Body skill acquisition support device, body skill acquisition support method and body skill acquisition support program

Abstract

To provide a body skill acquisition support device which uses a vehicle simulator that reproduces the movement of a vehicle to present the timing, intensity, and direction of the movement of a body and encourage acquisition of the body skill.SOLUTION: A vehicle simulator includes: an imitation vehicle that imitates a vehicle; a movement control device that controls the movement of the imitation vehicle; and a force sense presentation device that is worn by a user. A body skill acquisition support device includes: a movement scenario storage unit which stores a movement scenario of the vehicle simulator; a presentation intensity setting unit which sets the presentation intensity of the force sense presentation generated by the imitation vehicle and the presentation intensity of the force sense presentation generated by the force sense presentation device on the basis of the movement scenario; a movement control unit which controls a movement control device so as to cause the imitation vehicle to generate the force sense presentation of the presentation direction and presentation intensity matching the movement scenario at each time of the movement scenario on the basis of movement scenario and the presentation intensity; and a force sense presentation control unit which controls the force sense presentation device on the basis of presentation intensity.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a physical skill acquisition assistance device, a physical skill acquisition assistance method, and a physical skill acquisition assistance program. [Background technology]

[0002] 2. Description of the Related Art When training physical skills, techniques are known that use audiovisual and haptic senses to convey movement timing.

[0003] Non-Patent Document 1 discloses a system that presents walking timing by presenting rhythmic sounds.

[0004] Non-Patent Document 2 discloses a system that uses vibrations attached to the shoulders and knees to indicate the timing of shoulder rotation and knee sinking while snowboarding. [Prior art documents] [Non-patent literature]

[0005] [Non-Patent Document 1] Yoshihiro Miyake, "Interpersonal Synchronization of Body Motion and the Walk-MateWalking Support Robot", IEEE TRANSACTIONS ON ROBOTICS, VOL. 25, NO. 3, JUNE 2009 [Non-Patent Document 2] Daniel Spelmezan, "An Investigation into the Use of Tactile Instructions in Snowboarding", INRIA; Univ Paris-Sud & CNRS (LRI), F-91405 Orsay, France, spelmezan@lri.fr Summary of the Invention [Problem to be solved by the invention]

[0006] The above technologies focus on using audiovisual and haptic feedback to indicate the timing for moving the body.

[0007] On the other hand, users need to think about how they should move their bodies (the strength and direction of the movement), which can be counterintuitive.

[0008] The present invention has been made in light of the above-mentioned circumstances, and its purpose is to provide a physical skill acquisition support device, a physical skill acquisition support method, and a physical skill acquisition support program that use a vehicle simulator that reproduces the movements of a vehicle to present the direction and strength of body movement in addition to the timing of body movement, thereby encouraging the user to acquire physical skills. [Means for solving the problem]

[0009] One aspect of the present invention is a physical skill acquisition assistance device that encourages a user to acquire a physical skill by using a vehicle simulator that reproduces the motion of a vehicle. The vehicle simulator includes an imitation vehicle that imitates a vehicle, a motion control device that controls the motion of the imitation vehicle, and a haptic device worn by a user. The physical skill acquisition assistance device has a motion scenario storage unit, a presentation intensity setting unit, a motion control unit, and a haptic device control unit. The motion scenario storage unit stores a motion scenario of the vehicle simulator. The presentation intensity setting unit sets a presentation intensity of the haptic device to be generated by the imitation vehicle and a presentation intensity of the haptic device to be generated by the haptic device based on the motion scenario. The motion control unit controls the motion control unit based on the motion scenario and the presentation intensity so that the imitation vehicle generates a haptic display with a presentation direction and a presentation intensity that match the motion scenario at each time of the motion scenario. The haptic device control unit controls the haptic device based on the presentation intensity.

