Exercise support system and exercise support method

Abstract

To provide an exercise support system and an exercise support method capable of improving an effect of rehabilitation by motivating a user to participate in the rehabilitation positively.SOLUTION: An exercise support system includes: a motion detection part 3 for detecting a motion of at least part of the body of a user 1; a control object 2; and a control part (first control part 10) for controlling the control object 2. The control part causes the control object 2 to perform an imitation movement that imitates the motion of the user 1 on the basis of the output of the motion detection part 3, and also causes the control object 2 to perform a predetermined first additional movement at the same time. As the first additional movement, the control object 2 is moved in a predetermined direction with a displacement amount based on the output of the motion detection part 3.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to an exercise support system and an exercise support method that encourage users, such as elderly people and people requiring care, to exercise when undergoing rehabilitation. [Background technology]

[0002] It is known that as people age, muscle strength and flexibility decrease, and physical balance and walking ability decline. The incidence of dementia also increases with age, and the risk of developing the condition increases especially for people aged 65 and older. Rehabilitation (hereinafter sometimes referred to as "rehab") is an effective measure against the decline in muscle strength and dementia caused by aging.

[0003] Moderate rehabilitation exercise improves physical functions such as balance. Furthermore, cognitive functions such as memory and attention are stimulated through rehabilitation, activating brain function. It is considered especially important for the elderly to participate in social activities and obtain mental fulfillment, but when physical functions decline, participation in these activities is often restricted. Rehabilitation is considered to enable the elderly to participate in society by improving physical functions, leading to an improvement in quality of life (QOL). Against this background, the importance of rehabilitation is becoming greater in today's aging society, and there is a demand for practical application of technology that further enhances its effectiveness.

[0004] As a technology for supporting a user's exercise during rehabilitation, for example, an upper limb rehabilitation training system is known that uses a depth camera to capture the user's movements, making the acquired data more accurate and objective, and making recording and storage easier. The upper limb function evaluation device included in this system includes a display, a depth camera, and a central processing unit, the depth camera is for capturing the user's movements, the display is for displaying the pilot movements and the user's movements, and the central processing unit is connected to the display and the depth camera, respectively. (Patent Document 1)

[0005] According to Patent Document 1, the central processing unit determines whether the degree of completion of the user's actions meets the requirements in the evaluation sheet, making it possible for the user to obtain the results of the evaluation report himself / herself without significant assistance or cooperation from doctors. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2022-536439 A DISCLOSURE OF THEINVENTION [Problem to be solved by the invention]

[0007] In the technology disclosed in Patent Document 1, a pilot's action is displayed on a display, and the user is guided to imitate the displayed pilot's action. The user's imitating image is then displayed on the display. However, the user only sees the pilot's action and his / her own image on the display, which is considered to be insufficient to motivate the user to actively engage in rehabilitation.

[0008] The present invention has been devised to solve such problems in the prior art, and its purpose is to provide an exercise support system that can motivate users to actively participate in rehabilitation and improve the effectiveness of rehabilitation. [Means for solving the problem]

[0009] The present invention, which has been made to solve the above problems, is an exercise support system that includes a motion detection unit that detects the motion of at least a part of a user's body, a control object, and a control unit that controls the control object, and the control unit causes the control object to perform an imitation motion that imitates the motion of the user based on the output of the motion detection unit, and simultaneously causes the control object to perform a predetermined first additional motion. This motivates the user to actively participate in rehabilitation, making it possible to improve the effect of rehabilitation.

[0010] In addition, the present invention provides that the first additional motion is a motion related to the motion of the user that caused the imitation motion, thereby giving the user a sense of manipulating a controlled object, and allowing the user to actively participate in rehabilitation.

[0011] In addition, in the present invention, the control unit causes the control target to execute a stepping motion as the imitation motion, and causes the control target to move in a predetermined direction with a displacement amount based on the output of the motion detection unit as the first additional motion. This allows the user to engage in rehabilitation with a sense of game, thereby improving the effect of rehabilitation.

[0012] In addition, in the present invention, the control unit changes the correspondence between the output of the motion detection unit and the displacement amount of the controlled object based on an external instruction. This allows users with disabilities to participate on an equal footing in the "contest" to move the controlled object by giving advantageous conditions to users with disabilities or disadvantageous conditions (handicaps) to users without disabilities.

[0013] In addition, in the present invention, when a specific movement of the user is detected based on the output of the movement detection unit, the control unit changes the content of the first additional action. This allows the user to notice that the controlled object will perform a special action when the user's movement meets a specific condition. Then, the user will try to manipulate the controlled object more actively, which ultimately makes it possible to increase the amount of exercise of the user.

[0014] In addition, in the present invention, the control unit changes the moving direction of the control object when it detects a change in the position of the user's arm based on the output of the motion detection unit. This allows the user to notice that the control object will, for example, rotate by raising his / her arm. Then, the user will try to manipulate the control object more actively, which ultimately makes it possible to increase the amount of exercise of the user.

[0015] The present invention also provides an exercise support system that includes a motion detection unit that detects motion of at least a part of a user's body, a control object, and a control unit that controls the control object, and the control unit causes the control object to perform an imitation motion that imitates the motion of the user based on the output of the motion detection unit, and causes the control object to perform a predetermined second additional motion regardless of the output of the motion detection unit. This provides a so-called surprise when the user achieves a rehabilitation task, and makes it possible to improve the user's motivation to work on rehabilitation.

[0016] The present invention further includes a score derivation unit that derives a score for the user, and the control unit causes the controlled object to perform a predetermined second additional action when the score derived by the score derivation unit satisfies a predetermined condition. This provides a so-called surprise when the user achieves a rehabilitation task, thereby improving the user's motivation to engage in rehabilitation.

[0017] The present invention further includes an environmental sensor, and the control unit causes the controlled object to perform a predetermined second additional action based on the output of the environmental sensor. This allows the user to be encouraged by the atmosphere of the place visualized by the second additional action, thereby improving the motivation to engage in rehabilitation.

[0018] In addition, in the present invention, the environmental sensor is composed of at least one of a human sensor, a sound sensor, and an image sensor, which makes it possible to detect the atmosphere of the place around the user with a simple configuration.

[0019] The present invention further includes an information terminal, and the control unit changes the content of the second additional action based on an instruction input to the information terminal. This changes the content of the second additional action to be executed when the user achieves a rehabilitation task or when the atmosphere of the rehabilitation site becomes uplifting, and the user does not get bored with the controlled action, and can maintain motivation to engage in rehabilitation.

[0020] In addition, the present invention is configured such that the control unit generates motion information of a body part of the user other than the part to which the motion detection unit is attached based on the output of the motion detection unit, and executes the imitation motion and the first additional motion based on the generated motion information. This makes it possible to improve the motivation of the user to engage in rehabilitation even if he or she has a disability in a part of his or her body.

[0021] The present invention also provides an exercise support system that includes, for each of a plurality of users, a motion detection unit that detects motion of at least a part of the body of the user, a control object, and a control unit that controls the control object, where the control object is single, and the control unit controls the control object so as to imitate the motions of the plurality of users detected by the respective motion detection units. This enables a plurality of users to simultaneously carry out rehabilitation using a single control object.

[0022] In addition, in the present invention, when the movements of the users detected by the movement detection units attached to the different users compete with each other, the control unit controls the control object to reproduce the average movement of the users. This allows each user to try to make the control object imitate the coordinated movement, and makes it possible to increase the overall amount of exercise of each user participating in rehabilitation.

[0023] In addition, in the present invention, when the movements of the users detected by the movement detection units attached to the users are competing with each other, the control unit controls the control target to imitate the movement of one user selected from the users. This allows the selected user to try to make the control target imitate his / her own movements more effectively, thereby improving the effect of rehabilitation.

[0024] The present invention further includes a notification unit, and the control unit notifies information about one selected user via the notification unit. As a result, the user who has been notified of his / her name, etc., will desire to hear his / her name, etc., uttered by the controlled object and will move more actively, thereby improving the effect of rehabilitation.

[0025] In addition, the present invention is such that the control unit controls the control object based on the output of the motion detection unit in which a slower or faster motion is detected. By making the control object imitate faster motion (agile motion), a user who moves slowly will try to move his / her body faster, improving the effect of rehabilitation. Also, by making the control object imitate slow motion, even a user with a severe disability can maintain motivation to participate in rehabilitation.

[0026] In addition, the present invention is such that the control unit controls the control object based on the output of the motion detection unit that detects a motion with a larger or smaller displacement. By having the control object imitate a motion with a larger displacement, a user with smaller motions will try to make larger body movements, improving the effect of rehabilitation. Also, by having the control object imitate a motion with a smaller displacement, even a user with a large degree of disability can maintain his or her motivation to participate in rehabilitation.

[0027] The present invention further includes a score derivation unit that derives a score for the user, and the control unit causes the controlled object to perform a predetermined third additional action when the score derived by the score derivation unit satisfies a predetermined condition. This makes it possible to provide a surprise (wow) to multiple users participating in rehabilitation as an outcome for all of them, and to improve the motivation of each of the multiple users to engage in rehabilitation.

[0028] The present invention also provides an exercise support method for detecting a movement of at least a part of a user's body, and having a control target perform an imitation movement that imitates the movement of the user based on the detected movement of the user, and at the same time, having the control target perform a predetermined first additional movement, thereby motivating the user to actively participate in rehabilitation and improving the effect of rehabilitation.

[0029] In addition, the present invention is such that the imitation motion is performed by making the control target perform a stepping motion, and the first additional motion is performed by making the control target move in a predetermined direction with a displacement amount based on the detected motion of the user. This allows the user to engage in rehabilitation with a sense of game, thereby improving the effect of rehabilitation.

[0030] The present invention also provides an exercise support method for detecting a movement of at least a part of a body of each of a plurality of users, and controlling a single control object so as to imitate the detected movements of the plurality of users, thereby enabling a plurality of users to simultaneously carry out rehabilitation using a single control object. Effect of the Invention

[0031] In this way, according to the present invention, the user is motivated to actively participate in rehabilitation, making it possible to improve the effect of rehabilitation. [Brief description of the drawings]

[0032] [Figure 1] 1A and 1B are explanatory diagrams showing a usage mode of an exercise support system S1 according to a first embodiment of the present invention. [Diagram 2] FIG. 1 is a diagram showing a configuration of an exercise support system S1 according to a first embodiment of the present invention. [Diagram 3] 1A and 1B are diagrams showing the configuration of a motion detection unit 3. [Figure 4] 1 is a flowchart showing the operation of the exercise support system S1 according to the first embodiment of the present invention. [Diagram 5] FIG. 1 is a diagram showing a configuration of an exercise support system S1 according to a second embodiment of the present invention. [Figure 6] FIG. 13 is a diagram showing the configuration of an exercise support system S1 according to a fourth embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0033] (First embodiment) A first embodiment of the present invention will be described below with reference to the drawings. Figs. 1(A) and (B) are explanatory diagrams showing a usage mode of an exercise support system S1 according to a first embodiment of the present invention. The exercise support system S1 is introduced into rehabilitation departments of hospitals, geriatric care facilities, and the like. In Fig. 1, reference numeral 1 denotes a user who uses the exercise support system S1 and undergoes rehabilitation under the supervision of a doctor, physical therapist, or the like (hereinafter sometimes referred to as "doctor, etc."). Examples of user 1 include elderly people and people requiring care.

[0034] Reference numeral 2 denotes a control object in the exercise support system S1, which is, for example, a robot or a robot toy in this case. By making the control object 2 a tangible robot, the user 1 feels closer to the control object 2, and it is possible to improve the effect of rehabilitation. In the following description, the side of the control object 2 as viewed in FIG. 1 may be referred to as the front, the opposite side as the rear, the direction of the right arm 2AR as the right, the direction of the left arm 2AL as the left, the direction of the head 2HD as the up, and the opposite side as the down.

[0035] A box-shaped right arm motion detection unit 3AR is attached to the wrist of the right arm 1AR of the user 1 using a wristband or the like. On the other hand, for the left arm 1AL, the motion detection unit 3 is configured, for example, in a stick shape, which is held by the user 1. Of course, the left arm motion detection unit 3AL may be made box-shaped and attached to the left arm 1AL using a wristband or the like.

[0036] Additionally, box-shaped motion detection units 3 (right leg motion detection unit 3LR, left leg motion detection unit 3LL) are attached to the left and right ankles of the user 1 via wristbands or the like. From the viewpoint of detecting the motion of the arm 1A and leg 1L with high accuracy, it is preferable that the motion detection units 3 are attached to parts with a large range of movement. From this viewpoint, it is preferable that the motion detection unit 3 that detects the motion of the arm 1A is attached to the wrist or held in the palm of the hand. Also, it is preferable that the motion detection unit 3 corresponding to the leg 1L is attached to the ankle. On the other hand, the motion detection unit 3 may be attached to, for example, the upper arm or thigh, so long as the detection accuracy is not impaired.

