Robot

Abstract

The invention provides a robot capable of naturally inducing breathing of a user. A robot according to one embodiment of the present invention is a robot capable of inducing respiration of a user, and is provided with: an exterior member; a first detection unit that acquires information relating to the respiration of the user; and a control unit that, on the basis of the information acquired by the first detection unit, controls the operation of the robot so as to induce the respiration of the user to a predetermined state.

Description

Technical Field

[0001] The invention relates to a robot. Background Art

[0002] Conventionally, there is known a robot that provides healing to a user by contacting the user (see, for example, Patent Document 1).

[0003] On the other hand, there is known a breathing induction device that activates the user's parasympathetic nerves by inducing the user's breathing to a given state in order to relax the user. For example, Patent Document 2 discloses a device that includes: a breathing sensor disposed on a main body in a huggable form to detect the breathing rate of the user hugging the main body; an expansion and contraction mechanism built into the main body to expand and contract the contact side of the main body that contacts the hugged user; and an expansion and contraction control unit that drives and controls the expansion and contraction mechanism.

[0004] <Prior Art Literature>

[0005] <Patent Documents>

[0006] Patent Document 1: International Publication No. 2017 / 169826

[0007] Patent Document 2: Japanese Patent Application Publication No. 2013-022302 Summary of the invention

[0008] <Problems to be Solved by the Invention>

[0009] In a robot that provides healing to a user, it is required to naturally induce the user's breathing in order to relax the user.

[0010] An object of the present invention is to provide a robot that can naturally induce the user's breathing.

[0011] <Methods used to solve the problem>

[0012] A robot involved in one embodiment of the present invention is a robot capable of inducing a user's breathing, and comprises: an external component; a first detection unit, which obtains information related to the user's breathing; and a control unit, which controls the movement of the robot so as to induce the user's breathing to a given state based on the information obtained by the first detection unit.

[0013] <Effects of the Invention>

[0014] According to the present invention, it is possible to provide a robot that can naturally induce the user's breathing. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a perspective view illustrating a robot according to the embodiment.

[0016] Figure 2 yes Figure 1 Side view of the robot.

[0017] Figure 3 It is along Figure 2 A cross-sectional view taken along the III-III cutting line.

[0018] Figure 4 It is a diagram illustrating the structure of a camera according to an embodiment.

[0019] Figure 5 It is a diagram illustrating the structure of a life sensor according to an embodiment.

[0020] Figure 6 It is a diagram illustrating the structure of the expansion and contraction mechanism according to the embodiment.

[0021] Figure 7 This is a block diagram illustrating a hardware configuration of a control unit according to the embodiment.

[0022] Figure 8 This is a block diagram illustrating the functional configuration of a control unit according to the first embodiment.

[0023] Fig. 9 This is a diagram illustrating a mode of breathing induction performed by the robot according to the first embodiment.

[0024] Fig.10 This is a flowchart illustrating the processing of the control unit according to the first embodiment.

[0025] Fig.11 This is a block diagram illustrating a functional configuration of a control unit according to the second embodiment.

[0026] Fig.12 This is a flowchart illustrating the processing of the control unit according to the second embodiment.

[0027] Fig.13 It is a diagram showing an example of arrangement of an expansion and contraction mechanism in a robot according to a third embodiment.

[0028] Fig.14 It is a diagram showing a configuration example of an expansion and contraction mechanism in a robot according to a third embodiment.

[0029] Fig.15 This is a block diagram illustrating a functional configuration of a control unit according to the third embodiment.

[0030] Fig.16 This is a flowchart illustrating the processing of the control unit according to the third embodiment. DETAILED DESCRIPTION

[0031] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In each of the drawings, the same components are denoted by the same reference numerals, and repeated descriptions are appropriately omitted.

[0032] The embodiments shown below are used to illustrate the robot for embodying the technical idea of ​​the present invention, but the present invention is not limited to the embodiments shown below. The sizes, materials, shapes and relative arrangements of the components described below are intended to be illustrative unless otherwise specified, and the scope of the present invention is not limited to these. In addition, the sizes and positional relationships of the components shown in the drawings may be exaggerated to make the description clear.

[0033] <Overall Configuration Example of Robot 100>

[0034] Reference Figures 1 to 3 , the structure of the robot 100 involved in the embodiment is described. Figure 1 It is a perspective view illustrating the robot 100 according to the embodiment. Figure 2 is a side view of the robot 100 . Figure 3 It is along Figure 2 A cross-sectional view taken along the III-III cutting line.

[0035] The robot 100 is a robot having an outer casing 10 and capable of being driven by supplied power. The robot 100 illustrated in this specification is a communication robot of a doll type imitating a bear. The robot 100 is made according to a size and weight suitable for a user to hold. Here, the user refers to the user (user) of the robot 100. Representative examples of users include people living alone, elderly people whose children are already independent, and frail elderly people who are the objects of home medical treatment. In addition, in addition to the user of the robot 100, the user may also include the manager of the robot 100 and other persons who only come into contact with the robot 100. In addition, in this specification, the word "hold" may also be replaced by the word "hold".

[0036] In this embodiment, the robot 100 can induce the user's breathing. The user corresponds to a "person" who breathes. Breathing is the only part of the autonomic nervous system of a "person" that can be consciously changed from the outside. For example, by making the user feel the rhythm of a gentle breathing, the robot 100 can guide the user's breathing rhythm to synchronize with the rhythm. As respiratory characteristics that the robot 100 can induce, there are breathing speed, breathing frequency, number of breaths, breathing depth, breathing amplitude, etc. The robot 100 can activate the user's parasympathetic nerves and relax the user by inducing the user's breathing to a given breathing characteristic.

[0037] The outer casing 10 may have flexibility. For example, the outer casing 10 includes a soft raw material that feels good when the user of the robot 100 touches the robot 100. The outer casing 10 may also have flexibility by including at least one of an elastomer and a porous body. Specifically, the raw material of the outer casing 10 may use raw materials including organic materials such as polyurethane foam, rubber, resin, and fiber. The outer casing 10 is preferably composed of an outer casing such as a polyurethane foam material having heat insulation properties, and a soft cloth covering the outer surface of the outer casing. The outer casing 10 has flexibility by including at least one of an elastomer and a porous body, for example, so that the user can feel the softness of the robot 100. As a result, the sense of restraint and resistance can be reduced, thereby promoting communication between the user and the robot 100.

[0038] As an example, the robot 100 includes a body 1, a head 2, arms 3, and legs 4. The head 2 includes a right eye 2a, a left eye 2b, a mouth 2c, a right cheek 2d, and a left cheek 2e. The arms 3 include a right arm 3a and a left arm 3b, and the legs 4 include a right leg 4a and a left leg 4b. Here, the body 1 corresponds to the robot body. Figure 2 As shown, the portion of the body 1 of the robot 100 on the side where the nose 5 of the robot 100 is arranged is the abdomen 191 of the robot 100. In addition, the portion of the body 1 of the robot 100 on the opposite side to the side where the nose 5 of the robot 100 is arranged is the back 192 of the robot 100.

[0039] like Figures 1 to 3 As shown, the head 2, the arm 3, and the leg 4 correspond to the driving body connected to the robot body in a relatively displaceable manner. The driving body in this embodiment includes the arm 3 connected to the robot body in a relatively displaceable manner in the robot 100. The robot 100 can induce breathing to the user by controlling at least one of the action of wrapping the arm 3 around a part of the user's body, the action of applying pressure to the user's skin through the arm 3, and the action of caressing a part of the user's body through the arm 3.

[0040] In the present embodiment, the arm 3 is configured to be displaceable relative to the body 1. For example, when the robot 100 is hugged by the user, the right arm 3a and the left arm 3b are displaced to contact the user's head, body, etc. in a manner of hugging the user. Through this action, the user feels close to the robot 100, so that the contact between the user and the robot 100 can be promoted. In addition, the so-called contact with the user refers to the action (contact action) of the user and the robot 100 touching each other, such as rubbing, patting (touching), and hugging (embracing).

[0041] The body 1, the head 2, the arms 3, and the legs 4 are all covered by the outer casing 10. The outer casing in the body 1 is integrated with the outer casing in the arms 3, and the outer casing in the head 2 and the legs 4 are separated from the outer casing in the body 1 and the arms 3. However, it is not limited to these structures, and for example, only the parts of the robot 100 that are easily contacted by the user may be covered by the outer casing 10. In addition, at least one of the outer casing 10 in each of the body 1, the head 2, the arms 3, and the legs 4 may be separated from the other outer casings. In addition, the parts of the head 2, the arms 3, and the legs 4 that do not displace may not include components such as sensors in their inner parts and may be composed only of the outer casing 10.

[0042] The robot 100 has a camera 11, a tactile sensor 12, a control unit 13, a life sensor 14, a battery 15, an expansion and contraction mechanism 18, a first electrostatic capacitance sensor 21, and a second electrostatic capacitance sensor 31 inside the outer casing 10. In addition, the robot 100 has a tactile sensor 12, a control unit 13, a life sensor 14, a battery 15, and an expansion and contraction mechanism 18 inside the outer casing 10 in the body 1. Furthermore, the robot 100 has a camera 11 and a first electrostatic capacitance sensor 21 inside the outer casing 10 in the head 2, and has a second electrostatic capacitance sensor 31 inside the outer casing 10 in the arm 3.

[0043] In addition, the robot 100 has a display 24, a speaker 25, and a light 26 inside the exterior member 10 in the head 2. Furthermore, the robot 100 has a display 24 inside the exterior member 10 in the right eye 2a and the left eye 2b. In addition, the robot 100 has a speaker 25 inside the exterior member 10 in the mouth 2c, and a light 26 inside the exterior member 10 in the right cheek 2d and the left cheek 2e.

[0044] In more detail, Figure 3 As shown, the robot 100 has a body frame 16 and a body mounting platform 17 inside the exterior member 10 in the body 1. In addition, the robot 100 has a head frame 22 and a head mounting platform 23 inside the exterior member 10 in the head 2. Furthermore, the robot 100 has a right arm frame 32a and a right arm mounting platform 33 inside the exterior member 10 in the right arm 3a, and a left arm frame 32b inside the exterior member 10 in the left arm 3b. In addition, the robot 100 has a right leg frame 42a inside the exterior member 10 in the right leg 4a, and a left leg frame 42b inside the exterior member 10 in the left leg 4b.

