Technology transfer support system, technology transfer support method, and technology transfer support program

Abstract

This system provides a technology transfer support system that helps to pass on the skills of experienced workers to new workers through a series of prescribed actions that minimize physical strain. [Solution] The technology transfer support system 1A of the present invention comprises at least one measuring device 10 that measures the acceleration and angular velocity associated with the posture and movements of a subject U during work, and an information processing device 20 that evaluates the work of the subject U based on the acceleration data and angular velocity data of the subject U acquired by the measuring device 10. The information processing device 20 has a calculation unit 22 that calculates jerk, angular jerk, and posture angle in three mutually orthogonal axis directions from the subject's acceleration data and angular velocity data, and an evaluation unit 24 that compares each jerk, each angular jerk, and each posture angle calculated by the calculation unit 22 with a threshold value set based on the posture and movements of a skilled worker that are set in advance, and evaluates whether each jerk, each angular jerk, and each posture angle of the subject is greater than or equal to the threshold value.

Description

Technical Field

[0001] The present invention relates to a technology inheritance support system, a technology inheritance support method, and a technology inheritance support program for assisting in inheriting the work technology of skilled workers to unskilled workers.

Background Art

[0002] For example, in industries that work using the body such as the medical and welfare service industry, the transportation industry, and the construction industry, workers who are not used to the work need to perform the same work as skilled workers. Also, in such industries, there has been a shortage of manpower in recent years, and the number of scenes where unskilled workers such as non-regular workers, elderly workers, and foreign workers are engaged in work has been increasing. Unskilled workers sometimes perform work with unreasonable postures and movements, and there has been a problem that their bodies are damaged by such unreasonable postures and movements. That is, for example, in caregiving work such as transfer work of transferring a care recipient from a bed to a wheelchair or from a wheelchair to a bed, bathing assistance work of assisting a care recipient in taking a bath, and defecation support work of supporting a care recipient on the toilet during defecation, when caring for a care recipient, there has been a problem that the worker's waist is damaged as a result of performing work with unreasonable postures and movements.

[0003] In order to solve such problems, it is desirable for unskilled workers to acquire the work technology of skilled workers at an early stage. For example, in Patent Document 1, a technology inheritance trace system that can inherit the technology of skilled workers to unskilled workers even when skilled workers are absent has been developed. Also, in Patent Document 2, a load measurement system that can calculate a load index representing the degree of load on the user's body has been developed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

[0005] The technology transfer tracing system described in Patent Document 1 compares pre-prepared motion model data for a skilled worker's predetermined task with actual motion data corresponding to the worker's actual actions, and converts the motion model data into a format corresponding to the actual motion data. Then, by superimposing the actual motion data and the converted motion model data on the screen, it determines whether the worker's predetermined task is correct based on whether the amount of discrepancy between the actual motion data and the converted motion model data on the screen is within a predetermined threshold.

[0006] The load measurement system described in Patent Document 2 involves attaching a load measurement device with acceleration sensors at positions separated from the waist to the upper and lower sides of the spine in the direction of extension. It measures physical quantities that reflect the user's posture, such as the tilt and rotation of the upper body, for example, the angle of the spine relative to the ground due to waist flexion. The system then calculates the degree of strain on the waist based on the measured values, compares it to a predetermined standard, and issues a warning according to the result of the comparison.

[0007] However, the systems described in Patent Documents 1 and 2 compare the posture or movements of unskilled workers with those of skilled workers, or ideal postures or movements, but they do not evaluate the smoothness of movement, which is an important element in work. As a result, unskilled workers may focus too much on their posture or specific movements, leading to problems such as the transitions between postures or between specific movements becoming uneven, causing strain on the body and potentially resulting in injury.

[0008] The present invention was made to solve the above problems and aims to provide a technology transfer support system, a technology transfer support method, and a technology transfer support program that support the transfer of skilled techniques from experienced workers to workers through a series of predetermined actions that minimize physical strain. [Means for solving the problem]

[0009] The technology transfer support system of the present invention comprises at least one measuring device that measures the acceleration and angular velocity in three mutually orthogonal axes, or coordinates in three mutually orthogonal axes, associated with the posture and movements of a subject during work, and an information processing device that evaluates the subject's work based on the acceleration data and angular velocity data, or the subject's coordinate data, acquired by the measuring device. The information processing device includes a calculation unit that calculates at least one of the jerk related to vertical movement, left-right movement and forward-backward movement, and the angular jerk related to forward bending, lateral bending and rotation, as well as posture angles related to forward bending, lateral bending and rotation, from the acceleration data and angular velocity data, or the subject's coordinate data, acquired by the measuring device, and an evaluation unit that compares at least one of each jerk and each angular jerk, and each posture angle calculated by the calculation unit, with a preset threshold, to evaluate whether at least one of each jerk and each angular jerk, and each posture angle of the subject are greater than or equal to the threshold. The threshold is set based on at least one of the model jerk related to vertical, horizontal, and longitudinal movements, and the model angular jerk related to flexion, lateral flexion, and rotational movements, as well as the model posture angle related to flexion, lateral flexion, and rotation, calculated by the calculation unit from acceleration model data and angular velocity model data in three mutually orthogonal axes, or coordinate model data in three mutually orthogonal axes, associated with the posture and movements of a skilled worker during a predetermined task, acquired by the measuring device.

[0010] In a preferred embodiment of the technology transfer support system, the measuring device includes a first measuring device that is attached to the upper spine of the subject and measures acceleration and angular velocity in three mutually orthogonal axial directions.

[0011] In a more preferred embodiment of the technology transfer support system, the measuring device further includes a second measuring device that is attached to the pelvic region of the subject and measures acceleration and angular velocity in three mutually orthogonal axial directions.

[0012] Furthermore, a preferred embodiment of the technology transfer support system further includes a warning device that operates based on the evaluation results of the evaluation unit. The information processing device further includes a warning instruction unit that instructs the warning device to issue a warning based on the evaluation results of the evaluation unit. The warning instruction unit instructs the warning to issue a warning if at least one of the subject's jerk and angular jerk, and at least one of the subject's posture angles, is above a threshold. The warning device issues different warnings depending on whether at least one of the subject's jerk and angular jerk is above a threshold or whether at least one of the subject's posture angles is above a threshold.

[0013] In a more preferred embodiment of the technology transfer support system, the warning device emits an audible warning if at least one of the subject's jerk and angular jerk is above a threshold, and emits a vibrational warning if at least one of the subject's posture angles is above a threshold.

[0014] In a more preferred embodiment of the technology transfer support system, the warning device emits a warning using light.

[0015] Furthermore, the present invention's method for supporting the transfer of technology includes: a data acquisition step of acquiring acceleration data and angular velocity data in three mutually orthogonal axes, or coordinate data in three mutually orthogonal axes, associated with the posture and movements of the subject during work, measured by a measuring device; a calculation step of calculating at least one of the jerk related to vertical movement, left-right movement and forward-backward movement, and the angular jerk related to flexion, lateral flexion and rotation, as well as posture angles related to flexion, lateral flexion and rotation, from the acquired acceleration data and angular velocity data of the subject, or the coordinate data of the subject; and an evaluation step of comparing at least one of the calculated jerk and angular jerk, and each posture angle, with a preset threshold, to evaluate whether at least one of the subject's jerk and angular jerk, and each posture angle are greater than or equal to the threshold. The threshold is set based on at least one of the model jerk related to vertical, horizontal, and longitudinal movements, and the model angular jerk related to flexion, lateral flexion, and rotational movements, as well as the model posture angle related to flexion, lateral flexion, and rotation, calculated from the acceleration model data and angular velocity model data in three mutually orthogonal axes, or coordinate model data in three mutually orthogonal axes, associated with the posture and movements of a skilled worker during a predetermined task, acquired by a measuring device.