[0010] One aspect of the present invention is a method for assisting a user in acquiring a physical skill by using a vehicle simulator that reproduces the motion of a vehicle. The vehicle simulator includes an imitation vehicle that imitates a vehicle, a motion control device that controls the motion of the imitation vehicle, and a haptic device worn by a user. The method for assisting the acquisition of a physical skill includes a step of storing a motion scenario of the vehicle simulator, a step of setting a presentation intensity of a haptic presentation to be generated by the imitation vehicle and a presentation intensity of a haptic presentation to be generated by the haptic device based on the motion scenario, a step of controlling the motion control device based on the motion scenario and the presentation intensity so that the imitation vehicle generates a haptic presentation having a presentation direction and a presentation intensity that match the motion scenario at each time of the motion scenario, and a step of controlling the haptic device based on the presentation intensity.

[0011] One aspect of the present invention is a physical skill acquisition assistance program that encourages a user to acquire physical skills by using a vehicle simulator that reproduces the motion of a vehicle. The physical skill acquisition assistance program causes a computer having a processor and a storage device to execute at least some of the functions of the components of the physical skill acquisition assistance device described above. Effect of the Invention

[0012] According to the present invention, there is provided a physical skill acquisition support device, a physical skill acquisition support method, and a physical skill acquisition support program that use a vehicle simulator that reproduces the movements of a vehicle to present not only the timing of body movement but also the direction and strength of body movement, thereby encouraging the user to acquire physical skills. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a diagram showing an example of an overall configuration of a physical skill acquisition support system according to an embodiment. [Diagram 2] FIG. 2 is a diagram illustrating an example of a functional configuration of a physical skill acquisition assistance device according to an embodiment. [Diagram 3] FIG. 3 is a block diagram showing a hardware configuration of a computer that constitutes the physical skill acquisition assistance device according to the embodiment. [Figure 4] FIG. 4 is a flowchart showing a flow of a force sense providing operation performed by the physical skill acquisition assistance device according to the embodiment. [Diagram 5] FIG. 5 is a diagram showing a part of a configuration of a movement scenario stored in the movement scenario storage unit of the physical skill acquisition assistance device according to the embodiment. [Figure 6] FIG. 6 is a diagram showing the presentation intensity of the force sense provided by the force sense provision device controlled by the physical skill acquisition assistance apparatus according to the embodiment. [Figure 7] FIG. 7 is a diagram showing the operation characteristics of a force feedback device controlled by the physical skill acquisition assistance apparatus according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0015] (Physical Skill Acquisition Support System) First, a physical skill acquisition support system 10 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing an example of the overall configuration of the physical skill acquisition support system 10 according to an embodiment. The physical skill acquisition support system 10 is a system that promotes the acquisition of physical skills by using a vehicle simulator that reproduces the movements of a vehicle.

[0016] In the following, as an example, the vehicle is a windsurfing vehicle, and the vehicle simulator is a windsurfing simulator 20. The windsurfing simulator 20 is set up on land, for example, indoors.

[0017] A physical skill acquisition assistance system 10 according to one embodiment includes a windsurfing simulator 20 and a physical skill acquisition assistance device 40.

[0018] The windsurfing simulator 20 has a imitation windsurfing board 21 that imitates windsurfing. The imitation windsurfing board 21 has a board 22 on which a user rides, a mast 23 erected on the board 22, a sail 24 stretched on the mast 23, and a boom 25 held by the user.

[0019] The windsurfing simulator 20 also has a motion control device 31. The motion control device 31 has a motion control actuator 32 that controls the motion of the imitation windsurfing 21. The motion control device 31 controls the motion of the imitation windsurfing 21 by the motion control actuator 32. The motion of the imitation windsurfing 21 includes the direction of the board 22, the inclination changes and their speeds of the board 22 in the forward / backward and left / right directions, the vertical movement and their speed of the board 22, the inclination changes and their speeds of the mast 23 in the forward / backward and left / right directions, the change in the direction and their speed of the sail 24, etc. The motion control device 31 is controlled by a physical skill acquisition assistance device 40.

[0020] The windsurfing simulator 20 also has an air blower 33. The air blower 33 is disposed in front of the imitation windsurfing board 21. The air blower 33 blows air toward the imitation windsurfing board 21. The air blower 33 is controlled by the physical skill acquisition assistance device 40.

