WO2022145258A1 - Movement instruction device, movement instruction system, movement instruction method, and program - Google Patents

Abstract

This wearable movement instruction device for giving instruction on physical movement by haptic presentation to the skin of a user comprises: a physical movement information acquisition unit for acquiring information on physical movement by a motion instructor; a plurality of stimulus elements arranged on the skin in proximity to the surface of the user's muscle; and a control unit for controlling the plurality of stimulus elements. Each of the plurality of stimulus elements applies a stimulus to the skin in proximity to the surface of the user's muscle. The control unit controls the plurality of stimulus elements so as to form, on the skin, a mechanical distribution for producing a targeted haptic sensation on the basis of the information acquired by the physical movement information acquisition unit. The interval between adjacent stimulus elements is an interval that allows instruction of spatially continuous haptic sensation. The haptic sensation induces, in the user, the bodily sensation of when the motion instructor is performing the physical movement.

Description

Exercise teaching device, exercise teaching system, exercise teaching method and program

The present invention relates to an exercise teaching device, an exercise teaching system, an exercise teaching method and a program.

In fields such as sports and craftsmanship, the skill transfer of highly skilled skilled workers has become an issue. It is expected that effective skill transfer will be possible if the physical sensation of the expert is directly transmitted to the user, but the technique that makes such a thing possible is not yet known. As a technology to meet these demands, the head-mounted display can play back the first-person viewpoint image taken by a stereo camera that matches the viewpoint position of the expert during operation, and the ambient sound of the expert recorded by the binoral microphone is binoral. A skill teaching system that can be regenerated, has a vibration device provided at a position corresponding to the mounting position of a myoelectric sensor attached to a skilled person, and can vibrate the vibrating device based on a signal of the myoelectric sensor of a skilled person is disclosed. (See, for example, Non-Patent Document 1).

However, the skill teaching system described in Non-Patent Document 1 can sequentially teach the user a plurality of muscles to be moved in conjunction with each other when only the vibration device is used, but it is a stimulation by vibration. The stimulus is easily diffused, and in particular, it may not be possible to express a state in which the muscles are still tense, and the physical sensation of a skilled person has not been induced. Therefore, there is a problem that a particularly superior teaching effect is not obtained as compared with the teaching when only the video information is used.

The present invention has been made in view of the above problems, and an object thereof is a wearable device capable of teaching a user the teaching motion of a motion instructor by inducing a physical sensation of the motion instructor. Is to provide.

In order to solve the above-mentioned problems, the exercise teaching device according to an aspect of the present invention is a wearable exercise for inducing a physical sensation of a motion teacher by presenting a force sense on the skin of a user to teach physical exercise. It is a teaching device. This motion teaching device includes a body motion information acquisition unit that acquires body motion information of a motion teacher, a plurality of stimulating elements arranged on the skin close to the surface of a plurality of muscles of the user, and a plurality of stimuli. It includes a control unit that controls the element. Each of the plurality of stimulating elements stimulates the skin close to the surface of the user's muscles. The control unit controls a plurality of stimulating elements so as to form a mechanical distribution on the skin that generates a target force sensation based on the body movement information acquired by the body movement information acquisition unit. This force sensation induces the user to feel the body of the motion teacher.

In certain embodiments, the exercise teaching device may include a storage unit that stores information on the physical exercise of the motion instructor. The physical exercise information acquisition unit may acquire physical exercise information from the storage unit.

The stimulating element may stimulate the skin by rotational movement. The control unit may control the rotation angle and rotation direction of the stimulating element.

The control unit may control the stimulating element so that the larger the target force sense is, the larger the rotation angle of the stimulating element is.

The stimulating element stimulates the skin by rotational movement, and the control unit may control the rotational speed and rotation direction of the stimulating element.

The control unit may control the stimulator element so that the larger the target force sense is, the larger the rotation speed of the stimulator element is.

The stimulating element may stimulate the skin by rotational movement, and the control unit may control the rotational torque and the rotational direction of the stimulating element.

The control unit may control the stimulating element so that the larger the target force sense, the larger the rotational torque of the stimulating element.

The spacing between adjacent stimulating elements may be such that the ranges of force sense presented by the adjacent stimulating elements overlap.

The stimulating element may be placed on the skin close to the surface of the user's upper arm, forearm, wrist, fingers, thigh, lower leg, ankle, toe, neck, torso or lumbar muscles. .. Further, the stimulating element may be arranged at one place on the skin near the thickest part of each muscle, at each part of the skin near the tendons at both ends of each muscle, or at a plurality of places so as to cover the skin on the surface of each muscle. good.

The stimulating element may stimulate the skin by electrical stimulation in addition to rotational movement.

Another aspect of the present invention is an exercise teaching system. This system includes the above-mentioned motion teaching device and a motion instructor motion measuring device that measures information on the body motion of the motion instructor in real time. The physical exercise information acquisition unit may acquire information on the physical exercise of the motion instructor from the motion instructor motion measuring device.

The motion instructor's physical exercise information may include myoelectric potential, muscle tension, or amount of skin deformation.

In certain embodiments, the exercise teaching system may include a user exercise measuring device that measures information on the user's physical exercise in real time. The control unit controls a plurality of stimulus elements based on the difference between the motion teacher's body motion information measured by the motion instructor motion measuring device and the user's body motion information measured by the user motion measuring device. You may.

The control unit may be characterized by controlling a plurality of stimulating elements so that the user forms a mechanical distribution on the skin that generates a force sensation that increases muscle activity so that the difference becomes small.

