Control device and control method

Abstract

To provide a control device capable of suppressing physical movements of a user with a further simplified configuration.SOLUTION: A control device 10 for suppressing physical movements of a user comprises: a detection unit 11 for detecting the physical movements of the user and outputting movement information on the physical movements; a control unit 16 for calculating stimulation parameters based on the movement information output from the detection unit 11; and a stimulation unit 13 for applying electrical stimulation to muscles that suppress the physical movements in accordance with the stimulation parameters calculated by the control unit 16.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a control device and a control method. [Background technology]

[0002] Conventionally, there are known techniques for implementing a motion that reflects the user's own motion intention in the user's physical motion using an operating body such as a virtual body. For example, Patent Document 1 discloses a motion control system for a virtual body that can move a virtual body that can mimic the motion of at least a part of a human body without any problems even if the human body is present in a small real space. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-077374 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technology described in Patent Document 1, the user's whole body needs to be immobilized in order to restrict the user's physical movement in a small real space, which leads to an increase in the size and weight of the device.

[0005] An object of the present disclosure is to provide a control device and a control method that are capable of suppressing a user's physical movement with a simpler configuration. [Means for solving the problem]

[0006] A control device according to a first aspect for solving the above problems comprises: A control device for suppressing a user's physical movement, A detection unit that detects a physical movement of the user and outputs motion information of the physical movement; a control unit that calculates a stimulation parameter based on the motion information output from the detection unit; a stimulation unit that applies electrical stimulation to a muscle that inhibits the physical movement in accordance with the stimulation parameters calculated by the control unit; Equipped with.

[0007] The control method according to the second aspect comprises: A control method for suppressing a user's physical movement, comprising: Detecting a physical movement of the user and outputting motion information of the physical movement; Calculating stimulation parameters based on the output motion information; providing electrical stimulation to a muscle that inhibits the physical movement in accordance with the calculated stimulation parameters; Includes. Effect of the Invention

[0008] According to a control device and a control method according to an embodiment of the present disclosure, it is possible to suppress the physical movement of a user with a simpler configuration. [Brief description of the drawings]

[0009] [Figure 1] FIG. 2 is a schematic diagram showing an overview of the configuration of a control device according to an embodiment of the present disclosure. [Diagram 2] 2 is a block diagram showing an example of the configuration of a control device shown in FIG. 1. [Diagram 3] FIG. 2 is a first diagram for explaining a first example of a process performed by the control device of FIG. [Figure 4] 1. FIG. 4 is a second diagram for explaining a first example of a process performed by the control device of FIG. [Diagram 5] 1. FIG. 4 is a third diagram for explaining a first example of a process performed by the control device of FIG. [Figure 6] 1. FIG. 4 is a fourth diagram for explaining a first example of a process performed by the control device of FIG. [Figure 7] 1. FIG. 4 is a first diagram for explaining a second example of the process performed by the control device of FIG. [Figure 8] 1. FIG. 4 is a second diagram for explaining a second example of the process performed by the control device of FIG. [Figure 9] FIG. 3 is a third diagram for explaining a third example of the process performed by the control device of FIG. 1; [Figure 10] 2 is a graph for explaining an example of a function of the control device of FIG. 1. [Figure 11] 2 is a flowchart for explaining an example of a control method executed by the control device of FIG. 1. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] The background and problems of the prior art will now be described in more detail.

[0011] As a device for inputting a motion of a part of a body accompanying a physical movement of a user, a device using a motion sensor such as an optical type, an acceleration type, or a gyro type is conventionally known. The device measures the position change of the user's body itself in a real space. However, since such a measurement involves a position change of the user's body, it is difficult to perform in a small real space.

[0012] In response to this, a conventional technique described in Patent Document 1 is known as a technique for inputting an intended action by a user without involving physical movement of the user in real space. This conventional technique is based on a method of detecting a force applied to a device.

[0013] However, in such a method, the user's body is fixed in contact with a large device installed in the environment. The device detects the force applied by the body in contact with the device while fixing the user's body and restricting physical movement. Therefore, the device is required to have high rigidity. In addition, it is difficult to deploy the device to multiple parts of the user's body.

[0014] For example, devices have tended to be large and heavy in order to fix the entire body of the user and detect the force of the entire body. In addition, a reaction force equivalent to the force applied to the contact point between the user's body and the device also acts on the user's body, resulting in unintended tactile, force, pain, and other sensations on the user's side.

[0015] In order to solve the above problems, an object of the present disclosure is to provide a control device and a control method that are capable of suppressing a user's physical movement with a simpler configuration.

