System and operation method

Abstract

[Subject] Provide a technology that can help users effectively learn predetermined actions regardless of the user's age or motivation. [Solution] According to one aspect of the present invention, a system is provided. The system includes a first contact portion, a sensor portion, and a second contact portion. The first contact portion is connected to the operated part and is configured to make the target position specified by the operated part variable in response to the movement of the first limb by contacting the user's first limb. The sensor portion is configured to measure the error between the target position and the predetermined track. The second contact portion includes an error sense prompt portion and is configured to contact a second limb different from the user's first limb. The error sense prompt portion is configured to prompt the user of the error by applying force or tactile sensation based on the error to the second limb.

Description

Technical Field

[0001] The present invention relates to a system and an operating method. Background Art

[0002] In many cases, humans use their limbs to perform tasks related to predetermined actions. Patent Document 1 discloses a skill training device for training such predetermined actions.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2020-12858 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] Since the skill training device disclosed in patent document 1 is a device for notifying the user of information when performing an action different from the prescribed one, the user must consciously read the information. Thus, the learning effect may decrease depending on the user's age or motivation.

[0008] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a technology that can help a user effectively learn predetermined actions regardless of the user's age or motivation.

[0009] Solutions to Problems

[0010] According to one aspect of the present invention, a system is provided. The system includes a first contact portion, a sensor portion, and a second contact portion. The first contact portion is connected to an operated portion and is configured to make a target position specified by the operated portion variable in response to the movement of the first limb by contacting the first limb of the user. The sensor portion is configured to measure an error between the target position and a predetermined track. The second contact portion includes an error sense prompting portion and is configured to contact a second limb different from the first limb of the user. The error sense prompting portion is configured to prompt the user of the error by applying a force sense or a tactile sense based on the error to the second limb.

[0011] This allows users to effectively learn the intended movements regardless of their age or motivation. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram showing the overall structure of the system 1.

[0013] Figure 2 It is a schematic diagram showing the overall structure of the system 1.

[0014] Figure 3It is a block diagram showing the hardware configuration of the control device 3 .

[0015] Figure 4 It is a schematic diagram showing the hardware configuration of the main device 4.

[0016] Figure 5 It is a block diagram showing the functional structure of the control device 3 (control unit 33).

[0017] Figure 6 It is an activity diagram showing the operating method of system 1.

[0018] Figure 7 1 is a schematic diagram showing an example of an image IM on which the image processing unit 332 performs image processing.

[0019] Figure 8 is a schematic diagram showing the error vector v1. DETAILED DESCRIPTION

[0020] The following will describe embodiments of the present invention with reference to the accompanying drawings. The various features in the embodiments shown below can be combined with each other.

[0021] The program for implementing the software appearing in this embodiment can be provided as a non-transitory computer readable medium (Non-transitory Computer Readable Medium), can be downloaded and provided by an external server, and can also be started by an external computer to implement functions on a client terminal (so-called cloud computing).

[0022] In this embodiment, "unit" can be a concept encompassing a combination of hardware resources, such as circuit implementations in a broad sense, and software information processing specifically implemented by these hardware resources. Furthermore, this embodiment involves various types of information, which can be represented by physical values such as voltage or current signal values, or by the high or low values of binary bit sets consisting of 0s and 1s, or by quantum superpositions (so-called qubits), and can perform communication and computation on broad circuits.

[0023] In a broad sense, a circuit is a circuit implemented by appropriately combining at least circuits, circuit classes, processors, and memories. This includes application-specific integrated circuits (ASICs), programmable logic devices (such as simple programmable logic devices (SPLDs) and complex programmable logic devices (CPLDs), and field programmable gate arrays (FPGAs).

[0024] 1.1 Hardware Structure

[0025] This section will introduce the hardware structure of system 1 of the embodiment.

