JP7297184B1 - MOTION CONTROL SYSTEM, MOTION CONTROL DEVICE, AND MOTION CONTROL METHOD - Google Patents

Abstract

A motion control system (100) includes a stimulation unit (2) that gives a stimulus to a user, a detection unit (1) that detects information obtained by sensing the user's motion in time series, and based on the detection results of the detection unit, An estimation unit (33) for estimating the timing at which the load is generated by the user's motion, the estimated timing which is the timing estimated by the estimation unit, and the target timing which is the timing predetermined as the timing for the stimulus to be applied by the stimulation unit. an offset generation unit (36) for generating an offset time to be added to the estimated timing according to the comparison result of the comparison unit; and an offset time generated by the offset generation unit for the estimated timing. and a stimulation control section (37) for driving the stimulation section with the timing added.

Description

The present disclosure relates to motion control systems, motion control devices, and motion control methods.

2. Description of the Related Art Conventionally, there has been known a technique for controlling a user's movement such as walking by giving a stimulus to the soles of the user's feet. For example, Patent Literature 1 discloses a tactile force sense presentation device (hereinafter also referred to as “conventional device”) that uses tactile sensation to control the state of a walking user (pedestrian).

For example, the conventional device includes sensors and actuators laid out in an array on the ground or the like on which pedestrians walk. The sensor detects the load generated when the pedestrian walks, and the actuator drives to vibrate the soles of the pedestrian's feet. When the pedestrian is made to slow down his/her walking speed, for example, when the sensor detects the weight of the pedestrian, the conventional device gives the illusion that the vibration overtakes the pedestrian from the toe side to the heel side of the foot. The actuator is driven to give Due to this vibration, pedestrians are under the illusion that their walking speed is fast, and they themselves slow down their walking speed.

On the other hand, when the pedestrian is made to walk faster, for example, when the load of the pedestrian is detected by the sensor, the above conventional device moves the pedestrian in the opposite direction, that is, from the heel side of the foot to the toe side. drive the actuator to give the illusion that the vibration overtakes. Due to this vibration, pedestrians are under the illusion that their walking speed is slow, and they themselves increase their walking speed. In other words, the above conventional device controls the walking speed of the pedestrian by changing the pattern of vibration given to the sole of the foot of the pedestrian after detecting the load of the pedestrian.

WO2017/006564

As described above, the conventional device vibrates the pedestrian's sole after detecting the pedestrian's load. There may be a delay before giving. Therefore, in order to avoid the occurrence of such a delay, for example, based on the pedestrian's walking motion, the sensor estimates the next timing to detect the pedestrian's load, and the timing to drive the actuator according to the estimation result. can be considered to determine

However, even if the conventional device can avoid the occurrence of the delay as described above, it only controls the walking speed of the pedestrian by changing the pattern of vibration given to the sole of the pedestrian's foot. In the case where a user's target motion (hereinafter also referred to as "target motion") is predetermined, motion control is not performed in consideration of the target motion. Therefore, when the target motion of the user is predetermined, it may take a long time to guide the user's motion to the target motion with the conventional device.

The present disclosure has been made to solve the above-described problems, and aims to provide a motion control system capable of shortening the time required to guide a user's motion to a target motion.

A motion control system according to the present disclosure includes a stimulus unit that provides a stimulus to a user, a load detection unit that time-sequentially detects a load generated by the user's motion, and based on the detection results of the load detection unit, the user's motion. a comparison unit that compares the estimated timing, which is the timing estimated by the estimation unit, with the target timing, which is the timing predetermined as the timing at which the stimulation unit provides stimulation; , an offset generation unit that generates an offset time to be added to the estimated timing according to the comparison result by the comparison unit; And prepare. There are n load detection units and n stimulation units (n is an integer equal to or greater than 2), and the n load detection units and stimulation units are in one-to-one correspondence. Based on the result, the timing at which the load is generated by the user's motion is estimated for each load detection unit, and the comparison unit compares the estimated timing for each load detection unit estimated by the estimation unit with the stimulation provided by each stimulation unit. The timing is compared with the target timing, which is the predetermined timing for each stimulation unit, and the offset generation unit generates an offset time to be added to the estimated timing for each load detection unit according to the comparison result of the comparison unit. , the stimulus control unit drives the stimulation unit corresponding to each load detection unit at a timing obtained by adding the offset time for each load detection unit generated by the offset generation unit to the estimated timing for each load detection unit.

According to the present disclosure, since it is configured as described above, it is possible to reduce the time required to guide the user's motion to the target motion, compared to the conventional art.

1 is a diagram showing a configuration example of a motion control system according to Embodiment 1; FIG. 2A is a diagram showing an example of an insole integrally provided with n stimulation units according to Embodiment 1, and FIG. 2B shows an example of wearing of the motion control system according to Embodiment 1. FIG. It is a diagram. 1 is a diagram showing a configuration example of a motion control device according to Embodiment 1; FIG. 4 is a flowchart showing an operation example of the motion control system according to Embodiment 1; FIG. 4 is a diagram showing a specific driving example of a stimulation unit by a stimulation control unit according to Embodiment 1; 6A is a diagram showing an example in which the stimulus control unit according to Embodiment 1 drives the stimulator sequentially along the direction from the heel side to the toe side, and FIG. 6B shows an example in which the driving duration of the stimulator overlaps. It is a figure which shows the example which a stimulus control part drives a stimulus part. FIG. 4 is a diagram for explaining a delay time from when a load detection section detects a load to when a stimulation section is actually driven in Embodiment 1; FIG. 5 is a diagram illustrating an example of gently changing the magnitude of stimulation (stimulation gain) given to the user by the stimulation unit according to Embodiment 1; FIG. 4 is a diagram showing an example in which the stimulus control section according to Embodiment 1 sequentially drives the stimulating section along the direction from the left leg side to the right leg side. 10A and 10B are diagrams showing hardware configuration examples of the motion control device according to Embodiment 1. FIG.

Hereinafter, embodiments will be described in detail with reference to the drawings.
Embodiment 1.
FIG. 1 is a diagram showing a configuration example of a motion control system 100 according to Embodiment 1. As shown in FIG. The exercise control system 100 controls the exercise of the user, who is the person to be controlled, by controlling the movement of the user. The motion control system 100 includes, for example, a detection unit (load detection unit) 1, a stimulation unit 2, and a motion control device 3, as shown in FIG.

The detection unit 1 detects information obtained by sensing a user's motion in time series. The detection unit 1 is configured by a load detection unit 1 as shown in FIG. 1, for example. In this case, the load detection unit 1 is provided in contact with the user's body, and as information obtained by sensing the user's motion, the load is generated on an object (for example, the ground on which the user walks) due to the user's motion. Detect loads in chronological order. In this case, the load detection unit 1 is composed of, for example, a piezoelectric element capable of converting the load generated on the object by the user's motion into an electric signal. The load detector 1 outputs data indicating the detected load to the motion control device 3 .

