JP2699259B2 - Training method and training device for adapting spatial awareness - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a training method and a training apparatus for adapting a space sensation on the ground in order to give an astronaut the ability to deal with the illusions and errors that occur in space when staying in space. About.

[0002]

2. Description of the Related Art Generally, when an astronaut stays in space, a symptom related to formation of spatial knowledge occurs. Spatial knowledge is defined as the recognition of one's body position in space, which is formed by integrating sensory information from the visual organs, vestibular organs, and self-receptors (muscle / joint sensation, tactile sensation). I have. In order to allow astronauts to stay in a specific environment such as a space station while continuing their mission performance for a long time and to return safely, effective training that can withstand the symptoms related to spatial intellectual formation is required. I need.

[0003] Symptoms relating to the formation of spatial knowledge are roughly classified into two types. One is space sickness and the other is illusion / error. In a zero-gravity environment, the spatial perception formed on the ground is disrupted and adapted to zero-gravity and reformed. But space identification which is reformed is not strong, confused by a change in such the visually information, occurs illusion, fallacy phenomenon again. Next, the process of forming such spatial knowledge is shown in order as follows. Space identification confusion space sickness that information from the otolith like formed by changing the ground under formation weightless environment space identification based on gravity environment on the ground, re-forms a space identified mainly occurs visual sense information illusion phenomenon confusion illusion, mistake phenomenon again is a space identified by a change in the visual sense information is generated

[0004] When a human lives in outer space, nausea and vomiting occur for 2 to 5 days. This condition is called space sickness, and about two-thirds of astronauts encounter this condition.
During this time, astronauts' performance is extremely limited. This space sickness is related to its onset, largely due to the sensation of loss of gravity.

[0005] However, this space sickness is a problem due to the onset of only the first one or two days, especially in long-term stays, and the recent use of new drugs has almost prevented the treatment of the space sickness. 100% is possible. Being able to cope with this space sickness is triggered by the change in sensation caused by the disappearance of gravity, and in outer space, the action of reconstructing the input / output system necessary for the process of self-recognition of spatial knowledge within humans. It is thought that this works to establish a new adaptation process. This also applies to the adaptation process in which dizziness of the unilateral inner ear on the ground is diminished in a matter of days or weeks, and the symptom disappears, as a result of the vigorous central nervous compensation process. It is considered.

On the other hand, an illusion is a phenomenon in which an erroneous interpretation is made with respect to an actual perceptual image, and an illusion is a state in which a mastery action cannot be performed due to erroneous operation or malfunction due to the illusion. During the illusion, stenosis, anxiety,
Excitement or compression of the autonomic nervous system occurs, varying in degree, from rigidity of the body to natural suppression of movement, and hinders performance.

[0007] In space sickness, once the adaptation process is established in outer space, it can behave with almost no problem under the same environmental conditions. However, reports of long-term missions in the former Soviet Union state that illusions and errors occur regardless of the length of stay. The most frequent phenomena are the illusion of upside-down inversion (when moving the body) and the illusion that a stationary object around the user feels moving. The illusion phenomenon is more likely to occur than space sickness and lasts for 2-3 minutes to 4 hours, with re-emergence. .

[0008] As described above, when an astronaut cannot properly form spatial consciousness represented by the illusion and error phenomena that appear in long-term missions, it shows a change in behavior. It is imperative that you experience and become familiar with the phenomena and learn how to deal with them.

Conventionally, as a training device for coping with the illusion and error of an astronaut and preventing transformation behavior, there is a training device using a swivel chair or a tilting chair, and a so-called horizontal supine bed which lays on a horizontal supine and gives visual stimulation. Various types such as a system have been proposed. Of these, the horizontal supine bed method is
It is based on the following idea. That is, space sickness is said to occur because the function of the otolith device, which is a sensory device of gravity, becomes ineffective and attempts to compensate for it with another sensory device. There is a hypothesis that the function of the otolith device is not a sensory device of the original inclination or gravity, but a function of restructuring the system as a sensory device of position change. Based on this idea, by changing the function of the otolith device on the ground, for example, by changing the field of view while constantly giving gravity to the otolith device in a certain direction with the trainee lying down, The horizontal supine bed is a device that attempts to make a change and accelerate the compensation process that occurs in space.

[0010]

As described above, various training devices have been proposed to prevent the occurrence of illusions and mistakes of astronauts, but all of them have experienced sickness. The emphasis is on making the training function inadequate or has not been confirmed to be effective. In particular, in the case of the horizontal supine bed type, if the system is adapted, there is a problem that adverse effects such as sickness may occur on the ground except during training.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problem in the conventional training method or training apparatus on the ground for adapting spatial knowledge, and it is an illusion that occurs when spatial knowledge is not correctly formed in space. An object of the present invention is to provide a training method and a training apparatus for adapting to spatial consciousness, which can appropriately give an ability to cope with a mistake.

[0012]

In order to solve the above-mentioned problems, a training method for adaptation of spatial awareness according to the present invention is intended for training a trainee in water or in a liquid having a specific gravity similar to that of water, or in a water surface. Providing a pseudo-microgravity environment on the surface or on a liquid surface, and actively or passively moving and rotating the trainee while providing normal visual information and / or normal visual stimulus, and moving the body in space. Providing a trainee with confusion visual information and / or a confusion visual stimulus to cause confusion of spatial knowledge in the trainee, and providing reference information to correct the confusion of spatial knowledge. It consists of steps and a step of evaluating and judging the degree of confusion of spatial consciousness and its correction.

Training on the ground for adapting to spatial awareness is roughly divided into the following two. The first is a training for reproducing a system similar to the spatial knowledge forming system in the universe as a phenomenon on the ground and adapting the trainee to the similar system.
Is based on the premise that space consciousness may not be formed correctly in the universe, and in preparation for such a case, trainees to perform active exercise at the will of the trainee and acquire the ability to cope with the resulting illusion and error It is.

In the first training, the effect cannot be obtained unless the trainee's movement is passive and the mechanism of the spatial knowledge forming system in the universe is not correctly elucidated. Effective training cannot be expected under the current situation where the mechanism of the spatial knowledge formation system is not precisely elucidated. On the other hand, in the second training, the mechanism of spatial intellect formation in space is not elucidated, but is considered as a black box, and astronauts' experiences and similar symptoms on the ground are difficult to form. Anyway, the way of thinking is that the trainees should be able to exercise actively by giving them the ability to deal with the illusion and error phenomena caused by the confusion of spatial knowledge. The present invention is based on the concept of the second training, and is a training for establishing a self-centered axis (Egocentric reference axis) while actively performing an active movement. The self-reference axis establishment method is adopted.

