JP6978860B2 - Gymnastics support method, gymnastics support system, and gymnastics support program - Google Patents

Description

The present invention relates to a gymnastics support method, a gymnastics support system, and a gymnastics support program that teaches a user how to do gymnastics with a robot. Regarding gymnastics support methods, gymnastics support systems, and gymnastics support programs.

With the background of the times, such as an increase in life expectancy, changes in eating habits, prevention of adult diseases, an increase in the unmarried rate, and an increase in the burden of social insurance premiums and pension benefits, we have made efforts for healthy longevity, especially for middle-aged and elderly people. Social demands for initiatives have been increasing year by year. On the other hand, because of economic conditions and soaring prices, people's desire to save money has also increased. Therefore, people have come to actively perform exercises that they can easily do (for example, gymnastics, running, walking, etc.). However, it has not been easy for these people to develop the habit of continuous exercise.

Therefore, the gymnastics plan information performed by the user can be provided from the mobile terminal to the robot, and the gymnastics result (gymnastics drive information) of the robot that has performed the gymnastics together with the robot can be fed back from the robot to the mobile terminal, and the mobile terminal is owned. An idea for encouraging the formation and continuation of a user's gymnastics habit is disclosed (see, for example, Patent Document 1). Further, the idea of changing the gymnastics plan information according to the user's situation (for example, facial expression, gymnastics method, meal information) is also disclosed.

Japanese Unexamined Patent Publication No. 2013-169611

However, in the idea of the prior art, there is a possibility that the user may not be able to perform gymnastics regularly and rationally. That is, regardless of the length of the gymnastics time or the complexity of the gymnastics content, if the user does the gymnastics without understanding the correct method, it may be rather burdensome and have an adverse effect on the body. In view of this point, even if the robot changes the gymnastics plan information according to the user's situation, it does not have the technology to convey the essentially regular and rational way of doing gymnastics.

In general, considering the health of the body, it is considered effective to perform gymnastics that incorporates multiple movements over a long period of time under correct guidance. On the other hand, not only the purpose of gymnastics (eg, anti-aging, refreshing, stiff shoulder elimination, leg and waist strengthening, etc.), but also the user's attributes (eg, gender, age, physical characteristics, etc.) and environment (eg, indoor temperature, lighting, etc.) ), The content of the gymnastics [for example, the pose in a single gymnastics (including the angle of the body part), the speed / number of movements, the combination of multiple gymnastics, etc.] should be adjusted as appropriate. However, in response to the increase in users (especially the increase in seniors), the number of gymnastics instructors is insufficient, so other means to provide users with essentially regular and rational gymnastics are needed. Become.

In that respect, with the progress of technology, humanoid and conversational robots have become common, so it is considered effective to make up for the shortage of gymnastics instructors with robots. On the other hand, as mentioned above, depending on the content of the gymnastics, the flexibility of the body and the movement of details are also incorporated, so the ability of the robot alone (for example, the operating area and driving time of the moving part) is a rule for the user. It is undeniable that we have not provided accurate and rational gymnastics.

Therefore, an object of the present invention is a gymnastics support method and gymnastics that support the user by producing regular and rational gymnastics contents by using other means to which the robot can be connected without depending on the ability of the robot alone. The purpose is to provide a support system and a gymnastics support program.

The present invention is a gymnastics support method using a robot having at least two or more means for outputting gymnastics information expressing the gymnastics content, in which the gymnastics content is selected and based on at least one of user information, environmental information, and robot information. It is characterized in that it is determined whether or not to change the gymnastics information expressing the gymnastics content, and when the gymnastics information is changed, the output means of the changed gymnastics information is activated.

Further, the robot constitutes at least a humanoid head and upper body, and the output means displays the head, the upper body, music or a voice-producing voice, moving images and / or still images. , It is desirable that there are at least two or more communication units instructing a computer or robot that can be connected to communication.

Further, the user information includes the physical condition acquired by the physical information acquisition means in contact with the body of the user during the gymnastics, and the robot information is the output of the output means acquired during the output of the gymnastics information. It is desirable to determine whether or not to change the gymnastics information based on the physical condition and / or the output condition immediately after acquisition, including the situation.

