JP5205864B2 - Tactile analysis method and tactile analysis device - Google Patents

Description

  The present invention relates to a tactile analysis method and a tactile analysis device that can visually analyze tactile information of a force that a moving body receives.

  Among human senses, visual, auditory, and tactile sensations are important senses that connect machines and humans, or humans and humans that exist in remote places. Image and sound processing technologies that correspond to vision and hearing are rapidly spreading as interfaces with the development of information and communication engineering, and are indispensable as industrial basic technologies. For example, the invention of photography, television, telephones, phonographs, etc. enabled the transmission, storage, and playback of information related to vision and hearing, and the broadcasting of vision and hearing information was also possible using video cameras and televisions. . This is equivalent to making the human sense of vision and hearing transcend time and space. Currently, the development of digital signal processing technology that handles the analysis and processing of such visual and auditory information is progressing day by day.

  On the other hand, tactile information, which is one of sensory information, is required to be developed as a new multimedia information next to visual and auditory information, transmitted and stored, and artificially reproduced. Therefore, remote control between the robot system by the master system and slave system, and the haptic (tactile) display that displays the moving position and various information at the position through the tactile sense are technologies for handling tactile information. A lot of research has been done.

  However, the visual and auditory information described above is passive and unidirectional sensory information, whereas tactile information is bidirectional sensory information that is bound by the “law of action and reaction” in the real world. Yes, the information can be obtained for the first time by actively touching the environment that is the object of contact, so the haptic information is reproduced using the model base and virtual reality, but the haptic information in the real world has been reproduced. Acquisition is difficult.

  On the other hand, in realizing safe operations of future intelligent machines and human-supported robots, it is important to recognize how the environment changes from moment to moment and adapt the robot to that environment. So far, many studies on environment adaptation using a mobile robot as a moving body have been conducted as disclosed in Non-Patent Document 1, Non-Patent Document 2, and the like. It was intended to develop a method to avoid surrounding obstacles and reach the destination in the shortest distance by integrating various sensor information from ultrasonic sensors and ultrasonic sensors. This is equivalent to making a mobile robot express visual and auditory senses and recognizing and adapting to the space.

  However, when running a mobile robot in an actual environment, it is necessary to develop it in consideration of safety when it collides with the surrounding people and the environment. In particular, since the contact movement is sensory information that is recognized only after contact occurs, it cannot be handled by a conventional visual-based or auditory-based approach. Therefore, the ability for the robot itself to recognize the contact instantaneously and feed back the contact is required when traveling in an actual environment. Such an ability is called a haptic ability, and it is indispensable to make the robot express the tactile sensation.

Most academic fields (haptics) that deal with tactile sensation mainly use force sensors. However, since the force sensor can detect the force only at the place where it is mounted, the contact point with the environment must be limited in advance or the entire surface of the robot must be covered with the force sensor. Is.
Akiko Inoue, Seiichiro Katsura, Toshiyuki Murakami (A. Inoue, S. Katsura, T. Murakami), “Control Method for Autonomous Mobile Robot Control for Ride (Autonomous Mobile Robot Control for Ride) Quality Improvement by Estimated Human Parameter and Road Condition), 6th Japan-France Congress on Mechatronics & 4th Asia-Europe Congress on Mechatronics-SAITAMA Pp. 459-464, September 9-12, 2003 (September 9-12, 2003) Hirokazu Seki, Takeaki Sugimoto, Susumu Tada (H. Seki, T. Sugimoto, S. Tadakuma), “A Novel Straight Road Driving Control of Power Assisted Wheelchair Based on Estimated Disturbance of Left and Right Wheels” Assisted Wheelchair Based on Disturbance Estimation of Right and Left Wheels), IEEJ Transactions on Industrial Applications, Vol. 126-D No. 6 (Vol.126-D, No.6), pp. 764- 770, June 2006 (June, 2006)

As described above, conventionally, based on a detection signal from a force sensor attached to a moving body, it has only been determined whether or not the moving moving body is in contact with surrounding obstacles. for example it was not possible to ascertain such irregularities or friction influence of road surface at any position, the surroundings of the road surface and obstacles in contact with the mobile quantitatively.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a tactile analysis method and a tactile analysis apparatus that can quantitatively grasp the situation of contact with a moving body at a certain place. There is.

In order to solve the above problems, a tactile analysis method according to the present invention moves a moving body, acquires time-series force and position tactile information received by the moving body during the movement of the moving body, Analyzing the acquired tactile information in the time domain and the position domain, superimposing the frequency analysis data for each position of the moving body as a result of the analysis process so that it can be visualized on the space including the position, Mapping information for mapping the state of the moving object in a position space is generated, and the mapping information is displayed so as to visualize which frequency component amplitude level exists at which position. .

  In each of the above methods, it is preferable to evaluate the movement or reaction of the moving body based on the mapping information.

  Moreover, it is preferable to control the operation or reaction of the mobile body based on the mapping information.

  In each of the above methods, it is preferable that an actuator for driving the movable body is provided, and the tactile information is acquired by a force extracted from the actuator.

  Instead, it is preferable that an actuator for driving the moving body is provided, and the tactile information is acquired by a force extracted from a system in which the actuator is controlled by a control unit.

  The force from the actuator is extracted using a position sensor, speed sensor, acceleration sensor, current sensor, force sensor, torque sensor, or strain gauge.

  Alternatively, the force from the actuator may be extracted by a disturbance observer.

In each of the above methods, it is preferable that the association data associating the result of the analysis processing with the movement or reaction of the moving body is stored in the storage unit for each movement or reaction of the moving body.

  The acquired haptic information is preferably analyzed in the time domain by Fourier transform, wavelet transform, or cosine transform.

  Further, it is preferable that the analysis process of the position area is performed by a finite element method.

  Further, the position area analysis processing may have a function of continuously interpolating the haptic information at discrete positions.

Furthermore, it is preferable to provide a reverse lookup function for specifying the operation or reaction of the mobile object from the association data stored in the storage means, using the result of the analysis process as a search target.

Corresponding to the above method, the tactile analysis device according to the present invention includes a moving body, means for acquiring tactile information of time series force and position received by the moving body during the movement of the moving body, The processing means for analyzing the acquired tactile information in the time domain and the position domain, and the frequency analysis data for each position of the moving body, which is the result of the analysis process , are superimposed so as to be visualized on the space including the position. In addition, mapping means for generating mapping information for mapping the state of the moving object in the position space and the mapping information are displayed so that it can be visualized which amplitude level of which frequency component exists at which position. Display control means.

  Each of the above devices preferably further comprises means for evaluating the movement or reaction of the moving body based on the mapping information.

  Moreover, it is preferable to further comprise a moving body control means for controlling the operation or reaction of the moving body based on the mapping information.

  Each of the above devices preferably includes an actuator for driving the moving body, and the tactile information is acquired by a force extracted from the actuator.