Here, what kind of motion the user performs is not particularly limited, and any motion of the user may be performed as long as it is a motion in which some kind of load is generated in time series (repeatedly) on the object. good. For example, the action performed by the user may be a walking action, a running action, a repeated jumping action, and the like. Also, the motion performed by the user may be, for example, a motion of repeatedly swinging a golf club or a baseball bat. In addition, in the above-mentioned motions, a load is normally generated on the ground on which the user walks, but the object on which the load is generated by the user's motion is not limited to the ground, and may be a wall, for example.

The stimulation unit 2 is provided in contact with the user's body, and provides stimulation (external stimulation) to the user's body. The stimulation given to the user's body by the stimulation unit 2 is, for example, vibration. If the stimulus is vibration, the stimulator 2 is composed of, for example, a piezoelectric element capable of converting an electrical signal, which is a vibration stimulus, into a displacement of the element.

The motion control device 3 acquires data output from the load detection unit 1 and controls driving of the stimulation unit 2 based on the acquired data.

Although one load detection unit 1 and one stimulation unit 2 are shown in FIG. 1, a plurality of load detection units 1 and stimulation units 2 may be provided. In the following description, in order to make the description easier to understand, it is assumed that n load detection units 1 and n stimulation units 2 (n is an integer of 2 or more) are provided. For example, the n load detection units 1 are composed of a load detection unit 11, a load detection unit 12, a load detection unit 13, . Stimulation section 22, stimulation section 23, . . . , stimulation section 2n.

In this case, the n load detection units 1 and the n stimulation units 2 are assumed to correspond one-to-one. For example, the load detection unit 11 corresponds to the stimulation unit 21, the load detection unit 12 corresponds to the stimulation unit 22, and the load detection unit 1n corresponds to the stimulation unit 2n. The corresponding load detection unit 1 and stimulus unit 2 may be composed of, for example, the same piezoelectric element.

Also, in this case, it is assumed that n stimulus units Yn are configured by a pair of corresponding load detector 1 and stimulator 2 . For example, a set of the load detection unit 11 and the stimulation unit 21 constitutes the first stimulation unit Y1, and a set of the load detection unit 12 and the stimulation unit 22 constitutes the second stimulation unit Y2. Assume that the set of the section 1n and the stimulation section 2n constitutes the n-th stimulation unit Yn.

Also, in the following description, it is assumed that the motion of the user is a walking motion for the sake of clarity. Also, in the following description, the n stimulation units Yn are assumed to be provided integrally with an insole Is placed on the inner sole of the user's shoe K, as shown in FIG. 2A, for example. However, this is only an example, and the n stimulation units Yn may be provided integrally with, for example, the inner sole of the user's shoe K or the sole portion of the user's sock (not shown). That is, the n stimulation units Yn (corresponding load detection units 1 and stimulation units 2) may be provided between the user's sole and the ground surface on which the user's sole is grounded. In this case, the load detection unit 1 detects in time series the load generated on the ground contacting surface of the user's foot due to the user's motion, and the stimulation unit 2 stimulates the user's sole.

Also, in this case, the motion control system 100 is worn by the user, for example, as shown in FIG. 2B. That is, an insole Is integrally provided with n stimulation units Yn is placed on the inner sole of the shoe K, and when the user wears this shoe K, n stimulation units Yn are generated on the sole of the user's foot. abut. At this time, for example, as shown in FIG. 2A, the first stimulation unit Y1 is brought into contact with the user's heel portion, and the second stimulation unit Y2 is applied to the user's portion other than the heel. ˜n-th stimulus unit Yn (fifth stimulus unit Y5 in FIG. 2A) is assumed to abut.

Also, the motion control device 3 is worn on the user's ankle, for example, as shown in FIG. 2B. However, the motion control device 3 does not necessarily have to come into contact with the user's body.

Next, a configuration example of the motion control device 3 according to Embodiment 1 will be described. FIG. 3 shows a configuration example of the motion control device 3 according to the first embodiment.

The motion control device 3 includes, for example, as shown in FIG. It includes a timing offset generator 36 and a stimulus controller 37 .

The load generation timing collection unit 31 is connected to each of the n load detection units 1 . The load occurrence timing collection unit 31 collects information indicating loads detected in time series by each of the n load detection units 1 (hereinafter also referred to as “load information”) from each of the load detection units 1 . .

In addition, the load generation timing collection unit 31 specifies the time when the load information is collected from each load detection unit 1, and uses the specified time as the timing at which the load is generated for each load detection unit 1 (hereinafter referred to as “load Also referred to as "occurrence timing").

The load generation timing collection unit 31 stores information in which the load information collected from each load detection unit 1 and the load generation timing are associated with each load detection unit 1 as a detection result of each load detection unit 1 in a load generation timing recording unit. 32. Further, the load occurrence timing collecting section 31 outputs the detection result of each load detecting section 1 to the load occurrence timing estimating section 33 .

The load generation timing recording unit 32 records the detection result of each load detection unit 1 , that is, the information in which the load information collected from each load detection unit 1 is associated with the load generation timing for each load detection unit 1 . The load generation timing recording unit 32 is configured by, for example, an HDD (Hard Disc Drive), an SSD (Solid State Drive), or the like.

The load generation timing estimator 33 acquires the detection result of each load detector 1 output from the load generation timing collector 31 . The load generation timing estimating unit 33 calculates the load detection unit 1 based on the acquired detection result of each load detection unit 1 or the detection result of each load detection unit 1 recorded in the load generation timing recording unit 32. , to estimate the timing at which the load is generated by the user's motion. Hereinafter, the timing estimated by the load occurrence timing estimation unit 33 is also referred to as "estimated timing".

For example, if the user's motion is a motion that repeats the same motion, such as walking, it is relatively easy to estimate the next load generation timing based on the load generation timings collected so far. be. In this case, if the load detection unit 11 in the first stimulation unit Y1 detects the load at intervals of one second, the load generation timing estimation unit 33 determines that the load is generated at a certain point in the load detection unit 11. It is estimated that the timing at which the next load is generated is 1 second after that.

Similarly, when the load detection unit 12 in the second stimulation unit Y2 detects the load at intervals of 1.2 seconds, the load generation timing estimation unit 33 determines that the load is generated at a certain time point in the load detection unit 12 of the second stimulation unit Y2. After that, it is estimated that the timing at which the next load is generated is 1.2 seconds later.