Further, the present invention is a gymnastics support system by a robot having at least two or more means for outputting gymnastics information expressing the gymnastics contents, and the selection means for selecting the gymnastics contents, the user information, the environmental information, and the above. A control means for determining whether or not to change the gymnastics information expressing the gymnastics content based on at least one of the robot information, and a control for activating the changed gymnastics information output means when the gymnastics information is changed. It is characterized by having at least means.

Further, the robot constitutes at least a humanoid head and upper body, and the output means displays the head, the upper body, music or a voice-producing voice, moving images and / or still images. , It is desirable that there are at least two or more communication units instructing a computer or robot that can be connected to communication.

Further, the user information includes the physical condition acquired by the physical information acquisition means in contact with the body of the user during the gymnastics, and the robot information is the output of the output means acquired during the output of the gymnastics information. It is desirable to determine whether or not the determination means, including the situation, changes the gymnastics information based on the physical condition and / or the output condition immediately after acquisition.

Further, the present invention is a gymnastics support program by a robot having at least two or more means for outputting gymnastics information expressing the gymnastics content, processing the selection of the gymnastics content, and at least among user information, environmental information, and robot information. It is characterized by processing the determination of whether or not to change the gymnastics information expressing the above-mentioned gymnastics content based on one, and processing the activation of the output means of the changed gymnastics information when the above-mentioned gymnastics information is changed. do.

Further, the robot constitutes at least a humanoid head and upper body, and the output means displays the head, the upper body, music or a voice-producing voice, moving images and / or still images. , It is desirable that there are at least two or more communication units instructing a computer or robot that can be connected to communication.

Further, the user information includes the physical condition acquired by the physical information acquisition means in contact with the body of the user during the gymnastics, and the robot information is the output of the output means acquired during the output of the gymnastics information. It is desirable that the determination means, including the situation, process the determination as to whether or not to change the gymnastics information based on the physical condition and / or the output condition immediately after acquisition.

The definition, meaning, or specific example of each requirement constituting the present invention is shown below.

The "gymnastics content" may correspond not only to the gymnastics menu or course expressed by the user or the robot, but also to information on hydration and breaks during the gymnastics.
The "gymnastics menu" corresponds to the types of gymnastics that can be selected by the user, such as the trunk menu (for example, forward leaning of the upper body, one-buttock riding, sesame rubbing, stretching of the waist, etc.) and lower limbs. The required time (about several minutes) may be set for each of the menus (for example, lifting the hip joint, stroking the floor of the hip joint, stepping on the thigh, etc.). The "gymnastics course" corresponds to a set of gymnastics (including a set of gymnastics originally created) that combines several types of gymnastics menus, such as anti-aging, refreshing the mind and body, eliminating stiff shoulders, and legs and waist. A predetermined time (several tens of minutes) may be set for each of the courses, including a set with the theme of strengthening. The "gymnastics content" may include basic knowledge about the gymnastics menu (for example, intention, mechanism of muscle movement, effect, etc.).

The "gymnastics information" may correspond to a program for causing the robot to express the above-mentioned gymnastics contents by motion or voice, or voice / video / still image data for explaining the "gymnastics contents".
As the moving image / still image for explaining the "gymnastic content", a photograph of the gymnastics performed by a specialized gymnastics instructor or a 3D modeled human or robot 2D or 3D animation may be applicable.

The "output means" corresponds to a device that outputs to the outside based on the gymnastics information so that the user can confirm the gymnastics content, for example, a part of the robot (for example, the head or the upper body) and a voice are output. (For example, DA converters and speakers), devices for outputting moving images / still images (for example, codecs and screens), other robots connected via a computer network, and various devices. good.

The "robot" is not limited as long as it is controlled by a computer (including a self-learning function-equipped type) and expresses the above-mentioned exercise contents. For example, a type having at least a head and an upper body, two legs. It may be a walking type or a conversation-only type, and may have a computer network communication function, a data storage function, and various sensor functions.

The "user information" corresponds to information about a user scheduled for gymnastics or during gymnastics, and is, for example, unique information for each user expressing gymnastics [for example, name, gender, age, blood type, height / weight, dominant arm, ADL (for example). Activities of Daily Living), the number of times of participation, etc.], the physical condition of the user during the exercise (eg, pulse, heart rate, body temperature, sweating amount, etc.), information on the group of users participating in the exercise (eg, number of people, etc.) Average age, presence detection, etc.) may be applicable.
In addition, in order to measure the physical information of the user during gymnastics, for example, a wearable terminal such as a wristband or a chair having a pressure sensor or the like attached to a portion where the user sits may be used as a physical information acquisition means.

