Action illusion generation system

Abstract

To provide an action illusion generation system 1000 capable of generating tactile sensations that make a user perceive an illusion of actions such as walking or exercising without requiring a standing posture.SOLUTION: An action illusion generation system includes: a selection input unit 100 for selecting one from among a plurality of tactile sensations (a walking illusion mode 110, an exercise illusion mode 120, others); stimulation generation devices 500 (1-18, 30, 31) disposed for respective regions obtained by dividing a foot portion 60 of a user 50 into a plurality of regions; a storage unit 300 in which a table 400 is stored that sets types, intensities, and times of stimulation corresponding to tactile sensations (the walking illusion mode 110, the exercise illusion mode 120, others) on the basis of correlations between tactile sensations generated by the stimulation generation devices 500 acquired in advance and a plurality of types of stimulation; and a command unit 200 that, according to the selected tactile sensation (the walking illusion mode 110, the exercise illusion mode 120, others), refers to the table 400 and commands the stimulation generation devices 500 to operate in accordance with the types, intensities, and times of stimulation.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a system for generating a behavioral illusion, and more particularly to a system for stimulating the feet to generate a tactile sensation that virtually creates the illusion of walking, exercise, or other actions. [Background technology]

[0002] When a person walks, they simultaneously and unconsciously perform actions such as supporting their own body weight, taking a step, and shifting their weight according to the condition of the road surface, etc. This is a complex action that requires them to withstand the large load on their feet while constantly maintaining balance of the body.

[0003] In recent years, virtual reality (VR) and augmented reality (AR) technologies have become increasingly sophisticated, and methods of sensory stimulation in VR environments have been proposed to generate situations such as walking that are closer to reality (see Patent Document 1).

[0004] On the other hand, elderly people with weak legs and physically disabled people who have difficulty walking need training to walk safely, and tactile presentation devices, tactile presentation systems, and tactile presentation methods have been proposed that can transmit information in a natural way through the sensation of touch on the soles of the feet (see Patent Documents 2 and 3). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] U.S. Patent No. 10,945,484 [Patent Document 2] Patent Publication No. 2011-062298 [Patent Document 3] Patent Publication No. 2007-268140 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the technology disclosed in Patent Document 1 describes arranging multiple devices using haptics technology in a shoe- or sock-like structure and operating them while receiving feedback through communications circuitry, but does not disclose what steps are actually taken to generate what type of haptics.

[0007] Furthermore, the technologies disclosed in Patent Documents 2 and 3 involve walking training in a standing position, so elderly people with weak legs and physically disabled people who have difficulty walking are unable to receive proper feedback on the sensations on their feet, and may be unable to withstand the load or may lose their balance.

[0008] The present invention has been made in consideration of the actual situation in the background described above, and is a behavioral illusion generation system that generates tactile sensations that create the illusion of actions such as walking or exercise even when not in an upright position. More specifically, it provides a system that stimulates the feet to reproduce tactile sensations that virtually create a movement illusion. [Means for solving the problem]

[0009] One aspect of the present invention is a foot behavior illusion generation system that reproduces tactile sensations by stimulating the user's foot, including the knee, ankle, heel, sole, and toes, to virtually create a behavior illusion. a selection input unit for selecting one of a plurality of tactile sensations; The foot is divided into a plurality of regions, and a stimulus generating device is provided for each region; a recording unit storing a table that sets the type, intensity, and duration of the stimulus corresponding to the tactile sensation based on a correlation between the tactile sensation generated by the stimulus generating device and a plurality of types of stimuli that have been previously acquired; a command unit that refers to the table in accordance with the selected tactile sensation and commands the stimulus generating device to perform an operation corresponding to the type, intensity, and duration of the stimulus; Equipped with.

[0010] This configuration experimentally obtains in advance the relationship between tactile sensations and stimuli on the user's feet, and uses this as a table to generate tactile sensations that create the illusion of walking, exercise, or other actions.The system refers to this table and applies stimuli that reproduce the tactile sensations experienced when walking. Stimuli to stimulate tactile sensation can be generated by devices that apply vibration, electric current, puncture, pressure, temperature, etc., and the strength and duration of these stimuli can be set. The table can be applied by, for example, having a healthy person who can walk memorize the stimuli they experience while walking, and subjectively evaluating the intensity and duration of the stimulus-generating device based on the match with the sensations based on this memory, and accumulating the results of this evaluation.

[0011] This configuration makes it possible to generate tactile sensations that create the illusion of walking, exercise, and other actions that are not limited to standing. Furthermore, a table showing the correlation between tactile sensations and stimuli allows for the selection of actions that correspond to the appropriate type, intensity, and duration of stimulation according to the user's condition and physical condition, creating the illusion of walking, exercise, and other actions without imposing a burden on the user.