[0045] The trunk frame 16, the head frame 22, the right arm frame 32a, the left arm frame 32b, the right leg frame 42a, and the left leg frame 42b are structures formed by combining a plurality of columnar members. The trunk platform 17, the head platform 23, and the right arm platform 33 are plate-like members having a mounting surface. The trunk platform 17 is fixed to the trunk frame 16, the head platform 23 is fixed to the head frame 22, and the right arm platform 33 is fixed to the right arm frame 32a. In addition, the trunk frame 16, the head frame 22, the right arm frame 32a, the left arm frame 32b, the right leg frame 42a, and the left leg frame 42b may also be formed in a box shape including a plurality of plate-like members.

[0046] The right arm frame 32a is connected to the body frame 16 via the right arm connection mechanism 34a, and can be relatively displaced with respect to the body frame 16 by being driven by the right arm servo motor 35a. The right arm 3a is relatively displaced with respect to the body 1 by the displacement of the right arm frame 32a. The right arm connection mechanism 34a preferably has a speed reducer that increases the output torque of the right arm servo motor 35a, for example.

[0047] In this embodiment, the right arm frame 32a is composed of a multi-joint robot including a plurality of frame members and a plurality of connection mechanisms. For example, the right arm frame 32a includes a right shoulder frame F1a, a right upper arm frame F2a, a right elbow frame F3a, and a right forearm frame F4a. The trunk frame 16, the right shoulder frame F1a, the right upper arm frame F2a, the right elbow frame F3a, and the right forearm frame F4a are connected to each other via the connection mechanisms.

[0048] The right arm servo motor 35a is a general term for a plurality of servo motors. For example, the right arm servo motor 35a includes a right shoulder servo motor M1a, a right upper arm servo motor M2a, a right elbow servo motor M3a, and a right forearm servo motor M4a. The right shoulder servo motor M1a rotates the right shoulder frame F1a around a rotation axis that is perpendicular to the trunk frame 16. The right upper arm servo motor M2a rotates the right upper arm frame F2a around a rotation axis that is perpendicular to the rotation axis of the right shoulder frame F1a. The right elbow servo motor M3a rotates the right elbow frame F3a around a rotation axis that is perpendicular to the rotation axis of the right upper arm frame F2a. The right forearm servo motor M4a rotates the right forearm frame F4a around a rotation axis that is perpendicular to the rotation axis of the right elbow frame F3a.

[0049] The left arm frame 32b is connected to the body frame 16 via the left arm connection mechanism 34b, and can be relatively displaced with respect to the body frame 16 by being driven by the left arm servo motor 35b. The left arm frame 32b is displaced, so that the left arm 3b is relatively displaced with respect to the body 1. The left arm connection mechanism 34b preferably has a speed reducer that increases the output torque of the left arm servo motor 35b, for example.

[0050] In this embodiment, the left arm frame 32b is composed of a multi-joint robot including a plurality of frame members and a plurality of connection mechanisms. For example, the left arm frame 32b includes a left shoulder frame F1b, a left upper arm frame F2b, a left elbow frame F3b, and a left forearm frame F4b. The trunk frame 16, the left shoulder frame F1b, the left upper arm frame F2b, the left elbow frame F3b, and the left forearm frame F4b are connected to each other via the connection mechanisms.

[0051] The left arm servo motor 35b is a general term for a plurality of servo motors. For example, the left arm servo motor 35b includes a left shoulder servo motor M1b, a left upper arm servo motor M2b, a left elbow servo motor M3b, and a left forearm servo motor M4b. The left shoulder servo motor M1b rotates the left shoulder frame F1b around a rotation axis that is perpendicular to the body frame 16. The left upper arm servo motor M2b rotates the left upper arm frame F2b around a rotation axis that is perpendicular to the rotation axis of the left shoulder frame F1b. The left elbow servo motor M3b rotates the left elbow frame F3b around a rotation axis that is perpendicular to the rotation axis of the left upper arm frame F2b. The left forearm servo motor M4b rotates the left forearm frame F4b around a rotation axis that is perpendicular to the rotation axis of the left elbow frame F3b. By having the arm 3 have a 4-axis joint in this way, the robot 100 can achieve highly realistic movements. The so-called highly realistic motion refers to a motion that is relatively natural as the motion of an animal including a human being. In the present embodiment, the highly realistic motion corresponds to a motion that is relatively natural for the robot 100 as a bear.

[0052] The head frame 22 is connected to the body frame 16 via the head connection mechanism 27, and can be relatively displaced with respect to the body frame 16 by being driven by the head servo motor 35c. The head 2 is relatively displaced with respect to the body 1 by the displacement of the head frame 22. The head connection mechanism 27 preferably has a speed reducer that increases the output torque of the head servo motor 35c, for example.

[0053] In this embodiment, the head frame 22 includes a neck frame F1c and a face frame F2c. The body frame 16, the neck frame F1c, and the face frame F2c are connected to each other via a connection mechanism.

[0054] The head servo motor 35c is a general term for a plurality of servo motors. For example, the head servo motor 35c includes a neck servo motor M1c and a face servo motor M2c. The neck servo motor M1c rotates the neck frame F1c around a rotation axis perpendicular to the body frame 16. The face servo motor M2c rotates the face frame F2c around a rotation axis perpendicular to the rotation axis of the neck frame F1c. By having the head 2 having a two-axis joint, the robot 100 can achieve a more realistic action.

[0055] The right leg frame 42a is connected to the trunk frame 16 via the right leg connection mechanism 44a, and has a right leg wheel 41a on the bottom side. In order to stabilize the posture of the robot 100, the robot 100 preferably has two right leg wheels 41a in the front-to-back direction of the right leg frame 42a. The right leg wheel 41a is driven by the right leg servo motor 35d, so that it can rotate around a rotation axis perpendicular to the front-to-back direction of the right leg frame 42a. The robot 100 becomes able to travel by rotating the right leg wheel 41a. The right leg connection mechanism 44a, for example, preferably has a reducer that increases the output torque of the right leg servo motor 35d.

[0056] The left leg frame 42b is connected to the trunk frame 16 via the left leg connection mechanism 44b, and has a left leg wheel 41b on the bottom side. In order to stabilize the posture of the robot 100, the robot 100 preferably has two left leg wheels 41b in the front-to-back direction of the left leg frame 42b. The left leg wheel 41b is driven by the left leg servo motor 35e, so that it can rotate around a rotation axis perpendicular to the front-to-back direction of the left leg frame 42b. The robot 100 becomes able to travel by rotating the left leg wheel 41b. The left leg connection mechanism 44b, for example, preferably has a reducer that increases the output torque of the left leg servo motor 35e.

[0057] In this embodiment, the robot 100 moves forward or backward by turning the right leg wheel 41a and the left leg wheel 41b forward or backward at the same time. The robot 100 turns right or left by braking one of the right leg wheel 41a and the left leg wheel 41b and turning the other forward or backward. In this way, the robot 100 can realize a more realistic action through the legs 4.

[0058] The tactile sensor 12, the control unit 13, the vital sensor 14, and the battery 15 are fixed to the body mounting platform 17. The control unit 13 and the battery 15 are fixed to the side of the body mounting platform 17 opposite to the side to which the tactile sensor 12 and the vital sensor 14 are fixed. In addition, the arrangement of the control unit 13 and the battery 15 here is determined according to the space that can be arranged on the body mounting platform 17, and is not limited to the above arrangement. However, when the battery 15 is fixed to the side of the body mounting platform 17 opposite to the side to which the tactile sensor 12 and the vital sensor 14 are fixed, the battery 15 is heavier than other components, and thus the center of gravity of the robot 100 is lowered. When the center of gravity of the robot 100 is lowered, at least one of the position and posture of the robot 100 is stabilized, and at least one of charging and replacing the battery 15 becomes easy, so it is preferable.

[0059] The first electrostatic capacitance sensor 21 is fixed to the head mounting platform 23, and the second electrostatic capacitance sensor 31 is fixed to the right arm mounting platform 33. The display 24 includes a right eye display 24a and a left eye display 24b. The right eye display 24a, the left eye display 24b and the speaker 25 are fixed to the head frame 22. The light 26 includes a right cheek light 26a and a left cheek light 26b. The right cheek light 26a and the left cheek light 26b are fixed to the head frame 22.

[0060] In addition, the tactile sensor 12, the control unit 13, the life sensor 14, the battery 15, the first electrostatic capacitance sensor 21, the second electrostatic capacitance sensor 31, etc. can be fixed by screw members or adhesive members, etc. In addition, the right eye display 24a, the left eye display 24b, the speaker 25, the right cheek light 26a, the left cheek light 26b, etc. can also be fixed by screw members or adhesive members, etc.

[0061] The materials of the body frame 16, the body mounting platform 17, the head frame 22, the head mounting platform 23, the right arm frame 32a, the right arm mounting platform 33 and the left arm frame 32b are not particularly limited, and resin materials or metal materials can be used. However, from the viewpoint of ensuring the strength during driving, metal materials such as aluminum are preferably used for the body frame 16, the right arm frame 32a and the left arm frame 32b. On the other hand, as long as the strength can be ensured, in order to make the robot 100 lightweight, resin materials are preferably used for the materials of these parts. The materials of the body mounting platform 17, the head frame 22, the head mounting platform 23, the right arm mounting platform 33 and the left arm frame 32b are not particularly limited, and resin materials or metal materials can be used, but from the viewpoint of making the robot 100 lightweight, resin materials are preferably used.

[0062] The control unit 13 controls the overall movement of the robot 100. In the present embodiment, in particular, the control unit 13 can control the movement of the robot 100 in a manner that induces the user's breathing to a given state based on the output from the camera 11. The control unit 13 is connected to the camera 11, the tactile sensor 12, the life sensor 14, the first electrostatic capacitance sensor 21, the second electrostatic capacitance sensor 31, the right arm servo motor 35a, and the left arm servo motor 35b by wire or wireless in a manner that can communicate. In addition, the control unit 13 is also connected to the head servo motor 35c, the right leg servo motor 35d, and the left leg servo motor 35e by wire or wireless in a manner that can communicate. Furthermore, the control unit 13 is also connected to the right eye display 24a, the left eye display 24b, the speaker 25, the right cheek light 26a, and the left cheek light 26b by wire or wireless in a manner that can communicate.