On the ground, the recognition of spatial knowledge involves visual information,
It is important to recognize the three elements of the gravity axis and the self-reference axis (body axis), and these three elements have a complementary relationship. In outer space, the recognition of the gravitational axis is lost, so only the visual information and the self-reference axis are recognized.

Therefore, in the training method for adapting spatial sense according to the present invention, as described above, first, the trainee is first placed in water or in a liquid having a specific gravity similar to that of water, or on the water surface or on the liquid surface. To provide a pseudo-microgravity environment to enable active movement. Then, by giving the trainee active or passive movement and rotation while giving normal visual information and / or normal visual stimulus, the recognition of the vertical direction in the pseudo space and the recognition of the self-reference axis are enhanced. And become accustomed to a simulated space environment. Next, by giving the confusion visual information and / or the confusion visual stimulus, the sense of space is disrupted, and the trainee experiences the state of the illusion / error in the outer space. Next, the trainee is made to learn a method of correcting confusion of spatial knowledge by providing reference information. Then, it evaluates the confusion of spatial consciousness and the degree of its correction, and determines the mode of training. The illusion that occurs when spatial perception is disrupted in outer space by the above steps
It is possible to appropriately give the experience of the error phenomenon and the ability to deal with it.

The training apparatus according to claim 8 of the present invention is a water tank filled with water or a liquid having a specific gravity similar to that of water, and provided with a reference wall and a moving wall; A means for assisting the trainee in exercise in water, a visual information providing unit for providing the trainee with visual information and visual stimuli for formation, confusion, and correction of spatial knowledge, and a body of the trainee. Measuring information, body position and reaction force, said moving wall,
The exercise assist means and the visual information providing unit are controlled, and the control unit performs analysis and evaluation of spatial knowledge formation by comparing the trainee's physical information and body position information with a mathematical model, and The training apparatus according to claim 11, further comprising a film-like sheet filled with water or a liquid having a specific gravity greater than water, and rotatably disposed on the water or liquid surface and holding the trainee on his back. A body holding mechanism, a reference wall and a moving wall disposed around the body holding mechanism, means for assisting the trainee in exercising, and providing the trainee with spatial knowledge, formation, confusion, and correction. A visual information providing unit for providing visual information and visual stimulus, and measuring the physical information, body position and reaction force of the trainee, controlling the moving wall, the exercise assisting means and the visual information providing unit, and Of information and body position information and mathematical model In and constitutes in the control unit for performing analysis and evaluation of the spatial identification formation.

By configuring the training device for adapting spatial knowledge as described above, the trainee can easily experience the movement and movement of the body in outer space in a simulated manner and easily cause confusion in spatial knowledge. At the same time, it is possible to easily correct the confused spatial knowledge, and it is possible to evaluate the confusion of the spatial knowledge and the degree of the correction.

[0019]

Next, an embodiment will be described. FIG. 1 is a schematic diagram for explaining a first embodiment of a training method and a training apparatus for spatial awareness adaptation according to the present invention. This embodiment is for an active motion mode. In FIG. 1, reference numeral 1 denotes a water tank formed of a material including a transparent member such as glass,
Reference numeral 2 denotes water filled in the water tank, and reference numeral 3 denotes a reference wall fixedly disposed in the water tank 1 and a gripping metal fitting 4 is provided.
Reference numeral 5 denotes a moving wall which is configured to be movable in a predetermined direction by a moving mechanism 6, similarly provided with a gripping metal 4, and the moving mechanism 6 is controlled by a wall movement control unit 7. . Reference numeral 8 denotes a trainee to which the life support unit is mounted. The life support unit includes an underwater suit 9, a helmet 10, an air conditioning / regeneration device 11 installed on the ground, and a cooling water circulation device worn by the trainee 8. 12 and an umbilical (a water-tight structure integrating an air circulation hose, a water circulation hose, various signal lines, a power line, an optical fiber, etc.) 13 connecting them.

The underwater suit 9 has a similar structure and mechanism to the space suit, and is completely waterproof and has a structure to prevent deformation due to water pressure. Deformation prevention is realized by interlocking the internal pressure control function of the underwater clothes and the rigid structure of the underwater clothes. Since there is no deformation due to water pressure, the body is not pressed by the water pressure, and it is possible to minimize the occurrence of discomfort in the posture sensation in water. In addition,
Depending on the training purpose, without using underwater clothes of the above structure,
It is also possible to use ordinary wet suits and dry suits. The underwater clothes 9 have a function of controlling the temperature and humidity in the clothes by air ventilation. That is, via the umbilical 13, air conditioning on the ground
Ventilation air is sent from the regenerator 11 into the underwater garment 9, circulates around the garment, is collected at one point from the collection hole in the garment, and returns to the air conditioner / regeneration device 11 via the umbilical 13 again. .

The heat and moisture generated from the body during the circulation in the clothes are transported to the air conditioner / reproducer 11 by the ventilation air. The air conditioner in the air conditioner / regeneration device 11 is composed of an air circulation fan and a cooler, sends ventilation air into the clothes, collects ventilation air from the clothes, and is generated from the body by the cooler. Cooling and dehumidification of the air in the clothes which has absorbed heat and moisture and has become warm and humid is sent again as air for ventilation into the clothes by the air circulation fan. The control unit adjusts the cooler capacity based on the difference between the signal from the temperature and humidity sensor in the clothes and the temperature / humidity set value, whereby the environmental temperature and humidity in the clothes are controlled within a predetermined range. It has become.

If the increase in body temperature of the trainee cannot be prevented by air circulation alone, the trainee's body is cooled with cooling water. In this case, the cooling water circulation device 12
Then, the body is cooled by circulating the cooling water through the tube knitted in the cooling underwear which is a component of the underwater clothes 9 via the umbilical 13 by the circulation pump.
The cooling water whose temperature has risen is cooled again by the cooling unit of the cooling water circulating device and sent into the clothes. The air regenerating section of the air conditioning / regeneration device 11 supplies oxygen to the trainee and removes harmful gases such as carbon dioxide gas generated from the trainee. The regenerated air is incorporated as a bypass circuit into an air circulation circuit including an air conditioning unit and a clothes circuit.

The helmet 10 is rigidly attached to the underwater garment 9 and is completely gaseous isolated from the outside.
The helmet 10 has a display unit 14 for visual information generated by a visual information providing unit 17 installed outside.
Is equipped. The visual information providing unit 17 is composed of an image processing workstation and related software. The display unit 14 is an HMD (Head Mounted D)
It is of an isplay type and includes a display device, an optical system for enlarging and forming an image on the display device, a shutter for realizing a see-through function, and the like. As a display device, a liquid crystal display, a CRT, or the like is selectively used according to the purpose and characteristics. The ventilation air is blown out to the HMD section on the front surface of the helmet 10 to prevent fogging.