In one embodiment, the exercise teaching system machine-learns the physical motion information of the motion instructor and the mechanical distribution of the motion instructor's skin estimated from the motion instructor information as learning data. Even if the motion information acquisition unit is further provided with a learning unit that outputs a mechanical distribution that generates a desired force sense when the motion information of the motion instructor acquired from the motion instructor motion measuring device is input. good.

In certain embodiments, the motion teaching system may include a wearable display device that displays a first-person video captured at the viewpoint position of the motion instructor.

In certain embodiments, the motion teaching system may include a microphone that binaurally records ambient sounds during the teaching motion of the motion instructor, and a wearable playback device that reproduces the voice recorded by the microphone.

Another aspect of the present invention is an exercise teaching method. This method is an exercise teaching method for inducing a physical sensation of a motion instructor to teach physical exercise by presenting a force sense to the user's skin, and acquires information on the physical exercise of the motion instructor. It comprises a step and a step of stimulating the skin close to the surface of the user's muscle using a plurality of stimulating elements placed on the skin close to the surface of the user's muscle. The plurality of stimulating elements form a mechanical distribution on the skin that generates a desired force sensation based on the information of the body movement, and this force sensation induces the user to induce the physical sensation of the motion teacher.

Yet another aspect of the present invention is a program. This program is an exercise teaching method for inducing a physical sensation of a motion instructor to teach physical exercise by presenting a force sense to the user's skin, and acquires information on the physical exercise of the motion instructor. Have the computer perform a method comprising a step and a step of stimulating the skin close to the surface of the user's muscle using multiple stimulators placed on the skin close to the surface of the user's muscle. .. The plurality of stimulating elements form a mechanical distribution on the skin that generates a desired force sensation based on the information of the body movement, and this force sensation induces the user to induce the physical sensation of the motion teacher.

It should be noted that any combination of the above components and the conversion of the expression of the present invention between devices, methods, systems, recording media, computer programs, etc. are also effective as aspects of the present invention.

According to the present invention, it is possible to accurately teach the user the physical exercise of the motion instructor.

It is a functional block diagram of the motion teaching apparatus which concerns on 1st Embodiment. It is a functional block diagram of the motion teaching apparatus which concerns on 2nd Embodiment. It is a perspective view of the motion teaching apparatus which concerns on 3rd Embodiment. FIG. 3 is a view of a user wearing the motion teaching device of FIG. 3 viewed from diagonally rear left. It is a perspective view of the stimulating element unit of the motion teaching apparatus of FIG. It is a graph which shows the positive correlation between the intensity of activity based on exercise, and the intensity of stimulation. It is a functional block diagram of the exercise teaching system which concerns on the twelfth embodiment. It is a functional block diagram of the exercise teaching system which concerns on 14th Embodiment. It is a functional block diagram of the exercise teaching system which concerns on 17th Embodiment. It is a functional block diagram of the exercise teaching system which concerns on 18th Embodiment. It is a functional block diagram of the exercise teaching system which concerns on 19th Embodiment. It is a flowchart of the exercise teaching method which concerns on 20th Embodiment. It is a graph which shows the time-series signal of the muscle tension when a person starts the motion of kicking a leg.

Hereinafter, the present invention will be described with reference to each drawing based on a preferred embodiment. In the embodiments and modifications, the same or equivalent components, steps, and members are designated by the same reference numerals, and redundant description will be omitted as appropriate. In addition, the dimensions of the members in each drawing are shown enlarged or reduced as appropriate for easy understanding. In addition, some of the members that are not important for explaining the embodiment in each drawing are omitted and displayed. In addition, terms including ordinal numbers such as 1st and 2nd are used to describe various components, but these terms are used only for the purpose of distinguishing one component from other components, and this term is used. The components are not limited by.

Before explaining the specific embodiment, the basic knowledge will be explained. As a result of the research conducted by the present inventor, the sensation of acceleration and undulations induced when riding a vehicle are obtained by applying shear deformation (deformation along the direction of the skin) to the skin of the human buttocks. We found that it is possible to reproduce the vertical kinesthetic sensation when overcoming.

For example, when accelerating or decelerating or turning the steering while sitting on a car seat, a part of the driver's buttocks undergoes shear deformation in the front-back and left-right directions. The present inventor pays attention to this phenomenon, and can induce and reproduce the acceleration sensation in the front-back and left-right directions of the subject simply by providing a contactor that moves back and forth and left and right on the seat and applying shear deformation to the buttocks of the subject. I found.

Also, when you get on a car and get over steps and undulations, your body moves up and down and displaces. It was found that such a sensation of vertical movement can be reproduced by shear deformation of the skin. For example, when the buttocks move in the vertical direction from the seat surface of the seat, the peak of the pressure distribution distributed near the ischium is displaced toward the coccyx. The present inventor focused on this phenomenon and found that it is possible to induce a sensation accompanying pushing up from the seat surface only by presenting the displacement of the peak position of the pressure distribution by the shear deformation of the skin of the buttocks. Furthermore, the present inventor has also found that the sensation of overcoming undulations can be induced and reproduced only by presenting the shearing force in the traveling direction generated when overcoming undulations to the buttocks.

The present inventor made the following hypothesis as to the reason why such a sensation is induced. First, when such a shearing force is applied to the skin, a distribution of mechanical quantities per unit volume, for example, a distribution of strain energy (hereinafter referred to as “strain energy density distribution”) is formed on the skin. That is, when a person exercises in contact with a sheet or the like, strain is generated in each part of the skin. The temporal and spatial distribution of the energy density of this strain is considered to reflect the characteristics such as the type, magnitude, and direction of the motion. In the mechanoreceptors inside the skin that control the sense of force, the frequency of neuron firing is determined by this strain energy density distribution. Therefore, if the strain energy density distribution corresponding to various movements is formed on the skin by stimulating the skin of the person, the person can perform such movements without actually moving the person. It is thought that it can induce a feeling of being, or what kind of exercise you are going to do.

