Support system

Abstract

To provide a technique allowing a learner to learn skill in an environment closer to an actual site.SOLUTION: A support system 1 includes a support model 10 for simulating part of a human body by an air holding unit 14 including at least one air chamber 145 for holding air, and a support device 30 for providing support information supporting learning using the support model 10. The support model 10 includes a detection unit (a position sensor 11, a pressure sensor 12) that is provided in the air holding unit 14 and detects at least one of a pressing position of the support model 10 and pressure applied to the support model 10. The support device 30 provides support information based on a detection value of the detection unit (the position sensor 11, the pressure sensor 12).SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a support system that supports learning about a procedure. [Background technology]

[0002] Massage or acupressure in rehabilitation or aesthetics has various benefits, including relaxation, stress reduction, relief of sensitivity to cold by promoting blood flow, prevention of dementia, and revitalization of the mind and body. Furthermore, in medical settings, palpation is used to diagnose illnesses. Learning these techniques requires a specialized instructor, such as an expert, making it difficult for learners to learn independently. Even if there is an opportunity for learning from an expert, it is difficult for learners to master the amount of force and the degree of contact through visual learning alone.

[0003] In this regard, Patent Document 1 discloses a technique simulator for effectively learning how to adjust pressure, position, direction, etc. in techniques such as massage. The technique simulator disclosed in Patent Document 1 includes a position detection unit attached to a human body model and a vector detection unit attached to the learner's hand, and is able to evaluate the learner's technique by detecting the pressure position and pressure when the learner presses the human body model. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-215563 Summary of the Invention [Problem to be solved by the invention]

[0005] The procedure simulator disclosed in Patent Document 1 requires a position detection unit to be attached to the human body model and a vector detection unit to be worn on the learner's hand or finger, making preparations for learning using the human body model cumbersome. Furthermore, because the learner must wear the vector detection unit on their hand or finger, the learner's sense of touch when touching the human body model is easily impaired. Furthermore, because the human body model uses an elastic material such as urethane or rubber, it is difficult to use the human body model to represent differences in muscle stiffness depending on the part of the body.

[0006] The present disclosure has been made to solve such problems, and its purpose is to provide technology that enables learners to learn about procedures in an environment that is closer to the actual site. [Means for solving the problem]

[0007] An assistance system according to an aspect of the present disclosure assists learning of a procedural technique. The assistance system includes an assistance model for an expert, which is used by an expert and which imitates a part of a human body by an air holding unit including at least one air chamber for holding air, an assistance device for the expert, and an assistance device for the learner. The assistance device for the learner includes a force-sense member for the learner that is attached to a part of the learner's body. The assistance device for the expert outputs the pressing position on the assistance model for the expert and the pressure applied to the assistance model for the expert to the assistance device for the learner. The assistance device for the learner transmits the pressing position and pressure on the assistance model for the expert, which are received from the assistance device for the expert, to the part of the learner's body using the force-sense member for the learner. [Effects of the Invention]

[0008] According to the present disclosure, since a learner can learn about a procedure using an assistance model that mimics a part of a human body using an air-holding unit, the learner can learn about the procedure in an environment that is closer to the actual site. Furthermore, the learner can efficiently and effectively learn independently based on the pressing position on the assistance model and the pressure applied to the assistance model. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram for explaining an application example of a support system according to an embodiment. [Figure 2] 1 is a diagram showing a configuration of a support system according to an embodiment; [Figure 3] FIG. 10 is a diagram for explaining the creation of a support model. [Figure 4] 10A and 10B are diagrams for explaining an example of displaying a pressed position and a pressed pressure on a support model. [Figure 5] FIG. 10 is a diagram for explaining an example of an evaluation result by the support system. [Figure 6] 10A and 10B are diagrams for explaining an example of a result of comparing an evaluation result by a support system with an evaluation result by an expert. [Figure 7] 10A and 10B are diagrams for explaining the provision of force-based support information by a support system according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0010] The present embodiment will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are designated by the same reference numerals, and their description will not be repeated in principle.

[0011] <Support system according to the embodiment> A support system 1 according to an embodiment will be described with reference to FIGS.

[0012] [Support system configuration] FIG. 1 is a diagram illustrating an application example of a support system 1 according to an embodiment. The support system 1 is a system that supports learning about manual techniques. A "manual technique" is a method (technique) performed by the hands of a practitioner. Manual techniques include any method performed by the hands of a practitioner, such as massage or acupressure in rehabilitation or aesthetics, and palpation in medical settings.