[0016] Furthermore, the technology transfer support program of the present invention causes a computer to perform a process that includes: a data acquisition step of acquiring acceleration data and angular velocity data in three mutually orthogonal axes, or coordinate data in three mutually orthogonal axes, associated with the posture and movements of a subject during work, measured by a measuring device; a calculation step of calculating at least one of the jerk related to vertical movement, left-right movement and forward-backward movement, and the angular jerk related to flexion, lateral flexion and rotation, as well as posture angles related to flexion, lateral flexion and rotation, from the acquired acceleration data and angular velocity data of the subject, or the coordinate data of the subject; and an evaluation step of comparing at least one of the calculated jerk and angular jerk, and each posture angle, with a preset threshold, to evaluate whether at least one of the subject's jerk and angular jerk, and each posture angle are greater than or equal to the threshold. The threshold is set based on acceleration model data and angular velocity model data in three mutually orthogonal axes, or coordinate data in three mutually orthogonal axes, associated with the posture and movements of a skilled worker during a predetermined task, acquired by a measuring device, and at least one of the model jerk related to vertical, horizontal, and longitudinal movements, and the model angular jerk related to flexion, lateral flexion, and rotation, as well as the model posture angles related to flexion, lateral flexion, and rotation. [Effects of the Invention]

[0017] According to the present invention, the skills of experienced workers can be passed on to workers through a series of actions in a predetermined task, with minimal physical strain. [Brief explanation of the drawing]

[0018] [Figure 1] This is a block diagram showing the configuration of the technology transfer support system according to Embodiment 1 of the present invention. [Figure 2] Figure 1 is a rear view showing the measurement device of the technology transfer support system attached to the subject. [Figure 3] This is a flowchart showing a method for supporting the transfer of technical knowledge according to Embodiment 1 of the present invention. [Figure 4] This is a block diagram showing the configuration of the technology transfer support system according to Embodiment 2 of the present invention. [Figure 5]It is a rear view showing the state where the measuring device of the technology inheritance support system in FIG. 4 is attached to the subject. [Figure 6] It is a graph showing the evaluation result of the jump degree of the vertical movement of the upper spinal column in Example 1. [Figure 7] It is a graph showing the evaluation result of the jump degree of the left - right movement of the upper spinal column in Example 1. [Figure 8] It is a graph showing the evaluation result of the jump degree of the front - back movement of the upper spinal column in Example 1. [Figure 9] It is a graph showing the evaluation result of the posture angle of the forward flexion of the upper spinal column in Example 1. [Figure 10] It is a graph showing the evaluation result of the posture angle of the lateral flexion of the upper spinal column in Example 1. [Figure 11] It is a graph showing the evaluation result of the posture angle of the rotation of the upper spinal column in Example 1. [Figure 12] It is a graph showing the evaluation result of the angular jump degree of the forward flexion movement of the upper spinal column in Example 1. [Figure 13] It is a graph showing the evaluation result of the angular jump degree of the lateral flexion movement of the upper spinal column in Example 1. [Figure 14] It is a graph showing the evaluation result of the angular jump degree of the rotation movement of the upper spinal column in Example 1. [Figure 15] It is a graph showing the evaluation result of the jump degree of the vertical movement of the pelvis in Example 2. [Figure 16] It is a graph showing the evaluation result of the jump degree of the left - right movement of the pelvis in Example 2. [Figure 17] It is a graph showing the evaluation result of the jump degree of the front - back movement of the pelvis in Example 2. [Figure 18] It is a graph showing the evaluation result of the posture angle of the forward flexion of the trunk in Example 2. [Figure 19] It is a graph showing the evaluation result of the posture angle of the lateral flexion of the trunk in Example 2. [Figure 20] It is a graph showing the evaluation result of the posture angle of the rotation of the trunk in Example 2. [Figure 21] It is a graph showing the evaluation result of the angular jump degree of the forward flexion movement of the trunk in Example 2. [Figure 22]This graph shows the evaluation results of the angular jerk of lateral flexion of the trunk in Example 2. [Figure 23] This graph shows the evaluation results of the angular jerk of trunk rotation in Example 2. [Modes for carrying out the invention]

[0019] Embodiments of the present invention will be described below with reference to the accompanying drawings. The technology transfer support system of the present invention is a system that evaluates the work of a subject by comparing it with the work of a skilled person, in order to support the transfer of the work skills of a skilled person to a subject who is unfamiliar with the work.

[0020] [Embodiment 1] First, with reference to Figures 1 and 2, the technology transfer support system 1A according to Embodiment 1 of the present invention will be described. Figure 1 is a block diagram showing the configuration of the technology transfer support system 1A according to Embodiment 1. Figure 2 is a rear view showing the measuring device 10 of the technology transfer support system 1A of Embodiment 1 attached to the subject U. Hereafter, as shown in Figure 2, the front-to-back direction, left-to-right direction, and up-and-down direction will be defined based on the front-to-back, left-to-right, up-and-down direction of the subject.

[0021] As shown in Figure 1, the technology transfer support system 1A comprises a measuring device 10, an information processing device 20, and a warning device 30. The technology transfer support system 1A may further include a display device 40. The measuring device 10, the information processing device 20, the warning device 30, and the display device 40 are connected either directly or via a network such as the Internet, LAN (Local Area Network), or Bluetooth®.

[0022] The measuring device 10 is a device that measures the acceleration and angular velocity in three mutually orthogonal axes associated with the posture and movements of the subject U during work. As shown in Figure 2, in Embodiment 1, the measuring device 10 has a first measuring device 11 attached to the upper spine of the subject U on the back of the subject U. Whether or not the subject U is moving smoothly can be determined by understanding the movement of the subject U's trunk, and since the movement of the upper spine is highly correlated with the movement of the trunk, in Embodiment 1, the first measuring device 11 is attached to the upper spine of the subject U. The first measuring device 11 consists of an acceleration sensor capable of measuring acceleration in the vertical, horizontal, and longitudinal directions, and an angular velocity sensor capable of measuring angular velocity around the axes in the vertical, horizontal, and longitudinal directions. For example, the first measuring device 11 may use a 3-axis acceleration sensor, a 3-axis gyro sensor, or an inertial measurement unit (IMU). The first measuring device 11 measures the acceleration and angular velocity generated in the upper spine of the subject U over time along the time axis while the subject U performs a predetermined task. The first measuring device 11 transmits the measured acceleration and angular velocity to the information processing device 20 as acceleration data and angular velocity data.

[0023] Here, designated tasks include, for example, in the case of caregiving work, tasks such as transferring a person being cared for from a bed to a wheelchair or from a wheelchair to a bed, assisting a person being cared for with bathing, and assisting a person being cared for with defecation in the toilet. It should be noted that designated tasks are not limited to caregiving work; they also include transportation work involving handling goods, and construction work at building sites.