  Instead, it is preferable that an actuator for driving the moving body is provided, and the tactile information is acquired by a force extracted from a system in which the actuator is controlled by a control unit.

  Further, it is preferable that the force from the actuator is extracted using a position sensor, a speed sensor, an acceleration sensor, a current sensor, a force sensor, a torque sensor, or a strain gauge.

  Instead, a disturbance observer for extracting the force from the actuator may be provided.

In each of the above-described apparatuses, it is preferable that the association data that associates the result of the analysis processing with the operation or reaction of the moving body is stored in the storage unit for each operation or reaction of the moving body.

  The processing means preferably analyzes the acquired haptic information in the time domain by Fourier transform, wavelet transform, or cosine transform.

  Further, it is preferable that the analysis process of the position area is performed by a finite element method.

  Further, the position area analysis processing may have a function of continuously interpolating the haptic information at discrete positions.

Furthermore, it is preferable to include reverse lookup means for specifying the operation or reaction of the moving object from the association data stored in the storage means, using the result of the analysis processing as a search target.

According to the method of claim 1 and the apparatus of claim 13, during the movement of the moving body, time-series force and position tactile information received by the moving body is obtained, and the tactile information is obtained from the time domain and the position. Analysis processing is performed in the area. Therefore, the frequency analysis data for each position of the moving object, which is the result of the analysis process, is superimposed so that it can be visualized on the space including the position, and mapping information is created by mapping the situation of the moving object in the position space. If the mapping information is displayed so that the amplitude level of what frequency component is present at which position can be visualized, the position of the moving body is related to the position of the moving body. The characteristic frequency can be visualized and expressed by, for example, colors and shades, and it is possible to quantitatively grasp the situation of contact with the moving body at each location.

  According to the method of claim 2 and the apparatus of claim 14, the mapping information includes a frequency characteristic of the force received by the moving body at a certain position. It is possible to correctly evaluate the movement or reaction when moving the part.

  According to the method of claim 3 and the apparatus of claim 15, by controlling the operation or reaction of the moving body based on the mapping information, for example, not only an obstacle but also a road surface with a poor ride comfort such as a muddy road or a gravel road. Thus, the moving body can be operated, and the moving body can be controlled along an optimum path in consideration of the surrounding environment.

  According to the method of claim 4 and the apparatus of claim 16, it is possible to acquire tactile information using an actuator based on the force extracted therefrom.

  According to the method of claim 5 and the apparatus of claim 17, the control means controls, for example, the position, speed, acceleration, torque, or force of the actuator, and is extracted from a system in which these control means and the actuator are combined. The tactile information can be acquired based on the applied force.

  According to the method of claim 6 and the apparatus of claim 18, the force from the actuator is obtained using the detection output of the position sensor, velocity sensor, acceleration sensor, current sensor, force sensor, torque sensor, or strain gauge. Can be extracted. In particular, the force acquired by the force sensor includes all kinds of information such as friction with the road surface, unevenness of the road surface, and the degree of impact force when contacting obstacles. Can be realized.

  According to the method of claim 7 and the apparatus of claim 19, a force sensor is used because tactile information of time series force received by the moving body can be acquired by extracting the force from the actuator by the disturbance observer. Tactile information can be acquired without any problem. In addition, the force acquired by the disturbance observer includes all kinds of information such as friction with the road surface, unevenness of the road surface, and the degree of impact force when contacting obstacles. Can be realized.

According to the method of claim 8 and the apparatus of claim 20, the result of the analysis process is associated with the movement or reaction of the moving body and stored as association data in the storage means. The results of tactile information analysis processing that can intuitively and quantitatively evaluate features related to the movement or reaction of the moving body from the force received in the database are created for each movement or reaction of the moving body on a tactile basis. It becomes possible to do.

  According to the method of claim 9 and the apparatus of claim 21, the time domain of tactile information is obtained by adopting Fourier transform, wavelet transform, and cosine transform, which are researched and developed in the fields of image and sound signal processing. It is possible to easily perform the analysis process in.

  According to the method of claim 10 and the apparatus of claim 22, analysis processing in the position area of tactile information can be easily performed by using a widely known finite element method.

  According to the method of claim 11 and the apparatus of claim 23, it is possible to acquire features related to the motion and reaction of the moving body at consecutive positions from the discrete haptic information at each position.

According to the method of claim 12 and the apparatus of claim 24, it is possible to correctly specify the operation and reaction in a specific mobile object by using the result of the analysis processing included in the association data as a search target.

  Preferred embodiments of the present invention will be described with reference to the accompanying drawings. The embodiments described below do not limit the contents of the present invention described in the claims. In addition, all of the configurations described below are not necessarily essential requirements of the present invention.

  FIG. 1 shows the functional configuration of an apparatus showing a preferred embodiment of the present invention. In the figure, reference numeral 1 denotes an apparatus main body that converts tactile information acquired from the outside into visual information, and is constituted by, for example, a computer having an arithmetic processing function. The apparatus main body 1 includes an input unit 2 that is a unit that acquires tactile information of force and position at a certain time, and a processing unit 3 that analyzes the tactile information acquired by the input unit 2 in a time region and a position region, that is, a spatial region. And storage means 4 for storing frequency analysis data for each spatial position obtained by the processing means 3, visual display means 5 such as a screen (printer) or a printer, and driving of a moving body 11 to be described later. And a motor control means 6.

  A moving body 11 provided as a mobile robot includes left and right wheels 12A and 12B as drive wheels that contact a road surface that is a contact environment, and motors 13A and 13A as drive sources that apply rotational force to the wheels 12A and 12B, respectively. 13B, and these wheels 12A, 12B and motors 13A, 13B constitute an actuator 14 that drives the moving body 11 on the road surface. The motors 13A and 13B used in this embodiment are direct drive type servomotors that operate according to a numerical control signal from the motor driver 15 and directly drive the wheels 12A and 12B without providing a speed reduction mechanism. A type of drive source may be used. The motor driver 15 converts the left and right torque command signals output from the motor control means 6 into current control signals and supplies them to the motors 13A and 13B. It also has a function as a detection means 16 that monitors each rotational position of the wheels 12A and 12B and outputs a position response signal to the motor control means 6.

  The motor control means 6 controls the speed of the moving body 11, and more specifically, the translation mode and rotation of the moving body 11 by a first conversion unit 21 and a second conversion unit 22 which will be described later. It controls the speed in the mode. The first converter 21 calculates the speed response values of the translation mode and the rotation mode from the position response signals of the left and right wheels 12A and 12B output from the detection means 16, and each wheel 12A and 12B. A pseudo-differentiator is used as a means for converting the position response signal of each to a speed response value, and as a means for converting each speed response value of the left and right to each speed response value in translation mode and rotation mode, any physical A converter using a second-order Quarry matrix that enables conversion from a real-world joint space to a virtual aspect space in parameters is adopted.