[0013] As shown in FIG. 1, the assistance system 1 includes an assistance model 10 that resembles a part of a human body, and an assistance device 30 that is communicably connected to the assistance model 10.

[0014] The assistance model 10 is made of an air-holding member and imitates a part of a human body. In the example of FIG. 1, the assistance model 10 has a shape imitating a hand and an arm. The assistance model 10 is not limited to a shape imitating a hand and an arm, and may have a shape imitating other parts of a human body, such as a head, shoulders, feet, stomach, back, and fingertips. When a learner (a user of the assistance system 1) uses the assistance model 10 to learn about a procedure, the assistance device 30 provides assistance information to assist the learner in learning.

[0015] For example, the assistance device 30 provides, as "assistance information," at least one of information corresponding to a pressing position on the assistance model 10 and information corresponding to a pressure applied to the assistance model 10 while the learner is learning using the assistance model 10. Alternatively, the assistance device 30 provides, as "assistance information," an evaluation result of learning related to a procedure performed using the assistance model 10. The assistance device 30 displays an image corresponding to such assistance information on the display 35, or outputs a sound corresponding to the assistance information from the speaker 34. Note that it is sufficient for the assistance device 30 to perform at least one of providing visual assistance information using the display 35 and providing auditory assistance information using the speaker 34.

[0016] As a result, by using the assistance model 10 to learn about procedures, the learner can obtain assistance information to assist in learning from the assistance device 30, thereby enabling efficient and effective self-study.

[0017] 2 is a diagram showing the configuration of the support system 1 according to the embodiment. The support system 1 includes a support model 10, a relay device 20, and a support device 30.

[0018] The support model 10 includes at least one position sensor 11, at least one pressure sensor 12, a communication device 13, and an air holding portion 14.

[0019] The position sensor 11 is an example of a "detection unit" and detects the pressed position when the user presses the surface of the support model 10 with his / her hand. For example, when the user presses the sensor part of the position sensor 11 with his / her hand, the resistance of the position sensor 11 changes, and a signal corresponding to the changed resistance is output to the relay device 20. Note that any known sensor can be applied to the position sensor 11 as long as it can detect the pressed position on the support model 10.

[0020] The pressure sensor 12 is an example of a "detection unit" and detects the pressure applied to the support model 10 when the user presses the surface of the support model 10 with their hand. For example, when the user presses the support model 10 with their hand, a signal corresponding to the pressure inside the support model 10 that changes with the pressure is output to the relay device 20. Specifically, when the user presses the support model 10 with their hand, the pressure sensor 12 outputs a voltage according to the pressure applied to the support model 10. The support device 30, which will be described later, converts the voltage V acquired from the pressure sensor 12 into a pressure P based on the following equation (1):

[0021]

number

[0022] Any known sensor can be applied to the pressure sensor 12 as long as it is a sensor that can detect the pressure applied to the support model 10 .

[0023] The communication device 13 is an interface that transmits and receives signals (data) to and from the communication device 23 of the relay device 20 via wired or wireless communication. For example, when a user presses the sensor portion of the position sensor 11, the communication device 13 outputs a signal corresponding to the resistance changed by the pressing to the relay device 20. Also, when a user presses the support model 10, the communication device 13 outputs a signal corresponding to the pressure of the pressing to the relay device 20.

[0024] The air retaining unit 14 retains air, and its shape is used to form a support model 10 that resembles a part of a human body. Here, the air retaining unit 14 will be described in detail with reference to Fig. 3. Fig. 3 is a diagram for explaining the creation of the support model 10.

[0025] 3(A), the air retention section 14 includes one upper film 141, one lower film 142, and multiple (for example, 12) side films 143. The air retention section 14 can be produced by heat welding these films together.

[0026] The horizontal length of the upper film 141 and the horizontal length of the lower film 142 are all the same length L. The vertical length of the upper film 141, the vertical length of the lower film 142, and the vertical length of the side film 143 are all the same length W.

[0027] As shown in FIG. 3(B), after each of the plurality of side films 143 is bent along the crease, the plurality of side films 143 are arranged with a predetermined interval between the facing upper film 141 and lower film 142. Thereby, at least one air chamber 145 having a tapered shape with the side length on the wrist side being a, the side length on the elbow side being b (b > a), and the length from the wrist side to the elbow side being W is formed. In the embodiment, a plurality of air chambers 145 are formed. Also, between two air chambers 145, a space 146 having a tapered shape with the side length on the wrist side being c, the side length on the elbow side being d (d < c), and the length from the wrist side to the elbow side being W is formed. In such a manner, when one upper film 141, one lower film 142, and a plurality of side films 143 are heat-sealed, a sheet-like air holding portion 14 is formed.