[0016] An embodiment of the present disclosure will be mainly described below with reference to the accompanying drawings. The following description also applies to a control method executed by a control device 10 to which the present disclosure is applied.

[0017] Fig. 1 is a schematic diagram showing an overview of the configuration of a control device 10 according to an embodiment of the present disclosure. Fig. 2 is a block diagram showing an example of the configuration of the control device 10 in Fig. 1. An overview of the configuration and functions of the control device 10 according to an embodiment of the present disclosure will be mainly described with reference to Figs. 1 and 2.

[0018] The control device 10 suppresses the user's physical movement. The control device 10 suppresses the movement of a part of the user's body that is attempting to move in accordance with the user's motor intention. In the present disclosure, the "part of the body" includes, for example, the forearm, which includes the area from the elbow to the wrist.

[0019] 1, when a user attempts to further bend a body part toward the upper arm from a state in which the elbow is bent at an angle of approximately 90°, the control device 10 suppresses further movement of the body part toward the upper arm. By suppressing further movement of the body part toward the upper arm, the control device 10 returns the position of the body part to a state in which the elbow is bent at an angle of approximately 90°, for example, even if the body part moves slightly toward the upper arm from the angle of approximately 90°.

[0020] For example, as shown by the dashed arrow in FIG. 1, the user contracts the biceps M1 in accordance with his / her own motor intention to further bend a part of the body toward the upper arm. At this time, the control device 10 applies electrical stimulation to the triceps M2 located on the opposite side to the biceps M1 as the agonist muscle generating the user's physical movement. As a result, the control device 10 contracts the triceps M2 as shown by the solid arrow in FIG. 1. The control device 10 suppresses further bending of the part of the user's body toward the upper arm by contracting the triceps M2. Even if the user tries to move the part of the body slightly toward the upper arm from an angle of approximately 90° against the motor intention to further bend the part of the body toward the upper arm from a state in which the elbow is bent at an angle of approximately 90°, the part of the body will be returned to a state in which the elbow is bent at an angle of approximately 90° without further bending.

[0021] As shown in FIGS. 1 and 2, the control device 10 includes a detection section 11, a circuit section 12, a stimulation section 13, an output section 14, a storage section 15, and a control section 16.

[0022] The detection unit 11 includes one or more sensor modules that detect the user's physical motion and output motion information of the physical motion. The sensor module includes, for example, an angle sensor. In this disclosure, "motion information" includes, for example, the angle of a part of the body that changes according to the user's physical motion. The motion information includes, for example, the joint angle of the part of the body where the physical motion is occurring. The motion information includes, for example, the angle of the forearm relative to the upper arm, that is, the bending angle of the elbow. The detection unit 11 functions as a motion detection unit that detects the user's physical motion.

[0023] The circuit unit 12 includes one or more circuit modules that output an electrical signal to the stimulation unit 13 under the control of the control unit 16. The circuit module includes, for example, a constant current circuit that serves as a source of electrical stimulation applied to a part of the body by the stimulation unit 13. The circuit module may further include a current amplifier circuit, a switch circuit for switching an electrode that actually generates electrical stimulation among multiple electrodes included in the stimulation unit 13, and an output circuit for outputting an electrical signal to the switch circuit for controlling the switch circuit. The circuit unit 12 functions as an electrical muscle stimulation unit for applying electrical stimulation to a part of the user's body via the stimulation unit 13.

[0024] The stimulation unit 13 includes one or more stimulation elements that provide electrical stimulation to muscles that inhibit the user's physical movement according to stimulation parameters calculated by the control unit 16. The stimulation unit 13 receives an electrical signal output by the circuit unit 12 under the control of the control unit 16 and provides electrical stimulation to the muscles that inhibit the user's physical movement. The stimulation elements include, for example, electrodes. The electrodes may be formed in a sheet shape or a needle shape.

[0025] The stimulation unit 13 is arranged on a muscle located on the opposite side of the agonist muscle that contracts to cause physical movement. As illustrated in FIG. 1, a pair of stimulation units 13 are arranged on the upper arm of a user so as to face each other across the upper arm. One set of electrodes in the stimulation unit 13 is arranged on the triceps M2 located on the opposite side of the biceps M1 as the agonist muscle that contracts to cause physical movement. Conversely, the other set of electrodes in the stimulation unit 13 is arranged on the biceps M1 located on the opposite side of the triceps M2 as the agonist muscle that contracts to cause physical movement.

