JP6982299B2 - Body movement guide system, stimulus presentation device, stimulus presentation method and program - Google Patents

Description

The present invention relates to a body movement guide system, a stimulus presentation device, a stimulus presentation method and a program, and more particularly to a body movement guide system, a stimulus presentation device, a stimulus presentation method and a program regarding body movement.

When trying to acquire a skill that involves physical movement such as welding work or painting work or physical movement such as gymnastics or dancing, the person who intends to acquire the skill (hereinafter, also referred to as a trainee) acquires the skill. It is normal to see the movements of a person who has already learned (hereinafter, also referred to as a teacher) and imitate the movements to acquire skills. Then, a teacher who has already acquired the skill may verbally instruct and teach the instructor who is going to acquire the skill to correct the movement.

The whole body movement is measured based on the change of the three-dimensional position in multiple body parts of the trainee who performs the running training, and based on this measurement result, the visual, auditory, or visual or auditory sense is used to guide the trainee to the guided position calculated based on the teacher data. A movement training support device presented as a stimulus such as tactile sense has been proposed (see, for example, Patent Document 1).

In addition, there is also a configuration in which the muscle tension of the model exercise, the acceleration at multiple time points of multiple sites is compared with the muscle tension of the user exercise, and the acceleration at multiple time points of multiple sites, and the result is presented (. For example, see Patent Document 2).

Japanese Unexamined Patent Publication No. 2016-73630 Japanese Unexamined Patent Publication No. 2009-297240

However, in the movement training support device or the learning support device of Patent Document 1 or 2, it is not possible to know which movement of the whole movement is important or the knack of the movement.

The present invention has been made in view of such a situation, and makes it easier and more reliable to learn body movements.

The body movement guide system of the first aspect of the present invention is attached to the body of a first person showing a target body movement, and coordinates in a three-dimensional space of a predetermined part of the body at predetermined unit times. The first measuring instrument to be measured and the coordinates for each predetermined unit time measured by the first measuring instrument, which are specified from the coordinates of the multiple movements and have a high degree of freedom in the multiple movements. A first recording means for recording free movement data indicating free movement data and binding movement data indicating movements with little fluctuation in multiple movements, data indicating the body shape of the first person, and a standard body indicating a standard body shape. A first conversion means for converting free motion data and bound motion data into standard free motion data and standard bound motion data, which are data in the coordinate system of the standard body model, and standard free motion data and standard by comparing with the model. Standard boxel data showing a three-dimensional field according to the target posture of a predetermined part of the body and the tolerance for displacement of the posture every unit time from the restraint movement data, and the serious deviation from the target posture. A generation means for generating standard boxel data in which the degree is set as a value, a second recording means for recording the generated standard boxel data, and a second recording means attached to the body of a second person and of a predetermined part of the body. It is attached to the part where the second measuring instrument that measures the coordinates in the three-dimensional space every predetermined unit time and the second measuring instrument of the second person's body are attached, and stimulates the predetermined part of the body. The data showing the body shape of the second person is compared with the standard body model, and the standard boxel data is converted into the body shape-compatible boxel data that matches the body shape of the second person. From the conversion means of 2 and the coordinates measured by the second measuring instrument and the boxel data corresponding to the body shape, the severity and the deviation between the coordinates of a predetermined part of the body of the second person and the target posture are calculated every unit time. It includes a calculation means for calculating an output value to a stimulator for presenting a corresponding stimulus, and an output means for outputting the calculated output value to the stimulator.

The stimulus presentation device of the second aspect of the present invention is a first measuring instrument attached to the body of a first person showing a target movement of the body, and is a three-dimensional space of a predetermined part of the body. The degree of freedom in multiple movements, which is the coordinates for each predetermined unit time measured by the first measuring instrument that measures the coordinates in the predetermined unit time, and is specified from the coordinates of the multiple movements. Recording means for recording free movement data showing high movement and restrained movement data showing movement with little fluctuation in multiple movements, and standard body model showing data showing the body shape of the first person and standard body shape. The first conversion means for converting the free motion data and the bound motion data into the standard free motion data and the standard bound motion data, which are the data of the coordinate system of the standard body model, and the standard free motion data and the standard constraint. Standard boxel data showing a three-dimensional field according to the target posture of a predetermined part of the body and the tolerance for displacement of the posture every unit time from the movement data, and the severity of the deviation from the target posture. The standard boxel data is used as the body shape of the second person by comparing the data indicating the body shape of the second person with the standard body model with the generation means for generating the standard boxel data in which is set as the value. A second conversion means for converting body shape-compatible boxel data according to the above, and a second measuring instrument attached to the second person's body, in which the coordinates of a predetermined part of the body in a three-dimensional space are predetermined. Stimulation according to the severity and the deviation between the coordinates of a predetermined part of the second person's body and the target posture from the coordinates measured by the second measuring device and the body shape corresponding boxel data measured every unit time of The output value per unit time to the stimulator that is attached to the part where the second measuring device of the second person's body is attached and stimulates a predetermined part of the body. It includes a calculation means for calculating the above and an output means for outputting the calculated output value to the stimulator.

The free movement data can indicate the movement in which the difference in the plurality of movements is larger than the predetermined threshold value, and the constrained movement data can indicate the movement in which the difference in the plurality of movements is equal to or less than the predetermined threshold value.

Standard voxel data in which the severity is arranged in contour lines according to the distance between the coordinates of the predetermined part of the body and the target posture around the predetermined part of the body for each unit time as the generation means. Can be generated.

The generation means can generate standard voxel data showing a three-dimensional field including a surface shape that supports a part of the body so as to have a target posture.

It is possible to cause the generation means to generate standard voxel data in which the severity of the position indicated by the standard free motion data is small and the severity of the position indicated by the standard bound motion data is high.

The stimulus presentation method of the second aspect of the present invention is attached to the body of a first person showing a target body movement, and measures the coordinates of a predetermined part of the body in a three-dimensional space at predetermined unit times. Free movement data and multiple times that indicate movements with a high degree of freedom in multiple movements, which are coordinates for each predetermined unit time measured by the first measuring instrument and are specified from the coordinates of multiple movements. The free movement data and the standard body model, which shows the body shape of the first person, are compared with the recording step of recording the restrained movement data showing the movement with less fluctuation in the movement of the first person. From the first conversion step of converting the constrained motion data into the standard free motion data and the standard constrained motion data, which are the data of the coordinate system of the standard body model, and the standard free motion data and the standard constrained motion data, of the body every unit time. Standard boxel data showing a three-dimensional field according to the target posture of a predetermined part and the tolerance for allowing the displacement of the posture, and the standard boxel data in which the severity of deviation from the target posture is set as a value. The standard body shape is compared with the data showing the body shape of the second person and the standard body model, and the standard boxel data is converted into the body shape-compatible boxel data that matches the body shape of the second person. A second conversion step and a second measuring instrument attached to a second person's body, which measures the coordinates of a predetermined part of the body in three-dimensional space at predetermined unit times. It is a stimulator that presents a stimulus according to the degree of severity and the deviation between the coordinates of a predetermined part of the second person's body and the target posture from the coordinates measured by the measuring instrument and the boxel data corresponding to the body shape. Calculated as a calculation step to calculate the output value for each unit time to the stimulator that is attached to the part where the second measuring instrument of the body of two people is attached and stimulates a predetermined part of the body. Includes an output step that outputs the output value to the stimulator.