"Environmental information" means information about the environment surrounding the robot and the user who are scheduled to do gymnastics or are doing gymnastics, for example, indoor / outdoor temperature / humidity, indoor air conditioning / lighting, available communication network environment / operation by robot. Information on possible areas, outdoor weather / seasons, and other areas may be applicable.
The "environmental information" may be a collection of information published on the Internet as appropriate. For example, timely data is acquired from a weather forecast site based on pre-registered regional information and used for gymnastics support. You may.

"Robot information" means information on the specifications of the robot scheduled for gymnastics or during gymnastics, for example, the actuator capacity of the moving part (for example, the temperature rise due to heating, the upper limit of overcurrent, etc., measured by the in-flight sensor), The number of joints, the range of movement (measured by a distance measuring sensor / human sensor), the presence / absence of the above output means, the battery capacity value and the remaining amount, the operable time, or the output status thereof may be applicable.
The "robot information" may include information related to voice (voice dictionary or prosody dictionary) in a database.

Of "user information", "environmental information", and "robot information", the condition related to information having a limit value such as the actuator capacity of the moving part of the robot and the battery capacity value is "static condition", and the value related to the user's ADL. Conditions related to information that changes depending on the situation during gymnastics, such as the number of participations, the communication network environment in the room, and the area in which the robot can operate, may be defined as "dynamic conditions". The "static condition" may be stored in the robot R in advance before the gymnastics.

According to the gymnastics support method of the present invention, the gymnastics content is selected, and it is determined whether or not to change the gymnastics information expressing the gymnastics content based on at least one of the user information, the environment information, and the robot information. When the gymnastics information is changed, the gymnastics content suitable for the user and / or the robot can be always provided by activating the changed gymnastics information output means. That is, by changing the gymnastics information and output means to avoid improper guidance of the robot and operation or sudden stop outside the permissible range, both are desired without overburdening the user's mind and body and the specifications of the robot. The state can be maintained. Therefore, even if the gymnastics content is difficult to teach, learn, or pose, the user can happily work on the gymnastics content by utilizing the robot and using the appropriate gymnastics information.

Further, the robot constitutes at least a humanoid head and upper body, and the output means is the head, the upper body, a voice unit that emits music or voice, a screen unit that displays a moving image and / or a still image, and communication. By having at least two communication units instructing a connectable computer or robot, even if the exercise content is difficult for the user to understand or express only by the robot specifications, two suitable output means can be used. It is possible to provide suitable gymnastics contents by combining two or more. In other words, by expressing the content of the gymnastics with the robot's head, upper body and voice, it is possible to create a situation where the instructor is actually doing gymnastics up close, and to connect videos, still images and communication on the screen. By expressing the content of the gymnastics with a computer or a robot, it is possible to produce a situation as the instructor actually explains up close. Therefore, depending on the two or more output means selected by the robot, it can be expected to provide better gymnastics content than the actual instructor.

Further, the user information includes the physical condition acquired by the physical information acquisition means in contact with the body of the user during the gymnastics, and the robot information is the output of the output means acquired during the output of the gymnastics information. By determining whether or not to change the gymnastics information based on the physical condition and / or the output status immediately after acquisition, including the situation, it is optimally determined whether or not the exercise content is suitable for the user and the robot. Guidance can be provided. That is, not only fatigue due to physical and mental burden that the user during gymnastics is not aware of, but also the fear that the robot during gymnastics suddenly stops due to overheating can be avoided, so that the desired gymnastics content can be easily digested. The user can get a sense of fulfillment both physically and mentally.

In general, in the conventional gymnastics support by robots, when the motion reproducibility is limited, the reproducibility cannot be complemented according to the appropriateness of the user, but according to the present invention, it depends on the user and the usage environment. Since appropriate guidance can be provided, it is expected that a specialized gymnastics instructor will not have to be stationed in the gymnastics, and that the gymnastics instructor will be able to concentrate on individual guidance for participants. Furthermore, in the past, gymnastics instructors have operated programs such as changing gymnastics items flexibly, taking breaks, and encouraging hydration based on situational judgment. It is expected that the program will be changed based on the grounds.