[0037] Here, the correspondence between each motion detection unit 3 and the part on which it is attached may be determined in advance. That is, in this embodiment, the part on which the motion detection unit 3 should be attached is clearly indicated, such as "for arm (right)". Then, the doctor or the like instructs the user 1 to attach the right arm motion detection unit 3AR to the wrist of the right arm 1AR, for example, and to similarly attach the other motion detection units 3 to corresponding parts. On the other hand, the correspondence between each motion detection unit 3 and the part on the body may not be determined in advance. In this case, the correspondence between each motion detection unit 3 and the part on which it is attached is acquired, as described later.

[0038] Of course, depending on the content of rehabilitation, the motion detection unit 3 may be attached to, for example, either the arm 1A or leg 1L of the user 1, or either the right arm 1AR or left arm 1AL, or either the right leg 1LR or left leg 1LL. This makes it possible to detect motion limited to the parts of the body that the user 1 actually moves, depending on the content of rehabilitation.

[0039] The control target 2 is composed of a main body 2BD, a head 2HD, arms 2A (right arm 2AR, left arm 2AL), and legs 2L (right leg 2LR, left leg 2LL). Joints (not shown) are provided at the parts of the arms 2A that correspond to the shoulders 2p, elbows 2q, and wrists, and at the parts of the legs 2L that correspond to the parts that engage with the main body 2BD (the bases 2s of the legs 2L), knees 2t, and ankles 2u. Motors are provided near the joints, and the arms 2A and legs 2L are capable of rotating within a predetermined range around the joints.

[0040] Here, Fig. 1(A) shows a state in which the user 1 and the control target 2 are standing upright and motionless (so-called "at attention" posture). For example, from this state, when the user 1 raises his / her right arm 1AR straight up, the movement is detected by the movement detection unit 3 (here, right arm movement detection unit 3AR), and the control target 2 raises the right arm 2AR straight up, as shown in Fig. 1(B). Of course, if the user 1 raises his / her right arm 1AR to shoulder height, the control target 2 also raises the right arm 2AR to shoulder 2p height. Similarly, when the user 1 moves his / her left arm 1AL, right leg 1LR, or left leg 1LL, the corresponding parts of the control target 2 are displaced in accordance with the movement of the user 1.

[0041] In this way, the controlled object 2 imitates (reproduces) the movement of the user 1 based on the output of the movement detection unit 3. In the following description, the movement of the controlled object 2 (movement imitating the movement of the user 1) based on the output of the movement detection unit 3 ("user movement information" to be described later) may be referred to as the "second movement mode". The controlled object 2 is also capable of reproducing the movement of swinging the arm 1A forward from a state where it is attached to the body side (forward swing) and the movement of swinging the arm 1A backward and rotating it (backward swing). The movement detection unit 3 may be attached to the upper arm and thigh in addition to the wrist and ankle described above. By increasing the number of parts for detecting the movement, the controlled object 2 can be made to imitate more complicated movements.

[0042] On the other hand, the control object 2 can also operate autonomously, regardless of the movement of the user 1. In the following description, the autonomous operation of the control object 2 (operation based on a "movement pattern" described later) may be referred to as a "first operation mode." Thus, in the first embodiment, a first operation mode in which the control object 2 operates autonomously and a second operation mode in which the control object 2 operates to imitate (reproduce) the movement of the user 1 based on the output of the movement detection unit 3 are set. The first operation mode and the second operation mode are switched over as the rehabilitation progresses.

[0043] Furthermore, the control target 2 is provided with a first imaging unit 13, a first notification unit 14, a second notification unit 15, a distance measuring unit 16, a switch unit 17, and a first environment sensor 21 on the main body 2BD or the head 2HD. Among these, the first notification unit 14, the second notification unit 15, and the switch unit 17 function as a so-called user interface.

[0044] FIG. 2 is a configuration diagram showing the configuration of an exercise support system S1 according to a first embodiment of the present invention. The configuration and operation of the exercise support system S1 will be described in detail below with reference to FIG. 2 in combination with FIG. 1. As shown in the figure, the exercise support system S1 is composed of a motion detection unit 3 and a control target 2. The motion detection unit 3 is composed of a right arm motion detection unit 3AR, a left arm motion detection unit 3AL, a right leg motion detection unit 3LR, and a left leg motion detection unit 3LL, which are worn by the user 1 as described above. In the first embodiment, it is assumed that the user 1 and the control target 2 correspond one-to-one (i.e., one control target 2 is assigned to one user 1).

[0045] The controlled object 2 is composed of a first control unit 10, a first storage unit 11, a first communication unit 12, a first imaging unit 13, a first notification unit 14, a second notification unit 15, a switch unit 17, a first environment sensor 21, a right leg driving unit 2LRa, a right leg motor 2LRb, a right leg 2LR, a right leg position detection unit 2LRc, a left leg driving unit 2LLa, a left leg motor 2LLb, a left leg 2LL, a left leg position detection unit 2LLc, a right arm driving unit 2ARa, a right arm motor 2ARb, a right arm 2AR, a right arm position detection unit 2ARc, a left arm driving unit 2ALa, a left arm motor 2ALb, a left arm 2AL, and a left arm position detection unit 2ALc. Here, each motor such as the right leg motor 2LRb is composed of, for example, a DC servo motor.

[0046] The first control unit 10 is composed of a CPU (Central Processing Unit) and the like, and operates according to a control program stored in a first storage unit 11 composed of a ROM (Read Only Memory), a RAM (Random access memory), and the like. The first control unit 10 and other components are connected via a bus 20 and the like, and the first control unit 10 controls the other components via the bus 20 and the like. The first control unit 10 is provided with a timer (not shown) that measures time.

[0047] The first storage unit 11 also includes a non-volatile memory (such as an EEPROM (Electrically Erasable Programmable Read-Only Memory)). A rehabilitation plan for the user 1 is stored in this non-volatile memory. The rehabilitation plan includes a plurality of movement patterns to be referenced when moving the control target 2, and a plurality of target patterns as targets for the movement in rehabilitation. Different movement patterns and target patterns can be set for each individual user 1 based on the judgment of a doctor or the like.

[0048] The rehabilitation plan also includes a target time for the user 1 to exercise in one rehabilitation session (hereinafter, sometimes referred to as a "rehabilitation goal index"). Note that a target amount of exercise for the user 1 when undergoing rehabilitation may be used as the rehabilitation goal index.

[0049] Here, the motion pattern includes items (parameters) related to, for example, the motion speed, motion cycle (rhythm), and displacement range (displacement angle) of a part (e.g., arm 2A) that is the motion target of control target 2. The target pattern includes items (parameters) related to, for example, the motion speed, motion cycle (rhythm), and displacement range (displacement angle) of a part that is the motion target of user 1.

[0050] Furthermore, the movement pattern includes information such as sound, voice, image, video, etc. provided to the user 1 via the first notification unit 14 and the second notification unit 15. The first control unit 10 combines a plurality of movement patterns, or changes or modifies a part of the movement pattern as necessary, to control the arms 2A, legs 2L, the first notification unit 14, and the second notification unit 15. Similarly, the target pattern may also be a combination of a plurality of patterns, or may be changed or modified according to the environment in which the user 1 performs rehabilitation.

[0051] The non-volatile memory also stores reference bioindicators of the user 1 determined by a doctor or the like, personal information of the user 1 such as the gender, age, name, nickname, etc., identifiers (IDs) of each motion detection unit 3, text, video, and audio content provided to the user 1, etc. Here, the reference bioindicators are indices that are set in advance for each user 1, and refer to the ranges of values ​​of the heart rate, respiratory rate, blood oxygen concentration, blood lactate concentration, etc., when the user 1 has undergone rehabilitation while maintaining an appropriate exercise load under the guidance of a doctor or the like, that is, the appropriate ranges of these values. Note that the reference bioindicators may be substituted with standard ranges of values ​​based on, for example, the gender, age, exercise load, etc., of the user 1.

[0052] Also, for each ID, a correspondence relationship between each part of the user 1's body (right arm 1AR, left arm 1AL, right leg 1LR, left leg 1LL) and each movement detection unit 3 is stored. Note that the correspondence relationship between each ID and each part of the user 1's body can be changed.

[0053] The first communication unit 12 includes a communication module (not shown) that complies with a short-range wireless standard, such as BLE (Bluetooth (registered trademark) Low Energy). The first communication unit 12 acquires an ID and movement information (hereinafter referred to as "user movement information") from each movement detection unit 3, and outputs these to the first control unit 10. Furthermore, the first communication unit 12 acquires information on the heart rate and the like of the user 1 from some of the movement detection units 3 (hereinafter referred to as "measured biological information"), and outputs the information to the first control unit 10.

[0054] The first imaging unit 13 includes an image sensor configured with a CMOS (Complementary Metal Oxide Semiconductor) or a CCD (Charge Coupled Device). The distance measuring unit 16 detects objects (including the user 1) around the control target 2 by using a ToF (Time of Flight) that measures the time it takes for light to travel from emission to return of reflected light, or a LiDAR (Light Detection and Ranging) that performs optical scanning over a wide area using a pulsed laser or the like. As shown in the figure, the first imaging unit 13 and the distance measuring unit 16 are provided in front of the control target 2.

[0055] The controlled object 2 can move forward and backward by driving the legs 2L, and can change its posture in the left and right and up and down directions. That is, the controlled object 2 can change the imaging range by moving forward and backward or panning and tilting. As a result, even if ToF is adopted as the distance measuring unit 16, it can detect the arrangement and surface condition of objects in the three-dimensional space in which the controlled object 2 is placed, essentially in the same way as LiDAR (that is, it functions as a 3D-ToF). Based on the image data captured by the first imaging unit 13 or the 3D-ToF image obtained by the distance measuring unit 16, the first control unit 10 can recognize the relative positional relationship between the user 1 and the controlled object 2 (for example, whether they are facing each other directly).

[0056] The first notification unit 14 includes, for example, an LED (Light Emitting Diode). The LED is disposed at a position on the control target 2 that corresponds to a human eye. The first control unit 10 changes the lighting pattern of the first notification unit 14 to indicate to the user 1 (or a doctor, etc.), for example, whether the control target 2 is operating in the first operation mode or the second operation mode. Furthermore, the first notification unit 14 includes a speaker, and audio information is provided to the user 1 via the speaker.

[0057] The second notification unit 15 is composed of, for example, an LCD (Liquid Crystal Display) or an OLED (Organic Light Emitting Diode). For example, text information or an avatar (described later) is displayed on the second notification unit 15. The switch unit 17 is a push switch (toggle switch) located on the top of the head of the control target 2. When the switch unit 17 is pressed, the control target 2 starts / stops operation. The control mode of the control target 2 may be changed depending on the state of pressing the switch unit 17 (for example, a long press or a short press).

[0058] The first inertial sensor 18 is composed of, for example, a three-axis acceleration sensor and / or a gyro sensor. Here, the three-axis acceleration sensor outputs the direction and extent of the speed of the control target 2 changing (acceleration) for the three axes X, Y, and Z. The gyro sensor outputs the direction and speed of the control target 2 rotating (angular velocity) for the three axes X, Y, and Z. In general, the gyro sensor detects the direction of movement, and the acceleration sensor detects the distance of movement. In this way, the first inertial sensor 18 outputs three-axis acceleration information and three-axis angular velocity information based on the movement of the control target 2.

[0059] The first control unit 10 detects the posture of the control target 2 based on the output of the first inertial sensor 18. Then, in a situation where the control target 2 moves forward / backward (walking) or stands on one leg, the first control unit 10 controls the control target 2 to ensure balance and prevent the control target 2 from falling over.

[0060] The first environmental sensor 21 may include, for example, a temperature and humidity sensor that measures the temperature (air temperature) and humidity of the external environment of the controlled object 2, a microphone that measures sound, an illuminance sensor that detects illuminance, a human presence sensor that detects infrared rays emitted by a person or the like, and an odor sensor that detects odors (or a gas sensor that detects a predetermined gas) (all of which are not shown). Of course, the controlled object 2 does not need to include all of these sensors. The output of the first environmental sensor 21 is converted into digital data by, for example, an A / D converter included in the first control unit 10.

[0061] The first control unit 10 recognizes the voice of the user 1 or the doctor, etc., acquired through a microphone. In the voice recognition, "phonemes" are extracted from the acquired voice information, converted into text, and then vocabulary information is identified. Based on this vocabulary information, for example, the start / stop of the control target 2 may be controlled. Furthermore, the first control unit 10 may perform, for example, frequency analysis on the voice information to distinguish at least the user 1 as a speaker from the doctor, etc., and may determine a priority for accepting instructions (for example, giving priority to instructions from the doctor, etc.) depending on the speaker. Furthermore, the operation pattern or the target pattern may be changed, for example, based on instructions from the doctor, etc.

[0062] The first control unit 10 may also select or change the motion pattern or the target pattern based on the temperature and humidity of the external environment. Specifically, in an environment where heat stroke is a concern, the parameters of the target pattern are modified to correspond to gentler movements. In addition, when the environment is dark and unsuitable for rehabilitation based on the output of the illuminance sensor, when the number of people detected by the human presence sensor is one (i.e., when no doctor or the like is present), or when the carbon dioxide concentration in the air is determined to be higher than a predetermined value based on the output of the odor sensor, the control target 2 may not be activated.

