JP5041370B2 - Physical training apparatus and program - Google Patents

Physical training apparatus and program Download PDF

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JP5041370B2
JP5041370B2 JP2008224825A JP2008224825A JP5041370B2 JP 5041370 B2 JP5041370 B2 JP 5041370B2 JP 2008224825 A JP2008224825 A JP 2008224825A JP 2008224825 A JP2008224825 A JP 2008224825A JP 5041370 B2 JP5041370 B2 JP 5041370B2
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posture
means
teaching
training
model
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JP2010057611A (en
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徹 宮崎
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Necシステムテクノロジー株式会社
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  The present invention relates to a physical training device that compares a posture of a training subject with a model posture and prompts the training subject to correct the posture, and a program for controlling the physical training device.

  For example, in sports training, rehabilitation, or skills training in vocational education, train the trainee to perform a specific action or take a predetermined posture to acquire exemplary movements and postures. Training is conducted. However, it is difficult for the training subject to accurately grasp the degree of separation between the training subject's motion and posture and the exemplary motion and posture. Therefore, Patent Literature 1 proposes a skill improvement support apparatus that visually presents a difference between an actual motion and posture of the training subject and an exemplary motion and posture to the training subject.

JP 2002-033386 A

  The skill improvement support apparatus proposed in Patent Document 1 compares a symbol string obtained by measuring a human body motion with a motion measuring device and a symbol string recorded with an ideal motion as a teacher example. Thus, since the operation comparison means for detecting the difference between the two is provided, the person to be trained can objectively grasp the difference between the own operation and the ideal operation. However, the skill improvement support apparatus only includes information presenting means for displaying the difference in characters and graphics, and lacks teaching means that directly affects the body of the training subject.

  Therefore, the person to be trained recognizes the characters and figures displayed on the information presenting means through vision, interprets the contents indicated by the letters and figures, and then corrects the movement. There was a problem that a time lag occurred between them.

  The present invention has been made in view of such a background, and provides a physical training apparatus and a program including teaching means that directly act on the body of a training subject in real time.

The body training device of the present invention is a body training device that executes a teaching procedure according to the posture of the training subject and prompts the training subject to correct the posture. Estimated by the measuring means, the posture estimating means for estimating the posture of the person to be trained based on the physical information measured by the physical information measuring means, the model posture storing means for storing the model posture, and the posture estimating means. A plurality of posture difference calculation means for calculating the difference between the posture of the training subject and the model posture read from the model posture storage means, and a teaching procedure according to the magnitude of the difference calculated by the posture difference calculation means. comprising a teaching procedure determining means for determining to select from among the different taught procedure, by performing the teaching procedure determined in the teaching procedure determining unit, and a teaching means for prompting a modification of attitude to the trainees Both the teaching procedure above teachings means performs less
Both include teaching procedures that act directly on the body of the person being trained in real time .

The program of the present invention comprises: physical information measuring means for measuring physical information of a training subject; and teaching means for executing a teaching procedure according to the posture of the training subject and prompting the training subject to correct the posture. Posture estimation means for estimating the posture of the person to be trained based on physical information measured by the physical information measurement means;
A model posture storage unit that stores a model posture; a posture difference calculation unit that calculates a difference between the posture of the training subject estimated by the posture estimation unit and the model posture read from the model posture storage unit; and the posture difference A teaching procedure corresponding to the magnitude of the difference calculated by the calculating means is selected from a plurality of different teaching procedures and functions as a teaching procedure determining means for causing the teaching means to execute, and the teaching executed by the teaching means The procedure should include at least the training subject in real time.
Instructional procedures that directly affect the body are included .

  The physical training device of the present invention selects and executes the optimal teaching procedure based on the magnitude of the difference between the posture of the training subject and the model posture, and the teaching is performed in real time on the training subject. Since it acts directly on the body, effective physical training becomes possible.

  Hereinafter, the best mode for carrying out the present invention will be described.

[Device configuration]
FIG. 1 is a conceptual configuration diagram of a physical training apparatus showing an embodiment of the present invention. As shown in FIG. 1, the body training apparatus 1 includes a sensor unit 2, an analysis unit 3, and a teaching unit 4.