  The second conversion unit 22 subtracts the translation mode speed response value calculated by the first conversion unit 21 from the translation mode speed command value given as the command value to the actuator 14. By multiplying by the speed control proportional gain, the acceleration reference value of the translation mode is obtained, and the rotation mode calculated by the first conversion unit 21 from the speed command value of the rotation mode that is also given as the command value to the actuator 14. By multiplying the value obtained by subtracting the speed response value of the rotation mode by the speed control proportional gain of the rotation mode, an acceleration reference value of the rotation mode is obtained, and the left and right motors 12A are obtained from the respective acceleration reference values of the translation mode and the rotation mode. , 12B to calculate torque reference values for the left and right motors 12A, 12B. That the means for converting the torque reference value, adopts the inverse converter using an inverse matrix of said first Quarry matrix used in the conversion unit 21. The inverse matrix of the query matrix enables conversion from a virtual aspect space to a real-world joint space.

  Then, the speed response values in the translation mode and the rotation mode follow the speed command values in the translation mode and the rotation mode given as command values by the first conversion unit 21 and the second conversion unit 22, respectively. Such speed control is performed on the mobile body 11. Instead of speed control of the actuator 14 by the motor control means 6, the actuator 14 may be configured to perform position control, acceleration control, torque control, or force control.

  In addition to the first conversion unit 21 and the second conversion unit 22, the motor control unit 6 includes disturbance observers 23 and 24 that estimate disturbance torque applied to the left and right wheels 12 </ b> A and 12 </ b> B, and these disturbance observers 23 and 24. And a third converter 25 for calculating each estimated disturbance value in the translation mode and the rotation mode from each estimated disturbance torque value calculated in step (b).

  The disturbance observers 23 and 24 are incorporated corresponding to the left and right motors 13A and 13B, respectively, and the disturbance observer 23 receives the torque command signal from the motor control means 6 to the motor 13A and the detection means 16 to the motor control means. 6 is used as an input to estimate the disturbance torque applied to one side, that is, the right side motor 13A and thus to the wheel 12A, and another disturbance observer 24 receives torque from the motor control means 6 to the motor 13B. The command signal and the position response signal of the motor 13B from the detection means 16 to the motor control means 6 are input, and the disturbance torque applied to the other side, that is, the left side motor 13B and thus the wheel 12B is estimated. Thereby, the disturbance which motor 13A, 13B receives can be detected, without providing a force sensor.

  On the other hand, as a means for converting the estimated disturbance torque values obtained by the disturbance observers 23 and 24 into the estimated disturbance values of the translation mode and the rotation mode, the third conversion unit 25 is also used here from the joint space in the real world. A converter using a second-order queuing matrix that enables conversion into a virtual mode space is employed. The quality matrix used here is the same as the quality matrix incorporated in the first conversion unit 21, and the force that the moving body 11 itself receives from the road surface or an obstacle can be obtained without a force sensor. .

  The motor control means 6 adds the estimated disturbance torque value obtained by the disturbance observer 23 to the torque reference value for the right motor 12A obtained by the second conversion unit 22, thereby the right motor 12A. In addition, the estimated disturbance torque value obtained by another disturbance observer 24 is added to the torque reference value for the left motor 12B obtained by the second conversion unit 22, A torque command signal is output to the left motor 12B.

  Thus, the motor control means 6 in the present embodiment can constitute independent speed control systems for each of the translation mode and the rotation mode by the conversion function based on the quary matrix for any physical parameter. In addition, by using a similar queuing matrix for disturbance, it is possible to resolve the disturbance into a translation mode disturbance and a rotation mode disturbance applied to the moving body.

FIG. 2 shows a model of the moving body 11 shown in FIG. 1, and the above-described wheels 12A and 12B are provided on the right side and the left side of the main body 18 of the moving body 11, respectively. The speed x ^· of the translation mode described above (hereinafter, “ ^· ” representing the first-order differential is written after the corresponding symbol in the specification) is the speed at which the moving body 11 moves along the road surface R. The rotation mode speed φ ^· means the speed at which the mobile body 11 rotates on the road surface R around an axis perpendicular to the road surface R. Here, it is considered that the speeds θ _R ^· , θ _L ^· of the left and right wheels 12A, 12B and the speeds x ^· , φ ^· of the translation mode and the rotation mode are determined and controlled. ^ F ^dis is an estimated disturbance in the translation mode (hereinafter, “^” representing the estimated value is written in front of the corresponding symbol in the specification), and ^ T ^dis is an estimated disturbance in the rotation mode. It is.

  The input means 2 can finally acquire tactile information about what kind of reaction force is generated in a certain time during traveling of the mobile body 11 and can output it to the processing means 3 in the subsequent stage. There may be. In the speed control system using the motor control means 6 described above, the reaction to the moving body 11 includes all of the friction between the road surface R and the wheels 12A and 12B, the unevenness of the road surface R, and the impact force when contacting the obstacle. Force is taken in as an estimated disturbance value from each of the disturbance observers 23 and 24, and the position information of the moving body 11 is calculated by the input means 2 from the position response signal from the motor driver 15. In this case, the configuration may be such that the tactile information specifying the force and position at a certain time is acquired by using the time count of the time measuring means 2A provided in the input means 2. Further, instead of the estimated disturbance values from the disturbance observers 23 and 24, the reaction force may be captured by a detection output from a force sensor attached to the moving body 11.

  Further, as another example, the operation means 17 such as a keyboard or a mouse is connected to the input means 2, and time series reaction force data when touching an arbitrary surrounding environment input from the operation means 17, The input means 2 may directly capture the position data as tactile information. As another example, the external medium 18 storing at least the reaction force in time series and the tactile information on the position is connected to the input means 2, The input unit 2 may be configured to capture the tactile information read from the medium 18. In this case, it is not necessary to incorporate the time measuring means 2A described above into the input means 2.

  Here, the tactile information required by the processing means 3 includes information on the force and position at the same time, and may be synchronized in time, or the force and position at different times. Each information may be included and may be asynchronous in time.

  The processing unit 3 includes a time domain analysis unit 31 that analyzes the haptic information acquired by the input unit 2 in the time domain, and a spatial domain analysis unit 32 that analyzes the haptic information in the spatial domain. The time domain analysis unit 31 performs frequency analysis on the tactile information acquired by the input unit 2 in the time domain, and shows the relationship between time and force included in the tactile information, and the frequency indicating the relationship between frequency and amplitude (vibration level). Any configuration may be used as long as it can be converted into analysis data. Such frequency analysis has been researched and developed in fields such as image and audio signal processing, and examples include a technique using fast Fourier transform (FFT) and wavelet transform.