A pitch / roll mechanism 15 is provided on the body of the underwater garment 9, and a yaw mechanism 16 is mounted on the helmet 10. The yaw mechanism 16 is controlled by a pitch / roll mechanism and yaw mechanism controller 19. It has become so. The purpose of using these mechanisms is to assist the trainee in active exercise. In other words, the rotational movement of the trainee is suppressed by the resistance in the water, but in order to make the angular acceleration the same as in space, this restraint is supplemented by this mechanism to secure the rotational movement of the trainee. It is. There are three types of rotational movement in the coordinate system of the trainee: roll, peach, and yaw. For these, a pitch / roll mechanism and a yaw mechanism are used. Basically, pitch / roll and their combined movement and yaw movement are given individually, but it is also possible to give these three kinds of movements at the same time.

Next, the pitch / roll mechanism 15 will be described with reference to FIG. The type of active exercise is determined according to the purpose and content of the training. Pitch exercise (inclination / rotation in the front-back direction of the body) or roll exercise (inclination / rotation in the lateral direction of the body) corresponding to the active exercise is determined. Or a combined movement thereof, the driving unit 22 on the mounting belt 21 of the pitch / roll mechanism 15 mounted around the trunk of the underwater garment 9
Is set at a predetermined position (angle) with reference to the body back index 23 and the drive section index 24, and the drive shaft 25 is connected to the drive section 22.

The drive section 22 is moved to a predetermined position on the drive section moving guide 26 on the belt 21 by a pinion mechanism incorporated in the drive section 22 based on a control signal and locked there. Is set by For example, when the drive unit 22 is set at the position on the back of the body, tilt / rotational movement in the roll direction can be given. On the other hand, when set at the 90 ° position, tilt / rotational movement in the pitch direction can be provided. Further, by bringing the drive unit 22 to an arbitrary position on the belt 21 and setting it, a combined movement of roll and pitch can be given. In FIG. 2, reference numeral 27 denotes a bladder for attaching the belt 21 to the underwater clothes 9.

The roll angle and the pitch angle may be set in advance on the ground, but the roll angle and the pitch angle can be changed underwater during training by remote control from the ground. It should be noted that the yaw mechanism 16 is similarly configured to give a tilt / rotational movement in the yaw direction by the drive shaft.

Further, in order to monitor the safety of the trainee 8 and the state of formation of spatial awareness, a biological signal sensor is attached to the trainee. The type of sensor is
This is for obtaining an electrocardiogram, a nystagmus, a pupil reflex image, a body temperature, a blood pressure (continuous), an electromyogram, and the like. The electrocardiogram, body temperature, and blood pressure are mainly used as vital signs for confirming the safety of the trainee (confirming survival). The nystagmus and pupil reflection images are used as indicators of the situation of spatial insight formation / confusion. Electromyograms of arms, legs, neck, etc. are indicators of the degree of postural sensation.

Electrocardiograms, electromyograms, and nystagmus are obtained by attaching electrodes to measurement sites on the body. The body temperature is detected by attaching a thermistor to a measurement target site. Pupil reflection image
A CCD camera is attached to the HMD, and an eyeball is photographed. Continuous blood pressure is detected by attaching a cuff sensor to a finger or wrist.

A signal from each sensor is amplified by an amplifier (preamplifier), converted into a predetermined protocol / format by a telemeter transmitting unit, and transmitted to a physical information detecting unit 18. As the media of the telemeter, besides using infrared rays and radio waves in wireless,
A method of transmitting by wire via the umbilical 13 can be used.

The training apparatus is provided with a measuring unit 20 for measuring the body position during the active exercise and the reaction force of each unit, and a control signal from the measuring unit 20 controls the pitch / roll mechanism and the yaw mechanism controller 19, The wall movement control unit 7 and the visual information providing unit 17 are driven.

Next, a description will be given of a training method using the training apparatus for adapting spatial knowledge configured as described above. In training, before disturbing spatial consciousness, firstly, moving in the water and giving normal visual information to become accustomed to the simulated microgravity environment in the water, then causing confusion in spatial sensation, then giving the reference, The course consists of correcting the confusion of knowledge and confirming the effect.

(1) Familiarity course in a simulated microgravity environment (simulated space environment) in water Diving into water The trainee 8 wears underwater clothes 9 and a helmet 10,
A weight is attached to the underwater clothes 9 so as to enter the water tank 1 having a depth of about 2 to 3 m and float underwater (neutral buoyancy).
As a result, the trainee 8 is placed in a pseudo weightless environment.

Implementation of Active Exercise The active exercise allows the trainee 8 to exercise three-dimensionally in water under water by himself / herself.
During this active movement, the trainee's movement is prevented by the resistance in the water. Regarding the angular acceleration, the movement is assisted by the pitch / roll mechanism 15 and the yaw mechanism 16, so that the linear acceleration during the translational movement is reduced. Is the wall moving mechanism 6
Coping with relative movements. Depending on the purpose of the training, it is also possible to carry out a training for performing a passive exercise (the trainee does not move by himself / herself, but keeps moving).

In this active exercise, the body is moved for about several minutes to one hour with a separately set motion profile. Alternatively, the trainee performs an active exercise at his own will. A motion profile basically consists of basic motion units that are several minutes long, and these are combined or repeated to form an active motion. Next, an example of the basic exercise unit will be described. The exercise is started by the trainee pushing the gripping metal 4 from a state where the trainee is held by the gripping metal 4 of the reference wall 3 and his / her body is fixed. At this time, an operation of simultaneously projecting the reference wall 3 with the foot may be performed. By these operations, the trainee's body starts to move in the water in a state where the translational motion and the rotational motion are combined by the pushing condition with the hand and the baring condition with the foot. However, the movement stops after a few seconds due to the underwater resistance. The coordinates of the position of each part of the body during the actual active exercise are measured at predetermined intervals by the body position / reaction force measuring unit 20. The measurement of the body position is performed three-dimensionally by, for example, a method using magnetism or a method using image processing.

Simulation of Motion In order to simulate actual motion in outer space,
Do the following: First, the initial conditions at the time of physical exercise are calculated. This is obtained from the reaction force acting on the reference wall 3.
The magnitude and direction of the reaction are obtained by continuously detecting and calculating the position of the action and the time change of the action with a pressure-sensitive element embedded in the reference wall 3 at a predetermined pitch. In order to obtain the reaction force, instead of embedding the pressure-sensitive element in the reference wall 3, the pressure-sensitive element may be embedded in the glove portion of the hand of the underwater suit 9 and the sole of the foot. Further, instead of the reaction force, a time change of the main position of the body immediately after the pushing and the pushing out may be detected and calculated to obtain the motion characteristic (initial condition). Next, based on these initial conditions, the motion of the body in outer space is calculated and obtained. For example, after several seconds to several tens of seconds, the reference wall 3
The coordinates of the position of each part of the body until reaching the wall on the opposite side are obtained at predetermined time intervals.