The part of the skin that gives irritation is not limited to the buttocks, but the back, abdomen, head, upper arm, forearm, wrist, fingers, thigh, lower leg, ankle, toes, neck, torso, waist, etc. Any site may be used as long as it is a site for forming a strain energy density distribution corresponding to the desired motion. In addition, the distribution of mechanical quantities corresponding to the target motion (hereinafter referred to as "mechanical distribution") is not limited to the strain energy density distribution, but the distribution of strain (for example, main strain and equivalent strain) and force. It also includes the distribution of (eg, shear forces, vertical strains, etc.), stresses (ie, forces per unit area, such as pressure, principal stress, Mieses stress, etc.).

Hereinafter, in the present specification, the sensation of muscle movement and load felt when a person moves or is about to move the body is referred to as "physical sensation". In addition, regarding the force sense (force sense) that causes a person's physical sensation, presenting the magnitude and direction of the force is called "presenting the force sense".

In the field of technology such as sports, musical instrument playing, vehicle driving or craftsmanship, if the physical sensation of a highly skilled motion instructor can be taught to the user for each individual muscle, the technique that serves as a model can be accurately and accurately used. It can be taught efficiently. Information on such model physical movements can be acquired and accumulated by measuring or estimating the physical movements of the motion instructor. Based on this information, the user can perform correct exercise and muscles by stimulating the skin close to the surface of the user's muscles so as to form a mechanical distribution on the skin that produces the desired force sensation. You can learn how to use it. On the contrary, it is also conceivable to use such means to induce the movement instructor to have a physical sensation when the user is moving. By understanding the physical sensation of the user in this way, it is expected that the motion instructor can more accurately provide guidance for motion instruction.

[First Embodiment]
FIG. 1 shows a functional block of the exercise teaching device 1 according to the first embodiment. The exercise teaching device 1 teaches physical exercise by presenting a sense of force to the skin S close to the surface of the user's muscle M. The exercise teaching device 1 is wearable. That is, the user can wear the exercise teaching device 1 on the body. The exercise teaching device 1 includes n stimulating elements 11, 12, ..., 1n, a body exercise information acquisition unit 20, and a control unit 30 (n is an integer of 2 or more).

The physical exercise information acquisition unit 20 acquires information on the physical exercise of the motion instructor. The physical exercise of the motion instructor is the exercise of the muscles when the motion instructor performs the technique, and serves as a model for the user. The body movement information acquisition unit 20 may acquire information stored in advance in a storage device or the like of a server, or may acquire the actual body movement of the motion instructor in real time by communication. The physical exercise information acquisition unit 20 transmits the acquired information to the control unit 30.

The control unit 30 controls the stimulating elements 11, 12, ..., 1n so as to form a mechanical distribution on the skin S that generates a target force sensation based on the information acquired by the body movement information acquisition unit 20. .. The control unit 30 may be configured using known computer hardware and software.

The stimulating elements 11, 12, ..., 1n are arranged on the skin S close to the surface of the user's muscle M. Each of the stimulating elements 11, 12, ..., 1n stimulates the skin S close to the surface of the user's muscle M. The method in which the stimulating elements 11, 12, ..., 1n stimulate the skin S may be a mechanical method such as rotational movement, pulling in the shear direction, compression, or suction. Each of the stimulating elements 11, 12, ..., 1n may be capable of presenting a sense of force by itself. Alternatively, it may be possible to present a sense of force only when a plurality of stimuli jointly form a predetermined mechanical distribution.

The interval between adjacent stimulating elements may be an interval capable of presenting a spatially continuous force sense. The spacing between adjacent stimulating elements may be, for example, such that the ranges of force sense presented by the adjacent stimulating elements overlap. Alternatively, the spacing between adjacent stimulating elements may be within the range of the two-point discrimination threshold in the area of the skin.

The user unknowingly reproduces the physical movement of the motion instructor by the force sense presented by the motion teaching device 1. Although the mechanism by which the user unconsciously reproduces the body movement of the teacher has not yet been clarified in detail, each muscle has a mechanical distribution such as a strain energy density distribution generated in the vicinity of each muscle. It is presumed that this is because the reaction and reflexive contraction are performed in conjunction with each other. For example, FIG. 13 is a time-series signal of muscle tensions of the rectus femoris, vastus lateralis, adductor magnus, and gastrocnemius muscles for about 2 seconds when a person starts kicking up the foot. Here, at the beginning of the movement, each muscle starts to move almost at the same time, but after that, each muscle individually performs a complicated contraction. In other words, humans are not consciously performing such complex contractions of muscles at the level of individual muscles, but are demonstrating what they have learned as an overall movement of kicking up. Therefore, if the user is given a time-series change in the mechanical distribution obtained from the physical motion of the motion instructor, the user is experiencing the physical sensation of the motion instructor, and the motion is most effectively performed. You will learn.

According to the present embodiment, by stimulating the skin of the user, the physical exercise of the motion instructor can be effectively taught to the user.

[Second Embodiment]
FIG. 2 shows a functional block of the exercise teaching device 2 according to the second embodiment. The exercise teaching device 2 also teaches physical exercise by presenting a sense of force to the skin S close to the surface of the user's muscle M. The exercise teaching device 2 includes n stimulating elements 11, 12, ..., 1n, a body exercise information acquisition unit 20, a control unit 30, and a storage unit 40 (n is an integer of 2 or more). That is, the motion teaching device 2 includes a storage unit 40 in addition to the configuration of the motion teaching device 1 of FIG.

