JP6176602B2 - Skill training system - Google Patents

Description

  The present invention relates to a skill training system that enables training of generated force for a skill involving force.

Conventionally, various systems for training skills have been devised. Among skills, there are various skills such as motion information such as position and speed, motion pattern, and force information.
When training skills, there are target skills, that is, target values for position, speed, movement pattern, and force. One of the purposes of skill training is to match the position, speed, movement pattern, and force of the trainee with the target value.
As a method to achieve the purpose of this skill training, the skill of the trainer is measured and presented together with the target value, the method of presenting the difference from the target value, and assisting in the direction of eliminating the difference from the target value Possible methods.
For example, a system has been developed that superimposes and presents a computer graphic image of a teacher's hand as a model or a character as a model written by the teacher using a half mirror (see Non-Patent Document 1).
A virtual lesson system has been developed that uses a single haptic device to measure position and force information when a teacher writes model characters in calligraphy, and then presents it to students using a haptic device and video. (Refer nonpatent literature 2).
In addition, an exercise skill training apparatus has been invented that measures an exercise pattern of a trainee using a myoelectric potential, compares it with a target exercise pattern, and presents the difference using vibration or electrical stimulation (see Patent Document 1). .
A skill experience system has been invented that measures the teacher's movement and operation force, presents the movement to the student's hand, and presents the force to the tool held by the student (see Patent Document 2).

Satoshi Yoshida, Noriaki Nakamura, Shigeru Imanishi: Construction of educational application system for calligraphy acquisition using virtual reality, IEEJ Transactions C, 117-C, 11, pp. 1629-1634, 1997. Kazuyuki Iemi, Tsuneo Yoshikawa: The concept of virtual lesson and its application to the virtual calligraphy system, Transactions of the Virtual Reality Society of Japan, Vol. 13-19, 1998.

Japanese Patent No. 2562786 JP 2011-59219 A

  In the skill training described above, position information is directly visible, whereas force information is not directly visible. For this reason, target position values and position deviations can be presented directly using video, etc., whereas force information is measured and digitized using force sensors, etc., and indirectly using means such as video and audio. Must be presented.

  When you want to generate a target force, measure the trainer's generated force using a force sensor, present the measured value to a meter or monitor, and visually feedback to perform training to generate the target force. It can be carried out.

  When you want to generate the target force, measure the trainee's generated force using a force sensor, compare the measured value with the target force value, and the measured value matches the target value, or the deviation is constant By presenting visual information such as video and light, presenting auditory information such as sound and voice, and presenting tactile information such as vibration stimulation and electrical stimulation, Training to generate the target force can be performed.

  In addition, using a spring or the like for the force presentation unit, the target force is generated by clearly indicating the position where the reaction force generated when the spring is deformed is equivalent to the target force and visually feeding back the position. Training can be done.

  Although it is possible to carry out the training of the generated force by using the above means, even if a means for feeding back that the trainee's generated force coincides with the target value is provided, the conventional method does not perform the training. It was difficult to make the generated force of the person follow the target value.

  The present invention has been made in view of the above problems, and in a system for training skills to generate force, by providing an operation stop mechanism, a trainee can easily confirm that his / her generated force matches the target value. An object is to provide means for perceiving and easily following a target value.

The invention according to claim 1 includes an operation unit operable when operated by a trainer, and a force generation unit that applies force to the operation unit, and an operation stop mechanism that temporarily stops the operation of the operation unit. and an operation force training system comprising, by the operation stop mechanism, the operation of the operation unit that is caused to temporarily stop, inform that the training person is able to generate a generated force to the target, the operation A force sensor for measuring the generated force of the trainee and a position sensor for measuring the position of the operation unit, and the operation stop mechanism is a brake mechanism for temporarily stopping the operation of the operation unit. The skill training system is characterized by operating a brake mechanism based on a result of comparison between the generated force of the trainee and the target generated force .

  The invention according to claim 2 is a skill training system characterized in that in the operation stop mechanism, a mechanical stopper is used to temporarily stop the operation of the operation unit. The trainee can easily know that the target generated force can be generated by stopping the operation of the operation unit by contact with the stopper.

  The invention according to claim 3 is a skill training system characterized in that a mechanical latch mechanism is used to temporarily stop the operation of the operation unit in the operation stop mechanism. The trainee can easily know that the target generated force can be generated by temporarily stopping the operation of the operation unit by the latch mechanism.

  According to a fourth aspect of the present invention, the operation unit includes a force sensor that measures the trainee's generated force and a position sensor that measures the position of the operation unit, and the force generation unit includes an actuator capable of controlling output. A skill training system comprising: a computer for comparing the generated force of a trainee with a target generated force and a computer for controlling the output of an actuator.