[0026] 1.1 System 1

[0027] Figure 1 and Figure 2 is a schematic diagram showing the overall structure of the system 1. Figure 1 As shown, the user U can use the system 1 to perform training for a predetermined action. The training mentioned here can be training for a healthy user U to learn a predetermined action, or it can be training for an injured user U for the purpose of rehabilitation. Figure 2 As shown, the system 1 includes an imaging device 2 (an example of a sensor unit), a control device 3 , and a host device 4 , and these components are electrically connected.

[0028] 1.2 Camera 2

[0029] The imaging device 2 is a so-called visual sensor (camera) configured to capture external information, and it is particularly preferable to use an imaging device with a high frame rate called high-speed vision.

[0030] The camera 2 (sensor unit) is configured to measure an error E between the target position TP and the predetermined trajectory. This will be described in detail later. Preferably, the frame rate (acquisition rate) of the camera 2 (sensor unit) is 100 fps (Hz) or higher. More specifically, it can be 100, 125, 150, 175, 200, 225, 250, 275, 300, 325, 350, 375, 400, 425, 450, 475, 500, 525, 550, 575, 600, 625, 650, 675, 700, 725, 750, 775, 800, 825, 850, 875, 900, 925, 950, 975, 1000, 1025, 1050, 1075, 1100, 1125, 1150, 1175, 1180, 1190, 225, 250, 275, 300, 325, 350, 375, 400, 425, 450, 475, 500, 525, 550, 575, 600, 625, 650, 675, 700, 725, 750, 775, 800, 825, 850, 875, 900, 925, 950, 975, 1000, 1025, 1050, 1075 5. 1100, 1125, 1150, 1175, 1200, 1225, 1250, 1275, 1300, 1325, 1350, 1375, 1400, 1425, 1450, 1475, 1500, 1525, 1550, 1575, 1600, 1625, 1650, 1675, 1700, 1725, 1750, 1775, 1800, 1825, 1850, 1875, 1900, 1925, 1950, 1975, 2000 fps. It can also be in the range between any two of the above values.

[0031] The imaging device 2 is connected to a communication unit 31 of a control device 3 described later via an electrical communication line (eg, a USB cable) and is configured to be able to transmit a captured image IM to the control device 3 .

[0032] Furthermore, a camera capable of measuring not only visible light but also ultraviolet and infrared wavelengths that are not perceptible to humans may be used as the imaging device 2. By using such a camera, the system 1 of this embodiment can be implemented even in a dark environment.

[0033] 1.3 Control device 3

[0034] Figure 3 3 is a block diagram showing the hardware structure of the control device 3. Figure 3 As shown, the control device 3 includes a communication unit 31, a storage unit 32, and a control unit 33. These components are electrically connected via a communication bus 30 within the control device 3. Each component will be further described below.

[0035] While the communication unit 31 preferably utilizes wired communication methods such as USB, IEEE1394, Thunderbolt, and wired LAN network communication, it may also include wireless LAN network communication, mobile communication such as 3G / LTE / 5G, and Bluetooth (registered trademark) communication, as needed. In other words, it is more preferably implemented as a combination of these multiple communication methods. This allows information or commands to be exchanged between the control device 3 and other communicable devices.

[0036] The storage unit 32 stores various information defined by the above description. For example, it can be implemented as a storage device such as a solid state drive (SSD), or as a memory such as a random access memory (RAM) that stores temporary necessary information (parameters, arrangements, etc.) related to program operations. In addition, it can also be a combination of these. In addition, the storage unit 32 stores various programs that can be read by the control unit 33 described later. In addition, the storage unit 32 stores time-series images IM captured by the camera device 2 and received by the communication unit 31. Here, the image IM is, for example, arrangement information including pixel information of 8 bits each for RGB.

[0037] The control unit 33 performs processing and control of the overall operation associated with the control device 3. The control unit 33 is, for example, a central processing unit (CPU) not shown. The control unit 33 implements various functions associated with the control device 3 by reading a predetermined program stored in the storage unit 32. That is, the information processing of the software (stored in the storage unit 32) is specifically implemented by the hardware (control unit 33), such as Figure 3 As shown in FIG, each function unit of the control unit 33 can be executed. Figure 3 Although a single control unit 33 is shown in the figure, the present invention is not limited thereto and may be implemented with a plurality of control units 33 for each function. In addition, a combination of these is also possible.