Since the configurations and operations of the stimulating elements 11, 12, ..., 1n are the same as those of the motion teaching device 1, the description thereof will be omitted. The storage unit 40 stores information on the physical movement of the motion instructor. The body movement information acquisition unit 20 acquires information on the body movement of the motion instructor from the storage unit 40. For example, the storage unit 40 may memorize the ideal physical movement of the motion instructor. In this case, the user can learn the physical exercise that serves as a model stored in the storage unit 40. Alternatively, the storage unit 40 may store the physical information of the user when the user is in the best condition. In this case, the user can regain the physical exercise when he / she is in the best condition when he / she falls into a slump or the like.

According to the present embodiment, the user can acquire the desired physical exercise by storing the physical exercise information of the motion instructor in the storage unit 40.

[Third Embodiment]
The stimulating elements 11, 12, ..., 1n may stimulate the skin by rotational movement. At this time, the control unit 30 may control the rotation angle and rotation direction of the stimulation elements 11, 12, ..., 1n.

Especially when presenting a sense of force to the skin close to the surface of the user's muscles, the stimulus applied to the skin is not due to suction, electrical stimulation, temperature stimulation, compression, or translational movement along the shear direction of the skin. It is desirable that it is due to rotational movement. The reason is as follows. For one thing, in such a form, it is premised that the stimulus is applied to the skin through clothing. In this case, stimuli such as suction, electrical stimulus or temperature stimulus cannot be directly applied. Secondly, the stimulation by compression is not suitable for teaching physical exercise because it causes the user to interfere with the exercise. Furthermore, when trying to give a stimulus by translational motion along the shear direction of the skin, it is necessary to convert the rotational motion of the motor as a power source into translational motion. For this reason, the mechanism becomes complicated, and there is a problem that it is difficult to apply it to a form in which stimulating elements are densely arranged on the skin. In this respect, the presentation of the stimulus by the rotational movement can be applied to the embodiment without the above-mentioned problems.

The exercise teaching device 3 according to the third embodiment will be described with reference to FIGS. 3 to 5. FIG. 3 is a perspective view of the motion teaching device 3. FIG. 4 is a view of a user wearing the exercise teaching device 3 as viewed from diagonally rear left. FIG. 5 is a perspective view of the stimulating element unit 50 of the motion teaching device 3.

As shown in FIGS. 3 and 4, the exercise teaching device 3 is attached to the left and right thighs and the left and right lower legs of the user. The stimulating elements 11, 12, ..., 1n are composed of a total of 32 stimulating elements. That is, n = 32. As shown in FIG. 5, four stimulating elements 11, 12, ..., 1n are combined into one stimulating element unit. That is, the motion teaching device 3 includes a total of eight stimulating element units.

The stimulating element unit 50 is substantially square. Stimulating elements are arranged at the four corners of the stimulating element unit 50, respectively. FIG. 5 shows a state in which the stimulating elements 11, 12, 13 and 14 are grouped together in the stimulating element unit 50. Eight stimulating element units are arranged in the motion teaching device 3. That is, as shown in FIGS. 3 and 4, the stimulating elements 11, 12, ..., 132 are on the skin in which the three stimulating element units are close to the surfaces of the left and right biceps femoris and quadriceps muscles, respectively. One stimulator unit is placed on the skin close to the surface of the soleus muscle of the left and right thighs, respectively.

Each of the stimulating elements 11, 12, ..., 132 has a disk shape with a diameter of 20 mm and a thickness of 5 mm. If the stimulating elements 11, 12, ..., 124 are too hard, they do not fit into the body, and the pain caused by the contact of the edges of the stimulating elements 11, 12, ..., 132, and the stimulating elements 11, 12, ..., 132 and clothes Sliding between is likely to occur. On the contrary, if the stimulating elements 11, 12, ..., 132 are too soft, it becomes difficult to transmit the rotational force. In consideration of these characteristics, an appropriate chloroprene rubber sponge is used as a material for the stimulating elements 11, 12, ..., 132.

A small servo motor is used for the actuator for rotating the stimulating elements 11, 12, ..., 132. The maximum output torque of this servomotor is 0.2 Nm, which is sufficient to deform the skin on the back. The stimulating elements 11, 12, ..., 132 are controlled to rotate at a rotation angle of 30 degrees and a rotation speed of 60 degrees / sec.

The present inventor has experimentally confirmed that a mechanical distribution that generates a physical sensation can be formed on the skin by appropriately controlling the rotation angle and rotation direction of the stimulating elements 11, 12, ..., 1n. In this case, not only the rotation angle but also the time until the rotation angle is reached may be included in the control parameter.

According to the present embodiment, the body movement can be taught accurately and efficiently by stimulating the user's skin by rotational movement and controlling the angle and direction of the rotation.

[Fourth Embodiment]
The control unit 30 may control the stimulating elements 11, 12, ..., 1n so that the larger the target force sense, the larger the rotation angle of the stimulating elements 11, 12, ..., 1n. The present inventor has found that the magnitude of the desired force sensation (that is, the intensity of activity based on motion) and the strain energy density often have a positive correlation. It can also be seen that the strain energy density and the rotation angles of the stimulating elements 11, 12, ..., 1n also have a positive correlation. Therefore, the larger the target force sense, the larger the rotation angle of the stimulating elements 11, 12, ..., 1n. By controlling the stimulating elements 11, 12, ..., 1n, the physical sensation is induced. be able to.

According to this embodiment, it is possible to teach physical exercise by increasing the activity intensity based on exercise by increasing the rotation angle.