  According to a fifth aspect of the present invention, in the operation stop mechanism, a brake mechanism is provided to temporarily stop the operation of the operation unit, and the brake mechanism is operated based on a result of comparison between the trainee's generated force and the target value. It is a skill training system characterized by this.

The invention according to claim 6 provides an operation stop function of the operation stop mechanism.
A skill training system characterized by being realized by software by controlling an actuator provided in a force generation unit.

The trainer performs work while applying force to the operation unit in order to train the generated force. At this time, the power you are generating cannot be seen directly with your eyes, and it is difficult to understand as a sense. In addition, by measuring the generated force of the trainer and visualizing it with a graph or numerical value, or showing the difference from the target value, you can know the relationship between the generated force and the target value. It is difficult to output force accurately.
On the other hand, in the above problem solving means, the operation of the operation unit of the skill training system is temporarily stopped by the operation stop mechanism, thereby informing the trainee that the target force can be generated. Humans can easily perceive a sense that the object being operated has come into contact with another object or the movement has been stopped suddenly. It is also easy to maintain the contact with the object by controlling the generated force.
From this, by using the above problem solving means, the trainer can easily maintain the state where the operation of the operation unit is stopped by the operation stop mechanism without directly being aware of his / her power. The target generated force can be generated.

It is a figure showing composition and operation of a skill training system concerning an embodiment of the present invention. It is a figure which shows a structure and operation | movement at the time of using the spring of the skill training system which concerns on embodiment of this invention. It is a figure which shows the other structure and operation | movement at the time of using the spring and stopper of the skill training system which concern on embodiment of this invention. It is a figure which shows a structure and operation | movement at the time of using the latch mechanism of the skill training system which concerns on embodiment of this invention. It is a figure which shows the other structure and operation | movement at the time of using the latch mechanism of the skill training system which concerns on embodiment of this invention. It is a figure showing composition and operation at the time of using an actuator and a stopper of a skill training system concerning an embodiment of the present invention. It is a figure which shows a structure and operation | movement at the time of using the actuator and latch mechanism of the skill training system which concern on embodiment of this invention. It is a figure which shows the other structure and operation | movement at the time of using the actuator and latch mechanism of the skill training system which concern on embodiment of this invention. It is a figure which shows a structure and operation | movement at the time of using the actuator and brake mechanism of the skill training system which concern on embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS.

  FIG. 1 shows an example of the configuration and operation of a skill training system according to an embodiment of the present invention. The trainer's hand 1 applies a force to the operation unit 2 and pushes it down during training. At this time, the force generation unit 3 presents a reaction force to the operation unit 2. In the embodiment of FIG. 1, the operation unit 2 can move in the vertical direction, but the system is equipped with an operation stop mechanism 4, and when the operation unit 2 comes into contact with the operation stop mechanism 4, the operation unit 2 is The operation of the operation unit 2 is restricted without being able to operate below that. The trainee can easily and intuitively perceive that the operation unit 2 has come into contact with the operation stop mechanism 4 from a hand sense such as a force sense or a tactile sense. The state where the operation unit 2 and the operation stop mechanism 4 are in contact with each other is shown on the right side of FIG. When the operation unit 2 is just in contact with the operation stop mechanism 4 and the force presented by the force generation unit 3 is set as a target force for training, the trainer keeps the operation unit 2 in contact with the operation stop mechanism 4. This makes it possible to train the target generation force.

  The embodiment of the skill training system shown in FIG. 1 is an example of a system that operates in one degree of freedom by linear motion in the vertical direction, and the skill training system of the present invention is in direct motion or one degree of freedom operation. It is not limited. A system for training the torque generated in the rotational direction can be similarly constructed by making the operation of the operation unit 2 a rotational motion. In addition, by combining multiple systems with one degree of freedom, we developed a force generation training system with 2 to 3 degrees of linear motion or 3 degrees of freedom for linear motion, or a 4 to 6 degree of freedom force / generated torque training system including rotational motion. it can.

  In FIG. 2, the structure and operation | movement at the time of using the spring of the skill training system which concerns on embodiment of this invention are shown. Compared with the case of FIG. 1, the force generation unit 3 is replaced by a spring 23. If the spring constant of the spring 23 is k [N / m] and the displacement from the natural length is x [m], a force of F = kx [N] is required to generate the displacement x. In FIG. 2, an operation stop mechanism 24 is installed at a place where the spring 23 is compressed by x [m]. When the trainee's hand 21 pushes down the operation unit 22 and comes into contact with the operation stop mechanism 24, it can be immediately perceived that the operation unit 22 and the operation stop mechanism 24 come into contact with each other. F [N]. The trainee can train to generate the force F [N] by keeping the operation unit 22 and the operation stop mechanism 24 in contact with each other. On the right side of FIG. 2, the trainer's hand 21 pushes the spring 23 via the operation unit 22, and the operation unit 22 is in contact with the motion presentation mechanism 24.