Auxiliary motion The difference between the body position in space and the actual body position in water is corrected as follows. First, with respect to rotation, the underwater garment 9 and the yaw mechanism 16 are controlled by the pitch / roll mechanism 15 and the yaw mechanism 16 via the control unit 19 at predetermined time intervals by feedback control of position information so that the underwater clothes 9 and the yaw mechanism 16 are moved in space. The helmet 10 is driven to rotate. As a result, the trainee can be given the same angular acceleration as in outer space. Next, with regard to the translational motion, the moving wall 5 is moved closer to the trainee by the wall moving mechanism 6 via the control unit 7 by the control signal from the body position / reaction force measuring unit 20, thereby relatively moving the trainee. Each position of the trainee's body approaches the moving wall 5 on the opposite side.

Giving posture sensation The posture sensation can be obtained by the trainee 8 grasping the gripping metal 4 of the reference wall 3 and the moving wall 5 and pushing / extruding the wall, thereby further following the wall to the wall. By touching, a reaction force is sensed or provided by touch.

Provision of Visual Information / Visual Stimulus The same normal visual information (for example, a scene inside a spacecraft or a scene outside a spacecraft) as that traveling in space is projected as an image on the HMD, The image is changed according to the moving condition. For example, by providing the trainee with the same visual information as when traveling in the outer space through the visual information display unit 14 during the translational movement described in the section of the movement assistance, Thus, it is possible to obtain a feeling that the trainee is performing the same movement as in outer space in a situation where the trainee hardly performs a translational movement in the water.

[0040] The image giving the emmetropic sense information, the position of the water of the trainee, and for example, about 30 times per second sampling, in response to this position, the trainee is supposed to appear in space The regular visual information is generated in real time by the image generating unit of the visual information providing unit 17 installed on the ground, and is displayed on the display unit via the image transmitting unit (constituted by an optical fiber, a transmitting / receiving unit, an input / output interface, etc.). 14 is transmitted. The frequency (the number of frames per second) of the image displayed on the display unit 14 is 3
A frequency of about 0 Hz or more is desirable. If it is slower than this, the image will flicker or the image will jump, reducing the sense of reality. As for the real-time property, it is necessary to suppress the time delay to 1/10 second or less. If it is slower than this, a mismatch occurs between the movement of the trainee's body and the visual information, which may cause confusion in spatial knowledge.

[0041] (2) the spatial identification confused enough to impart impart a trainee courses confusion visual information / confusion visual stimulus is moving and normal vision sense <br/> information under zero gravity environment of the water that cause the Once you get used to it, you will begin the process of confusing your sense of space. This process is performed by applying visual information that causes a mismatch with the movement situation of the trainee, that is, confusion visual information / confusion visual stimulus. The degree of spatial confusion caused by mismatches is generally quantified /
Are database, the stage of training, depending on the degree contents, to select the contents of confusion visual sense information / confusing visual sensation stimulus.

[0042] As confusing visual sense information, for example, completely different from the movement of the body, i.e., the acceleration information with different viewing sense information input to the trainee, for example, even though it has already been rotated clockwise to the trainee imparts visual sense information which is rotating counterclockwise. The confusion visual sense stimulation, a plurality of spots (point-like)
For example, by continuously moving in the left and right direction or up and down direction on the visual field, or by continuously moving a plurality of stripes in the left and right direction or up and down direction on the visual field, Forcibly, Vecti
on). Further, a method of combining the visual information and the visual stimulus may be used.

Grasping the degree of spatial intellectual confusion The degree of spatial intellectual confusion is determined by feeling subjectively and monitoring objectively. First, subjective symptoms include dizziness and nausea as a result of spatial confusion. If these subjective symptoms occur during training, it is often dangerous, so that the trainee can use the communication device installed in the helmet 10 so that the trainee can obtain visual information so that the training can be stopped immediately. Suspension / change,
You can now request that training be discontinued.

On the other hand, grasping of the situation of spatial confusion from outside (objective monitoring) is mainly performed by monitoring and analyzing three-dimensional position information of each part of the body of the trainee. The analysis mainly checks the posture control function of the body (posture stability / body balance function). Specifically, a model (formula model) of an ideal attitude control in the outer space is compared with an actual attitude control state, and the magnitude of the difference is evaluated and determined. The posture control model is set in consideration of individual differences when accuracy is required for training purposes. Also,
In addition to the three-dimensional information of each body part, a biological signal is monitored and analyzed. As biological signals, nystagmus and eye movements are mainly checked.

(3) Course of Assigning References The purpose of assigning references is to train trainees in a method of correcting confusion in spatial knowledge. The focus of this training is the formation / establishment of the self-reference axis. For this purpose, the following reference is given.

Recognition of Coordinates by Applying Reference Visual Information / Reference Visual Stimulus The surrounding coordinates and the motion vector of the own body (movement of the body axis—position, acceleration, speed) are compared with the surrounding objects / structures and the own body. The coordinates are recognized by informing through the relative relationship. This is mainly achieved by displaying an image (reference visual information / reference visual stimulus and a self-body image in the visual field) on the display unit 14. As a method of displaying an image on the display unit 14, an image may be artificially generated by the image generating unit of the visual information providing unit 17, or an actual image from a camera or the like may be used. Furthermore, in some cases, a see-through function may be added to the display unit 14 to directly look at the surrounding situation.

Visual information that corrects confusion in spatial perception /
The visual stimulus, first, after assigned the same visual perception information and the moving through space, further reference axis on the field,
For example, axis information to be a horizontal axis or a vertical axis is added and given. These axes information, specifically, the visually information such as a ceiling or floor, or walls, of the spacecraft is effective. As a visual stimulus, there is a method in which a fixed fixation (one stationary spot) that does not move is placed at the center of the visual field in a continuously moving spot or stripe. Further, the visual information and the visual stimulus may be provided in combination.

Provision of Postural Sense The provision of postural sensation is performed by causing the trainee to mainly touch, grasp, push out, or shake surrounding objects (walls, grips, etc.).

Input to Vestibular Device In order to input to the vestibular device, that is, to input the angular acceleration information to the semicircular canal and the linear acceleration information to the otolith device, the trainee needs to perform three-dimensional spatial active movement in water. May be implemented. The required acceleration information is input when the trainee freely moves around on his own will.