[0021] The windsurfing simulator 20 also has a display device 34. The display device 34 is a head-mounted display that is worn on the user's head when in use. The head-mounted display is, for example, VR goggles that provide a virtual reality experience. The display device 34 displays the display data input from the physical skill acquisition assistance device 40 on the display. It is also possible to output audio data at the same time.

[0022] The windsurfing simulator 20 also has haptic devices 35, 36, and 37. The haptic devices 35, 36, and 37 are devices that provide a haptic sensation to the user. The haptic devices 35, 36, and 37 are used by being attached to the limbs or trunk of the user. The haptic device 35 is used by being attached to the wrist of the user. The haptic device 36 is used by being attached to the ankle of the user. The haptic device 37 is used by being attached to the trunk of the user. For example, the haptic devices 35, 36, and 37 perform a tightening operation using air pressure control or the like, thereby making the user feel a strong haptic sensation. As a result, the user feels, for example, that the boom 25 is heavy.

[0023] (Functional configuration of physical skill acquisition assistance device 40) Next, a physical skill acquisition support device 40 according to an embodiment will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of a functional configuration of the physical skill acquisition support device 40 according to an embodiment. The physical skill acquisition support device 40 is a device that encourages a user to acquire physical skills by using a windsurfing simulator 20.

[0024] The physical skill acquisition support device 40 has a data input unit 41, a display data generation unit 42, a presentation intensity setting unit 43, a force feedback presentation control unit 44, an air blowing control unit 45, a movement control unit 46, a video data memory unit 47, and a movement scenario memory unit 48.

[0025] Video data and an operation scenario are input to the data input unit 41. The video data is data of the scenery around the windsurfing where the user experiences a simulated sailing. The operation scenario is data for controlling the windsurfing simulator 20 in accordance with the simulated sailing experienced by the user. In more detail, the operation scenario is data for controlling the operation control device 31, the air blower 33, and the haptic devices 35, 36, and 37.

[0026] The data input unit 41 transmits the input video data to the video data storage unit 47, where it is stored, and also transmits the input operation scenario to the operation scenario storage unit 48, where it is stored.

[0027] The display data generating unit 42 reads video data from the video data storage unit 47 in accordance with the operation scenario. The display data generating unit 42 also obtains information on the orientation of the display device 34, i.e., the orientation of the user's head, from the display device 34, and generates display data of the view in front of the orientation of the user's head. The display data generating unit 42 transmits the display data to the display device 34 and causes it to be displayed on the display device 34.

[0028] The presentation intensity setting unit 43 reads an operation scenario from the operation scenario memory unit 48, and sets the presentation intensity of the force sense generated by the imitation windsurfing 21 and the force sense generated by the force sense display devices 35, 36, and 37 in accordance with the operation scenario.

[0029] The haptic control unit 44 generates haptic control signals for the haptic devices 35, 36, and 37 based on the presentation intensity set by the presentation intensity setting unit 43. The haptic control unit 44 transmits the generated haptic control signals to the haptic devices 35, 36, and 37, and causes the haptic devices 35, 36, and 37 to provide the user with a haptic sensation of a desired presentation intensity.

[0030] The air blowing control unit 45 reads an operation scenario from the operation scenario storage unit 48, and generates an air blowing control signal for the air blowing device 33 in accordance with the operation scenario. The air blowing control signal is a signal that causes the air blowing device 33 to blow wind at a wind speed that corresponds to the sailing speed that the user is to experience in a simulated manner. The air blowing control unit 45 transmits the generated air blowing control signal to the air blowing device 33, and causes the air blowing device 33 to blow wind at a desired wind speed.