[0026] The output unit 14 includes one or more output interfaces that output information to notify the user. The output interfaces include a display that outputs information as an image, a speaker that outputs information as sound, and a vibrator that outputs information as vibration. The display includes a head-mounted display, an LCD (Liquid Crystal Display), and an organic EL (Electro Luminescence) display. For example, the head-mounted display as the output unit 14 displays an operating body that performs a movement reflecting the user's exercise intention as an image. In the present disclosure, the "operating body" includes a virtual body that exists in a virtual space, and the like. The "virtual body" includes an avatar, and the like. The "image" includes a moving image such as a video or a still image.

[0027] The storage unit 15 includes storage modules such as a hard disk drive (HDD), a solid state drive (SSD), an electrically erasable programmable read-only memory (EEPROM), a read-only memory (ROM), and a random access memory (RAM). The storage unit 15 stores information necessary to realize the operation of the control device 10. The storage unit 15 stores information obtained by the operation of the control device 10. For example, the storage unit 15 stores system programs, application programs, and various data acquired by any means such as communication.

[0028] The storage unit 15 may function as a main storage module, an auxiliary storage module, or a cache memory. The storage unit 15 is not limited to being built into the control device 10, and may include an external storage module connected via a digital input / output port such as a Universal Serial Bus (USB).

[0029] The control unit 16 includes one or more processors. In the present disclosure, the term "processor" refers to, but is not limited to, a general-purpose processor or a dedicated processor specialized for a specific process. The control unit 16 may include, for example, a CPU (Central Processing Unit) of any general-purpose electronic device such as a PC (Personal Computer), a tablet PC, a smartphone, and a wearable device such as a smart watch. The control unit 16 may include, for example, a CPU of another electronic device dedicated to the control device 10. The control unit 16 is not limited to the above, and may include the CPU of one or multiple server devices that can communicate with each other. The control unit 16 is communicably connected to each component of the control device 10 and controls the operation of the entire control device 10.

[0030] The control unit 16 acquires the motion information output from the detection unit 11. The control unit 16 calculates stimulation parameters based on the motion information output from the detection unit 11. In the present disclosure, the "stimulation parameters" include the current value of the electrical signal output from the circuit unit 12 to the stimulation unit 13, and the like. In addition, the stimulation parameters may further include the position on the user's body where the electrical stimulation is applied by the stimulation unit 13, as well as the pulse width and pulse repetition frequency of the electrical signal output from the circuit unit 12 to the stimulation unit 13, and the like. The control unit 16 controls the circuit unit 12 so that the stimulation unit 13 applies electrical stimulation to muscles that inhibit the user's physical movement according to the calculated stimulation parameters.

[0031] The control unit 16 calculates muscle contraction force and the like in association with the user's motor intention based on the current value included in the stimulation parameters. The control unit 16 generates the motion of a virtual body using any method such as dynamics simulation, using the parameters such as muscle contraction force calculated in association with the user's motor intention.

[0032] The current value of the electrical signal for the electrical stimulation given to the user's body by the stimulation unit 13 is a physical amount required to suppress the movement of a part of the user's body in the user's physical movement. In other words, the current value of the electrical signal corresponds to the original amount of movement of the part of the body according to the user's motor intention. The original amount of movement corresponds, for example, to the amount of movement of a part of a virtual body realized by reflecting the user's motor intention in the user's physical movement in a virtual body in a virtual space. As described above, the stimulation parameters calculated by the control unit 16 can be treated as motion inputs.

[0033] The control unit 16 generates control information for realizing a virtual body to perform a motion that reflects the user's motion intention in the user's physical motion, based on a joint torque, which is based on a current value of the electrical signal, as described below. In the present disclosure, "control information" includes image information, such as a visual image of the virtual body that moves to reflect the user's motion intention in the user's physical motion. The control unit 16 outputs the generated control information to the output unit 14, and causes the display of the output unit 14 to display a visual image of the virtual body that moves to reflect the user's motion intention.

[0034] As described above, the control unit 16 controls the virtual body to move in accordance with the user's intention to exercise, while suppressing the movement of a part of the body in real space that accompanies the user's physical movement. The control unit 16 provides the user with a visual image of the virtual body moving in accordance with the user's intention to exercise, via the display of the output unit 14.