  FIG. 3 shows another configuration and operation when the spring of the skill training system according to the embodiment of the present invention is used. The trainer's hand 31 pushes down the operation unit 32, but the operation unit 32 is held by a linear guide 33. In this state, by operating until the operating portion 32 comes into contact with the stopper 35 while compressing the spring 34, training of the generated force can be performed as in the case of FIG. On the right side of FIG. 3, the trainer's hand 31 pushes the spring 34 through the operation unit 32 attached to the linear guide 34, and the operation unit 32 is in contact with the stopper 35.

  FIG. 4 shows a configuration and an operation when the latch mechanism of the skill training system according to the embodiment of the present invention is used. In the embodiment of FIG. 4, a latch guide 45, a contact 46, and a spring 47 are provided in addition to a trainee's hand 41, an operation unit 42, a linear guide 43, and a spring 44 that generates force. The trainee applies a force to push down the operation unit 42 supported by the linear guide 43. A recess is provided in the latch guide 45 at a position where the generated force of the trainee is exactly the target value as the spring 44 is compressed. In the latch mechanism, since the contact 46 is pressed against the latch guide 45 by the spring 47, when the contact 46 comes to the recessed position of the latch guide 45, the operation of the operation unit 42 is stopped. The right side of FIG. 4 shows a state where the contact 46 of the latch mechanism has come to the position of the recess of the latch guide 45 and the operation unit 42 is stopped. Since the trainee can easily perceive that the operation unit 42 has been stopped by the latch mechanism, the trainee can train the generated force. The latch mechanism releases the stop of the operation unit 42 when a force larger than the target value is applied. When the operation unit 42 starts operating again after the latch is released, the trainee's generated force deviates from the target value, so the trainer again searches for a position where the operation of the operation unit 42 stops at the latch. Manipulate. Thereby, training of generated force becomes possible.

  FIG. 5 shows another configuration and operation when the latch mechanism of the skill training system according to the embodiment of the present invention is used. The trainer's hand 51, the operation unit 52, the linear guide 53, the spring 54, the contact 56, and the spring 57 are the same as in the embodiment shown in FIG. 4, but the shape of the latch guide 55 is different. In the embodiment of FIG. 4, the latch guide 45 is provided with a recess at a position where the trainee's generated force is exactly the target value, whereas in the embodiment of FIG. 5, the trainer's generated force is exactly the target value. A protrusion is provided on the latch guide 55 at a position where the value is obtained. As shown on the right side of FIG. 5, when the contact 56 comes to the convex position of the latch guide 55, the operation of the operation unit 52 is stopped. Since the trainee can easily perceive that the operation unit 52 is stopped by the latch mechanism, the trainer can train the generated force.

  FIG. 6 shows the configuration and operation when the actuator and stopper of the skill training system according to the embodiment of the present invention are used. In the embodiment shown in FIG. 6, the operation unit 62 is equipped with a force sensor 61 to measure the force generated by the trainee's hand 61. The operation unit 62 is connected to a linear guide 64. Similarly, a motor 65 and an encoder 66 are attached to the linear guide 64, and the force to be presented to the trainee from the operation unit 62 is a mechanical element such as a spring. Can be generated by robot control. For example, if the virtual spring constant realized by robot control is k [N / m] and the generated force to be presented to the trainee from the operation unit 62 is F [N], the displacement of the operation unit 62 attached to the linear guide 64 By controlling the position with the target value of x = F / k [m], it is possible to generate the same force as when a spring having a spring constant k [N / m] is pushed.

  In the embodiment shown in FIG. 6, when the trainee's hand 61 pushes the operation unit 62 through the force sensor 63 and comes into contact with the stopper 67, the operation of the operation unit 62 is stopped. To generate a target force or train a target generation force. On the right side of FIG. 6, the trainer's hand 61 pushes the virtual spring through the operation unit 62 attached to the linear guide 64, and the operation unit 62 is in contact with the stopper 67.

  FIG. 7 shows the configuration and operation when the actuator and the latch mechanism of the skill training system according to the embodiment of the present invention are used. In the embodiment shown in FIG. 7, the operation unit 72 attached to the linear guide 72 is controlled using the motor 75 and the encoder 76 based on the force generated by the trainee's hand 71 measured by the force sensor 73. The The trainer's hand 71 generates a force to push in the virtual spring. However, as shown on the right side of FIG. 7, the contact 78 of the latch mechanism is pushed by the spring 79 and comes to the position of the recess of the latch guide 77. Sometimes, the operation of the operation unit 72 is stopped. Since the trainee can easily perceive that the operation unit 72 has been stopped by the latch mechanism, the trainee can train the generated force.