[0063] The camera 11 is an image sensor that outputs the captured image of the robot 100's surroundings to the control unit 13. The camera 11 is an example of a capturing unit that captures the user. In addition, the camera 11 is an example of a first detection unit that obtains information related to the user's breathing. Furthermore, the camera 11 is an example of an image sensor that obtains information related to the user's breathing based on the captured image of the user. The camera 11 is disposed at a position corresponding to the bear's nose 5 on the inner side of the exterior member 10. The camera 11 can be fixed by an adhesive member or the like. In addition, the structure of the camera 11 will be described with reference to FIG. Figure 4 Details will be given separately.

[0064] The tactile sensor 12 is a sensor element that obtains information sensed by the tactile sense possessed by human hands, etc., converts the information into a tactile signal as an electrical signal, and outputs the information to the control unit 13. For example, the tactile sensor 12 converts information on pressure and vibration generated by the user's contact with the robot 100 into a tactile signal through a piezoelectric element, and outputs the tactile signal to the control unit 13. The tactile signal output from the tactile sensor 12 is used to detect the user's contact or approach to the robot 100.

[0065] The life sensor 14 is an example of a first detection unit that obtains information related to the user's breathing. The life sensor 14 is an example of an electromagnetic wave sensor that uses electromagnetic waves to obtain information related to the user's breathing. The life sensor 14 is an example of a second detection unit that obtains information related to at least one of the user's pulse, heartbeat, blood pressure, and pulse pressure. The life sensor 14 may also be arranged inside the outer casing 10 of the robot 100. In addition, the structure of the life sensor 14 will be referred to. Figure 5 Details will be given separately.

[0066] The expansion and contraction mechanism 18 is a mechanism part that can expand and contract the body part 1 of the robot 100. In this embodiment, the expansion and contraction mechanism 18 is used to induce the user's breathing. Figure 6 Details will be given separately.

[0067] The first electrostatic capacitance sensor 21 and the second electrostatic capacitance sensor 31 are sensor elements that output electrostatic capacitance signals to the control unit 13 for detecting contact or proximity of the user with the robot 100 based on changes in electrostatic capacitance. From the perspective of stabilization of the exterior member 10, the first electrostatic capacitance sensor 21 is preferably a rigid sensor without flexibility. Since the arm 3 is a part that the user easily touches, from the perspective of providing a good touch, the second electrostatic capacitance sensor 31 is preferably a sensor that includes conductive threads and has flexibility. The electrostatic capacitance signals output from the first electrostatic capacitance sensor 21 and the second electrostatic capacitance sensor 31 are used to detect contact or proximity of the user with respect to the robot 100.

[0068] The right eye display 24a and the left eye display 24b are display modules that display character strings or images such as characters, numbers, and symbols according to instructions from the control unit 13. The right eye display 24a and the left eye display 24b are composed of, for example, liquid crystal display modules. The character strings or images displayed by the right eye display 24a and the left eye display 24b can be used for the robot 100 to express emotions, etc. For example, the robot 100 displays an image of "smile" on the right eye display 24a and the left eye display 24b for a user sitting with a happy emotion, empathizes with the happiness, and can thereby suggestively induce contact with the user.

[0069] The speaker 25 is a speaker unit that amplifies the sound signal from the control unit 13 and outputs the sound. The sound output from the speaker 25 is the speech or shout of the robot 100, and can be used for the robot 100 to express emotions, etc.

[0070] The right cheek light 26a and the left cheek light 26b are examples of light emitting parts provided in the head 2 of the robot 100. The right cheek light 26a and the left cheek light 26b are light modules that change at least one of the flashing speed, the brightness of the light, and the color of the light. The right cheek light 26a and the left cheek light 26b are, for example, composed of LED (Light Emitting Diode) light modules. The robot 100 can induce breathing to the user by changing at least one of the flashing speed, the brightness of the light, and the color of the light of the right cheek light 26a and the left cheek light 26b.

[0071] The battery 15 is a power source that supplies power to the camera 11, the tactile sensor 12, the control unit 13, the life sensor 14, the first electrostatic capacitance sensor 21, the second electrostatic capacitance sensor 31, the right arm servo motor 35a, and the left arm servo motor 35b. In addition, the battery 15 also supplies power to the head servo motor 35c, the right leg servo motor 35d, and the left leg servo motor 35e. Furthermore, the battery 15 also supplies power to the right eye display 24a, the left eye display 24b, the speaker 25, the right cheek light 26a, and the left cheek light 26b. The battery 15 can use various secondary batteries such as lithium ion batteries and lithium polymer batteries.

[0072] In addition, the installation positions of various sensors such as the tactile sensor 12, the first electrostatic capacitance sensor 21, and the second electrostatic capacitance sensor 31 in the robot 100 can be changed appropriately. In addition, various sensors such as the tactile sensor 12, the first electrostatic capacitance sensor 21, and the second electrostatic capacitance sensor 31 can also be arranged outside the robot 100 to send necessary information to the robot 100 or an external device via wireless.

[0073] The robot 100 does not necessarily need to include the control unit 13 inside the exterior member 10, and the control unit 13 may communicate with each device via wireless from outside the exterior member 10. The battery 15 may supply power to each component from outside the exterior member 10.

[0074] In this embodiment, the structure in which the head 2, the arm 3, and the leg 4 can be displaced is illustrated, but it is not limited to this, and at least one of the head 2, the arm 3, and the leg 4 can be displaced. In addition, the arm 3 is composed of a 4-axis multi-joint robot arm, but it can also be composed of a 6-axis multi-joint robot arm. Furthermore, the arm 3 is preferably capable of connecting an end effector such as a hand. In addition, the leg 4 is composed of a wheel system, but it can also be composed of a crawler system or a leg system.

[0075] The structure and shape of the robot 100 are not limited to those illustrated in this embodiment, and can be appropriately changed according to the user's preference, the usage form of the robot 100, etc. For example, the robot 100 may not be in the form of a bear but in the form of other creatures, or in the form of a puppet such as a human, etc. In addition, the robot 100 may be in the form of a mobile device such as a drone or a vehicle having at least one of an arm, a display, a speaker, and a light.

[0076] <Configuration Example of Camera 11>

[0077] Figure 42 is a diagram showing an example of the structure of the camera 11. The camera 11 includes a light source 201 for imaging, a wavelength filter 202, a lens 203, and an imaging element 204. The camera 11 is concealed so as to be difficult to be visually recognized from the outside of the robot 100, and is arranged near the surface of the robot 100.

[0078] The photographing light source 201 irradiates the irradiation light L of a given peak wavelength to the user 200. There is no particular limitation on the given peak wavelength, but from the viewpoint of making the irradiation light difficult to be visually recognized, the given peak wavelength is preferably a peak wavelength of non-visible light such as near-infrared light. The wavelength filter 202 is an optical element that transmits light having a wavelength near the peak wavelength in the irradiation light L from the photographing light source 201. The lens 203 forms an image of the user 200, etc. on the imaging plane of the imaging element 204 using the reflected light R obtained by the irradiation light L from the photographing light source 201 being reflected by the user 200, etc. The imaging element 204 outputs a captured image Im obtained by capturing the image formed by the lens 203 to the control unit 13. The control unit 13 can obtain the breathing characteristic information of the user 200 based on the captured image Im. The breathing characteristic information includes information indicating the breathing characteristic, information related to the breathing characteristic, and the like. From the viewpoint that the breathing characteristic information can be obtained from the captured image Im, the captured image Im output from the imaging element 204 corresponds to information related to the user's breathing. The imaging element may be a CCD (Charge Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor), etc. The captured image may be a still image or a moving image.

[0079] In the camera 11, by arranging the wavelength filter 202, the lens 203 and the imaging element 204 are concealed in a manner that is not easily visually recognized from the outside of the robot 100. The camera 11 uses the light from the light source 201 for photographing that is reflected by the user 200 and passes through the wavelength filter 202 to photograph the user 200. In addition, the nose 5 is a part that is less likely to be touched by the user 200 than the body 1, the head 2, the arm 3, etc. Therefore, by arranging the camera 11 at the nose 5, the user 200 is less likely to touch the camera 11. As a result, when the user 200 touches the robot 100, the discomfort of touch caused by the surface of the camera 11 being harder than the surface of the exterior member 10 can be reduced. Even if the user 200 touches the nose 5, even if the nose 5 is different in touch from the body 1, the head 2, the arm 3, etc., it will not be too unnatural, so the discomfort of touch can be reduced.

[0080] The position where the camera 11 is arranged is not limited to the nose 5, and may be other parts such as the mouth and eyes, as long as it can achieve the same effect as the arrangement on the nose 5 described above. In addition, the camera 11 is not limited to being arranged on the inner side of the outer casing 10, and may be arranged on the outer side of the outer casing 10. When the camera 11 is arranged on the outer side of the outer casing 10, it is not necessary to conceal the camera 11 so that it is not easily visually recognized, so the camera 11 may not have the wavelength filter 202 for concealment.

[0081] In this embodiment, the captured image Im obtained by the camera 11 may be used for other purposes, such as personal authentication of the user 200, in addition to obtaining the respiratory characteristic information. A plurality of cameras may be provided at a plurality of locations of the robot 100 according to the purpose.

[0082] The first detection unit is not limited to the camera 11, and may be an electromagnetic wave sensor such as a Doppler sensor that uses electromagnetic waves such as microwaves, millimeter waves, etc. That is, in this embodiment, the first detection unit may also include at least one of an electromagnetic wave sensor that uses electromagnetic waves to obtain information related to the user's breathing, and an image sensor that obtains information related to the user's breathing based on a captured image of the user.

[0083] For example, a microwave Doppler sensor as an electromagnetic wave sensor detects vibrations on the body surface of the user 200 accompanying breathing, and can output information related to the breathing of the user 200 by signal processing based on the detected vibrations. The vibration period output from the microwave Doppler sensor corresponds to the speed and frequency of breathing, etc. The number of vibrations output from the microwave Doppler sensor corresponds to the number of breathings. The vibration amplitude output from the microwave Doppler sensor corresponds to the depth of breathing, etc. The microwave Doppler sensor can be applied to the following reference Figure 5 The life sensor 14 described above, etc. The electromagnetic wave sensor does not use a captured image, and is therefore easier to be arranged on the inner side of the outer casing 10 than the camera 11. By arranging the first detection unit on the inner side of the outer casing 10, the user cannot visually recognize the first detection unit. As a result, the robot 100 can reduce the user's resistance to obtaining information related to his or her own breathing, and can smoothly obtain information related to the user's breathing.