[0012] In the above configuration, the stimulus generating device is a vibrator; The command unit may be configured to command the vibrator a frequency, amplitude, and excitation time of vibration corresponding to the type, intensity, and time of the stimulus.

[0013] As disclosed in Patent Documents 1, 2, and 3, vibrators have a proven track record as foot stimulation devices, and can provide appropriate stimulation to the feet. Furthermore, the user's tactile sensation can be altered by changing the frequency, amplitude, and vibration duration. This configuration thus allows the user to walk as if they were in the real world. Furthermore, it can recreate conditions closer to actual walking training for the elderly and physically disabled.

[0014] In the above configuration, The table comprises a plurality of tables, a first table recording a combination of the intensity of the stimulus to one of the regions and the intensity of the stimulus to the other of the regions sandwiching the stimulus generation location on the foot, so that the user feels the stimulus at the stimulus generation location; A second table records a combination of the range of stimuli for a certain frequency when the vibrator is excited, and The selection input unit may be configured to have a walking illusion mode, and when the walking illusion mode is selected, to refer to the first table to set the stimulation location, and to refer to the second table to set the range of stimulation corresponding to the expected weight shift of the user when walking.

[0015] In realizing the walking illusion mode, the configuration can refer to the first table to set the location of the foot to be stimulated, and the second table to set the range of load applied to the foot when walking. With this configuration, the type and intensity of stimulation can be set using the first and second tables, which have been experimentally obtained in advance, so that a situation similar to that of the user actually walking can be created, and this can be reproduced as the walking illusion mode.

[0016] In the above configuration, The table further comprises a third table; A third table records combinations of changes in the expansion and contraction of the range of stimulation due to fluctuations in the frequency at the time of excitation of the vibrator, The third table may be referenced to set the transition of expansion and contraction of the range of the stimulation corresponding to the expected road surface conditions when the user is walking.

[0017] The above configuration realizes the transition of expansion and contraction of the stimulation range by changing the frequency when the vibrator is vibrated, thereby creating the illusion of a change in the load on the feet during actual walking, for example, stepping out with the left foot using the right foot as support, landing with the left foot, and then stepping out with the right foot using the left foot as support.In this way, with the above configuration, the type, intensity, and temporal transition of the stimulation can be set using the third table created in advance through experiments, so that a situation similar to that of the user actually walking can be created and reproduced as a walking illusion mode.

[0018] In the above configuration, The third table can be configured to vary the vibration frequencies at predetermined time intervals in the following order: from a predetermined first frequency, to a second frequency higher than the first frequency, to a third frequency lower than the first frequency, to a fourth frequency higher than the first frequency; or from a predetermined first frequency, to a fifth frequency higher than the first frequency, to a sixth frequency lower than the first frequency, to a seventh frequency higher than the first frequency.

[0019] The above configuration defines a specific example of the third table, and by varying the frequency, the stimulation can be expanded or contracted. According to the above configuration, by varying the frequency in order of high to low, it is possible to sharpen the sensation in the user's feet, and the situation in which the user is actually walking can be made more realistic.

[0020] In the above configuration, It also comes equipped with a media device that reproduces video and audio. The recording unit stores a plurality of images and sounds of walking on the road surface conditions, The command unit may instruct the stimulus generating device, which corresponds to the tactile sensation generated when walking on the road surface conditions, to perform an action corresponding to the type, intensity, and duration of the stimulus, and may synchronize the action with the video and audio to cause the media device to reproduce the video and audio.

[0021] This configuration synchronizes visual and audio signals during walking in walking illusion mode. With this configuration, the visual and audio signals from the media device are added to the walking illusion, allowing the user to realize virtual reality (VR) or augmented reality (AR).

[0022] According to the above configuration, by reproducing the situation encountered when actually walking as images and sounds while generating the illusion of walking, it is possible to virtually realize the situation of an actual outdoor walk, making the situation closer to the reality that the user is actually walking.

[0023] In the above configuration, The table includes a fourth table; the fourth table records combinations of the stimulation to the areas near the Achilles tendon and near the quadriceps tendon of the user and ankle angles corresponding to an assumed stride length when the user walks; The selection input unit has a kinesthetic illusion mode, and when the kinesthetic illusion mode is selected, the fourth table can be referenced to set the range of the stimulation corresponding to the stride length of the user when walking.

[0024] In the kinesthetic illusion mode, the configuration can refer to the fourth table to set a combination of stimulation to the area near the user's Achilles tendon and the ankle angle corresponding to the user's expected walking stride. For example, when a stimulation is applied to the Achilles tendon of a user sitting in a chair, the kinesthetic illusion can create the illusion that the ankle is bent, even though the user is not actually bending the ankle.