[0024] The information processing device 20 is a device that evaluates the work of subject U based on acceleration data and angular velocity data of subject U acquired by the measuring device 10. The information processing device 20 comprises an acquisition unit 21, a calculation unit 22, a threshold setting unit 23, an evaluation unit 24, a warning instruction unit 25, a storage unit 26, and a control unit 27. The information processing device 20 is a computer such as a microcomputer or a server computer.

[0025] The acquisition unit 21 acquires the acceleration in the vertical, horizontal, and longitudinal directions, as well as the angular velocity around the axes in the vertical, horizontal, and longitudinal directions, as measured by the measuring device 10. Specifically, the acquisition unit 21 acquires the acceleration data and angular velocity data transmitted by the measuring device 10.

[0026] The calculation unit 22 calculates the jerk related to the vertical, horizontal, and longitudinal movements of the subject U, the posture angle related to the subject U's flexion, lateral flexion, and rotation, and the angular jerk related to the subject U's flexion, lateral flexion, and rotation from the acceleration data and angular velocity data of the subject U acquired by the measuring device 10. Here, the jerk and angular jerk are the jerk and angular jerk of the position of the first measuring device 11 attached to the subject U, i.e., the upper spine, and the posture angle is the displacement of the Euler angle per sampling time of the position of the first measuring device 11 attached to the subject U, i.e., the upper spine.

[0027] Specifically, jerk is calculated by differentiating the acceleration data in three mutually orthogonal axes measured by the first measuring device 11 to calculate the jerk related to vertical, horizontal, and longitudinal movements. The posture angle is calculated by integrating the angular velocity data in three mutually orthogonal axes measured by the first measuring device 11 to calculate the Euler angles related to flexion, lateral flexion, and rotation, and then determining the displacement of the Euler angles for each sampling time to calculate the posture angle related to flexion, lateral flexion, and rotation. The angular jerk is calculated by differentiating the angular velocity data measured by the first measuring device 11 to calculate the angular acceleration data related to flexion, lateral flexion, and rotation, and then further differentiating the angular acceleration data to calculate the angular jerk related to flexion, lateral flexion, and rotation.

[0028] The threshold setting unit 23 sets thresholds, which are limit values ​​for each jerk, each posture angle, and each angular jerk of the subject U. The thresholds are set based on the model jerks related to vertical, horizontal, and longitudinal movements, the model posture angles related to flexion, lateral flexion, and rotation, and the model angular jerks related to flexion, lateral flexion, and rotation, which are calculated by the calculation unit 22 from acceleration model data and angular velocity model data in three mutually orthogonal axes associated with the posture and movements of a skilled worker during a predetermined task, acquired by the measuring device 10.

[0029] Specifically, the measuring device 10 is attached to a skilled worker in advance to measure the acceleration and angular velocity associated with the worker's posture and movements while they perform various predetermined tasks. The acceleration and angular velocity measured by the measuring device 10 are then stored in the storage unit 26 of the information processing device 20 as the skilled worker's acceleration model data and angular velocity model data.

[0030] In this case, acceleration model data and angular velocity model data are stored for each of the multiple predetermined tasks. Furthermore, since the posture and movements of the work differ depending on the location where the predetermined tasks are performed, such as a nursing home, the acceleration model data and angular velocity model data may be stored for each nursing home, and even for each location within the nursing home where the predetermined tasks are performed. Alternatively, the acceleration model data and angular velocity model data may be created from the acceleration and angular velocity associated with the posture and movements of multiple skilled workers during each predetermined task. In this case, the data is created by averaging the acceleration and angular velocity of multiple skilled workers at predetermined sampling time intervals from the start to the end of the work.

[0031] The threshold setting unit 23 reads acceleration model data and angular velocity model data related to a predetermined task for setting thresholds stored in the memory unit 26, and causes the calculation unit 22 to calculate each model jerk, each model posture angle, and each model angular jerk in the same manner as in the case of the subject U. Then, the threshold setting unit 23 obtains each model jerk, each model posture angle, and each model angular jerk from the calculation unit 22 and calculates the maximum value of each model jerk, each model posture angle, and each model angular jerk. Then, the threshold setting unit 23 adds a preset standard deviation to the maximum value of each model jerk, each model posture angle, and each model angular jerk to set the thresholds for jerk related to vertical, horizontal, and longitudinal movements, the thresholds for posture angles related to flexion, lateral flexion, and rotation, and the thresholds for angular jerk related to flexion, lateral flexion, and rotation. The standard deviation is a value calculated from each model jerk, each model posture angle, and each model angular jerk of multiple skilled workers who performed the same predetermined task.

[0032] The evaluation unit 24 compares each jerk, each posture angle, and each angular jerk calculated by the calculation unit 22 with a preset threshold to evaluate whether each jerk, each posture angle, and each angular jerk of subject U is equal to or greater than the threshold. While subject U is performing a predetermined task, the evaluation unit 24 determines at each sampling time whether each jerk, each posture angle, and each angular jerk of subject U exceeds the threshold for each jerk, each posture angle, and each angular jerk corresponding to the predetermined task performed by subject U, and evaluates subject U's work.

[0033] The warning instruction unit 25 instructs the warning device 30 to issue a warning based on the evaluation results of the evaluation unit 24. The warning instruction unit 25 instructs the warning to issue a warning if at least one of the subject U's jerk, posture angle, and angular jerk is above a threshold.

[0034] The memory unit 26 stores various information, data, and programs. The memory unit 26 is composed of ROM (Read Only Memory) and RAM (Random Access Memory). For multiple predetermined tasks, the memory unit 26 stores acceleration model data and angular velocity model data of skilled workers for each predetermined task. The memory unit 26 also stores a technology transfer support program that evaluates the work of the target person U.

[0035] The control unit 27 is composed of a processor such as a CPU (Central Processing Unit). The control unit 27 controls the operation of the acquisition unit 21, calculation unit 22, threshold setting unit 23, evaluation unit 24, warning instruction unit 25, and storage unit 26 by executing a program.

[0036] The warning device 30 operates based on the evaluation results of the evaluation unit 24. The warning device 30 issues a warning when at least one of the subject U's jerk, posture angle, and angular jerk exceeds a threshold. Preferably, the warning device 30 issues different warnings depending on whether at least one of the subject U's jerk and angular jerk exceeds a threshold, or whether at least one of the subject U's posture angles exceeds a threshold.

[0037] In Embodiment 1, the warning device 30 includes a first warning device 31 that emits a warning by sound and vibration, and a light warning device 33 that emits a warning by light. The first warning device 31 is, for example, a small speaker and / or vibration generator. The first warning device 31 is installed on the back of the subject U, on the upper spine of the subject U. The light warning device 33 is, for example, an LED warning light. The light warning device 33 is installed in a location where the subject U is performing a predetermined task, and is positioned so that it can be mainly seen by the instructor who is guiding the subject U while the subject U is performing the predetermined task. This allows the instructor to grasp the posture and movements of the subject U and to provide guidance easily. The light warning device 33 may also be installed in a position where the subject U can see it along with the instructor.