  On the other hand, the space region analysis unit 32 performs numerical analysis by dividing the space region into small spaces, and a finite element method is well known as a method for realizing this. Therefore, the space domain analysis unit 32 of the present embodiment analyzes the tactile information extracted by dividing the real world space into small spaces by the built-in conversion function of the finite element method, and the result is analyzed in the two-dimensional space. It can be associated with a position in the real world space so that it can be projected onto the screen. In this case, the configuration may be such that the spatial analysis by the spatial domain analysis unit 32 is performed following the frequency analysis by the time domain analysis unit 31, or conversely the frequency analysis may be performed following the spatial analysis. Alternatively, the frequency analysis and the spatial analysis may be performed in parallel, or only the frequency analysis may be performed.

  In this embodiment, in order to perform frequency analysis and spatial analysis in parallel, a signal is cut out using a window function of a certain size in common to the time domain analysis unit 31 and the spatial domain analysis unit 32, and the result Is provided with a computing unit 33 by short-time Fourier transform for calculating a spectrum by Fourier transform. With this calculation unit 33, it is possible to obtain a frequency component of the force that the moving body 11 receives from the surrounding environment at a certain arbitrary position. The analysis processing result by the calculation unit 33 varies depending on the surrounding environment, and the tactile characteristics can be captured.

  The processing unit 3 integrates the analysis result by the time domain analysis unit 31 and the analysis result by the spatial domain analysis unit 32, thereby converting the frequency analysis data at an arbitrary position on the environmental surface into the analysis processing result of the processing unit 3. As a result, a mapping unit 35 is provided that generates mapping information obtained by adding the surrounding state of the moving body 11 to the N-dimensional space from the analysis processing result. The mapping unit 35 superimposes the frequency analysis data for each position obtained by the time domain analysis unit 31 and the space domain analysis unit 32 so that the frequency analysis data can be visualized on the space including the position, thereby the above mapping information is displayed. This mapping information or frequency analysis data for each movement or reaction of the moving body is stored in the storage means 4 every moment.

  When the time domain analysis unit 31 analyzes the tactile information of time series force received by the mobile body 11 in the time domain and generates frequency analysis data, the mapping unit 35 generates the frequency analysis data from the frequency analysis data. The aforementioned mapping information is created by mapping in a so-called time space in which the situation corresponds to the passage of time. On the other hand, the time-series force received by the mobile object 11 and the tactile information of the corresponding position are analyzed by the time-domain analysis unit 31 and the spatial-domain analysis unit 32 in the time-domain and the spatial domain, respectively. When the analysis data is generated, the mapping unit 35 creates mapping information from the frequency analysis data by mapping in a so-called position space in which the state of the mobile body 11 is associated with the position. In any case, by generating the visualized frequency analysis data by the processing means 3, it is possible to visualize and express characteristic frequencies relating to the state of the moving object by, for example, color or shading.

  The storage means 4 stores the visualized or non-visualized frequency analysis data in a database for each identification data indicating the operation and reaction of the mobile body 11. Here, there is identification data assigned for each operation or reaction of the moving body 11 and frequency analysis data storing, for example, visualization information of frequency and spectrum intensity obtained from tactile information for the operation and reaction of the moving body 11. , Stored in the storage means 4 as one piece of association data. The identification data can be input from the operation means 17 connected to the apparatus main body 1, for example. In addition, when there are a plurality of frequency analysis data for the operation and reaction of the same mobile object 11, it is preferable to store them together in the same association data. Thereby, it is possible to immediately grasp the characteristics of the frequency analysis data in various situations with respect to the tactile information on the operation and reaction of the same moving body 11.

  The processing means 3 analyzes the tactile information from the input means 2 and acquires the frequency analysis data every time it obtains the frequency analysis data, and the frequency analysis data in each association data read from the storage means 4. If the frequency analysis data that is the same as or similar to the frequency analysis data to be compared is retrieved, the identification data associated with the frequency analysis data is identified, and any mobile unit 11 is identified. It is provided with discriminating means for outputting to the display means 5 whether it corresponds to the operation or reaction. Further, the discriminating unit can perform a reverse lookup function for specifying the operation or reaction of the moving body 11 from the association data stored in the storage unit 4 using the analysis processing result as a search target.

  In addition, you may implement | achieve the same process means 3 by combining well-known various conversion functions which are shown here or are not shown here individually or in combination. For example, as a conversion function built in the time domain analysis unit 31, for example, Fourier transform other than FFT, wavelet transform, or cosine transform may be employed. The Fourier transform here includes a discrete Fourier transform, a short-time Fourier transform, and the like. The cosine transform is a discrete cosine transform that is a special discrete Fourier transform, a modified discrete cosine transform that is a method of the discrete cosine transform, and the like. including. The wavelet transform includes continuous wavelet transform and discrete wavelet transform.

  The processing means 3 reads out the frequency analysis data corresponding to each position stored in the storage means 4, visualizes the tactile information like a photograph, and displays it on the display means 5. It has a function as a display control means for controlling.

  Here, a new expression technique for visualizing tactile information by the mapping means 35 and the display control means provided in the processing means 3 will be hereinafter described as “Haptograph”. The “haptograph” performs frequency analysis such as Fourier transform or wavelet transform on the tactile information acquired by the input unit 2 and performs an analysis of the environment (road surface R or obstacle) in contact with the moving body 11. By spatially arranging them based on the surface shape, it is possible to visualize which amplitude level (spectrum) of what frequency component exists at which position in different colors and shades (gradation) according to the strength of the amplitude level. It is something to be made.

  By the way, “Hapto” means “touch” in Greek and is named “Haptograph” because it visualizes the sense of touch like a photograph. The haptograph in the present embodiment is defined as the tactile information received from the surface of the environment E in contact with the haptic information arranged in a two-dimensional space. Of course, this arrangement may be one-dimensional or three-dimensional or more. By using a haptograph, tactile information can be visually perceived like a photograph or a figure, so that the tactile sense can be recognized more intuitively. In addition, frequency analysis of the tactile information is performed by the time domain analysis unit 31 and thereby the spectrum size is visualized by, for example, color difference or shading, so that it is possible to perform quantitative evaluation and comparison of the tactile sense.

  The number of spaces divided by the space region analysis unit 32 corresponds to pixels in the case of an image, and the number of divisions is the resolution of tactile information. Of course, if the number of divisions is large, it is possible to embed detailed tactile information, but the amount of data to be stored in the storage means 4 described later also increases. Furthermore, it is possible to create a haptograph by stroking the small space divided by the space region analysis unit 32, not only by a haptograph composed of discrete point sequences, but also by capturing the small space as a continuous line. .

  In addition, the processing means 3 analyzes the frequency component of the force received by the mobile body 11 traveling along an arbitrary position based on the mapping information visualized and expressed from the mapping means 35, and the mobile body 11 is analyzed from the analysis result. Is provided with a ride comfort evaluation means 36 for evaluating the operation or reaction of the vehicle and thus the ride quality. The evaluation by the riding comfort evaluation means 36 can be displayed on the display means 5 as necessary.