[Fifth Embodiment]
In one embodiment, stimulating elements 11, 12, ..., 1n that stimulate the skin by rotational movement are used to appropriately control the rotational speed and rotational direction of these stimulating elements to generate physical sensations. A mechanical distribution may be formed on the skin. In this case, not only the rotation speed but also the time until the rotation speed is reached may be included in the control parameter.

According to the present embodiment, the body movement can be taught accurately and efficiently by stimulating the user's skin by rotational movement and controlling the speed and direction of the rotation.

[Sixth Embodiment]
The control unit 30 increases the target force sense (that is, the intensity of the activity based on the movement), the stimulation elements 11, 12, ..., The stimulation elements 11, 12, ... 1n may be controlled. It can also be seen that the strain energy density has a positive correlation with the rotational speeds of the stimulating elements 11, 12, ..., 1n. Therefore, the greater the target force sensation, the greater the rotational speed of the stimulating elements 11, 12, ..., 1n. By controlling the stimulating elements 11, 12, ..., 1n, the physical sensation is induced. be able to.

According to this embodiment, it is possible to teach physical exercise by increasing the activity intensity based on exercise by increasing the rotation speed.

[7th Embodiment]
In one embodiment, stimulating elements 11, 12, ..., 1n that stimulate the skin by rotational movement are used to appropriately control the rotational torque and rotational direction of these stimulating elements to generate bodily sensations. A mechanical distribution may be formed on the skin. In this case, not only the rotational torque but also the time until the rotational torque is reached may be included in the control parameters.

According to the present embodiment, the body movement can be taught accurately and efficiently by stimulating the user's skin by rotational movement and controlling the torque and direction of the rotation.

[Eighth Embodiment]
The control unit 30 increases the rotational torque of the stimulating elements 11, 12, ..., The greater the target force sense (that is, the intensity of the activity based on the movement), the greater the stimulating elements 11, 12, ... 1n may be controlled. It can also be seen that the strain energy density has a positive correlation with the rotational torque of the stimulating elements 11, 12, ..., 1n. Therefore, the larger the target force sense, the larger the rotational torque of the stimulating elements 11, 12, ..., 1n. By controlling the stimulating elements 11, 12, ..., 1n, the physical sensation is induced. be able to. In particular, when the user wearing the exercise teaching device 3 exercises, the stimulation electrode and the user's skin may slip or slip. In such a case, if the control is performed based on the rotation angle and the rotation speed, the control becomes inaccurate. On the other hand, if control is performed based on the rotational torque, accurate control is possible even if the user moves and the stimulation electrode and the user's skin slip or slip.

According to this embodiment, it is possible to teach physical exercise by increasing the activity intensity based on exercise by increasing the rotational torque.

In the fourth, sixth, and eighth embodiments, between the target force sense (that is, the intensity of activity based on movement) and the rotation angle, rotation speed, and rotation torque (that is, stimulation intensity) of the stimulating element. Control was performed by utilizing the fact that there is a positive correlation between. FIG. 6 shows an example of a positive correlation between the intensity of such exercise-based activities and the stimulus intensity.

[9th embodiment]
In FIGS. 1 and 2, the spacing between adjacent stimulating elements may be such that the ranges of force sense presented by the adjacent stimulating elements overlap. The present inventor has found that spatially continuous force sensation can be more reliably presented by providing such an interval between adjacent stimulating elements.

[10th Embodiment]
In the aforementioned embodiment, the stimulator was placed on the skin close to the surface of the muscles of the user's thighs and lower legs. However, the stimulating element is not limited to this, and the stimulating element may be placed at any site in the vicinity of the muscles that control movement, such as the user's upper arm, forearm, wrist, finger, ankle, toe, neck, torso, and lumbar region. .. According to this embodiment, the range of application to the body part of the user can be expanded.

[Eleventh Embodiment]
The stimulating element may stimulate the skin by electrical stimulation in addition to rotational movement. That is, the stimulating element combines rotational motion stimulus and electrical stimulus to form a force sensation on the skin that generates a more realistic sensation of physical motion. According to this embodiment, it is possible to accurately teach physical exercise.

[Twelfth Embodiment]
FIG. 7 shows a functional block of the exercise teaching system 4 according to the twelfth embodiment. The motion teaching system 4 includes a motion teaching device 1 according to the first embodiment and a motion instructor motion measuring device 60. The motion instructor motion measuring device 60 measures the body motion information of the motion instructor in real time. The body movement information acquisition unit 20 acquires information on the body movement of the movement instructor from the movement instructor movement measuring device 60. The motion instructor motion measuring device 60 is, for example, a biosensor attached to various parts of the body of the motion instructor. The control unit 30 forms a mechanical distribution on the user's skin based on the body movement information of the motion instructor that the body movement information acquisition unit 20 acquires from moment to moment. As a result, the user can learn the physical exercise of the motion instructor as a model in real time. Although the motion teaching system 4 has described an example including the motion teaching device 1, the motion teaching device is not limited to this, and the motion teaching device may be any of the above-described embodiments.

[13th Embodiment]
The physical motion information of the motion instructor may include the myoelectric potential, muscle tension, skin deformation, etc. of the motion instructor. In this case, the motion instructor motion measuring device 60 includes a myoelectric potential sensor, a muscle strength measuring device, a skin strain measuring device, and the like. According to this embodiment, it is possible to acquire the body movement information of the motion instructor from various biological information.