[0063] Hereinafter, components related to the movement of the controlled object 2 will be described. For simplicity, the following description will be given taking the right leg 2LR as an example. The first control unit 10 determines control targets (driving direction, target position, target speed) based on the above-mentioned movement pattern, and outputs a control command to the right leg driving unit 2LRa. The right leg driving unit 2LRa determines driving conditions (e.g., ON duty ratio of PWM (Pulse Width Modulation) control) based on the control command. The right leg driving unit 2LRa includes a motor driver, which supplies power to the right leg motor 2LRb based on the driving conditions. The right leg 2LR moves (rotates) due to the driving force generated by the right leg motor 2LRb.

[0064] Here, the right leg motor 2LRb is mechanically engaged with the right leg position detector 2LRc. The right leg position detector 2LRc is composed of a so-called rotary encoder, which outputs a pulse signal as it rotates. Based on this pulse signal, the displacement speed and position of the right leg 2LR are detected. The rotary encoder may be either an incremental type or an absolute type, but in the case of the incremental type, an origin sensor is further provided to detect the origin position of the right leg 2LR.

[0065] The output of the right leg position detector 2LRc is input to the first controller 10. The first controller 10 measures the position of the right leg motor 2LRb (i.e., the right leg 2LR) based on the number of pulse signals output from the rotary encoder, and further measures the rotation speed of the right leg motor 2LRb (i.e., the moving speed of the right leg 2LR) based on the period of the pulse signals (e.g., rising edges). Then, by comparing these with control target values, for example, PID (Proportional-Integral-Differential) control (feedback control) is executed. As a result, the right leg 2LR is displaced (rotated) at the target speed in the specified drive direction to the target position.

[0066] The left leg 2LL, the right arm 2AR, and the left arm 2AL are controlled in the same manner as the right leg 2LR. In the above description of the right leg 2LR, it was stated that the right leg 2LR is provided with a single right leg drive unit 2LRa, right leg motor 2LRb, and right leg position detector 2LRc. In reality, however, the shoulder 2p, elbow 2q, and the engagement portion (base 2s of leg 2L) between the main body 2BD and the leg 2L, the knee 2t, and ankle 2u of the arm 2A of the control target 2 are provided with drive units, motors, and position detectors, respectively, and the first control unit 10 controls all of these. Furthermore, the ankle 2u is provided with a mechanism (a swing mechanism including a joint and a balance control motor (not shown)) for maintaining the left-right balance when the control target 2 is moved forward, etc., and the first control unit 10 drives the balance control motor based on the output of the first inertial sensor 18.

[0067] 3(A) and (B) are configuration diagrams showing the configuration of the motion detection unit 3. Here, FIG. 3(A) shows the configuration of at least one of the right arm motion detection unit 3AR and the left arm motion detection unit 3AL. Also, FIG. 3(B) shows the configuration of the right leg motion detection unit 3LR and the left leg motion detection unit 3LL. Note that either the right arm motion detection unit 3AR or the left arm motion detection unit 3AL may adopt the configuration of FIG. 3(B). Specifically, the box-shaped motion detection unit 3 attached to the right arm 1AR shown in FIG. 1 may have the configuration of FIG. 3(A), and the stick-shaped motion detection unit 3 (3AL) held by the left hand may have the configuration of FIG. 3(B).

[0068] 3A, the motion detection unit 3 is composed of a second control unit 3a, a second storage unit 3b, a second communication unit 3c, a second inertial sensor 3d, and a biological index measurement unit 3e. Note that the biological index measurement unit 3e may be provided in either the right arm motion detection unit 3AR or the left arm motion detection unit 3AL.

[0069] The second control unit 3a is composed of a CPU etc. and operates according to a control program stored in a second storage unit 3b composed of a ROM, RAM etc. The second control unit 3a and other components are connected by a bus, for example, and the first control unit 10 controls the other components via the bus etc. The second storage unit 3b further stores an identifier (ID) representing each of the motion detection units 3.

[0070] The second inertial sensor 3d is composed of, for example, a three-axis acceleration sensor and / or a gyro sensor, similar to the above-mentioned first inertial sensor 18. Here, the three-axis acceleration sensor outputs the direction and the degree of speed of the arm 1A, etc. of the user 1 changing (acceleration) for the three axes of X, Y, and Z. Also, the gyro sensor outputs the direction and the speed at which the arm 1A, etc. of the user 1 rotates (angular velocity) for the three axes of X, Y, and Z. In this way, the second inertial sensor 3d detects the movements of the arm 1A and leg 1L of the user 1, and outputs three-axis acceleration information and / or three-axis angular velocity information based on the detected movements (hereinafter, sometimes referred to as "user movement information"). Note that the user movement information (particularly the three-axis acceleration information) can be used to obtain the movement vectors of the arm 1A and leg 1L of the user 1 in the X, Y, and Z space.

[0071] The biomarker measurement unit 3e measures at least one of the heart rate, respiratory rate, blood oxygen concentration, and blood lactate concentration of the user 1. The biomarker measurement unit 3e is composed of an optical device that emits red light (λ=600nm to 750nm) or near-infrared light (λ=750nm to 1000nm) and a light receiving sensor (both not shown) having light receiving sensitivity in these wavelength bands, which are arranged on the side of the motion detection unit 3 facing the radial artery. The heart rate, blood oxygen concentration, and blood lactate concentration can be detected based on the output of the light receiving sensor.

[0072] Regarding the heart rate and respiration rate, for example, the distance measuring unit 16 or the first imaging unit 13 provided in the control target 2 can also function as the biomarker measuring unit 3e. Specifically, the distance measuring unit 16 can detect the movement of the chest of the user 1 to measure the respiration rate. The first imaging unit 13 may be configured with a stereo camera, and the movement of the chest may be detected from depth information acquired by the stereo camera to measure the respiration rate. The pulse wave (heart rate) may also be detected based on a moving image (output of the Green channel) of the face, etc., of the user 1 captured by the first imaging unit 13.

[0073] The heart rate and respiratory rate are converted to values ​​per minute (heart rate / min, respiratory rate / min) by the first control unit 10. The exercise load of the user 1 can be estimated based on the measurement results (hereinafter, sometimes referred to as "measured biological information") of the biological index measurement unit 3e. If the measured heart rate / min and respiratory rate / min exceed the above-mentioned reference biological indexes, the exercise load of the user 1 is determined to be excessive. In addition, since the blood oxygen concentration or blood lactate concentration changes depending on the exercise situation, the average value of the blood oxygen concentration or blood lactate concentration over a predetermined period of time can also be used as the measured biological information.

[0074] The second communication unit 3c includes a communication module (not shown) that complies with a short-range wireless standard such as BLE. The second control unit 3a acquires the ID and user movement information stored in the second storage unit 3b, and transmits this information to the control target 2 via the second communication unit 3c. Furthermore, in the movement detection unit 3 (for example, the above-mentioned right arm movement detection unit 3AR) that includes the biometric indicator measurement unit 3e, the measured biometric information is also transmitted to the control target 2. This information is received by the first communication unit 12 of the control target 2 and passed to the first control unit 10.

[0075] Thus, in the first embodiment, the motion detection unit 3 includes an inertial sensor (second inertial sensor 3d), and the motion detection unit 3 transmits the output of the inertial sensor to a control unit (first control unit 10 of the control target 2) wirelessly (here, BLE). This allows the user 1 to freely exercise during rehabilitation without wiring such as wires being laid between the user 1 and the control target 2.

[0076] An overview of the processing in the exercise support system S1 will be given below. 1. First, present user 1 with a "movement model" (first operation mode), and motivate him / her by saying something like, "Come on, I'm going to move too, so join me."

[0077] 2. The robot as the controlled object 2 stops its movement and waits for the user 1 to start moving. If the user 1 does not start moving, the "model movement" is presented again. Note that the "model movement" here is a trigger that causes the user 1 to start moving, and does not require the user 1 to "make movements that are completely identical to the model."

[0078] 3. When the user 1 starts to move, the controlled object 2 imitates the user 1's movement (second operation mode). At this time, the user 1's heart rate, etc. are measured. The second operation continues for a predetermined period. Note that in the second operation mode, if the user's heart rate is monitored and it is determined that the exercise load is excessive, the controlled object 2 notifies the user 1 to reduce his / her movement and does not switch to the first operation mode.

[0079] 4. When it is determined that the exercise load of the user 1 is appropriate, the control object 2 selects a movement pattern based on the rehabilitation plan of the user 1 and operates in the first movement mode. At this time, the control object 2 motivates the user 1 by saying, "Try imitating me and moving like me." Furthermore, it utters a sound such as "One, two, one, two" to guide the user 1 to move in sync with the control object 2. Note that in the second movement mode, the conditions for switching from the second movement mode to the first movement mode include that the heart rate, etc., is within a predetermined range and stable.

[0080] 5. While operating in the first operation mode, the movement detection unit 3 detects the movement of the user 1, and compares the movement of the user 1 with the target pattern. If there is a discrepancy between the movement of the user 1 and the target pattern (for example, the user 1 cannot keep up with the movement of the control target 2), the movement pattern is changed to a slower movement or a pattern with a smaller displacement range, or the parameters of the movement pattern are modified. Also, if the heart rate, etc. is not within a predetermined range or is determined to be unstable, a movement pattern with a low exercise load is selected to maintain an appropriate exercise load. At this time, the parameters of the target pattern of the user 1 may be changed.

[0081] 6. If it is determined that the user 1's movement is following the selected movement pattern, the movement pattern is selected and corrected so as to come closer to the target pattern, and the exercise load is gradually increased. At this time, the heart rate, etc. are also detected.

[0082] 7. When the movement of user 1 reaches the target pattern, the controlled object 2 operates in the second operation mode and imitates the movement of user 1. At this time, the movement of user 1 is detected, and if the movement appears to have slowed down, the controlled object 2 switches to the first operation mode and tells user 1, "You've slowed down. Try a bit harder." The heart rate, etc. of user 1 are also measured in the second operation mode, and if the heart rate, etc. are not within a specified range, a slower pattern is selected as the movement pattern.

[0083] The rehabilitation ends when the patient continues the movements described in 8.7 for a predetermined period of time.

[0084] FIG. 4 is a flowchart showing the operation of the exercise support system S1 according to the first embodiment of the present invention. Hereinafter, the operation of the exercise support system S1 will be described in detail with reference to FIG. 4 in combination with FIG. 1, FIG. 2, and FIG. 3. The controlled object 2 is started up by pressing a switch unit 17 provided on the head 2HD, and each component becomes active. On the other hand, each motion detection unit 3 is started up at least at the time when the controlled object 2 is started up, and transmits user motion information to the controlled object 2. Then, the first control unit 10 acquires the user motion information and ID transmitted from each motion detection unit 3 via the first communication unit 12.

[0085] First, the first control unit 10 performs initial settings of the exercise support system S1 (ST00). In the initial settings, the correspondence between the body parts of the user 1 (right arm 1AR, left arm 1AL, right leg 1LR, left leg 1LL) and each of the motion detection units 3 attached (or held) thereto is acquired.

[0086] In acquiring the correspondence between each body part and each motion detection unit 3, the first control unit 10 guides the user 1 through the first notification unit 14 (here, a speaker), such as "Raise your right arm." Then, the motion detection unit 3 that outputs user motion information with the largest upward (z-axis) change at this time is recognized as the right arm motion detection unit 3AR. The first control unit 10 stores the ID received from this motion detection unit 3 in the first storage unit 11 as the ID of the right arm motion detection unit 3AR. In the same manner, the correspondence between the motion detection units 3 and the other body parts is acquired and stored in the first storage unit 11. In this embodiment, the exercise support system S1 becomes available at this stage.

[0087] However, in a case where the part to be attached or the like of each motion detection unit 3 is specified in advance and the user 1 or a doctor or the like attaches the motion detection unit 3 accordingly, it is not necessary to detect the correspondence between each body part and each motion detection unit 3. In this case, a predetermined setting (default) is adopted as the correspondence between each body part and each motion detection unit 3. In either case, if the measured biological information is not transmitted from the right arm 1AR or left arm 1AL of the user 1, the first control unit 10 notifies the user via the first notification unit 14 or the second notification unit 15 that there is an error in the attachment state of the motion detection unit 3.

[0088] Next, the first control unit 10 presents a "model movement" to the user 1 (ST01). Specifically, the first control unit 10 extracts a predetermined movement pattern from the first storage unit 11, and controls the arms 2A, legs 2L, etc. of the control target 2 based on this movement pattern (first movement mode). Here, a "pattern that serves as a model movement for the user 1" is extracted as the movement pattern. This pattern includes, for example, parameters that cause the legs 2L of the control target 2 to step at a predetermined rhythm, and stepping is executed by the control target 2.