  Further, the motor control means 6 sets a route avoiding an obstacle or a rough road surface R based on the mapping information output from the mapping means 35 so that the mobile body 11 can travel along the set route. Also, it has a function as a moving body control means for controlling the operation and reaction of the moving body 11.

  Next, based on the above configuration, each procedure of the tactile visual expression method in this embodiment will be described with reference to the flowchart of FIG. When the apparatus main body 1 is activated and the processing operation is started, the input unit 2 acquires tactile information to be sent to the subsequent processing unit 3 in step S2. For the acquisition of the tactile information, the contact operation in step S1 is performed first.

  Specifically, when the left and right torque command signals are output from the motor control means 6 to the motor driver 15 of the moving body 11, the motor driver 15 converts the left and right torque command signals into current control signals to convert the motor 13A, 13B. As a result, the driving force of the motors 13A and 13B is directly transmitted to the corresponding wheels 12A and 12B, and the moving body 11 travels on the road surface R. The speed of the moving body 11 is controlled by the motor control means 6 as described above, and the position response signals of the motors 13A and 13B are sent from the detection means 16 to the motor control means 6 every moment.

  In the motor control means 6, the disturbance torque values received by the motors 13A and 13B are estimated by the disturbance observers 23 and 24, respectively. The estimated disturbance torque value is converted into each estimated disturbance value in the translation mode and the rotation mode by the third conversion unit 25, and is taken into the input unit 2 as information on the force received by the moving body 11. On the other hand, each position response signal from the detection means 16 is sent to the input means 2 as it is, and the input means 2 calculates position information as to which position the moving body 11 is from the position response signal. Note that the position information may be calculated by the motor control means 6.

  In step S2, the input means 2 uses the clock count of the built-in time measuring means 2A to acquire time-dependent changes in the captured force and position information as tactile information, and Associate. Incidentally, when time information is associated in advance with the information on the force and position taken into the input means 2, it can be acquired as it is as tactile information. Further, when the direct contact information is acquired from the operation means 17 or the external medium 18 instead of the detection means 16, the procedure of step S1 can be omitted.

  Thus, when the tactile information is obtained in step S2, the time domain analysis unit 31 and the spatial domain analysis unit 32 of the processing means 3 obtain the frequency component of the force received by the moving body 11 at a certain arbitrary position, for example, Signal processing is performed by a frequency analysis method such as short-time Fourier transform or Gabor wavelet transform, which leaves time information, and the tactile information is analyzed as a time domain and a spatial domain (step S3). Thereby, the frequency analysis data for every arbitrary positions along the position where the mobile body 11 traveled can be obtained.

  Thus, when the time domain analysis unit 31 and the space domain analysis unit 32 generate frequency analysis data corresponding to an arbitrary position in the real space as an analysis processing result of the processing unit 3, the mapping unit 35 generates mapping information in the next step S4. The mapping information and / or analysis processing result is generated and stored in the storage unit 4. Further, if necessary, the mapping information and / or the analysis processing result is read from the storage unit 4 and the display control unit provided in the processing unit 3 causes the display unit 5 to display the mapping information based on the “haptograph” described above. Then, a series of processing is completed.

  The mapping information here may be any information as long as it does not deviate from the concept of “haptograph”. For example, the degree of spectrum in a predetermined range of frequencies may be visualized with lines, colors, shadings, etc. on an arbitrary position along the movement of the moving body 11. Alternatively, the frequency analysis data at fixed positions that are scattered may be interpolated with a straight line or the like, and may be continuously displayed in a mesh form.

Continued stomach, experimental examples based on the above examples illustrate the experimental results and device configuration.

  First, as an experimental environment, a concrete road surface with less unevenness as shown in FIG. 4 (a) and an iron plate with unevenness as shown in FIG. 4 (b) are prepared as a continuous road surface R, respectively, and moved thereon. The power assist wheelchair robot as the body 11 was run. Here, the estimated disturbance information of the translation mode and the rotation mode from the road surface R acquired by the respective disturbance observers 23 and 24 is subjected to signal processing using Gabor wavelet transform and arranged on a space corresponding to the traveling road surface. , “Haptograph” mapping information that visualizes and expresses tactile information was created.

  “Haptograph” is generated by frequency analysis of reaction force signal generated by human movement or contact with environment using Fourier transform or wavelet transform, and integrating it as spatial information. In the present embodiment, a tactile scan function based on “haptograph” is embedded in a power assist wheelchair robot that is the moving body 11 to create a tactile-based environment map (mapping information) on the traveling road surface.

  5 and 6 both show the experimental results after running. FIG. 5 shows the component in the straight direction (translation mode), and FIG. 6 shows the component in the rotation direction (rotation mode). The upper waveforms in each figure are the disturbance observers 23 and 24 and the third conversion unit 25. The relationship between the acquired estimated disturbance value and the position is shown, and the lower part shows mapping information obtained by converting this into a “hapt graph”. In the mapping information based on “Haptograph”, the difference in frequency components is expressed quantitatively in shades of color and gradation for each running position, so the road surface R changes from concrete to uneven iron plate at a position near 0.9 m. You can intuitively understand what you are doing. Further, since the spectrum of the component near 10 Hz appears strongly when traveling on the uneven iron plate, the riding comfort evaluation means 36 quantitatively evaluates the riding comfort of the moving body 11 based on these mapping information. It is also possible to do. When traveling such an uneven steel plate, the function of the moving body control means provided in the motor control means 6, for example, whether to change the speed or avoid the uneven iron plate to travel By adopting, it is possible to realize a safe and secure operation based on a tactile sensation that could not be realized with conventional visual-based and auditory-based approaches. Thus, if the road surface mapping information based on the “haptograph” is obtained, it is useful not only for the power assist wheelchair robot but also for the future realization of safe motion planning and adaptive motion of the human support robot.

  In this experimental example, a tactile function was added as a method for realizing a safe and secure operation of the power-assisted wheelchair robot, and the running road surface environment changing from moment to moment could be recognized. In particular, the estimated disturbance information obtained by the disturbance observers 23 and 24 is visualized by a “hapt graph” on a space corresponding to the traveling road surface, so that a tactile-based environment map can be created. This makes it possible to achieve safe and secure operation by changing the speed when traveling on uneven road surfaces, or by avoiding traveling on the road surface if it is uncomfortable to ride. It is.

  FIG. 7 shows an outline of the trajectory plan based on the environment map based on the “hapt graph” that can be realized in the present embodiment. The optimum route for realizing a safe and secure operation as the mobile body 11 is planned based on the mapping information created by the mapping means 35. In addition, it is not necessary to add a special sensor here, and since it can be applied to all conventional electric wheelchairs, it is considered that it can greatly contribute to the development of welfare equipment in an aging society.