It is a schematic diagram which shows an example of the hardware structure of the robot in one Embodiment of this invention. It is a functional block diagram of the said robot. It is a flowchart which shows an example of the gymnastics support system in one Embodiment of this invention. It is a conceptual diagram which shows the support situation in the said gymnastics support system.

Hereinafter, the features of the gymnastics support system according to the present invention will be described with reference to FIGS. 1 to 4.

First, the basic hardware configuration and software configuration for operating the robot R will be described with reference to FIG.

The robot R shown in FIG. 1 may be a general device (for example, a humanoid) that autonomously performs a predetermined operation on behalf of (or together with a human) a human. The mechanism of the robot R is, for example, a CPU (Central Processing Unit) that performs arithmetic processing on the execution of various software [for example, OS (Operating System) and various applications] that control the operation of the robot, and is related to the operation of the robot. A ROM (Read Only Memory) for storing various programs and various data (for example, audio, video, still image), and a RAM (Random Access Memory) for loading various programs and various data are connected to each other via a bus. An input / output interface, a power supply device (for example, a battery, etc.), and a moving device (for example, a motor, etc.) may be connected to this bus. Input / output interfaces include input devices (eg, keyboard, mouse, touch panel, camera, voice recognition application or devices equipped with this application), output devices (eg, monitors, voice output speakers), storage devices (eg, hard disk drives). , Flash memory), communication equipment, various sensors (for example, image sensor, touch sensor, 3D sensor, RGB sensor, gyro sensor, sonar sensor, infrared sensor, laser sensor, bumper sensor, battery monitoring sensor, temperature / humidity sensor, acceleration A sensor) may be connected. A drive may be connected to the input / output interface, and removable media (for example, a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory) may be appropriately mounted to write or read predetermined information. .. These hardware may be mounted in a humanoid housing with at least a head and an upper body.

The robot R and other robots or computer terminals (for example, personal computers, smartphones, tablets) may be systematically configured via a predetermined communication network. The communication network may be, for example, the Internet, an intranet, an extra net, a LAN, a CATV communication network, a VPN, a telephone line, a mobile communication network, or a satellite communication network. The transmission medium constituting all or part of the communication network is wired (for example, IEEE1394, USB, power line carrier, telephone line) or wireless (for example, IrDA, Bluetooth®, IEEE802.11 wireless (wifi, etc.), etc. It can also be used in mobile phone networks, satellite lines, and terrestrial digital networks). Data and programs may be uploaded and downloaded between the computers via a communication device, and data and programs may be transferred via removable media.

The robot R may be started and operated by a predetermined application program. The robot R may be provided with a power button for turning on / off the power, a volume control button for adjusting the volume of voice, a selection button for selecting an operation, and the like, and these buttons are touch panels according to a predetermined application program. It may be displayed electrically on the top. The robot R may download and install a predetermined application program via a communication network. The robot R may be remotely controlled and controlled via a communication network at a computer terminal in which the same or related application program is installed. The robot R and the computer terminal may share various data with hardware (cloud server or the like) accessible via a communication network and may be synchronized by a predetermined application program.

Next, the relationship between each function of the robot R and the hardware will be described with reference to FIG.

As shown in FIG. 2, the robot R has a control unit 1 that controls input and output of various information (including transmission and reception via network communication) and activation and stop of various programs and various output units, and a control unit thereof. A storage unit 2 that stores various programs / various data according to the above, a selection unit 3 that selects contents / means based on various programs / various data stored in this storage unit, and various programs selected in this selection unit. -The output unit 4 that executes a predetermined operation based on various data, the meter side unit 5 that measures various information associated with this output unit, and the suitability of the predetermined operation based on the various information measured by this meter side unit. It may be provided with the determination unit 6 for determining.

The control unit 1 may be, for example, a CPU that performs arithmetic processing on a predetermined operation related to the robot R, or a program mounted on the CPU. The control unit 1 is a storage process control for storing / extracting various programs and various data to the storage unit 2, a selection process control for providing / determining various programs / various data to the selection unit 3, and an output unit 4. Functions related to output processing control that executes / stops operations for, measurement processing control that starts / ends measurement for the meter side unit 5, and judgment processing control that starts / ends judgment for the judgment unit 6. May be provided.