[0084] The camera 11 may also be used as a second detection unit for acquiring information on at least one of the user's pulse, heartbeat, blood pressure, and pulse pressure. In this case, the irradiation light L and the reflected light R correspond to electromagnetic waves for acquiring biological information.

[0085] <Configuration example of the life sensor 14>

[0086] Figure 514 is a diagram illustrating a configuration of a life sensor 14. The life sensor 14 is a microwave Doppler sensor having a microwave transmitting unit 141 and a microwave receiving unit 142. Microwaves are an example of electromagnetic waves.

[0087] The life sensor 14 transmits a transmission wave Ms as a microwave from the inside of the exterior member 10 to the user 200 through the microwave transmitting unit 141. In addition, the life sensor 14 receives a reflected wave Mr obtained by reflecting the transmission wave Ms from the user 200 through the microwave receiving unit 142.

[0088] The life sensor 14 detects the micro displacement on the body surface caused by the heartbeat of the user 200, etc., in a non-contact manner by using the Doppler effect based on the difference between the frequency of the transmission wave Ms and the frequency of the reflection wave Mr. The life sensor 14 can obtain information such as the heartbeat, respiration, pulse wave, blood pressure, and pulse pressure as biological information of the user 200 based on the detected micro displacement, and output them to the control unit 13. The respiration information includes the respiration rate, rhythm, and respiration depth. The pulse wave includes the pulse, pulse interval RR, pulse waveform, and pulse wave propagation velocity.

[0089] The life sensor 14 is not limited to a microwave Doppler sensor, and may be a life sensor that detects tiny displacements generated on the body surface by using the coupling change between the human body and the antenna, or may be a life sensor that uses electromagnetic waves other than microwaves such as near-infrared light. In addition, the life sensor 14 may also be a millimeter wave radar, a microwave radar, etc. Furthermore, the life sensor 14 preferably has a non-contact thermometer that detects infrared rays emitted from the user 200 in addition to the Doppler sensor. In this case, the life sensor 14 detects biological information of the user 200 including information related to at least one of the heartbeat (pulse), respiration, blood pressure, and body temperature. In addition, the life sensor 14 may also include a plurality of life sensors that can obtain a variety of biological information such as heartbeat, respiration, pulse wave, blood pressure, and pulse pressure by type, and obtain a variety of biological information.

[0090] The life sensor 14 is provided inside the exterior member 10, so the user 200 cannot visually recognize the life sensor 14. Thus, the user 200 can reduce the resistance to obtaining the biological information, and can smoothly obtain the biological information. In addition, since the life sensor 14 can obtain the biological information in a non-contact manner, it is different from a contact sensor that requires the user 200 to keep contact at the same place for a certain period of time, even if the user 200 moves to some extent, the biological information can be obtained.

[0091] Furthermore, by embracing the robot 100, the user 200 and the robot 100 are encouraged to come into contact with each other, so that the robot 100 is embraced by the user 200 and can acquire biological information while in contact or close to the user 200. Thus, the robot 100 can acquire biological information with reduced noise and high reliability.

[0092] <Configuration Example of the Expansion and Contraction Mechanism 18>

[0093] Figure 6 18 is a diagram illustrating the structure of the expansion and contraction mechanism 18. The expansion and contraction mechanism 18 includes a support portion 181, a pressing drive portion 182, a rotation portion 183, and a pressing portion 184. The support portion 181 is fixed to the body frame 16 by a screw member, an adhesive member, or the like. The support portion 181 supports the pressing drive portion 182.

[0094] The expansion and contraction mechanism 18 rotates the rotating part 183 around its rotation axis (in the direction of arrow 180) by using the pushing driving part 182, thereby causing the pushing part 184 to swing back and forth around the rotation axis of the rotating part 183. The expansion and contraction mechanism 18 can push or not push the outer casing 10 of the abdomen 191 by the swinging of the pushing part 184. In the expansion and contraction mechanism 18, when the rotating part 183 rotates in the clockwise direction around its rotation axis, the pushing part 184 pushes the outer casing 10 of the abdomen 191 from the inside to the outside. In this state, the outer casing 10 bulges in the direction pushed by the pushing part 184, and the abdomen 191 is inflated. On the other hand, when the rotating part 183 rotates in the counterclockwise direction around its rotation axis, the pushing part 184 does not contact the outer casing 10 of the abdomen 191 and does not push the outer casing 10. In this state, the outer member 10 contracts due to its own elasticity, and the abdomen 191 is in a contracted state. The expansion and contraction mechanism 18 can expand and contract the abdomen 191 at a given expansion and contraction frequency and a given expansion and contraction amplitude according to the expansion and contraction control signal from the control unit 13. The abdomen 191 is a part of the trunk 1, so in other words, the expansion and contraction mechanism 18 can expand and contract the trunk 1 at a given expansion and contraction frequency and a given expansion and contraction amplitude according to the expansion and contraction control signal from the control unit 13.

[0095] <Modification of the expansion and contraction mechanism 18>

[0096] In order to reduce the energy consumption required for the expansion and contraction action, the outer casing 10 at the part in contact with the pushing portion 184 may also form a notch or be configured as an independent part separated from the surroundings. At this time, if you want to give the robot 100 "biological similarity", it is preferred to set a covering member on the surface to cover the notch. In addition, the pushing portion 184 and the contact portion of the outer casing 10 may also be bonded. In addition, as an expansion and contraction mechanism, a bag-shaped container may be arranged on the inner side of the outer casing 10 to prevent retraction by applying oil pressure, air pressure or pressure to the filled fluid. In addition, as other expansion and contraction mechanisms, raw materials that deform / expand and contract by the application of electric current, such as soft actuators, may also be arranged on the inner side of the outer casing 10 to expand and contract the abdomen of the robot 100.

[0097] <Configuration Example of Control Unit 13>

[0098] (Hardware Configuration Example)

[0099] Figure 7 1 is a block diagram showing an example of the hardware structure of the control unit 13. The control unit 13 is constructed by a computer and has a CPU (Central Processing Unit) 131, a ROM (Read Only Memory) 132, and a RAM (Random Access Memory) 133. In addition, the control unit 13 has a HDD / SSD (Hard Disk Drive / Solid State Drive) 134, a device connection I / F (Interface) 135, and a communication I / F 136. These are connected via a system bus A so as to be able to communicate with each other.

[0100] The CPU 131 performs control processing including various calculation processing. The ROM 132 stores programs such as IPL (Initial Program Loader) for driving the CPU 131. The RAM 133 is used as a work area for the CPU 131. The HDD / SSD 134 stores various information such as programs, and detection information obtained by various sensors such as the camera image obtained by the camera 11, the biological information obtained by the life sensor 14, and the tactile signal obtained by the tactile sensor 12.

[0101] The device connection I / F 135 is an interface for connecting the control unit 13 to various external devices. The external devices here are the camera 11, the touch sensor 12, the life sensor 14, the first electrostatic capacitance sensor 21, the second electrostatic capacitance sensor 31, the servo motor 35, the battery 15, the expansion and contraction mechanism 18, the light 26, etc. In addition, the external devices also include Figure 1Shown are a display 24, a speaker 25, etc.

[0102] Here, the servo motor 35 is a generic term for the right arm servo motor 35a, the left arm servo motor 35b, the head servo motor 35c, the right leg servo motor 35d, and the left leg servo motor 35e. In addition, the display 24 is a generic term for the right eye display 24a and the left eye display 24b. Furthermore, the light 26 is a generic term for the right cheek light 26a and the left cheek light 26b.

[0103] The communication I / F 136 is an interface for communicating with an external device via a communication network, etc. For example, the control unit 13 is connected to the Internet via the communication I / F 136 and communicates with an external device via the Internet.

[0104] In addition, at least a part of the functions implemented by the CPU 131 may be implemented by an electric circuit or an electronic circuit.

[0105] (Functional configuration example)

[0106] Figure 8 1 is a block diagram showing an example of the functional configuration of the control unit 13. The control unit 13 includes an acquisition unit 101, a communication control unit 102, a storage unit 103, an authentication unit 104, a registration unit 105, a start control unit 106, a motor control unit 107, a detection unit 108, and an output unit 109. Furthermore, the control unit 13 includes a respiratory characteristic information acquisition unit 110, an expansion and contraction control unit 111, and a light emission control unit 112. In addition, the control unit 13 may also include functional configuration units other than the above-mentioned units.

[0107] The control unit 13 can realize the functions of the acquisition unit 101 and the output unit 109 through the device connection I / F 135 and the like, and can realize the functions of the communication control unit 102 through the communication I / F 136 and the like. In addition, the control unit 13 can realize the functions of the storage unit 103 and the registration unit 105 through the non-volatile memory such as the HDD / SSD 134. Furthermore, the control unit 13 can realize the functions of the authentication unit 104, the start control unit 106, the motor control unit 107, and the detection unit 108 by executing the processing specified by the program stored in the non-volatile memory such as the ROM 132 through the processor such as the CPU 131.

[0108] Furthermore, the control unit 13 can realize the functions of the breathing characteristics information acquisition unit 110, the expansion and contraction control unit 111, and the light emission control unit 112 by executing the processing specified by the program stored in the non-volatile memory such as the ROM 132 through the processor such as the CPU 131. In addition, part of the above functions of the control unit 13 may be realized by an external device such as a PC (Personal Computer) or a server, or by distributed processing between the control unit 13 and the external device.

[0109] The acquisition unit 101 acquires the captured image Im of the user 200 from the camera 11 by controlling the communication between the control unit 13 and the camera 11. In addition, the acquisition unit 101 acquires the tactile signal S from the tactile sensor 12 by controlling the communication between the control unit 13 and the tactile sensor 12. Furthermore, the acquisition unit 101 acquires the biological information B of the user 200 from the life sensor 14 by controlling the communication between the control unit 13 and the life sensor 14.