  The sensor unit 2 is a device that is attached to the body of the training subject 5, measures the physical information of the training subject 5, and transmits the result to the analysis unit 3, and includes physical information measurement means 21 and physical information transmission means. 22. The body information measuring means 21 is a sensor that is mounted near the joint of the training subject 5 and detects the rotation angle of the joint. The body information transmitting means 22 determines the rotation angle of the joint detected by the body information measuring means 21. It is a communication interface that transmits to the analysis unit 3.

  The body information is information that serves as a basis for estimating the posture of the training subject 5, and the body information measuring unit 21 is not limited to a sensor that detects the rotation angle of the joint. Other types of sensors such as various sensors such as an acceleration sensor, an angular acceleration sensor, and a displacement sensor can be selected. Moreover, the place where the body information measuring means 21 is attached is not limited to the vicinity of the joint of the training subject 5. This is because a suitable place differs depending on the type of the physical information measuring means 21 or the physical information measured by the physical information measuring means 21.

  The analysis unit 3 estimates the posture of the training subject 5 based on the physical information of the training subject 5 measured by the sensor unit 2, and compares the posture (hereinafter referred to as “measurement posture”) with the model posture. , A computer that obtains a difference between the two and selects an optimal teaching procedure according to the magnitude of the difference. Physical information receiving means 301, body shape accumulating means 302, posture estimating means 303, measurement posture accumulating means 304, model Attitude accumulation means 305, attitude difference calculation means 306, teaching procedure accumulation means 308, teaching procedure determination means 309 and teaching procedure transmission means 310 are provided.

  The body information receiving unit 301 is a communication interface that receives the rotation angle of the joint of the training subject 5 transmitted by the body information transmitting unit 22 of the sensor unit 2. The body shape accumulating means 302 is a storage device that stores the body shape of the training subject 5 who uses the body training device 1. Posture estimation means 303 is an arithmetic device that estimates the posture of the training subject 5 based on the joint rotation angle received by the physical information receiving means 301. The measurement posture accumulation unit 304 is a storage device that stores the posture (measurement posture) of the training subject 5 estimated by the posture estimation unit 303. The model posture accumulation unit 305 is a storage device that stores a model posture (model posture) of the training subject 5. Means for taking the model posture into the model posture storage unit 305 will be described later. The posture difference calculation unit 306 is a calculation device that calculates a difference (posture difference) between the posture of the training subject 5 and the model posture. The teaching procedure storage means 308 is a storage device that stores and stores a plurality of types of teaching procedures performed on the training subject 5. A teaching procedure determination unit 309 selects an optimum teaching procedure from a plurality of teaching procedures stored in the teaching procedure storage unit 308 according to the magnitude of the attitude difference calculated by the attitude difference calculation unit 306. It is. The teaching procedure transmission unit 310 is a communication interface that transmits the teaching procedure selected by the teaching procedure determination unit 309 to the teaching unit 4.

  The teaching unit 4 is a device that is attached to the body of the training subject 5 and executes the teaching procedure selected by the analysis unit 3 on the training subject 5, and includes a teaching procedure reception unit 41 and a teaching procedure execution unit 42. .

  The teaching procedure receiving unit 41 is a communication interface that receives the teaching procedure transmitted by the teaching procedure transmitting unit 310. The teaching procedure execution means 42 is a device for teaching the training subject 5 in accordance with the teaching procedure received by the teaching procedure receiving means 41, and forcibly takes the model posture by moving the joint of the training subject 5. And direct teaching means for notifying the training subject 5 of the difference calculated by the posture difference calculating means 306 and instructing the posture to be corrected.

  For example, in this embodiment, as the direct teaching means, the teaching procedure execution means 42 is provided with an actuator that acts on the joint of the training subject 5 and drives the joint. As the drive source of the actuator, an appropriate device is selected from various drive sources such as an electric motor, a hydraulic pressure or a pneumatic cylinder.

  Further, as the indirect teaching means, the teaching procedure execution means 42 includes the following apparatus. (1) An electrical stimulation device that applies electrical stimulation to the body of the training subject 5. For example, a device that applies a pulse current to the training subject 5. (2) A vibration stimulation device that applies mechanical vibration to the body of the training subject 5. For example, a device that generates vibration by rotating an eccentric weight with an electric motor. (3) A voice instruction device that gives a voice instruction to the training subject 5. For example, a device that plays a recorded voice or a device that generates a dial tone.