The storage unit 2 corresponds to, for example, a ROM or a storage device that stores various programs and various data necessary for the operation of the robot R, and may have a database function. The storage unit 2 may store the above-mentioned user information, environment information, robot information, gymnastics information, and information about the staff in charge of supporting the gymnastics content. The storage / extraction of various programs and various data from the storage unit 2 may be performed constantly or at any time according to the control unit 1.

The selection unit 3 may correspond to, for example, a screen-like input / output device such as a switch for starting / stopping the robot R or a touch panel capable of displaying / selecting options for starting / stopping various programs, and may correspond to the body of the robot. It may be externally attached to the device, or it may be connectable via network communication. The arrangement, type, and flow up to the determination of the options displayed in the selection unit 3 may be determined according to various programs, various applications, or various data.

The output unit 4 corresponds to a means by which the robot R actually expresses the gymnastics content, for example, a moving unit 41 (for example, a head 41a, an upper body portion 41b) which is a part of a part constituting the robot, and a gymnastics content. 42, the screen 43 that displays the gymnastics content as a moving image or a still image, and / or the voice / screen of another computer terminal. In order to do so, the communication unit 44 may be connected to these via network communication.

The moving part 41 is a part formed by the housing, cylinder, joint, etc. of the robot R and is operated by driving a motor and a battery. For example, in the head 41a, the neck is rotated, bent back and forth and left and right, and the upper body In the portion 41b, the rotation of the entire arm portion with the shoulder as the fulcrum, the forearm portion bent back and forth and left and right with the elbow portion as the fulcrum, the hand portion rotated with the wrist portion as the fulcrum, and the hand portion bent back and forth and left and right. You may perform operations such as opening and closing of the fingers, bending of the fingers, overhanging of the chest, rotation of the waist, and forward bending.

The voice unit 42 is a part that outputs gymnastics information as voice, for example, software that generates desired voice at any time based on voice data generated by a predetermined program, voice information recorded in a voice database, and prosody information. , A speaker or the like that emits this sound may be applicable.
The voice unit 42 may be equipped with a voice recognition function and hardware associated with this function, and may be capable of executing a conversation with a human.

The screen unit 43 is a portion that outputs gymnastics information in a moving image or a still image. For example, a monitor mounted on the robot R, an external monitor connected via a network line via a communication unit 44, a screen, and the like. The touch panel of a computer terminal including a liquid crystal display, a projector, a smartphone or a tablet may be applicable.
The screen unit 43 may also be used as the selection unit 3, and the information displayed on the screen may be controlled by the control unit 1.

The communication unit 44 is a part other than the robot R that executes communication to output gymnastics information, and may correspond to a transmission medium constituting all or a part of the above-mentioned communication network.
The communication unit 44 may have a function of receiving information transmitted from another robot or another computer terminal connected via the communication network.

The meter side portion 5 is a part that measures information about the operating robot R and the user, for example, the operating status of the operating unit 41 (for example, time, angle, number of times, etc.), and the driving status of the motor that operates the operating unit. Various sensors that collect numerical data regarding (for example, temperature, rotation speed, time, etc.), battery drive status (eg, remaining amount, time, etc.), or the physical condition of the user during the above-mentioned exercise, and collected by this sensor. A CPU or a built-in chip in which a program for calculating new numerical data based on numerical data is installed may be applicable.
The numerical data measured and calculated by the meter side unit 5 may be stored in the constant storage unit 2 by the control unit 1.

The determination unit 6 is for the robot R and / or the user before and after the operation or during the operation, the output unit 4 to which the robot outputs (or is scheduled to output) the gymnastics information, the gymnastics content output by the output unit, and the exercise content. / Or a part that determines the suitability of gymnastics information, for example, comparison of numerical data measured / calculated by the meter side 5 with a threshold set by a predetermined program, comparison of numerical data before and after measurement / calculation, and this comparison. A CPU or a built-in chip in which a program for generating information regarding approval / disapproval judgment based on the above is installed may be applicable.
The determination unit 6 recovers to the state before the possibility determination based on various information stored in the storage unit 2 in advance and numerical data measured and calculated by the meter side unit 5 and always stored in the storage unit. Conditions [for example, recovery sensing (polling) of various sensors, recovery by preset time measurement, etc.] may be derived by a program related to a predetermined machine learning technique. Further, the determination unit 6 is based on the various information and numerical data stored in the storage unit 5 described above, and as a feature extraction point for the machine learning technique described above, for example, predicts the possibility of recurrence of a factor for determining whether or not it is possible. The learning function may reflect the prediction of the occurrence of a new factor for determining whether or not it is possible, the followability of the user after the determination of whether or not it is possible, the degree of activity, and the like as priorities.