[0110] The acquisition unit 101 acquires the first capacitance signal C1 from the first capacitance sensor 21 by controlling the communication between the control unit 13 and the first capacitance sensor 21. The acquisition unit 101 acquires the second capacitance signal C2 from the second capacitance sensor 31 by controlling the communication between the control unit 13 and the second capacitance sensor 31.

[0111] The communication control unit 102 controls communication with external devices via a communication network, etc. For example, the communication control unit 102 can send the captured image Im obtained by the camera 11, the biological information B obtained by the life sensor 14, the tactile signal S obtained by the tactile sensor 12, etc. to the external device via the communication network.

[0112] The storage unit 103 stores the biological information B acquired by the life sensor 14. The storage unit 103 continuously stores the acquired biological information B while the acquisition unit 101 acquires the biological information B from the life sensor 14. In addition, the storage unit 103 can also store information obtained based on the captured image Im acquired by the camera 11, the tactile signal S from the tactile sensor 12, the first electrostatic capacitance signal C1 from the first electrostatic capacitance sensor 21, and the second electrostatic capacitance signal C2 from the second electrostatic capacitance sensor 31. In addition, the storage unit 103 can also store the correspondence relationship information predetermined for the correspondence relationship between the respiratory characteristic information acquired based on the captured image Im and at least one of the operation of the expansion and contraction mechanism 18, the operation of the lamp 26, and the servo motor 35.

[0113] The authentication unit 104 performs personal authentication on the user 200 based on the captured image Im of the user 200 acquired by the camera 11. For example, the authentication unit 104 performs facial authentication based on the captured image Im including the face of the user 200 captured by the camera 11, referring to the registration information 150 of the facial image pre-registered in the registration unit 105. In this way, the user 200 who is currently in contact with or close to the robot 100 can be associated with the pre-registered personal information, and the biometric information B acquired by the life sensor 14 can be associated with the personal information. In addition, the control unit 13 may control to stop the start of acquisition of the biometric information by the life sensor 14 when the facial image included in the captured image Im is not registered in the registration unit 105.

[0114] The start control unit 106 causes the life sensor 14 to start acquiring the biological information B. For example, when the detection unit 108 detects that the user 200 is in contact with or close to the robot 100, the start control unit 106 turns on a switch that supplies power from the battery 15 to the life sensor 14. Thus, the start control unit 106 causes the life sensor 14 to start acquiring the biological information B.

[0115] The detection unit 108 detects the contact or approach of the user 200 to the robot 100 based on the captured image Im obtained by the camera 11 or the like. The detection unit 108 may also detect the distance from the robot 100 to the user 200 based on the captured image Im obtained by the camera 11. In addition, the detection unit 108 may also detect the contact or approach of the user 200 to the robot 100 based on the first electrostatic capacitance signal C1 or the second electrostatic capacitance signal C2. Furthermore, the detection unit 108 may also detect the contact or approach of the user 200 to the robot 100 based on the tactile signal S from the tactile sensor 12.

[0116] The breathing characteristic information acquisition unit 110 acquires the user 200 (see Figure 4) of the user 200. For example, the respiratory characteristics information acquisition unit 110 detects the vibration of the chest of the user 200 accompanying breathing based on the multiple captured images Im continuously acquired by the acquisition unit 101. The respiratory characteristics information acquisition unit 110 acquires the respiratory characteristics information M1 such as the speed, frequency, number of breaths, and depth of breathing based on the vibration. The respiratory characteristics information acquisition unit 110 may also acquire the respiratory characteristics information M1 through rPPG (remote photoplethysmography) based on the captured image Im. The so-called rPPG refers to a technology for estimating heart rate and breathing by analyzing the changes in skin color caused by blood flow. The respiratory characteristics information acquisition unit 110 may also acquire the respiratory characteristics information M1 based on the biological information B acquired using the life sensor 14. The respiratory characteristics information acquisition unit 110 outputs the respiratory characteristics information M1 to the expansion and contraction control unit 111.

[0117] The expansion / contraction control unit 111 controls the operation of the expansion / contraction mechanism 18 so as to induce the breathing of the user 200 to a predetermined state based on the breathing characteristic information M1 from the breathing characteristic information acquisition unit 110. For example, the expansion / contraction control unit 111 acquires the operation information N1 of the expansion / contraction mechanism 18 by referring to the correspondence information 130 stored in the storage unit 103 based on the breathing characteristic information M1. The expansion / contraction control unit 111 can control the operation of the expansion / contraction mechanism 18 by outputting the operation information N1 to the expansion / contraction mechanism 18 via the output unit 109. The operation information N1 corresponds to the expansion / contraction control signal.

[0118] Table 1 below shows an example of the correspondence information 130. In Table 1, the correspondence information 130 includes respiratory speeds V1 to V4 and respiratory depths D1 to D4 as respiratory characteristic information M1. In addition, the correspondence information 130 includes expansion and contraction frequencies f1 to f4 paired with the respiratory speeds V1 to V4, and expansion and contraction amplitudes Am1 to Am4 paired with the respiratory depths D1 to D4.

[0119]

Table 1

[0120] serial number M1 N1 1 Respiratory rate V1 Expansion and contraction frequency f1 2 Breathing speed V2 Expansion and contraction frequency f2 3 Breathing speed V3 Expansion and contraction frequency f3 4 Breathing speed V4 Expansion and contraction frequency f4 5 Breathing depth D1 Expansion and contraction amplitude Am1 6 Breathing depth D2 Expansion and contraction amplitude Am2 7 Breathing depth D3 Expansion and contraction amplitude Am3 8 Breathing depth D4 Expansion and contraction amplitude Am4 · · ·

[0121] For example, the expansion and contraction frequency in the action information N1 is predetermined to be a frequency that is offset by a given frequency from the frequency corresponding to the breathing speed in the breathing characteristics information M1. The expansion and contraction control unit 111 refers to the correspondence information 130 and obtains information on the expansion and contraction frequency that is offset by a given frequency from the frequency corresponding to the breathing speed in the breathing characteristics information M1. The expansion and contraction control unit 111 expands and contracts the expansion and contraction mechanism 18 at the expansion and contraction frequency. The user 200 breathes in coordination with the expansion and contraction of the expansion and contraction mechanism 18. Thus, the robot 100 can, for example, induce the user 200 to breathe in such a way that the breathing speed is gradually slowed down. The state of the breathing speed of each time series that is gradually slowed down corresponds to the "given state" of breathing.

[0122] In addition, for example, the expansion and contraction amplitude in the action information N1 is predetermined to be an amplitude that is offset by a given amplitude from the amplitude corresponding to the breathing depth in the breathing characteristics information M1. The expansion and contraction control unit 111 refers to the correspondence information 130 and obtains information about the expansion and contraction amplitude that is offset by a given amplitude from the amplitude corresponding to the breathing depth in the breathing characteristics information M1. The expansion and contraction control unit 111 expands and contracts the expansion and contraction mechanism 18 with the expansion and contraction amplitude. The user 200 breathes in coordination with the expansion and contraction of the expansion and contraction mechanism 18. Thus, the robot 100 can, for example, induce the breathing of the user 200 by increasing the expansion and contraction amplitude in a manner that gradually deepens the breathing depth. The state of the breathing depth of each time series that gradually deepens corresponds to the "given state" of breathing.

[0123] The movement of the expansion and contraction mechanism 18 is the expansion and contraction movement of the body part 1 of the robot 100, and corresponds to the movement of the robot 100. Therefore, in a state where the user 200 hugs the robot 100, touches the robot 100, and communicates with the robot 100, the robot 100 can induce breathing to the user 200 through the movement of the robot 100 controlled by the expansion and contraction control unit 111. In addition, the correspondence information 130 shown in Table 1 is an example and is not limited to this. In addition, the breathing induction method based on the expansion and contraction control unit 111 is also an example and is not limited to this. For example, the robot 100 can also use a deep neural network (DNN: Deep Neural Network) based on the breathing characteristic information M1 to estimate the movement of the expansion and contraction mechanism 18 for appropriate breathing induction, and control the movement of the expansion and contraction mechanism 18 according to the estimation result.

[0124] The breathing characteristics information acquisition unit 110 may also output the breathing characteristics information M1 to the light control unit 112. The light control unit 112 may also control the action of the lamp 26 in a manner that induces the breathing of the user 200 to a given state based on the breathing characteristics information M1 from the breathing characteristics information acquisition unit 110. The light control unit 112 may control at least one of the flashing speed of the lamp 26, the brightness of the light from the lamp 26, and the color of the light from the lamp 26. For example, the light control unit 112 obtains the action information N2 of the lamp 26 based on the breathing characteristics information M1, referring to the correspondence information stored in the storage unit 103. The action information N2 of the lamp 26 is information for controlling at least one of the flashing speed of the lamp 26, the brightness of the light from the lamp 26, and the color of the light from the lamp 26. The light control unit 112 can control the action of the lamp 26 by outputting the action information N2 of the lamp 26 to the lamp 26 via the output unit 109. The user 200 holds the robot 100, touches the robot 100, and communicates with the robot 100, and breathes in accordance with the blinking speed of the light 26 while observing the light 26. Thus, the robot 100 can induce breathing for the user 200.

[0125] The breathing characteristic information acquisition unit 110 may also output the breathing characteristic information M1 to the motor control unit 107. The motor control unit 107 may also control the operation of the servo motor 35 in such a manner as to induce the breathing of the user 200 to a given state based on the breathing characteristic information M1 from the breathing characteristic information acquisition unit 110. The motor control unit 107 can control the driving body including the arm 3 connected to the robot body in the robot 100 in a relatively displaceable manner by controlling the operation of the servo motor 35. The motor control unit 107 may also control at least one of the operation of wrapping the arm 3 around a part of the body of the user 200, the operation of applying pressure to the skin of the user 200 by the arm 3, and the operation of caressing a part of the body of the user 200 by the arm 3. For example, the motor control unit 107 obtains the operation information N3 of the servo motor 35 based on the breathing characteristic information M1 by referring to the correspondence information stored in the storage unit 103. The motor control unit 107 can control the operation of the servo motor 35 by outputting the operation information N3 of the servo motor 35 to the servo motor 35 via the output unit 109. The user 200 breathes in accordance with the movement of the arm 3 while hugging the robot 100, touching the robot 100, and communicating with the robot 100. Thus, the robot 100 can induce breathing for the user 200.