[0031] The motion control unit 46 reads the motion scenario from the motion scenario storage unit 48, and generates a motion control signal for the motion control device 31 according to the motion scenario and based on the presentation intensity set by the presentation intensity setting unit 43. The motion control signal is a signal that causes the motion control device 31 to generate a motion of the imitation windsurfing 21 corresponding to the sailing that the user experiences in a simulated manner. The motion control signal is also a signal that controls the motion control device 31 so that the motion control device 31 generates a force sense presentation of the presentation intensity set by the presentation intensity setting unit 43 in the imitation windsurfing 21. The motion control unit 46 transmits the generated motion control signal to the motion control device 31, and causes the motion control device 31 to generate a desired motion of the imitation windsurfing 21. As a result, the motion control unit 46 controls the motion control device 31 so that the imitation windsurfing 21 generates a force sense presentation of the presentation direction and presentation intensity that match the motion scenario at each time of the motion scenario.

[0032] (Hardware configuration of physical skill acquisition assistance device 40) Next, the hardware configuration of the computer 60 constituting the physical skill acquisition assistance device 40 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing the hardware configuration of the computer 60 constituting the physical skill acquisition assistance device 40.

[0033] The computer 60 includes a processor 61 , a read only memory (ROM) 62 , a random access memory (RAM) 63 , an auxiliary storage device 64 , and an input / output interface 65 .

[0034] The processor 61 , ROM 62 , RAM 63 , auxiliary storage device 64 , and input / output interface 65 are electrically connected to one another via a bus 66 , and can transmit and receive data to and from one another via the bus 66 .

[0035] The processor 61 is hardware that executes programs and processes data. The processor 61 may include a CPU (Central Processing Unit), a GPU (Graphical Processing Unit), a DSP (Digital Signal Processor), etc. The processor 61 controls the ROM 62, the RAM 63, the auxiliary storage device 64, and the input / output interface 65 as a whole.

[0036] ROM 62 is a non-volatile memory constituting a part of the main storage device. ROM 62 non-temporarily stores a startup program required at the startup of processor 61. Processor 61 starts up by executing a program in ROM 62. ROM 62 is composed of, for example, an EPROM (Erasable Programmable Read Only Memory), and stores various settings at the time of startup in addition to the startup program.

[0037] The RAM 63 is a volatile memory constituting a part of the main storage device. The RAM 63 temporarily stores programs necessary for the processing of the processor 61 and data necessary for executing the programs. The processor 61 executes the programs in the RAM 63 to operate the data in the RAM 63 and store the operation results in the RAM 63.

[0038] The auxiliary storage device 64 is composed of a non-volatile memory such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The auxiliary storage device 64 non-temporarily stores the programs executed by the processor 61 and data required for executing the programs. The processor 61 loads the programs and data in the auxiliary storage device 64 into the RAM 63 and executes the programs to perform various functions.

[0039] The input / output interface 65 is connected to the motion control device 31, the blower device 33, the display device 34, the haptic devices 35, 36, and 37, the input device 71, and the like, and enables the input and output of information. For example, the input / output interface 65 may be a wired interface or a wireless interface. The wired interface includes a port to which a device is connected, and the like. The wireless interface includes Bluetooth (registered trademark), WiFi (registered trademark), and the like.

[0040] The input device 71 may include a keyboard, a mouse, a touch panel, a receiving device, a disk drive, etc. The input device 71 is not limited to these, and may include any other input device.

[0041] The program non-temporarily stored in the auxiliary storage device 64 is provided to the computer 60, for example, via a recording medium 72 on which the program is non-temporarily recorded and which can be read by the computer 60. Such a recording medium 72 is called a non-temporary computer-readable recording medium. Non-temporary computer-readable recording media include disks such as flexible disks, optical disks (CD-ROM, CD-R, DVD-ROM, DVD-R, etc.), and magneto-optical disks (MO, etc.), as well as semiconductor memories.

[0042] The programs non-temporarily stored in the auxiliary storage device 64 include a physical skill acquisition assistance program. The physical skill acquisition assistance program is a program that causes the computer 60 to execute at least a part of the functions of the physical skill acquisition assistance device 40.

[0043] For example, when the recording medium 72 is a disk, the program is read into and non-temporarily stored in the auxiliary storage device 64 via a disk drive, which is the input device 71, and the input / output interface 65. The program may also be stored in a server on a network, downloaded from the server, and non-temporarily stored in the auxiliary storage device 64.