Training for confirming the self-reference axis With reference to the reference given above, the trainee performs training for forming / establishing the self-reference axis according to the manual. If necessary, the degree and results of formation / establishment of the self-reference axis are fed back to the trainee in real time during training. This training is repeated several to several tens of times until improvement of the training effect is recognized.

(4) Course of confirming training effect The effect of the above training is confirmed by the degree of spatial linguistic confusion in the course of causing confusion in the spatial consciousness and the course of correcting spatial linguistic confusion by providing the reference. This is performed by checking the degree of formation / establishment of the self-reference axis. Specifically, the objective monitoring is performed,
The evaluation is performed according to the criteria set separately.

In the above-described embodiment, the trainee is immersed in the water to perform the training. However, even if the same training is performed on the water surface, the simulated microgravity environment can be obtained. The same effect can be obtained. Also, instead of underwater, having the same specific gravity as water, for example, training in liquid such as seawater or by immersing in liquid,
Similar effects can be obtained.

Next, a second embodiment will be described. FIG. 3 is a schematic sectional view showing a body holding mechanism part in a second embodiment of the training apparatus according to the present invention. In this embodiment, the active movement mode is limited, that is, the active movement is performed three-dimensionally in four degrees of freedom while lying on the horizontal supine (the active movement is performed in a limited state compared to the six degrees of freedom active movement). It corresponds to the mode. In the case of the present embodiment as well, depending on the purpose of training, passive exercise, that is, exercise in which the trainee is moved without being moved by his / her own will, can be performed. In FIG. 3, reference numeral 31 denotes a body holding mechanism, in which the trainee 32 rolls (turns on the ground) while the trainee 32 minimizes his or her postural sensation as much as possible, that is, while lying on his / her back on the water surface. In addition to enabling a yaw rotation with respect to a coordinate system, it is possible to allow a hand or foot to touch, catch, push, or kick surrounding objects (not shown, walls, gripping hardware, etc.). Device. As a device for floating on the back of a person on the water surface, as shown in the figure, water (or a liquid having a higher specific gravity than water) 34 is placed in a body holding plate 33, and a thin film-like sheet 35 is laid on the upper surface thereof. Trainee 3 on it
2 is configured to lie down. In this case, there is an advantage that the trainee 32 can perform the training in the state of the heart sleeve. Also, instead of using the film-like sheet 35, wear a wet suit-like clothes,
A method of lying on the water surface can also be adopted.

FIG. 4 shows an overall schematic structure of the body holding mechanism 31. The body holding mechanism 31 is configured to be movable by a three-axis translation mechanism. As the translation three-axis moving mechanism, an overhead traveling gondola-type translation three-axis moving mechanism 51 shown in FIG.
Alternatively, a linear guide type translational 3-axis moving mechanism 52 shown in FIG. 5B or a hydraulic cylinder type translational 3-axis moving mechanism 53 using a plurality of hydraulic cylinders as shown in FIG. 5C is used. be able to. When the hydraulic cylinder type translational three-axis moving mechanism shown in FIG. 5C is used, roll rotation (yaw rotation with respect to the ground coordinate system) is also given to the trainee in addition to the translational three axes. There are advantages that can be done.

The roll rotation and translational three-axis movement (reaction force) of the trainee are controlled by the body holding mechanism 31 and the translational movement mechanisms 51 to 51.
53, which is transmitted to the roll drive shaft 3
6 is performed. The roll drive shaft 36 is elastic in the vertical direction and rigid in the rotational direction, and balances the weight of the trainee 32 and the buoyancy in the vertical direction. Is transmitted. This roll drive shaft 36
The purpose of use of the drive mechanism 37 is to perform movement during active movement, that is, movement in outer space, for the trainee to push surrounding objects,
In order to create a state in which the trainee moves, it is necessary to drive the trainee in an amount necessary to assist the rotational movement of the trainee. That is, the rotational motion of the trainee is suppressed only by the reaction force due to the resistance of water and the inertia of the training device, but in order to make the angular acceleration the same as that in the outer space, the restraint is supplemented by the mechanism 37. This ensures rotation of the trainee.

Next, a detailed configuration of the roll driving mechanism 37 will be described with reference to FIG. One end of the roll drive shaft 36 is
It is directly connected to the DC servomotor 38 via a joint 39, and can generate a highly responsive rotational motion without backlash. However, it is also possible to use an AC servomotor in combination with an encoder and a high-performance driver. In FIG. 6, 40
Is a thrust bearing, 41 is a bottom plate of a body holding board, 42
Is an O-ring for sealing, and 43 is a bottom plate of the body holding mechanism 31.

On the other hand, the other end of the roll drive shaft 36 is connected to a load transmitting member, through which rotational force is transmitted to the film-like sheet 35. As shown in FIG. 7, the load transmitting member includes a flange portion 44 connected to the roll drive shaft 36 and a radial member 45 projecting radially from the flange portion 44. The radial member 45 is joined to the film-like sheet 35, and has a role of transmitting the rotation to the film-like sheet 35 so that the rotational force is correct, that is, the film-like sheet 35 does not wrinkle mechanically. For this reason, the radial member 45 has a material property of being rigid in the roll direction of the trainee 32 and elastic in the vertical direction. The film-shaped sheet 35 is configured to be rotatable on the outer peripheral wall of the body holding board 33 via a bearing (or a guide roller) 46.

The size of the body holding board 33 is
Is small enough to lie on its back, and small enough to allow the hands and feet to touch objects (walls and grips: not shown) around the body holding board 33 and the outer wall of the body holding board. And the shape and dimensions are appropriately adjusted to meet these requirements.

The trainee 32 wears a display 47 for providing visual information. Display unit 4
Reference numeral 7 denotes, for example, an HMD format, which includes a display device, an optical system for enlarging and forming an image on the display device, a shutter for realizing a see-through function, and the like. As a display device, a liquid crystal display, a CRT, etc.,
They are used according to their purpose and characteristics.

In addition, similarly to the first embodiment, the trainee 32 is provided with a biological signal sensor, an amplifier and a transmitter. A body information detecting unit, a visual information providing unit, a roll driving mechanism control unit, a wall movement control unit, a body position / reaction force measuring unit, and the like are provided outside. As described above, the fixed reference wall and the moving wall driven by the wall moving mechanism operated by the control signal from the wall moving control unit are installed so as to surround the trainee 32.

Next, the operation of the second embodiment configured as described above will be described. In the limited active movement mode in this embodiment, active movement with complete six degrees of freedom cannot be performed. However, since the influence of the gravitational acceleration input from the otolith device can be particularly reduced, from the viewpoint of reducing the influence of the gravitational acceleration. The feature is that it can realize a situation closer to the microgravity environment of outer space.