[0089] When executing the model movement, the first control unit 10 motivates the user 1 by issuing a voice such as "Now, try moving like this" via the first notification unit 14. Furthermore, while executing the model movement, the first control unit 10 issues a voice such as "One, two, two" in synchronization with the model movement to make it easier for the user 1 to imitate the movement of the control target 2. In this way, the components of the control target 2 are controlled by the first control unit 10, but hereinafter, for ease of explanation, the description of the first control unit 10 as the entity executing the control may be omitted, and the control target 2, etc. may be used as the subject.

[0090] After the model movement is performed, the control target 2 stops moving for a predetermined period (for example, several seconds). At this time, the first control unit 10 notifies the user 1 by voice, such as "Now, move, and I'll move along with you," to encourage the user 1 to start moving. The first control unit 10 then determines whether the user 1 has started moving based on the user movement information received from each movement detection unit 3 (ST02). If the user 1 has started moving (Yes in ST02), the first control unit 10 controls the arms 2A and legs 2L of the control target 2 based on the user movement information, and as a result, the control target 2 operates to reproduce (mimic) the movement of the user 1 (second operation mode) (ST03).

[0091] If the user 1 does not start moving (No in ST02), the process moves to ST01, and the user 1 is prompted to start moving again. The number of times that No is determined in ST02 may be counted, and if the number exceeds a predetermined number, the process may move to ST22 and end. The first control unit 10 may also refer to the result of the above-mentioned voice recognition, select a movement pattern based on instructions from a doctor or the like, and move the control target 2. If the user 1 starts moving accordingly, the process may move to ST03.

[0092] Thus, in the first embodiment, the control unit (first control unit 10) operates the control target 2 in the first operation mode before operating the control target 2 in the second operation mode. This allows the user 1 to be shown a model of movement, and makes it possible to guide the user 1 to move his or her body.

[0093] Furthermore, in the first embodiment, a notification unit (first notification unit 14) is provided to provide predetermined information to the user 1, and the controlled object 2 notifies the user 1 via the notification unit that the controlled object 2 will reproduce (imitate) the movement of the user 1 prior to operating in the second operation mode. This makes it possible to motivate the user 1 to start moving.

[0094] Now, the model movement executed by the control object 2 prior to the second operation mode is a trigger for the user 1 to start moving, and does not require the user 1 to "perfectly match the model movement." In other words, the user 1 is merely asked to start some kind of movement. However, in the second operation mode following the model movement, even if the user 1 has been shown the model movement beforehand, it is important that he or she can "control" the control object 2 at his or her own will. During the rehabilitation process, the user 1 realizes this and actively tries to interact with and control the control object 2. In this way, a game-like element is added to the second operation mode, in which the user 1 becomes the controller and controls the control object 2.

[0095] Next, the first control unit 10 judges whether the measured bio-information (measured by the bio-indicator measurement unit 3e as described above) received from some of the movement detection units 3 (here, the right arm movement detection unit 3AR or the left arm movement detection unit 3AL) is within an appropriate range (ST04). As described above, the first storage unit 11 stores appropriate ranges (reference bio-indicators) of values ​​related to the heart rate, respiratory rate, blood oxygen concentration, blood lactate concentration, etc. of the user 1. On the other hand, some of the movement detection units 3 are provided with a bio-indicator measurement unit 3e, and the movement detection unit 3 transmits the measured bio-information measured by the bio-indicator measurement unit 3e to the control target 2.

[0096] The first control unit 10 compares the reference bioindices stored in the first storage unit 11 with the measured bioinformation. If the measured bioinformation is within the appropriate range of the reference bioindices (Yes in ST04), it determines that the exercise load of the user 1 is appropriate, and acquires the target pattern and the movement pattern included in the rehabilitation plan from the first storage unit 11 (ST05). At this time, the first control unit 10 starts the timer described above, and starts measuring the time during which the user 1 is undergoing rehabilitation (hereinafter, sometimes referred to as "rehabilitation duration"). Note that the condition for determining Yes in ST04 may be "the measured bioinformation is within the appropriate range and is stable (the measured bioinformation is not fluctuating rapidly)".

[0097] In this way, in the first embodiment, a bioindicator measuring unit 3e is provided that measures a predetermined bioindicator of the user 1, and in the second operation mode, the control unit (first control unit 10) switches the second operation mode to the first operation mode (ST07 described later) based on the output of the bioindicator measuring unit 3e (when the measured bioinformation is within the appropriate range). This makes it possible for the user 1 to perform movements in accordance with the rehabilitation plan.

[0098] Here, the motion pattern selected in ST05 is a pattern for bringing the motion of the user 1 closer to the target pattern, and is decided based on the user motion information when the control target 2 is operating in the second motion mode (i.e., when the control target 2 is imitating the motion of the user 1). Here, the motion patterns are set in, for example, 10 stages ranging from motion that poses a low exercise load to motion of the target pattern (motion that poses a high exercise load) for the user 1.

[0099] The movement patterns are set so that the exercise load increases as the level increases from 1 to 10. For example, if the user movement information detected by the movement detection unit 3 is the second level out of 10 levels, the third level is selected as the movement pattern. That is, the first control unit 10 selects a pattern with an exercise load one level higher than the movement pattern that is most similar to the user movement information. In this way, in ST05, a movement pattern with an exercise load lower than the target pattern that is the final movement target of the user 1 is selected. This prevents the risk of a sudden increase in the exercise load of the user 1, and enables rehabilitation to be carried out without strain.

[0100] Machine learning is preferably used to select the movement pattern. That is, a learning model that learns the relationship between user movement information and movement patterns is constructed in advance based on the judgment of a doctor or the like. In an actual usage scenario, the first control unit 10 inputs the acquired user movement information into the learning model and obtains the movement pattern as the output.

[0101] The output of the first environmental sensor 21 may be reflected in the selection of the movement pattern. Specifically, for example, by referring to the output of a temperature and humidity sensor included in the first environmental sensor 21, if the discomfort index of the environment in which the user 1 undergoes rehabilitation is high, a movement pattern with a smaller exercise load may be selected. In this case, machine learning may also be suitably used.

[0102] Thus, in the first embodiment, the memory unit (first memory unit 11) stores a target pattern as a target for the movement of the user 1, and in the second operation mode, the control unit (first control unit 10) selects a movement pattern that brings the movement of the user 1 (user movement information) closer to the target pattern based on the output of the movement detection unit 3, and operates the controlled object 2 in the first operation mode based on the selected movement pattern. This makes it possible to select a movement pattern that does not deviate significantly from the movement imitated by the user 1, and then transition to the first operation mode.

[0103] On the other hand, if the measured biological information is not within the appropriate range (No in ST04), the first control unit 10 prompts the user 1 to suppress or promote movement via the first notification unit 14 (ST06), and moves the process to ST04 after a predetermined period of time has elapsed. Specifically, a voice such as "Try moving a little slower" or "Try moving a little faster" is reproduced from the first notification unit 14 (here, a speaker). Of course, at this time, instead of the first notification unit 14 (or together with the first notification unit 14), text or images may be displayed on the second notification unit 15 to notify the user.

[0104] Thus, in the first embodiment, a bioindicator measuring unit 3e that measures a predetermined bioindicator of the user 1 and a notification unit (first notification unit 14) that provides predetermined information to the user 1 are provided, and in the second operation mode, the control unit (first control unit 10) notifies the user 1 via the notification unit to suppress or promote the movement of the user 1 based on the output of the bioindicator measuring unit 3e (when the measured bioindicator is not within the appropriate range). This makes it possible to start rehabilitation from a state in which an appropriate exercise load is applied to the user 1.

[0105] Next, the first control unit 10 controls the arms 2A and legs 2L of the control target 2 based on the selected movement pattern (i.e., in the first movement mode) (ST07). At this stage, the movement of the control target 2 switches from the "second movement mode" to the "first movement mode". At this time, the control target 2 urges the user 1 to imitate the movement of the control target 2 by saying, for example, "Next, imitate me and move," and also yells, "One, two, one, two," to make it easier for the user 1 to synchronize with the movement of the control target 2. In this way, it is possible to encourage the user 1 to actively engage in rehabilitation.

[0106] Thus, the first embodiment includes a motion detection unit 3 that detects movement of at least a part of the body of the user 1, a control object 2, a memory unit (first memory unit 11) that stores movement patterns to be performed by the control object 2, and a control unit (first control unit 10) that controls the control object 2, and the control unit switches between a first movement mode in which the control object 2 is operated based on the movement pattern, and a second movement mode in which the control object 2 is operated to reproduce the movement of the user 1 based on the output of the motion detection unit 3.

[0107] In step (ST01) where the above-mentioned model movement (first operation mode) is presented, the user 1 imitates the movement of the control target 2. After the user 1 actually starts moving (Yes in ST02), the control target 2 imitates the movement of the user 1 (ST03 (second operation mode)). After that, the operation mode shifts to the first operation mode based on the movement pattern (ST07). By switching the operation mode in this way, an "interaction" occurs between the user 1 and the control target 2 (exercise support system S1). In particular, in the second operation mode, the control target 2 (a robot that is a tangible object) imitates the user 1, which is considered to make the user 1 feel a strong attachment to the control target 2. By cultivating this attachment, the user 1 is strongly motivated to imitate (want to imitate) the movement of the control target 2 in the first operation mode that follows the second operation mode.

[0108] Generally, the term "interaction" is interpreted as "when a human performs some action (operation or behavior), the system responds accordingly." However, in this specification, "interaction" is understood as "not only when a human performs some action (operation or behavior) and the system responds accordingly, but also when the system performs some action and the human responds accordingly." In other words, the present invention can build a deeper and stronger relationship between the user 1 and the control target 2 (exercise support system S1) than a typical "interaction."

[0109] Next, the first control unit 10 compares the rehabilitation duration based on the output of the timer with a rehabilitation goal index (here, a target time for the user 1 to exercise in one rehabilitation session) included in the rehabilitation plan, and determines whether the rehabilitation duration has reached the rehabilitation goal index (ST08). If the rehabilitation duration has reached the rehabilitation goal index (No in ST08), it determines that the rehabilitation has ended, and moves the process to ST22, where the operation of the control target 2 is stopped.

[0110] As described above, the motion vector of the part where the motion detection unit 3 is attached can be obtained from the user motion information. The first control unit 10 can calculate the amount of motion of each part of the user 1 from the scalar amount of the motion vector, and can further calculate the accumulated amount of motion of the user 1 by summing the amounts of motion of each part and accumulating this total value. The target amount of motion (determined by a doctor, etc.) required of the user 1 in rehabilitation may be set as a rehabilitation goal index, and the end of rehabilitation in ST08 may be determined by comparing this with the calculated accumulated amount of motion. In other words, if the accumulated amount of motion exceeds the rehabilitation goal index, rehabilitation may be deemed to have ended, and the process may proceed to ST22.

[0111] If the rehabilitation duration has not reached the rehabilitation goal index (Yes in ST08), it is determined whether the measured biological information of the user 1 is within an appropriate range (ST09). The process in ST09 is the same as ST04 described above, and therefore a description thereof will be omitted here.

[0112] If it is determined that the measured bio-information of the user 1 falls within the range of the reference bio-indicators (i.e., the exercise load is appropriate) (Yes in ST09), the first control unit 10 determines whether or not the movement of the user 1 has reached the movement pattern that is the basis of the movement of the control target 2, based on the user movement information received from the movement detection unit 3 (ST10). That is, in ST10, it is determined whether or not the user 1 is appropriately imitating (following) the movement of the control target 2. On the other hand, if it is determined that the measured bio-information does not fall within the appropriate range (No in ST09), the first control unit 10 determines whether or not the exercise load based on the measured bio-information is excessive (ST11).

[0113] If the exercise load is excessive (Yes in ST11), the first control unit 10 selects a motion pattern that reduces the exercise load of the user 1 (ST13). Here, the motion pattern that reduces the exercise load refers to, for example, a motion pattern in which the displacement width of the arms 2A or legs 2L is reduced, a motion pattern in which the displacement speed is reduced, a motion pattern in which the displacement period is lengthened, or a motion pattern that is a combination of these, compared to the motion pattern used to control the control target 2 at the time of executing the process of ST11.

[0114] Instead of selecting a motion pattern, the parameters constituting the motion pattern may be modified or changed. Also, a pattern with a low exercise load may be selected as the target pattern, and the parameters constituting the target pattern may be modified or changed. This allows rehabilitation to proceed while maintaining an appropriate exercise load on the user 1. Then, the process proceeds to ST07.

[0115] In this way, in the first embodiment, a biomarker measurement unit 3e that measures a predetermined biomarker of the user 1 is provided, and the control unit (first control unit 10) selects, modifies, or changes an action pattern or a target pattern based on the output of the biomarker measurement unit 3e. This makes it possible to appropriately maintain the exercise load of the user 1 and reduce the risks of blood pressure rise or fall, angina attacks, arrhythmia, and the like.