The program of the second aspect of the present invention is attached to the body of a first person showing a target body movement, and measures the coordinates of a predetermined part of the body in a three-dimensional space at predetermined unit times. Free motion data and multiple motions indicating highly flexible motions in multiple motions, which are coordinates for each predetermined unit time measured by one measuring instrument and are specified from the coordinates of multiple motions. Free movement data by comparing the recording control step, which controls the recording of constrained movement data showing movements with little fluctuation in, with the data showing the body shape of the first person and the standard body model showing the standard body shape. And the body for each unit time from the first conversion step to convert the bound motion data to the standard free motion data and the standard bound motion data which are the data of the coordinate system of the standard body model, and the standard free motion data and the standard bound motion data. Standard boxel data showing a three-dimensional field according to the target posture of a predetermined part and the tolerance for displacement of the posture, and the severity of deviation from the target posture is set as a value. The generation step to generate the data is compared with the data showing the body shape of the second person and the standard body model, and the standard boxel data is converted into the body shape-compatible boxel data that matches the body shape of the second person. A second conversion step to be performed, and a second measuring device attached to the body of a second person, which measures the coordinates of a predetermined part of the body in a three-dimensional space at predetermined unit times. It is a stimulator that presents a stimulus according to the severity and the deviation between the coordinates of a predetermined part of the second person's body and the target posture from the coordinates measured by the measuring instrument and the body shape corresponding boxel data. Calculated as a calculation step to calculate the output value for each unit time to the stimulator that is attached to the part where the second measuring device of the second person's body is attached and stimulates a predetermined part of the body. Have the computer perform processing including an output control step that controls the output of the output value to the stimulator.

As described above, according to the present invention, it is possible to learn body movements more easily and more reliably.

It is a figure which shows an example of the structure of the body movement guide system of one Embodiment of this invention. It is a block diagram which shows the example of the hardware configuration of a computer 11. It is a block diagram which shows the example of the structure of the function realized in the computer 11 which executes a program. It is a figure which shows the link model from the shoulder to the hand of a person's body. It is a figure which expresses the operation of a link model in a spatiotemporal place. It is a figure which shows the example of the standard voxel data. It is a flowchart explaining the process of the guide of a body movement. It is a flowchart explaining the process of recording. It is a flowchart explaining the process of normalization. It is a flowchart explaining the process of presenting a motion.

An embodiment of the present invention will be described below, and the correspondence between the constituent requirements of the present invention and the embodiment described in the detailed description of the invention will be illustrated as follows. This description is to confirm that the embodiments supporting the present invention are described in the detailed description of the invention. Therefore, even if there is an embodiment that is described in the detailed description of the invention but is not described here as an embodiment corresponding to the constituent elements of the present invention, that is the case. It does not mean that the embodiment does not correspond to the constituent requirements. On the contrary, even if the embodiment is described here as corresponding to the constituent requirements, it means that the embodiment does not correspond to the constituent requirements other than the constituent requirements. It's not something to do.

The body movement guide system of the first aspect of the present invention is attached to the body of a first person showing a target body movement, and coordinates in a three-dimensional space of a predetermined part of the body at predetermined unit times. The first measuring instrument to be measured (for example, measuring instruments 22-1 to 22-12 in FIG. 1) and the coordinates for each predetermined unit time measured by the first measuring instrument, which are the coordinates of a plurality of movements. A first recording means (for example, FIG. 3) for recording free movement data indicating a movement having a high degree of freedom in a plurality of movements and constrained movement data indicating a movement having a small fluctuation in a plurality of movements specified from coordinates. Free movement data and free movement data and comparison between the recording unit 38) of FIG. 2 controlled by the motion data recording control unit 71 and the data showing the body shape of the first person and the standard body model showing the standard body shape. The first conversion means (for example, the posture / behavior data standardization unit 64 in FIG. 3) for converting the bound motion data into the standard free motion data which is the data of the coordinate system of the standard body model and the standard bound motion data, and the standard freedom. From motion data and standard constrained motion data, it is standard boxel data showing a three-dimensional field according to the target posture of a predetermined part of the body and the tolerance for displacement of the posture every unit time, and is the target posture. A generation means for generating standard boxel data in which the severity of deviation is set as a value (for example, the boxel data generation unit 65 in FIG. 3) and a second recording means for recording the generated standard boxel data (for example, for example). , The recording unit 38) of FIG. 2 controlled by the boxel data recording control unit 72 of FIG. 3, and the coordinates of a predetermined part of the body in the three-dimensional space attached to the body of a second person every predetermined unit time. It is attached to the part where the second measuring instrument (for example, measuring instruments 26-1 to 26-12 in FIG. 1) and the second measuring instrument of the second person's body are attached to measure the data of the body. A standard boxel is compared with a stimulator that stimulates a predetermined site (for example, stimulators 27-1 to 27-12 in FIG. 1), data showing the body shape of a second person, and a standard body model. A second conversion means (for example, the boxel data conversion unit 66 in FIG. 3) that converts the data into body shape-compatible boxel data that matches the body shape of the second person, and the coordinates measured by the second measuring instrument. Calculation means for calculating the output value to the stimulator that presents the stimulus according to the severity and the deviation between the coordinates of the predetermined part of the second person's body and the target posture for each unit time from the body shape corresponding boxel data. (For example, the output value calculation unit 67 in FIG. 3) and the calculated output value are output to the stimulator. (For example, the output unit 37 of FIG. 2 controlled by the stimulus output control unit 68 of FIG. 3) is included.

The stimulus presentation device of the second aspect of the present invention is a first measuring instrument attached to the body of a first person showing a target movement of the body, and is a three-dimensional space of a predetermined part of the body. The degree of freedom in multiple movements, which is the coordinates for each predetermined unit time measured by the first measuring instrument that measures the coordinates in the predetermined unit time, and is specified from the coordinates of the multiple movements. Recording means for recording free motion data indicating high motion and constrained motion data indicating motion with little fluctuation in a plurality of motions (for example, the recording unit 38 of FIG. 2 controlled by the motion data recording control unit 71 of FIG. 3). And the data showing the body shape of the first person and the standard body model showing the standard body shape are compared, and the free movement data and the constrained movement data are the data of the coordinate system of the standard body model. From the first conversion means (for example, the posture / behavior data standardization unit 64 in FIG. 3) for converting data and standard bound motion data, and the standard free motion data and standard bound motion data, a predetermined body is determined for each unit time. Generates standard boxel data that shows a three-dimensional field according to the target posture of the part and the tolerance that allows the displacement of the posture, and the severity of the deviation from the target posture is set as a value. The generation means (for example, the boxel data generation unit 65 in FIG. 3) is compared with the data showing the body shape of the second person and the standard body model, and the standard boxel data is obtained as the body shape of the second person. A second conversion means (for example, the boxel data conversion unit 66 in FIG. 3) for converting body shape-compatible boxel data according to the above, and a second measuring instrument attached to the body of a second person, which is a body. From the coordinates measured by the second measuring device that measures the coordinates of the predetermined part in the three-dimensional space at predetermined unit times and the body shape corresponding boxel data, the severity and the predetermined part of the second person's body. It is a stimulator that presents a stimulus according to the deviation between the coordinates of the data and the target posture. A calculation means for calculating the output value for each unit time to the stimulator (for example, the output value calculation unit 67 in FIG. 3) and an output means for outputting the calculated output value to the stimulator (for example, FIG. 3). The output unit 37) of FIG. 2 controlled by the stimulus output control unit 68 is included.