[0038] If at least one of the jerk and angular jerk of the subject U exceeds a threshold, the warning device 30 will: first warning device 31 will emit an audible warning, and the light warning device 33 will emit a warning in a first color. If at least one of the posture angles of the subject U exceeds a threshold, the first warning device 31 will emit a vibrational warning, and the light warning device 33 will emit a warning in a second color. If at least one of the jerk and angular jerk of the subject U and at least one of the posture angles of the subject U both exceed a threshold, the first warning device 31 will emit an audible and vibrational warning, and the light warning device 33 will emit a warning in a third color.

[0039] In Embodiment 1, the first measuring device 11 and the first warning device 31 are configured as a single, compact device. The first measuring device 11 and the first warning device 31 are attached to a vest or the like, and when the subject U wears the vest or the like, the first measuring device 11 and the first warning device 31 are positioned on the upper spine of the subject U, as shown in Figure 2. The information processing device 20 is configured as a server computer and is connected to the first measuring device 11 and the first warning device 31 via a network.

[0040] The display device 40 is a device that allows subject U to visually confirm, after the fact, the results of the evaluation of a series of predetermined tasks performed by subject U in the technology transfer support system 1. The display device 40 displays subject U's jerk, posture angle, and angular jerk in the series of predetermined tasks, comparing them with the model jerk, model posture angle, and model angular jerk of an expert in the same series of predetermined tasks. The display device 40 can be, for example, a television monitor, a display, or a mobile device display.

[0041] Next, with reference to Figure 3, a technology transfer support method for evaluating the work of the target person U based on the technology transfer support system 1A will be described. Figure 3 is a flowchart of the technology transfer support method according to Embodiment 1. Each process of the technology transfer support method is executed by a technology transfer support program stored in the information processing device 20.

[0042] The following describes a technology transfer support method in which the measuring device 10 measures acceleration in the vertical, horizontal, and longitudinal directions, as well as angular velocity around the axes in the vertical, horizontal, and longitudinal directions, to evaluate the work of the subject U.

[0043] First, before starting work, the subject U activates the technology transfer support system 1A, selects the predetermined task to be performed, and then begins the work. Once the predetermined task is selected, the threshold setting unit 23 acquires acceleration model data and angular velocity model data in three mutually orthogonal axes related to the selected predetermined task from the storage unit 26 (S10). The threshold setting unit 23 then transmits the acquired acceleration model data and angular velocity model data to the calculation unit 22, causing the calculation unit 22 to calculate each model jerk, each model attitude angle, and each model angular jerk.

[0044] When the calculation unit 22 receives the acquired acceleration model data and each velocity model data, it calculates the model jerk related to vertical, horizontal, and longitudinal movements, the model posture angle related to flexion, lateral flexion, and rotation, and the model angular jerk related to flexion, lateral flexion, and rotation, and transmits them to the threshold setting unit 23. When the threshold setting unit 23 receives each model jerk, each model posture angle, and each model angular jerk, it adds the standard deviation to the maximum value of each model jerk, each model posture angle, and each model angular jerk to set the threshold for the jerk related to vertical, horizontal, and longitudinal movements, the threshold for the posture angle related to flexion, lateral flexion, and rotation, and the threshold for the angular jerk related to flexion, lateral flexion, and rotation (S12). The set thresholds are transmitted to the evaluation unit 24.

[0045] Meanwhile, when the subject U starts working, the first measuring device 11 measures the acceleration and angular velocity in three mutually orthogonal axes generated in the upper spine of the subject U as the subject U works (S14). Once the acceleration and angular velocity are measured by the first measuring device 11, the acquisition unit 21 executes a data acquisition step to acquire the acceleration and angular velocity measured by the first measuring device 11 as acceleration data and angular velocity data over time at sampling time intervals (S16). The acquired acceleration data and angular velocity data are transmitted to the calculation unit 22.

[0046] When the calculation unit 22 receives acceleration data and angular velocity data, it performs a calculation step (S18) to calculate the jerk related to vertical, horizontal, and longitudinal movements, the posture angles related to flexion, lateral flexion, and rotation, and the angular jerk related to flexion, lateral flexion, and rotation. The calculated jerk, posture angles, and angular jerk are sent to the evaluation unit 24.

[0047] When the evaluation unit 24 receives each jerk, each posture angle, each angular jerk, and a threshold, it performs an evaluation step (S20) in which it compares each jerk, each posture angle, and each angular jerk with the threshold and evaluates whether each jerk, each posture angle, and each angular jerk of subject U is greater than or equal to the threshold. If at least one of each jerk, each posture angle, and each angular jerk is greater than or equal to the threshold, the evaluation unit 24 instructs the warning instruction unit 25 to issue a warning along with information on which of the parameters of each jerk, each posture angle, and each angular jerk is greater than or equal to the threshold.

[0048] When the evaluation unit 24 receives an instruction to issue a warning, the warning instruction unit 25 executes a warning instruction step instructing the first warning device 31 and the optical warning device 33 to issue a warning (S22). Specifically, if any of the jerk and angular jerk are above a threshold, the warning instruction unit 25 instructs the first warning device 31 to issue a 1-second audible warning and the optical warning device 33 to emit a first color. Furthermore, if any of the attitude angles are above a threshold, the warning instruction unit 25 instructs the first warning device 31 to issue a vibrational warning and the optical warning device 33 to emit a second color. Furthermore, if any of the jerk and angular jerk and any of the attitude angles are both above a threshold, the warning instruction unit 25 instructs the first warning device 31 to issue a 1-second audible warning and a vibrational warning, and the optical warning device 33 to emit a third color. Warnings from the first warning device 31 and the optical warning device 33 cause the subject U to recognize that their posture and movements during work are not good.

[0049] The data acquisition step, calculation step, evaluation step, and warning instruction step are performed at each sampling time of acceleration and angular velocity measured by the first measuring device 11. The control unit 27 determines whether the subject U's work is continuing or has finished (S24), and terminates the processing of the technology transfer support method when the subject U's work is finished. The completion of the subject U's work is determined by a switch operated by the subject U at the time of completion, or by the elapsed time.

[0050] [Embodiment 2] Next, with reference to Figures 4 and 5, the technology transfer support system 1B according to Embodiment 2 of the present invention will be described. Figure 4 is a block diagram showing the configuration of the technology transfer support system 1B according to Embodiment 2. Figure 5 is a rear view showing the measurement device 10 of the technology transfer support system 1B of Embodiment 2 attached to the subject U. Hereinafter, the differences between Embodiment 2 and Embodiment 1 will be described.

[0051] As shown in Figure 4, the technology transfer support system 1B comprises a measuring device 10, an information processing device 20, and a warning device 30. The technology transfer support system 1B may further include a display device 40. The measuring device 10, the information processing device 20, the warning device 30, and the display device 40 are connected either directly or via a network such as the Internet, LAN (Local Area Network), or Bluetooth®.