[0025] According to the above configuration, even when the user is lying on their back, the illusion of exercise is created, so that tactile sensations that give the illusion of walking, exercise, etc. can be generated in various VR and AR situations other than sitting. Furthermore, users who cannot move their feet as they wish can train their ankle bending during normal walking, which allows for safer walking training. [Effects of the Invention]

[0026] The present invention is a behavioral illusion generation system that generates tactile sensations that create the illusion of walking, exercise, and other actions even when the user is not in a standing position. More specifically, it provides a system that stimulates the feet to reproduce tactile sensations that virtually create a movement illusion. [Brief explanation of the drawings]

[0027] [Figure 1] 1 is a block diagram showing an overall configuration according to an embodiment of the present invention. [Figure 2] 1 is an example of a stimulus generating device according to an embodiment of the present invention. [Figure 3] 1 is an example of a stimulus generating device according to an embodiment of the present invention. [Figure 4] FIG. 10 is an explanatory diagram of a test for creating a walking illusion mode table according to one embodiment of the present invention. [Figure 5] 10 is an explanatory diagram showing the positional relationship between the stimulation location on the user's foot and the stimulation generating device when creating a first table according to one embodiment of the present invention. FIG. [Figure 6] 3 is an example of a first table according to an embodiment of the present invention. [Figure 7] FIG. 1 is an explanatory diagram of a phantom sensation experiment for creating a first table according to one embodiment of the present invention. [Figure 8] 10 is an example of a stimulation position of a phantom sensation experiment condition for creating a first table according to one embodiment of the present invention. [Figure 9]10 is a diagram showing an example of vibration conditions for a phantom sensation experiment for creating a first table according to an embodiment of the present invention. [Figure 10] 10 is an example of frequencies at which phantom sensations occur for creating a first table according to an embodiment of the present invention. [Figure 11] 10 is an explanatory diagram showing the positional relationship between the stimulation location on the user's foot and the stimulation generating device when creating a second table according to one embodiment of the present invention. FIG. [Figure 12] 10 is an example of a second table according to an embodiment of the present invention. [Figure 13] FIG. 10 is an explanatory diagram of an evaluation method for creating a third table according to one embodiment of the present invention. [Figure 14] 10 is an example of a change in frequency associated with acquisition of a second table according to an embodiment of the present invention. [Figure 15] 10 is an example of a third table according to an embodiment of the present invention. [Figure 16] 10 is an example of an evaluation result of sensitivity for each frequency for creating a third table according to an embodiment of the present invention. [Figure 17] 10 is an example of a change in frequency for creating a third table according to an embodiment of the present invention. [Figure 18] FIG. 10 is an explanatory diagram of the function of the third table according to the embodiment of the present invention. [Figure 19] 10 is an example of a system that synchronizes video and audio with a walking illusion mode according to one embodiment of the present invention. FIG. 11 is an explanatory diagram of an evaluation method for creating the third table. [Figure 20] 10 is an example of a fourth table according to an embodiment of the present invention. [Figure 21] FIG. 10 is an explanatory diagram of a kinesthetic illusion mode associated with a fourth table in accordance with an embodiment of the present invention. [Figure 22] 10 is an example of an evaluation result for creating a fourth table according to one embodiment of the present invention. [Figure 23] 10 is a flow chart of a walking illusion mode according to an embodiment of the present invention. [Figure 24]1 is a flow diagram of a kinesthetic illusion mode according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0028] <Explanation of overall configuration> Hereinafter, a preferred embodiment of the foot motion illusion generation system of the present invention will be described with reference to the drawings. In the following description, components with the same reference numerals in different drawings are considered to be similar, and their description may be omitted.

[0029] One embodiment of the present invention is a foot behavior illusion generation system that reproduces tactile sensations by stimulating the user's foot, including the knee, ankle, heel, sole, and toes, to virtually create a behavior illusion.The specific form of the system can be any as long as it is configured to include a selection input unit that selects one of multiple tactile sensations, a stimulus generation device that divides the foot into multiple regions and arranges it in each region, a recording unit that stores a table that sets the type, intensity, and duration of the stimulus corresponding to the tactile sensation based on a correlation between the tactile sensation generated by the stimulus generation device and multiple types of stimuli that have been previously obtained, and a command unit that refers to the table and commands the stimulus generation device to perform an operation corresponding to the type, intensity, and duration of the stimulus, depending on the selected tactile sensation.

[0030] 1 to 4, the behavioral illusion generation system 1000 of this embodiment is composed of a selection input unit 100 that selects one from multiple tactile sensations (walking illusion mode 110, kinesthetic illusion mode 120, etc.), a stimulus generation device 500 (1 to 18, 30, 31) that divides the foot 60 of the user 50 into multiple regions and arranges it in each region, a recording unit 300 that stores a table 400 that sets the type, intensity, and duration of stimuli corresponding to the tactile sensations (walking illusion mode 110, kinesthetic illusion mode 120, etc.) based on a previously acquired correlation between the tactile sensations generated by the stimulus generation device 500 and multiple types of stimuli, and a command unit 200 that refers to the table 400 and commands the stimulus generation device 500 to perform an operation corresponding to the type, intensity, and duration of the stimulus depending on the selected tactile sensation (walking illusion mode 110, kinesthetic illusion mode 120, etc.).