[0038] 1.4 Main device 4

[0039] Figure 4 This is a schematic diagram showing the hardware configuration of the main device 4. The main device 4 allows the user U to manipulate the operated portion 43 using their limbs. Furthermore, the main device 4 receives control signals CS from the control device 3 and performs various operations accordingly. The main device 4 includes a first contact portion 41 and a second contact portion 42.

[0040] like Figure 4As shown, the first contact portion 41 is connected to the operated portion 43. The first contact portion 41 is configured to change the target position TP defined by the operated portion 43 in accordance with the movement of the first limb HF1 by contacting the first limb HF1 of the user U. It should be noted that the range of the target position TP that the user U can move using the first contact portion 41 is referred to as the first range.

[0041] like Figure 4 As shown, the second contact portion 42 includes an error sense presenting portion 45 that is configured to contact the second limb HF2 that is different from the first limb HF1 of the user U. The error sense presenting portion 45 is configured to present the error E to the user U by applying a force sense or a tactile sense based on the error E measured via the imaging device 2 to the second limb HF2.

[0042] The shapes of the first contact portion 41 and the second contact portion 42 are not particularly limited, but an appropriate shape can be selected based on the availability of the first limb HF1 or the second limb HF2. For example, if the first limb HF1 and the second limb HF2 are the left and right hands (left hand LH and right hand RH) of the user U, the first contact portion 41 and the second contact portion 42 can be configured to be grasped by the left hand LH and the right hand RH, respectively.

[0043] The main device 4 also includes a position adjustment unit 44. The position adjustment unit 44 may be, for example, a platform drivable in the X and Y directions, capable of displacing the operated part 43 within a second range that is smaller than the first range operable by the user U. With this configuration, the position adjustment unit 44 can adjust the target position TP of the operated part 43 to correct the error E.

[0044] For the system 1 as a whole, the lower of the frame rate of the imaging device 2 and the drive rate of the position adjustment unit 44 functions as the control rate for correcting the error E. In other words, by increasing the frame rate and the drive rate to the same level, the error E of the target position TP can be corrected solely through feedback control, without using prediction. Specifically, the drive rate of the position adjustment unit 44 is preferably 100 Hz or higher, similar to that of the imaging device 2.

[0045] When the user U is training for a predetermined action, the correction performed by the position adjustment unit 44 may not be performed. The correction performed by the position adjustment unit 44 is similar to camera shake correction and assists in achieving the proper predetermined action. The user U can train to correctly perform the predetermined action even without the position adjustment unit 44. In this case, the user U will perform a more advanced operation, but this does not hinder the training.

[0046] 2. Functional structure

[0047] In this section, the functional structure of this embodiment will be explained. Figure 5 This is a block diagram showing the functional structure of the control device 3 (control unit 33). The control unit 33 includes a receiving unit 331, an image processing unit 332, a calculation unit 333, and a control signal generating unit 334. Each component is further described below.

[0048] (Receiving Unit 331)

[0049] The receiving unit 331 is configured to receive information via the communication unit 31 or the storage unit 32 and read the information into the working memory. In particular, the receiving unit 331 is configured to receive various information (such as the image IM and displacement information of the position adjustment unit 44) from the imaging device 2 and / or the host device 4 via the communication unit 31. When the control device 3 is connected to other devices, the receiving unit 331 can be implemented to receive information transmitted from these devices. In this embodiment, the case where the various information received by the receiving unit 331 is stored in the storage unit 32 will be described.

[0050] After the receiving unit 331 receives and temporarily reads the information into the work memory, at least part of the information may not be stored in the storage unit 32. Alternatively, at least part of the information may be stored in an external server other than the storage unit 32.

[0051] (Image Processing Unit 332)

[0052] The image processing unit 332 is configured to read the program stored in the storage unit 32 in the image IM and perform predetermined image processing. For example, the image processing unit 332 performs image processing for specifying the line L as a predetermined track from the image IM. The details will be described later.