Similarly, when the load detection unit 1n in the n-th stimulation unit Yn detects the load at intervals of 0.7 seconds, the load generation timing estimation unit 33 determines that the load is generated at a certain point in the load detection unit 1n. After that, it is estimated that the timing at which the next load is generated is 0.7 seconds later.

As described above, the load generation timing estimator 33 not only estimates the timing at which the load is generated after the load is generated at a certain point in time, but also estimates the timing at which the load is generated at a certain point in time. A plurality of subsequent load generation timings may be estimated.

At this time, the load occurrence timing estimating section 33 estimates the estimated timing in a certain stimulation unit among the n sets of stimulation units Yn based on the detection result by the load detecting section constituting the stimulation unit other than the certain stimulation unit. You may

For example, the load occurrence timing estimating section 33 may estimate the timing at which the load occurs in the load detecting section 11 based on the detection result of a load detecting section other than the load detecting section 11 (for example, the load detecting section 12). . Similarly, the load generation timing estimating section 33 may estimate the timing at which the load is generated in the load detecting section 12 based on the detection result of a load detecting section other than the load detecting section 12 (for example, the load detecting section 1n). good. In this case, the load generation timing estimator 33 determines that the load is generated in the load detector 1 that contacts the sole of the user's left foot based on the detection result of the load detector 1 that contacts the sole of the user's right foot, for example. Timing can be estimated. Thereby, the load occurrence timing estimator 33 can more flexibly estimate the timing at which the load occurs.

The load occurrence timing estimating section 33 outputs the estimated timing estimated for each load detecting section 1 to the load occurrence timing comparing section 35 .

The load generation timing comparison unit 35 acquires the estimated timing for each load detection unit 1 output from the load generation timing estimation unit 33 . The load generation timing comparison unit 35 compares the acquired estimated timing for each load detection unit 1 with the target timing for each load detection unit 1 recorded in the ground contact timing target value recording unit 34 . Then, the load generation timing comparison section 35 outputs the comparison result to the timing offset generation section 36 together with the estimated timing for each load detection section 1 .

Here, the target timing is an ideal timing at which each part of the user's sole touches the ground. The target timing is generated, for example, by an administrator of the motion control system 100 or the like based on the load generation timing obtained from the user's target motion (target motion), and is recorded in the contact timing target value recording unit 34 in advance. be. Note that the target motion includes, for example, movement such as walking and running that are considered correct, and weight shift that is considered ideal in motions such as sports. In addition, in Embodiment 1, it can be said that the target timing is the timing determined as the timing at which the stimulus section 2 gives a stimulus to the user. This is because, in Embodiment 1, for example, when the user receives a stimulus on the sole of the foot, the user is expected to want to shift the weight so that the weight is applied to the site where the stimulus is received.

The contact timing target value recording section 34 records the target timing for each load detection section 1 . The contact timing target value recording unit 34 is configured by, for example, an HDD (Hard Disc Drive), an SSD (Solid State Drive), or the like.

The comparison result by the load generation timing comparison unit 35 is, for example, (1) the estimated timing is earlier than the target timing, (2) the estimated timing is the same as the target timing, or (3) the estimated timing is later than the target timing. or

The timing offset generation unit 36 acquires the comparison result output from the load generation timing comparison unit 35 and the estimated timing for each load detection unit 1 . In addition, the timing offset generation unit 36 refers to the obtained comparison result for each load detection unit 1, and generates an offset time (adjustment time) to be added to the estimated timing according to the comparison result.

Specifically, when the acquired comparison result is (1) or (3), that is, when the estimated timing is earlier than the target timing or when the estimated timing is later than the target timing , an offset time for bringing the estimated timing closer to the target timing is generated for each load detection unit 1 .

For example, when the obtained comparison result is (1), that is, when the estimated timing is earlier than the target timing, the timing offset generator 36 generates an offset time (for example, +0.05 seconds) for delaying the estimated timing. do. Further, when the obtained comparison result is (3), that is, when the estimated timing is later than the target timing, the timing offset generation unit 36 sets the offset time (for example, -0.05 seconds) for advancing the estimated timing. to generate

Also, the timing offset generator 36 sets the offset time to 0 when the acquired comparison result is the above (2), that is, when the estimated timing and the target timing are the same.

Then, the timing offset generator 36 outputs the generated offset time for each load detector 1 to the stimulus controller 37 together with the estimated timing for each load detector 1 .

The stimulus control unit 37 acquires the offset time for each load detection unit 1 and the estimated timing for each load detection unit 1 output from the timing offset generation unit 36 . Then, the stimulation control section 37 adds the acquired offset time for each load detection section 1 to the estimated timing corresponding to the offset time, and calculates the resulting timing (hereinafter also referred to as "stimulation timing"). , the stimulation unit 2 corresponding to the load detection unit 1 is driven.

Note that the timing offset generator 36 does not necessarily need to generate an offset time for matching the estimated timing with the target timing. For example, if there is a large gap between the estimated timing and the target timing, even if the offset time is generated, it may be difficult to guide the user's motion so that the estimated timing matches the target timing. This is because the

In that case, the timing offset generator 36 initially generates an offset time that cannot match the estimated timing with the target timing. If the stimulation with the given stimulation timing is repeated the next time, the estimated timing gradually approaches the target timing, and it can be expected that the estimated timing and the target timing will finally match.

In the above description, an example in which the load generation timing recording unit 32 and the contact timing target value recording unit 34 are provided in the motion control device 3 has been described. Not limited to this, it may be provided outside the motion control device 3 .

Next, an operation example of the motion control system 100 according to Embodiment 1 will be described with reference to the flowchart shown in FIG. The motion control system 100 repeatedly executes the processing according to the flowchart shown in FIG.

In the following description, in order to make the description easier to understand, a case where the motion control system 100 is worn on the user's left leg will be described as an example. Also, in the following description, in order to make the description easier to understand, an example will be described in which the motion control system 100 controls the walking motion of the user so as to increase the walking speed of the user.

Also, in the following description, the stimulus control section 37 is assumed to change the way of driving the stimulation section 2 depending on the heel region of the user's foot and the region other than the heel.

Specifically, the stimulation control section 37 controls the stimulation section 21 that constitutes the first stimulation unit Y1 provided at the heel of the user's foot. The detection of the load by the unit 11 is used as a trigger to drive. On the other hand, the stimulation control section 37 controls the stimulation units constituting the stimulation units (the second stimulation unit Y2 to the n-th stimulation unit Yn) provided at the user's site other than the heel. is driven at a timing (that is, stimulus timing) in which the offset time generated for each load detection unit constituting the is added to the estimated timing.