[0031] The selection input unit 100 functions like a switch, allowing the user 50 to select which behavioral illusion to perform. The behavioral illusion here refers to a "tactile sensation" that occurs when the foot 60 of the user 50 is stimulated. Figure 1 shows a walking illusion mode 110 and a kinesthetic illusion mode 120 as examples of "tactile sensations," which will be described later.

[0032] In addition to the walking illusion mode 110 and the kinesthetic illusion mode 120 shown in FIG. 1, it is possible to add other modes to the tactile sensation, such as a simple "stepping mode" or a "jumping mode," according to a table obtained in advance. These modes are tentatively designated as X mode and Y mode 130.

[0033] The selection input unit 100 may not only function as a switch, but also read data such as the condition of the foot 60 of the user 50 (for example, walking characteristics such as discomfort or sensitivity in the soles of the user's feet), the results of the previous use of the behavior illusion generation system 1000, etc. The selected "tactile sensation" and data are transmitted to the command unit 200.

[0034] Based on the selection results and data transmitted from the selection input unit 100, the command unit 200 refers to the table 400 stored in the recording unit 300 and creates the instructions necessary to stimulate the foot 60 and reproduce the tactile sensation that virtually creates the illusion of action.

[0035] The table 400 divides the foot 60 into a plurality of regions (see, for example, the divisions in FIG. 5), and sets the type, intensity, and duration of stimuli corresponding to the tactile sensation based on the stimulus generating device 500 disposed in each region and the correlation between the tactile sensation generated by the stimulus generating device 500 and the plurality of types of stimuli obtained in advance. Some examples of the table 400 will be described later, including the basis for the correlation between the tactile sensation and the plurality of types of stimuli.

[0036] The data transmitted from the selection input unit 100 and the instructions created by referring to the table 400 in the recording unit 300 are transmitted to the stimulus generation device 500. The stimulus generation device 500 stimulates the foot 60 based on the type, intensity, and duration of the stimulus according to the instructions.

[0037] The selection input unit 100 may be, for example, a switch using a semiconductor switching element for the selection section, and a media reader or the like for the data input section.

[0038] The command unit 200 can be configured, for example, by a microcomputer, and has a processor CPU for performing calculations, a ROM for storing control programs and lists, tables, and maps of various data, and a RAM for temporarily storing calculation results by the CPU.

[0039] The recording unit 300 is equipped with a nonvolatile memory, and stores necessary data etc. in this nonvolatile memory. The nonvolatile memory can be configured as an EEPROM, which is a rewritable ROM, or a RAM with a backup function that supplies a holding current to retain memory even when the power is turned off.

[0040] 2 and 3, stimulus generating devices 500 are disposed on the sole 62 (FIG. 2), Achilles tendon 64, and quadriceps tendon 66 (FIG. 3) of the foot 60. Multiple stimulus generating devices 500-1 to -18 are disposed on the sole 62 from the toes toward the heel, and stimulus generating devices 500-30 and -31 are disposed on the Achilles tendon 64 and quadriceps tendon 66. These stimulus generating devices 500-1 to -18, -30, and -31 are disposed in designated regions based on the correlation between tactile sensation and stimulation, as determined by the inventor's previous test results and evaluations. Note that FIG. 2 shows an example of lead wires for transmitting and supplying signals and power to operate the stimulus generating devices 500-1, 5, 8, and 16.

[0041] The stimulus generating device 500 may be attached or stuck directly to the foot 60 of the user 50, or may be attached to, for example, a shoe (sandals, sneakers, boots, etc.) that has an insole that fits the sole 62 shown in Figure 2 and further encloses the Achilles tendon 64 and quadriceps tendon 66.

[0042] The stimulus generating device 500 is not particularly limited as long as it applies vibration, and examples thereof include a vibration motor, a voice coil motor, a linear vibration actuator, a piezoelectric actuator, an ultrasonic vibrator, etc. In addition, circuits, actuators, Peltier elements, etc. can be selected and applied as appropriate for stimuli using current, puncture, pressure, or temperature.

[0043] <Explanation of Table 400> Below, several examples of the table 400 that can be applied to this embodiment and the reasons for their application will be described. In creating the following table 400, a voice coil motor (Ipx7 manufactured by Huyunxin, outer diameter 20 mm) was used as the stimulus generation device 500.

[0044] When a person walks, from a standing position, they lift one foot and put it forward, landing on their heel at a position the distance of a stride in front of them. At this time, the load (force) that accompanies the forward movement, which is the mass of the person's body weight, increases as the load moves, and moves from the heel that has landed to the toes. Then, after supporting the load with just one foot, they lift the other foot and put it forward, and the same action is repeated.