  Next, another experimental example will be described. The experimental system used here is also based on FIG. 1, and two direct drive servo motors are mounted on the left and right sides of the main body 18 as motors 13A and 13B serving as driving sources. Since the disturbance observers 23 and 24 are incorporated, the moving body 11 does not require a force sensor or the like and is not mounted.

  In the experimental example here, the control period is set to 100 μs. Table 1 shows the parameters set in the experiment.

The total length of the moving body 11 used in the experiment is 1000 mm, and the total width is 600 mm. In addition, the translation mode speed command value x ^· cmd was set to 0.3 m / s, and the rotation mode speed command value φ ^· cmd was set to 0 rad / s. As the road surface R from which the mapping information based on the “haptograph” is acquired, an iron plate provided with unevenness for preventing slipping and concrete was used as in the above-described experimental example. In addition, mapping information based on the “haptograph” at the time of idling was also acquired.

8 to 13 show the experimental results after running. 8, 10, and 12, the upper waveform shows the relationship between the disturbance observers 23 and 24 and the estimated translation mode disturbance F ^dis acquired by the third converter 25 and the position, and the lower waveform The mapping information based on the analysis result obtained by short-time Fourier transform, that is, the “haptograph” is shown. 9, 11, and 13, the upper waveform shows the relationship between the disturbance observers 23 and 24 and the estimated rotational mode disturbance T ^dis acquired by the third converter 25 and the position, The lower part shows the analysis result obtained by short-time Fourier transform, that is, mapping information based on the “haptograph”.

  The window function used for the short-time Fourier transform by the calculation unit 33 is a Hamming window, and the window width is 0.15 m. The short-time Fourier transform is performed with reference to the position where the moving body 1 exists. Therefore, the “hapt graph obtained by the analysis processing of the processing means 3 can show the frequency characteristics of the force received by the moving body 11 at a certain arbitrary position.

  FIG. 8 and FIG. 9 show experimental results during idling. Here, each wheel 12A, 12B is in an idling state, that is, only air is in contact with the road surface R. The mapping information based on the “haptograph” at this time is expressed in colors and shades (for example, blue) whose amplitude is lower than 10 db at almost all positions and frequencies. There are different colors and shades (for example, light blue) with slightly higher amplitude. This is a unique frequency component of the system. It can be confirmed that there is no difference between the mapping information based on the “haptograph” in the translation mode and the rotation mode except for the DC component. That is, it can be seen that the situation is the same for both environmental modes.

  On the other hand, FIG. 10 and FIG. 11 have shown the experimental result when the mobile body 11 drive | worked the concrete road surface. In the mapping information based on the “haptograph” in each figure, it can be seen that there are many portions of the color and lightness and shade (for example, light blue) whose amplitude is slightly higher than that during the idling. This is because the low frequency component appears strongly due to the unevenness of the road surface R and friction. Further, when the mapping information in the lower part of FIG. 10 and FIG. 11 is compared, there is no significant difference in the appearance of the “hapt graph” between the translation mode and the rotation mode. This is because there is almost no unevenness when the road surface R is concrete, and there is no difference in the force received from the road surface R in the translational direction and the rotational direction when the mobile body 11 travels.

  12 and 13 show experimental results when the moving body 11 travels on a non-slip iron plate. Here, as is clear from the mapping information based on the “hapt graph” in each figure, the situation that the road surface R is uneven is strongly shown. It can also be understood that the appearance of the “hapt graph” in the translation mode and the rotation mode is different from that in the case where the moving body 11 travels on a concrete road surface. Furthermore, from the obtained mapping information, it can be confirmed that the traveling state and riding comfort of the moving body 11 can be visualized in each of the translation mode and the rotation mode.

  As described above, in the above-described embodiment, it is proposed that the mobile robot as the mobile body 11 recognizes the road surface environment. Specifically, the motor control unit 6 uses the query matrix in the first conversion unit 21. The mobile body 11 was controlled by decomposing it into two environmental modes, a translation mode and a rotation mode. As a result, the speed in the translation mode and the speed in the rotation mode can be controlled independently.

  Further, the disturbance torque applied to the left and right wheels 12A and 12B of the moving body 11 can be estimated without using a force sensor by using the disturbance observers 23 and 24. The disturbance observers 23 and 24 may be integrated with the motor control means 6 incorporated in the apparatus main body 1 or may be separate from each other. The disturbance torque in the joint space obtained by the disturbance observers 23 and 24 can also be decomposed into two environmental modes of the translation mode and the rotation mode by the quarry matrix in the third conversion unit 25. For each decomposed environmental mode, visualization of the driving situation and the ride comfort can be realized by creating mapping information in which the “haptograph” is superimposed on the space. Furthermore, in the experiment, it was also confirmed that the mapping information based on the “haptograph” of the translation mode and the rotation mode may differ depending on the road surface R.

  Since the “haptograph” included in the mapping information has been subjected to frequency analysis by the processing means 3, it is possible to express the effects of unevenness and friction at an arbitrary position. Therefore, it is possible to grasp the road surface condition at a certain place. If a tactile map in which the created “haptograph” is arranged in space, that is, mapping information, can be created, the moving body control means incorporated in the motor control means 6 determines the optimum route of the moving body 11 based on this mapping information, The mobile body 11 can avoid not only obstacles but also bad roads such as mud roads and gravel roads. It can also be applied to sensing the road surface.

  Here, the wheels 12A and 12B, which were originally used only as “legs” for moving the robot, can be used as sensors for the road surface R. Furthermore, if the “haptograph” of the road surface environment is stored and accumulated in the storage means 4 and this is made into a database every moment as environmental information, the environment from the storage means 4 when the mobile body 11 travels on an unknown road surface R. It is also possible to read out information appropriately to find a similar road surface environment or to estimate the environment.

As described above, in this embodiment, the moving body 11 is moved, and the tactile information of the time series force received by the moving body 11 is acquired by the input means 2 while the moving body 11 is moving. The tactile information acquired in (2) is analyzed in the time domain by the processing means 3, mapping information for mapping in the time space by associating the situation around the mobile body 11 based on the result of the analysis processing with time, and mapping means A method and apparatus for generating at 35 is provided.

Here, tactile information of time-series force received by the moving body 11 is acquired while the moving body 11 is moving, and the tactile information is analyzed in the time domain. Therefore, by creating mapping information in which the situation of the moving object is mapped in time space from the result of the analysis process , a characteristic frequency related to the situation of the moving object 11 can be expressed, and the moving object 11 at a certain place can be expressed. It is possible to quantitatively grasp the contact situation.

Further, in this embodiment, the moving body 11 is moved, and the tactile information of the time series force received by the moving body 11 is acquired by the input means 2 while the moving body 11 is moving. Method and apparatus for generating tactile information by analyzing means in the time domain by the processing means 3 and visualizing the mapping information for mapping the situation of the moving object 11 in time space from the result of the visualized analysis processing Is provided.