In the training in the limited active exercise mode of this embodiment, while the body is held at a fixed position, for example, a horizontal supine position, the exercise is performed in four axes (translational three axes and yaw axis) and visual information is added. By doing so, trainees can experience the movement and movement of the body in space in a simulated manner,
A coping training is performed, and the following description will be made in order with emphasis on the differences from the first embodiment.

(1) Familiarity Course in the Pseudo-Space Environment Formed by the Training Apparatus Riding on the Body Holding Board The trainee 32 wears the display unit 47, attaches the biological signal sensor, the amplifier and the transmitter, and It lies on its back on the film-like sheet 35 of the holding board 33. At this time, basically, it may be in the state of a heart sleeve.

Execution of Active Movement Active movement is the exercise of the trainee, by lying on the surface of the water, in a three-dimensional manner, but with four degrees of freedom, making it possible to perform the same movement as in outer space. is there. During the active movement, the movement of the trainee is prevented by the frictional resistance and the inertia of the training device, but the movement is assisted by the roll drive mechanism 37 of the body holding mechanism 31 regarding the angular acceleration. Thus, the linear acceleration during the translational motion is dealt with by the coordinated motion of the translational three-axis moving mechanisms 51 to 53 and the wall moving mechanism. Translational 3-axis moving mechanism 51-
53, like the roll drive mechanism 37, is responsible for horizontal and vertical movements necessary to realize the same movement as in space.

In this active exercise, the body is moved for about several minutes to one hour with a separately set motion profile. Alternatively, the trainee performs an active exercise at his own will. A motion profile basically consists of basic motion units that are several minutes long, and these are combined or repeated to form an active motion. Next, an example of the basic exercise unit will be described. The exercise is started by the trainee holding the body of the reference wall (not shown) and holding the body of the trainee, and pushing out the body (not shown). At this time, an operation of simultaneously projecting the reference wall with the foot may be performed. By these operations, the body of the trainee is moved by the body holding mechanism 31 and the translation movement mechanisms 51 to 53 in a state where the translational movement and the rotational movement are combined by the pushing condition by hand and the protruding condition by foot. By action, it begins to move.

Simulation of Motion To simulate actual motion in outer space,
Do the following: First, the initial conditions at the time of physical exercise are calculated. This is determined from the reaction force acting on the reference wall when the reference wall is pushed out and pushed out. The magnitude and direction of the reaction are obtained by continuously detecting and calculating the position of the effect and the time change of the effect with a pressure-sensitive element embedded at a predetermined pitch in the reference wall. In order to obtain the reaction force, instead of embedding the pressure-sensitive element in the reference wall, the pressure-sensitive element may be attached to the hand and the sole of the foot. Further, instead of the reaction force, a time change of the main position of the body immediately after the pushing and the pushing out may be detected and calculated to obtain the motion characteristic (initial condition). The reaction force acting on the gripper is
For example, it can be detected by a strain gauge attached to a holding metal fitting. In this case, of course, the material of the grip metal is
It must have a sufficiently low Young's modulus (deforms to the extent that it can be detected by a strain gauge). Next, based on these initial conditions, the motion of the body in outer space is calculated and obtained. For example, the coordinates of the position of each part of the body from several seconds to several tens of seconds before reaching the wall opposite to the reference wall are obtained at predetermined time intervals.

Auxiliary motion The difference between the body position in outer space and the actual body position is corrected as follows. The coordinates of the actual position of each part of the body are measured at predetermined time intervals. The measurement of the body position is performed three-dimensionally by, for example, a method using magnetism or a method using image processing. First, regarding the rotation, the film-shaped sheet 3 is controlled by the roll driving mechanism 37 by feedback control of the position information at predetermined time intervals so as to be the same as the movement in the outer space.
5 is driven to rotate. Thereby, the trainee 32 is given the same angular acceleration as in the outer space.

Next, regarding the translational motion, first, the body holding board 33 is translated by the feedback control of the position information by the translational three-axis moving mechanisms 51 to 53 at predetermined time intervals so as to be the same as the motion in the outer space. I do. Further, the moving wall is moved closer to the trainee by the wall moving mechanism so that the moving wall is positioned and at an angle in outer space, so that each position of the trainee's body approaches the opposite wall (moving wall). Will be. As a result, the trainee is given the same translational motion as in outer space.

Giving posture sensation The posture sensation can be obtained by the trainee grasping the gripping fixtures of the reference wall and the moving wall, pushing out / extruding the wall, and further reaching the wall and touching the wall. Applied by reaction force or tactile sensation. In addition, the reaction force to the back, which may be a hindrance in training, is uniformly distributed from the water surface and input, so that the sense of posture is reduced.

Application of Visual Information / Visual Stimulation The same normal visual information as moving in the outer space (for example, a scene inside a spacecraft or a scene outside a spacecraft) is displayed on the display unit 4.
7 is projected as an image on the HMD 7, and the image is changed according to the condition of the body movement. For example, at the time of the translational movement described in the section on assisting the movement, the visual information display unit 47 is provided to the trainee.
By providing the same visual information as that when moving in the outer space through the, it is possible to obtain a feeling that the user is performing the same movement as the actual outer space.

[0071] The image giving the emmetropic sense information, the three-dimensional position of the trainee, and for example, about 30 times per second sampling, in response to this position, the trainee is supposed to appear in space The normal visual information is generated in real time by the image generating unit of the visual information providing unit installed on the ground, and is transmitted to the display unit 4 via an image transmitting unit (constituted by an optical fiber, a transmitting / receiving unit, an input / output interface, and the like).
7 is transmitted. The frequency (the number of frames per second) of the image displayed on the display unit 47 is 30
Hz or more is desirable. If it is slower than this, the image will flicker or the image will jump, reducing the sense of reality. As for the real-time property, it is necessary to suppress the time delay to 1/10 second or less. If it is slower than this, a mismatch occurs between the movement of the trainee's body and the visual information, which may cause confusion in spatial knowledge.

[0072] (2) Providing the trainee courses confusion visual information / disruption visual stimuli that cause disruption of the spatial identification is shakedown sufficiently to move and impart the emmetropic sense information in the pseudo space environment formed by the apparatus When , And then enter a course that disrupts spatial awareness. This process is performed by applying visual information that causes a mismatch with the movement situation of the trainee, that is, confusion visual information / confusion visual stimulus. The degree of spatial identification of confusion due to a mismatch generally is pre quantified / database, the stage of training, depending on the degree contents, to select the contents of confusion visual sense information / confusing visual sensation stimulus.