[0053] (Calculation Unit 333)

[0054] The operation unit 333 is configured to perform a predetermined operation using the image IM processed by the image processing unit 332. For example, the operation unit 333 operates the error vector v1 or the symmetry vector v2 using the image IM. Details will be described below.

[0055] (Control Signal Generator 334)

[0056] The control signal generator 334 is configured to generate a control signal CS for controlling the master device 4. Specifically, the control signal generator 334 generates a control signal CS1 for driving the position adjustment unit 44. Furthermore, the control signal generator 334 generates a control signal CS2 for activating the error sensor presentation unit 45. The value of the control signal CS can be defined, for example, by a voltage.

[0057] 3. Control processing

[0058] In this section, the flow of control processing of system 1 will be explained.

[0059] 3.1 Operation method

[0060] Figure 6 is an activity diagram illustrating the method of operating system 1. For simplicity, the description herein assumes that the user U is right-handed, and the first limb HF1 is the right hand RH, while the second limb HF2 is the left hand LH. Specifically, the user U grasps the first contact portion 41 with the right hand RH and the second contact portion 42 with the left hand LH (activity A101). Grasping is an example of contact. The user U then operates the first contact portion 41 with the right hand RH, thereby moving the target position TP of the operated portion 43 along a line L serving as a predetermined trajectory (activity A102). Such actions may be included in, for example, cutting operations, coating operations, medical procedures, and the like.

[0061] When the user U displaces the first contact portion 41, the target position TP also displaces accordingly. At this point, the imaging device 2 captures the target position TP and the line L, and transmits the image IM to the control device 3 (activity A103). In other words, the receiving unit 331 receives the image IM and stores it in the storage unit 32.

[0062] Figure 7 This is a schematic diagram illustrating an example of image IM being processed by the image processing unit 332. The image processing unit 332 analyzes the image IM received by the receiving unit 331 through image processing and identifies the position of a line L in the image IM (activity A104). This can be accomplished, for example, by setting a threshold for a predetermined parameter related to the image (such as brightness) and binarizing the captured image IM. Furthermore, the position of the line L can be identified by calculating the center of gravity of the line L from the image IM.

[0063] Then, the target position TP can be implemented as the intersection of the line of sight of the camera 2 and the prescribed plane P. Figure 4 Although not shown in the figure, the imaging device 2 is mounted on the position adjustment portion 44. That is, the target position TP is the center of the image IM captured by the imaging device 2 (the image center CT).

[0064] like Figure 7 As shown, image processing can also be performed on a predetermined region ROI, which is a portion of image IM. In particular, since error E is corrected at a high control rate, line L is located near a specific location in image IM (e.g., image center CT). By setting the area near this specific location as the predetermined region ROI, the number of pixels subjected to image processing can be reduced. This reduces the computational load on control device 3 while maintaining a high control rate.

[0065] Next, the calculation unit 333 calculates an error vector v1 indicating an error E between the target position TP (image center CT) and the line L (activity A105 ). Figure 8 This is a schematic diagram showing the error vector v1. Here, when the error E falls within the second range, which is the movable range of the position adjustment unit 44, the control signal generation unit 334 generates a control signal CS1 for correcting the error E and transmits it to the position adjustment unit 44 (activity A106). Furthermore, the control signal generation unit 334 generates a control signal CS2 for notifying the user U of the error E and transmits it to the error perception presentation unit 45 (activity A107).

[0066] In other words, by sending a control signal CS1 to the position adjustment unit 44 of the main device 4 via the communication unit 31, the position adjustment unit 44 is activated, thereby correcting the error E. The control method in this case is not particularly limited; for example, P control, PD control, PID control, etc. can be appropriately adopted. The various control-related coefficients can be set to preferred values as needed. Furthermore, by sending a control signal CS2 to the error sensor notification unit 45 of the main device 4 via the communication unit 31, the error sensor notification unit 45 is activated, thereby notifying the user U of the error E.