[0052] As shown in Figure 5, in Embodiment 2, the measuring device 10 includes a first measuring device 11 attached to the upper spine of the subject U on the back of the subject U, and a second measuring device 12 attached to the pelvis of the subject U. The second measuring device 12 is composed of an acceleration sensor capable of measuring acceleration in the vertical, left-right, and front-back directions, and an angular velocity sensor capable of measuring angular velocity around the axes in the vertical, left-right, and front-back directions. For example, the second measuring device 12 may be a 3-axis acceleration sensor, a 3-axis gyro sensor, or an inertial measuring device. The second measuring device 12 measures the acceleration and angular velocity generated in the pelvis of the subject U over time along the time axis while the subject U performs a predetermined task. The second measuring device 12 transmits the measured acceleration and angular velocity as acceleration data and angular velocity data to the information processing device 20.

[0053] The calculation unit 22 calculates the jerk related to the vertical, horizontal, and longitudinal movements of the subject U, the posture angle related to the subject U's flexion, lateral flexion, and rotation, and the angular jerk related to the subject U's flexion, lateral flexion, and rotation from the acceleration data and angular velocity data of the subject U acquired by the measuring device 10. Here, the jerk and angular jerk are the jerk and angular jerk of the positions of the first measuring device 11 and the second measuring device 12 attached to the subject U, i.e., the upper spine and pelvis, and the posture angle is the displacement of the Euler angle per sampling time of the positions of the first measuring device 11 and the second measuring device 12 attached to the subject U, i.e., the upper spine and pelvis.

[0054] Specifically, the jerk of the upper spine, the posture angle of the upper spine, and the angular jerk of the upper spine are calculated from the acceleration data and angular velocity data of the subject U's upper spine acquired by the first measuring device 11, in the same manner as in Embodiment 1. Furthermore, the jerk of the pelvis is calculated by differentiating the acceleration data in three mutually orthogonal axes measured by the second measuring device 12 to calculate the jerk related to vertical, horizontal, and anterior-posterior movement. The posture angle of the pelvis is calculated by integrating the angular velocity data in three mutually orthogonal axes measured by the second measuring device 12 to calculate the Euler angles related to flexion, lateral flexion, and rotation, and then determining the displacement of the Euler angles for each sampling time to calculate the posture angles related to flexion, lateral flexion, and rotation. The angular jerk of the pelvis is calculated by differentiating the angular velocity data measured by the second measuring device 12 to calculate the angular acceleration data related to flexion, lateral flexion, and rotation, and then differentiating the angular acceleration data further to calculate the angular jerk related to flexion, lateral flexion, and rotation.

[0055] The threshold setting unit 23 sets thresholds, which are the limit values ​​for each jerk, each posture angle, and each angular jerk of the subject U. Specifically, the measuring device 10 is attached to the skilled worker in advance to measure the acceleration and angular velocity associated with the skilled worker's posture and movements while the skilled worker performs various predetermined tasks. The acceleration and angular velocity measured by the measuring device 10 are then stored in the storage unit 26 of the information processing device 20 as acceleration model data and angular velocity model data of the skilled worker, separated into the upper spine and pelvis for each predetermined task.

[0056] The threshold setting unit 23 reads acceleration model data and angular velocity model data related to a predetermined task of setting thresholds stored in the memory unit 26, and causes the calculation unit 22 to calculate the model jerk, model posture angle, and model angular jerk for the upper spine and pelvis, respectively, in the same manner as in the case of the subject U described above. Then, the threshold setting unit 23 sets the thresholds for jerk related to vertical, horizontal, and anterior-posterior movement, the thresholds for posture angles related to flexion, lateral flexion, and rotation, and the thresholds for angular jerk related to flexion, lateral flexion, and rotation, in the same manner as in Embodiment 1. In this embodiment 2, the calculation unit 22 calculates the jerk of the upper spine and pelvis of the subject U, the postural angles of the upper spine and pelvis of the subject U, and the angular jerk of the upper spine and pelvis of the subject U. Therefore, the thresholds to be set are the thresholds for each jerk of the upper spine, the thresholds for each jerk of the pelvis, the thresholds for each postural angle of the upper spine, the thresholds for each postural angle of the pelvis, the thresholds for each angular jerk of the upper spine, and the thresholds for each angular jerk of the pelvis.

[0057] The evaluation unit 24 compares each jerk, each posture angle, and each angular jerk calculated by the calculation unit 22 with a preset threshold to evaluate whether each jerk, each posture angle, and each angular jerk of subject U is above the threshold. While subject U is performing a predetermined task, the evaluation unit 24, at each sampling time, determines whether each jerk of the upper spine, each jerk of the pelvis, each posture angle of the upper spine, each posture angle of the pelvis, each angular jerk of the upper spine, and each angular jerk of the pelvis of subject U exceeds the threshold for each jerk, each posture angle, and each angular jerk corresponding to the predetermined task performed by subject U, and evaluates subject U's work.

[0058] The warning device 30 operates based on the evaluation results of the evaluation unit 24. The warning device 30 issues a warning when at least one of the jerk of the upper spine, the jerk of the pelvis, the postural angles of the upper spine, the postural angles of the pelvis, the angular jerk of the upper spine, and the angular jerk of the pelvis of the subject U exceeds a threshold. In Embodiment 2, the warning device 30 includes a first warning device 31 that issues a warning by sound and vibration, a second warning device 32 that issues a warning by sound and vibration, and a light warning device 33 that issues a warning by light. The first warning device 31 and the light warning device 33 are the same as in Embodiment 1. The second warning device 32 is, for example, a small speaker and / or a vibration generator. The second warning device 32 is installed on the back of the subject U, at the pelvic region of the subject U.

[0059] If at least one of the jerks and angular jerks of the upper spine of the subject U exceeds a threshold, the first warning device 31 will emit an audible warning and the light warning device 33 will emit a warning in the first color. Furthermore, if at least one of the jerks and angular jerks of the pelvis of the subject U exceeds a threshold, the second warning device 32 will emit an audible warning and the light warning device 33 will emit a warning in the first color. Furthermore, if at least one of the postural angles of the upper spine of the subject U exceeds a threshold, the first warning device 31 will emit a vibrational warning and the light warning device 33 will emit a warning in the second color. Furthermore, if at least one of the postural angles of the pelvis of the subject U exceeds a threshold, the second warning device 32 will emit a vibrational warning and the light warning device 33 will emit a warning in the second color.

[0060] Furthermore, if at least one of the jerk and angular jerk of the upper spine of the subject U, and at least one of the jerk and angular jerk of the pelvis of the subject U, both exceed a threshold, the first warning device 31 and the second warning device 32 will emit an audible warning, and the light warning device 33 will emit a warning in the first color. Also, if at least one of the postural angles of the upper spine of the subject U, and at least one of the postural angles of the pelvis of the subject U, both exceed a threshold, the first warning device 31 and the second warning device 32 will emit a vibrational warning, and the light warning device 33 will emit a warning in the second color. Furthermore, if at least one of the jerk and angular jerk of the upper spine or pelvis of subject U, and at least one of the postural angles of the upper spine or pelvis of subject U are all above a threshold, the first warning device 31 or the second warning device 32 will emit a warning with sound and vibration, and the light warning device 33 will emit a warning with a third color. Furthermore, if at least one of the jerk and angular jerk of the upper spine of subject U, at least one of the jerk and angular jerk of the pelvis of subject U, at least one of the postural angles of the upper spine of subject U, and at least one of the postural angles of the pelvis of subject U are all above a threshold, the first warning device 31 and the second warning device 32 will emit a warning with sound and vibration, and the light warning device 33 will emit a warning with a third color.