[0044] When the computer 60 is started, the processor 61 executes a program in the ROM 62, and loads and starts the OS in the RAM 63. Under the control of the OS, the processor 61 monitors input instructions and connections to external devices. In addition, the processor 61 sets a program area and a data area in the RAM 63 under the control of the OS. In response to an instruction input to start the physical skill acquisition assistance device 40, the processor 61 loads the physical skill acquisition assistance program from the auxiliary storage device 64 into the program area of ​​the RAM 63, and loads data required for executing the physical skill acquisition assistance program from the auxiliary storage device 64 into the data area of ​​the RAM 63. The processor 61 calculates data in the data area according to the physical skill acquisition assistance program, and writes the calculation result into the data area. Through such operations, the processor 61, the RAM 63, the auxiliary storage device 64, the input / output interface 65, and the bus 66 work together to execute at least a part of the functions of the physical skill acquisition assistance device 40.

[0045] (Control of presentation intensity of force sense by physical skill acquisition assistance device 40) Next, a force sense providing operation by the physical skill acquisition assistance device 40 will be described with reference to Fig. 4. Fig. 4 is a flowchart showing the flow of the force sense providing operation by the physical skill acquisition assistance device 40.

[0046] The physical skill acquisition assistance device 40 controls the motion control device 31 and the force feedback devices 35, 36, and 37 of the windsurfing simulator 20, thereby controlling the force feedback provided to the user.

[0047] In detail, when the force feedback to be provided to the user can be generated by the imitation windsurfing 21 alone, the physical skill acquisition support device 40 controls the motion control device 31 to provide the force feedback to the user through the movement of the board 22, mast 23, sail 24, and boom 25 of the imitation windsurfing 21.

[0048] Furthermore, when the imitation windsurfing 21 alone is unable to generate the force sense presentation to be provided to the user due to an insufficient range of motion of the imitation windsurfing 21 or the like, the physical skill acquisition assistance device 40 further controls the force sense presentation devices 35, 36, 37 to provide the force sense presentation to the user through the force sense presentation devices 35, 36, 37. In other words, when the imitation windsurfing 21 alone is insufficient to generate the force sense presentation to be provided to the user, the physical skill acquisition assistance device 40 causes the force sense presentation devices 35, 36, 37 to generate the insufficient force sense presentation.

[0049] In the following, only the control of the presentation intensity of the force sense will be described. That is, the control of the air blower 33 and the display device 34 is as described above, and therefore the description thereof will be omitted.

[0050] In step S1, the data input unit 41 receives an input operation scenario and stores it in the operation scenario storage unit 48. FIG. 5 shows a part of the configuration of the operation scenario stored in the operation scenario storage unit 48. Here, of the information on the operation scenario, only information on the presentation intensity of the haptic feedback to be provided to the user in order to reproduce the operation scenario is shown. In other words, the operation scenario actually includes information on the presentation direction of the haptic feedback, but the information on the presentation direction is omitted in FIG. 5.

[0051] The operation scenario has information on each time from time t to time t+N×interval (seconds) and information on the scenario state at each time. The interval (seconds) is the shortest time interval during scenario execution. The scenario state information includes strength information of the force feedback to be provided to the user at each time to reproduce the operation scenario. The force feedback to be provided to the user is mainly the force of the imitation windsurfing 21 pulling the user's hand through the boom 25 held by the user. For this reason, in the embodiment, the force feedback to be provided to the user is referred to as tensile strength (N). The tensile strength (N) is specified in units of Newtons.

[0052] In reality, the force sense to be provided to the user may be various other than the force pulling the user's hand. For example, there may be a force pushing the user's hand, a force acting on the user's foot, etc. However, in the embodiment, the force pulling the user's hand will be described as a representative example.