[0073] As confusing visual sense information, for example, completely different from the movement of the body, i.e., the acceleration information with different viewing sense information input to the trainee, for example, even though it has already been rotated clockwise to the trainee imparts visual sense information which is rotating counterclockwise. The confusion visual sense stimulation, a plurality of spots (point-like)
For example, by continuously moving in the left and right direction or up and down direction on the visual field, or by continuously moving a plurality of stripes in the left and right direction or up and down direction on the visual field, Forcibly, Vecti
on). Further, a method of combining the visual information and the visual stimulus may be used.

Grasping the degree of spatial intellectual confusion The degree of spatial intellectual confusion is determined by feeling subjectively and monitoring objectively. First, subjective symptoms include dizziness and nausea as a result of spatial confusion. If these subjective symptoms occur during the training, it is often dangerous, and the trainee 32 is provided with the communication device installed in the body holding board 33 so that the training can be stopped immediately. It is possible to request stop / change of visual information and stop of training.

On the other hand, grasping of the situation of spatial confusion from outside (objective monitoring) is performed mainly by monitoring and analyzing three-dimensional position information of each body part of the trainee. The analysis mainly checks the posture control function of the body (posture stability / body balance function). Specifically, a model (formula model) of an ideal attitude control in the outer space is compared with an actual attitude control state, and the magnitude of the difference is evaluated and determined. The posture control model is set in consideration of individual differences when accuracy is required for training purposes. Also,
In addition to the three-dimensional information of each body part, a biological signal is monitored and analyzed. As biological signals, nystagmus and eye movements are mainly checked.

(3) Course of Assigning References The purpose of assigning references is to train trainees in a method of correcting confusion in spatial knowledge. The focus of this training is the formation / establishment of the self-reference axis. Give the following reference for this

Recognition of Coordinates by Applying Reference Visual Information / Reference Visual Stimulus The surrounding coordinates and the motion vector information of the own body (movement of the body axis—position, acceleration, and speed) are compared with the surrounding objects / structures and the own body. By informing through the relative relationship of
Recognize coordinates. For this purpose, the display unit 4 is mainly used.
7 is displayed by displaying an image (reference visual information / reference visual stimulus and a self-body image in these visual fields). As a method of displaying an image on the display unit 47, an image may be artificially generated by the image generation unit of the visual information providing unit, or an actual image from a camera or the like may be used.
Further, in some cases, a see-through function may be added to the display unit to directly look at the surrounding situation.

Visual information for correcting confusion in spatial perception /
The visual stimulus, first, after assigned the same visual perception information and the moving through space, further reference axis on the field,
For example, axis information to be a horizontal axis or a vertical axis is added and given. These axes information, specifically, the visually information such as a ceiling or floor, or walls, of the spacecraft is effective. As a visual stimulus, there is a method in which a fixed fixation (one stationary spot) that does not move is placed at the center of the visual field in a continuously moving spot or stripe. Further, the visual information and the visual stimulus may be provided in combination.

Provision of Postural Sense The provision of postural sensation is performed by causing the trainee to mainly touch, grasp, push out, or kick around the surrounding objects (walls, grips, etc.).

Input to the Vestibular Device In the case of the input to the vestibular device, that is, in the case of the limited active exercise mode, the trainee is required to lie in a lying position in order to particularly input the angular acceleration information to the semicircular canal. The active movement is performed in the three-dimensional space. The required acceleration information is input when the trainee freely moves around on his own will.

Training for Confirming Self-Reference Axis With reference to the reference given above, the trainee performs training for forming / establishing the self-reference axis in accordance with the manual. If necessary, the degree and results of formation / establishment of the self-reference axis are fed back to the trainee in real time during training. This training is repeated several to several tens of times until improvement of the training effect is recognized.

(4) Course of confirming training effect The effect of the above training is confirmed by the degree of confusion of spatial knowledge in the course of causing confusion in the spatial knowledge and the self-correction in the course of correcting the confusion of spatial knowledge by the reference provision. This is performed by checking the degree of formation / establishment of the reference axis. Specifically, the above-mentioned objective monitoring is performed, and the evaluation is performed based on a separately defined standard.

Although the two embodiments corresponding to the active exercise mode and the limited active exercise mode have been described above, the constituent members in each embodiment include the reaction force and the body position during exercise of the trainee. Based on the detection, control is performed as described above by a control unit not shown in FIGS. 1 to 7, and the control contents of the control unit are collectively shown in a block diagram. And as shown in FIG. In FIG. 8, reference numeral 61 denotes an initial condition detection unit.
This block detects the reaction force (vector) and acceleration of the hand / foot received from the wall or the like when the wall or the like is released / extruded.
Reference numeral 62 denotes a momentum calculation unit that receives a detection output from the initial condition detection unit 61 and calculates a momentum (moving direction, moving direction,
(Acceleration, velocity, position). 63
Is a block for detecting the actual position, velocity and acceleration of each part of the body during exercise (moving). The output of the momentum calculation unit 62 is a translational momentum calculation unit (a calculation unit for calculating the translational amount necessary to correct the resistance due to water) 64 and a rotational momentum calculation unit (necessary to correct the resistance due to water Calculation unit for obtaining a large amount of rotation) 65, state /
The outputs of the body state detection unit 63 are input to a model comparison unit 68, while the translational momentum calculation unit 64, the rotation momentum calculation unit 65, the field information calculation unit 66, the body information calculation unit 67, the state / model comparison unit 68 respectively.

The output of the translational momentum calculation unit 64 is input to a wall movement control unit 69, which calculates and controls the output to the wall movement mechanism. It is input to the pitch / roll / yaw drive control unit 70, and the drive control unit 70 calculates and controls the output to the pitch / roll mechanism and the yaw mechanism. The visibility information calculation unit 66 is a block for creating a surrounding visibility state to correct the effect of resistance due to water, and the physical information calculation unit 67 displays the movement of the trainee's hand, foot, eyeball, and the like. Is a block that performs an operation for performing The state / model comparison unit 68 is a block that compares the actual exercise state of the trainee with the exercise state of the mathematical model and outputs a difference. Each output from the visibility information calculation unit 66, the physical information calculation unit 67, and the state / model comparison unit 68 is input to a visual information addition unit 71, and the visual information addition unit 71 This block calculates and controls the information output to The output of the state / model comparison unit 68 is input to the analysis / evaluation unit 72, and the analysis / evaluation of the training result is performed.
An evaluation is being performed.

[0085]

As described above with reference to the embodiments,
ADVANTAGE OF THE INVENTION According to the training method of the spatial knowledge adaptation which concerns on this invention, the ability to cope with the illusion / error which arises when the spatial knowledge is not formed correctly in space can be given appropriately. In addition, according to the training apparatus for spatial awareness adaptation, it is possible to easily realize a state of confusion of spatial knowledge similar to that occurring in outer space on the ground, and to correct the confusion of spatial knowledge,
Further, the degree of spatial confusion and the degree of correction can be easily checked.