[0028] As shown in FIG. 3(C), when the sheet-like air holding portion 14 is rounded, the air holding portion 14 has a shape imitating a human arm, and in its circumferential direction, a plurality of air chambers 145 and a plurality of spaces 146 are arranged. Air can be put into and taken out of each of the plurality of air chambers 145. Each of the plurality of air chambers 145 after air is put in can hold the air. A position sensor 11 is provided in each of the plurality of air chambers 145, and further, a pressure sensor 12 is connected.

[0029] When the user presses the support model 10, the resistance of the pressed position sensor 11 changes, and a signal corresponding to the change in resistance due to the pressing is output to the relay device 20. Furthermore, when the user presses the support model 10, the internal pressure of the air chamber 145 that holds air in the air holding unit 14 changes. If the user presses the part where the air chamber 145 is located, the air chamber 145 is directly pressed, causing a change in the internal pressure of the air chamber 145. If the user presses the part where the space 146 is located, the change in shape of the upper film 141 is transmitted to the air chamber 145 adjacent to the space 146, causing a change in the internal pressure of the air chamber 145. The pressure sensor 12 detects a change in the internal pressure of the air chamber 145 (i.e., the air pressure of the air held by the air chamber 145), and outputs a signal corresponding to the change in internal pressure to the relay device 20.

[0030] Furthermore, the user can change the air pressure held in each of the multiple air chambers 145. The user may change the air pressure in the air chambers 145 using the relay device 20 or the support device 30, or may change the air pressure in the air chambers 145 using a special device other than the relay device 20 and the support device 30. The support model 10 is not limited to the shape shown in FIG. 3, and any shape may be applied as long as it can imitate a part of a human body using the air holding unit 14 that holds air. For example, the support model 10 is not limited to a single sheet-like air holding unit 14, and may have a shape in which each of the multiple air chambers 145 is made up of multiple independent air holding units 14 bonded together.

[0031] With the air holding unit 14 configured as described above, the user can adjust the stiffness of the entire support model 10 by changing the air pressure in the air chamber 145. This allows the user to express the desired stiffness of biological muscles using the support model 10. Furthermore, by utilizing the change in air pressure of the air held in the air holding unit 14, the pressure sensor 12 can detect the pressure applied to the support model 10 by the user's pressing more precisely and with greater accuracy.

[0032] 2, the relay device 20 includes a computing device 21 and a communication device 23. For example, the relay device 20 may be configured as a one-board microcomputer.

[0033] The arithmetic device 21 is a computing entity (computer) that executes various processes according to various programs. The arithmetic device 21 includes, for example, at least one of a central processing unit (CPU), a field programmable gate array (FPGA), a graphics processing unit (GPU), and a multi-processing unit (MPU). Furthermore, the arithmetic device 21 may include a volatile memory such as a dynamic random access memory (DRAM) or a static random access memory (SRAM), or a non-volatile memory such as a read-only memory (ROM) or a flash memory. The arithmetic device 21 may be configured with a processing circuitry.

[0034] Furthermore, the arithmetic device 21 stores a detection program 225 in a storage area. The arithmetic device 21 executes processing in accordance with the detection program 225 to detect signals from the position sensors 11 of the support model 10 and signals from the pressure sensors 12 of the support model 10.

[0035] The communication device 23 is an interface that transmits and receives signals (data) between the support model 10 and the support device 30 by wired or wireless communication. For example, the communication device 23 receives signals corresponding to the detection values ​​of the position sensor 11 and the pressure sensor 12 from the communication device 13 of the support model 10.

[0036] The support device 30 includes a processing device 31, a storage device 32, a communication device 33, a speaker 34, and a display 35. For example, the support device 30 may be configured as an information terminal that executes predetermined information processing, such as a desktop personal computer (PC), a laptop PC, a smartphone, a smart watch, a wearable device, or a tablet PC.

[0037] The processing device 31 is a computing entity (computer) that executes various processes according to various programs. The processing device 31 includes, for example, at least one of a CPU, an FPGA, a GPU, and an MPU. Furthermore, the processing device 31 may include a volatile memory such as a DRAM or an SRAM, or a non-volatile memory such as a ROM or a flash memory. The processing device 31 may also be configured with an arithmetic circuit.