First, each load detection section 1 constituting the n stimulation units Yn time-sequentially detects the load generated by the user's walking (step ST001).

Next, the load generation timing collection unit 31 collects information (load information) indicating the loads detected in time series in step ST001 from each load detection unit 1 (step ST002). The load generation timing collection unit 31 stores the information obtained by associating the load information collected from each load detection unit 1 with the load generation timing for each load detection unit 1 as the detection result of each load detection unit 1 to the load generation timing estimation unit. 33.

Next, the load generation timing collection unit 31 records the detection result of each load detection unit 1 in the load generation timing recording unit 32 (step ST003). Note that this step ST003 is not an essential process and may be omitted.

Next, the load generation timing estimation unit 33 detects the detection result of each load detection unit 1 acquired from the load generation timing collection unit 31 or the detection result of each load detection unit 1 recorded in the load generation timing recording unit 32. Based on this, the next load generation timing is estimated for each load detection unit 1 in parts other than the heel (step ST004).

Next, the load generation timing comparison unit 35 determines whether or not a load is generated on the heel (step ST005). In this case, the load generation timing comparison unit 35 determines whether or not the load is detected by the load detection unit 11 constituting the first stimulation unit Y1 provided at the heel of the user's foot, for example. can be determined.

As a result, if it is determined that no load is applied to the heel region (step ST005; NO), motion control system 100 terminates the process. On the other hand, when it is determined that a load is applied to the heel region (step ST005; YES), the stimulation control unit 37 controls the stimulation unit 2 corresponding to the heel region, i. The unit 21 is driven (step ST006).

Next, the load occurrence timing comparing section 35 starts timing by the timer (step ST007).

Next, the load generation timing comparing section 35 confirms whether or not the timer is within a preset predetermined time (step ST008). Although the details will be described later, the timer and the predetermined time are used to control the repetition of the process for sequentially driving the stimulation units 2 corresponding to parts other than the heel. The predetermined time may be recorded in advance in the contact timing target value recording unit 34, for example.

As a result, if the timer is within the predetermined time, the motion control system 100 repeats steps ST009 to ST015 until the timer exceeds the predetermined time.

In step ST009, the load generation timing comparison unit 35 first compares the estimated timing estimated in step ST004 with the contact timing target value recorded in advance for the part other than the heel where the second stimulation unit Y2 is provided. It compares with the target timing recorded in the section 34 (step ST009). The load occurrence timing comparison section 35 outputs the comparison result to the timing offset generation section 36 together with the estimated timing.

Next, the timing offset generator 36 determines whether or not the difference between the estimated timing and the target timing is 0 based on the comparison result obtained from the load generation timing comparator 35 (step ST010). As a result, if the difference between the estimated timing and the target timing is 0 (step ST010; YES), the timing offset generating section 36 generates an offset time of 0, and uses the generated offset time as a stimulus together with the estimated timing. It outputs to the control section 37 (step ST011).

On the other hand, if the difference between the estimated timing and the target timing is not 0 (step ST010; NO), the timing offset generator 36 determines that the difference between the estimated timing and the target timing is within a threshold value (for example, 0.1 seconds). It is determined whether or not there is (step ST012).

As a result, if the difference between the estimated timing and the target timing is within the threshold value (step ST012; YES), the timing offset generation unit 36 generates the difference value as the offset time, and generates the generated offset time. , is output to the stimulus control section 37 together with the estimated timing (step ST013).

On the other hand, if the difference between the estimated timing and the target timing is not within (or less than) the threshold (step ST012; NO), the timing offset generator 36 generates the threshold as the offset time, and It is output to the stimulus control section 37 together with the estimated timing (step ST014). In this way, the timing offset generation unit 36 generates the threshold value as the offset time, thereby avoiding the problem that the offset time significantly increases when there is a large difference between the estimated timing and the target timing.

Next, the stimulation control unit 37 adds the offset output from the timing offset generation unit 36 to the estimated timing, and at the resulting timing (stimulation timing), the corresponding stimulation unit 2, that is, a site other than the heel The stimulation section 22 constituting the second stimulation unit Y2 is driven (step ST015).

Next, in step ST016, the load generation timing comparison section 35 confirms whether or not the timer is within a predetermined time (step ST016). Then, if the timer is within the predetermined time, the process returns to step ST009, and the load generation timing comparison section 35 now determines the load detection section 13 constituting the third stimulation unit Y3 among the regions other than the heels. , the estimated timing estimated in step ST004 and the target timing recorded in the contact timing target value recording unit 34 are compared (step ST009). Then, in the same way, the stimulation control section 37 drives the stimulation section 23 corresponding to the part provided with the third stimulation unit Y3 among the parts other than the heel.

After that, in step ST016, the load generation timing comparison section 35 confirms whether or not the timer is within the predetermined time. Next, the unit 35 performs the same processing as described above for the load detection unit 14 and the stimulation unit 24 that constitute the fourth stimulation unit Y4 among the regions other than the heel.

On the other hand, if the timer exceeds the predetermined time, the motion control system 100 exits the repeating process. After exiting the repetition process, the process returns to step ST001 to detect the next load.

Here, a specific driving example of the stimulation section 2 by the stimulation control section 37 will be described with reference to FIG. FIG. 5 shows an example of driving the stimulating sections 22 and 23 corresponding to the sites other than the heel where the second stimulating unit Y2 and the third stimulating unit Y3 are provided. In FIG. 5, the horizontal axis indicates time.

As shown in FIG. 5, the load detection unit 12 that constitutes the second stimulation unit Y2 and the load detection unit 13 that constitutes the third stimulation unit Y3 are detected at load generation timings indicated by symbols Td1 and Td2, for example. A load is detected (corresponding to step ST001 in FIG. 4). It should be noted that the timings at which the load is detected at symbols Td1 and Td2 correspond to the points where the waveform rises.

At the time Ts, the load generation timing estimating section 33 estimates the next load generation timing for each load detecting section (corresponding to step ST004 in FIG. 4). For example, the load generation timing estimator 33 estimates the next load generation timings (estimated timings) of the load detection units 12 and 13 as Te1 and Te2, respectively, based on the load generation timings before the time Ts.

The load generation timing comparison unit 35 compares the estimated timings Te1 and Te2 with the target timings Tg1 and Tg2 in the load detection units 12 and 13, which are recorded in advance in the contact timing target value recording unit 34 (see FIG. 4). (corresponding to step ST009). Here, it is assumed that there is a difference equal to or less than a threshold value (for example, 0.1 seconds) between the estimated timing Te1 and the target timing Tg1 and between the estimated timing Te2 and the target timing Tg2.