[0035] 1, the control device 10 mainly comprises a detection unit 11 functioning as a motion detection unit, a control unit 16 including a CPU such as a computer, and a circuit unit 12 functioning as an electrical muscle stimulation unit. The control device 10 constitutes a feedback control system in which the control unit 16 acquires motion information from the detection unit 11, calculates stimulation parameters for suppressing the user's physical motion, and causes the circuit unit 12 to output an electrical signal required for electrical stimulation in the stimulation unit 13.

[0036] Fig. 3 is a first diagram for explaining a first example of processing by the control device 10 of Fig. 1. Fig. 4 is a second diagram for explaining the first example of processing by the control device 10 of Fig. 1. Fig. 5 is a third diagram for explaining the first example of processing by the control device 10 of Fig. 1. Fig. 6 is a fourth diagram for explaining the first example of processing by the control device 10 of Fig. 1. In the following, the feedback control system constituted by the control device 10 will be mainly explained with reference to Figs. 3 to 6.

[0037] The control unit 16 calculates stimulation parameters according to a feedback control system using the motion information output from the detection unit 11. The feedback control system includes, for example, a PID control system. m The stimulation parameters are calculated by using the joint torque τ(t) of the part of the user's body where the body movement is occurring as the manipulated variable, and the joint angle θ m (t) is the measurement of the elbow joint angle. Joint torque τ(t) is the elbow joint torque.

[0038] At this time, the feedback control including the PID control is expressed by the following Equation 1 together with FIG.

number

[0039] θ t (t) is the elbow joint angle θ as shown in Figure 3. m (t) is the target value. The coordinate system is defined as shown in Figure 3. K p is the proportional gain. K i is the integral gain. K d is the derivative gain.

[0040] For example, the current value of electrical stimulation applied to the biceps brachii M1 and triceps brachii M2 in Fig. 1 is I b and I t In this case, the elbow joint torque generated by muscle contraction caused by electrical stimulation from the stimulation unit 13 is expressed as τ b and τ tThe current value I b and joint torque τ b The relationship between the current value I t and joint torque τ t The relationship is as shown in FIG. 5 and the following formula 3.

number

[0041] K b and K t Each of I is a model coefficient. b th and I t th Each of is a model constant.

[0042] Based on Equation 2 and Equation 3, the current value I of the electrical stimulation applied to the biceps brachii M1 is b st (t) and the electrical stimulation current I applied to the triceps brachii M2 t st (t) is calculated using the following Equations 4 and 5, respectively.

number

[0043] I b st (t) and I t st (t) is the electrical stimulation current applied to the biceps brachii M1 and triceps brachii M2, respectively. τ PI is the manipulated variable torque.

[0044] At this time, τ(t) corresponds to the motion intention. The joint torque τ(t) caused by the electrical stimulation given to the user's body by the stimulation unit 13 is a physical amount required to suppress the motion of a part of the user's body in the user's physical motion. In other words, the joint torque τ(t) corresponds to the original amount of motion of a part of the body according to the user's motion intention. The original amount of motion corresponds to, for example, the amount of motion of a part of a virtual body realized by reflecting the user's motion intention in the user's physical motion in a virtual body in a virtual space. As described above, the joint torque τ(t) calculated in association with the calculation of the stimulation parameters by the control unit 16 can be used for motion input to the virtual body. The control unit 16 generates control information for realizing a motion reflecting the user's motion intention in the user's physical motion in the virtual body based on the joint torque τ(t).

[0045] Fig. 7 is a first diagram for explaining a second example of the processing by the control device 10 of Fig. 1. Fig. 8 is a second diagram for explaining the second example of the processing by the control device 10 of Fig. 1. Fig. 9 is a third diagram for explaining a third example of the processing by the control device 10 of Fig. 1. Below, an example of the processing by the control device 10 when a virtual body is moved by reflecting the user's intention to exercise in the virtual body while suppressing the movement of a part of the body in real space accompanying the user's physical movement will be mainly described with reference to Figs. 7 to 9.

[0046] 7 to 9, the upper image shows a virtual object displayed on the head mounted display of the output unit 14. The lower image shows a state in which a user wearing the head mounted display of the output unit 14 on his / her head manipulates the virtual object displayed on the head mounted display while bending and moving his / her right arm. The user wears two pairs of electrodes as the stimulation unit 13 on the upper arm, and wears an angle sensor as the detection unit 11 from the upper arm to the forearm.

[0047] FIG. 7 shows an initial state in which the user starts to operate the virtual body displayed on the head-mounted display of the output unit 14. In this initial state, the position of a part of the user's body and the position of a corresponding part of the virtual body are the same. The posture of the user's body and the posture of the virtual body are the same. The joint angle θ shown in FIG. m In the initial state of FIG. 7, (t) is approximately 90°.