[0038] The storage device 32 includes a non-volatile storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The storage device 32 stores various programs and data referenced by the processing device 31. Specifically, the storage device 32 stores an assistance program 325 and assistance data 326. The assistance program 325 includes source code for providing assistance information that assists learning about a procedure using the assistance model 10. The assistance data 326 includes data required to generate assistance information, such as reference values ​​that serve as criteria for the procedure.

[0039] The communication device 33 is an interface that transmits and receives signals (data) to and from the relay device 20 by wired communication or wireless communication. For example, the communication device 33 receives, from the communication device 23 of the relay device 20, a signal that can identify the position where the user has pressed the support model 10 and a signal that can identify the pressure applied to the support model 10.

[0040] In the assistance device 30, the processing device 31 executes the assistance program 325, thereby providing assistance information to the user. Specifically, the assistance device 30 identifies the pressing position on the assistance model 10 based on a signal capable of identifying the pressing position on the assistance model 10 acquired from the relay device 20, and identifies the pressure applied to the assistance model 10 based on a signal capable of identifying the pressure applied to the assistance model 10. The assistance device 30 then generates assistance information based on the identified pressing position and pressure and a reference value serving as a reference for the procedure included in the assistance data 326. The reference value may be a value predetermined by the designer of the assistance system 1, or may be set based on the detection values ​​of the position sensor 11 and the pressure sensor 12 when an expert performs a task using the assistance model 10. The assistance device 30 displays an image corresponding to the assistance information on the display 35 and outputs a sound corresponding to the assistance information from the speaker 34.

[0041] The support device 30 may be configured integrally with the relay device 20. That is, the processing device 31 and the storage device 32 of the support device 30 may have the functions of the arithmetic device 21 of the relay device 20. Furthermore, the communication device 33 of the support device 30 may have the functions of the communication device 23 of the relay device 20.

[0042] [Provision of support information] The provision of support information by the support system 1 will be described with reference to FIGS.

[0043] First, an example will be described in which the support device 30 provides, as support information, information corresponding to the pressed position on the support model 10 or information corresponding to the pressure applied to the support model 10 while the learner is studying using the support model 10. Fig. 4 is a diagram for explaining an example of displaying the pressed position and the pressure on the support model 10.

[0044] As shown in Fig. 4(A), when the user touches or presses the support model 10, at least one position image 115 corresponding to the pressed position on the support model 10 is displayed in a model image 110 of the support model 10 displayed on the display 35, as shown in Fig. 4(B). The support model 10 is equipped with a plurality of position sensors 11, and the support device 30 displays a position image 115 corresponding to each of the plurality of position sensors 11. When the user releases his / her hand from the support model 10, the support device 30 erases the position image 115, and when the user moves his / her hand while touching the support model 10, the support device 30 moves the position image 115 in accordance with the movement of the hand.

[0045] In addition, the support device 30 may compare the pressure position detected by the position sensor 11 with a reference value (reference pressure position) that serves as the basis for the procedure and is included in the support data 326, and if the user's pressure position is away from the reference value by more than a specified range, may display an image corresponding to the appropriate pressure position (for example, the reference pressure position) on the display 35.

[0046] Furthermore, as shown in FIG. 4(C), the support device 30 compares the pressure (load) applied to the support model 10 calculated from the pressure detected by the pressure sensor 12 with a reference value (reference pressure (load)) that serves as a reference for the procedure included in the support data 326, and displays the position image 115 on the display 35 in a different color for each pressure applied to the support model 10 by the user's pressure.

[0047] As described above, the support model 10 has a tapered air chamber 145 and space 146, and therefore the amount of expansion of the support model 10 varies depending on the position. That is, the amount of change in internal pressure in response to pressure varies depending on the pressure position on the support model 10. Therefore, if the detection value of the pressure sensor 12 is used as is, even when the same load is applied, the estimated value of the load may differ depending on the pressure position. Therefore, the support device 30 estimates the load F by expressing the slope of the approximate line showing the relationship between the internal pressure and the load as a function of the position X based on the following equation (2), and by correlating the detection value of the position sensor 11 with the detection value of the pressure sensor 12. Note that the initial internal pressure of the air chamber 145 is 15 KPa.

[0048]

number

[0049] In the above formula (2), P is the internal pressure, and X is the detection value of the position sensor 11. By using such a formula, the support device 30 can appropriately estimate the pressure (load) applied to the support model 10 according to the pressing position on the support model 10, even if the support model 10 has a tapered air chamber 145 and space 146.