[0067] On the other hand, when the error E is not within the second range which is the movable range of the position adjustment unit 44, the control signal generating unit 334 does not generate the control signal CS1 for correcting the error E, but generates the control signal CS2 for prompting the error E to the user U and sends it to the error sensation prompting unit 45 (activity A107).

[0068] The force sense or tactile sensation based on the error E is determined in proportion to the error vector v1 representing the error E. That is, in order to prompt the user U of the size (degree) and direction of the error E, the force sense or tactile sensation can be applied to the user U as a vector proportional to the error vector v1 (the proportional constant is a positive or negative number, including 1). In particular, by applying the force sense or tactile sensation to the left hand LH, which is different from the right hand RH that is operating, the error E can be prompted to the user U without impairing the operational feel. In addition, it is particularly preferred that the force sense or tactile sensation based on the error E is converted into a frequency suitable for human sensory prompts and is prompted. By prompting the force sense or tactile sensation at a frequency perceptible to humans, the user U can grasp the state of the error E.

[0069] By repeating the control process described above in units of control rate, the user U can train and learn the predetermined action. In summary, the operating method of the system 1 includes steps 1 to 4. In step 1, the first limb HF1 of the user U is brought into contact with the first contact portion 41 of the system 1, and the second limb HF2 of the user U is brought into contact with the second contact portion 42 of the system 1. In step 2, by moving the first limb HF1 in contact with the first contact portion 41, the target position TP specified by the operated part 43 of the system 1 is moved. In step 3, the error E between the target position TP and the predetermined trajectory is measured. In step 4, the error E is prompted to the user U by applying a force sense or tactile sense based on the error E to the second limb HF2 in contact with the second contact portion 42.

[0070] 3.2 Synchronous Movement

[0071] As a supplement to the above assumption, it is preferred that the first limb HF1 and the second limb HF2 are the left and right hands (left hand LH and right hand RH) or the left and right feet (left foot LF and right foot RF) of the user U. Usually, humans use the coordinated movement of both arms to perform various complex tasks. In order for a person's arms to coordinate and move, it can be considered that there are brain mechanisms that interfere with each other while also coordinating with each other. In particular, the synchronous movement of the arms (for example, even if the right hand RH and the left hand LH perform different movements at the same time, the two hands tend to show the same movement) often occurs in daily life, and the synchronous control of the arms is also considered to be the most basic mechanism of the brain.

[0072] In other words, when force or tactile sensation is applied to the left hand LH, the user U quickly adjusts the right hand RH in the direction of the correction error E through left-right synchronous movement. This control process allows the user U to train and learn predetermined movements more intuitively and effectively, regardless of their age or motivation.

[0073] Instead of the error vector v1, the force sensation or tactile sensation based on the error E can be determined in proportion to the symmetry vector v2 obtained by symmetrically shifting the error vector v1 representing the error E with respect to the symmetry plane (see Figure 8 Here, the symmetry plane is a plane extending forward and backward from the center of the torso of the user U. Even for stretching exercises, humans can naturally perform bilaterally symmetrical movements using the plane extending forward and backward from the center of the torso as a symmetry plane. Therefore, the error E can be presented to the user U through force or tactile sensation proportional to the symmetry vector v2, rather than the error vector v1. Alternatively, the error vector v1 or the symmetry vector v2 can be selected based on the user U's preference.

[0074] 4. Others

[0075] System 1 can also be further creatively processed in the following ways.

[0076] (1) The system 1 may further include a guide light irradiation unit not shown in the figure. The guide light irradiation unit is configured to be coaxial with the camera device 2 (sensor unit) or fixed in a relative position, and is capable of irradiating a guide light representing the target position TP. Since the relative position of the guide light irradiation unit and the camera device 2 is known at the time of design, the target position TP can be irradiated as projection light from the guide light irradiation unit. Preferably, the camera device 2 and the guide light irradiation unit are implemented as a coaxial optical system using a beam splitter or the like. As a result, the user U can more intuitively grasp how the first contact portion 41 should be moved in order to displace the target position TP along a predetermined track.