[0048] As shown in FIG. 8, the user attempts to extend a part of the body toward the opposite side to the upper arm from the initial state shown in FIG. 7 in which the elbow is bent at an angle of approximately 90°. When a part of the user's body moves according to the user's motor intention, the virtual body displayed on the head-mounted display of the output unit 14 also moves in the same manner. In accordance with the movement of the user's forearm, the forearm of the virtual body also moves in conjunction with it. At this time, the control device 10 suppresses further movement of the part of the body toward the opposite side to the upper arm.

[0049] For example, the user contracts the triceps M2 in accordance with his / her own exercise intention, and attempts to further stretch a part of the body toward the opposite side to the upper arm. At this time, the control device 10 applies electrical stimulation to the biceps M2 located opposite to the triceps M2 as the agonist muscle generating the user's physical movement, by the stimulation unit 13. As a result, the control device 10 contracts the biceps M1. By contracting the biceps M1, the control device 10 suppresses further stretching of the part of the user's body toward the opposite side to the upper arm.

[0050] By suppressing further movement of the body part toward the opposite side to the upper arm, even if the body part moves from an angle of approximately 90° toward the opposite side to the upper arm, the control device 10 returns the position of the body part to the initial state in which the elbow is bent at an angle of approximately 90°, as shown in Fig. 9. Even if the user attempts to move the body part from an angle of approximately 90° toward the opposite side to the upper arm, contrary to the motor intention to further extend the body part from the initial state in which the elbow is bent at an angle of approximately 90° toward the opposite side to the upper arm, the body part will be returned to the initial state in which the elbow is bent at an angle of approximately 90° without further extension.

[0051] As described above, the control device 10 causes the virtual body to continue to move while suppressing the movement of a part of the body in real space accompanying the user's physical movement by the stimulation unit 13, and reflects the user's movement intention in the virtual body. The user visually recognizes on the head-mounted display of the output unit 14 the virtual body that continues to move in accordance with the user's movement intention, while performing a movement different from the movement intention in which a part of the body returns to an initial state. The user operates the virtual body displayed on the head-mounted display of the output unit 14, reflecting the user's movement intention, while suppressing the movement of a part of the body in real space. For example, the virtual body displayed on the head-mounted display continues to move the forearm in the opposite direction to the upper arm, reflecting the user's movement intention, and performs an arm-stretching movement.

[0052] FIG. 10 is a graph diagram for explaining an example of the function of the control device 10 of FIG. 1. FIG. 10 shows measurement data acquired to verify the function of the control device 10. In FIG. 10, the horizontal axis indicates time. The left vertical axis indicates the angle of a part of the user's body. The angle is the joint angle θ in FIG. 3. m The right vertical axis indicates the current value of the electrical signal output from the circuit section 12 to the stimulation section 13, that is, the stimulation parameter.

[0053] In FIG. 10, the thin solid line graph indicates the joint angle θ when a part of the body moves in response to the user's physical movement. m The dotted line graph, which does not change with time, shows the elbow joint angle θ m (t) target value θ t (t) The thick solid line graph shows the user's joint angle θ m The graph shows the time change in the current value of the electrical signal output from the circuit unit 12 to the stimulation unit 13 in accordance with the time change in (t). The thick solid line graph corresponds to the time change in the intensity of the electrical stimulation applied to the biceps brachii M1 from the stimulation unit 13. The dashed line graph shows the time change in the intensity of the electrical stimulation applied to the biceps brachii M1 by the user's joint angle θ mThis graph shows the time change in the current value of the electrical signal output from circuit unit 12 to stimulation unit 13 in accordance with the time change in (t). The dashed line graph corresponds to the time change in the intensity of the electrical stimulation applied from stimulation unit 13 to triceps brachii muscle M2.

[0054] Referring to FIG. 10, the user's joint angle θ m (t) shows a value of approximately 90° in the initial time period in accordance with the initial state in Fig. 7. On the other hand, as shown in Fig. 8, when a part of the body moves to the opposite side of the upper arm in response to the user's intention to exercise, the user's joint angle θ m At this time, when the control device 10 controls the stimulation unit 13 to contract the biceps M1 and suppress the user's physical movement, the user's joint angle θ m (t) is the target value θ of 90° t It gradually increases and becomes larger towards (t).

[0055] Gradually increasing the user's joint angle θ m (t) is the target value θ of 90° t At this time, when the control device 10 controls the triceps brachii M2 by the stimulation unit 13 to contract, the user's joint angle θ m (t) is the target value θ of 90° t It gradually decreases and converges towards (t).