[0050] The support device 30 displays the position image 115 in yellow when the pressure applied to the support model 10 is less than a first reference value, displays the position image 115 in green when the pressure applied to the support model 10 is equal to or greater than the first reference value and less than a second reference value, and displays the position image 115 in red when the pressure applied to the support model 10 is equal to or greater than the second reference value. The pressure corresponding to the second reference value is greater than the pressure corresponding to the first reference value. These reference values ​​may be different depending on the pressing position. Furthermore, the color coding is not limited to three levels, but may be two levels, or four or more levels.

[0051] Each of the above-mentioned first and second reference values ​​may be a value predetermined by the designer of the assistance system 1, or may be set based on the detection value of the pressure sensor 12 when an expert performs work using the assistance model 10.

[0052] For example, assume that the appropriate pressure when an expert presses a certain position on the assistance model 10 is equal to or greater than a first reference value and less than a second reference value. If the learner can press the same position as the expert with the same appropriate pressure, the pressure applied to the assistance model 10 will be equal to or greater than the first reference value and less than the second reference value, and the position image 115 will be displayed in green on the display 35. On the other hand, if the learner cannot press the same position as the expert with the appropriate pressure, the pressure applied to the assistance model 10 will be less than the first reference value and the position image 115 will be displayed in yellow on the display 35, or the pressure applied to the assistance model 10 will be equal to or greater than the second reference value and the position image 115 will be displayed in red on the display 35.

[0053] This allows the learner to check, by looking at the position image 115 displayed on the display 35, whether or not he or she was able to press each pressing position with the same appropriate pressure as the expert.

[0054] In the example of FIG. 4, the support device 30 displays a position image 115 on the display 35 as support information, but the support device 30 may also output sound from the speaker 34 as support information.

[0055] For example, the support device 30 may compare the pressure position detected by the position sensor 11 with a reference value (reference pressure position) that serves as the standard for the procedure and is included in the support data 326, and if the user's pressure position is away from the reference value by more than a specified range, output a sound from the speaker 34 to notify the appropriate pressure position (i.e., the reference pressure position).

[0056] Furthermore, the support device 30 may compare the pressure (load) applied to the support model 10 calculated from the pressure detected by the pressure sensor 12 with a reference value (reference pressure (load)) serving as a reference for the procedure included in the support data 326, and if the pressure applied to the support model 10 by the user deviates from the reference value by more than a predetermined range, may output a sound from the speaker 34 to notify the user to apply an appropriate pressure. For example, the support device 30 may output a warning sound from the speaker 34, or may output a voice message such as "Do not press too hard" or "Please press lightly" from the speaker 34.

[0057] Next, an example will be described in which the assistance device 30 provides, as assistance information, an evaluation result of learning related to a procedure performed using the assistance model 10. FIG. 5 is a diagram for explaining an example of an evaluation result by the assistance system 1. FIG. 5 shows an evaluation result calculated by the assistance device 30 for a series of massages in which a learner uses the assistance model 10 to massage the posterior forearm five times, the anterior forearm five times, the anterior wrist ten times, the posterior forearm five times, and the anterior forearm five times. Note that, in calculating the evaluation result, a skilled person also uses the same assistance model 10 to massage the posterior forearm five times, the anterior forearm five times, the anterior wrist ten times, the posterior forearm five times, and the anterior forearm five times.

[0058] The assistance device 30 calculates at least one index from among the manner of hand movement, the amount of force, and the degree of contact, and calculates an evaluation result based on the calculated index. In the example of Fig. 5, the assistance device 30 calculates an evaluation result based on three indexes: the manner of hand movement, the amount of force, and the degree of contact.

[0059] The calculation of the evaluation result of "hand movement" will be explained. The assistance device 30 calculates the difference T between the time required for a series of massages by the expert and the time required for a series of massages by the learner based on the following formula (3): n Calculate.

[0060]

number

[0061] In the above equation (3), T M is the time it takes for the expert to complete the massage sequence. S is the time taken by the learner to complete the massage sequence.

[0062] The assisting device 30 calculates a correlation coefficient α between the time series data of the pressure positions of the expert and the learner in a series of massages based on the following equation (4).

[0063]

number

[0064] In the above formula (4), L M (=L M1 ,L M2 ,L M3 ,…L Mn ) is the time series data of the pressure points of the expert during a series of massages. S (=L S1 ,L S2 ,L S3 ,…L Sn ) is the time series data of the pressure points of the learner during a series of massages. Here, the range of α is between -1 and 1. The closer α is to 1, the higher the evaluation, and the closer α is to -1, the lower the evaluation.

[0065] The support device 30 calculates α1 based on the following equation (5).