The timing offset generator 36 generates the difference between the estimated timing Te1 and the target timing Tg1 as the offset time in the load detector 12, and the difference between the estimated timing Te2 and the target timing Tg2 as the offset time in the load detector 13. (corresponding to step ST013 in FIG. 4).

The stimulus control unit 37 adds each offset time generated by the timing offset generation unit 36 to the estimated timings Te1 and Te2, respectively, and the load detection unit 12, 13 are driven (corresponding to step ST015 in FIG. 4).

In this manner, the stimulation control section 37 sequentially drives the stimulation sections 2 corresponding to regions other than the heel when the timer is within the predetermined time. At this time, the stimulation control section 37 may sequentially drive the stimulation section 2 along the direction from the heel side to the toe side, as shown in FIG. 6A, for example.

For example, in the example of FIG. 6A, at time T1, the load is detected by the load detection unit 11 of the first stimulation unit Y1 located at the heel region, and at time T2, detection of the load by the load detection unit 11 is triggered. , the stimulation section 22 of the second stimulation unit Y2 is driven at time T3, and the stimulation section 23 of the third stimulation unit Y3 and the fourth stimulation section Y3 are driven at time T4. The stimulation section 24 of the stimulation unit Y4 is driven, and at time T5, the stimulation section 25 of the fifth stimulation unit Y5 is driven. Thereby, the stimulus control section 37 can give the user a feeling that the stimulus overtakes the user from the heel side to the toe side, and as a result, the user can be conscious of increasing the walking speed.

The stimulation control section 37 may simultaneously drive the plurality of stimulation sections 2 at the same time (timing) such that the stimulation sections 23 and 24 are driven at time T4.

Further, in this case, the stimulus control unit 37, for example, as shown in FIG. 6B, sets the driving duration indicating the time during which the n stimulation units 2 (five in FIG. 6B) are stimulating the user to n Each stimulation unit 2 may be driven so as to overlap in two or more of the stimulation units 2 .

For example, in the example of FIG. 6B, at time T1, the load is detected by the load detection section 11 of the first stimulation unit Y1 located at the heel, and at time T2, the stimulation control section 37 detects the first stimulation unit Y1. , the stimulation control unit 37 continues driving the stimulation unit 21 until time T3. Then, the stimulation control section 37 drives the stimulation section 22 of the second stimulation unit Y2 at time T3, and continues driving the stimulation section 22 until time T5. At time T5, the stimulation control section 37 drives the stimulation section 23 of the third stimulation unit Y3 and the stimulation section 24 of the fourth stimulation unit Y4, and continues driving the stimulation sections 23 and 24 until time T7. Let Thereby, the stimulus control section 37 can make the user perceive the feeling that the stimulus smoothly transitions from the heel side to the toe side. Further, in this case, for example, at time T3, the heel region and the area below the toes are stimulated, and the user is told that the region is being stimulated at an intermediate position compared to the case where each region is stimulated independently. The illusion can improve the resolution of the stimulation site.

As described above, the motion control system 100 according to Embodiment 1 estimates the timing at which the load is generated by the user's motion based on the detection result of the load detection unit 1, and the estimated timing is The estimated timing is compared with the target timing, which is the timing predetermined as the timing at which the stimulation unit 2 provides stimulation, and according to the comparison result, an offset time to be added to the estimated timing is generated, and the generated offset is generated. The stimulation part 2 is driven at the timing that takes into account the estimated timing. In this way, the motion control system 100 performs motion control in consideration of the user's target motion, thereby making it possible to shorten the time required to guide the user's motion to the target motion, compared to the conventional art.

In the above description, an example in which the load generation timing comparison unit 35 determines whether or not the timer is within the predetermined time has been described. A functional unit other than the generation timing comparison unit 35 may perform the processing.

Further, in the above description, the stimulus control unit 37 drives the stimulation unit 21 corresponding to the site of the heel with the detection of the load by the load detection unit 11 as a trigger, and stimulates the site other than the heel. As for the part, an example of driving with the stimulus timing obtained by adding the offset time to the estimated timing has been described. However, the stimulus control unit 37 is not limited to this. For example, the stimulus unit 21 corresponding to the heel region is not triggered by the load detection unit 11 detecting a load. You may drive by the stimulation timing obtained by taking into consideration. In other words, the stimulation control section 37 may drive the stimulation sections 2 corresponding to all parts of the user's sole at the stimulation timing obtained by adding the offset time to the estimated timing.

However, as described above, the stimulus control unit 37 drives the stimulation unit 21 corresponding to the heel site with the detection of the load by the load detection unit 11 as a trigger. While making the user clearly aware of what has happened (the heel touches the ground), it is possible to make the user conscious of quickly shifting the center of gravity from the heel to the toe, and as a result, the user's motion to the target motion. It is possible to reduce the time required to lead compared to the conventional method.

Also, in the above description, an example in which the timing offset generation unit 36 generates the offset time for bringing the estimated timing closer to the target timing has been described. However, if the delay time from when the load detection unit 1 detects the load to when the stimulus unit 2 is actually driven is known in advance, the timing offset generation unit 36 can detect the delay time An offset time may be generated that cancels out the Then, the stimulation control section 37 may drive the stimulation section 2 at a timing obtained by adding this offset time to the timing at which the stimulation section 2 starts driving.

In addition, as shown in FIG. 8, for example, the stimulation control unit 37 controls the magnitude of the stimulation given to the user by the stimulation unit 2 at least one of when the stimulation unit 2 starts to be driven and when the stimulation unit 2 stops driving. (stimulation gain) may be changed smoothly. For example, in the example of FIG. 8, the stimulation control unit 37 gently increases the magnitude of the stimulation given to the user by each of the stimulation units 21 to 23 when the stimulation units 21 to 23 start to be driven. When the driving of 23 is stopped, the magnitude of the stimulation given to the user by each stimulation unit is gently reduced. Thereby, the stimulation control section 37 can allow the user to perceive the switching of stimulation sites smoothly.

In the above description, the stimulus control unit 37 sequentially drives the stimulus unit 2 along the direction from the heel side to the toe side according to the stimulation timing obtained by adding the offset time to the estimated timing. bottom. However, the order in which the stimulation control section 37 drives the stimulation section 2 is not limited to this. For example, the stimulation control section 37 may sequentially drive the stimulation section 2 along the direction from the toe side to the heel side according to the stimulation timing, or, as shown in FIG. You may drive the stimulation part 2 sequentially along the direction which goes to. In particular, the example of FIG. 9 is effective in controlling the left-right balance of the user or the movement involving turning.