[0053] The user is pulled by the imitation windsurfing board 21 at a predetermined timing with a predetermined strength in a predetermined direction. In response to this, the user performs an operation to pull the boom 25 so as to cancel the pulling force of the imitation windsurfing board 21. This allows the user to sense the appropriate timing of the operation to control the imitation windsurfing board 21, the appropriate direction to apply the pulling force, and the appropriate strength of the pulling force for the simulated sailing experience.

[0054] That is, in step S1, the data input unit 41 receives information on each time from time t to time t+N×interval (seconds) and information on the scenario state at each time, and stores it in the operation scenario storage unit .

[0055] In step S2, the presentation intensity setting unit 43 reads out, from the operation scenario storage unit 48, information on each time from time t to future time t+n×interval (seconds) and information on the scenario state at each time, that is, the tensile strength (N).

[0056] In step S3, the presentation strength setting unit 43 determines whether the tensile strength (N) at each time is equal to or smaller than the limit value (th pull ) is exceeded. In the embodiment, the limit value of the force sense presentation strength that the imitation windsurfing 21 can generate is 50 (N). The presentation strength setting unit 43 writes the judgment result as T (true) or F (false) in the operation scenario storage unit 48, as shown in FIG. 5.

[0057] As a result of the judgment in step S3, the tensile strength (N) is the limit value (th pull) or less (No in step S3), the presentation intensity setting unit 43 sets the tensile strength (N) as the presentation intensity of the force sense generated by the imitation windsurfing 21 in step S4. The presentation intensity setting unit 43 outputs information on the set presentation intensity of the imitation windsurfing 21, i.e., the tensile strength (N), to the operation control unit 46. The presentation intensity setting unit 43 also sets the presentation intensity of the force sense generated by the force sense generation devices 35, 36, 37 to 0.

[0058] As a result of the judgment in step S3, the tensile strength (N) is the limit value (th pull ) (if Yes in step S3), the presentation strength setting unit 43 calculates the limit value (th pull ) is subtracted from the difference value (diff x The presentation intensity setting unit 43 calculates the calculated difference value (diff x ) is written into the operation scenario storage unit 48 as shown in FIG.

[0059] In step S6, the presentation intensity setting unit 43 sets the calculated difference value (diff x ) is the limit value (th high In the embodiment, the limit value of the force that the force feedback devices 35, 36, and 37 can generate is set to 50 (N).

[0060] As a result of the determination in step S6, the difference value (diff x ) is the limit value (th high ) or less (No in step S6), the presentation intensity setting unit 43 sets the limit value (th pull ) is set as the presentation intensity of the force feedback generated by the imitation windsurfing 21, and the difference value (diff x ) is set as the presentation intensity of the force sense generated by the force sense presentation devices 35, 36, and 37. The presentation intensity setting unit 43 sets the presentation intensity of the imitation windsurfing 21, that is, the limit value (th pull) to the operation control unit 46, and the presentation intensities of the force feedback devices 35, 36, and 37 that have been set, that is, the difference values ​​(diff x ) information is output to the force feedback devices 35, 36, and 37.

[0061] As a result of the determination in step S6, the difference value (diff x ) is the limit value (th high ) (Yes in step S6), the presentation intensity setting unit 43 sets the limit value (th pull ) is set as the presentation strength of the force feedback generated by the imitation windsurfing 21, and the limit value (th pull ) is set as the presentation intensity to be generated by the force sense presentation of the force sense presentation devices 35, 36, and 37. The presentation intensity setting unit 43 sets the presentation intensity of the imitation windsurfing 21, that is, the limit value (th pull ) to the operation control unit 46, and the presentation strength of the set force feedback devices 35, 36, and 37, i.e., the limit value (th pull ) information to the force feedback control unit 44.

[0062] In step S9, the motion control unit 46 generates a motion control signal for the motion control device 31 based on the information on the presentation intensity of the imitation windsurfing 21 set and input in steps S4, S7, and S8, and transmits the generated motion control signal to the motion control device 31. The motion control signal is a signal that causes the motion control device 31 to generate a force feedback of the set presentation intensity in the imitation windsurfing 21. The motion control device 31 causes the imitation windsurfing 21 to generate a force feedback of the set presentation intensity in accordance with the received motion control signal.