[0116] On the other hand, if the exercise load is not excessive (No in ST11), the first control unit 10 prompts the user 1 to promote exercise (for example, to increase the swing range of the arms 1A and legs 1L). Then, the process proceeds to ST08 (transition from X to X' shown in the figure).

[0117] When the first control unit 10 determines that the user 1's movement has not reached the "movement pattern" (No in ST10), it notifies the user 1 to encourage exercise, for example, by saying "Your movements have slowed down. Try harder" (ST12), and moves the process to ST08 (transition from X to X' shown in the figure). On the other hand, when it determines that the user 1's movement has reached the "movement pattern" (Yes in ST10), it determines whether the user 1's movement has reached the target pattern (ST14). When the user 1's movement has not reached the target pattern (No in ST14), the first control unit 10 selects a movement pattern that brings the movement pattern closer to the target pattern (ST16). Then, it moves the process to ST07.

[0118] Thus, in the first embodiment, the storage unit (first storage unit 11) stores a target pattern as a target for the movement of the user 1, and in the first operation mode, the control unit (first control unit 10) selects a movement pattern that brings the movement of the user 1 (user movement information) closer to the target pattern based on the output of the movement detection unit 3, and operates the control target 2 in the first operation mode based on the selected movement pattern. This makes it possible to gradually increase the exercise load of the user 1 and improve the effect of rehabilitation.

[0119] When the movement of the user 1 reaches the target pattern (Yes in ST14), the first control unit 10 controls the arm 2A and leg 2L of the control target 2 in the second movement mode (ST17) so as to reproduce (imitate) the movement of the user 1. That is, in this situation, the movement of the control target 2 is switched from the first movement mode to the second movement mode.

[0120] Next, the first control unit 10 judges whether the measured biometric information of the user 1 is within the appropriate range (ST18). This judgment process is the same as that described in ST09, so the explanation will be omitted here. If the measured biometric information of the user 1 is not within the range of the reference biometric indicators (No in ST18), the first control unit 10 selects the target pattern as the movement pattern (ST19), and the process proceeds to ST07.

[0121] On the other hand, if the measured bioinformation of the user 1 is within the range of the reference biometric indicators (Yes in ST18), the first control unit 10 judges whether the movement of the user 1 maintains the target pattern based on the user movement information (ST20). If the movement of the user 1 does not maintain the target pattern (No in ST20), the target pattern is selected as the movement pattern (ST19), and the process proceeds to ST07. If the judgments in ST18 and ST20 are No in this way, the operation of the control target 2 is switched from the "second operation mode" to the "first operation mode" by the process in ST07.

[0122] Next, the first control unit 10 determines whether the rehabilitation duration has reached the rehabilitation goal index (ST21). The process of ST21 is similar to that of ST08, and therefore a description thereof will be omitted here. If the rehabilitation duration has reached the rehabilitation goal index (Yes in ST21), the first control unit 10 stops the movement of the control target 2 (ST22) and ends the rehabilitation. If the rehabilitation duration has not reached the rehabilitation goal index (No in ST21), the process proceeds to ST18. Note that the target amount of exercise of the user 1 may also be used as the rehabilitation goal index in ST21.

[0123] When switching the operation of the control target 2 from the first operation mode to the second operation mode, or from the second operation mode to the first operation mode, or when motivating the user 1 by voice, the first control unit 10 may extract personal information of the user 1 from the first storage unit 11 and may include the name or nickname of the user 1 when speaking. This makes it possible to further deepen the relationship between the user 1 and the control target 2.

[0124] The exercise support system S1 according to the first embodiment has been described in detail above. Based on the above description, the exercise support method according to the present invention is as follows. (1) A movement pattern to be executed by the controlled object 2 is stored, and movement of at least a part of the body of the user 1 is detected. A first movement mode is then used to move the controlled object 2 based on the movement pattern, and a second movement mode is used to move the controlled object 2 to reproduce the movement of the user 1 based on the detected movement of the user 1, and switching is performed at a predetermined timing. (2) A target pattern is stored as a target for the movement of the user 1, and in the first operation mode or the second operation mode, the movement of the user 1 is compared with the target pattern, and based on the comparison result, an operation pattern that brings the movement of the user 1 closer to the target pattern is selected, and the controlled object 2 is operated in the first operation mode based on the selected operation pattern.

[0125] A modification (first modification) of the above-mentioned first and second operation modes will be described below with reference to Figs. 1 and 2. In the first modification, the first control unit 10 detects the relative positional relationship between the user 1 and the control target 2 based on an image obtained by the first imaging unit 13 or a 3D-ToF image (hereinafter, sometimes referred to as "image, etc.") obtained by the distance measurement unit 16. That is, the first imaging unit 13 or the distance measurement unit 16 functions as a relative position detection unit. Of course, the relative positional relationship between the user 1 and the control target 2 may be detected by referring to the outputs of both the first imaging unit 13 and the distance measurement unit 16.

[0126] The first control unit 10 judges whether the user 1 and the control target 2 face each other directly, based on the detection result of the relative position detection unit. In an embodiment in which the first imaging unit 13 or the distance measurement unit 16 is provided in front of the control target 2 (see FIG. 1), if the face included in the image faces forward, it can be judged that the user 1 and the control target 2 face each other directly. In this case, face recognition and recognition of the face direction are performed. For face recognition, for example, a method using a Haar feature-based cascade classifier, a method using HOG (Histogram of Oriented Gradients) features, etc. can be adopted. In addition, in recognition of the face direction, the fact that the relationship between feature points such as the eyes, nose, and mouth changes depending on the face direction is utilized.

[0127] As another method for determining whether the user 1 and the control target 2 are facing each other, a method of using the detection result of the relative position detection unit described above in combination with user movement information can be considered. Specifically, in the first operation mode and the second operation mode, the first control unit 10 recognizes whether the user 1 is raising his right arm 1AR or his left arm 1AL based on the output of the movement detection unit 3. At this time, the head of the user 1 is first recognized based on the output of the relative position detection unit (the image described above, etc.), and the Y axis is taken to be the direction downward from the head (sub-scanning line direction), and the left or right arm 1A is determined as the center of the Y axis.

[0128] When it is recognized based on the user movement information that the user 1 is raising the right arm 1AR and that the arm 1A on the left side (usually the origin side in the main scanning direction (X direction)) in the image, etc. is raised, it can be determined that the user 1 and the control target 2 are in a positional relationship of facing each other. Also, when it is recognized based on the user movement information that the user 1 is raising the right arm 1AR and that the right arm 1A in the image, etc. is raised, it can be determined that the user 1 has his / her back facing the front of the control target 2. Similarly, when the user 1 is raising the left arm 1AL and the right arm 1A is raised in the image, etc., it can be determined that the user 1 is facing directly, and when the user 1 is raising the left arm 1AL and the left arm 1A in the image, etc. is raised, it can be determined that the user 1 has his / her back facing the front of the control target 2.

[0129] Then, when it is determined that the user 1 and the control target 2 are facing each other, the first control unit 10 controls the movement of the control target 2 so that the left and right are reversed (hereinafter, this may be referred to as "left and right reversal control"). That is, in the left and right reversal control, for example, when the user 1 raises the right arm 1AR, the control target 2 is controlled to raise the left arm 2AL. When the left and right reversal control is performed, the control target 2 appears as a mirror image to the user 1. This allows the user 1 to recognize that "this robot is like my other self," and an even deeper relationship can be built between the user 1 and the control target 2. In order to make this effect easier to achieve, it is preferable that the first control unit 10 notifies the user 1 via the first notification unit 14, such as "I'm going to become like a mirror from now on," before operating the control target 2 in the first operation mode or the second operation mode.

[0130] Thus, in the first modified example, the relative positional relationship between the control target 2 and the user 1 is detected by a relative position detection unit (imaging unit (first imaging unit 13) or distance measurement unit 16). That is, the positional relationship between the user 1 and the control target 2 is detected based on image data or distance measurement data (3D-ToF image). Then, when the control unit (first control unit 10) determines that the control target 2 and the user 1 are facing each other based on the detection result of the relative position detection unit, it reverses the operation of the control target 2 in the first operation mode or the second operation mode from left to right.

[0131] A modified example (second modified example) of the first embodiment will be described below with reference to Figs. 1 and 2. In the above-mentioned first embodiment, the controlled object 2 is a robot, but in the second modified example, the controlled object 2 is provided with at least a display unit that displays an avatar. The avatar here can also be said to be an avatar of the robot described in the first embodiment. The second modified example may have a configuration similar to that of the first embodiment (see Figs. 1 and 2), but may also have a configuration in which, for example, the arms 2A and / or legs 2L are removed from the controlled object 2 (robot) shown in Fig. 1.

[0132] The avatar may be displayed on a second notification unit 15 serving as a display unit (display) arranged on the front of the main body 2BD of the control target 2 (see FIG. 1). By including a display unit that displays an avatar in the control target 2, it becomes possible to improve the effect of rehabilitation by utilizing the exercise support system S1 even if the control target 2 does not have movable parts such as the arms 2A and legs 2L.

[0133] Here, the avatar's morphological information and the like are stored in the first storage unit 11. The avatar's morphology can be any character, such as a human, an animal, an imaginary creature, or a robot. The first control unit 10 processes the morphological information acquired from the first storage unit 11 based on the above-mentioned user movement information or movement pattern to generate motion data. Then, image data is generated based on the motion data and displayed on the second notification unit 15. The user movement information is three-dimensional information of X, Y, and Z, and the motion data may be generated by mapping (inverse kinematics) this to a predefined multi-joint model of the character. Of course, machine learning or deep learning techniques may be used to generate the motion data.

[0134] The second modification may be combined with the first modification. In this combination, the exercise support system S1 includes a relative position detection unit that detects the relative positional relationship between the control target 2 and the user 1, the control target 2 includes a display unit (second notification unit 15) that displays an avatar, and when the control unit (first control unit 10) determines that the control target 2 and the user 1 are facing each other based on the detection result of the relative position detection unit, it displays the avatar in the first operation mode or the second operation mode on the display unit with the left and right reversed. This method can also make the user 1 recognize that "this robot seems like my other self." Here, the relative position detection unit includes an imaging unit (first imaging unit 13) or a distance measurement unit 16.

[0135] Second embodiment A second embodiment of the present invention will be described below with reference to the drawings. The usage of the exercise support system S1 in the second embodiment is the same as that in the first embodiment, so the description will be omitted (see FIG. 1). FIG. 5 is a configuration diagram showing the configuration of the exercise support system S1 according to the second embodiment of the present invention.

[0136] As shown in FIG. 5, the exercise support system S1 is composed of a control target 2, a motion detection unit 3, a server 30, a second imaging unit 40, a second environmental sensor 41, a third notification unit 42, and an information terminal 43. Here, the control target 2, the server 30, the second imaging unit 40, the second environmental sensor 41, the third notification unit 42, and the information terminal 43 are connected to a network 50, and the control target 2, the server 30, and the information terminal 43 exchange information with each other via the network 50. In addition, the output of the second environmental sensor 41 and the second imaging unit 40 is transmitted to the control target 2 via the network 50. In addition, image data generated by the control target 2 may be transmitted to the third notification unit 42. In addition, although one control target 2 is connected to the server 30 and the information terminal 43 in FIG. 5, a plurality of control targets 2 may be connected.

[0137] The configurations of the control target 2 and the motion detection unit 3 are basically the same as those in the first embodiment. However, in the second embodiment, the first communication unit 12 includes a first communication module (not shown) conforming to a wireless communication standard such as LTE (Long Term Evolution), LTE-M (Long Term Evolution-Machine, LTE Cat.M1), 4G, or 5G, and a second communication module (not shown) conforming to a short-range wireless standard such as BLE. Of course, the first communication module may conform to the WiFi (Wireless Fidelity) standard, and the control target 2 may be connected to the network 50 via a wireless router or the like.

[0138] In the second embodiment, the first communication unit 12 acquires user movement information from the movement detection unit 3 in accordance with the BLE data communication protocol, connects to the network 50 in accordance with a communication protocol such as LTE-M, and exchanges information with the server 30, the information terminal 43, etc.

[0139] The server 30 is a known computer system, and is composed of a server control unit 30a and a server storage unit 30b. The server control unit 30a is composed of a CPU and a storage unit (not shown), and controls the components of the server 30. The server storage unit 30b has a large-capacity storage composed of RAID (Redundant Arrays of Independent Disks) and the like together with ROM and RAM. This large-capacity storage stores personal information (hereinafter, these may be collectively referred to as "user information") such as unique identifiers (user IDs), rehabilitation plans (including movement patterns and target patterns), reference biomarkers, sex, age, name, and nickname for each of the multiple users 1. The user information is managed as a user database. In addition, the avatar morphology information and the like described in the second modified example are also stored in the server storage unit 30b, and are transmitted to the control target 2 in response to a request from the first control unit 10.

[0140] The user database is provided with a rehabilitation history field that stores the rehabilitation history of each user 1. The first control unit 10 transmits the operation pattern used in the first operation mode, the target pattern, the user movement information measured in the first operation mode and the second operation mode, and the measured biological information together with the user ID of the user 1 undergoing rehabilitation to the server 30, and the server control unit 30a stores them in the rehabilitation history field.