[14th Embodiment]
FIG. 8 shows a functional block of the exercise teaching system 5 according to the fourteenth embodiment. The motion teaching system 5 includes a motion teaching device 1 according to the first embodiment, a motion instructor motion measuring device 60, and a user motion measuring device 70. The user motion measuring device 70 measures the user's physical motion information in real time. The body movement information acquisition unit 20 is a stimulus element 11 based on the difference between the body movement information of the movement teacher measured by the movement teacher movement measuring device 60 and the body movement information of the user measured by the user movement measuring device 70. , 12, ..., 1n is controlled. The user motion measuring device 70 is, for example, a biosensor attached to various parts of the user's body.

The more immature the user, the greater the difference between the physical exercise of the user and the physical exercise of the motion instructor. By measuring this difference in real time and controlling the stimulating element based on the difference, it is possible to correct the physical movement of the user and bring it closer to the ideal physical movement. In the present embodiment, the control unit 30 forms a mechanical distribution on the skin of the user based on the difference in physical movement between the motion teacher and the user, which changes from moment to moment. As a result, the user can acquire the target physical exercise while modifying his / her own physical exercise with respect to the physical exercise of the motion instructor as a model. Although the motion teaching system 5 has described an example including the motion teaching device 1, the motion teaching device is not limited to this, and the motion teaching device may be any of the above-described embodiments.

[Fifteenth Embodiment]
The control unit 30 allows the user to perform muscle activity so that the difference between the physical motion information of the motion instructor measured by the motion instructor motion measuring device 60 and the physical motion information of the user measured by the user motion measuring device 70 becomes small. The stimulating elements 11, 12, ..., 1n are controlled so as to form a mechanical distribution on the skin that generates a force sensation. That is, the control unit 30 forms a mechanical distribution on the user's skin that generates a physical sensation that causes the user to move muscles stronger or faster in order to bring the user's physical movement closer to that of the motion teacher. do. This allows the user to master the target physical movement by modifying his or her physical movement to move the muscles stronger or faster with respect to the physical movement of the model motion teacher. ..

[16th Embodiment]
The control unit 30 allows the user to perform muscle activity so that the difference between the physical motion information of the motion instructor measured by the motion instructor motion measuring device 60 and the physical motion information of the user measured by the user motion measuring device 70 becomes small. The stimulating elements 11, 12, ..., 1n are controlled so as to form a mechanical distribution on the skin that generates a force sensation that causes the body to rest. That is, in order to bring the user's physical movement closer to the physical movement of the motion instructor, the control unit 30 applies a mechanical distribution on the user's skin to generate a physical sensation that causes the muscle currently being exercised by the user to stand still. Form. As a result, the user can acquire the target physical movement by modifying his / her own physical movement so as to keep the muscles stationary with respect to the physical movement of the motion instructor as a model.

[17th Embodiment]
FIG. 9 shows a functional block of the exercise teaching system 6 according to the 17th embodiment. The motion teaching system 6 includes a motion teaching device 1 according to the first embodiment, a motion teacher motion measuring device 60, a learning unit 80, and a mechanical distribution estimation unit 21. The learning unit 80 has two operation modes, that is, a first operation mode and a second operation mode. Here, the first operation mode is the learning mode, and the second operation mode is the control mode. In the learning mode, the learning unit 80 uses a large amount of physical motion information of the motion instructor and the mechanical distribution of the skin of the motion instructor estimated by the mechanical distribution estimation unit 21 from the physical motion information as learning data. Machine learning. The mechanical distribution may be directly observed using a myoelectric sensor or the like as a motion instructor motion measuring device, or may be estimated by a finite element method or the like from the state of skin deformation. On the other hand, in the control mode, the learning unit 80 is mechanically estimated based on the learning result when the body movement information of the movement teacher acquired by the body movement information acquisition unit 20 from the movement teacher movement measuring device 60 is input. The distribution is output to the control unit 30. The control unit 30 controls each stimulating element on the user's skin to form the mechanical distribution on the user's skin, and induces the user to have a physical sensation of the motion instructor. The conversion from the mechanical distribution to the controlled variable of each stimulus element is performed using a table in which the relationship between the two is previously tabulated.

Machine learning may be performed by a known AI. The specific method of AI is not particularly limited, but for example, a convolutional neural network (CNN), a recursive neural network (RNN), an LSTM network (Long Short Term Memory), etc. In this case, different neural networks may be mixed for each calculation model after sharing the input layer. In the present embodiment, a large number of pairs of the presented force sense and the mechanical distribution that generates the force sense are prepared, and AI is made to learn these as learning data. As a result, the AI can output a mechanical distribution that generates a desired force sensation when the body movement information of the motion instructor is input.

According to this embodiment, by using machine learning, it is possible to estimate the mechanical distribution that generates the desired force sensation with high accuracy from the body movement information of the motion instructor.

[18th Embodiment]
FIG. 10 shows a functional block of the exercise teaching system 7 according to the eighteenth embodiment. The motion teaching system 7 includes a motion teaching device 1 according to the first embodiment, a motion instructor motion measuring device 60, a camera 90, and a display device 92. The camera 90 captures the physical movement of the motion instructor. The display device 92 is a wearable display device that displays an image taken by the camera 90 to the user. The camera 90 may be, for example, a high-definition camera or a stereo camera. The display device 92 may be, for example, an HMD (head-mounted display). According to the present embodiment, by using the skin stimulation by the stimulating elements 11, 12, ..., 1n and the visual stimulation by the display device 92 in combination, it is possible to teach the physical sensation with a higher sense of presence.