[0077] (2) In the above embodiment, the target position TP is implemented as the intersection point (image center CT) between the line of sight of the imaging device 2 and the specified plane P, but this is only an example and is not limited to this. For example, a cutting tool (such as an end mill or a medical cutter) can be installed on the position adjustment portion 44 of the operated part 43, and the tip position of the cutting tool can be set to the target position TP. In this case, the relative position of the imaging device 2 and the cutting tool is already known at the time of design. According to such a modified example, the user U can perform cutting processing or medical surgery training.

[0078] (3) Furthermore, a laser emitting unit (for processing) can be attached to the position adjustment unit 44 of the operated part 43, and the irradiation position of the laser light emitted from the laser emitting unit (on the predetermined surface P) can be set as the target position TP. In this case, the relative position of the imaging device 2 and the laser emitting unit is already known during the design. According to this modified example, the user U can practice laser processing to form a desired object into a predetermined shape.

[0079] (4) Furthermore, an application unit configured to apply paint or the like may be mounted on the position adjustment unit 44 of the operated portion 43, and the tip of the application unit may be set to the target position TP. In this case, the relative position of the imaging device 2 and the application tool is already known during the design process. This modification allows the user to be trained in the application process.

[0080] (5) Various objects including the aforementioned cutting tool, laser emitting unit, coating tool, etc. can be regarded as objects for determining the target position TP, and can be freely attached and detached.

[0081] (6) In addition, other sensors may be used in place of or in combination with the imaging device 2. For example, a laser displacement sensor, an infrared sensor, etc. may be appropriately used.

[0082] (7) Furthermore, the control device 3 may be implemented independently as a part of the system 1 rather than the system 1 .

[0083] (8) Furthermore, a program may be implemented to cause a computer to function as the control device 3 .

[0084] In addition, it can be provided in the following ways.

[0085] The system may further include a guide light irradiation unit that is arranged coaxially with the sensor unit or fixed at an opposite position and is capable of irradiating guide light indicating the target position.

[0086] In the system, the first limb and the second limb are the left hand and the right hand of the user, and the first contact portion and the second contact portion are configured to be grasped by the left hand and the right hand, respectively.

[0087] In the system, a force sensation or a tactile sensation based on the error is determined in proportion to an error vector representing the error.

[0088] In the system, the first limb and the second limb refer to the left and right hands or left and right feet of the user, and the force perception or tactile perception based on the error is determined in proportion to the symmetry vector, which is formed by symmetrically moving the error vector representing the error about a symmetry plane, wherein the symmetry plane is a plane extending forward and backward from the center of the user's torso.

[0089] In the system, the force sense or tactile sense based on the error is converted into a frequency suitable for human sensory prompting and is prompted.

[0090] In the system, the sensor unit is an imaging unit configured to capture external information.

[0091] In the system, the target position is the center of an image captured by the imaging unit.

[0092] The system further includes a position adjustment unit configured to displace the operated part within a second range smaller than the first range operable by the user, and to adjust the position of the operated part to correct the error.

[0093] In the system, an acquisition rate of the sensor unit and a drive rate of the position adjustment unit are equal to or higher than 100 Hz.

[0094] A method for operating a system, characterized in that it includes: step 1, step 2, step 3, and step 4; wherein in step 1, while the user's first limb is brought into contact with the first contact part of the system, the user's second limb is brought into contact with the second contact part of the system; in step 2, the target position specified by the operated part of the system is moved by moving the first limb in contact with the first contact part; in step 3, the error between the target position and the predetermined trajectory is measured; in step 4, the error is prompted to the user by applying force or tactile sensation based on the error to the second limb in contact with the second contact part.

[0095] Of course, it’s not limited to this.