  The communication means between the sensor unit 2 and the analysis unit 3 and between the analysis unit 3 and the teaching unit 4 may be either wired or wireless. However, when wireless communication is used, the training subject 5 This is preferable because restrictions on operation and movement range are reduced.

  For convenience of explanation, the components of the analysis unit 3 are expressed in hardware. However, all or some of the components of the analysis unit 3 may be realized by software. For example, a program that describes a processing procedure described later may be installed in a general-purpose personal computer so that the personal computer functions as the analysis unit 3.

  FIG. 2 is a conceptual diagram showing a state in which the body training device 1 is worn on the training subject 5. In the example shown in FIG. 2, body information measuring means 21 is attached to the neck, left shoulder, right shoulder, waist, left hip joint and right hip joint of the person to be trained 5, and body information measuring means 21 and teaching are provided to the left and right elbows and knees. The procedure execution means 42 is attached. The analysis unit 3 is attached to the left wrist of the training subject 5.

  Of course, FIG. 2 merely illustrates one embodiment of the present invention. Therefore, the physical training apparatus 1 is not limited to that shown in FIG. The number of points of the physical information measuring means 21 and the teaching procedure execution means 42 can be selected according to the application and purpose, and the attachment location can also be selected. Further, instead of mounting the analysis unit 3 on the body of the training subject 5, the analysis unit 3 is placed at a place away from the body of the training subject 5, and the body information measurement unit 21 or teaching is performed via the wireless communication unit. You may make it communicate with the procedure execution means 42. FIG.

  FIG. 3 is a diagram showing an example of the rotation angle of the elbow joint of the training subject 5 detected by the body information measuring means 21. Here, the rotation angle when the elbow is fully extended is 0 °, the rotation angle in the state of FIG. 3A is 135 °, and the rotation angle in the state of FIG. 3B is 90 °. . Of course, the display of the rotation angle of the elbow joint shown here is merely an example. The format in which the rotation angle of the elbow joint is displayed is arbitrary.

[Basic operation]
Next, the basic operation of the physical training apparatus 1 will be described with reference to the flowchart shown in FIG. First, the body information measuring means 21 of the sensor unit 2 detects the rotation angle of each joint of the training subject 5 and transmits it to the analysis unit 3 (step S1).

  Next, the posture estimation unit 303 of the analysis unit 3 receives the rotation angle of each joint of the training subject 5 received from the sensor unit 2 and the body shape information of the training subject 5 stored in the body shape storage unit 302. From this, the posture (measurement posture) of the training subject 5 is estimated (step S2). A specific procedure for posture estimation will be described later.

  When the posture estimation unit 303 estimates the measurement posture of the training subject 5, the measured posture is compared with the model posture stored in the model posture storage unit 305, and the difference between them, that is, the posture difference is calculated (step S3). ).

  Next, the teaching procedure determination unit 309 selects an optimal teaching procedure from a plurality of teaching procedures stored in the teaching procedure storage unit 308 according to the size of the posture difference (step S5).

  When the teaching procedure is selected, the teaching unit 4 executes the teaching procedure (step S6).

[Posture estimation]
The posture estimation in step S2 described above is executed according to the procedure shown in FIG. That is, when the analysis unit 3 receives the rotation angle of the joint of the training subject 5, the posture estimation unit 303 identifies which joint of the training subject 5 the rotation angle that is input (step S <b> 201). ) And grasping the rotation angle of each joint as shown in FIG. For example, the identification of the joint is performed by assigning a unique identification code to each of the plurality of body information measuring means 21 and transmitting the identification code together with the rotation angle to the analysis unit 3. Is read. Of course, the joint may be specified using other means.

  If the rotation angle of each joint of the training subject 5 is grasped, the posture of the training subject 5 is estimated based on the body shape information of the training subject 5 stored in the body shape storage means 302 (step S202). . In the present embodiment, the position of each part of the body displayed in an orthogonal coordinate system is handled as the posture of the training subject 5 and the subsequent processing is performed. FIG. 7 shows an example of the posture of the training subject 5, and an orthogonal coordinate system with the waist position of the training subject 5 as the origin (the X axis is the left-right direction of the body, the Y axis is the vertical direction, and the Z axis is the front-back direction) The distance from the origin is displayed in centimeters, and the positions of the left and right arms and legs of the training subject 5 are displayed. The posture of the training subject 5 is estimated by applying an inverse kinematic algorithm, but other methods may be applied.