[Brief description of the drawings]

FIG. 1 is a schematic explanatory diagram for explaining a first embodiment of a training method and a training apparatus for spatial awareness adaptation according to the present invention.

FIG. 2 is a schematic perspective view showing a pitch / roll mechanism in the first embodiment shown in FIG.

FIG. 3 is a schematic sectional view showing a body holding mechanism part according to a second embodiment of the present invention.

FIG. 4 is a schematic perspective view showing the entire appearance of the body holding mechanism shown in FIG. 3;

FIG. 5 is a schematic perspective view showing a translation three-axis moving mechanism of a second embodiment.

FIG. 6 is a diagram illustrating a roll drive mechanism according to a second embodiment.

FIG. 7 is a view showing a load transmitting member of a second embodiment.

FIG. 8 is a block diagram collectively showing control contents in a control unit in each embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Water tank 2 Water 3 Reference wall 4 Grasping bracket 5 Moving wall 6 Moving mechanism 7 Wall movement control unit 8 Trainee 9 Underwater clothes 10 Helmet 11 Air conditioning / regeneration device 12 Cooling water circulation device 13 Umbilical 14 Display unit 15 Pitch / roll mechanism 16 Yaw mechanism 17 Visual information adding section 18 Physical information detecting section 19 Pitch / roll mechanism and yaw mechanism control section 20 Body position / reaction force measuring section 21 Mounting belt 22 Drive section 23 Body back index 24 Drive section index 25 Drive shaft 26 Drive Guide for moving parts 27 Bladder 31 Body holding mechanism 32 Trainee 33 Body holding board 34 Water 35 Film-like sheet 36 Roll drive shaft 37 Roll drive mechanism 38 DC servo motor 39 Joint 40 Thrust bearing 41 Body holding board bottom plate 42 O-ring 43 Body holding mechanism bottom plate 44 Flange 45 Radial member 46 Bearing 47 Display 51-53 Translational 3-axis moving mechanism

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Mamoru Mohri 2-4-1 Hamamatsucho, Minato-ku, Tokyo Inside the Space Development Corporation (72) Inventor Chiharu Sekiguchi 2-4-1 Hamamatsucho, Minato-ku, Tokyo Space Development Corporation (72) Inventor Kiyotaka Yashiro 2-4-1 Hamamatsucho, Minato-ku, Tokyo Space Development Corporation (72) Inventor Tadashi Murai 2-4-1 Hamamatsucho, Minato-ku, Tokyo Space Development Inside the Business Corporation (72) Inventor Koichi Wakata 2-4-1 Hamamatsucho, Minato-ku, Tokyo Space Development Corporation (72) Inventor Hiroshi Miyoshi 2-4-1 Hamamatsucho, Minato-ku, Tokyo Space Development Corporation (72) Inventor Takahiro Abe 2-4-1, Hamamatsucho, Minato-ku, Tokyo Space Development Corporation (72) Inventor Shuji Araki 2-4-1, Hamamatsucho, Minato-ku, Tokyo (56) References JP-A-2-221994 (JP, A) JP-A-4-43200 (JP, A) JP-A-58-152664 (JP, U) JP-A-4-24899 (JP, U)

Claims (12)

(57) [Claims] 1. A step of placing a trainee in water or in a liquid having a specific gravity similar to that of water, or on a water surface or a liquid surface to provide a pseudo-microgravity environment, normal visual information and / or normal visual stimulation Moving and rotating the trainee actively or passively while giving the simulated experience of the movement and movement of the body in outer space; A step of causing a person to cause confusion of spatial knowledge, a step of giving reference information to correct the confusion of spatial knowledge, and a step of evaluating and determining the confusion of spatial knowledge and the degree of the correction. A training method for adapting spatial sensation. 2. As the normal visual information, the same visual information as the visual information obtained when performing the same exercise in the outer space according to the movement and rotation of the trainee is added. 1. The training method of spatial awareness adaptation according to 1. 3. The training method for spatial awareness adaptation according to claim 1, wherein the active or passive movement and rotation are performed by assisting the movement from outside. 4. The spatial knowledge adaptation according to claim 1, wherein the confusion visual information is visual information that causes a mismatch with the movement and rotation of the trainee. Training method. Wherein said reference information includes any one of claims 1 to 4, characterized in that it comprises the trainee's body image in the burst in the reference visual sense information and parallax perception information having a reference axis information The training method of spatial awareness adaptation described in section. 6. The space according to claim 1, wherein the reference information includes a reference visual stimulus in which a fixed viewpoint is provided at the center in a continuously moving pattern image. A training method of mental adaptation. 7. The method according to claim 1, wherein the confusion of the spatial knowledge and the degree of the correction are evaluated and judged by comparing three-dimensional position information of each part of the body of the trainee and a biological signal with a mathematical model. 7. The training method for spatial awareness adaptation according to any one of Items 6 to 6. 8. A water tank filled with water or a liquid having a specific gravity similar to that of water, provided with a reference wall and a moving wall, a life support part of the trainee, and assisting the trainee in exercising in water. Means for forming, spatial information formation, confusion to the trainee, a visual information providing unit that gives visual information and visual stimulation for correction, and measure the physical information, body position and reaction force of the trainee,
A control unit that controls the moving wall, the exercise assisting means, and the visual information providing unit, and analyzes and evaluates spatial knowledge formation by comparing the trainee's physical information and body position information with a mathematical model. A training device for spatial awareness adaptation characterized by: 9. The training apparatus according to claim 8, wherein the life support unit includes an underwater suit, a helmet, an air conditioning / regeneration device, a cooling water circulation device, and an umbilical. 10. The training apparatus according to claim 8, wherein the exercise assisting means is a pitch / roll mechanism and a yaw mechanism. 11. A body holding mechanism which is filled with water or a liquid having a specific gravity greater than water, and which is provided rotatably on the water or liquid surface and has a film-like sheet for holding the trainee on his back. A reference wall and a moving wall disposed around the body holding mechanism, means for assisting the exercise of the trainee, and visual information and vision for forming, confusing, and correcting spatial knowledge to the trainee. A visual information providing unit for giving a stimulus, and measuring the physical information, body position and reaction force of the trainee,
A control unit that controls the exercise assisting means and the visual information providing unit, and analyzes and evaluates spatial knowledge formation by comparing the trainee's physical information and body position information with a mathematical model. Training device for adapting to spatial awareness. 12. The spatial recognition adaptation according to claim 11, wherein said movement assisting means is a roll driving mechanism for rotating and driving said film-shaped sheet, and a mechanism for moving said body holding mechanism in three translational directions. Training equipment.