[0141] The information stored in the rehabilitation history field is subject to analysis based on instructions from a doctor, etc. When a doctor, etc. inputs a specific command to the information terminal 43, the command is transmitted to the server 30, and the server control unit 30a executes various statistical and analytical processes by referring to the rehabilitation history field. The results of these processes are transmitted to the information terminal 43, enabling the doctor, etc. to check the effect of rehabilitation for each user 1 and to create a new rehabilitation plan.

[0142] The information terminal 43 is, for example, a mobile information terminal such as a smartphone or a tablet terminal, or a PC (Personal Computer), and includes a display unit, an input unit, and the like (not shown). The information terminal 43 is used, for example, by a doctor or the like. The doctor or the like operates the information terminal 43 to transmit an identifier (user ID) of the user 1 undergoing rehabilitation to the server 30. The server control unit 30a searches the user database based on the user ID. Then, the server control unit 30a extracts user information corresponding to the user ID and transmits it to the control target 2. The user information is passed to the first control unit 10 via the first communication unit 12. The first control unit 10 stores the received user information in the first storage unit 11 (the non-volatile memory described above). The first control unit 10 then controls the control target 2 by referring to the user information.

[0143] That is, based on the motion pattern, target pattern, and reference biomarker included in the user information, the controlled object 2 operates in the above-mentioned first and second motion modes. In addition, the controlled object 2 uses personal information such as the name and nickname of the user 1 when communicating with the user 1.

[0144] Furthermore, the doctor or the like can transmit a predetermined control command to the control target 2 by operating the information terminal 43. The control command includes, for example, a command to generate a specific sound from the first notification unit 14, and a command to make the control target 2 execute a special motion such as moving forward, backward, rolling forward, rolling backward, standing on one leg, and squatting. This allows the doctor or the like to present various exercise menus to the user 1.

[0145] The second imaging unit 40 includes an image sensor configured with a CMOS or a CCD. The second imaging unit 40 corresponds to, for example, a Web camera arranged in a room where the user 1 undergoes rehabilitation. The image captured by the second imaging unit 40 is transmitted to the control target 2 via a network 50. The first control unit 10 extracts the user 1 and the control target 2 from the image and detects the relative positional relationship between them. That is, the second imaging unit 40 functions as the relative position detection unit described in the first embodiment, and the first control unit 10 determines whether the two are facing each other based on the output of the relative position detection unit.

[0146] Specifically, the first control unit 10 first performs face recognition on the acquired image. Next, the direction of the face of the user 1 is recognized. Here, the direction of the face is estimated by analyzing the positions and directions of feature points such as the eyes, nose, and mouth. On the other hand, for the control target 2, for example, the part where the two LEDs included in the first notification unit 14 are arranged is recognized as the face of the control target 2. Then, the direction and the interval of the line segment connecting the two LEDs are measured, and the direction of the control target 2 is estimated. Based on these estimation results, it is determined whether the user 1 and the control target 2 are facing each other. Then, when it is determined that the two are facing each other, the left-right reversal control described as the first modified example may be executed.

[0147] The second environmental sensor 41 may include, for example, a temperature and humidity sensor that measures the temperature (air temperature) and humidity of the space where rehabilitation is performed, a microphone that measures sound, an illuminance sensor that detects illuminance, a human presence sensor that detects infrared rays emitted by a person or the like, and an odor sensor that detects odors (which may be a gas sensor that detects a predetermined gas) (all of which are not shown). The first control unit 10 receives the output of the second environmental sensor 41 via the network 50, and may select an operation pattern or a target pattern by referring to, for example, the temperature and humidity.

[0148] The third notification unit 42 is configured with, for example, an LCD (Liquid Crystal Display) or an OLED (Organic Light Emitting Diode), and displays text information and an avatar. The third notification unit 42 may include audio equipment such as a speaker or an amplifier. The first control unit 10 may transmit image data based on the motion data described in the second modified example to the third notification unit 42 via the network 50, and an avatar may be displayed on the third notification unit 42. At this time, audio data may be transmitted in a similar manner, and audio may be reproduced on the third notification unit 42 instead of the first notification unit 14 of the control target 2.

[0149] As described above, in the first embodiment, the control target 2 is mainly used as a partner (personal assistant) of the user 1, and the user 1 and the control target 2 basically correspond one-to-one. In contrast, in the second embodiment, one control target 2 can be shared by multiple users 1. That is, from the viewpoint of removing the limit on the number of users 1 who use the control target 2, the second embodiment is an extension of the first embodiment.

[0150] Third embodiment A third embodiment of the present invention will be described below with reference to Figs. 1 and 5. As described above, in the first and second embodiments, the controlled object 2 is controlled to imitate the movements of the user 1 in the second operation mode. The third embodiment extends the second operation mode described above, and a predetermined operation (first additional operation) is added to the imitated operation in the second operation mode. In the following description, the controlled object 2 is, for example, a robot (including a robot toy).

[0151] First, the first control unit 10 judges whether the user 1 is performing a predetermined movement based on the output of the movement detection unit 3. Here, the predetermined movement is, for example, stepping in a fixed position. The first control unit 10 judges whether the right leg 1LR and the left leg 1LL of the user 1 are moving up and down alternately and periodically by referring to the output of the right leg movement detection unit 3LR and the left leg movement detection unit 3LL. If this condition is met, the first control unit 10 judges that the user 1 is stepping.

[0152] At this stage, the control object 2 is already performing a stepping motion, simply imitating the motion of the user 1. The first control unit 10 causes the control object 2 to perform a stepping motion, and further controls the right leg drive unit 2LRa and the left leg drive unit 2LLa to tilt the main body 2BD relatively forward with respect to the leg 2L. This causes the center of gravity of the control object 2 to move forward, and the control object 2 starts walking and moves forward. Of course, the main body 2BD may be tilted backward with respect to the leg 2L, in which case the center of gravity of the control object 2 moves backward, and the control object 2 moves backward. This center of gravity movement motion is performed regardless of the output of the motion detection unit 3.

[0153] At this time, the period or displacement of the stepping motion is determined based on the output of the motion detection unit 3 (imitation motion). When the user 1 performs a stepping motion without changing his / her standing position, the output of the motion detection unit 3 does not include information that can be used to move (forward or backward) the control target 2 (i.e., when the user motion information is averaged over a predetermined period, the information in the planar direction (X-axis and Y-axis directions) does not change substantially), and the control target 2 does not move simply by performing the imitation motion.

[0154] In the third embodiment, the control object 2 is moved by shifting the center of gravity of the control object 2 regardless of the output of the motion detection unit 3, and further by displacing the legs 2L of the control object 2 based on information on the up and down direction (Z-axis direction) among the output of the motion detection unit 3. At this time, the displacement amount (movement amount, movement speed) of the control object 2 is substantially determined based on the output of the motion detection unit 3. That is, the control unit (first control unit 10) causes the control object 2 to perform a stepping motion as an imitation motion, and moves the control object 2 in a predetermined direction (for example, forward) by an amount of displacement based on the output of the motion detection unit 3 as a first additional motion.

[0155] The third embodiment can be effectively utilized in a scene where a goal to be achieved is given to the user 1 in rehabilitation. That is, the doctor or the like informs the user 1 that the control target 2 (robot) moves forward when the user 1 steps, and further instructs the user 1 to move the control target 2 to a goal set, for example, 1 m ahead from the current position. That is, the doctor or the like presents a rehabilitation task to the user 1. Note that conditions for determining whether or not the goal has been reached (hereinafter, sometimes referred to as "goal reaching conditions"), such as position information of the goal or distance information to the goal, are transmitted and set to the first control unit 10, for example, by the doctor or the like operating the information terminal 43. The first control unit 10 determines whether or not the control target 2 has reached the goal by comparing the output of the first inertial sensor 18 with the goal reaching conditions. Note that the above-mentioned target momentum may be used as the goal reaching conditions.

[0156] When the control target 2 executes a stepping motion, the motion cycle and displacement amount of the leg 2L (for example, the cycle and displacement amount of the forward and backward swing motion) are determined based on the output of the motion detection unit 3, so the movement speed of the control target 2 changes depending on the situation in which the user 1 steps. For example, the movement amount of the control target 2 increases when the user 1 shortens the stepping cycle (moves the leg 1L faster) or increases the displacement amount of the leg 1L during stepping (moves the leg 1L more).

[0157] Thus, the third embodiment includes a motion detection unit 3 that detects motion of at least a part of the body of the user 1, a control target 2, and a control unit (first control unit 10) that controls the control target 2. The control unit causes the control target 2 to perform an imitation motion that imitates the motion of the user 1 based on the output of the motion detection unit 3, and at the same time, controls the control target 2 (here, by shifting the center of gravity) regardless of the output of the motion detection unit 3 to cause the control target 2 to perform a predetermined first additional motion (forward or backward). This allows the user 1 to try to make the control target 2 reach the goal as if playing a game. In other words, the user 1 is motivated to actively participate in rehabilitation, and the effect of rehabilitation can be improved.

[0158] The relationship between the output of the motion detection unit 3 and the stepping period or displacement (movement speed) of the control target 2 can be determined as appropriate. In other words, if the user 1 has a physical disability, a doctor or the like can issue a predetermined command from outside (information terminal 43) and change the correspondence relationship between the output of the motion detection unit 3 and the displacement (movement amount, movement speed) of the control target 2 based on the degree of the individual disability of the user 1.

[0159] Thereby, for example, if the user 1 has a disability and it is difficult to move the leg 1L greatly, the displacement amount of the leg 2L of the control object 2 can be increased in response to a small movement of the leg 1L of the user 1, resulting in a large movement amount of the control object 2. Conversely, if the user 1 has no disability in the leg 1L, the displacement amount of the leg 2L of the control object 2 can be decreased in response to a large movement of the leg 1L of the user 1, resulting in a small movement amount of the control object 2. Note that the movement amount here refers to, for example, the movement amount of the leg 2L of the control object 2 per one forward and backward reciprocation, and if the period for displacing the leg 2L is the same, the movement speed of the control object 2 can be increased by increasing the movement amount.

[0160] Furthermore, it is also very effective for rehabilitation to have multiple users 1 make the controlled object 2 perform the imitation and first additional actions and have them compete to see which controlled object 2 they control reaches the goal first. By introducing the concept of competition into rehabilitation in this way, users 1 can be strongly motivated to achieve their goals. In addition, in a competition, it is very important to be able to adjust the relationship between the output of the motion detection unit 3 and the amount of movement (movement speed) of the controlled object 2, as described above. In other words, by imposing conditions that are advantageous to users 1 with disabilities or conditions (handicaps) that are disadvantageous to users 1 without disabilities, even users 1 with disabilities can participate in the "competition" to move the controlled object 2 without any disadvantage.

[0161] In the above example, the control target 2 is a robot, but the control target 2 may be, for example, a display unit (third notification unit 42) that displays an avatar. In this case, the user 1 may be made to move the left and right arms 1A up and down, and an avatar with wings may imitate this movement, and further, a scene in which the avatar flies in the sky may be reproduced as the first additional action. Alternatively, the user 1 may be made to move the arms 1A from back to front, and the avatar may imitate this movement, and further, a scene in which the avatar swims may be reproduced as the first additional action.

[0162] Here, if the first additional motion is the forward movement of the robot, the motion that causes the imitation motion (stepping by the robot) is the motion of the leg 1L of the user 1. If the first additional motion is the motion of the avatar flying in the air, the motion that causes the imitation motion (up and down motion of the avatar's wings, etc.) is the motion of the arm 1A of the user 1. If the first additional motion is the motion of the avatar swimming, the motion that causes the imitation motion is the motion of the arm 1A of the user 1. Thus, in the third embodiment, a motion related to the motion of the user 1 that caused the imitation motion is added as the first additional motion. That is, the first additional motion can be said to be a motion that can be generated as a result (secondarily derived) by the motion of the user 1 that caused the imitation motion. This gives the user 1 the feeling of controlling the control target 2, and allows the user 1 to actively participate in rehabilitation.

[0163] When the control target 2 is an avatar, the target exercise amount can be effectively used as the above-mentioned goal attainment condition. In this case, the third notification unit 42 displays the goal at a position corresponding to the target exercise amount, and displays the avatar at a position corresponding to the accumulated exercise amount of the user 1 calculated based on the output of the motion detection unit 3 (for the target exercise amount and the accumulated exercise amount, see the explanation of the rehabilitation end determination (ST08) in the first embodiment).

[0164] Now, when the control target 2 is performing the above-mentioned imitation motion and the first additional motion, if a specific motion (a specific motion different from the motion that caused the first additional motion) of a body part different from the body part corresponding to the motion of the user 1 that caused the first additional motion is detected, the first control unit 10 may change the content of the first additional motion. That is, if the control unit (first control unit 10) detects a specific motion of the user 1 based on the output of the motion detection unit 3, the control unit may change the content of the first additional motion.