Hereinafter, the body movement guide system according to the embodiment of the present invention will be described with reference to FIGS. 1 to 10. FIG. 1 shows an example of the configuration of a body movement guide system according to an embodiment of the present invention.

The body movement guide system feeds back what part of the current posture or behavior deviates from the target posture or behavior in order to convey a certain target posture or behavior.

The body movement guide system acquires data showing the movement of each part of the human body, which is the target movement of the body, and records it by a predetermined method. The body movement guide system stimulates the body of the person who wants to learn the movement according to the deviation from the movement to be acquired from the data showing the movement of each part of the human body and the movement of the person who wants to learn the movement.

The body movement guide system is attached to the computer 11, the teacher 21, measuring instruments 22-1 to 22-12 for measuring the position and speed of each part of the body, and the instructor 25 for each part of the body. It includes measuring instruments 26-1 to 26-12 for measuring position and velocity, and stimulators 26-1 to 26-12 for stimulating each part of the body, which are attached to the trainee 25. The teacher 21 is a person who has already mastered the movement. The trainee 25 is a person who is trying to learn movement.

The computer 11 is an example of a stimulus presentation device, and includes a personal computer, a server, a computer specifically configured, and the like. The computer 11 acquires data indicating the position of each part of the body of the teacher 21 measured by the measuring instruments 22-1 to 22-12 from the measuring instruments 22-1 to 22-12, and records the data by a predetermined method. .. Further, the computer 11 acquires data indicating the position of each part of the body of the trainee 25 measured by the measuring instruments 26-1 to 26-12 from the measuring instruments 26-1 to 26-12, and the teacher 21 obtains data. The trainee 25 is stimulated by the stimulators 27-1 to 27-12 according to the difference between the data obtained from the data indicating the position of each part of the body and the position of each part of the body of the trainee 25.

The measuring instruments 22-1 to 22-12 are attached to each part of the body and measure the position (hereinafter, referred to as coordinates) and the speed of each part of the body in the three-dimensional space. The measuring instruments 22-1 to 22-12 supply the computer 11 with data indicating the coordinates obtained by the measurement wirelessly or by wire. For example, the measuring instruments 22-1 to 22-12 include a laser position sensor, an ultrasonic position sensor, a magnetic position sensor or an acceleration sensor, and a combination thereof.

For example, the measuring instruments 22-1 to 22-12 are for the face, neck, chest, right arm upper arm, right arm forearm, left arm upper arm, left arm forearm, abdomen, right leg thigh, and right leg, respectively. It is attached to the lower leg, the thigh of the left leg, and the lower leg of the left leg, respectively.

The measuring instruments 26-1 to 26-12 are attached to each part of the body and measure the coordinates of each part of the body in three-dimensional space. The measuring instruments 26-1 to 26-12 supply the computer 11 with data indicating the coordinates obtained by the measurement wirelessly or by wire. For example, the measuring instruments 26-1 to 26-12 include a laser position sensor, an ultrasonic position sensor, a magnetic position sensor or an acceleration sensor, and a combination thereof.

For example, the measuring instruments 26-1 to 26-12 are the face, neck, chest, right arm upper arm, right arm forearm, left arm upper arm, left arm forearm, abdomen, right leg thigh, and right leg, respectively. It is attached to the lower leg, the thigh of the left leg, and the lower leg of the left leg, respectively.

The measuring instruments 22-1 to 22-12 and the measuring instruments 26-1 to 26-12 are not limited to the parts and positions shown in FIG. 1, and are attached to desired parts. Hereinafter, when it is not necessary to distinguish the measuring instruments 22-1 to 22-12 individually, it is simply referred to as the measuring instrument 22. Hereinafter, when it is not necessary to distinguish the measuring instruments 26-1 to 26-12 individually, the measuring instrument 26 is simply referred to.

Further, for example, a plurality of measuring instruments 22 or a plurality of measuring instruments 26 may be attached to a predetermined portion such as the forearm of the right arm. In addition, one measuring instrument 22 or one measuring instrument 26 may be attached to the body.

Instead of the measuring instruments 22-1 to 22-12 or the measuring instruments 26-1 to 26-12, a light emitter or a reflector is attached to each part of the body of the teacher 21 or the trainee 25, and an image is taken with a camera. Then, the coordinates of each part of the body in the three-dimensional space may be measured from the captured image. Further, when the measuring instruments 22-1 to 22-12 or the measuring instruments 26-1 to 26-12 detect only the coordinates, the computer 11 detects the velocity from the change of the detected coordinates per unit time.

The stimulators 27-1 to 27-12 are attached to each part of the body and apply a stimulus such as force, vibration or heat to each part. That is, the stimuli presented by the stimulators 27-1 to 27-12 are physical, electrical or chemical stimuli, including vibrations, pressures, electrical stimuli to nerves and muscles, and the like. The stimulators 27-1 to 27-12 operate by a signal supplied wirelessly or by wire from the computer 11. For example, the stimulators 27-1 to 27-12 consist of an actuator, a shaker, a thermoelectric element such as a heater or a Pelche element, or a combination thereof.

For example, the stimulators 27-1 to 27-12 are the face, neck, chest, right arm upper arm, right arm forearm, left arm upper arm, left arm forearm, abdomen, right leg thigh, right leg, respectively. It is attached to the lower leg, the thigh of the left leg, and the lower leg of the left leg, respectively.

The stimulators 27-1 to 27-12 are not limited to the sites and positions shown in FIG. 1, and are attached to desired sites. Hereinafter, when it is not necessary to distinguish the stimulators 27-1 to 27-12 individually, it is simply referred to as a stimulator 27.

Further, for example, a plurality of stimulators 27 may be attached to a predetermined portion such as the forearm of the right arm. In addition, one stimulator 27 may be attached to the body.

FIG. 2 is a block diagram showing an example of the hardware configuration of the computer 11.

In the computer 11, the CPU (Central Processing Unit) 31, the ROM (Read Only Memory) 32, and the RAM (Random Access Memory) 33 are connected to each other by the bus 34.

An input / output interface 35 is further connected to the bus 34. The input / output interface 35 includes an input unit 36 consisting of a keyboard, mouse, touch pad, microphone, etc., an output unit 37 consisting of a display, a speaker, etc., a recording unit 38 consisting of a hard disk, a non-volatile memory, etc., a network interface, and the like. A drive 40 for driving a removable media 41 such as a communication unit 39, a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory is connected.

Further, the input unit 36 is wirelessly or wiredly connected to the measuring instruments 22-1 to 22-12 and the measuring instruments 26-1 to 26-12, and the measuring instruments 22-1 to 22-12 and the measuring instrument 26-1 are connected. Various data from 26-12 are input and acquired. Further, the output unit 37 is connected to the stimulators 27-1 to 27-12 wirelessly or by wire, and outputs an output signal or the like to the stimulators 27-1 to 27-12 to output the stimulators 27-1 to 27-12. Operate 27-12.