[0061] In Embodiment 2, the first measuring device 11 and the first warning device 31 are configured as a single, compact device. The second measuring device 12 and the second warning device 32 are configured as other single, compact devices. The first measuring device 11 and the first warning device 31, and the second measuring device 12 and the second warning device 32 are each attached to a vest or the like. When the subject U wears the vest or the like, as shown in Figure 5, the first measuring device 11 and the first warning device 31 are positioned on the upper spine of the subject U, and the second measuring device 12 and the second warning device 32 are positioned on the pelvis of the subject U. The information processing device 20 is configured as a server computer and is connected to the first measuring device 11, the second measuring device 12, the first warning device 31, and the second warning device 32 via a network.

[0062] Next, a technology transfer support method for evaluating the work of subject U based on the technology transfer support system 1B will be described. Since the flowchart for the technology transfer support method of Embodiment 2 is the same as that of Embodiment 1, the technology transfer support method will be described with reference to Figure 3. In the following, a technology transfer support method will be described in which the measuring device 10 measures the acceleration in the vertical, left-right, and front-back directions, as well as the angular velocity around the axes in the vertical, left-right, and front-back directions, to evaluate the work of subject U.

[0063] First, before starting work, the subject U activates the technology transfer support system 1B, selects the predetermined task to be performed, and then begins the work. Once the predetermined task is selected, the threshold setting unit 23 acquires acceleration model data and angular velocity model data in three mutually orthogonal axes related to the selected predetermined task from the storage unit 26 (S10). Then, in the same manner as in Embodiment 1, the thresholds for jerk related to vertical, horizontal, and anterior-posterior movement of the upper spine, the thresholds for jerk related to vertical, horizontal, and anterior-posterior movement of the pelvis, the thresholds for postural angles related to flexion, lateral flexion, and rotation of the upper spine, the thresholds for postural angles related to flexion, lateral flexion, and rotation of the pelvis, the thresholds for angular jerk related to flexion, lateral flexion, and rotation of the upper spine, and the thresholds for angular jerk related to flexion, lateral flexion, and rotation of the pelvis are set (S12). The set thresholds are transmitted to the evaluation unit 24.

[0064] Meanwhile, when subject U begins work, the first measuring device 11 measures the acceleration and angular velocity in three mutually orthogonal axes generated in the upper spine of subject U as a result of subject U's work, and the second measuring device 12 measures the acceleration and angular velocity in three mutually orthogonal axes generated in the pelvis of subject U as a result of subject U's work (S14). Once the acceleration and angular velocity are measured by the first measuring device 11 and the second measuring device 12, the acquisition unit 21 performs a data acquisition step to acquire the acceleration and angular velocity measured by the first measuring device 11 and the second measuring device 12 as acceleration data and angular velocity data over time at sampling time intervals (S16). The acquired acceleration data and angular velocity data are transmitted to the calculation unit 22.

[0065] When the calculation unit 22 receives acceleration data and angular velocity data, it performs a calculation step (S18) to calculate the jerk related to the vertical, horizontal, and anterior-posterior movement of the upper spine and pelvis, the postural angles related to flexion, lateral flexion, and rotation of the upper spine and pelvis, and the angular jerk related to the flexion, lateral flexion, and rotation of the upper spine and pelvis by differentiating or integrating the acceleration data and angular velocity data of the upper spine and pelvis. The calculated jerk, postural angles, and angular jerk are sent to the evaluation unit 24.

[0066] When the evaluation unit 24 receives each jerk, each posture angle, each angular jerk, and a threshold, it performs an evaluation step (S20) in which it compares each jerk, each posture angle, and each angular jerk with the threshold and evaluates whether each jerk, each posture angle, and each angular jerk of subject U is greater than or equal to the threshold. If at least one of each jerk, each posture angle, and each angular jerk is greater than or equal to the threshold, the evaluation unit 24 instructs the warning instruction unit 25 to issue a warning along with information on which of the parameters of each jerk, each posture angle, and each angular jerk is greater than or equal to the threshold.

[0067] When the evaluation unit 24 receives an instruction to issue a warning, the warning instruction unit 25 executes a warning instruction step instructing the first warning device 31, the second warning device 32, and the optical warning device 33 to issue a warning (S22). Specifically, if any of the jerk and angular jerk of the upper spine exceeds a threshold, the warning instruction unit 25 instructs the first warning device 31 to issue a 1-second audible warning and the optical warning device 33 to emit a first color. Furthermore, if any of the jerk and angular jerk of the pelvic region exceeds a threshold, the warning instruction unit 25 instructs the second warning device 32 to issue a 1-second audible warning and the optical warning device 33 to emit a first color. Furthermore, if any of the postural angles of the upper spine exceeds a threshold, the warning instruction unit 25 instructs the first warning device 31 to issue a vibrational warning and the optical warning device 33 to emit a second color. Furthermore, if any of the postural angles of the pelvic region exceeds a threshold, the warning instruction unit 25 instructs the second warning device 32 to emit a vibrational warning and the optical warning device 33 to emit a second color. Also, if any of the jerk and angular jerk of the upper spine and / or pelvic region and any of the postural angles both exceed a threshold, the warning instruction unit 25 instructs the first warning device 31 and / or the second warning device 32 to emit a one-second audible warning and a vibrational warning, and the optical warning device 33 to emit a third color. The warnings from the first warning device 31, the second warning device 32 and the optical warning device 33 make the subject U aware that their posture and movements during work are not good.

[0068] The data acquisition step, calculation step, evaluation step, and warning instruction step are performed at each sampling time of acceleration and angular velocity measured by the first measuring device 11 and the second warning device 12. The control unit 27 determines whether the subject U's work is continuing or has finished (S24) in the same manner as in Embodiment 1 above, and terminates the processing of the technology transfer support method when the subject U's work is finished.

[0069] [Embodiment 3] Next, with reference to Figures 4 and 5, the technology transfer support system 1B according to Embodiment 3 of the present invention will be described. The following will explain the differences between Embodiment 3 and Embodiments 1 and 2.

[0070] The technology transfer support system 1B of Embodiment 3 has the same configuration as the technology transfer support system 1B of Embodiment 2. The measuring device 10 also has the same configuration as in Embodiment 2, with a first measuring device 11 attached to the upper spine of the subject U on the back of the subject U and a second measuring device 12 attached to the pelvis of the subject U.

[0071] The calculation unit 22 calculates the jerk related to the vertical, horizontal, and longitudinal movements of the subject U, the postural angles related to the subject U's flexion, lateral flexion, and rotation, and the angular jerk related to the subject U's flexion, lateral flexion, and rotation, from the acceleration data and angular velocity data of the subject U acquired by the measuring device 10. In Embodiment 3, the calculation unit 22 calculates each postural angle and each angular jerk of the trunk, which allows for a more accurate evaluation of the quality of the subject U's posture and movements during work. Note that the trunk's angles are relative angles calculated by the first measuring device 11 attached to the upper spine and the second measuring device 12 attached to the pelvis, so the jerk of the trunk cannot be calculated. Therefore, the jerk of the pelvis is used.