[0165] For example, when the first control unit 10 detects that the position of the arm 1A of the user 1 has been displaced directly upward based on the output of the motion detection unit 3, the first control unit 10 changes the moving direction of the control target 2. Specifically, when the first control unit 10 detects that the user 1 has raised the right arm 1AR directly upward, the control unit 10 controls the control target 2 to turn right (or turn left). Conversely, when the first control unit 10 detects that the user 1 has raised the left arm 1AL directly upward, the control unit 10 controls the control target 2 to turn left (or turn right). By changing the displacement amount of the leg 2L of the control target 2 between the left and right, it is possible to adjust the turning direction and turning radius. This allows the user 1 to feel as if he or she is operating a turn signal by regarding the control target 2 as a vehicle such as a car.

[0166] In this way, during the rehabilitation process, the user 1 notices that when his / her own movement meets certain conditions, the control target 2 performs a special action (the first additional action is changed). Then, by trying to manipulate the control target 2 more proactively, the user 1 can increase the amount of exercise.

[0167] Furthermore, the control unit (first control unit 10) may derive a score for the user 1, and when the score satisfies a predetermined condition, the control unit 2 may perform a predetermined second additional action. That is, the first control unit 10 functions as a score deriving unit. Specifically, for example, the accumulated amount of exercise of the user 1 is derived as a score, and when the accumulated amount of exercise becomes larger than a predetermined value, the first control unit 10 causes the control unit 2 to perform a special action as the second additional action. Here, the special action corresponds to, for example, a forward roll, a backward roll, standing on one leg, etc. Here, the second additional action is performed regardless of the output of the motion detection unit 3. Note that the score may be derived by the second control unit 3a (see FIG. 3) provided in the motion detection unit 3. In this case, the second control unit 3a functions as a score deriving unit, and the score is transmitted to the first control unit 10 via the second communication unit 3c.

[0168] In addition, the second additional action may be executed when the control target 2 reaches the goal by linking the score with the above-mentioned goal reaching condition (i.e., the achievement status up to the goal reaching condition is set as the score). For example, when the goal reaching condition is set to moving the control target 2 by a predetermined distance, the first control unit 10 may refer to the output of the first inertial sensor 18 and calculate the score in the process of reaching the goal reaching condition.

[0169] When executing the second additional action, the first control unit 10 interrupts the imitation action and the first additional action, and then executes the second additional action. After executing the second additional action, the first control unit 10 returns to the imitation action and the first additional action. This provides a so-called surprise when the user 1 accomplishes a rehabilitation task, and makes it possible to improve the motivation of the user 1 to work on rehabilitation.

[0170] The control unit (first control unit 10) may cause the control target 2 to perform the second additional action based on the output of the first environmental sensor 21 provided in the control target 2 or the second environmental sensor 41 provided outside the control target 2. As described above, the first environmental sensor 21 and the second environmental sensor 41 (hereinafter, these may be collectively referred to as "environmental sensors") are configured, for example, with a human sensor and a sound sensor (microphone). In the third embodiment, the image sensor (the first imaging unit 13 or the second imaging unit 40) is also included in the environmental sensor. By using a human sensor, a sound sensor, or an image sensor as the environmental sensor, it is possible to detect the environment (atmosphere of the place) around the user 1 with a simple configuration.

[0171] The first control unit 10 estimates the situation of the place where the user 1 is undergoing rehabilitation based on the output of the environmental sensor. For example, when a large number of people are detected by a human presence sensor and applause is detected by a sound sensor, the first control unit 10 determines that the atmosphere of the place where the user 1 is undergoing rehabilitation is uplifting. Here, for example, when high sound pressure is repeatedly detected in a short period of time, the frequency distribution when the high sound pressure is detected is biased toward the high frequency region, and the sound pressure changes rapidly, it can be determined that applause is occurring at the place. Also, when a large number of people are included in an image acquired by an image sensor and it is detected that these people are clapping, it may be determined that the atmosphere of the place is uplifting.

[0172] When the first control unit 10 determines that the user 1's rehabilitation creates an uplifting atmosphere, that is, when people around the user 1 are encouraging the user 1's efforts, the first control unit 10 causes the control target 2 to execute the second additional action. This encourages the user 1 by the atmosphere of the place visualized by the second additional action, and increases the motivation to work on rehabilitation.

[0173] The pattern of the second additional action is stored as an action pattern in the first storage unit 11 or the server storage unit 30b. Here, a plurality of patterns of the second additional action are predefined, and the doctor or the like can select a desired pattern. When the doctor or the like inputs a pattern selection command to an input unit (not shown) of the information terminal 43, the command is transmitted to the first control unit 10 of the control target 2 via the network 50. The first control unit 10 that receives the command extracts an action pattern corresponding to the selected second additional action from the first storage unit 11. Alternatively, the first control unit 10 communicates with the server control unit 30a via the network 50, and extracts an action pattern corresponding to the selected second additional action from the server storage unit 30b. Then, the first control unit 10 controls the control target 2 based on the extracted action pattern.

[0174] That is, the exercise support system S1 of the third embodiment includes an information terminal 43, and a control unit (first control unit 10) changes the content of the second additional action based on an instruction input to the information terminal 43. This changes the content of the second additional action that is executed when the user 1 accomplishes a rehabilitation task or when the atmosphere of the rehabilitation site becomes uplifting, and the user 1 does not get bored with the action of the control target 2, and thus maintains motivation to work on the rehabilitation.

[0175] In FIG. 1, the user 1 wears the motion detection units 3 on both arms 1A and both legs 1L (however, when adding the above-mentioned first additional motion, the motion detection units 3 may be worn on either both arms 1A or both legs 1L). In the case where the user 1 has a disability (meaning a situation where the user is practically unable to move) in one of the arms 1A (or one of the legs 1L), for example, if the disabled part is the right arm 1AR, the right arm motion detection unit 3AR that should be worn on the right arm 1AR can be worn on the right leg 1LR to cause the control target 2 to perform the above-mentioned imitation / first additional motion. In this case, the user 1 moves the left arm 1AL and right leg 1LR alternately, causing the control target 2 to perform a stepping motion and further execute the above-mentioned first additional motion.

[0176] However, for example, a user 1 with disabilities in both legs 1L and the left arm 1AL, or a user 1 with disabilities in both legs 1L and both arms 1A, cannot make the control target 2 perform the imitation and first additional actions. Therefore, in the third embodiment, a mode is provided in which movement information of a part of the user 1's body other than the part to which the movement detection unit 3 is attached is generated based on the output of the movement detection unit 3, and the imitation movement and the first additional movement are executed based on this generated movement information (hereinafter, sometimes referred to as the "third movement mode").

[0177] The third operation mode is started when a doctor or the like operates the information terminal 43 to send a predetermined command to the first control unit 10. In the third operation mode, a motion vector (first motion vector) is first detected based on the output of one of the motion detection units 3. Then, the first motion vector is regarded as a waveform and a motion vector (second motion vector) with an opposite phase, that is, a phase shifted by 180°, is generated. In this way, in the third operation mode, based on the first motion vector based on the movement of, for example, the left arm 1AL (or right arm 1AR) of the user 1, the first control unit 10 generates the second motion vector, which is a motion vector with an opposite phase to the first motion vector.

[0178] This second motion vector is used as motion information of a body part of the user 1 different from the part to which the motion detection unit 3 is attached. Then, the right arm 2AR of the control target 2 is controlled based on the first motion vector (mainly the z-axis component), and the left arm 2AL is controlled based on the second motion vector (mainly the z-axis component).

[0179] Also, for example, when the user 1 wears the motion detection unit 3 on his / her neck, the first control unit 10 generates a second motion vector (motion information) based on a first motion vector based on the motion of the user 1's neck, the second motion vector being a motion vector in the opposite phase to the first motion vector. For example, the right leg 2LR of the control target 2 is controlled based on the first motion vector, and the left leg 2LL is controlled based on the second motion vector (mainly the z-axis component). That is, even if the user 1 is in a situation where he / she can only move his / her neck, the above-mentioned stepping motion and the first additional motion are executed, and the user 1 can participate in the race. This makes it possible to improve the motivation of the user 1 to work on rehabilitation even if he / she has a disability in a part of his / her body.

[0180] A modified example of the third embodiment will be described below. In the above-mentioned third embodiment, the imitation motion (stepping) and the first additional motion (walking) are executed prior to the second additional motion. In the modified example, the first additional motion is not executed, and the second additional motion is executed following the imitation motion. In the modified example, the second additional motion is executed regardless of the output of the motion detection unit 3.

[0181] Furthermore, when the score for the user 1 derived by the above-mentioned score derivation unit (the first control unit 10 or the second control unit 3a) satisfies a predetermined condition, the control target 2 may be made to perform a predetermined second additional action. Also, the score may be linked to a goal attainment condition, and the second additional action may be executed based on the output of an environmental sensor.

[0182] In this manner, the exercise support system S1 of the modified example includes a motion detection unit 3 that detects motion of at least a part of the body of the user 1, a control target 2, and a control unit (first control unit 10) that controls the control target 2, and the first control unit 10 causes the control target 2 to perform an imitation action that imitates the motion of the user 1 based on the output of the motion detection unit 3, and also causes the control target 2 to perform a predetermined second additional action at a timing different from the execution of the imitation action and independent of the output of the motion detection unit 3. Further, the modified example may include a score derivation unit (first control unit 10 or second control unit 3a) that derives a score for the user 1, and the control unit (first control unit 10) may be configured to cause the control target 2 to perform the predetermined second additional action when the score derived by the score derivation unit satisfies a predetermined condition.

[0183] (Fourth embodiment) FIG. 6 is a configuration diagram showing the configuration of an exercise support system S1 according to a fourth embodiment of the present invention. In the above-mentioned first to third embodiments, one control target 2 executes an imitation movement based on the output of the motion detection unit 3 including the right arm motion detection unit 3AR, the left arm motion detection unit 3AL, the right leg motion detection unit 3LR, and the left leg motion detection unit 3LL worn by the user 1. That is, one control target 2 is occupied by one user 1. Note that in the second embodiment, one control target 2 can be shared by multiple users 1, but sharing is made possible by dividing the time period in which the control target 2 is used after one user 1 occupies it.

[0184] On the other hand, in the fourth embodiment, a case is assumed where multiple users 1 use a single control target 2 at the same time to perform rehabilitation. As shown in FIG. 6, there are multiple users 1 here, and each of the users 1 is equipped with a motion detection unit 3 (at least one of a right arm motion detection unit 3AR, a left arm motion detection unit 3AL, a right leg motion detection unit 3LR, and a left leg motion detection unit 3LL). The configuration of each motion detection unit 3 is the same as that described using FIG. 3(A) and (B), and the configuration of the control target 2 is the same as that described using FIG. 2 or FIG. 5, so the description here is omitted. The description will be continued below using FIG. 5 in addition to FIG. 6.

[0185] In the fourth embodiment, for each user 1, user movement information corresponding to the part where the movement detection unit 3 is attached is transmitted to the control target 2 (first control unit 10). Then, the first control unit 10 that receives the user movement information controls the control target 2 based on the movements of the multiple users 1 detected by each of the movement detection units 3 to perform the imitating movement. That is, the exercise support system S1 of the fourth embodiment includes, for each of the multiple users 1, a movement detection unit 3 that detects the movement of at least a part of the body of the user 1, the control target 2, and a control unit (first control unit 10) that controls the control target 2, and the control target 2 is single, and the first control unit 10 controls the control target 2 so as to imitate the movements of the multiple users 1 detected by each of the movement detection units 3. This makes it possible for multiple users 1 to simultaneously perform rehabilitation using one control target 2.

[0186] In such an embodiment, when multiple users 1 move the same body part (for example, the right arm 1AR) at the same time, the movements of each user 1 may not match. In this case, the first control unit 10 acquires multiple pieces of user movement information corresponding to the movements of the multiple users 1, but these pieces of user movement information will compete with each other when processing is performed by the first control unit 10 (i.e., when performing an imitation movement). Examples of cases of competition include the following. The following combinations are also possible.

[0187] (C1) One user 1 raises his / her right arm 1AR, and another user 1 lowers his / her right arm 1AR. That is, the directions of the movements compete with each other. (C2) One user 1 raises (lowers) his / her right arm 1AR straight up (straight down), and another user 1 raises his / her right arm 1AR to shoulder height (lowers it to knee height). That is, the displacements of the movements compete with each other. (C3) One user 1 raises his / her right arm 1AR quickly, while another user 1 raises his / her right arm 1AR slowly. In other words, the speed of the movements competes.

[0188] When the user motion information output from the motion detection units 3 conflict, the first control unit 10 may calculate the average value (Mean) for each of the X, Y, and Z axis directions for the user motion information output from the right arm motion detection unit 3AR worn by each user 1, and control the control target 2 based on these average values. Of course, the median value (Median) may be derived for each of the X, Y, and Z axis directions and used as the average value. The outputs of the left arm motion detection unit 3AL, the right leg motion detection unit 3LR, and the left leg motion detection unit 3LL are processed in the same manner. That is, when the motions of the users 1 detected by the motion detection units 3 worn by multiple different users 1 conflict with each other, the control unit (first control unit 10) controls the control target 2 to reproduce the average motion of the multiple users 1.