The communication unit 39 is connected to the measuring instruments 22-1 to 22-12, the measuring instruments 26-1 to 26-12, and the stimulators 27-1 to 27-12 to indicate the position of each part of the body. Data, output signals for operation, and the like may be communicated with each other.

In the computer 11 (computer) configured as described above, the CPU 31 loads, for example, the program recorded in the recording unit 38 into the RAM 33 via the input / output interface 35 and the bus 34, and executes the program. , A series of processes described later are performed.

The program executed by the computer 11 (CPU 31) is, for example, a magnetic disk (including a flexible disk), an optical disk (CD-ROM (Compact Disc-Read Only Memory), DVD (Digital Versatile Disc), etc.), an optical magnetic disk, or an optical magnetic disk. It is recorded on a removable media 41 which is a package medium made of a semiconductor memory or the like, or is provided via a wired or wireless transmission medium such as a local area network, the Internet 12, or a digital satellite broadcast.

Then, the program can be installed in the computer by mounting the removable media 41 on the drive 40 and recording the removable media 41 on the recording unit 38 via the input / output interface 35. Further, the program can be installed in a computer by receiving it in the communication unit 39 via a wired or wireless transmission medium and recording it in the recording unit 38. In addition, the program can be installed in the computer in advance by recording it in the ROM 32 or the recording unit 38 in advance.

The functions realized in the computer 11 that executes the program can be broadly divided into a recording function, a standardization function, and a presentation function.

The recording function records the target posture and behavior. The recording function records the coordinates of each body part to be recorded with reference to one point on the body. The recording function also records the recorded body part and body size. The recording function also records the velocity of each body part when it conveys a movement like an action, not a stationary situation like a stationary posture. The recording function records multiple goals (postures and actions) to record a range with a high degree of freedom and a part that requires a fixed angle or movement.

The normalization function converts the recorded data into a standard body model. For example, the data recorded by the recording function is the data recorded by a model of a predetermined person, and the position coordinates in the recorded absolute value cannot be directly applied to a person having another body shape. Therefore, the normalization function compares the recorded data with the standard body model, estimates the inconsistency, and converts it into the data of the coordinate system of the standard body model. Then, the standardized function converts into standardized posture and behavior data including the body model. The standardization function creates a three-dimensional place in the space centered on the standard body model according to the tolerance with the target posture at each moment from the degree of freedom of posture and behavior analyzed by recording multiple times. The severity of the deviation from the target is stored as a value in a 3D voxel, and it is digitized and saved. It can also be said that the severity represents the importance of deviation from the target.

In the presentation function, the standard body model used for standardized posture and behavior data is compared with the model of the actual user, and from the standardized voxel data, the voxel data of the place tailored to the actual user is obtained. create. Whether or not the posture is correct can be determined by the voxel position of each body position of the actual user. In addition, it is possible to output the value of the stimulus presentation that feeds back according to the severity of the deviation, which is the value of the voxel. By this method, processing delay can be reduced because parallel processing can be performed for each part regardless of the overall posture.

FIG. 3 is a block diagram showing an example of the configuration of a function realized in the computer 11 that executes the program. That is, when the computer 11 executes the program, the coordinate / speed data acquisition unit 61, the required operating range data generation unit 62, the recording control unit 63, the posture / behavior data standardization unit 64, the voxel data generation unit 65, and the voxel data conversion unit. 66, the output value calculation unit 67 and the stimulus output control unit 68 are realized.

The coordinate / velocity data acquisition unit 61, the required operating range data generation unit 62, and the recording control unit 63 are recording functions. The posture / behavior data standardization unit 64 and the voxel data generation unit 65 are standardization functions. The voxel data conversion unit 66, the output value calculation unit 67, and the stimulus output control unit 68 are presentation functions.

The coordinate / velocity data acquisition unit 61 acquires data indicating the coordinates and velocity of each part of the body in three-dimensional space from the measuring instruments 22-1 to 22-12 or the measuring instruments 26-1 to 26-12. The required operating range data generation unit 62 is the coordinates for each predetermined unit time measured by the measuring instruments 22-1 to 22-12, and is specified from the coordinates of the plurality of movements, and is free in a plurality of movements. Free movement data showing high-degree movements and constrained movement data showing movements with little fluctuation in multiple movements are generated.

The recording control unit 63 controls the recording unit 38 to have the recording unit 38 record various data and read the recorded data from the recording unit 38. The recording control unit 63 includes a motion data recording control unit 71 and a voxel data recording control unit 72. The motion data recording control unit 71 controls the recording unit 38 to cause the recording unit 38 to record data indicating coordinates and velocities of each part of the body in three-dimensional space, as well as free motion data and constrained motion data. Although the details of the voxel data recording control unit 72 will be described later, the voxel data recording control unit 72 causes the recording unit 38 to record the voxel data generated by the voxel data generation unit 65.

The posture / behavior data standardization unit 64 compares the data showing the body shape of the teacher 21 with the standard body model showing the standard body shape, and converts the free movement data and the constrained movement data into the coordinate system of the standard body model. Convert to standard free motion data and standard bound motion data, which are data. The voxel data generation unit 65 is a standard showing a three-dimensional field according to a target posture and a tolerance for displacement of a predetermined part of the body for each unit time from standard free movement data and standard restraint movement data. It is voxel data, and standard voxel data in which the severity of deviation from the target posture is set as a value is generated.

Here, the standard voxel data will be described with reference to FIGS. 4 to 6 by taking the movement of the arm as an example. FIG. 4 is a diagram showing a link model from the shoulder to the hand of the human body. In the link model shown in FIG. 4, the joint 81, which is a model of the movable part of the wrist joint of the right hand, and the joint 82, which is the model of the movable part of the elbow joint of the right arm, are connected by a link which is a non-deformable part. The joint 82 and the joint 83, which is a model of the movable part of the right shoulder joint, are connected by a link which is a non-deformable part. Conversely, in the linkage, which is the link model shown in FIG. 4, two links are connected by joints 81 to 83 so as to be angularly displaceable.

At this time, it is assumed that the forearm is moved in the direction indicated by the arrow M in FIG. For example, in this movement, it is assumed that the movement in the direction of the arrow M is a range in which a fixed angle or movement is required, and the movement in the direction orthogonal to the arrow M is a range with a high degree of freedom.

First, the voxel data generation unit 65 expresses the operation of the correct answer to be taught in a spatiotemporal field. FIG. 5 is a diagram expressing the operation of the link model of FIG. 4 in a spatiotemporal field. In the boxel data generation unit 65, the field is a coordinate in three-dimensional space and a time change, and a value similar to the electric field potential, contour lines such as pressure and altitude, or a value indicating the magnitude of energy is set in each coordinate of space. It is expressed by being done. For example, as shown by the A-A'-A "line, B-B'-B" line and C-C'-C "line in FIG. 5, this field touches the underside of the forearm and is in contact with the forearm. It is set in a valley shape that regulates the posture from the bottom. For example, in the field shown by the A-A'-A "line, B-B'-B" line and C-C'-C "line in FIG. Of these, the planes indicated by the A-A'line, B-B'line, and C-C'line are parallel to the direction indicated by the arrow M or at a shallower angle (an angle closer to 0 degrees). Placed at the intersections, the faces indicated by the A'-A "line, B'-B" line and C'-C "line are orthogonal to or at a deeper angle (more than) with respect to the orientation indicated by the arrow M. Arranged at intersecting positions (at an angle close to 90 degrees). Also, compared to the width of the faces indicated by the A'-A "line, B'-B" line and C'-C "line, and also A. The width of the faces indicated by the -A'line, B-B'line and C-C' line is widened.