[0056] As a result, the user returns the position of a part of his / her body to the initial state in which the elbow is bent at an angle of approximately 90°, as shown in Fig. 9. As described above, the function of suppressing the user's physical movement by the control device 10 is accurately realized.

[0057] Fig. 11 is a flowchart for explaining an example of a control method executed by the control device 10 of Fig. 1. With reference to Fig. 11, an example of a control method for suppressing a physical movement of a user, executed by the control device 10 of Fig. 1, will be mainly explained.

[0058] In step S101, the detection unit 11 of the control device 10 detects the physical movement of the user.

[0059] In step S102, the detection unit 11 of the control device 10 outputs to the control unit 16 the motion information of the user's physical motion detected in step S101.

[0060] In step S103, the control unit 16 of the control device 10 calculates stimulation parameters based on the motion information output from the detection unit 11 in step S102.

[0061] In step S104, the stimulation unit 13 of the control device 10 applies electrical stimulation to the muscles that inhibit body movement, in accordance with the stimulation parameters calculated by the control unit 16 in step S103.

[0062] According to the control device 10 according to the embodiment described above, it is possible to suppress the user's physical movement with a simpler configuration. Since the control device 10 uses electrical stimulation of the muscles by the stimulation unit 13 to suppress the movement, the device itself does not require high rigidity, unlike the conventional technology in which the user's body is fixed to a device installed in the environment. Therefore, the control device 10 can be made lighter. Furthermore, since the control device 10 is not in contact with the user's body so that a force is applied from the user's body to the control device 10, the control device 10 can reduce the occurrence of unintended tactile, kinematic, and painful sensations on the user's side.

[0063] The stimulation unit 13 is disposed on a muscle located on the opposite side of a agonist muscle that generates a physical movement by contracting. This allows the control device 10 to suppress the user's physical movement by contracting the muscle located on the opposite side of the agonist muscle using the stimulation unit 13.

[0064] The control device 10 can calculate the stimulation parameters more accurately by calculating the stimulation parameters according to a feedback control system using the motion information output from the detection unit 11. The control device 10 can more accurately suppress the user's physical motion based on the stimulation parameters calculated more accurately.

[0065] The detection unit 11 includes an angle sensor, and detects a joint angle θ of a part of the body where a physical movement is occurring. m Since the motion information includes the joint angle θ m Stimulation parameters can be calculated according to a feedback control system using (t).

[0066] The control device 10 controls the joint angle θ m By calculating the stimulation parameters using τ(t) as the control amount and the joint torque τ(t) of a part of the body as the operation amount, the stimulation parameters can be calculated more accurately. The control device 10 can more accurately suppress the user's body movement based on the stimulation parameters calculated more accurately.

[0067] The control device 10 generates control information for realizing a motion that reflects the user's motion intention in physical movement with the operating body based on the joint torque τ(t). This allows the control device 10 to generate control information that more accurately reflects the user's motion intention. The control device 10 can move the operating body while more accurately reflecting the user's motion intention based on the control information generated with higher accuracy. The control device 10 can move the operating body while minimizing the movement of a part of the user's body and accurately reflecting the user's motion intention. Therefore, the user can operate the operating body while performing a minimum of physical movement even in a small real space.

[0068] The operating body includes a virtual body that exists in a virtual space. This allows the control device 10 to operate an avatar in a virtual reality system. For example, even if an avatar as a virtual body moves around in a vast virtual space, the control device 10 can operate the avatar while minimizing the user's physical movement in a small real space.

[0069] The control device 10 further includes an output unit 14 that displays, as an image, a virtual body performing a motion that reflects the user's motion intention in physical exercise. This allows the user to easily check the state of the virtual body performing a motion that accurately reflects the user's motion intention, for example, by wearing a head-mounted display included in the output unit 14.

[0070] The control device 10 can calculate the stimulation parameters more accurately by including a PID control system in the feedback control system. The control device 10 can more accurately suppress the user's physical movement based on the stimulation parameters calculated more accurately.

[0071] The control device 10 according to an embodiment of the present disclosure can be used to suppress the physical movement of a user by electrically stimulating the muscles. The control device 10 can also function as a motion input device that suppresses the physical movement of a user in the real space.