  When the posture of the training subject 5 is estimated, the result is written in the measured posture accumulation means 304 (step S203). At this time, as shown in FIG. 7, the elapsed time from the measurement start time is written in the measurement posture accumulation means 304 in seconds.

[Calculation of attitude difference]
The calculation of the attitude difference in step S3 is executed according to the procedure shown in FIG.

  First, the first body part is selected (step S301). When the first body part is selected, the latest value is read out from the coordinates and elapsed time of the measurement posture of the selected body part recorded in the measurement posture storage means 304 (step S302).

  Next, a model posture whose elapsed time coincides with the measurement posture read from the measurement posture storage unit 304 is read from the model posture storage unit 305 (step S303). The model posture accumulated in the model posture accumulation unit 305 is obtained by adding the elapsed time to the position of each part of the body displayed in the orthogonal coordinate system (see FIG. 9). That is, the model posture is recorded in the same format as the measurement posture (see FIG. 7) of the training subject 5 accumulated in the measurement posture accumulation means 304.

  Next, the coordinates of the model posture read from the model posture storage unit 305 and the coordinates of the measurement posture of the training subject 5 read from the measurement posture storage unit 304 are compared to calculate a posture difference (step S304). ).

  Next, it is checked whether or not posture differences have been calculated for all body parts (step S305). If posture differences have been calculated for all body parts (step S305; YES), the posture difference calculation process is terminated. .

  On the other hand, if there is a body part for which the posture difference is not calculated (step S305; NO), the next body part is selected (step S306), and the processing from step S302 to step S304 is repeated. The attitude difference is displayed in a format as shown in FIG.

[Select teaching procedure]
Selection of the teaching procedure in step S5 is executed according to the procedure shown in FIG.

  First, the first body part is selected (step S501). When the first body part is selected, the first teaching procedure is selected (step S502) and read out from the teaching procedure accumulating means 308 (step S503). Next, the selection criterion of the read teaching procedure is compared with the posture difference to determine whether or not the selection criterion is satisfied (step S504). Note that the selection criterion is the size of the posture difference that serves as a criterion for selecting the teaching procedure. In this embodiment, the selection criterion as shown in FIG. 12 is used. In FIG. 12, α indicates the magnitude of the posture difference. For example, when the posture difference is a value as shown in FIG. 10, the difference value of the right arm Y coordinate is 3, which satisfies the condition of 1 <α ≦ 3. Therefore, teaching by voice notification is selected.

  If the selection criteria are satisfied (step S504; YES), the teaching procedure is selected (step S505). If the selection criteria are not satisfied (step S504; NO), it is confirmed whether all teaching procedures have been confirmed (step S506). If there is an unconfirmed teaching procedure (step S506; NO), it is selected (step S507), and the process returns to step S503.

  When the posture difference is large, there is a risk that the training subject 5 loses balance and falls. In order to avoid such a danger, when the posture difference is large, the joint of the person to be trained 5 is moved using the actuator to select the direct teaching that forcibly takes the model posture. Conversely, if teaching is selected directly when the posture difference is small, the model posture acquisition by the training subject 5 is hindered. Therefore, in the present embodiment, as the posture difference becomes smaller, teaching by electrical stimulation, teaching by vibration stimulation, and teaching by voice are selected. Further, when the posture difference is sufficiently small, that is, when the training subject 5 is taking almost the same posture as the model posture, any teaching procedure is not selected. That is, no teaching procedure is executed.

  Further, the electrical stimulus has the greatest impact on the training subject 5, the magnitude of the impact caused by the vibration stimulus is the next, and the impact caused by the voice teaching is the smallest. Therefore, the training subject 5 knows the magnitude of the posture difference according to the magnitude of the impact, and corrects the posture so that the impact becomes small, so that the training effect is high.

  By repeating the above steps S1 to S6 only for the time recorded in the model posture accumulating means 305, the optimum teaching procedure is selected in real time and directly affects the body of the training subject 5 It is possible to execute teaching.