  FIG. 8 shows the configuration and operation when the actuator and the latch mechanism of the skill training system according to the embodiment of the present invention are used. The trainee's hand 81, operation unit 82, force sensor 83, linear guide 84, motor 85, encoder 86, contact 88, and spring 89 are the same as those in the embodiment shown in FIG. 7, but the shape of the latch guide 87 is different. . In the embodiment of FIG. 7, a recess is provided in the latch guide 77 at a position where the trainee's generated force is exactly the target value, whereas in the embodiment of FIG. 8, the trainer's generated force is exactly the target value. A protrusion is provided on the latch guide 87 at a position where the value is obtained. As shown on the right side of FIG. 8, when the contact 88 comes to the convex position of the latch guide 87, the operation of the operation unit 82 is stopped. Since the trainee can easily perceive that the operation unit 82 has been stopped by the latch mechanism, the trainee can train the generated force.

  FIG. 9 shows a configuration and an operation when the actuator and the brake mechanism of the skill training system according to the embodiment of the present invention are used. In the embodiment shown in FIG. 9, the operation unit 92 attached to the linear guide 94 is controlled using a motor 95 and an encoder 96 based on the force generated by the trainee's hand 91 measured by the force sensor 93. . The trainee's hand 91 generates a force to push the virtual spring. When the trainee's generated force does not reach the target force, the brake pad 98 of the brake equipped in the operation unit 92 is not in contact with the brake guide 97, but the trainer's generated force is the target. When the force is equal to the force to be applied, the brake pad 98 is operated so as to contact the brake guide 97 based on the trainee's generated force measured by the force sensor 93, as shown in the right side of FIG. Be stopped. Since the trainee can easily perceive that the operation unit 92 is stopped by the brake mechanism, the trainer can train the generated force.

  Needless to say, the present invention is not limited to the embodiment described above.

  The present invention relates to a skill training system that can easily perceive, using tactile sensation, that a force generated by a trainee matches a target value in skill training involving force. The present invention is expected to be useful for skill training in a wide range of fields from manufacturing, traditional performing arts, medical practice, musical instrument performance, and sports.

DESCRIPTION OF SYMBOLS 1 Trainer's hand 2 Operation part 3 Force generation part 4 Operation stop mechanism 21 Trainer's hand 22 Operation part 23 Spring 24 Operation stop mechanism 31 Trainer's hand 32 Operation part 33 Linear guide 34 Spring 35 Stopper 41 Trainer's hand 42 Operation Unit 43 Linear Guide 44 Spring 45 Latch Guide 46 Contact 47 Spring 51 Trainee's Hand 52 Operation Unit 53 Linear Guide 54 Spring 55 Latch Guide 56 Contact 57 Spring 61 Trainer's Hand 62 Operation Unit 63 Force Sensor 64 Linear Guide 65 Motor 66 Encoder 67 Stopper 71 Trainer's hand 72 Operation unit 73 Force sensor 74 Linear guide 75 Motor 76 Encoder 77 Latch guide 78 Contact 79 Spring 81 Trainer's hand 82 Operation unit 83 Force sensor 84 Linear guide 85 Motor 86 Encoder 87 Latch convex 88 Contact 89 Spring 91 Trainer Hand 92 operation unit 93 force sensor 94 linear guide 95 Motor 96 Encoder 97 brake guide 98 brake pads

Claims (4)

An operation unit operable by a trainer,
A force generation unit that exerts a force on the operation unit;
An operation force training system comprising an operation stop mechanism for temporarily stopping the operation of the operation unit,
By the operation stop mechanism,
By temporarily stopping the operation of the operation unit,
Let the trainer know that he is generating the target power,
A force sensor for measuring the generated force of the trainee in the operation unit;
A position sensor for measuring the position of the operation unit;
The operation stop mechanism includes a brake mechanism for temporarily stopping the operation of the operation unit,
A skill training system , wherein a brake mechanism is operated based on a result of comparison between the generated force of the trainee and the target generated force . In the operation stop mechanism,
In order to temporarily stop the operation of the operation unit,
The skill training system according to claim 1, wherein a mechanical stopper is used. In the operation stop mechanism,
In order to temporarily stop the operation of the operation unit,
The skill training system according to claim 1, wherein a mechanical latch mechanism is used. The force generation unit includes an actuator capable of controlling the output,
While comparing the generated force of the trainee and the target generated force,
A computer for controlling the output of the actuator is provided,
The skill training system according to any one of claims 1 to 3.