Next, an example of the flow of the gymnastics support system will be described with reference to FIGS. 3 and 4.
In addition, in these figures, there may be a part described by using the reference numeral used in FIG. 1 or FIG.

As shown in FIG. 3, first, in step S110, the user may start the robot R from the selection unit 3. After the robot R is activated, the selection unit 3 may display a screen for selecting the gymnastics content. The user may determine the desired gymnastics content from the selection unit 3. After determining the content of the gymnastics, the control unit 1 may perform processing related to the operation preparation of the output unit 4. The moving unit 41 of the output unit 4 may be energized with a power supply device or a moving device.
After selecting the gymnastics content, the user may select the staff in charge of supporting the selected gymnastics content. The robot R may communicate with the user and the staff in charge by voice via the voice unit 42. The content of communication with the robot R may change depending on the above-mentioned user information and environmental information, and may include the conversation of the selected staff in charge.

Next, in step S120, the robot R during gymnastics may measure, for example, the driving state of the battery that operates the operating unit 41 on the meter side unit 5. Based on the measurement result by the meter side unit 5, the determination unit 6 may determine whether or not the operating output unit 4 is suitable for the robot R. For example, the meter side unit 5 measures the remaining battery level, and the determination unit 6 is suitable for operating the operating unit 41 with respect to the remaining battery level (for example, since the remaining battery level continues within a predetermined time, the robot R If it is determined that there is no effect on the operation), this operating unit may continue to operate, and in parallel, the control unit 1 operates the screen unit 43 (for example, an external screen) to play a moving image. You may.
The meter side 5 may measure not only the battery drive status but also the so-called dynamic conditions among the above-mentioned user information, environment information, and robot information, and the determination unit 6 may measure the so-called dynamic condition of the meter side. The suitability of the operating output unit 4 may be determined based on the measurement result. The output unit 4 may be not only the screen unit 3, but also the operation of another robot R1 by the voice reproduction in the voice unit 42 or the network connection in the communication unit 44, the change of the indoor temperature / certification, or a combination thereof. ..

On the other hand, in step S130, after the elapse of a predetermined time, the meter side unit 5 measures the battery drive status again, and the determination unit 6 is not suitable for the operation of the operating unit 41 with respect to the remaining battery level (for example, as it is). If it is determined that the operation of the robot R is affected if the operation is continued), the control unit 1 may stop the operation of the operating unit, or may operate only the screen unit 3 to play a moving image.

Here, an example of a program for measuring the remaining battery level by the meter side unit 5 and the determination unit 6 and determining the appropriateness of the output is shown below.
def onInput_onStart (self, menuId):
nowbattery = self.battery.getBatteryCharge ()
if nowbattery <10:
self.motion.setStiffnesses ('Body', 0)
self.motion.setStiffnesses ('Head', 1)
else: else:
self.motion.setStiffnesses ('Body', 1)
#start next application
self.onRunProgram (menuId)
At this time, the meter side portion 5 may be measured by the above program every time a predetermined operation (for example, a program or application) is started. Among them, the judgment unit 6 compares the predetermined threshold value with the measurement result of the meter side unit 5 in the third line “if now battery <10” and the sixth line “else” to determine the appropriateness of the operation of the output unit 4. At the same time as making a determination, information regarding output in another output unit (for example, moving image playback on the screen unit 43) may be generated after the 8th line "#start next application".

Therefore, the following effects can be expected from the main body operation support system.