[0072] Although the present disclosure has been described based on the drawings and examples, it should be noted that those skilled in the art can make various modifications and alterations based on the present disclosure. Therefore, it should be noted that these modifications and alterations are included in the scope of the present disclosure. For example, the functions included in each configuration or each step can be rearranged so as not to be logically inconsistent, and multiple configurations or steps can be combined or divided into one.

[0073] For example, a general-purpose electronic device such as a smartphone or a computer can be configured to function as the control device 10 according to the embodiment described above. Specifically, a program describing the processing contents for realizing each function of the control device 10 according to the embodiment is stored in the memory of the electronic device, and the program is read and executed by a processor of the electronic device. Therefore, the present disclosure can also be realized as a program executable by a processor.

[0074] Alternatively, the present disclosure may be realized as a non-transitory computer-readable medium storing a program executable by one or more processors to cause the control device 10 according to an embodiment to execute each function. It should be understood that these are also included within the scope of the present disclosure.

[0075] In the above embodiment, the stimulating unit 13 is described as being arranged on the muscle located on the opposite side of the agonist muscle that contracts to cause physical movement, but is not limited thereto. The stimulating unit 13 may be arranged at any position that can suppress the user's physical movement.

[0076] In the above embodiment, the part of the body is described as including the forearm including the elbow to the wrist, but is not limited thereto. The part of the body may include any other part that is the target of the restraint of the user's physical movement. For example, the part of the body may include a part of the leg instead of or in addition to the arm.

[0077] In the above embodiment, the control device 10 calculates the stimulation parameters according to a feedback control system using the motion information output from the detection unit 11, but is not limited to this. The control device 10 may calculate the stimulation parameters by any other method as long as it can suppress the user's body motion according to the stimulation parameters.

[0078] In the above embodiment, the detection unit 11 is described as including an angle sensor, but is not limited to this. In addition, the motion information includes a joint angle θ mAlthough the description has been given of the detection unit 11 including (t), the detection unit 11 is not limited thereto. The detection unit 11 may include a myoelectric potential sensor, an angular velocity sensor, an acceleration sensor, and the like. The motion information may be appropriately determined according to the type of a sensor module included in the detection unit 11. The motion information may include parameters detectable by the sensor module included in the detection unit 11.

[0079] In the above embodiment, the control device 10 controls the joint angle θ m In the above description, the stimulation parameters are calculated by using the joint torque τ(t) of a part of the body as the control amount and the joint torque τ(t) of a part of the body as the operation amount, but the present invention is not limited to this. The control device 10 may calculate the stimulation parameters by any other method as long as it can suppress the user's body movement according to the stimulation parameters.

[0080] In the above embodiment, the control device 10 generates the control information for implementing a motion that reflects the user's motion intention in a physical movement with the operating object based on the joint torque τ(t), but is not limited to this. The control device 10 does not need to execute the process of generating the control information.

[0081] The operation object has been described as including a virtual object existing in a virtual space, but is not limited thereto. The operation object may be any object operated by a user in games and other entertainment. The operation object may be any object operated by a user in 3D design support software. The operation object may be any object operated by a user in a remote conference or other remote communication.

[0082] The operating body may include a robot placed in a real space. The robot may include an industrial robot, a remote medical robot, a nursing robot, a disaster support robot, a rescue robot, and the like. The robot may include, for example, a humanoid robot. For example, even if a humanoid robot as an operating body moves around in a vast remote real space, the control device 10 can also operate the humanoid robot in a small real space while minimizing the user's physical movement.

[0083] In this case, the control information may include, for example, information such as a control signal for the robot's drive mechanism that is necessary to cause the robot to move in a manner that reflects the user's physical intentions.

[0084] In the above embodiment, the control device 10 is described as further including the output unit 14 that displays, as an image, a virtual body performing an exercise that reflects an exercise intention, but is not limited thereto. The control device 10 does not necessarily have to include the output unit 14.

[0085] In the above embodiment, the feedback control system is described as including a PID control system, but is not limited thereto. The feedback control system may include any other system capable of realizing the function of the control device 10. For example, the feedback control system may include a PI control system.

[0086] In the above embodiment, the control device 10 is described as realizing the function of suppressing physical movement by directly attaching the sensor module included in the detection unit 11 and the electrodes included in the stimulation unit 13 to the user's body, but is not limited to this. The electrodes may be configured to have elasticity based on conductive fibers, for example. In this case, the control device 10 may be implemented as a suit-type device in which the stimulation unit 13 and the detection unit 11 are built into clothing. This makes the control device 10 foldable and portable.