Further, in the above description, the detection unit 1 for detecting information obtained by sensing the user's motion in a time-series manner is composed of the load detection unit 1 for detecting the load generated by the user's motion in a time-series manner. explained in the example. However, the detection unit 1 is not limited to this, and may be configured by, for example, an imaging device that captures an image of a user's action. In this case, the imaging device captures an image of the user's walking motion, for example. Then, the load generation timing comparison unit 35 may estimate the timing at which the load is generated by the user's motion based on the image information captured by the imaging device.

Further, the detection unit 1 may be composed of a sensor that detects motions of a specific part (for example, an arm) of the user's body in time series, for example. In this case, the sensor detects, for example, the movement of the arm associated with the user's motion. Then, the load generation timing comparison unit 35 may estimate the timing at which the load is generated by the user's motion based on the detection result of the sensor.

Further, the detection unit 1 may be configured by a sound detection device that detects time-series information on sounds generated by user's actions, for example. In this case, the sound detection device detects, for example, the sound of footsteps accompanying the user's walking motion or the sound of rubbing clothes. Then, the load generation timing comparison unit 35 may estimate the timing at which the load is generated by the user's motion based on the detection result of the sound detection device.

In the above description, an example in which the load detection unit 1 is composed of a piezoelectric element has been described, but the load detection unit 1 is not limited to this. It may be composed of an acceleration sensor for detection, an angle sensor for detecting the angle formed by the foot or shoe with the ground, a distance sensor for measuring the distance between the foot or shoe and the ground surface, and the like.

In the above description, the load generation timing estimation unit 33 estimates the timing at which the load is generated based on the detection result of the load detection unit 1. However, the load generation timing estimation unit 33 is limited to this. Instead, for example, the timing at which the load is generated may be estimated based on the point in time when the stimulation control section 37 drives the stimulation section 2 .

Further, in the above description, the n stimulation units Yn (corresponding load detection units 1 and stimulation units 2) are provided between the user's sole and the ground surface on which the user's sole is grounded. explained. However, the n stimulation units Yn do not necessarily have to be provided between the user's sole and the ground surface on which the user's sole is grounded.

In the above description, n load detection units 1 and n stimulation units 2 (n is an integer equal to or greater than 2) are provided, and n load detection units 1 and n stimulation units 2 are each provided with An example of one-to-one correspondence has been described. However, one load detection unit 1 and one stimulation unit 2 may be provided. Moreover, the load detection unit 1 and the stimulus unit 2 do not necessarily correspond to each other, and do not need to be composed of the same member (for example, a piezoelectric element). Moreover, the load detection unit 1 and the stimulation unit 2 do not necessarily have to be provided at the same location, and may be provided at different locations.

Alternatively, one load detection unit 1 may be provided and n stimulation units 2 may be provided. However, in this case, it is preferable to be able to estimate the timing at which the load is generated at the locations corresponding to the n stimulation units 2 based on the detection result of one load detection unit 1 . Alternatively, n load detection units 1 may be provided and one stimulation unit 2 may be provided. However, in this case, it is preferable to be able to estimate the timing at which a load is generated at a location corresponding to one stimulation section 2 based on the detection result of any one of the n load detection sections 1 .

Finally, a hardware configuration example of the motion control device 3 according to the first embodiment will be described with reference to FIG. Each function of the load generation timing collection unit 31, the load generation timing estimation unit 33, the load generation timing comparison unit 35, the timing offset generation unit 36, and the stimulus control unit 37 in the motion control device 3 is implemented by a processing circuit. The processing circuit may be dedicated hardware as shown in FIG. 10A, or a CPU (Central Processing Unit) that executes a program stored in the memory 43 as shown in FIG. 10B. It may be a device, arithmetic unit, microprocessor, microcomputer, processor, or DSP (also called Digital Signal Processor) 42 .

If the processing circuit is dedicated hardware, the processing circuit 41 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array). ), or a combination thereof. The functions of the load generation timing collection unit 31, the load generation timing estimation unit 33, the load generation timing comparison unit 35, the timing offset generation unit 36, and the stimulus control unit 37 may be realized by the processing circuit 41. The functions of each unit may be collectively realized by the processing circuit 41 .

When the processing circuit is the CPU 42, the functions of the load generation timing collection unit 31, the load generation timing estimation unit 33, the load generation timing comparison unit 35, the timing offset generation unit 36, and the stimulation control unit 37 are software, firmware, or software. and firmware. Software and firmware are written as programs and stored in the memory 43 . The processing circuit reads out and executes a program stored in the memory 43 to realize the function of each section. That is, the motion control device 3 comprises a memory for storing a program that, when executed by the processing circuit, results in the execution of steps ST002 to ST016 shown in FIG. 4, for example. These programs cause the computer to execute the procedures and methods of the load generation timing collection unit 31, the load generation timing estimation unit 33, the load generation timing comparison unit 35, the timing offset generation unit 36, and the stimulus control unit 37. It can also be said that Here, as the memory 43, for example, non-volatile or volatile semiconductor memory such as RAM (RA00ndom Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (Electrically EPROM), Magnetic discs, flexible discs, optical discs, compact discs, mini discs, DVDs (Digital Versatile Discs), and the like are applicable.

A part of each function of the load generation timing collection unit 31, the load generation timing estimation unit 33, the load generation timing comparison unit 35, the timing offset generation unit 36, and the stimulation control unit 37 is realized by dedicated hardware. , may be partially realized by software or firmware. For example, the load generation timing collection unit 31 is realized by a processing circuit as dedicated hardware, and includes a load generation timing estimation unit 33, a load generation timing comparison unit 35, a timing offset generation unit 36, and a stimulation control unit. The function of 37 can be realized by the processing circuit reading and executing the program stored in the memory 43 .

As such, the processing circuitry may implement each of the functions described above through hardware, software, firmware, or a combination thereof.

As described above, according to the first embodiment, the exercise control system 100 includes the stimulation unit 2 that gives a stimulation to the user, the detection unit 1 that time-sequentially detects information obtained by sensing the user's movement, and the detection Based on the detection result by the unit 1, the load occurrence timing estimating unit 33 that estimates the timing at which the load is generated by the user's motion, the estimated timing that is the timing estimated by the load occurrence timing estimating unit, and a timing offset that generates an offset time that is added to the estimated timing according to the comparison result of the load generation timing comparison unit 35 that compares the load generation timing comparison unit 35 with the target timing that is the timing that is predetermined as the timing to provide the A generation unit 36 and a stimulation control unit 37 that drives the stimulation unit 2 at a timing in which the offset time generated by the timing offset generation unit 36 is added to the estimated timing. As a result, in the motion control system 100 according to the first embodiment, it is possible to shorten the time required to guide the user's motion to the target motion, compared to the conventional art.