In this way, for example, the voxel data generation unit 65 generates a three-dimensional field including a surface shape that supports a body part so as to have a target posture.

Then, as shown in FIG. 6, the voxel data generation unit 65 sets the severity of the deviation from the target posture as a value from the spatiotemporal field expressing the operation of the correct answer to be taught. To generate. For example, if the position of the elbow at a certain moment of the teacher 21 who is the teacher is the coordinates (x1, y1, z1), the coordinates (x1, y1, z1) are the coordinates (x1, Standard boxel data is generated in which the severity value decreases as the distance from the coordinates (x1, y1, z1) increases in a tubular shape centered on y1, z1). For example, in the case of the plus method, in FIG. 6, each square represents a voxel, and a darker square has a higher severity set.

For example, in the case of the plus method, the forearm is moved in the direction indicated by the arrow M in FIG. 4, and in this movement, the movement in the direction of the arrow M is set to a fixed angle and a range in which movement is required. Voxels near the planes indicated by the A'-A "line, B'-B" line, and C'-C "line are set to a higher severity value, and the A'-A" line. , The severity of voxels placed in orientations intersecting the planes indicated by the B'-B "and C'-C" lines varies greatly with displacement in that orientation.

For example, in the case of the plus method, the forearm is moved in the direction indicated by the arrow M in FIG. 4, and in this movement, the movement in the direction orthogonal to the arrow M is within a high degree of freedom. Voxels near the planes indicated by the A', B-B'and C-C'lines are the planes indicated by the A'-A', B'-B' and C'-C'lines. A smaller value of severity is set compared to voxels in the vicinity of The severity of a voxel varies slightly with respect to its orientational displacement.

Further, for example, when the position of the elbow at a certain moment of the teacher 21 who is the teacher is the coordinates (x1, y1, z1), the coordinates (x1, y1, z1) are the coordinates ( Standard voxel data is generated in which the severity value at x1, y1, z1) is 0, and the value increases as the value deviates in a direction that should not deviate. For example, in the case of the minus method, in FIG. 6, each square represents a voxel, and a darker square is set to a smaller value of severity.

For example, in the case of the minus method, the forearm is moved in the direction indicated by the arrow M in FIG. 4, and in this movement, the movement in the direction of the arrow M is set to a fixed angle or a range in which the movement is required. Voxels near the planes indicated by the A'-A "line, B'-B" line and C'-C "line are set to a smaller value of severity, and the A'-A" line. , The severity of voxels placed in orientations intersecting the planes indicated by the B'-B "and C'-C" lines varies greatly with displacement in that orientation.

For example, in the case of the minus method, the forearm is moved in the direction indicated by the arrow M in FIG. 4, and in this movement, the movement in the direction orthogonal to the arrow M is within the range of high degree of freedom. Voxels near the planes indicated by the A', B-B'and C-C'lines are the planes indicated by the A'-A', B'-B' and C'-C'lines. A higher value of severity is set compared to voxels in the vicinity of The severity of a voxel varies slightly with respect to its orientational displacement.

More specifically, for example, as shown in FIG. 6, when the feedback is a plus method, the side where the body part is arranged with respect to the surface which is the place where the body part is supported so as to be in the target posture. Larger values are placed as severity in voxels of, and smaller values are placed as severity in voxels on the side where no body part is placed. For example, when the feedback is a negative method, a smaller value is placed as the severity in the voxel on the side where the body part is placed with respect to the surface that supports the body part so as to be in the target posture. A larger value is placed as the severity in the voxel on the side where the body part is not placed.

By doing so, the movements of each part of the body of the trainee 25 can be fed back by operating the stimulators 27-1 to 27-12 with the output corresponding to the severity which is the value of the field. .. When handling data digitally, voxels make it easier to handle.

In addition, the field may be continuously expressed, and the serious value may be calculated and arranged as a continuous value. Also, the severity can be expressed as a function.

Returning to FIG. 3, the voxel data conversion unit 66 compares the data showing the body shape of the trainee 25 with the standard body model, and the standard voxel data is matched with the body shape of the trainee 25. Convert to.

The voxel data recording control unit 72 causes the recording unit 38 to record the standard voxel data generated by the voxel data generation unit 65. Further, the voxel data recording control unit 72 causes the recording unit 38 to record the voxel data corresponding to the body shape converted by the voxel data conversion unit 66.

The output value calculation unit 67 is based on the coordinates measured by the measuring instruments 26-1 to 26-12 and the voxel data corresponding to the body shape, and the severity and the coordinates and the target posture of a predetermined part of the body of the trainee 25 are obtained every unit time. The output value to the stimulators 26-1 to 26-12 that present the stimulus corresponding to the deviation from the above is calculated. The stimulus output control unit 68 controls the output unit 37 to output the calculated output value to the stimulators 26-1 to 26-12.

Next, the process of guiding the movement of the body performed by the computer 11 that executes the program will be described with reference to the flowchart of FIG. 7. In step S11, the recording process is executed. In step S12, the standardization process is executed. In step S13, the process of presenting the movement is executed, and the process of guiding the body movement ends.

Next, the details of the recording process in step S12 will be described with reference to the flowchart of FIG. In step S31, the coordinate / velocity data acquisition unit 61 has already learned the movement from the data input from the input unit 36, which is a mouse, touch pad, or keyboard, or the file recorded in advance in the recording unit 38. The data of the size of each part of the body of the teacher 21 and the size of the whole body are acquired. That is, in step S31, the coordinate / velocity data acquisition unit 61 acquires data on the size of each part of the human body that records the movement and the size of the entire body.

In step S32, the coordinate / velocity data acquisition unit 61 refers to one point on the body in a predetermined unit time from the measuring instruments 22-1 to 22-12 attached to each part of the body of the teacher 21. , Acquire the coordinates and velocity data of each part of the body. In step S33, the required operating range data generation unit 62 associates the coordinate data of each part of the body with the velocity data for each unit time. In step S34, the recording control unit 63 stores the coordinate and velocity data of each part of the body associated with the recording unit 38 in the predetermined recording area of the recording unit 38 every unit time.

In step S35, the coordinate / velocity data acquisition unit 61 determines whether or not there is still coordinate and velocity data of each part of the body transmitted from the measuring instruments 22-1 to 22-12. If it is determined in step S35 that there is still data on the coordinates and velocity of each part of the body, the procedure returns to step S32 and the above procedure is repeated.

If it is determined in step S35 that there is no data on the coordinates and speed of each part of the body, the procedure proceeds to step S36, and the motion data recording control unit 71 of the recording control unit 63 controls the recording unit 38. The data of the size of each part of the body of the teacher 21 and the size of the whole body, and the data of the coordinates and the speed of each part of the body are recorded in the recording unit 38 as a file. In step S37, the required operating range data generation unit 62 has a degree of freedom from the coordinate and velocity data of each part of the body recorded so far and the coordinate and velocity data of each part of the body recorded this time. Identify high ranges and ranges that require a fixed angle or movement.