In this case, while the moving body 11 is moving, tactile information of time-series force received by the moving body 11 is acquired, and analysis processing is performed so that the tactile information can be visualized in the time domain. Therefore, if mapping information is created by mapping the state of the moving body 11 in time space from the result of the analysis processing , a characteristic frequency related to the state of the moving body 11 can be visualized and expressed by, for example, color and shading, It is possible to quantitatively grasp the situation in contact with the moving body 11 at a certain place.

In the embodiment, the moving body 11 is moved, and time-series force and position tactile information received by the moving body 11 is acquired by the input means 2 while the moving body 11 is moving. The tactile information is analyzed by the processing means 3 for each position where the moving body 11 moves in the time domain and the position area, and the frequency analysis data for each position of the moving body 11 as a result of this analysis processing is used to calculate the position. The mapping means 35 generates mapping information for mapping the situation around the moving body 11 in the position space so that it can be visualized on the including space, and the amplitude level of what frequency component exists at which position. The display control means provides a method and apparatus for displaying the mapping information so that it can be visualized.

In this case, during the movement of the moving body 11, time-series force and position tactile information received by the moving body 11 are acquired, and the tactile information is analyzed in the time domain and the position domain. Therefore, the frequency analysis data for each position of the moving object, which is the result of the analysis process, is superimposed so that it can be visualized on the space including the position, and mapping information is created by mapping the situation of the moving object in the position space. If the mapping information is displayed so that the amplitude level of what frequency component is present at which position can be visualized, the characteristic frequency related to the situation of the mobile object 11 can be expressed by, for example, color or shading. Thus, it is possible to visualize and to quantitatively grasp the situation of contact with the mobile body 11 at each place.

Further, in the embodiment, the moving body 11 is moved, and time-series force and position tactile information received by the moving body 11 is acquired by the input means 2 while the moving body 11 is moving. The tactile information thus obtained is analyzed and visualized for each position where the moving body 11 moves in the time domain and the position area by the processing means 3, and the situation around the moving body 11 based on the result of the visualized analysis processing is displayed as a position. A method and apparatus for generating mapping information to be mapped in space by the mapping means 35 is provided.

In this case, during the movement of the mobile body 11, time-series force and position tactile information received by the mobile body 11 is acquired, and analysis processing is performed so that the tactile information can be visualized in the time domain and the position domain. ing. Therefore, by creating mapping information in which the state of the moving object is mapped in the position space from the result of the analysis process , a characteristic frequency related to the state of the moving object 11 can be visualized and expressed by, for example, colors and shades. It is possible to quantitatively grasp the situation where the moving body 11 is touched at the place.

  In this embodiment, in order to evaluate the riding comfort of the moving body 11 based on the mapping information, the riding comfort evaluation means 36 as a means for evaluating the operation or reaction of the moving body 11 is further provided. The mapping information obtained by the processing means 3 includes the frequency characteristics of the force received by the moving body at a certain position. By analyzing this, the operation when the moving body 11 moves through the location. Alternatively, the reaction can be correctly evaluated as the riding comfort of the mobile body 11.

  Further, in this embodiment, in order to control the operation or reaction of the mobile body 11 based on the mapping information, a mobile body control means for realizing this is further provided as the motor control means 6, for example. By controlling the operation or reaction of the mobile body 11 based on the mapping information, the mobile body 11 can be operated while avoiding not only obstacles but also inferior road surfaces such as muddy roads and gravel roads, It becomes possible to control the moving body 11 along an optimum route in consideration of the surrounding environment.

  In this case, an actuator 14 for driving the mobile body 11 is provided, and tactile information is acquired by the force extracted from the actuator 14. This makes it possible to acquire tactile information using the actuator 14 based on the force extracted from the actuator 14.

  Alternatively, an actuator 14 for driving the moving body 11 may be provided, and the tactile information may be acquired by a force extracted from a system in which the actuator 14 is controlled by the motor control means 6 that is a control means. While controlling, for example, the position, speed, acceleration, torque, or force of the actuator 14 by the motor control means 6, tactile information is obtained based on the force extracted from the system combining the motor control means 6 and the actuator 14. It becomes possible to acquire.

  When the force from the actuator 14 is extracted using a position sensor, speed sensor, acceleration sensor, current sensor, force sensor, torque sensor, or strain gauge, the detection output of these sensors or gauges is used. The force from the actuator 14 can be extracted. In addition, especially the force acquired by the force sensor includes all information such as friction with the road surface R, unevenness of the road surface R, and the degree of impact force when contacting obstacles. Can be realized.

  Moreover, the structure which extracts the force from the actuator 14 with the disturbance observers 23 and 24 may be sufficient. By extracting the force from the actuator 14 by the disturbance observers 23 and 24, it is possible to acquire tactile information of time-series force received by the moving body 11, so that it is possible to acquire tactile information without using a force sensor. Furthermore, since the forces acquired by the disturbance observers 23 and 24 include all kinds of information such as friction with the road surface R, unevenness of the road surface R, and the degree of impact force at the time of obstacle contact, It is possible to realize intelligent integration.

In the present embodiment, there is provided a method and apparatus for storing association data in which the result of the analysis processing and the operation or reaction of the moving body 11 are associated with each other in each storage unit 4 for each operation or reaction of the moving body 11. Yes.

Since the result of the analysis process is associated with the operation or reaction of the moving body 11 and stored as the association data in the storage unit 4, the operation or reaction of the moving body 11 is obtained from the force received when the moving body 11 operates. The result of the tactile information analysis process that can intuitively and quantitatively evaluate the characteristics related to can be made into a database for each operation or each reaction of the moving body 11 on a tactile basis.

  Further, the processing means 3 of the present embodiment analyzes the haptic information acquired by the input means 2 in the time domain or the spatial domain by Fourier transformation, wavelet transformation or cosine transformation, and in the spatial domain by transformation using the finite element method. Analyzing process. In other words, the Fourier transform, wavelet transform, or cosine transform, which has been researched and developed in fields such as image and audio signal processing, and the finite element method that is well known as a method for numerical analysis by dividing a spatial domain into small spaces By adopting, it becomes possible to easily perform analysis processing in the time domain and the spatial domain of tactile information.

  Further, in the case where the analysis processing of the position area has a function of continuously interpolating the tactile information at each discrete position, the operation of the moving body 11 at the continuous position from the discrete tactile information at each position. It is possible to acquire characteristics related to the response.

Further, examples of the processing unit 3, the association data or found to be stored in the storage unit 4, as a search target results of the analysis process contained in the association data, reverse means for specifying an operation or reaction of the mobile 11 Is preferably provided. By such reverse function, as a search target results of the analysis process contained in the associated data makes it possible to identify the behavior and reaction properly in particular mobile 11.