[Modification 1]
FIG. 13 is a configuration diagram illustrating a modified example of the body training apparatus 1. The body training apparatus 1 includes a teaching procedure execution determination unit 307 that determines whether or not a teaching procedure can be executed based on a time-series change in the measurement posture accumulated in the measurement posture accumulation unit 304. Different from the training device 1. Other configurations and operations are common.

  For example, if teaching is performed when the training subject 5 falls, not only the acquisition of the model posture is hindered, but there is a possibility of causing injury. Therefore, if the teaching procedure execution determination unit 307 is provided and the teaching is stopped when an abnormality such as a fall of the training subject 5 occurs, the safety is improved.

  FIG. 14 is a flowchart showing the basic operation of the physical training apparatus 1 shown in FIG. This flowchart differs from the flowchart shown in FIG. 4 in that it includes a teaching procedure execution determination process (step S4) by the teaching procedure execution determination means 307.

  When the training subject 5 falls, the measurement posture recorded in the measurement posture accumulation means 304 changes abnormally greatly in a short time. In such a case, the teaching procedure execution determining unit 307 determines that the teaching procedure cannot be executed, and stops the subsequent teaching procedure (step S4; NO).

  On the other hand, when it is determined that the teaching procedure can be executed (step S4; YES), the teaching procedure determination unit 309 sends the optimal teaching procedure to the teaching procedure storage unit 308 according to the size of the posture difference. A selection is made from among the accumulated teaching procedures (step S5). Other operations are the same as those shown in FIG.

[Modification 2]
FIG. 15 is a configuration diagram showing another modification of the body training device 1, and includes a second sensor unit 2 ′ that detects the rotation angle of the joint of the model performer 6. Similar to the sensor unit 2, the second sensor unit 2 ′ includes body information measurement means 21 and body information transmission means 22, measures the rotation angle of each joint of the model performer 6, and transmits it to the analysis unit 3. be able to. The analyzing unit 3 includes a second body information receiving unit 301 ′, a second body shape accumulating unit 302 ′, and a second posture estimating unit 303 ′, and is transmitted from the second sensor unit 2 ′. The posture of the model performer 6 is estimated based on the rotation angle of each joint of the model performer 6, and the result is written in the model posture accumulation means 305. Further, the body information measuring means 21 of the second sensor unit 2 ′ is attached to each part of the model performer 6's body, for example, as shown in FIG. As described above, if the body training apparatus 1 includes the second sensor unit 2 ′, the second body information receiving unit 301 ′, the second body shape accumulating unit 302 ′, and the second posture estimating unit 303 ′, The posture of the model performance performed by the model performer 6 can be earned and recorded in the model posture storage means 305.

  The performance of the model performer 6 and the training of the training subject 5 may be performed at the same time, or the training of the training subject 5 may be performed after the performance of the model performer 6 is completed. When there are a plurality of training subjects 5, sensor units 2, analysis units 3, and teaching units 4 are prepared for the number of training subjects 5, and the physical information of the model performer 6 is stored in each analysis unit 3. You can also send and train multiple people at the same time. Further, since the posture of the model performer 6 is recorded in the model posture storage unit 305, if the posture of the model performer 6 is acquired only once, the training of the training subject 5 can be repeatedly performed. Further, the posture of the model performer 6 recorded in the model posture storage means 305 can be copied and transplanted to another physical training apparatus 1.

It is a notional block diagram of the physical training apparatus which shows embodiment of this invention. It is a conceptual diagram which shows the state which mounted | wore the training subject with the physical training apparatus. It is a figure which shows the example of the rotation angle of a training subject's elbow joint. It is a flowchart which shows the basic operation | movement of a physical training apparatus. It is a flowchart which shows the procedure which estimates an attitude | position from body information. It is a figure which shows the example of the rotation angle of the joint used for estimation of an attitude | position. It is a figure which shows the example of the attitude | position of the estimated training subject. It is a flowchart which shows the procedure which calculates an attitude | position difference. It is a figure which shows the example of the model attitude | position recorded on the model attitude | position storage means. It is a figure which shows the example of an attitude | position difference. It is a flowchart which shows the procedure which selects a teaching procedure. It is a figure which shows the selection criteria of a teaching procedure. It is a block diagram which shows the modification of the physical training apparatus which shows embodiment of this invention. It is a flowchart which shows the basic operation | movement of the physical training apparatus which concerns on the said modification. It is a block diagram which shows another modification of the physical training apparatus which shows embodiment of this invention. It is a conceptual diagram which shows the state which mounted | wore the model performer with the body information measurement means.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Physical training apparatus 2 Sensor part 2 '2nd sensor part 3 Analysis part 4 Teaching part 5 Training subject 6 Model performer 21 Physical information measurement means 22 Physical information transmission means 301 Physical information reception means 301' 2nd physical information Receiving means 302 Body shape accumulating means 302 ′ Second body shape accumulating means 303 Posture estimating means 303 ′ Second posture estimating means 304 Measuring posture accumulating means 305 Exemplary posture accumulating means 306 Posture difference calculating means 307 Teaching procedure execution determining means 308 Teaching procedure storing means 309 Teaching procedure determining means 310 Teaching procedure transmitting means