For example, the required operation range data generation unit 62 includes a range of coordinates in which the difference in a plurality of movements is greater than a predetermined threshold value and a range of coordinates in which the difference in a plurality of movements is equal to or less than a predetermined threshold value. To identify. Then, the required motion range data generation unit 62 performs free motion data indicating a range of coordinates indicating a motion in which the difference in the plurality of motions is larger than a predetermined threshold value, and motion in which the difference in the plurality of motions is equal to or less than the predetermined threshold value. Generates binding motion data indicating the range of coordinates to be indicated. As the difference in a plurality of movements, various values such as the value of the difference itself, the absolute value of the difference, the average value of the difference, or the deviation value of the difference can be used.

In step S38, the motion data recording control unit 71 of the recording control unit 63 causes the recording unit 38 to record data indicating a range having a high degree of freedom and a determined angle and a range requiring motion as a file, and processes the recording. Is finished. That is, in step S38, the motion data recording control unit 71 controls the recording unit 38 to cause the recording unit 38 to record the free motion data and the bound motion data.

Next, the details of the standardization process of step S12 will be described with reference to the flowchart of FIG. In step S51, the recording control unit 63 reads out the size data of each part of the body of the teacher 21 and the size data of the whole body, and the coordinates and speed data of each part of the body recorded as a file from the recording unit 38.

In step S52, the posture / behavior data standardization unit 64 compares the size of each part of the body of the teacher 21 and the size of the whole body with the size of the standard body model, estimates the inconsistency, and estimates the inconsistency, and the body of the teacher 21. From the ratio of the size of each part and the whole body to the size of the standard body model, the data of the coordinates and the speed of each part of the body are converted into the data of the coordinates and the speed of each part of the standard body model. Here, the standard body model is a body model defined in advance as a standard.

In step S53, the posture / behavior data standardization unit 64 converts the coordinate and velocity data of each part of the standard body model into standardized posture and behavior data including the body model. In step S54, the recording control unit 63 reads out from the recording unit 38 a file in which data indicating a range having a high degree of freedom by the teacher 21 and a range in which a fixed angle or movement is required is stored.

In step S55, the posture / behavior data standardization unit 64 sets the data indicating the range having a high degree of freedom by the teacher 21 and the range in which a fixed angle or movement is required as the range having a high degree of freedom for the standard body model. Convert to data indicating a fixed angle and range where movement is required.

In step S56, the voxel data generation unit 65 includes data on the coordinates and speed of each part of the standard body model, and data indicating a range having a high degree of freedom and a range in which a fixed angle or movement is required for the standard body model. Therefore, the standard voxel data is generated by showing the three-dimensional field of the standard body model according to the tolerance with the target posture at each moment and setting the severity of the deviation from the target to the voxel.

In step S57, the voxel data recording control unit 72 of the recording control unit 63 records the standard voxel data in the recording unit 38, and the standardization process ends.

Next, the details of the process of presenting the motion in step S13 will be described with reference to the flowchart of FIG. In step S81, the recording control unit 63 controls the recording unit 38 to read standard voxel data from the recording unit 38. In step S82, the voxel data conversion unit 66 presents a movement to acquire the movement from the data input from the input unit 36 which is a mouse, a touch pad, or a keyboard, or a file recorded in advance in the recording unit 38. The data of the size of each part of the body of the trainee 25 and the size of the whole body are acquired. That is, in step S82, the voxel data conversion unit 66 acquires data on the size of each part of the body of the person presenting the movement and the size of the entire body.

In step S83, the voxel data conversion unit 66 adjusts the standard voxel data to the body shape of the trainee 25 from the size of each part of the body of the person presenting the movement, the size of the whole body, and the size of the standard body model. Convert to voxel data corresponding to body shape.

In step S84, the coordinate / velocity data acquisition unit 61 refers to one point on the body in a predetermined unit time from the measuring instruments 26-1 to 26-12 attached to each part of the body of the trainee 25. The acquisition of the coordinates and velocity data of each part of the body is started.

In step S85, the output value calculation unit 67 obtains the output value of the presentation of the stimulus at each coordinate from the coordinates and velocity data of each part of the body of the trainee 25 and the body shape corresponding voxel data for each unit time.

In step S86, the stimulus output control unit 68 controls the output unit 37 to output the output value obtained in step S85 to the stimulators 26-1 to 26-12, and the stimulators 26-1 to 26-12. To present a stimulus of a predetermined magnitude.

In step S87, the output value calculation unit 67 determines whether or not there is still voxel data corresponding to the body shape. If it is determined in step S87 that voxel data corresponding to the body shape still exists, the procedure returns to step S85, and the above-mentioned procedure is repeated.

If it is determined in step S87 that there is no voxel data corresponding to the body shape, the process of presenting the movement ends.

In this way, you can learn body movements more easily and more reliably.

The standard voxel data and the voxel data corresponding to the body shape may not be prepared for each unit time, but may be prepared for each unit movement such as a switching point of exercise. In this case, the switching point of the motion may be an inflection point of the motion, a key frame, or the like.

Further, the standard voxel data and the voxel data corresponding to the body shape, which are teaching information expressed by voxels, may be not only the position for each unit time or unit movement, but also the speed for each unit time or unit movement. In this case, it is possible to feed back to the trainee the deviation between the teaching data of the body movement speed at a certain point in time in the voxel space and the data of the trainee.

That is, in this case, assuming that the target posture for completing one movement to be performed is determined from the current posture, if the change in posture and its speed up to the target posture are expressed in one boxel space, the unit. If the boxel space in which the position and speed from the current state to the final target posture are recorded is fixed and presented without comparing with the boxel space that differs from time to time, until the final target posture is reached. , There is no need to present other boxel spaces by time. By doing so, if the start time is delayed, for example, if the start time is delayed, feedback of the deviation from the teaching posture at each time will always be presented even if there is a subsequent movement itself, but the unit. When a space is prepared for each movement, even if the start is deviated, if the movement is the same as the teaching after the start of the movement, the deviation is not fed back except when the first movement is delayed.

As described above, the measuring instruments 22-1 to 22-12 are attached to the body of the teacher 21 who is the first person showing the target movement of the body, and coordinates the predetermined part of the body in the three-dimensional space. Measure every predetermined unit time. The recording unit 38 controlled by the motion data recording control unit 71 has coordinates for each predetermined unit time measured by the measuring instruments 22-1 to 22-12, and is specified from the coordinates of a plurality of motions. Free movement data showing movements with a high degree of freedom in multiple movements and constrained movement data showing movements with little fluctuation in multiple movements are recorded. The posture / behavior data standardization unit 64 compares the data showing the body shape of the teacher 21 with the standard body model showing the standard body shape, and converts the free movement data and the constrained movement data into the coordinate system of the standard body model. Convert to standard free motion data and standard bound motion data, which are data.

The voxel data generation unit 65 is a standard showing a three-dimensional field according to a target posture and a tolerance for displacement of a predetermined part of the body for each unit time from standard free movement data and standard restraint movement data. It is voxel data, and standard voxel data in which the severity of deviation from the target posture is set as a value is generated. The recording unit 38 controlled by the voxel data recording control unit 72 records the generated standard voxel data. The measuring instruments 26-1 to 26-12 are attached to the body of the second person, the trainee 25, and measure the coordinates of a predetermined part of the body in the three-dimensional space at predetermined unit times.