[0066]

number

[0067] Furthermore, the support device 30 calculates α2 based on the following equation (6).

[0068]

number

[0069] Here, the range of α2 is greater than or equal to 0 and less than or equal to 1. The closer α2 is to 0, the higher the evaluation, and the closer α2 is to 1, the lower the evaluation.

[0070] The assistance device 30 calculates a score V corresponding to the evaluation result of the "hand movement" based on the following formula (7): The larger the score V of the hand movement, the higher the evaluation.

[0071]

number

[0072] The calculation of the evaluation result of "force intensity" will be described. The assistance device 30 calculates the deviation P between the average pressure of the expert and the average pressure of the learner based on the following equation (8): n Calculate.

[0073]

number

[0074] In the above equation (8), P M is the average pressure of the expert. P S is the average pressure of the learner.

[0075] Here, the deviation amount P n If only [theta] is used, the score may be high even if there is a large difference between the maximum and minimum pressure values. For this reason, the assistance device 30 takes into consideration the correlation coefficient β between the time series data of the pressure applied by the expert and the time series data of the pressure applied by the learner in a series of massages. The assistance device 30 calculates the correlation coefficient β based on the following equation (9).

[0076]

number

[0077] Here, the range of β is greater than or equal to -1 and less than or equal to 1. The closer β is to 1, the higher the evaluation, and the closer β is to -1, the lower the evaluation.

[0078] The support device 30 calculates β1 based on the following equation (10).

[0079]

number

[0080] Furthermore, the support device 30 calculates β2 based on the following equation (11).

[0081]

number

[0082] Here, the range of β2 is greater than or equal to 0 and less than or equal to 1. The closer β2 is to 0, the higher the evaluation, and the closer β2 is to 1, the lower the evaluation.

[0083] The assistance device 30 calculates a score F corresponding to the evaluation result of the "force intensity" based on the following formula (12): The larger the force intensity score F, the higher the evaluation.

[0084]

number

[0085] The calculation of the evaluation result of "degree of contact" will be explained. When the internal pressure of the air chamber 145 of the support model 10 becomes higher than the initial internal pressure (for example, 15 KPa), the support device 30 stores the detection value of the pressure sensor 12 at that time. Furthermore, the support device 30 stores the time required for a series of massages. Therefore, the support device 30 determines that the greater the number of times the detection value of the pressure sensor 12 is stored per unit time (for example, the time required for a series of massages), the greater the degree of contact. Note that the unit time is not limited to the time required for a series of massages, but may be a time obtained by dividing the time required for a series of massages into predetermined intervals, such as five minutes.

[0086] The support device 30 calculates a score A corresponding to the evaluation result of the "degree of contact" based on the following formula (13): The larger the score A of the degree of contact, the higher the evaluation.

[0087]

number

[0088] In the above equation (13), T M is the time it takes for the expert to complete the massage sequence. S is the time taken by the learner to complete the massage sequence. M is the number of detected values ​​(pressure data) detected by the pressure sensor 12 while the skilled person is performing a series of massages. S is the number of detection values ​​(pressure data) detected by the pressure sensor 12 while the learner is performing a series of massages.

[0089] The support device 30 calculates the evaluation results (scores) based on the three aspects of hand movement, force, and close contact using the method described above, and then displays a table summarizing the evaluation results on the display 35, as shown in FIG. 5.

[0090] FIG. 5 shows the evaluation results for each of the 12 learners, learner A to learner L. FIG. 5(A) shows the evaluation results when each learner performed a treatment using the assistance model 10 before receiving instruction from an expert. FIG. 5(B) shows the evaluation results when each learner performed a treatment using the assistance model 10 after receiving instruction from an expert. The "total score" in the table is the average score for each learner in terms of hand movement, force, and close contact. Note that the total score may be calculated by applying a predetermined weighting to each of the hand movement, force, and close contact. The "average" in the table is the average score for all learners in terms of hand movement, force, close contact, and total score.

[0091] Comparing the evaluation results in Figure 5(A) with those in Figure 5(B), after instruction by an expert, the scores for hand movement, force, and contact level generally improved for all learners. Furthermore, after instruction by an expert, the average scores for all learners improved for hand movement, force, and contact level.

[0092] The support device 30 displays such an evaluation result as support information on the display 35, thereby making it possible to visualize whether the expert's instruction was appropriate or not using a score.

[0093] Furthermore, by studying using the support model 10, learners can use visualized scores to grasp their current state, not only of techniques that can be read visually, such as how to move, but also of techniques that are difficult to read visually, such as the amount of force and the degree of contact, and can effectively acquire these techniques.