That is, it is a gymnastics support system by a robot R having at least two or more gymnastics information output units 4 (operating unit 41, voice unit 42, screen unit 43, communication unit 44) expressing the gymnastics content, and the gymnastics content is displayed. When the gymnastics information is changed, the selection unit 3 to be selected, the determination unit 6 for determining whether or not to change the gymnastics information expressing the gymnastics content based on at least one of the user information, the environment information, and the robot information. By including at least the control unit 1 that activates the output unit of the changed gymnastics information, it is possible to always provide the gymnastics content suitable for the user and / or the robot R. That is, by changing the gymnastics information and the output unit 4 to avoid improper guidance of the robot R, operation outside the permissible range, and sudden stop, both sides do not overload the user's mind and body and the specifications of the robot. The desired state can be maintained. Therefore, even if the gymnastics content is difficult to teach, learn, or pose, the user can happily work on the gymnastics content by utilizing the robot and using the appropriate gymnastics information.

Further, the robot R constitutes at least a humanoid head 41a and an upper body 41b, and the output unit 4 displays the head, the upper body, a sound unit 42 that emits music or voice, a moving image, and / or a still image. By having at least two or more of the screen unit 43 and the communication unit 44 instructing the computer or robot capable of communication connection, even if the exercise content is difficult for the user to understand or expressed only by the robot specifications, the exercise content is difficult to understand. It is possible to provide suitable gymnastics contents by combining two or more suitable output units. That is, by expressing the gymnastics content with the robot's head 41a, upper body 41b, and voice, it is possible to produce a situation in which the instructor is actually doing gymnastics up close, or to create a video, still image, or communication connection on the screen unit 43. By expressing the content of the gymnastics with a possible computer or robot R1, it is possible to produce the situation that the instructor is actually explaining up close. Therefore, depending on the two or more output units 4 selected by the robot R, it can be expected to provide gymnastics contents superior to those of the actual instructor.

Further, the output unit 4 in which the user information includes the physical condition acquired by the terminal wristband or the terminal chair in contact with the body of the user during gymnastics, and the robot information is acquired during the output of the gymnastics information. By determining whether or not to change the gymnastics information based on the physical condition and / or the output status immediately after acquisition, including the output status, it is optimal to appropriately determine whether or not the exercise content is suitable for the user and the robot R. Guidance can be provided. That is, not only fatigue due to physical and mental burden that the user during gymnastics is not aware of, but also the fear that the robot R during gymnastics suddenly stops due to overheating can be avoided, so that the desired gymnastics content can be easily digested. , The user can get a sense of fulfillment both physically and mentally.

The support status of the gymnastics support system will be described below with reference to FIG.
Here, the robot R determines whether or not to change the gymnastics information expressing the gymnastics content based on at least one of the user information, the environment information, and the robot information.

For example, if there is information that there is a wheelchair user as user information, it is determined whether or not to change the gymnastics information for that user, and as the changed gymnastics information, "Mr. XX is the upper body. Activate the audio output means such as "Please move only" or the output means such as "Exercise only for the upper body".

As the environmental information, it is judged whether or not to change the gymnastics information with respect to the environmental information by obtaining the weather information of the current position or the room temperature through the net or the like, and the gymnastics information after the change. As a result, a voice output means such as "Because the temperature is high, so let's rehydrate frequently" or a change output means of gymnastics information such as slowing down the gymnastics speed is activated.

Regarding robot information, for example, it is judged whether or not to change the gymnastics information based on the grasp of the actuator ability and the remaining battery level, and the gymnastics is performed together with the voice output means "Let's do the gymnastics while watching the video from here". Activates output means such as switching information to audio and video only.

Acquisition of user information, environment information, and robot information is not limited to one, but gymnastics guidance is provided by determining whether or not to change the gymnastics information that expresses the gymnastics content based on at least one. Even if there is no specialized staff to do the exercises, the auxiliary staff can accurately convey the gymnastics information to the user.

Furthermore, if the user information is grasped in more detail by the user's terminal wristband or terminal chair (including the case where the sensor is attached to the wheelchair), it is possible to judge whether or not to change the gymnastics information in more detail, and support. The frame of will be expanded.

The decision as to whether or not to change the gymnastics information may be made by the software (program) installed in the robot R, but the user information separately acquired by the robot R accessing the server through the net. The output means may be activated through the robot R or the like by making a judgment on the server side based on the environment information and the robot information.