[0126] <Operation example of robot 100>

[0127] Fig. 9 1 is a diagram illustrating a state of breathing induction by the robot 100. Fig. 9In this state, the user 200 hugs the robot 100 and touches the robot 100, and communicates with the robot 100. Figure 8 The expansion and contraction control unit 111 shown expands and contracts the abdomen 191. The robot 100 allows the user 200 who is holding the robot 100 to feel the expansion and contraction of his / her abdomen 191. The user 200 breathes in accordance with the expansion and contraction of the abdomen 191. In this way, the robot 100 can induce the user 200 to breathe.

[0128] Or, in Fig. 9 In the state, the robot 100 passes Fig. 9 The motor control unit 107 shown in the figure controls at least one of the action of wrapping the arm 3 around a part of the body of the user 200, the action of applying pressure to the skin of the user 200 through the arm 3, and the action of caressing a part of the body of the user 200 through the arm 3. Thus, the robot 100 can induce breathing to the user 200 in coordination with the action of the arm 3 by making the user 200 who is hugging the robot 100 feel the action of the arm 3. In addition to the above, the robot 100 can also Fig. 9 The light emission control unit 112 shown controls at least one of the blinking speed of the lamp 26 , the brightness of the light from the lamp 26 , and the color of the light from the lamp 26 , thereby inducing breathing for the user 200 .

[0129] Fig.10 It is a flowchart which illustrates the processing of the control unit 13. Fig.10 FIG. 2 shows an example of the process of the control unit 13 for inducing breathing of the user 200. When the control unit 13 detects the user 200's contact or approach to the robot 100 through the detection unit 108, the control unit 13 starts Fig.10 Below, please refer to Figure 8 The functional structure diagram is used to illustrate this.

[0130] First, in step S101 , the control unit 13 obtains the breathing characteristics information M1 of the user 200 included in the captured image Im obtained by the obtaining unit 101 through the breathing characteristics information obtaining unit 110 . The breathing characteristics information obtaining unit 110 outputs the breathing characteristics information M1 to the expansion and contraction control unit 111 .

[0131] Next, in step S102 , the control unit 13 controls the operation of the inflation / deflation mechanism 18 through the inflation / deflation control unit 111 so as to induce the breathing of the user 200 to a predetermined state based on the breathing characteristic information M1 from the breathing characteristic information acquisition unit 110 .

[0132] Next, in step S103, the control unit 13 determines whether to end the process. For example, the control unit 13 may determine that the process is ended when a predetermined time has passed, and determine that the process is not ended when it has not passed. Alternatively, the control unit 13 may determine that the process is ended when it is detected that the user 200 is neither in contact with nor close to the robot 100, and determine that the process is not ended when it is detected that the user 200 is in contact with or close to the robot 100. However, other determination methods may also be used.

[0133] In step S103, if it is determined that the processing is not to be terminated (step S103, "No"), the control unit 13 performs the processing after step S101 again. On the other hand, in step S103, if it is determined that the processing is to be terminated (step S103, "Yes"), the control unit 13 terminates the processing.

[0134] As described above, the control unit 13 can execute processing for causing the robot 100 to induce the breathing of the user 200. In addition, the processing for controlling the operation of the expansion and contraction mechanism 18 is exemplified here, but in the processing for controlling the operation of the servo motor 35 or the light 26, the processing of the expansion and contraction control unit 111 can also be replaced with the processing of the motor control unit 107 or the light emission control unit 112. Fig.10 Flowchart of the process.

[0135] <Main functions and effects of robot 100>

[0136] As described above, the robot 100 includes: the exterior member 10; at least one of the camera 11 and the life sensor 14 (first detection unit) that obtains information related to the user's breathing; and the control unit 13 that controls the operation of the robot 100 in a manner that induces the user's breathing to a given state based on the information obtained by the first detection unit. For example, the control unit 13 controls the operation of at least one of the expansion and contraction mechanism 18, the lamp 26 (light emitting unit), and the driving body including the arm 3 to induce the user's breathing to a given state.

[0137] In this embodiment, the robot 100 induces breathing of the user 200 while the robot 100 and the user 200 are communicating, so the robot 100 can naturally induce the breathing of the user 200. In other words, in this embodiment, a robot that can naturally induce the user's breathing can be provided.

[0138] In addition, in the present embodiment, the robot 100 acquires the breathing characteristic information M1 of the user 200 while the camera 11 is not in contact with the user 200 and is in a natural and unrestrained state while the robot 100 and the user 200 are in contact. The robot 100 controls its own motion based on the breathing characteristic information M1. Therefore, the robot 100 can naturally induce the breathing of the user 200 without giving the user 200 a sense of restraint.

[0139] Furthermore, the robot 100 understands the state of the user 200 by the first detection unit and performs breathing induction according to the state of the user 200 , thereby being able to achieve appropriate breathing induction.

[0140] In addition, in the present embodiment, breathing induction is performed by the movement of the robot 100, so it is easy to create many opportunities for the user 200 to touch the robot 100. Therefore, the robot 100 can induce the breathing of the user 200 in many opportunities for contact.

[0141] [Second embodiment]

[0142] The robot involved in the second embodiment is described. In this embodiment, the difference from the first embodiment is that the action of the robot is controlled in a manner to induce the user's breathing to a given state based on information related to at least one of the user's pulse, heartbeat, blood pressure, and pulse pressure obtained by a second detection unit such as a life sensor. In addition, the same names and symbols as those in the first embodiment represent the same or homogeneous components, and detailed descriptions are appropriately omitted. This is also the case in the embodiments described later.

[0143] <Functional Configuration Example of Control Unit 13a>

[0144] Fig.11 This is a block diagram illustrating the functional configuration of the control unit 13a included in the robot 100a according to the second embodiment. The control unit 13a includes a psychological state information acquisition unit 113, an expansion and contraction control unit 111a, a motor control unit 107a, and a light emission control unit 112a.

[0145] The control unit 13a can Figure 7 The processor such as the CPU 131 shown in the figure executes the processing specified by the program stored in the non-volatile memory such as the ROM 132, so as to realize the functions of the psychological state information acquisition unit 113, the expansion and contraction control unit 111a, the motor control unit 107a and the light emission control unit 112a. In addition, part of the above functions of the control unit 13a can also be realized by an external device such as a PC or a server, or can be realized by distributed processing between the control unit 13 and the external device.

[0146] The psychological state information acquisition unit 113 acquires the psychological state information M2 based on the information related to at least one of the pulse, heartbeat, blood pressure, and pulse pressure of the user output from the life sensor 14. The psychological state information M2 is information related to the psychological state of the user 200. The psychological state information M2 includes information indicating the relaxation level of the user 200, information related to the relaxation level of the user 200, information indicating the stress level of the user 200, information related to the stress level of the user 200, information indicating the emotions of the user 200, information related to the emotions of the user 200, and the like. For example, the more relaxed the user 200 is, the lower the pulse rate, heart rate, etc. of the user 200 is, or the lower the blood pressure, pulse pressure, etc. is. Therefore, the psychological state information acquisition unit 113 can acquire the psychological state information M2 indicating the relaxation level of the user 200, etc. based on the output of the life sensor 14.

[0147] The psychological state information acquisition unit 113 outputs the acquired psychological state information M2 to the inflation / deflation control unit 111a. The inflation / deflation control unit 111a controls the operation of the inflation / deflation mechanism 18 so as to induce the user 200's breathing to a predetermined state based on the breathing characteristic information M1 and the psychological state information M2.

[0148] The psychological state information acquisition unit 113 may also output the psychological state information M2 to at least one of the expansion and contraction control unit 111a, the light control unit 112a, and the motor control unit 107a. The light control unit 112a can control the operation of the lamp 26 in a manner to induce the user 200's breathing to a given state based on the breathing characteristic information M1 and the psychological state information M2. The motor control unit 107a can control the operation of the servo motor 35 in a manner to induce the user 200's breathing to a given state based on the breathing characteristic information M1 and the psychological state information M2.

[0149] <Processing Example of Control Unit 13a>

[0150] Fig.12 This is a flowchart illustrating the processing of the control unit 13a. Fig.12 FIG. 2 shows the process of the control unit 13a for inducing breathing of the user 200. When the control unit 13a detects the user 200's contact or approach to the robot 100a through the detection unit 108, the control unit 13a starts Fig.12 Below, please refer to Fig.11 In addition, Fig.12 The processing of steps S121 to S122 in Fig.10 The processing of steps S101 to S102 is the same, so repeated description is omitted here.

[0151] In step S123, the control unit 13a acquires heart rate information as the psychological state information M2 of the user 200 based on the information on the heartbeat of the user 200 output from the vital sensor 14 through the psychological state information acquisition unit 113. The psychological state information acquisition unit 113 outputs the acquired heart rate information to the expansion and contraction control unit 111a.

[0152] Next, in step S124, the inflation / deflation control unit 111a determines whether the heart rate in the heart rate information acquired from the mental state information acquisition unit 113 is below a threshold. For example, the heart rate threshold is predetermined and stored in the storage unit 103. The inflation / deflation control unit 111a can acquire the heart rate threshold information by referring to the storage unit 103.

[0153] In step S124, if it is determined that the heart rate is not less than the threshold value (step S124, "No"), the control unit 13a determines that the user 200 is not relaxed, and performs the process after step S121 again. On the other hand, in step S124, if it is determined that the heart rate is less than the threshold value (step S124, "Yes"), the control unit 13a determines that the user 200 is relaxed, and ends the process.

[0154] As described above, the control unit 13a can perform a process for inducing breathing for the user 200 based on the breathing characteristic information M1 of the user 200 and the heart rate information of the user 200. In addition, the heart rate information is exemplified as the psychological state information M2 here, but the psychological state information M2 may also be information related to at least one of the pulse, blood pressure, and pulse pressure of the user. In addition, the process of controlling the operation of the expansion and contraction mechanism 18 is exemplified here, but in the process of controlling the operation of the servo motor 35 or the lamp 26, the process of the expansion and contraction control unit 111a can also be replaced with the process of the motor control unit 107a or the light control unit 112a. Fig.12 Flowchart of the process.