Claims (10)

  1. In the physical training device that executes the teaching procedure according to the posture of the training subject and prompts the training subject to correct the posture,
    Physical information measuring means for measuring physical information of the training subject;
    Posture estimation means for estimating the posture of the training subject based on physical information measured by the physical information measurement means;
    Model posture storage means for storing the model posture;
    Posture difference calculation means for calculating a difference between the posture of the training subject estimated by the posture estimation means and the model posture read from the model posture storage means;
    Teaching procedure determining means for selecting and determining a teaching procedure according to the magnitude of the difference calculated by the posture difference calculating means from a plurality of different teaching procedures;
    A teaching means for executing the teaching procedure determined by the teaching procedure determining means and urging the training subject to correct a posture ;
    The teaching procedure executed by the teaching means is at least directly on the subject's body in real time.
    A body training device comprising a teaching procedure that operates .
  2. The teaching means includes
    Direct teaching means for moving the joint of the training subject and forcing the training subject to take the exemplary posture;
    The indirect teaching means for notifying the training target person of the magnitude of the difference calculated by the posture difference calculation means and urging the training target person to correct the posture. Physical training equipment.
  3. The direct teaching means is:
    The physical training device according to claim 2, wherein the physical training device is an actuator that is attached to a joint of the training subject and drives the joint.
  4. The indirect teaching means includes
    Electrical stimulation means for applying electrical stimulation to the training subject,
    Vibration stimulation means for applying vibration stimulation to a training subject,
    The physical training device according to claim 2, wherein the physical training device is any one of voice means for giving a voice instruction to a person to be trained.
  5. The physical exercise according to any one of claims 1 to 4, wherein the physical information measurement means is a joint angle measurement means that is attached to a joint of a training subject and measures an angle of the joint. apparatus.
  6. The teaching procedure execution determination means for determining whether or not the teaching procedure can be executed based on the posture of the person to be trained estimated by the posture estimation means. Physical training equipment.
  7. A second physical information measuring means that is mounted on the model performer's body and measures the model performer's physical information;
    A second posture estimating means for estimating the posture of the exemplary performer based on the physical information measured by the second physical information measuring means;
    The physical training device according to any one of claims 1 to 6, wherein the model posture storage unit stores the posture of the model performer measured by the second posture estimation unit.
  8. The body training apparatus according to claim 7, wherein the second body information measurement unit is a joint angle measurement unit that is attached to a joint of a model performer and measures the angle of the joint.
  9. Installed in a computer comprising physical information measuring means for measuring physical information of a training subject and teaching means for executing a teaching procedure according to the posture of the training subject and prompting the training subject to correct the posture ,
    The computer
    Posture estimation means for estimating the posture of the training subject based on physical information measured by the physical information measurement means;
    Model posture storage means for storing the model posture;
    Posture difference calculation means for calculating a difference between the posture of the training subject estimated by the posture estimation means and the model posture read from the model posture storage means;
    The teaching procedure according to the magnitude of the difference calculated by the posture difference calculating means is selected from a plurality of different teaching procedures and functions as a teaching procedure determining means for causing the teaching means to execute .
    The teaching procedure executed by the teaching means is at least directly on the subject's body in real time.
    A program characterized in that it includes a teaching procedure that operates .
  10. The computer further
    10. The program according to claim 9, wherein the program is caused to function as a teaching procedure execution determination unit that determines whether or not a teaching procedure can be executed based on the posture of the training subject estimated by the posture estimation unit.
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