[0063] In step S9, the haptic control unit 44 generates haptic control signals for the haptic devices 35, 36, and 37 based on the information on the presentation intensities of the haptic devices 35, 36, and 37 set and input in steps S7 and S8, and transmits the generated haptic control signals to the haptic devices 35, 36, and 37. The haptic control signals are signals that cause the haptic devices 35, 36, and 37 to generate haptic presentation of the set presentation intensity. The haptic devices 35, 36, and 37 generate haptic presentation of the set presentation intensity in accordance with the received haptic control signals.

[0064] To summarize the above, the force feedback intensity of the force feedback device is as shown in FIG. 6. That is, the force feedback intensity to be provided to the user is set to the limit value (th pull ) from the tensile strength (N) to the limit value (th pull ) is subtracted from the difference value (diff x ) is the limit value (th high ), the force feedback control unit 44 sets the difference value (diff x ) to the haptic devices 35, 36, and 37, and the difference value (diff x ) is the limit value (th high ), the force sense display control unit 44 sets the limit value (th high ) to the haptic devices 35, 36, and 37.

[0065] 7, a response time (t1) is required from when the haptic devices 35, 36, and 37 receive a haptic control signal until they actually generate a haptic sensation specified by the haptic control signal. For this reason, when causing the haptic sensation devices 35, 36, and 37 to generate a haptic sensation, the haptic sensation control unit 44 transmits a haptic control signal to the haptic sensation devices 35, 36, and 37 in advance a time equal to the response time (t1) of the haptic sensation devices 35, 36, and 37 to operate the haptic sensation devices 35, 36, and 37.

[0066] Here, we have described the control of the transmission of force feedback control signals to the force feedback devices 35, 36, and 37. Similarly, when generating force feedback in the imitation windsurfing 21, the motion control unit 46 transmits a motion control signal in advance to the motion control device 31 to operate the motion control actuator 32 of the motion control device 31 a time in advance equal to the response time of the motion control actuator 32 of the motion control device 31, thereby operating the motion control device 31.

[0067] (effect) As described above, according to the embodiment, a physical skill acquisition support technology is provided that uses a windsurfing simulator 20 to present not only the timing of moving the body, but also the strength and direction of moving the body, thereby encouraging the user to acquire physical skills.

[0068] This allows the user to simulate the experience of sailing with the appropriate timing for maneuvering the imitation windsurfing 21, the appropriate direction for applying pulling force, and the appropriate strength of the pulling force.

[0069] In addition, when the force sense presentation intensity to be provided to the user in order to reproduce the operation scenario exceeds the limit value of the force sense presentation that can be generated by the imitation windsurfing 21, in addition to the force sense presentation provided by the imitation windsurfing 21, force sense presentation is provided to the wrist by force sense presentation device 35, to the ankle by force sense presentation device 36, and to the trunk by force sense presentation device 37.

[0070] The physical skill acquisition assistance device 40 may also control the windsurfing simulator 20 to provide a force feedback for the preparatory movement. This allows the user to be provided with a force feedback of the timing and strength of the preparatory movement before starting the next main movement.

[0071] The present invention is not limited to the above-mentioned embodiment, and can be modified in various ways without departing from the gist of the present invention. The embodiments may be combined as appropriate, and in that case, the combined effect can be obtained. Furthermore, the above-mentioned embodiment includes various inventions, and various inventions can be extracted by combinations selected from the multiple components disclosed. For example, if the problem can be solved and the effect can be obtained even if some components are deleted from all the components shown in the embodiment, the configuration from which the components are deleted can be extracted as an invention. [Explanation of symbols]