[0072] Specifically, the Euler angles for each sampling time are calculated from the angular velocity data of the upper spine of subject U acquired by the first measuring device 11 and the angular velocity data of the pelvis of subject U acquired by the second measuring device 12. Then, the angle formed between the perpendicular line drawn vertically from the first measuring device 11 and the perpendicular line drawn vertically from the second measuring device 12 is calculated. At this time, the displacement due to circular motion when viewed from either the left or right direction around an axis extending in the left-right direction is calculated as the posture angle for flexion, the displacement due to circular motion when viewed from the front around an axis extending in the front-back direction is calculated as the posture angle for lateral flexion, the displacement due to circular motion when viewed from directly above around an axis extending in the up-down direction is calculated as the posture angle for rotation. The angular jerk of flexion, lateral flexion, and rotation is calculated by differentiating the posture angles for flexion, lateral flexion, and rotation three times. The jerk is calculated in the same manner as in Embodiment 2, from the acceleration data of the pelvic region of the subject U acquired by the second measuring device 12, to determine the jerk related to the vertical, horizontal, and longitudinal movements of the pelvis.

[0073] The threshold setting unit 23 sets thresholds that are limit values ​​for each jerk, each postural angle, and each angular jerk of the subject U. Specifically, the threshold setting unit 23 reads acceleration model data and angular velocity model data related to the predetermined task of setting thresholds stored in the memory unit 26, and causes the calculation unit 22 to calculate each model jerk, each model postural angle, and each model angular jerk in the same manner as in the case of the subject U. Then, the threshold setting unit 23 sets thresholds for jerk related to vertical movement, left-right movement, and forward-backward movement, thresholds for postural angles related to flexion, lateral flexion, and rotation, and thresholds for angular jerk related to flexion, lateral flexion, and rotation, in the same manner as in Embodiment 1. In this case, in Embodiment 3, since the calculation unit 22 has calculated each jerk of the pelvis of the subject U, each postural angle of the trunk of the subject U, and each angular jerk of the trunk of the subject U, the thresholds that are set are the thresholds for each jerk of the pelvis, the thresholds for each postural angle of the trunk, and the thresholds for each angular jerk of the trunk.

[0074] The evaluation unit 24 compares each jerk, each postural angle, and each angular jerk calculated by the calculation unit 22 with a preset threshold to evaluate whether each jerk, each postural angle, and each angular jerk of subject U is above the threshold. While subject U is performing a predetermined task, the evaluation unit 24 determines at each sampling time whether each jerk of the subject U's pelvis, each postural angle, and each angular jerk of the subject U exceeds the threshold for each jerk, each postural angle, and each angular jerk corresponding to the predetermined task performed by subject U, and evaluates subject U's work.

[0075] The warning device 30 operates based on the evaluation results of the evaluation unit 24. The warning device 30 issues a warning if at least one of the kyphosis of the pelvic region, the postural angles of the trunk, and the angular kyphosis of the trunk of the subject U exceeds a threshold. In Embodiment 3, the warning device 30 includes a first warning device 31 that issues a warning by sound and vibration, a second warning device 32 that issues a warning by sound and vibration, and a light warning device 33 that issues a warning by light. The first warning device 31, the second warning device 32, and the light warning device 33 are the same as in Embodiment 2. In Embodiment 3, the warning device 30 can also be configured to include either the first warning device 31 or the second warning device 32. In the following description, it will be assumed that the warning device 30 includes both the first warning device 31 and the second warning device 32, but if only one of the first warning device 31 or the second warning device 32 is included, the warning device 31 or 32 that is included will issue the warning.

[0076] If at least one of the jerk and angular jerk of the subject U exceeds a threshold, the warning device 30 will activate an audible warning from the first warning device 31 and / or the second warning device 32, and an optical warning device 33 will activate a warning in the first color. Furthermore, if at least one of the posture angles of the subject U exceeds a threshold, the first warning device 31 and / or the second warning device 32 will activate a vibration warning, and the optical warning device 33 will activate a warning in the second color. If at least one of the jerk and angular jerk of the subject U and at least one of the posture angles of the subject U both exceed a threshold, the first warning device 31 and / or the second warning device 32 will activate an audible and vibration warning, and the optical warning device 33 will activate a warning in the third color.

[0077] In Embodiment 3, the first measuring device 11 and the first warning device 31 are composed of a single, compact device. The second measuring device 12 and the second warning device 32 are composed of other single, compact devices. The first measuring device 11 and the first warning device 31, and the second measuring device 12 and the second warning device 32 are each attached to a vest or the like. When the subject U wears the vest or the like, as shown in Figure 5, the first measuring device 11 and the first warning device 31 are positioned on the upper spine of the subject U, and the second measuring device 12 and the second warning device 32 are positioned on the pelvis of the subject U. If the first warning device 31 is not provided, the first measuring device 11 is composed of a single, compact device, and the second measuring device 12 and the second warning device 32 are composed of other single, compact devices. If the second warning device 31 is not provided, the first measuring device 11 and the first warning device 31 are composed of a single, compact device, and the second measuring device 12 is composed of other single, compact devices. The information processing device 20 is configured as a server computer and is connected to the first measuring device 11, the second measuring device 12, the first warning device 31, and the second warning device 32 via a network.

[0078] Next, a technology transfer support method for evaluating the work of subject U based on the technology transfer support system 1B will be described. Since the flowchart for the technology transfer support method of Embodiment 3 is the same as that of Embodiment 1, the technology transfer support method will be described with reference to Figure 3. In the following, a technology transfer support method will be described in which the measuring device 10 measures the acceleration in the vertical, left-right, and front-back directions, as well as the angular velocity around the axes in the vertical, left-right, and front-back directions, to evaluate the work of subject U.

[0079] First, before starting work, the subject U activates the technology transfer support system 1B, selects the predetermined task to be performed, and then begins the work. Once the predetermined task is selected, the threshold setting unit 23 acquires acceleration model data and angular velocity model data in three mutually orthogonal axes related to the selected predetermined task from the storage unit 26 (S10). Then, in the same manner as in Embodiment 1, the thresholds for jerk related to vertical, horizontal, and anterior-posterior movement of the pelvis, the thresholds for postural angles related to flexion, lateral flexion, and rotation of the trunk, and the thresholds for angular jerk related to flexion, lateral flexion, and rotation of the trunk are set (S12). The set thresholds are transmitted to the evaluation unit 24.

[0080] Meanwhile, when subject U begins work, the first measuring device 11 measures the acceleration and angular velocity in three mutually orthogonal axes generated in the upper spine of subject U as a result of subject U's work, and the second measuring device 12 measures the acceleration and angular velocity in three mutually orthogonal axes generated in the pelvis of subject U as a result of subject U's work (S14). Once the acceleration and angular velocity are measured by the first measuring device 11 and the second measuring device 12, the acquisition unit 21 executes a data acquisition step to acquire the acceleration and angular velocity measured by the first measuring device 11 and the second measuring device 12 as acceleration data and angular velocity data over time at sampling time intervals (S16). The acquired acceleration data and angular velocity data are transmitted to the calculation unit 22.