The detection unit 1 is the load detection unit 1 that detects the load generated by the user's motion in time series. The timing at which the load is generated is estimated by As a result, in the motion control system 100 according to the first embodiment, it is possible to accurately estimate the timing at which the load is generated by the motion of the user.

In addition, n load detection units 1 and n stimulation units 2 (n is an integer equal to or greater than 2) are provided, and the n load detection units 1 and stimulation units 2 correspond one-to-one, and load generation timing estimation is performed. Based on the detection result of each load detection unit 1, the unit 33 estimates the timing at which the load is generated by the user's motion for each load detection unit 1. The load generation timing comparison unit 35 compares the load generation timing estimation unit 33. The estimated timing for each load detection unit 1 estimated by is compared with the target timing, which is the timing predetermined for each stimulation unit 2 as the timing at which each stimulation unit 2 provides stimulation, and the timing offset generation unit 36 , according to the comparison result by the load generation timing comparison unit 35, the offset time to be added to the estimated timing is generated for each load detection unit 1, and the stimulation control unit 37 controls the load detection unit 1 generated by the timing offset generation unit 36. Each stimulation unit 2 corresponding to each load detection unit 1 is driven at a timing obtained by adding the offset time for each load detection unit 1 to the estimated timing for each load detection unit 1 . As a result, in the motion control system 100 according to Embodiment 1, the operation can be controlled for each set (each stimulation unit) of the corresponding load detection unit 1 and stimulation unit 2, thereby improving convenience.

In addition, the corresponding load detection unit 1 and stimulus unit 2 are provided between the user's sole and the ground surface on which the user's sole is grounded. The stimulus unit 2 stimulates the soles of the user's feet by detecting the applied load in time series. As a result, the motion control system 100 according to Embodiment 1 can accurately detect the load and stimulate the user.

Also, the corresponding load detection unit 1 and stimulation unit 2 are provided on the insole of the user's shoe, the insole placed on the insole, or the sole portion of the user's sock. As a result, in the motion control system 100 according to the first embodiment, handling of the corresponding load detection unit 1 and stimulation unit 2 is facilitated, and the corresponding load detection unit 1 and stimulation unit 2 can be easily attached to the soles of the user's feet. can be abutted.

Also, the corresponding load detection unit 1 and stimulus unit 2 are provided at a first position corresponding to the user's heel portion and a second position corresponding to a portion other than the user's sole heel. The stimulus control unit 37 drives the stimulation unit 2 provided at the first position as a trigger when a load is detected by the load detection unit 1 provided at the first position, For the stimulation unit 2 provided at the position of , the offset time for each load detection unit 1 provided at the second position, which is generated by the timing offset generation unit 36, is set at the second position. It drives at the timing which considered the estimated timing of each load detection part 1. - 特許庁As a result, in the motion control system 100 according to the first embodiment, while allowing the user to clearly recognize that a load has been applied to the heel (the heel has landed on the ground), the center of gravity can be quickly shifted to the toe after the user touches the heel on the ground. It is possible to make the user aware of the transition, and as a result, it is possible to shorten the time required to guide the user's motion to the target motion.

In addition, the stimulus control unit 37 controls each stimulus unit 2 so that two or more of the n stimulus units 2 overlap each other in driving continuation time, which indicates the time during which each stimulus unit 2 is stimulating the user. to drive. As a result, the motion control system 100 according to Embodiment 1 can allow the user to perceive a sensation of smooth transition between stimuli. Also, the resolution of the stimulation site can be improved.

Further, the load generation timing estimator 33 determines the timing at which a load is generated in one of the n load detectors 1 based on the detection result of the load detectors 1 other than the load detector 1. to estimate. As a result, the motion control system 100 according to Embodiment 1 can more flexibly estimate the timing at which the load is generated.

Further, the detection unit 1 is a sound detection device that detects information about sounds generated by the user's motion in time series, and the load generation timing estimation unit 33 detects the motion of the user based on the detection result of the sound detection device. The timing at which the load is generated is estimated by As a result, the motion control system 100 according to Embodiment 1 can more flexibly estimate the timing at which the load is generated.

In addition, the stimulation control section 37 gently changes the magnitude of the stimulation given to the user by the stimulation section 2 at least one of when the stimulation section 2 starts to be driven and when the stimulation section 2 stops driving. As a result, the motion control system 100 according to Embodiment 1 allows the user to smoothly perceive the switching of stimulation sites.

Further, when the difference between the estimated timing and the target timing is equal to or less than the threshold value as a result of the comparison by the load generation timing comparing unit 35, the timing offset generation unit 36 generates the difference as the offset time, and the estimated timing and the target timing. is not less than or equal to the threshold, the threshold is generated as the offset time. As a result, in the motion control system 100 according to the first embodiment, it is possible to avoid the problem that the offset time significantly increases when there is a large difference between the estimated timing and the target timing.

Further, according to Embodiment 1, the motion control device 3 determines the timing at which a load is generated by the user's motion, based on the detection result of the detection unit 1 that detects information obtained by sensing the user's motion in time series. The load generation timing estimating unit 33 to estimate, the estimated timing which is the timing estimated by the load generation timing estimating unit 33, and the target timing which is the timing predetermined as the timing at which the stimulation unit 2 that gives the stimulation to the user gives the stimulation. a load generation timing comparison unit 35 that compares the load generation timing comparison unit 35, a timing offset generation unit 36 that generates an offset time that is added to the estimated timing according to the comparison result of the load generation timing comparison unit 35, and a timing offset generation unit 36 that generates and a stimulation control section 37 for driving the stimulation section 2 at a timing in which the offset time is added to the estimated timing. As a result, the motion control device 3 according to the first embodiment can shorten the time required to guide the user's motion to the target motion, compared to the conventional art.

It should be noted that the present disclosure allows modification of any component of the embodiment, or omission of any component in the embodiment.

INDUSTRIAL APPLICABILITY The present disclosure makes it possible to shorten the time required to guide a user's motion to a target motion, compared to the conventional art, and is suitable for use in a motion control system.

1 detection unit (load detection unit), 2 stimulation unit, 3 motion control device, 11 to 1n load detection unit, 21 to 2n stimulation unit, 31 load generation timing collection unit, 32 load generation timing recording unit, 33 load generation timing estimation Unit (Estimating Unit), 34 Landing Timing Target Value Recording Unit, 35 Load Generation Timing Comparing Unit (Comparing Unit), 36 Timing Offset Generating Unit (Offset Generating Unit), 37 Stimulus Control Unit, 41 Processing Circuit, 42 CPU, 43 Memory , 100 motor control system, K shoe, Te1 estimated timing, Te2 estimated timing, Tg1 target timing, Tg2 target timing, Tj1 stimulation timing, Tj2 stimulation timing, Y1-Yn stimulation units.