[0087] In this case, the control device 10 may be configured so that the control unit 16 that executes various arithmetic processes is also built into the clothing. The control device 10 may be configured so that a communication module is built into the clothing instead of the control unit 16 and is communicatively connected to an external arithmetic unit that executes the same processes as the control unit 16.

[0088] By implementing the control device 10 as a suit-type device as described above, the user can input whole-body movements to the control device 10 while suppressing movement by simply wearing the suit and sitting in a chair or lying in bed. By implementing the control device 10 as a suit-type device, the user can use the control device 10 anywhere and at any time. For example, the user can use the control device 10 while away from home.

[0089] Some of the embodiments of the present disclosure will be described below as examples. However, it should be noted that the embodiments of the present disclosure are not limited to these examples. [Appendix 1] A control device for suppressing a user's physical movement, A detection unit that detects a physical movement of the user and outputs motion information of the physical movement; a control unit that calculates a stimulation parameter based on the motion information output from the detection unit; a stimulation unit that applies electrical stimulation to a muscle that inhibits the physical movement in accordance with the stimulation parameters calculated by the control unit; Equipped with Control device. [Appendix 2] 2. The control device according to claim 1, The stimulation unit is arranged on the muscle located on the opposite side to the agonist muscle that contracts to cause the body movement. Control device. [Appendix 3] 3. The control device according to claim 1, The control unit calculates the stimulation parameters according to a feedback control system using the motion information. Control device. [Appendix 4] 4. The control device according to claim 3, The detection unit includes an angle sensor, The motion information includes a joint angle of a part of a body where the physical motion is occurring. Control device. [Appendix 5] 5. The control device according to claim 4, the control unit calculates the stimulation parameters using the joint angle as a control amount and the joint torque of the part of the body as an operation amount. Control device. [Appendix 6] 6. The control device according to claim 5, The control unit generates control information for realizing, with an input object, a motion that reflects the user's motion intention in the physical motion, based on the joint torque. Control device. [Appendix 7] 7. The control device according to claim 6, The operation body includes a virtual body existing in a virtual space. Control device. [Appendix 8] 8. The control device according to claim 7, an output unit that displays the virtual body performing the exercise reflecting the exercise intention as an image; Control device. [Appendix 9] 9. The control device according to claim 3, The feedback control system includes a PID control system. Control device. [Appendix 10] A control method for suppressing a user's physical movement, comprising: Detecting a physical movement of the user and outputting motion information of the physical movement; Calculating stimulation parameters based on the output motion information; providing electrical stimulation to a muscle that inhibits the physical movement in accordance with the calculated stimulation parameters; Including, Control methods. [Explanation of symbols]

[0090] 10 Control device 11 Detection section 12 Circuit section 13 Stimulation part 14 Output section 15 Storage section 16 Control section M1 Biceps M2 Triceps θ m (t) Joint angle θ t (t) Target value τ(t) joint torque

Claims

1. A control device for suppressing a user's physical movement, A detection unit that detects a physical movement of the user and outputs motion information of the physical movement; a control unit that calculates a stimulation parameter based on the motion information output from the detection unit; a stimulation unit that applies electrical stimulation to a muscle that inhibits the physical movement in accordance with the stimulation parameters calculated by the control unit; Equipped with Control device.

2. The control device according to claim 1 , The stimulation unit is arranged on the muscle located on the opposite side to the agonist muscle that contracts to cause the body movement. Control device.

3. The control device according to claim 1 or 2, The control unit calculates the stimulation parameters according to a feedback control system using the motion information. Control device.

4. The control device according to claim 3, The detection unit includes an angle sensor, The motion information includes a joint angle of a part of a body where the physical motion is occurring. Control device.

5. The control device according to claim 4, the control unit calculates the stimulation parameters using the joint angle as a control amount and the joint torque of the part of the body as an operation amount. Control device.

6. The control device according to claim 5, The control unit generates control information for realizing, with an input object, a motion that reflects the user's motion intention in the physical motion, based on the joint torque. Control device.

7. The control device according to claim 6, The operation body includes a virtual body existing in a virtual space. Control device.

8. The control device according to claim 7, an output unit that displays the virtual body performing the exercise reflecting the exercise intention as an image; Control device.

9. The control device according to claim 3, The feedback control system includes a PID control system. Control device.

10. A control method for suppressing a user's physical movement, comprising: Detecting a physical movement of the user and outputting motion information of the physical movement; Calculating stimulation parameters based on the output motion information; providing electrical stimulation to a muscle that inhibits the physical movement in accordance with the calculated stimulation parameters; Including, Control methods.

Images