[0155] <Main functions and effects of robot 100a>

[0156] As described above, in this embodiment, the control unit 13a controls the action of the robot 100a in such a manner as to induce the user's breathing to a given state based on the information related to the user's breathing obtained by one of the camera 11 and the vital sensor 14 (the first detection unit) and the information related to at least one of the user's pulse, heartbeat, blood pressure, and pulse pressure obtained by the vital sensor 14 (the second detection unit). For example, the control unit 13a controls the action of the robot 100a in such a manner as to induce the user's breathing to a given state based on the information related to the user's psychological state obtained based on the output from the vital sensor 14.

[0157] In this embodiment, the user's psychological state such as a state of relaxation can be grasped based on information related to at least one of the user's pulse, heartbeat, blood pressure, and pulse pressure, so that breathing induction can be performed in a manner that improves the psychological state. For example, after performing breathing induction, the robot 100a can determine whether the user 200 is in a state of relaxation, and if the user 200 is not in a state of relaxation, the robot 100a can perform breathing induction on the user 200 again, thereby guiding the user 200 to a state of relaxation. In addition, other effects are the same as those of the first embodiment.

[0158] [Third Embodiment]

[0159] A robot according to a third embodiment is described. This embodiment is different from the first embodiment in that at least one of the abdominal expansion and contraction mechanism and the back expansion and contraction mechanism included in the expansion and contraction mechanism is expanded and contracted based on information related to the user's holding state of the robot.

[0160] <Configuration example of robot 100b>

[0161] Fig.13 and Fig.14 It is a diagram for explaining an expansion and contraction mechanism 18A in a robot 100b according to the third embodiment. Fig.13 It is a diagram showing an example of the arrangement of the expansion and contraction mechanism 18A in the robot 100b. Fig.14 1 is a diagram showing an example of the structure of the back expansion and contraction mechanism 18b in the expansion and contraction mechanism 18A.

[0162] like Fig.13 As shown, the expansion and contraction mechanism 18A includes an abdominal expansion and contraction mechanism 18a disposed on the abdomen 191 of the robot 100b, and a back expansion and contraction mechanism 18b disposed on the back 192 of the robot 100b. The abdominal expansion and contraction mechanism 18a is disposed so as to be able to press the exterior member 10 of the abdomen 191. The structure and function of the abdominal expansion and contraction mechanism 18a are the same as those of the above-mentioned expansion and contraction mechanism 18, and therefore, repeated description is omitted here.

[0163] The back expansion and contraction mechanism 18b is configured to be able to push the outer casing 10 of the back 192. Fig.14 As shown, the back expansion and contraction mechanism 18b includes a support portion 181b, a pushing drive portion 182b, a rotating portion 183b, and a pushing portion 184b. The support portion 181b is fixed to the side of the trunk frame 16 opposite to the side to which the support portion 181 is fixed by a screw member, an adhesive member, etc. That is, the support portion 181 in the abdomen expansion and contraction mechanism 18a is fixed to the abdomen 191 side of the trunk frame 16, and the support portion 181b in the back expansion and contraction mechanism 18b is fixed to the back 192 side of the trunk frame 16. The support portion 181b supports the pushing drive portion 182b.

[0164] The back expansion and contraction mechanism 18b rotates the rotating part 183b around its rotation axis (in the direction of arrow 180b) by using the pushing driving part 182b, thereby causing the pushing part 184b to swing back and forth around the rotation axis of the rotating part 183b. The back expansion and contraction mechanism 18b can push or not push the outer casing 10 of the back 192 by the swinging of the pushing part 184b. In the back expansion and contraction mechanism 18b, when the rotating part 183b rotates in the counterclockwise direction around its rotation axis, the pushing part 184b pushes the outer casing 10 of the back 192 from the inside to the outside. In this state, the outer casing 10 bulges in the direction pushed by the pushing part 184b, and the back 192 is in an expanded state. On the other hand, when the rotating part 183b rotates clockwise around its rotating axis, the pushing part 184b is in a state where it does not contact the outer casing 10 of the back part 192 and does not push the outer casing 10. In this state, the outer casing 10 contracts due to its own elasticity, and the back part 192 is in a contracted state. The back part expansion and contraction mechanism 18b can expand and contract the back part 192 at a given expansion and contraction frequency and a given expansion and contraction amplitude according to the back part expansion and contraction control signal from the control part 13b.

[0165] <Functional Configuration Example of Control Unit 13b>

[0166] Fig.15 2 is a block diagram illustrating a functional configuration of a control unit 13b included in the robot 100b. The control unit 13b includes a holding state information acquisition unit 114 and an expansion / contraction control unit 111b.

[0167] The control unit 13b can Figure 7 The processor such as the CPU 131 shown in the figure executes the processing specified by the program stored in the non-volatile memory such as the ROM 132, so as to realize the functions of the holding state information acquisition unit 114 and the expansion and contraction control unit 111b. In addition, part of the above-mentioned functions of the control unit 13b can also be realized by an external device such as a PC or a server, or can be realized by distributed processing between the control unit 13b and the external device.

[0168] The holding state information acquisition unit 114 acquires holding state information M3 which is information related to the holding state of the robot 100b by the user 200. For example, when the user 200 holds the robot 100b in such a manner that the abdomen 191 of the robot 100b contacts the user 200, the holding state information acquisition unit 114 acquires holding state information M3 indicating that the abdomen 191 contacts the user 200. On the other hand, when the user 200 holds the robot 100b in such a manner that the back 192 of the robot 100b contacts the user 200, the holding state information acquisition unit 114 acquires holding state information M3 indicating that the back 192 contacts the user 200. The holding state information acquisition unit 114 can detect which of the abdomen 191 or the back 192 of the robot 100b contacts the user 200 by performing image processing using the captured image Im acquired by the camera 11, for example, and acquire the holding state information M3.

[0169] The holding state information acquisition unit 114 outputs the acquired holding state information M3 to the expansion and contraction control unit 111b. The expansion and contraction control unit 111b controls the action of the expansion and contraction mechanism 18A in such a manner as to induce the breathing of the user 200 to a given state based on the breathing characteristic information M1 and the holding state information M3. In other words, the expansion and contraction control unit 111b expands and contracts at least one of the abdominal expansion and contraction mechanism 18a and the back expansion and contraction mechanism 18b based on the holding state information M3. Specifically, the expansion and contraction control unit 111b outputs the action information N1a via the output unit 109 based on the holding state information M3 when the user 200 holds the robot 100b in such a manner that the abdomen 191 contacts the user 200, thereby controlling the action of the abdominal expansion and contraction mechanism 18a. Furthermore, when the user 200 holds the robot 100b with the back 192 in contact with the user 200, the expansion and contraction control unit 111b outputs the operation information N2a via the output unit 109 based on the holding state information M3, thereby controlling the operation of the back expansion and contraction mechanism 18b.

[0170] <Processing Example of Control Unit 13b>

[0171] Fig.16 This is a flowchart illustrating the processing of the control unit 13b. Fig.16 FIG. 2 shows the process of the control unit 13b for inducing breathing of the user 200. When the control unit 13b detects the user 200's contact or approach to the robot 100b through the detection unit 108, the control unit 13b starts Fig.16 Below, please refer to Fig.15 In addition, Fig.16 The processing of step S161 in Fig.10 The processing of step S101 in is the same, so repeated description is omitted here.

[0172] In step S162, the control unit 13b acquires holding state information M3, which is information on the holding state of the robot 100b by the user 200, through the holding state information acquisition unit 114. The holding state information acquisition unit 114 outputs the acquired holding state information M3 to the expansion and contraction control unit 111b.

[0173] Next, in step S163, the control unit 13b controls the operation of the expansion and contraction mechanism 18A through the expansion and contraction control unit 111b so as to induce the breathing of the user 200 to a predetermined state based on the breathing characteristic information M1 and the holding state information M3.

[0174] Next, in step S164, the control unit 13b determines whether to end the process. For example, the control unit 13b may determine that the process is ended when a predetermined time has passed, and determine that the process is not ended when the predetermined time has not passed. Alternatively, the control unit 13b may determine that the process is ended when it is detected that the user 200 is neither in contact with nor close to the robot 100b, and determine that the process is not ended when it is detected that the user 200 is in contact with or close to the robot 100b.

[0175] In step S164, if it is determined that the processing is not to be terminated (step S164, "No"), the control unit 13b performs the processing from step S161 onwards again. On the other hand, in step S164, if it is determined that the processing is to be terminated (step S164, "Yes"), the control unit 13b terminates the processing.

[0176] As described above, the control unit 13 b can execute processing for causing the robot 100 b to induce the breathing of the user 200 .

[0177] <Main functions and effects of robot 100b>

[0178] As described above, in this embodiment, the expansion and contraction mechanism 18A includes an abdominal expansion and contraction mechanism 18a disposed on the abdomen 191 of the robot 100b, and a back expansion and contraction mechanism 18b disposed on the back 192 of the robot 100b. The control unit 13b expands and contracts at least one of the abdominal expansion and contraction mechanism 18a and the back expansion and contraction mechanism 18b based on the maintenance state information M3.

[0179] For example, if the user 200 holds the robot 100b in such a manner that the robot 100b contacts the back 192 of the robot 100b, the robot 100b cannot induce the user 200 to breathe even if the abdomen 191 of the robot 100b is expanded and contracted. The robot 100b expands and contracts at least one of the abdomen expansion and contraction mechanism 18a and the back expansion and contraction mechanism 18b based on the holding state information M3 obtained by detecting which of the abdomen 191 or the back 192 of the robot 100b contacts the user 200. Thus, the robot 100b can reliably induce the user 200 to breathe regardless of the holding state of the robot 100b by the user 200. In addition, when the robot 100b is held by the user 200 in such a manner that the side portion of the robot 100b contacts the user 200, the control unit 13b may expand and contract both the abdomen expansion and contraction mechanism 18a and the back expansion and contraction mechanism 18b. In addition, the effects other than the above-mentioned effects are the same as those of the first embodiment.

[0180] As mentioned above, although the preferred embodiment was described in detail, it is not limited to the above-mentioned embodiment, and various deformation|transformation and substitution can be made to the above-mentioned embodiment without departing from the scope described in the claims.