[0094] [Comparison of evaluation results] FIG. 6 is a diagram for explaining an example of the result of comparing the evaluation result by the support system 1 with the evaluation result by an expert.

[0095] Fig. 6 shows a bar graph with the average total score on the vertical axis and information corresponding to 12 learners, learner A to learner L, on the horizontal axis. Fig. 6 also shows bar graphs for both before and after instruction by an expert. Furthermore, Fig. 6(A) shows a graph of the evaluation results by the support system 1, and Fig. 6(B) shows a graph of the evaluation results by visual inspection by an expert.

[0096] Comparing the evaluation results in Figure 6(A) with those in Figure 6(B), the evaluation results by Support System 1 show that, similar to the evaluation results by experts, the scores of most learners have generally improved. This means that the evaluations by Support System 1 are generally consistent with the evaluations by experts, proving the validity of the evaluations by Support System 1.

[0097] Here, for Learners A and C, the evaluation results by Support System 1 show that the evaluations after instruction were lower than before instruction, while the evaluations by experts show that the evaluations after instruction were higher than before instruction. This difference in evaluation is thought to be due to the fact that experts evaluate solely by sight, while Support System 1 also evaluates techniques that are difficult to read visually, such as the amount of force and the degree of contact.

[0098] In this way, the support system 1 can evaluate learners more accurately by evaluating not only techniques that can be read visually, such as the way the learner moves, but also techniques that are difficult to read visually, such as the amount of force applied and the degree of contact.

[0099] As described above, the support system 1 allows the learner to learn about procedures using the support model 10 that imitates a part of the human body using the air retaining unit 14 that retains air, so the learner can learn about procedures in an environment that is closer to the actual site. Furthermore, support information is provided based on the pressing position on the support model 10, the detected value of the pressure applied to the support model 10, and the reference value that serves as the reference for the procedure, so the learner can study independently efficiently and effectively.

[0100] <Support system according to modified example> [Providing support information using force feedback] A support system 100 according to a modified example will be described with reference to Fig. 7. Only the parts of the support system 100 according to the modified example that are different from the support system 1 according to the embodiment will be described below.

[0101] The assistance system 1 according to the embodiment provides assistance information visually by using the display 35 and aurally by using the speaker 34, but the assistance system 1 may also provide assistance information by utilizing other human senses such as force.

[0102] FIG. 7 is a diagram illustrating the provision of haptic support information by a support system 100 according to a modified example. As shown in FIG. 7, the support system 100 according to the modified example includes a support model 10A for an expert used by an expert, a support model 10B for a learner used by a learner, a support device 30A for the expert, and a support device 30B for the learner. Each of the support model 10A and the support model 10B has the same configuration as the support model 10 according to the above-described embodiment. That is, each of the support model 10A and the support model 10B includes at least one position sensor 11, at least one pressure sensor 12, a communication device 13, and an air holding unit 14. Each of the support model 10A and the support model 10B resembles a part of a human body. For example, each of the support model 10A and the support model 10B has a shape resembling a human back. The support model 10A is communicatively connected to the support device 30A. The support model 10B is communicatively connected to the support device 30B. Each of the assistance devices 30A and 30B has the same configuration as the assistance device 30 according to the above-described embodiment. That is, each of the assistance devices 30A and 30B includes a processing device 31, a storage device 32, a communication device 33, and a speaker 34. Furthermore, the assistance device 30A includes a force-feedback member 50A for an expert to be worn on a part of the expert's body (for example, the expert's back) and a display 35A visible to the expert. The assistance device 30B includes a force-feedback member 50B for a learner to be worn on a part of the learner's body (for example, the learner's back) and a display 35B visible to the learner. The assistance device 30A can remotely communicate with the assistance device 30B via wireless communication.

[0103] The force-sense member 50A is an actuator equipped with an airbag, and transmits the inflation action of the airbag to the back of the expert. The force-sense member 50B is an actuator equipped with an airbag, and transmits the inflation action of the airbag to the back of the learner. Note that if each of the force-sense members 50A and 50B transmits the inflation action of the airbag to a part of the body other than the back (for example, the hands, arms, head, shoulders, feet, stomach, fingertips, etc.), each of the support model 10A and the support model 10B may have a shape that imitates that other part of the body (for example, the hands, arms, head, shoulders, feet, stomach, fingertips, etc.).

