting a massage treatment performed by a user to be massaged placed at a first position and a massage practitioner placed at a second position different from the first position,
The massage support system includes:
a driving device disposed at the first position for massaging a portion of the user's body;
a first control device arranged at the first position and controlling the driving device;
an input device arranged at the second position for receiving a driving command relating to massage by the driving device;
a second control device arranged at the second position and transmitting the drive command to the first control device;
The massage support system, wherein the first control device drives the drive device according to the drive command and causes the drive device to perform a massage. a first microphone arranged at the first position;
a second microphone arranged at the second position;
a first speaker positioned at the first position;
a second speaker positioned at the second position;
The first control device transmits the user's voice picked up by the first microphone to the second control device,
The second control device transmits the voice of the practitioner collected by the second microphone to the first control device,
The first control device outputs the voice of the practitioner to the first speaker,
The massage support device according to claim 1, wherein said second control device outputs said user's voice to said second speaker. a first display device that displays a VR space to the user;
3. The massage support device according to claim 1, further comprising a second display device for displaying said VR space to said operator. The massage support device according to any one of claims 1 to 3, wherein the driving device further comprises a heater. Further comprising a temperature detection device arranged at the second position and detecting temperature information of a part of the operator's body,
The second control device transmits the temperature information to the first control device,
5. The massage support device according to claim 4, wherein said first control device drives said heater based on said temperature information. Further comprising a first camera arranged at the first position and capturing a part of the user's body to be massaged,
The first control device transmits a first image captured by the first camera to the second control device,
The massage support device according to any one of claims 1 to 5, wherein said second control device displays said first image to said operator. Further comprising a second camera arranged at the first position and imaging the user's face,
The first control device is
generating emotion information representing the emotion of the user in a second image captured by the first camera, and transmitting the emotion information to the second control device;
discarding the second image;
The massage support device according to any one of claims 1 to 6, wherein the second control device notifies the operator of the emotion information. A massage driving device arranged at a first position for massaging a part of a user's body to be treated,
The massage drive device is driven based on a drive command input from a practitioner placed at a second position different from the first position. A program for supporting massage treatment by a massage driving device for massaging a part of a user's body placed at a first position,
receiving a driving command input from a practitioner positioned at a second position different from the first position;
and driving the massage driving device based on the driving instruction.

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