The stimulators 27-1 to 27-12 are attached to the portion of the body of the trainee 25 to which the measuring instruments 26-1 to 26-12 are attached, and stimulate a predetermined portion of the body. The voxel data conversion unit 66 compares the data indicating the body shape of the trainee 25 with the standard body model, and converts the standard voxel data into voxel data corresponding to the body shape of the trainee 25. The output value calculation unit 67 is based on the coordinates measured by the measuring instruments 26-1 to 26-12 and the voxel data corresponding to the body shape, and the severity and the coordinates and the target posture of a predetermined part of the body of the trainee 25 are obtained every unit time. The output value to the stimulators 27-1 to 27-12 that present the stimulus corresponding to the deviation from the above is calculated. The output unit 37 controlled by the stimulus output control unit 68 outputs the calculated output value to the stimulators 27-1 to 27-12.

Since the stimulators 27-1 to 27-12 present a stimulus according to the severity and the deviation between the coordinates of a predetermined part of the body of the trainee 25 and the target posture every unit time, the trainee 25 is a teacher. You can learn 21 body movements. Standard boxel data showing a three-dimensional field according to the target posture of a predetermined part of the body and the tolerance for displacement of the posture for each unit time, and the severity of deviation from the target posture is set as a value. Since the standard boxel data that is used is generated and converted into body shape-compatible boxel data that matches the body shape of the trainee 25 to present the stimulus, the trainee 25 is made to match the body shape of the trainee 25. It is possible to move a predetermined body part at a more accurate speed with accurate coordinates, and the trainee 25 can more reliably learn the body movement of the teacher 21.

From free movement data showing movements with a high degree of freedom in multiple movements and restraint movement data showing movements with little fluctuation in multiple movements, the target posture and posture displacement of a predetermined part of the body are allowed for each unit time. Since the standard voxel data showing the three-dimensional field according to the tolerance to be performed and the severity of the deviation from the target posture is set as a value, the body of the teacher 21 is generated. Of the movements of, the stimulus is focused on the movements with less fluctuation, so it is possible to concentrate on the movements with less fluctuation by paying less attention to the movements with a high degree of freedom. The trainee 25 can learn the physical movements of the teacher 21 more easily and more reliably. In this way, you can learn body movements more easily and more reliably.

The recording unit 38 controlled by the motion data recording control unit 71 is a measuring instrument 22-1 to 22-12 attached to the body of the teacher 21 who is the first person showing the target body movement. , The coordinates of a predetermined part of the body in the three-dimensional space are the coordinates of a predetermined unit time measured by measuring instruments 22-1 to 22-12, which measure the coordinates of a predetermined part of the body at a predetermined unit time, and are the coordinates of a plurality of movements. Free movement data indicating a movement having a high degree of freedom in a plurality of movements and binding movement data indicating a movement having a small fluctuation in a plurality of movements, which are specified from the coordinates, are recorded.

The posture / behavior data standardization unit 64 compares the data showing the body shape of the teacher 21 with the standard body model showing the standard body shape, and converts the free movement data and the constrained movement data into the coordinate system of the standard body model. Convert to standard free motion data and standard bound motion data, which are data. The voxel data generation unit 65 is a standard showing a three-dimensional field according to a target posture and a tolerance for displacement of a predetermined part of the body for each unit time from standard free movement data and standard restraint movement data. It is voxel data, and standard voxel data in which the severity of deviation from the target posture is set as a value is generated. The voxel data conversion unit 66 compares the data showing the body shape of the second person, the trainee 25, with the standard body model, and matches the standard voxel data with the body shape of the trainee 25 to match the body shape of the trainee 25. Convert to data. The output value calculation unit 67 is a measuring device 26-1 to 26-12 worn on the body of the trainee 25, and measures the coordinates of a predetermined part of the body in the three-dimensional space at predetermined unit times. A stimulus that presents a stimulus according to the severity and the deviation between the coordinates of a predetermined part of the body of the trainee 25 and the target posture from the coordinates measured by the measuring instruments 26-1 to 26-12 and the body shape corresponding boxel data. Stimulators 27-1 to 27-12, which are attached to the part of the body of the trainee 25 to which the measuring instruments 26-1 to 26-12 are attached, and stimulate a predetermined part of the body. The output value for each unit time from 1 to 27-12 is calculated. The output unit 37 controlled by the stimulus output control unit 68 outputs the calculated output value to the stimulators 27-1 to 27-12.

Since the stimulators 27-1 to 27-12 present a stimulus according to the severity and the deviation between the coordinates of a predetermined part of the body of the trainee 25 and the target posture every unit time, the trainee 25 is a teacher. You can learn 21 body movements. Standard boxel data showing a three-dimensional field according to the target posture of a predetermined part of the body and the tolerance for displacement of the posture for each unit time, and the severity of deviation from the target posture is set as a value. Since the standard boxel data is generated and converted into body shape-compatible boxel data according to the body shape of the trainee 25 to present the stimulus, the trainee 25 is made to match the body shape of the trainee 25. It is possible to move a predetermined body part at a more accurate speed with accurate coordinates, and the trainee 25 can more reliably learn the body movement of the teacher 21.

From free movement data showing movements with a high degree of freedom in multiple movements and restraint movement data showing movements with little fluctuation in multiple movements, the target posture and posture displacement of a predetermined part of the body are allowed for each unit time. Since the standard voxel data showing the three-dimensional field according to the tolerance to be performed and the severity of the deviation from the target posture is set as a value, the body of the teacher 21 is generated. Of the movements of, the stimulus is focused on the movements with less fluctuation, so it is possible to concentrate on the movements with less fluctuation by paying less attention to the movements with a high degree of freedom. The trainee 25 can learn the physical movements of the teacher 21 more easily and more reliably. In this way, you can learn body movements more easily and more reliably.

The free movement data can indicate the movement in which the difference in the plurality of movements is larger than the predetermined threshold value, and the constrained movement data can indicate the movement in which the difference in the plurality of movements is equal to or less than the predetermined threshold value.

In the voxel data generation unit 65, the severity is arranged in contour lines according to the distance between the coordinates of the predetermined part of the body and the target posture around the predetermined part of the body every unit time. Voxel data can be generated.

The voxel data generation unit 65 can generate standard voxel data showing a three-dimensional field including a surface shape that supports a body part so as to have a target posture.

The voxel data generation unit 65 can generate standard voxel data in which the severity of the position indicated by the standard free motion data is small and the severity of the position indicated by the standard bound motion data is high.

Further, the embodiment of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention.