[19th Embodiment]
FIG. 11 shows a functional block of the exercise teaching system 8 according to the nineteenth embodiment. The motion teaching system 8 includes a motion teaching device 1 according to the first embodiment, a motion instructor motion measuring device 60, a microphone 94, and a reproduction device 96. The microphone 94 records the voice accompanying the physical exercise of the motion instructor. The reproduction device 96 is a wearable reproduction device that reproduces the voice recorded by the microphone 94 to the user. The microphone 94 may be a stereo microphone such as a binaural microphone. The playback device 96 may be, for example, headphones. According to the present embodiment, by using the skin stimulation by the stimulating elements 11, 12, ..., 1n and the auditory stimulation by the regenerating device 96 in combination, it is possible to teach the physical sensation with a higher sense of presence.

[20th Embodiment]
FIG. 12 shows a processing flow of the exercise teaching method according to the twentieth embodiment. This motion teaching method uses step S1 to acquire information on the body movement of the motion instructor and a plurality of stimulating elements arranged on the skin close to the surface of the user's muscle, and the surface of the user's muscle. The step S2, which stimulates the skin in the vicinity of the skin, is provided. The plurality of stimulating elements form a mechanical distribution on the skin that generates a desired force sensation based on body movement information. The interval between the adjacent stimulating elements is an interval capable of teaching a spatially continuous force sense. Force sensation induces the user to feel the physical sensation when the motion instructor is performing physical exercise.

In step S1, this exercise teaching method acquires information on the physical exercise of the motion instructor. The physical exercise of the motion instructor is the exercise of the muscles when the motion instructor performs the technique, and serves as a model for the user. In step S1, the information stored in advance in the storage device or the like may be acquired, or the actual physical exercise of the motion instructor may be acquired in real time.

In step S2, this exercise teaching method stimulates the skin close to the surface of the user's muscle by using a plurality of stimulating elements arranged on the skin close to the surface of the user's muscle. The method of stimulating the skin by the stimulating element may be a mechanical method such as rotational movement, pulling in the shear direction, compression, or suction. Each stimulating element may be capable of presenting a sense of force by itself. Alternatively, it may be possible to present a sense of force only when a plurality of stimuli jointly form a predetermined mechanical distribution.

The interval between adjacent stimulating elements is an interval that can present a spatially continuous force sense. If the distance between the stimulating elements is too large, the force sense becomes spatially discontinuous. In this case, it is not possible to form a mechanical distribution on the skin that produces the desired force sensation. The spacing between adjacent stimulating elements may be, for example, such that the ranges of force sense presented by the adjacent stimulating elements overlap. Alternatively, the spacing between adjacent stimulating elements may be within the range of the two-point discrimination threshold in the area of the skin.

The force sense induces the user to feel the physical sensation when the motion instructor is performing physical exercise. That is, by the force sensation presented by this movement teaching method, the user should move which muscle with what strength in order to reproduce the body movement of the movement teacher (that is, to perform the ideal body movement). You can get a good feeling, including the change over time.

According to the present embodiment, by stimulating the skin of the user, the physical exercise of the motion instructor can be accurately taught to the user.

[21st Embodiment]
The 21st embodiment is a program. This program causes a computer to execute the exercise teaching method according to the twentieth embodiment described above. According to this embodiment, it is possible to realize teaching of physical exercise with high reality as software.

The embodiment of the present invention has been described in detail above. These embodiments are exemplary, and those skilled in the art will appreciate that various modifications and modifications are possible within the claims of the invention, and that such modifications and modifications are also within the claims of the present invention. It is about to be understood. Therefore, the descriptions and drawings herein should be treated as exemplary rather than limiting.

[Modification example]
Hereinafter, a modified example will be described. In the drawings and description of the modified examples, the same or equivalent components and members as those in the embodiment are designated by the same reference numerals. The description that overlaps with the embodiment will be omitted as appropriate, and the configuration different from that of the first embodiment will be mainly described.

The mechanical distribution formed on the skin by the stimulating element may be a strain energy density distribution. Alternatively, the mechanical distribution may be a strain distribution, which strain may be the principal strain or the equivalent strain. Alternatively, the mechanical distribution may be a force distribution, which may be a shear force or a normal force. Further, the mechanical distribution may be a stress distribution, which stress may be either pressure, principal stress or von Mises stress.

Each of these modified examples has the same action and effect as that of the embodiment.

Any combination of each of the above-described embodiments and modifications is also useful as an embodiment of the present invention. The new embodiments resulting from the combination have the effects of each of the combined embodiments and variants.

The present invention can be industrially used as an exercise teaching device, an exercise teaching system, an exercise teaching method and a program.

1 ・ ・ Exercise teaching device 2 ・ ・ Exercise teaching device 3 ・ ・ Exercise teaching device 4 ・ ・ Exercise teaching system 5 ・ ・ Exercise teaching system 6 ・ ・ Exercise teaching system 7 ・ ・ Exercise teaching system 8 ・ ・ Exercise teaching system 11 ・ ・・ Stimulation element 12 ・ ・ Stimulation element 13 ・ ・ Stimulation element 14 ・ ・ Stimulation element 1n ・ ・ Stimulation element 20 ・ ・ Body movement information acquisition unit 30 ・ ・ Control unit 40 ・ ・ Storage unit 50 ・ ・ Stimulation element unit 60 ・ ・Motion teacher motion measuring device 70 ・ ・ User motion measuring device 80 ・ ・ Learning unit 90 ・ ・ Camera 92 ・ ・ Display device 94 ・ ・ Microphone 96 ・ ・ Reproduction device M ・ ・ Muscle S ・ ・ Skin S1 ・ ・ Motion instructor Step to acquire information on physical exercise of S2 ... Stimulation is applied to the skin close to the surface of the user's muscle by using a plurality of stimulating elements arranged on the skin close to the surface of the user's muscle. Step