[0045] This means that the load range changes when the foot is planted, when weight is applied, and when the foot is pushed off, but this situation cannot be expressed by the strength of vibration alone, so by changing the sensory reception range, the stimulated areas that occur when walking can be reproduced.

[0046] In this way, the load location applied to the foot 60 of the user 50 changes continuously. In order to simulate this movement, it is necessary to continuously change the stimulation position and the amount of stimulation load.

[0047] The first table 410 explains the correlation between tactile sensation and stimulation to induce phantom sensation, which realizes the application of a load covering the entire foot 60 using a limited number of stimulation generating devices 500. Phantom sensation is a tactile sensation phenomenon in which when vibration stimulation is applied to two points on the skin, the stimulation fuses and the vibration is perceived at a point between the two points. It is also known that the perceived position is biased toward the stronger intensity depending on the intensity ratio of the vibration stimulation at the two points.

[0048] The second table 420 simulates the increase or decrease in load at a specific position on the foot 60 as the foot walks, i.e., represents the correlation between the intensity of the tactile sensation and the intensity of the stimulus when the frequency of the stimulus generating device 500 is changed in order to set the expansion or contraction of the stimulation range due to the shift in weight during walking.

[0049] The third table 430 represents the correlation between the intensity of the tactile sensation and the intensity of the stimulus when the frequency of the stimulus generating device 500 is varied over time to simulate the change in the stimulation position on the foot 60 as the person walks.

[0050] The fourth table 440 represents the correlation between tactile sensation and stimulation in the Achilles tendon 64 and quadriceps tendon 66 to create the illusion of movement of the joints of the foot 60 during walking.

[0051] Table 400 is not limited to the first table to the first table, but can be prepared based on previously acquired data related to behavioral illusions, such as by creating a table from visual and audio data 450, as described below, and stored in recording unit 300. The command unit 200 can then use the table according to the situation.

[0052] <Explanation of the first table> The contents of the first table 410 and some of the results previously obtained on which the contents are based will be described with reference to FIGS.

[0053] 5, the sole 62 of the foot 60 is divided into multiple regions (longitudinal direction AH, lateral direction a-d). Stimulus generating devices 500 (1-18) are disposed in some of the regions. Here, roughly, the region (AB, a-d) is near the toes, the region (CF, bc) is near the arch, and the region (GH, bc) is near the heel.

[0054] Now, let us consider a case where a stimulus ST1 is to be applied to an area (AB, cd) near the toes. The stimulus generating devices 500 arranged in this area are (1, 2, 5, 6), and a single stimulus generating device 500 cannot achieve the required load.

[0055] 6, to apply the stimulus ST1, three combinations are provided from the first table 410. For each combination, two stimulus generating devices 500 are selected (e.g., 5 and 6 in the first selected combination), and the amplitudes are set as the respective intensities (a3 for 5, a5 for 6).

[0056] 7 and 8 show a case where the stimulus ST1 to the sole 62 is moved from (5, 6) to (Type A) and then to (7) on the stimulus generation device 500 to a position between (5, 7) (Type B). Note that Type A can be rephrased as stimulation at a short distance to the ball of the foot, and Type B as stimulation at a long distance to the ball of the foot.

[0057] Referring to Figure 9, the test conditions are shown, in which Type A and Type B were subjected to a vibration (amplitude) of 0.1 mm to 1 mm, a frequency of 100 Hz, and a vibration time of 0.5 seconds, and the test was conducted by asking the user whether the tactile sensation moved in the directions indicated by the arrows TR and TL in Figure 7. Furthermore, Figure 10 shows an example of the frequencies at which phantom sensations occurred for frequencies from 10 Hz to 500 Hz to create the first table.

[0058] The test results confirmed that the tactile sensation moved in the directions indicated by the arrows TR and TL in Fig. 7 at all frequencies shown in Fig. 10. By referring to the first table 410 in this way, by arranging the stimulus generating device 500 in an area, a phantom sensation can be generated, resulting in a positionally continuous stimulus ST1.

[0059] In this way, the first table 410 records a combination of the intensity of stimulation to one area and the intensity of stimulation to another area, sandwiched between the point where stimulation ST1 occurs on the foot 60, so that the user 50 feels the stimulation ST1 at the point where stimulation ST1 occurs.

[0060] <Explanation of the second table> Next, with reference to FIGS. 11 to 14, the contents of the second table 420 and some of the results previously obtained on which the contents are based will be described.

[0061] Here, it is assumed that a stimulation ST2 is applied to an area (G, b) near the heel of the sole 62 as shown in FIG. 11, and then a stimulation ST3 is applied to the surrounding area (FH, ac).