11 Computers, 22-1 to 22-12 and 26-1 to 26-12 measuring instruments, 27-1 to 27-12 stimulators, 31 CPUs, 32 ROMs, 33 RAMs, 36 inputs, 37 outputs, 38 records Unit, 39 Communication unit, 40 Drive, 41 Removable media, 61 Coordinate / speed data acquisition unit, 62 Required operating range data generation unit, 63 Recording control unit, 64 Attitude / behavior data standardization unit, 65 Boxel data generation unit, 66 Boxel data conversion unit, 67 output value calculation unit, 68 stimulus output control unit

Claims (8)

A first measuring instrument that is attached to the body of a first person who shows the target movement of the body and measures the coordinates of a predetermined part of the body in a three-dimensional space at predetermined unit times.
Free movement data and a plurality of times, which are coordinates for each predetermined unit time measured by the first measuring instrument and indicate a movement having a high degree of freedom in a plurality of movements, which is specified from the coordinates of a plurality of movements. A first recording means for recording constrained motion data indicating a motion with little fluctuation in the motion of
The data showing the body shape of the first person is compared with the standard body model showing the standard body shape, and the free movement data and the constrained movement data are standard data of the coordinate system of the standard body model. A first conversion means for converting free motion data and standard bound motion data,
From the standard free movement data and the standard restraint movement data, it is standard voxel data showing a three-dimensional field according to the target posture of a predetermined part of the body and the tolerance for the displacement of the posture every unit time. , A generation method for generating standard voxel data in which the severity of deviation from the target posture is set as a value,
A second recording means for recording the generated standard voxel data, and
A second measuring instrument that is attached to the body of a second person and measures the coordinates of a predetermined part of the body in three-dimensional space at predetermined unit times.
A stimulator that is attached to a portion of the body of the second person to which the second measuring instrument is attached and stimulates a predetermined portion of the body,
A second method of comparing the data showing the body shape of the second person with the standard body model and converting the standard voxel data into body shape-compatible voxel data matching the body shape of the second person. Conversion means and
From the coordinates measured by the second measuring instrument and the voxel data corresponding to the body shape, the degree of severity and the deviation between the coordinates of a predetermined part of the body of the second person and the target posture corresponded to each unit time. A calculation means for calculating the output value to the stimulator that presents a stimulus, and
A body movement guide system including an output means for outputting the calculated output value to the stimulator. A first measuring instrument attached to a first person's body that indicates a target body movement, and measures the coordinates of a predetermined part of the body in a three-dimensional space at predetermined unit times. Free motion data indicating a motion with a high degree of freedom in multiple motions and multiple motions, which are coordinates for each predetermined unit time measured by the measuring instrument of the above and are specified from the coordinates of multiple motions. A recording means for recording constrained movement data showing movement with little fluctuation,
The data showing the body shape of the first person is compared with the standard body model showing the standard body shape, and the free movement data and the constrained movement data are standard data of the coordinate system of the standard body model. A first conversion means for converting free motion data and standard bound motion data,
From the standard free movement data and the standard restraint movement data, it is standard voxel data showing a three-dimensional field according to the target posture of a predetermined part of the body and the tolerance for the displacement of the posture every unit time. , A generation method for generating standard voxel data in which the severity of deviation from the target posture is set as a value,
A second conversion that compares the data showing the body shape of the second person with the standard body model and converts the standard voxel data into body shape-compatible voxel data that matches the body shape of the second person. Means and
It is a second measuring instrument attached to the body of the second person, and is measured by the second measuring instrument that measures the coordinates of a predetermined part of the body in a three-dimensional space every predetermined unit time. A stimulator that presents a stimulus according to the degree of severity and the deviation between the coordinates of a predetermined part of the body of the second person and the target posture from the coordinates and the boxel data corresponding to the body shape. A calculation means for calculating an output value for each unit time to a stimulator that is attached to a portion of the human body to which the second measuring device is attached and stimulates a predetermined portion of the body.
A stimulus presentation device including an output means for outputting the calculated output value to the stimulator. In the stimulus presentation device according to claim 2,
The free movement data shows movements in which the difference in a plurality of movements is larger than a predetermined threshold value.
A stimulus presenting device in which the constrained movement data shows a movement in which the difference in a plurality of movements is equal to or less than a predetermined threshold value. In the stimulus presentation device according to claim 2,
The generation means is a standard voxel in which severity is arranged in contour lines according to the distance between the coordinates of a predetermined part of the body and the target posture around a predetermined part of the body every unit time. A stimulus presentation device that produces data. In the stimulus presentation device according to claim 4,
The generation means is a stimulus presentation device that generates the standard voxel data showing a three-dimensional field including a surface shape that supports a part of the body so as to have a target posture. In the stimulus presentation device according to claim 2,
The generation means is a stimulus presentation device that generates the standard voxel data having a low severity of the position indicated by the standard free motion data and a high severity of the position indicated by the standard bound motion data. A predetermined unit mounted on the body of a first person showing a target movement of the body and measured by a first measuring instrument that measures the coordinates of a predetermined part of the body in a three-dimensional space at predetermined unit times. Free movement data showing movements with a high degree of freedom in multiple movements and bound movement data showing movements with little fluctuation in multiple movements, which are coordinates for each time and are specified from the coordinates of multiple movements. Recording steps to record and
The data showing the body shape of the first person is compared with the standard body model showing the standard body shape, and the free movement data and the constrained movement data are standard data of the coordinate system of the standard body model. The first conversion step to convert to free motion data and standard bound motion data,
From the standard free movement data and the standard restraint movement data, it is standard voxel data showing a three-dimensional field according to the target posture of a predetermined part of the body and the tolerance for the displacement of the posture every unit time. , A generation step to generate standard voxel data with the severity of deviation from the target posture set as a value,
A second conversion that compares the data showing the body shape of the second person with the standard body model and converts the standard voxel data into body shape-compatible voxel data that matches the body shape of the second person. Steps and
It is a second measuring instrument attached to the body of the second person, and is measured by the second measuring instrument that measures the coordinates of a predetermined part of the body in a three-dimensional space every predetermined unit time. A stimulator that presents a stimulus according to the degree of severity and the deviation between the coordinates of a predetermined part of the body of the second person and the target posture from the coordinates and the boxel data corresponding to the body shape. A calculation step of calculating an output value for each unit time to a stimulator that is attached to a portion of the human body to which the second measuring device is attached and stimulates a predetermined portion of the body.
A stimulus presentation method including an output step of outputting a calculated output value to the stimulator. A predetermined unit mounted on the body of a first person showing a target body movement and measured by a first measuring instrument that measures the coordinates of a predetermined part of the body in a three-dimensional space at predetermined unit times. Free movement data showing movements with a high degree of freedom in multiple movements and constrained movement data showing movements with little fluctuation in multiple movements, which are coordinates for each time and are specified from the coordinates of multiple movements. A recording control step that controls recording, and
The data showing the body shape of the first person is compared with the standard body model showing the standard body shape, and the free movement data and the constrained movement data are standard data of the coordinate system of the standard body model. The first conversion step to convert to free motion data and standard bound motion data,
From the standard free movement data and the standard restraint movement data, it is standard voxel data showing a three-dimensional field according to the target posture of a predetermined part of the body and the tolerance for the displacement of the posture every unit time. , A generation step to generate standard voxel data with the severity of deviation from the target posture set as a value,
A second conversion that compares the data showing the body shape of the second person with the standard body model and converts the standard voxel data into body shape-compatible voxel data that matches the body shape of the second person. Steps and
It is a second measuring instrument attached to the body of the second person, and is measured by the second measuring instrument that measures the coordinates of a predetermined part of the body in a three-dimensional space every predetermined unit time. A stimulator that presents a stimulus according to the degree of severity and the deviation between the coordinates of a predetermined part of the body of the second person and the target posture from the coordinates and the boxel data corresponding to the body shape. A calculation step of calculating an output value for each unit time to a stimulator that is attached to a portion of the human body to which the second measuring device is attached and stimulates a predetermined portion of the body.
A program that causes a computer to perform processing including an output control step that controls the output of the calculated output value to the stimulator.

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