[0072] 10. Physical Skill Acquisition Support System 20. Windsurfing simulator 21…Imitation windsurfing 22…Board 23…Mast 24…Sail 25…Boom 31...Motion control device 32...Motion control actuator 33...Blower 34…Display device 35...Haptic device 36...Haptic device 37...Haptic device 40…Physical skill acquisition support device 41...Data input section 42...Display data generation unit 43...Presentation intensity setting unit 44...Haptic display control unit 45...Air flow control unit 46...Motion control unit 47...Video data storage unit 48...Operation scenario memory section 60…Computer 61…Processor 62...ROM 63…RAM 64…Auxiliary storage device 65... Input / Output Interface 66…Bus 71...Input device 72...Recording media

Claims

1. A physical skill acquisition assistance device that uses a vehicle simulator that reproduces the motion of a vehicle to encourage a user to acquire a physical skill, the vehicle simulator including an imitation vehicle that imitates the vehicle, a motion control device that controls the motion of the imitation vehicle, and a force feedback device that is worn by the user; an operation scenario storage unit that stores an operation scenario of the vehicle simulator; a presentation intensity setting unit that sets a presentation intensity of the haptic feedback generated by the imitation vehicle and a presentation intensity of the haptic feedback generated by the haptic feedback device based on the operation scenario; an operation control unit that controls the operation control device so as to cause the imitation vehicle to generate a force feedback in a presentation direction and at the presentation intensity that matches the operation scenario at each time point of the operation scenario, based on the operation scenario and the presentation intensity; a force feedback control unit that controls the force feedback device based on the presentation intensity, Physical skill acquisition support device.

2. When the force feedback to be provided to the user is equal to or less than a limit value of the force feedback that can be generated by the imitation vehicle, the presentation intensity setting unit sets the force feedback intensity to be provided to the user to the force feedback intensity to be generated by the imitation vehicle. The physical skill acquisition assistance device according to claim 1 .

3. When the force feedback to be provided to the user exceeds a limit value of the force feedback that the imitation vehicle can generate, the presentation intensity setting unit: A limit value of the force feedback that the imitation vehicle can generate is set to a force feedback intensity that the imitation vehicle is to generate; a difference value obtained by subtracting a limit value of the force feedback that can be generated by the imitation vehicle from the force feedback to be provided to the user is set as a presentation intensity of the force feedback to be generated by the force feedback device; The physical skill acquisition assistance device according to claim 2.

4. when a difference value obtained by subtracting a limit value of the force sense presentation that the imitation vehicle can generate from the force sense presentation to be provided to the user exceeds a limit value of the force sense presentation that the force sense presentation device can generate, the presentation intensity setting unit sets the limit value of the force sense presentation that the force sense presentation device can generate as the presentation intensity of the force sense presentation to be generated by the force sense presentation device. The physical skill acquisition assistance device according to claim 3.

5. The haptic control unit operates the haptic device in advance for a time period equal to a response time of the haptic device. The physical skill acquisition assistance device according to claim 4.

6. The vehicle simulator includes a display device worn by the user and a blower that blows air toward the imitation vehicle, a video data storage unit that stores video data of the scenery around the vehicle; a display data generating unit that generates display data to be displayed on the display device based on the video data; Further comprising an air blowing control unit that controls the air blowing device based on the operation scenario. The physical skill acquisition assistance device according to claim 1 .

7. A physical skill acquisition support method for encouraging a user to acquire a physical skill by using a vehicle simulator that reproduces a motion of a vehicle, the vehicle simulator including: an imitation vehicle that imitates the vehicle; a motion control device that controls a motion of the imitation vehicle; and a force feedback device that is worn by the user; storing an operation scenario of the vehicle simulator; setting a presentation intensity of the haptic feedback to be generated by the imitation vehicle and a presentation intensity of the haptic feedback to be generated by the haptic feedback device based on the operation scenario; A step of controlling the motion control device so as to cause the imitation vehicle to generate a haptic presentation having a presentation direction and a presentation intensity that match the motion scenario at each time of the motion scenario, based on the motion scenario and the presentation intensity; and controlling the haptic device based on the presentation intensity. How to support physical skill acquisition.

8. A computer having a processor and a storage device, Executing at least some of the functions of the components of the physical skill acquisition support device according to any one of claims 1 to 6, Physical skill acquisition support program.

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