[0062] 12, the conditions for stimulus ST2 and stimulus ST3, such as the position at which the stimulus is applied, the stimulus generating device 500 to be activated, and the frequency that determines the intensity of the stimulus, are set in the second table 420. In this example, stimulus ST3 is set to a higher frequency f3 (>f1) than stimulus ST2.

[0063] The evaluation method will now be described with reference to Fig. 13. User 50 subjectively evaluated the vibrations (stimulation) on a scale from "1" to "100," assigning "1" when feeling localized vibrations (stimulation) as shown on the left side of Fig. 13 and "100" when feeling widespread vibrations (stimulation) as shown on the right side.

[0064] The test was carried out several times (four times), as shown in Figure 14, with vibration applied for a set period of time, followed by a break (rest) and then the frequency was changed. As a result, it was found that at frequencies above 150 Hz, vibration (stimulation) was felt widely in the heel, and at frequencies below that, vibration (stimulation) was felt locally. Similar tests were also carried out on parts of the body other than the heel.

[0065] The general trend of the test was that applying a high frequency caused the vibration (stimulation) to be felt widely, while applying a low frequency caused the vibration (stimulation) to be felt locally, and the second table 420 summarizes the frequency thresholds for the frequency at which the vibration (stimulation) is felt widely and the frequency thresholds for the frequency at which the vibration (stimulation) is felt locally for each area of ​​the sole 62. The second table 420 simulates the increase and decrease in load on a specific position of the foot 60 as the person walks, i.e., it is a table showing the correlation between the intensity of the tactile sensation and the intensity of the stimulus when the frequency of the stimulus generating device 500 is changed, in order to set the expansion and contraction of the stimulation range due to the shift in weight during walking.

[0066] <Explanation of the third table> Next, the contents of the third table 430 and some of the results previously acquired as the basis thereof will be described with reference to FIGS.

[0067] Referring to Fig. 15, a third table 430 shows the sensitivity to vibration (stimulation) when the frequency is changed for a specified area (the heel and the hypothenar area in Fig. 15). The sensitivity is the same as that shown in Fig. 13.

[0068] Looking at the table for the "heel" region, when the stimulus generating device 500(18) is vibrated at a frequency of 50-100Hz, the sensitivity is 40-50, and when it is vibrated at a frequency of 150-500Hz, the sensitivity is 65-80. Looking at the table for the "thenar region," when the stimulus generating device 500(4) is vibrated at a frequency of 50-300Hz, the sensitivity is 40-50, and when it is vibrated at a frequency of 350-500Hz, the sensitivity is 65-80.

[0069] Figure 16 shows the test results for creating the "heel" table. Figure 16 shows a case in which a stimulus ST4 was applied to the heel of the sole 62. In this way, the third table 430 records the correlation between the tactile intensity and the stimulus intensity when the frequency of the stimulus generating device 500 is varied over time to simulate the change in the stimulus position on the foot 60 as the person walks.

[0070] The inventors have discovered that the sensation of the user 50 is different when stimulation is applied continuously than when stimulation is interrupted and then resumed after a sufficient time has passed. That is, when the vibration pattern shown in Fig. 17 is used, as shown in Fig. 18, even if the frequency is the same 100 Hz, the sensation is different between the first 100 Hz (left side) and the last 100 Hz in Fig. 17, and the stimulation ST4 to the sole 62 becomes a wide-area stimulation ST4 in the former and a localized stimulation ST4 in the latter.

[0071] As described above, the third table 430 may also be optionally configured to vary the vibration frequency at predetermined time intervals in the following order: from a predetermined first frequency to a second frequency higher than the first frequency, a third frequency lower than the first frequency, and a fourth frequency higher than the first frequency; or from the predetermined first frequency to a fifth frequency higher than the first frequency, a sixth frequency lower than the first frequency, and a seventh frequency higher than the first frequency. In this way, varying the frequency allows for expansion and contraction of the stimulation. According to this configuration, varying the frequency in order from high to low can also enhance the sensation in the foot 60 of the user 50.

[0072] <Synchronization of the first, second, and third tables with video and audio> Next, referring to Figure 19, we will explain an example of synchronizing visual and audio when applying stimuli to the foot 60 of the user 50 using the stimulus generating device 500 in accordance with the walking illusion mode 110 set from the first table 410, the second table 420, and the third table 430.

[0073] 19, in addition to the system of FIG. 4, a media device 600 that reproduces video and audio is connected to the command unit 200, and video and audio data 450 is stored in the recording unit 300.

[0074] The command unit 200 commands the stimulus generating device 500, which corresponds to the walking illusion reproduced based on the first table 410, the second table 420, and the third table 430, i.e., the tactile sensation that occurs when walking on road conditions, to perform an operation corresponding to the type, intensity, and duration of the stimulus, and synchronizes the operation with the video and audio data 450 to cause the media device 600 to reproduce the video and audio.