[0189] Here, as in (C1), when the direction of movement of each user 1 is not uniform (for example, there is a large variation in the output of each right arm movement detection unit 3AR) and the average value is calculated to be small, the movement (displacement) of the control target 2 will be small. However, during the rehabilitation process, the users 1 realize that the movement of the control target 2 becomes larger when each user cooperates. Then, each user 1 tries to make the control target 2 imitate the coordinated movement. Furthermore, each user 1 is expected not only to cooperate, but also to make an effort to increase the amount of displacement of the imitated movement of the control target 2 by increasing their own movement.

[0190] This makes it possible to increase the overall amount of exercise of each user 1 participating in rehabilitation. If the average value is calculated to be small, the first control unit 10 may notify, via the notification unit (the first notification unit 14 or the third notification unit 42), "Make sure everyone moves in unison and move more." This motivates each user 1 to move in unison.

[0191] Of course, even in the case where (C2) the displacement amounts of movements compete with each other or (C3) the speeds of movements compete with each other, the average movements of the users 1 described above may be reproduced by the control target 2. This can motivate the users 1 to coordinate their movements with each other.

[0192] On the other hand, the control target 2 may be controlled so as to imitate the movement of one user 1 selected from the multiple users 1. That is, when the movements of the users 1 detected by the movement detection units 3 attached to the multiple different users 1 compete with each other, the control unit (first control unit 10) controls the control target 2 so as to imitate the movement of one user 1 selected from the multiple users 1. This allows the selected user 1 to make an effort to have the control target 2 imitate his / her movements, thereby improving the effect of rehabilitation.

[0193] At this time, the first control unit 10 may notify information about the selected user 1 via the notification unit (first notification unit 14 or third notification unit 42). In this case, the doctor or the like first operates the information terminal 43 to specify the user 1 who will wear each motion detection unit 3 (at least one of the right arm motion detection unit 3AR, left arm motion detection unit 3AL, right leg motion detection unit 3LR, and left leg motion detection unit 3LL). This associates the identifier (ID) of each motion detection unit 3 with the user ID that identifies the user 1. This correspondence is stored in the first storage unit 11 of the control target 2.

[0194] The first control unit 10 identifies the user ID from the first storage unit 11 based on the identifier (ID) transmitted from the motion detection unit 3. Then, the first control unit 10 accesses the server storage unit 30b via the network 50 and acquires user information (see the above-mentioned explanation regarding the large-capacity storage of the server 30) associated with the user ID. The user information includes the name or nickname of the user 1, and the first control unit 10 acquires the name, etc. of the user 1 whose motion is to be imitated (i.e., selected). When performing an imitation action based on the output of the motion detection unit 3 attached to the user 1, the name, etc. of the user 1 is spoken through the notification unit, for example, "I'm going to imitate Mr. X". As a result, the user 1 whose name, etc. has been notified will desire to have his / her name, etc., uttered from the control target 2, and will move more actively.

[0195] (C2) When the displacements of the movements compete, the first control unit 10 may control the control target 2 based on the output of the movement detection unit 3 that detects the movement with the larger displacement or the movement with the smaller displacement. By having the control target 2 imitate the movement with the larger displacement, the user 1 with smaller movements will try to make larger body movements, improving the effect of rehabilitation. Also, by having the control target 2 imitate the movement with the smaller displacement, even the user 1 who cannot move the part to which the movement detection unit 3 is attached greatly can maintain motivation to participate in rehabilitation. For example, a doctor or the like may specify by operating the information terminal 43 whether the movement to be imitated is based on the movement with the larger displacement or the movement with the smaller displacement. Of course, the movement to be imitated may be determined randomly.

[0196] Also, (C3) when the speeds of the movements compete, the first control unit 10 may control the control target 2 based on the output of the movement detection unit 3 that detects the slower or faster movement. By making the control target 2 imitate the faster movement (agile movement), the user 1 who moves slowly will try to move his / her body faster, improving the effect of rehabilitation. Also, by making the control target 2 imitate the slow movement, even the user 1 who cannot move the part to which the movement detection unit 3 is attached quickly can maintain motivation to participate in rehabilitation. For example, a doctor or the like may specify whether the movement to be imitated is based on the faster or slower movement by operating the information terminal 43. Of course, the movement to be imitated may be determined randomly.

[0197] Also, the control unit (first control unit 10) may derive scores for multiple users 1 based on the output of the motion detection unit 3, and may cause the control target 2 to perform a predetermined third additional motion when the scores satisfy a predetermined condition. In this manner, even in the fourth embodiment, the first control unit 10 functions as a score deriving unit. Specifically, for example, the accumulated amounts of exercise of multiple users 1 are added up as a score, and when this sum is greater than a predetermined value, the control target 2 is caused to perform a special motion as the third additional motion. Here, the special motion corresponds to, for example, a forward roll, a backward roll, standing on one leg, and the like. Note that the third additional motion is executed regardless of the output of the motion detection unit 3. Of course, the score may be derived by the second control unit 3a (see FIG. 3) provided in the motion detection unit 3, as in the third embodiment. In this case, the second control unit 3a functions as a score deriving unit.

[0198] When executing the third additional motion, the first control unit 10 interrupts the imitation motion and then executes the third additional motion. Then, after executing the third additional motion, the first control unit 10 returns to the imitation motion again. This provides a surprise (wow) as the result of all the users 1 participating in the rehabilitation, and makes it possible to improve the motivation of each of the users 1 to engage in rehabilitation.

[0199] Also, although different from the above (C1) to (C3), a situation that should be considered when making the control target 2 execute the imitation motion is a case where one user 1 lifts the right leg 1LR and another user 1 lifts the left leg 1LL. In such a situation, if the control target 2 (here, a robot) executes the imitation motion, it will be structurally unable to maintain an upright state.

[0200] Here, the first control unit 10 may control the control target 2 to intentionally fall over by continuing the imitation motion. Then, the first notification unit 14 may utter a voice such as "Be careful not to fall over" to alert the user 1. This may encourage the user 1 to not only cooperate but also to actively check the movements of other users 1, stimulating cognitive functions such as attention. Of course, if the control target 2 is structurally unable to maintain an upright state, the imitation motion may be interrupted and only an alert may be issued.

[0201] Although the exercise support system S1 according to the present invention has been described in detail based on specific embodiments, these embodiments are merely examples, and the present invention is not limited to these embodiments. For example, in the fourth embodiment, the second additional action (provision of a surprise) based on the output of the second environment sensor 41 described in the third embodiment may be performed. Furthermore, prior to the imitation action in the third or fourth embodiment, the "movement model" (first operation mode) described in the first embodiment may be executed.

[0202] In the fourth embodiment, when it is determined that the multiple users 1 are stepping in coordination based on the output of the motion detection units 3 worn by the multiple users 1, the first additional motion (for example, moving forward or backward) described in the third embodiment may be added. Furthermore, a team made up of multiple users 1 may be formed, and each team may move one control target 2 to have a "competition."

[0203] Also, from the viewpoint of coordinating a plurality of users 1 with each other, for example, two users 1 may form a pair to promote rehabilitation. Here, one of the users 1 raises his right arm 1AR to the waist position, and the other user 1 raises his left arm 1AL to the waist position, and the control target 2 imitates this. Then, "baggage" is placed on both arms 2A of the control target 2. In this state, each user 1 forming the pair is made to perform a stepping motion, and the control target 2 is made to perform the "forward movement" described in the third embodiment. In this aspect, the paired users 1 are given a high-level task of emphasizing carrying a baggage with the control target 2. Of course, this task can also be varied in such a way that each user 1 occupies the control target 2, and the two control targets 2 carry one baggage.

[0204] In the second to fourth embodiments, the division of processing between the first control unit 10 of the controlled object 2 and the server control unit 30a of the server 30 may be determined appropriately. [Industrial Applicability]

[0205] The exercise support system S1 and exercise support method of the present invention can motivate users to actively participate in rehabilitation and improve the effectiveness of rehabilitation, and therefore can be widely used in health insurance medical institutions such as hospital rehabilitation departments, orthopedic clinics, elderly care facilities, and specialized rehabilitation facilities, as well as in home rehabilitation, etc. [Explanation of symbols]

[0206] 1 User 1A Arm 1L leg 2. What is controlled? 2A Arm 2L legs 3. Motion detection section 10 First control section 30 Servers 30a Server control unit 30b Server storage section 43 Information terminal 50 Network S1 Exercise Support System

Claims

1. A motion detection unit that detects a motion of at least a part of a user's body; A control object; A control unit for controlling the controlled object; Equipped with The control unit is An exercise support system characterized in that, based on the output of the motion detection unit, the control object is made to perform an imitation motion that imitates the motion of the user, and at the same time, the control object is made to perform a predetermined first additional motion.

2. 2. The exercise support system according to claim 1, wherein the first additional motion is a motion related to the motion of the user that caused the imitation motion.

3. The control unit is 3. The exercise support system according to claim 2, wherein the imitation motion is performed by causing the control object to perform a stepping motion, and the first additional motion is performed by moving the control object in a predetermined direction by a displacement amount based on an output of the motion detection unit.

4. The control unit is 4. The exercise support system according to claim 3, wherein the correspondence relationship between the output of said motion detection section and the amount of displacement of said controlled object is changed based on an external instruction.

5. The control unit is 4. The exercise support system according to claim 3, wherein when a specific movement of the user is detected based on an output of the movement detection section, the content of the first additional action is changed.

6. The control unit is 4. The exercise support system according to claim 3, wherein a moving direction of the controlled object is changed when a displacement of the position of the user's arm is detected based on an output of the motion detection unit.

7. A motion detection unit that detects a motion of at least a part of a user's body; A control object; A control unit for controlling the controlled object; Equipped with The control unit is An exercise support system characterized in that the control object is made to perform an imitation movement that imitates the movement of the user based on the output of the motion detection unit, and the control object is made to perform a predetermined second additional movement regardless of the output of the motion detection unit.

8. A score derivation unit that derives a score related to the user, When the score derived by the score derivation unit satisfies a predetermined condition, the control unit 8. The exercise support system according to claim 1, further comprising: causing the controlled object to perform a predetermined second additional motion.

9. Further, an environmental sensor is provided, 8. The exercise support system according to claim 1, wherein the control unit causes the controlled object to perform a predetermined second additional motion based on an output of the environmental sensor.

10. 10. The exercise support system according to claim 9, wherein the environmental sensor is composed of at least one of a human sensor, a sound sensor, and an image sensor.

11. Further, the device is provided with an information terminal, The control unit is 9. The exercise support system according to claim 8, wherein the content of the second additional action is changed based on an instruction input to the information terminal.

12. The control unit is generating motion information of a part of the user's body other than the part to which the motion detection unit is attached based on an output of the motion detection unit; The exercise support system according to claim 1 , wherein the imitation movement and the first additional movement are executed based on the generated movement information.

13. A motion detection unit that detects a motion of at least a part of a body of each of a plurality of users; A control object; A control unit for controlling the controlled object; Equipped with The control object is a single object, The control unit controls the control target so as to imitate the movements of the users detected by the respective movement detection units.

14. The exercise support system according to claim 13, characterized in that, when the movements of the users detected by the motion detection units worn by the multiple different users conflict with each other, the control unit controls the control object so as to reproduce an average movement of the multiple users.

15. The exercise support system according to claim 13, characterized in that, when movements of the users detected by the motion detection units worn by the multiple different users conflict with each other, the control unit controls the control object so as to imitate the movement of one of the multiple users selected from the multiple users.

16. Further, a notification unit is provided, 16. The exercise support system according to claim 15, wherein the control unit notifies the user of information related to the selected one of the users via the notification unit.

17. The exercise support system according to claim 15 , wherein the control unit controls the controlled object based on an output of the movement detection unit in which a slower or faster movement is detected.

18. 16. The exercise support system according to claim 15, wherein the control unit controls the controlled object based on an output from the movement detection unit that detects a movement with a larger or smaller displacement amount.

19. A score derivation unit that derives a score related to the user, When the score derived by the score derivation unit satisfies a predetermined condition, the control unit 14. The exercise support system according to claim 13, further comprising: causing the controlled object to perform a predetermined third additional motion.

20. Detecting a movement of at least a portion of a user's body; An exercise support method, characterized in that, based on the detected movement of the user, a controlled object is made to perform an imitation movement that imitates the movement of the user, and at the same time, the controlled object is made to perform a predetermined first additional movement.

21. The exercise support method according to claim 20, characterized in that, as the imitation action, the control object is made to execute a stepping action, and, as the first additional action, the control object is moved in a predetermined direction by a displacement amount based on the detected movement of the user.

22. Detecting, for each of a plurality of users, a movement of at least a part of a body of the user; An exercise support method, comprising controlling a single control object so as to imitate a plurality of detected movements of the user.

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