[0096] Finally, although various embodiments of the present invention have been described, these embodiments are provided merely as examples and are not intended to limit the scope of the present invention. The present invention may also be implemented through various other embodiments, and any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention. Relevant embodiments or modifications shall not only be included within the scope and spirit of the present invention, but also within the invention described in the claims and their equivalents.

[0097] Simple description of symbols

[0098] 1: System

[0099] 2: Camera device

[0100] 3: Control device

[0101] 30: Communication bus

[0102] 31: Ministry of Communications

[0103] 32: Storage

[0104] 33: Control Department

[0105] 331: Receiving Department

[0106] 332: Image Processing Department

[0107] 333: Operation Department

[0108] 334: Control signal generation unit

[0109] 4: Main device

[0110] 41: First contact part

[0111] 42: Second contact part

[0112] 43: Operated part

[0113] 44: Position adjustment unit

[0114] 45: Error sensor prompt

[0115] CS: control signal

[0116] CS1: Control signal

[0117] CS2: Control signal

[0118] CT: Image Center

[0119] E: Error

[0120] HF1: Limb 1

[0121] HF2: Limb 2

[0122] IM: Image

[0123] L: Line

[0124] LF: Left foot

[0125] LH: Left hand

[0126] P: Specified surface

[0127] RF: Right foot

[0128] RH: right hand

[0129] ROI: Predetermined area

[0130] TP: Target Position

[0131] U:User

[0132] v1: error vector

[0133] v2: Symmetric vector

Claims

1. A system, characterized in that: include: a first contact portion, a sensor portion, and a second contact portion; The first contact portion is connected to the operated part and is configured to change the target position specified by the operated part according to the movement of the first limb by contacting the first limb of the user; The sensor portion is configured to measure an error between the target position and a predetermined trajectory; The second contact portion includes an error sensory prompting portion and is configured to contact a second limb different from the first limb of the user; The error sensation presenting unit is configured to present the error to the user by applying a force sense or a tactile sense based on the error to the second limb.

2. The system according to claim 1, wherein: further comprising a guide light irradiation portion, The guide light irradiation unit is arranged coaxially with the sensor unit or fixed at an opposing position, and is capable of irradiating guide light indicating the target position.

3. The system according to claim 1 or 2, characterized in that The first limb and the second limb refer to the left hand and the right hand of the user, The first contact portion and the second contact portion are arranged to be grasped by the left hand and the right hand, respectively.

4. The system according to any one of claims 1 to 3, characterized in that A force sensation or a tactile sensation based on the error is determined in proportion to an error vector representing the error.

5. The system according to any one of claims 1 to 3, characterized in that The first limb and the second limb refer to the left and right hands or left and right feet of the user, The force sensation or tactile sensation based on the error is determined in proportion to a symmetry vector obtained by symmetrically shifting an error vector representing the error about a symmetry plane extending forward and backward from the center of the user's torso.

6. The system according to claim 4 or 5, characterized in that The force sense or tactile sense based on the error is converted into a frequency suitable for human sensory notification and is presented.

7. The system according to any one of claims 1 to 5, characterized in that The sensor unit is an imaging unit configured to capture external information.

8. The system according to claim 7, characterized in that The target position is the center of the image captured by the imaging unit.

9. The system according to any one of claims 1 to 8, characterized in that further comprising a position adjustment portion, The position adjustment unit is configured to displace the operated part within a second range that is smaller than a first range operable by the user, and to adjust the position of the operated part to correct the error.

10. The system according to claim 9, characterized in that The acquisition rate of the sensor unit and the driving rate of the position adjustment unit are 100 Hz or higher.

11. A method for operating a system, characterized in that: include: Step 1, Step 2, Step 3, and Step 4; In the first step, while the first limb of the user is brought into contact with the first contact portion of the system, the second limb of the user is brought into contact with the second contact portion of the system; In the second step, the target position specified by the operated part of the system is moved by moving the first limb in contact with the first contact portion; In the third step, measuring the error between the target position and the predetermined trajectory; In the fourth step, the error is presented to the user by applying a force sense or a tactile sense based on the error to the second limb in contact with the second contact portion.

Images