[0075] According to this configuration, the user 50 can experience virtual reality (VR) or augmented reality (AR) by adding visual and audio information from the media device to the walking illusion.

[0076] Furthermore, this configuration allows the virtual realization of an actual outdoor walk by reproducing the situation encountered when actually walking as video and audio, while generating the illusion of walking.

[0077] <Explanation of the fourth table>

[0078] Next, with reference to FIGS. 20, 21, and 22, the contents of the fourth table 440 and some of the results previously obtained on which the contents are based will be described.

[0079] Referring to FIG. 20, a fourth table 440 is set to apply a stimulus (vibration) of 75 Hz to the Achilles tendon 64 and the quadriceps tendon 66 for a fixed time t.

[0080] The fourth table 440 executes the kinesthetic illusion mode 120. The kinesthetic illusion is, for example, as shown in Figure 21, when stimulation is applied to the Achilles tendon 64 of an elderly person with weak legs or a physically disabled person who has difficulty walking, although the actual foot 60 does not move as shown in the upper part of Figure 21 (actual foot), the lower part (mental image) gives the impression that the ankle is bent upward.

[0081] If the user 50 is a healthy person, this kinesthetic illusion creates the illusion of movement even when the user is lying on their back, so it is possible to create tactile sensations that give the illusion of walking, exercise, and other actions in various VR and AR situations other than sitting.

[0082] By visually sensing the difference between the upper part (actual foot) and the lower part (mental image) of Figure 21, the user 50 can correct the movement of his or her ankle as shown on the right side of Figure 21. This correction helps restore the movement of putting the foot forward when walking to a normal state, as shown in Figure 22, and achieve an appropriate stride length.

[0083] Thus, the fourth table 440 records combinations of stimulation to the areas near the user's 50's Achilles tendon 64 and quadriceps tendon 66, and the ankle angle corresponding to the expected stride length of the user's 50 when walking.

[0084] When the kinesthetic illusion mode 120 is selected in the selection input unit 100, the fourth table 440 can be referenced to set the range of the stimulation that corresponds to the stride length of the user 50 when walking.

[0085] In detail, when realizing the kinesthetic illusion mode 120, the fourth table 440 can be referenced to set a combination of stimulation to the areas near the user's 50's Achilles tendon 64 and near the quadriceps tendon 66, and the ankle angle corresponding to the expected stride length of the user's 50 when walking.

[0086] This configuration can expand the range of postures that can be taken by the user 50. Furthermore, in the case of a user 50 who cannot move his or her feet as desired, it is possible to train the ankle bending during normal walking, thereby realizing a kinesthetic illusion that serves as a preparatory step for safer walking training.

[0087] Next, with reference to the table 400 described above, we will explain the flow of the walking illusion mode 110 and the kinesthetic illusion mode 120 as an example of the behavioral illusion generation system 1000 that applies stimuli to the foot 60. Note that each component has already been described, so we will only briefly explain it here.

[0088] <Example of walking illusion mode> 23 shows the flow when walking illusion mode 110 is selected. Note that steps STP1 to STP3 and STP8 in this flow involve actions by the user 50 and the person providing support, some of which are beyond the technical scope of the present invention. These are included here because they are usually recommended support actions for realizing this embodiment.

[0089] The user 50 selects the walking illusion mode 110 on the selection input unit 100 (STP1). Then, the user 50 adjusts the position of the user's foot 60 and the stimulus generating device 500 (STP2). After the user 50 attaches the stimulus generating device 500 to the foot 60 or places the stimulus generating device 500 in contact with the foot 60, the user 50 calibrates the sensitivity of the sensation of the user's foot 60 and the intensity of the stimulus generating device 500 (STP3). With this, the user 50 is ready.

[0090] At this time, data such as the condition of the user's 50's foot 60 (for example, characteristics of the user's walking condition, such as discomfort or sensitivity in the soles of the feet), and the results of the previous use of the behavioral illusion generation system 1000 may be read from the selection input unit 100.

[0091] Next, the command unit 200 of the behavioral illusion production system 1000 references the first table 410 stored in the recording unit 300 to set the stimulation location and intensity (STP4). Next, it references the second table 420 to set the stimulation range (STP5). It then references the third table 430 to set the expansion / contraction transition of the stimulation range (STP6). Optionally, it also sets video and images that match the walking illusion sequence (STP7).

[0092] After the above steps STP1 to STP7 are executed, the behavioral illusion in walking illusion mode 110 is started (STP8).

[0093] <Example of kinesthetic illusion mode> 24 shows the flow when kinesthetic illusion mode 120 is selected. Note that STP1 to STP3 in this flow partially involve actions by user 50 and the person providing support, which are beyond the technical scope of the present invention.