1 Control part 2 Storage part 3 Selection part 4 Output part 41 Moving part 41a Head 41b Upper body part 42 Voice part 43 Screen part 44 Communication part 5 Total side part 6 Judgment part

Claims (9)

A method for supporting exercises by robot having a plurality of output means you represent gymnastics content based on gymnastics information,
When the desired gymnastics content is selected
The means of judgment is
For robots and / or users who perform gymnastics according to the selected gymnastics content
Whether or not the existing gymnastics information is suitable,
Whether or not it is necessary to change the exercise information to represent the selected gymnastics content, and
Whether or not each output means is suitable for the changed gymnastics information is determined based on at least one of user information, environment information, and robot information.
When the judgment means determines that the gymnastics information needs to be changed
The control means
A robot-based gymnastics support method characterized in that each output means is activated and / or stopped according to the suitability of each output means for the changed gymnastics information. The robot constitutes at least a humanoid head and upper body,
The output means
Movable head, movable upper body, music or voice part that emits voice ,
A screen portion for displaying moving and / or still images,
Communication unit that instructs a computer or other robot that can be connected to communication
Gymnastics support method according robot according to claim 1, wherein at least there are two Tsude of. The judgment means
User information including the physical condition acquired by the physical information acquisition means in contact with the target user's body,
Environmental information and
Robot information including the output status of the output means activated according to the gymnastics information
The gymnastics information necessary to express the selected gymnastics content, which is generated based on at least one of them,
With existing gymnastics information
Compare, gymnastics support method according robot according to claim 1 or 2, characterized in that to determine the necessity of changing the gymnastics information. A system for supporting the body steering by a robot having a plurality of output means you represent gymnastics content based on gymnastics information,
A storage means for storing user information, environment information, robot information,
A selection means for sensing and identifying the selected desired gymnastics content,
For robots and / or users who perform gymnastics according to the selected gymnastics content
Whether or not the existing gymnastics information is suitable,
Whether or not it is necessary to change the exercise information to represent the selected gymnastics content, and
Judgment means for determining whether or not each output means for the changed gymnastics information is suitable based on at least one of user information, environmental information, and robot information.
When the judgment means determines that the gymnastics information needs to be changed
Depending on the appropriateness of each output means for gymnastics information after the change, gymnastics support system by the robot, characterized in that Ru comprising a <br/> and control means for respectively triggering and / or the stop of the output means. The robot constitutes at least a humanoid head and upper body,
The output means
Movable head, movable upper body, music or voice part that emits voice ,
A screen that displays moving images and / or still images ,
Communication unit that instructs a computer or other robot that can be connected to communication
Gymnastics support system according robot according to claim 4, wherein at least there are two Tsude of. The judgment means
User information including the physical condition acquired by the physical information acquisition means in contact with the target user's body,
Environmental information and
Robot information including the output status of the output means activated according to the gymnastics information
The gymnastics information necessary to express the selected gymnastics content, which is generated based on at least one of them,
With existing gymnastics information
Compare, gymnastics support system according robot according to claim 4 or 5, characterized in that to determine the necessity of changing the gymnastics information. A program to assist the gymnastics by a robot having a plurality of output means you represent the gymnastics content based on the gymnastics information,
When the desired gymnastics content is selected
The means of judgment is
For robots and / or users who perform gymnastics according to the selected gymnastics content
Whether or not the existing gymnastics information is suitable,
Whether or not it is necessary to change the exercise information to represent the selected gymnastics content, and
Whether or not each output means is suitable for the changed gymnastics information is determined based on at least one of user information, environment information, and robot information.
When the judgment means determines that the gymnastics information needs to be changed
The control means
A robot-based gymnastics support program characterized in that each output means is activated and / or stopped according to the suitability of each output means for the changed gymnastics information. The robot constitutes at least a humanoid head and upper body,
The output means
Movable head, movable upper body, music or voice part that emits voice ,
A screen that displays moving images and / or still images ,
Communication unit that instructs a computer or other robot that can be connected to communication
The robotic exercise support program according to claim 7, wherein at least two of them are executed so as to be activated. The judgment means
User information including the physical condition acquired by the physical information acquisition means in contact with the target user's body,
Environmental information and
Robot information including the output status of the output means activated according to the gymnastics information
The gymnastics information necessary to express the selected gymnastics content, which is generated based on at least one of them,
With existing gymnastics information
The robotic gymnastics support program according to claim 7 or 8, wherein the programs are compared and executed so as to process the determination of the necessity of changing the gymnastics information.

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