[0104] When an expert performs a model treatment using the assistance model 10A, the assistance device 30A acquires the pressure position calculated based on the detection value of the position sensor 11 and the pressure calculated based on the detection value of the pressure sensor 12, and outputs the pressure position and pressure to the assistance device 30B. The assistance device 30B transmits the model pressure position and pressure received from the assistance device 30A to the back of the learner using the force-sense member 50B. For example, the force-sense member 50B expands at a position corresponding to the position where the expert pressed the assistance model 10A. Furthermore, the force-sense member 50B expands so that the same pressure as that applied to the assistance model 10A when the expert presses the assistance model 10A is applied to the back of the learner. This allows the expert to provide the learner with assistance information (model pressure position and pressure) to support learning of the procedure using force.

[0105] On the other hand, when the learner performs a treatment using the support model 10B by imitating the support information (sample pressure position and pressure) from the expert transmitted through the force-sense member 50B, the support device 30B acquires the pressure position calculated based on the detection value of the position sensor 11 and the pressure calculated based on the detection value of the pressure sensor 12, and outputs the pressure position and pressure to the support device 30A. The support device 30A transmits the pressure position and pressure received from the support device 30B to the back of the expert using the force-sense member 50A. For example, the force-sense member 50A expands at a position corresponding to the position where the learner presses the support model 10B. Furthermore, the force-sense member 50A expands so that the same pressure as that applied to the support model 10B when the learner presses the support model 10B is applied to the back of the expert. This allows the expert to grasp the learner's level of proficiency from the information transmitted from the force-sense member 50A.

[0106] In this way, the assistance system 100 may provide assistance information to a user such as a learner by utilizing the sense of force.

[0107] [Providing support information that serves as a reference for procedures during learning] While the learner is learning using the support model 10, the support device 30 may provide at least one of information corresponding to the pressing position on the support model 10 that serves as the reference for the procedure and information corresponding to the pressure applied to the support model 10 that serves as the reference for the procedure by an expert, etc.

[0108] For example, the assistance device 30 may display on the display 35 the positions where the learner should press and the appropriate amount of pressure while the learner is learning using the assistance model 10. In this way, the assistance system 1 can effectively assist the learner in learning about the procedure by having the assistance device 30 display so-called navigation as a sample of the procedure while the learner is learning using the assistance model 10.

[0109] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present disclosure is defined by the claims, not by the description of the above embodiments, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0110] 1,100 support system, 10, 10A, 10B support model, 11 position sensor, 12 pressure sensor, 13, 23, 33 communication device, 14 air holding unit, 20 relay device, 21 calculation device, 30, 30A, 30B support device, 31 processing device, 32 storage device, 34 speaker, 35, 35A, 35B display, 50A, 50B force sensing member, 110 model image, 115 position image, 141 upper film, 142 lower film, 143 side film, 145 air chamber, 146 space, 225 detection program, 325 support program, 326 support data.

Claims

1. A support system for supporting learning about a procedure, a support model for a skilled person, which is used by the skilled person and which imitates a part of a human body by an air holding part including at least one air chamber for holding air; Assistive devices for skilled users; and a learner support device; the support device for the learner includes a force-sensing member for the learner that is attached to a part of the body of the learner; the assistance device for the expert outputs the pressing position of the assistance model for the expert and the pressure applied to the assistance model for the expert to the assistance device for the learner; An assistance system in which the assistance device for the learner transmits the pressing position and pressure on the assistance model for the expert received from the assistance device for the expert to a part of the learner's body using a force-sensing member for the learner.

2. 2. The support system according to claim 1, wherein the force-sensing member for the learner expands in a part of the learner's body to transmit the pressing position and pressure in the support model for the expert received from the support device for the expert to the part of the learner's body.

3. 3. The support system according to claim 1, wherein the force-sense member for the learner is attached to the back of the learner.

4. a support model for the learner that is used by the learner and that imitates a part of a human body by an air holding part that includes at least one air chamber that holds air; the assistance device for an expert includes a force-sensing member for an expert that is attached to a part of the body of the expert, the support device for the learner outputs the pressing position of the support model for the learner and the pressure applied to the support model for the learner to the support device for the expert; The assistance system according to claim 1, wherein the assistance device for the expert transmits the pressing position and pressure on the assistance model for the learner received from the assistance device for the learner to a part of the body of the expert using a force-sensing member for the expert.

5. The support system according to claim 4, wherein the force-sensing member for the expert expands in a part of the expert's body to transmit the pressing position and pressure in the support model for the learner received from the support device for the learner to the part of the expert's body.

6. 6. The assistance system according to claim 4, wherein the force-sense member for the expert is attached to the back of the expert.

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