[0181] In addition, the numbers such as ordinal numbers and quantities used in the description of the above-mentioned embodiments are all illustrative for the purpose of specifically describing the technology of the present invention, and the present invention is not limited to the illustrative numbers. In addition, the connection relationship between the constituent elements is the connection relationship illustrative for the purpose of specifically describing the technology of the present invention, and the connection relationship for realizing the functions of the present invention is not limited thereto.

[0182] The robot involved in this embodiment is particularly suitable for the following purposes: promoting the secretion of oxytocin and providing healing (sense of security or self-affirmation) for people living alone, elderly people whose children have become independent, and frail elderly people who are the objects of home medical treatment. However, it is not limited to this purpose and can be used to provide healing for various users.

[0183] The embodiments of the present invention are as follows, for example.

[0184] <1> A robot capable of inducing a user's breathing, comprising: an exterior member; a first detection unit that obtains information related to the user's breathing; and a control unit that controls the movement of the robot based on the information obtained by the first detection unit so as to induce the user's breathing to a given state.

[0185] <2> According to the robot described in <1> above, the first detection unit includes at least one of an electromagnetic wave sensor and an image sensor, the electromagnetic wave sensor uses electromagnetic waves to obtain information related to the user's breathing, and the image sensor obtains information related to the user's breathing based on a captured image of the user.

[0186] <3> The robot according to <1> or <2> above also has a second detection unit that outputs information related to at least one of the user's pulse, heartbeat, blood pressure and pulse pressure, and the control unit also controls the movement of the robot based on the information obtained by the second detection unit so as to induce the user's breathing to the given state.

[0187] <4> The robot according to <3> above, wherein the control unit controls the operation of the robot so as to induce the user's breathing to the given state based on information related to the user's psychological state obtained based on the information obtained by the second detection unit.

[0188] <5> A robot according to any one of <1> to <4> above, wherein the control unit controls the action of at least one of an expansion and contraction mechanism, a light-emitting unit and a driving body, the expansion and contraction mechanism is capable of expanding and contracting the body of the robot, the light-emitting unit is arranged on the face of the robot, and the driving body includes an arm of the robot connected to the robot body in a manner that allows relative displacement.

[0189] <6> According to the robot described in <5> above, the expansion and contraction mechanism includes an abdominal expansion and contraction mechanism arranged on the abdomen of the robot, and a back expansion and contraction mechanism arranged on the back of the robot, and the control unit expands and contracts at least one of the abdominal expansion and contraction mechanism and the back expansion and contraction mechanism based on information related to the user's holding state of the robot.

[0190] <7> The robot according to <5> above, wherein the control unit controls at least one of a blinking speed of the light emitting unit, brightness of the light from the light emitting unit, and color of the light from the light emitting unit.

[0191] <8> The robot according to <5> above, wherein the control unit controls at least one of an action of wrapping the arm around a part of the user's body, an action of applying pressure to the user's skin through the arm, and an action of caressing a part of the user's body through the arm.

[0192] <9> The robot according to any one of <1> to <8>, wherein the exterior member includes at least one of an elastic body and a porous body.

[0193] This application claims priority based on Japanese Patent Application No. 2022-156760 filed with the Japan Patent Office on September 29, 2022, and incorporates all the contents of the Japanese patent application.

[0194] Explanation of symbols

[0195] 1: Body

[0196] 2: Head

[0197] 2a: Right eye

[0198] 2b: Left eye

[0199] 2c: Mouth

[0200] 2d: right cheek

[0201] 2e: Left cheek

[0202] 3: Arm

[0203] 3a: Right arm

[0204] 3b: Left arm

[0205] 4: Legs

[0206] 4a: Right leg

[0207] 4b: Left leg

[0208] 5: Nose

[0209] 10: Exterior components

[0210] 11: Camera (an example of a first detection unit, an example of an image sensor)

[0211] 12: Tactile sensor

[0212] 13, 13a, 13b: Control unit

[0213] 14: Life sensor (an example of an electromagnetic wave sensor, an example of a first detection unit, an example of a second detection unit)

[0214] 141: Microwave Transmitter

[0215] 142: Microwave receiving unit

[0216] 15: Battery

[0217] 16: Body frame

[0218] 17: Body loading platform

[0219] 18, 18A: Expansion and contraction mechanism

[0220] 18a: Abdominal expansion and contraction mechanism

[0221] 18b: Back expansion and contraction mechanism

[0222] 21: First electrostatic capacitance sensor

[0223] 22: Head frame

[0224] 23: Head loading platform

[0225] 24: Display

[0226] 24a: Right eye display

[0227] 24b: Left eye display

[0228] 25: Speaker

[0229] 26: Lamp (an example of a light-emitting part)

[0230] 26a: Right cheek light

[0231] 26b: Left cheek light

[0232] 27: Head connection mechanism

[0233] 31: Second electrostatic capacitance sensor

[0234] 32a: Right arm frame

[0235] 32b: Left arm frame

[0236] 33: Right arm support platform

[0237] 34a: Right arm connection mechanism

[0238] 34b: Left arm connection mechanism

[0239] 35: Servo motor

[0240] 35a: Right arm servo motor

[0241] 35b: Left arm servo motor

[0242] 35c: Head servo motor

[0243] 35d: Right leg servo motor

[0244] 35e: Left leg servo motor

[0245] 41a: Right leg wheel

[0246] 41b: Left leg wheel

[0247] 42a: Right leg frame

[0248] 42b: Left leg frame

[0249] 44a: Right leg connection mechanism

[0250] 44b: Left leg connection mechanism

[0251] 100, 100a, 100b: Robot

[0252] 101: Acquisition

[0253] 102: Communication control unit

[0254] 103: Preservation Department

[0255] 104: Certification Department

[0256] 105: Registration Department

[0257] 106: Start control department

[0258] 107, 107a: Motor control unit

[0259] 108: Inspection Department

[0260] 109: Output

[0261] 110: Respiratory characteristics information acquisition unit

[0262] 111, 111a, 111b: expansion and contraction control unit

[0263] 112, 112a: Light emitting control unit

[0264] 113: Psychological state information acquisition unit

[0265] 114: Retention status information acquisition unit

[0266] 130: Correspondence information

[0267] 131: CPU

[0268] 132: ROM

[0269] 133: RAM

[0270] 134: HDD / SSD

[0271] 135: Device connection I / F

[0272] 136: Communication I / F

[0273] 181: Support

[0274] 182: Push drive unit

[0275] 183: Rotating part

[0276] 184: Pushing part

[0277] 191: Abdomen

[0278] 192: Back

[0279] 200: User

[0280] 201: Light source for shooting

[0281] 202: Wavelength filter

[0282] 203: Lens

[0283] 204: Camera Components

[0284] A: System bus

[0285] B: Biological information

[0286] C1: First electrostatic capacitance signal

[0287] C2: Second electrostatic capacitance signal

[0288] F1a: Right shoulder frame

[0289] F2a: Right upper arm frame

[0290] F3a: Right elbow frame

[0291] F4a: Right forearm frame

[0292] F1b: Left shoulder frame

[0293] F2b: Left upper arm frame

[0294] F3b: Left elbow frame

[0295] F4b: Left forearm frame

[0296] F1c: Neck frame

[0297] F2c: Face framing

[0298] Im: Take an image

[0299] L: Irradiation light

[0300] Ms: Emission wave

[0301] Mr: Reflection wave

[0302] M1: Breathing characteristics information

[0303] M2: Mental state information

[0304] M3: Keep status information

[0305] M1a: Right shoulder servo motor

[0306] M2a: Right upper arm servo motor

[0307] M3a: Right elbow servo motor

[0308] M4a: Right forearm servo motor

[0309] M1b: Left shoulder servo motor

[0310] M2b: Left upper arm servo motor

[0311] M3b: Left elbow servo motor

[0312] M4b: Left forearm servo motor

[0313] M1c: Neck servo motor

[0314] M2c: Face servo motor

[0315] N1, N1a, N2a, N2, N3: Action information

[0316] R: reflected light

[0317] S: Tactile signal.

Claims

1. A robot capable of inducing a user's breathing, comprising: Exterior components; A first detection unit that obtains information related to the user's breathing; and A control unit controls the operation of the robot so as to induce the user's breathing to a predetermined state based on the information obtained by the first detection unit.

2. The robot according to claim 1, wherein: The first detection unit includes at least one of an electromagnetic wave sensor that obtains information related to the user's breathing using electromagnetic waves and an image sensor that obtains information related to the user's breathing based on a captured image of the user.

3. The robot according to claim 1 or 2, wherein: The robot further includes a second detection unit that acquires information related to at least one of the pulse, heartbeat, blood pressure, and pulse pressure of the user. The control unit further controls the operation of the robot so as to induce the user's breathing to the predetermined state based on the information acquired by the second detection unit.

4. The robot according to claim 3, wherein: The control unit controls the operation of the robot so as to induce the user's breathing to the predetermined state based on the information related to the user's psychological state obtained based on the information acquired by the second detection unit.

5. The robot according to claim 1 or 2, wherein: The control unit controls the action of at least one of the expansion and contraction mechanism, the light-emitting unit and the driving body. The expansion and contraction mechanism can expand and contract the body of the robot. The light-emitting unit is arranged on the head of the robot. The driving body includes an arm of the robot connected to the robot body in a manner that allows relative displacement.

6. The robot according to claim 5, wherein: The expansion and contraction mechanism includes an abdominal expansion and contraction mechanism disposed on the abdomen of the robot and a back expansion and contraction mechanism disposed on the back of the robot. The control unit inflates and deflates at least one of the abdominal expansion and contraction mechanism and the back expansion and contraction mechanism based on information on the holding state of the robot by the user.

7. The robot according to claim 5, wherein: The expansion and contraction mechanism also includes a support portion, a pushing drive portion, a rotating portion and a pushing portion. The rotating portion includes a rotating shaft that reciprocates the pressing portion to cause the outer casing of the body portion to expand and contract.

8. The robot according to claim 5, wherein: The control unit controls at least one of a blinking speed of the light emitting unit, brightness of light from the light emitting unit, and color of light from the light emitting unit.

9. The robot according to claim 5, wherein: The control unit controls at least one of an action of wrapping the arm around a part of the user's body, an action of applying pressure to the user's skin by the arm, and an action of caressing the part of the user's body by the arm.

10. The robot according to claim 1 or 2, wherein: The exterior member includes at least one of an elastic body and a porous body.

Images