[0094] The user 50 selects the kinesthetic illusion mode 120 of the selection input unit 100 (STP1). Then, the user 50 adjusts the position of his / her foot 60 and the stimulus generating device 500 (STP2). After the user 50 attaches the stimulus generating device 500 to the foot 60 or places the stimulus generating device 500 in contact with the foot 60, the user 50 calibrates the sensitivity of the sensation of the user's 50 foot 60 and the intensity of the stimulus generating device 500 (STP3). With this, the user 50 is ready.

[0095] Next, the command unit 200 of the behavioral illusion production system 1000 refers to the fourth table 440 stored in the recording unit 300 to set the stimulation location and intensity (STP4). After executing the above steps STP1 to STP4, the behavioral illusion in the kinesthetic illusion mode 120 is started (STP5).

[0096] As described above, the present invention provides a behavioral illusion generation system that generates tactile sensations that create the illusion of walking, exercise, or other actions even when the user is not in a standing position. Specifically, the present invention provides a system that stimulates the feet to reproduce tactile sensations that virtually create a movement illusion. Note that the aspects of the present disclosure are not limited to the above-described embodiments, and modifications are possible within the scope of the spirit of the present disclosure. [Explanation of symbols]

[0097] 50...User 60...foot 62. Soles of the feet 64. Achilles tendon 66...quadriceps tendon 100 Selection input section 110...Walking illusion mode 120···Kinesthetic illusion mode 130 X mode, Y mode 200...Command Department 300 Recording section 400...table 410...First Table 420...Second Table 430...Third Table 440...Fourth Table 450...Video and audio data 500···Stimulus generating device (1~18,31,32) 1000···Behavioral illusion generation system ST1~ST4...Stimulation

Claims

1. A foot behavior illusion generation system that reproduces tactile sensations by stimulating the user's foot, including the knee, ankle, heel, sole, and toes, to virtually generate a behavior illusion, a selection input unit for selecting one of a plurality of tactile sensations; The foot is divided into a plurality of regions, and a stimulus generating device is provided for each region; a recording unit that stores a table that sets the type, intensity, and duration of the stimulus corresponding to the tactile sensation based on a correlation between the tactile sensation generated by the stimulus generating device and a plurality of types of stimuli that have been previously acquired; a command unit that refers to the table in accordance with the selected tactile sensation and commands the stimulus generating device to perform an operation corresponding to the type, intensity, and duration of the stimulus; A foot motion illusion generation system equipped with

2. the stimulus generating device is a vibrator; The behavioral illusion production system according to claim 1 , wherein the command unit commands the vibrator to specify a frequency, amplitude, and excitation time of vibration corresponding to the type, intensity, and time of the stimulus.

3. The table comprises a plurality of tables, a first table recording a combination of an intensity of the stimulus to one of the regions and an intensity of the stimulus to the other of the regions sandwiching a stimulus generation point on the foot, so that the user feels the stimulus at the stimulus generation point; A second table records a combination of the range of stimuli for a certain frequency when the vibrator is excited, and 3. The behavioral illusion production system of claim 2, wherein the selection input unit is provided with a walking illusion mode, and when the walking illusion mode is selected, the selection input unit refers to the first table to set the stimulation location, and refers to the second table to set the range of the stimulation corresponding to the expected weight shift of the user when walking.

4. The table further comprises a third table; A third table records a combination of the expansion and contraction of the range of stimulation due to a change in frequency when the vibrator is excited, The behavioral illusion generation system according to claim 3 , wherein the third table is referenced to set the progression of expansion and contraction of the range of the stimulus corresponding to the expected road surface conditions when the user is walking.

5. 5. The behavioral illusion production system of claim 4, wherein the third table applies vibrations at predetermined time intervals in the following order: a predetermined first frequency, a second frequency higher than the first frequency, a third frequency lower than the first frequency, and a fourth frequency higher than the first frequency; or a predetermined first frequency, a fifth frequency higher than the first frequency, a sixth frequency lower than the first frequency, and a seventh frequency higher than the first frequency.

6. It also comes equipped with a media device that reproduces video and audio. The recording unit stores a plurality of images and sounds of walking on the road surface conditions, The behavioral illusion generation system described in claim 4 or claim 5, wherein the command unit commands the stimulus generation device, which corresponds to the tactile sensation caused by walking on the road surface conditions, to perform an action corresponding to the type, intensity, and duration of the stimulus, and synchronizes the action with the video and audio to cause the media device to reproduce the video and audio.

7. The table includes a fourth table; the fourth table records combinations of the stimulation to the areas near the Achilles tendon and near the quadriceps tendon of the user and ankle angles corresponding to an assumed stride length when the user walks; 3. The behavioral illusion production system according to claim 2, wherein the selection input unit is provided with a kinesthetic illusion mode, and when the kinesthetic illusion mode is selected, the selection input unit refers to the fourth table to set a range of the stimulation corresponding to the stride length of the user when walking.

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