Claims (21)

1. A wearable exercise teaching device for teaching physical exercise by presenting a sense of force to the skin close to the user's muscles.
   The physical exercise information acquisition unit that acquires the physical exercise information of the motion instructor,
   A plurality of stimulators placed on the skin close to the surface of the user's muscles,
   A control unit that controls the plurality of stimulating elements is provided.
   Each of the plurality of stimulating elements stimulates the skin close to the surface of the user's muscles.
   The control unit controls the plurality of stimulating elements so as to form a mechanical distribution on the skin that generates a desired force sensation based on the information acquired by the body movement information acquisition unit.
   The force sensation is a motion teaching device, characterized in that the user induces a physical sensation when the motion instructor is performing physical exercise.
2. Equipped with a storage unit that stores information on the physical movements of motion teachers
   The exercise teaching device according to claim 1, wherein the physical exercise information acquisition unit acquires information from the storage unit.
3. The stimulating element stimulates the skin by rotational movement, and the stimulating element stimulates the skin.
   The motion teaching device according to claim 1 or 2, wherein the control unit controls a rotation angle and a rotation direction of the stimulation element.
4. The motion teaching device according to claim 3, wherein the control unit controls the stimulating element so that the larger the target force sense is, the larger the rotation angle of the stimulating element is.
5. The stimulating element stimulates the skin by rotational movement, and the stimulating element stimulates the skin.
   The motion teaching device according to claim 1 or 2, wherein the control unit controls the rotation speed and the rotation direction of the stimulation element.
6. The motion teaching device according to claim 5, wherein the control unit controls the stimulating element so that the larger the target force sense is, the larger the rotation speed of the stimulating element is.
7. The stimulating element stimulates the skin by rotational movement, and the stimulating element stimulates the skin.
   The motion teaching device according to claim 1 or 2, wherein the control unit controls the rotational torque and the rotational direction of the stimulating element.
8. The motion teaching device according to claim 7, wherein the control unit controls the stimulating element so that the larger the target force sense is, the larger the rotational torque of the stimulating element is.
9. The motion teaching device according to any one of claims 1 to 8, wherein the interval between the adjacent stimulating elements is an interval capable of presenting a spatially continuous force sense by the adjacent stimulating element.
10. The stimulating element is placed on the skin close to the surface of the user's upper arm, forearm, wrist, finger, thigh, lower leg, ankle, toe, neck, torso or lumbar muscle. The exercise teaching device according to any one of claims 1 to 9, wherein the exercise teaching device is characterized in that.
11. The motion teaching device according to any one of claims 3 to 10, wherein the stimulating element stimulates the skin by electrical stimulation in addition to rotational motion.
12. The exercise teaching device according to any one of claims 1 to 11.
    It is equipped with a motion instructor motion measuring device that measures information on the body motion of the motion instructor in real time.
    The physical exercise information acquisition unit is a motion teaching system characterized by acquiring information on the physical motion of a motion instructor from the motion instructor motion measuring device.
13. The exercise teaching system according to claim 12, wherein the physical exercise information of the motion instructor includes a myoelectric potential, muscle tension, or skin deformation.
14. It is equipped with a user exercise measuring device that measures the user's physical exercise information in real time.
    The control unit has a plurality of the control units based on the difference between the physical motion information of the motion teacher measured by the motion instructor motion measuring device and the physical motion information of the user measured by the user motion measuring device. The motion teaching system according to claim 12 or 13, wherein the stimulating element of the above is controlled.
15. 14. The control unit is characterized in that the plurality of stimulating elements are controlled so that the user forms a mechanical distribution on the skin that generates a force sensation that increases muscle activity so that the difference becomes small. The exercise teaching system described in.
16. 14. The control unit is characterized in that the plurality of stimulating elements are controlled so that the user forms a mechanical distribution on the skin that generates a force sensation that causes the muscle activity to rest so that the difference becomes small. The exercise teaching system described in.
17. By machine learning the physical motion information of the motion instructor and the mechanical distribution estimated from the physical motion information as learning data, the physical motion information acquisition unit acquires from the motion instructor motion measuring device. The device according to any one of claims 12 to 16, further comprising a learning unit that outputs a mechanical distribution that generates a desired force sensation when the information on the physical movement of the motion teacher is input. The described exercise teaching system.
18. A wearable display device that displays the first-person image of the motion instructor taken from the viewpoint position of the motion instructor, and
    The exercise teaching system according to any one of claims 12 to 17.
19. A microphone that records the surrounding sounds during the physical exercise of the motion teacher,
    A wearable playback device that reproduces the sound recorded by the microphone, and
    The exercise teaching system according to any one of claims 12 to 17.
20. It is an exercise teaching method for teaching physical exercise by presenting a sense of force to the user's skin.
    Steps to acquire information on the physical movement of the movement teacher,
    A step of stimulating the skin close to the surface of the user's muscle using a plurality of stimulating elements placed on the skin close to the surface of the user's muscle.
    The plurality of stimulating elements form a mechanical distribution on the skin that generates a desired force sensation based on the information of the body movement.
    The force sense is a movement teaching method characterized in that the user is induced to have a physical sensation when the motion instructor is performing physical exercise.
21. Steps to acquire information on the physical movement of the movement teacher,
    A step of stimulating the skin close to the surface of the user's muscle using a plurality of stimulating elements placed on the skin close to the surface of the user's muscle.
    The plurality of stimulating elements form a mechanical distribution on the skin that generates a desired force sensation based on the information of the body movement.
    The force sense is a program that causes a computer to execute a method characterized in that the user induces a physical sensation when a motion instructor is performing physical exercise.

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