  In addition, this invention is not limited to the said Example, A various deformation | transformation implementation is possible in the range of the summary of this invention. In the embodiment, the moving body 11 traveling on the road surface R has been described. However, the concept of the present invention can be similarly applied to a moving body that moves in space.

  Since the “haptograph” presented in the above embodiment makes it possible to visualize the tactile information, the tactile sense in the real world can be expressed more intuitively and quantitatively. In particular, in the present invention, by creating a “haptograph” of the traveling road surface (route) by a moving body, it is possible to create an environment map based on a tactile information base that visualizes differences in surrounding conditions by frequency analysis as mapping information It is. Also, according to the apparatus and method proposed in this embodiment, for example, when an uneven iron plate is present on a part of the road surface, the speed is changed when traveling on the iron plate, or the iron plate is avoided otherwise. By using the above-mentioned moving body control means to determine whether the vehicle is running, the tactile-based safe and reliable movement control of the moving body that has not been possible with conventional tactile-based and auditory-based approaches. Can be realized. Therefore, its industrial application can be immeasurable.

1 is a block diagram showing an overall configuration of a tactile analysis device according to an embodiment of the present invention. It is the perspective view which showed the model of the mobile body typically same as the above. 3 is a flowchart showing a processing procedure executed by the tactile analysis device in FIG. It is a schematic explanatory drawing of the road surface which shows an example of experiment running environment same as the above. FIG. 5 is a graph showing a result of an experiment in a straight traveling direction when a moving body travels on the road surface in FIG. 4. FIG. 5 is a graph showing experimental results in a rotation direction when a moving body travels on the road surface in FIG. 4. It is a perspective view which shows the outline | summary of the optimal track | orbit plan of a moving body same as the above. It is a graph which shows the experimental result of the translation mode at the time of idling. It is a graph which shows the experimental result of the rotation mode at the time of idling. It is a graph which shows the experimental result of the translation mode when a moving body drive | works the concrete road surface same as the above. It is a graph which shows the experimental result of the rotation mode when a moving body drive | works the concrete road surface same as the above. It is a graph which shows the experimental result of a translation mode when a moving body drive | works the iron plate with a non-slip | skid as above. It is a graph which shows the experimental result of the rotation mode when a moving body drive | works the iron plate with a non-slip | skid same as the above.

2 Input means 3 Processing means (reverse lookup means)
6 Motor control means (moving body control means)
DESCRIPTION OF SYMBOLS 11 Mobile body 14 Actuator 23, 24 Disturbance observer 25 3rd conversion part (conversion means)
35 Mapping means 36 Riding comfort evaluation means (means for evaluating movement or reaction of a moving body)

Claims (24)

Move the moving object,
While moving the moving body, obtain tactile information of time series force and position received by the moving body,
Analyzing the acquired tactile information in a time domain and a position domain,
The frequency analysis data for each position of the moving body, which is the result of the analysis process, is superimposed so that it can be visualized on the space including the position, and mapping information for mapping the state of the moving body in the position space is generated. ,
A tactile analysis method, characterized in that the mapping information is displayed so as to visualize which frequency component amplitude level is present at which position.   The tactile analysis method according to claim 1, wherein the movement or reaction of the moving body is evaluated based on the mapping information.   The tactile visual analysis method according to claim 1, wherein an operation or a reaction of the moving body is controlled based on the mapping information.   The tactile sense analysis method according to any one of claims 1 to 3, further comprising an actuator that drives the movable body, wherein the tactile information is acquired by a force extracted from the actuator.   4. The tactile information is obtained by a force extracted from a system that includes an actuator that drives the moving body, and the actuator is controlled by a control unit. 5. Tactile analysis method.   6. The tactile analysis method according to claim 4, wherein the force from the actuator is extracted by using a position sensor, a speed sensor, an acceleration sensor, a current sensor, a force sensor, a torque sensor, or a strain gauge. .   6. The tactile analysis method according to claim 4, wherein the force from the actuator is extracted by a disturbance observer. The association data associating the result of the analysis processing with the movement or reaction of the moving body is stored in a storage unit for each movement or reaction of the moving body. Tactile analysis method described in 1.   9. The tactile analysis method according to claim 1, wherein the acquired tactile information is analyzed in a time domain by Fourier transform, wavelet transform, or cosine transform.   The tactile analysis method according to claim 1, wherein the analysis processing of the position area is performed by a finite element method.   The tactile analysis method according to claim 1, wherein the position region analysis processing has a function of continuously interpolating the tactile information at discrete positions. 9. The tactile analysis method according to claim 8, further comprising a reverse lookup function that specifies an operation or a reaction of the moving object from the association data stored in the storage means, using the result of the analysis process as a search target. . A moving object,
Means for acquiring tactile information of time series force and position received by the moving body during the movement of the moving body;
Processing means for analyzing the acquired tactile information in a time domain and a position domain;
The frequency analysis data for each position of the moving object, which is the result of the analysis process, is superimposed so that it can be visualized on the space including the position, and mapping information for mapping the state of the moving object in the position space is generated. Mapping means;
Display control means for displaying the mapping information so as to visualize which frequency component amplitude level exists at which position;
A tactile analysis device characterized by comprising:   14. The tactile analysis device according to claim 13, further comprising means for evaluating an action or reaction of the moving body based on the mapping information.   The tactile analysis device according to claim 13, further comprising a moving body control unit that controls an operation or a reaction of the moving body based on the mapping information.   The tactile analysis device according to any one of claims 13 to 15, further comprising an actuator for driving the moving body, wherein the tactile information is acquired by a force extracted from the actuator.   16. The actuator according to claim 13, further comprising an actuator for driving the movable body, wherein the tactile information is acquired by a force extracted from a system in which the actuator is controlled by a control unit. Tactile analysis device described in 1.   18. The tactile sense sensor according to claim 16, wherein the force from the actuator is extracted using a position sensor, a speed sensor, an acceleration sensor, a current sensor, a force sensor, a torque sensor, or a strain gauge. Analysis device.   The tactile analysis device according to claim 16 or 17, further comprising a disturbance observer for extracting a force from the actuator. The association data associating the result of the analysis processing with the movement or reaction of the moving body is configured to be stored in a storage unit for each movement or reaction of the moving body. The tactile analysis device according to any one of the above.   21. The tactile analysis according to claim 13, wherein the processing means analyzes the acquired tactile information in a time domain by Fourier transform, wavelet transform, or cosine transform. apparatus.   The tactile analysis device according to any one of claims 13 to 21, wherein the position region analysis processing is performed by a finite element method.   The tactile analysis device according to any one of claims 13 to 21, wherein the position region analysis processing has a function of continuously interpolating the tactile information at discrete positions. 21. The tactile analysis device according to claim 20, further comprising reverse lookup means for specifying an operation or a reaction of the moving object from the association data stored in the storage means, using the result of the analysis processing as a search target. .