Claims (10)

a stimulation unit for stimulating a user;
a load detection unit that detects in time series the load generated by the user's motion;
an estimating unit for estimating the timing at which the load is generated by the user's motion based on the detection result of the load detecting unit;
a comparing unit that compares estimated timing, which is the timing estimated by the estimating unit, with target timing, which is the timing predetermined as the timing at which the stimulating unit provides stimulation;
an offset generation unit that generates an offset time to be added to the estimated timing according to the comparison result of the comparison unit;
a stimulation control unit that drives the stimulation unit at a timing that takes into account the offset time generated by the offset generation unit and the estimated timing;
with
The load detection units and the stimulation units are each provided with n pieces (n is an integer of 2 or more), and the n load detection units and the stimulation units are in one-to-one correspondence,
The estimation unit estimates, for each load detection unit, the timing at which the load is generated due to the user's motion based on the detection result of each load detection unit;
The comparing unit compares the estimated timing for each of the load detecting units estimated by the estimating unit with a target timing, which is a timing predetermined for each stimulating unit as the timing at which each stimulating unit provides stimulation. ,
The offset generation unit generates an offset time to be added to the estimated timing for each load detection unit according to the comparison result of the comparison unit,
The stimulus control unit adds the offset time for each load detection unit generated by the offset generation unit to the estimated timing for each load detection unit, and the stimulation unit corresponding to each load detection unit to drive
A motion control system characterized by: The corresponding load detection unit and stimulation unit are provided between the user's sole and a ground surface on which the user's sole is grounded,
The load detection unit detects in time series the load generated on the ground surface due to the user's motion,
The exercise control system according to claim 1 , wherein the stimulation section stimulates the soles of the user's feet. The corresponding load detection unit and stimulation unit are provided on the insole of the user's shoe, the insole placed on the insole, or the sole portion of the user's sock. Item 3. The motion control system according to item 2 . The corresponding load detection unit and stimulation unit are provided at a first position corresponding to the user's heel portion and a second position corresponding to a portion other than the user's sole heel. ,
The stimulation control unit is
The stimulation unit provided at the first position is driven by being triggered by detection of a load by the load detection unit provided at the first position,
For the stimulation section provided at the second position, the offset time generated by the offset generation section for each load detection section provided at the second position is set at the second position. The motion control system according to any one of claims 1 to 3 , wherein the motion control system is driven at a timing that takes into consideration the estimated timing of each load detection unit. The stimulation control unit controls the stimulation units so that two or more of the n stimulation units have a driving duration indicating a time during which the stimulation units are stimulating the user. 4. A motion control system according to any one of claims 1 to 3 , characterized in that it drives. The estimating unit estimates the timing at which a load is generated in a load detecting unit among the n load detecting units, based on the detection result of a load detecting unit other than the load detecting unit. A motion control system according to any one of claims 1 to 3 . The stimulation control unit gently changes the magnitude of the stimulation given to the user by the stimulation unit at least one of when the stimulation unit starts driving and when the stimulation unit stops driving. A motion control system according to any one of claims 1 to 3 . a stimulation unit for stimulating a user;
a detection unit that detects information obtained by sensing the motion of the user in time series;
an estimating unit for estimating the timing at which the load is generated by the user's motion based on the detection result of the detecting unit;
a comparing unit that compares estimated timing, which is the timing estimated by the estimating unit, with target timing, which is the timing predetermined as the timing at which the stimulating unit provides stimulation;
an offset generation unit that generates an offset time to be added to the estimated timing according to the comparison result of the comparison unit;
a stimulation control unit that drives the stimulation unit at a timing that takes into account the offset time generated by the offset generation unit and the estimated timing;
with
The offset generator is
generating the difference as the offset time when the difference between the estimated timing and the target timing is equal to or less than a threshold as a result of the comparison by the comparison unit;
If the difference between the estimated timing and the target timing is not equal to or less than the threshold, the threshold is generated as the offset time.
A motion control system characterized by: an estimating unit for estimating the timing at which a load is generated by the user's motion based on the detection result of a load detecting unit that detects the load generated by the user's motion in time series;
a comparing unit for comparing estimated timing, which is the timing estimated by the estimating unit, with target timing, which is predetermined timing for stimulating by the stimulating unit for stimulating the user;
an offset generation unit that generates an offset time to be added to the estimated timing according to the comparison result of the comparison unit;
a stimulation control unit that drives the stimulation unit at a timing that takes into account the offset time generated by the offset generation unit and the estimated timing;
with
The load detection units and the stimulation units are each provided with n pieces (n is an integer of 2 or more), and the n load detection units and the stimulation units are in one-to-one correspondence,
The estimation unit estimates, for each load detection unit, the timing at which the load is generated due to the user's motion based on the detection result of each load detection unit;
The comparing unit compares the estimated timing for each of the load detecting units estimated by the estimating unit with a target timing, which is a timing predetermined for each stimulating unit as the timing at which each stimulating unit provides stimulation. ,
The offset generation unit generates an offset time to be added to the estimated timing for each of the load detection units according to the comparison result of the comparison unit,
The stimulus control section adds the offset time for each load detection section generated by the offset generation section to the estimated timing for each load detection section, and the stimulation section corresponding to each load detection section at a timing. A motion control device characterized by driving a A motion control method by a motion control system,
a step in which the load detection unit detects in time series the load generated by the user's motion;
an estimating unit estimating the timing at which the load is generated by the user's motion based on the detection result of the load detecting unit;
a step in which a comparison unit compares an estimated timing, which is the timing estimated by the estimation unit, with a target timing, which is a timing predetermined as timing at which a stimulation unit that provides stimulation to the user provides stimulation;
an offset generation unit generating an offset time to be added to the estimated timing according to the comparison result by the comparison unit;
a step in which a stimulation control unit drives the stimulation unit at a timing obtained by adding the offset time generated by the offset generation unit to the estimated timing;
has
The load detection units and the stimulation units are each provided with n pieces (n is an integer of 2 or more), and the n load detection units and the stimulation units are in one-to-one correspondence,
The estimation unit estimates, for each load detection unit, the timing at which the load is generated due to the user's motion based on the detection result of each load detection unit;
The comparing unit compares the estimated timing for each of the load detecting units estimated by the estimating unit with a target timing, which is a timing predetermined for each stimulating unit as the timing at which each stimulating unit provides stimulation. ,
The offset generation unit generates an offset time to be added to the estimated timing for each of the load detection units according to the comparison result of the comparison unit,
The stimulus control unit adds the offset time for each load detection unit generated by the offset generation unit to the estimated timing for each load detection unit, and the stimulation unit corresponding to each load detection unit to drive
A motion control method characterized by:

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