[0081] When the calculation unit 22 receives acceleration data and angular velocity data, it performs a calculation step (S18) to calculate the jerk related to the vertical, horizontal, and anterior-posterior movement of the pelvis by differentiating the acceleration data of the pelvis, and also calculates the postural angles related to flexion, lateral flexion, and rotation of the trunk, as well as the angular jerk related to flexion, lateral flexion, and rotation of the trunk, from the angular velocity data of the upper spine and pelvis. The calculated jerk, postural angles, and angular jerk are sent to the evaluation unit 24.

[0082] When the evaluation unit 24 receives each jerk, each posture angle, each angular jerk, and a threshold, it performs an evaluation step (S20) in which it compares each jerk, each posture angle, and each angular jerk with the threshold and evaluates whether each jerk, each posture angle, and each angular jerk of subject U is greater than or equal to the threshold. If at least one of each jerk, each posture angle, and each angular jerk is greater than or equal to the threshold, the evaluation unit 24 instructs the warning instruction unit 25 to issue a warning along with information on which of the parameters of each jerk, each posture angle, and each angular jerk is greater than or equal to the threshold.

[0083] When the evaluation unit 24 receives an instruction to issue a warning, the warning instruction unit 25 executes a warning instruction step instructing the first warning device 31, the second warning device 32, and the optical warning device 33 to issue a warning (S22). Specifically, if any of the jerk and angular jerk are above a threshold, the warning instruction unit 25 instructs the first warning device 31 and / or the second warning device 32 to issue a one-second audible warning and instructs the optical warning device 33 to emit a first color. Furthermore, if any of the attitude angles are above a threshold, the warning instruction unit 25 instructs the first warning device 31 and / or the second warning device 32 to issue a vibrational warning and instructs the optical warning device 33 to emit a second color. Furthermore, if any of the jerk and angular jerk, and any of the posture angles, are both above a threshold, the warning instruction unit 25 instructs the first warning device 31 and / or the second warning device 32 to emit a one-second audible warning and a vibration warning, and instructs the optical warning device 33 to emit a third color. The warnings from the first warning device 31, the second warning device 32, and the optical warning device 33 make the subject U aware that their posture and movements during work are not good.

[0084] The data acquisition step, calculation step, evaluation step, and warning instruction step are performed at each sampling time of acceleration and angular velocity measured by the first measuring device 11 and the second warning device 12. The control unit 27 determines whether the subject U's work is continuing or has finished (S24) in the same manner as in Embodiment 1 above, and terminates the processing of the technology transfer support method when the subject U's work is finished.

[0085] Next, a modified version of the technology transfer support system 1B of Embodiment 3 will be described. The modified version of the technology transfer support system 1B of Embodiment 3 has the same configuration as the technology transfer support system 1B of Embodiment 3. The modified version of the technology transfer support system 1B of Embodiment 3 differs from the technology transfer support system 1B of Embodiment 3 in that it uses the jerk of the upper spine and the jerk of the pelvis when evaluating the work of the subject U.

[0086] In other words, as shown in Embodiment 3 above, the calculation unit 22 calculates each postural angle and each angular jerk of the trunk from the angular velocity data of the upper spine and pelvis of the subject U acquired by the first measuring device 11 and the second measuring device 12. In addition, the calculation unit 22 calculates the jerk related to the vertical, lateral, and anterior-posterior movement of the upper spine from the acceleration data of the subject U acquired by the first measuring device 11, and calculates the jerk related to the vertical, lateral, and anterior-posterior movement of the pelvis from the acceleration data of the subject U acquired by the second measuring device 12.

[0087] The threshold setting unit 23 sets threshold values ​​for each jerk of the upper spine, each jerk of the pelvis, each postural angle of the trunk, and each angular jerk of the trunk of the subject U, in the same manner as in Embodiments 2 and 3. The evaluation unit 24 then determines whether each jerk of the upper spine, each jerk of the pelvis, each postural angle of the trunk, and each angular jerk of the trunk of the subject U exceeds the threshold values ​​for each jerk, each postural angle, and each angular jerk corresponding to the predetermined task performed by the subject U, and evaluates the task performed by the subject U.

[0088] If the warning device 30 includes a first warning device 31 and a second warning device 32, then, similar to Embodiment 2, if at least one of the jerks in the upper spine of the subject U exceeds a threshold, the first warning device 31 will emit an audible warning, and if at least one of the jerks in the pelvic region of the subject U exceeds a threshold, the second warning device 32 will emit an audible warning. Furthermore, if at least one of the jerks in the upper spine of the subject U and at least one of the jerks in the pelvic region of the subject U both exceed a threshold, the first warning device 31 and the second warning device 32 will emit an audible warning. This configuration allows the subject U to be aware of whether the jerk in the upper spine or the pelvic region is above the threshold.

[0089] Furthermore, if the warning device 30 is equipped with either the first warning device 31 or the second warning device 32, the warning device 30 will emit an audible warning if at least one of the jerks in the upper spine and pelvis of the subject U exceeds a threshold. Similarly, if at least one of the jerks in the upper spine and at least one of the jerks in the pelvis of the subject U both exceed a threshold, the warning device 30 will emit an audible warning. The operation of the other warning devices 30 is the same as in Embodiment 3. [Examples]

[0090] Next, the technology transfer support systems 1A and 1B according to Embodiment 1 or Embodiment 3 will be described in detail with reference to examples.

[0091] <Example 1> In Example 1, we will examine how the evaluation of a predetermined task performed by a subject U who is unfamiliar with the task is evaluated using the technology transfer support system 1A of Embodiment 1. In Example 1, we will examine the evaluation when a task is performed during assistance with undressing in a toilet.

[0092] A skilled worker is defined as someone with 10 years or more of work experience. The average values ​​obtained from the work performed by three skilled workers will be used as the acceleration model data and angular velocity model data for the skilled workers. Subjects 1-3 are complete beginners with no work experience.

[0093] Participants 1-3 wore the measuring device 10 of the technology transfer support system 1A and performed predetermined tasks. While performing these tasks, each jerk, each postural angle, and each angular jerk were calculated as shown in Embodiment 1 above. The calculation results for each jerk, each postural angle, and each angular jerk are shown in Figures 6-14. Figure 6 is a graph showing the evaluation results of the vertical movement jerk of the upper spine in Embodiment 1. Figure 7 is a graph showing the evaluation results of the horizontal movement jerk of the upper spine in Embodiment 1. Figure 8 is a graph showing the evaluation results of the anterior-posterior movement jerk of the upper spine in Embodiment 1. Figure 9 is a graph showing the evaluation results of the flexion postural angle of the upper spine in Embodiment 1. Figure 10 is a graph showing the evaluation results of the lateral flexion postural angle of the upper spine in Embodiment 1. Figure 11 is a graph showing the evaluation results of the rotation postural angle of the upper spine in Embodiment 1. Figure 12 is a graph showing the evaluation results of the angular jerk of the flexion movement of the upper spine in Embodiment 1. Figure 13 is a graph showing the evaluation results of the angular jerk of lateral flexion of the upper spine in Example 1. Figure 14 is a graph showing the evaluation results of the angular jerk of rotation of the upper spine in Example 1. In Figures 6 to 14, the threshold is shown by a horizontally extending dashed line. In Figures 6 to 8 and 12 to 14, the data for each subject and the expert are shown by a black solid or dashed line, and the area obtained by adding or subtracting the standard deviation from the average of the expert's data is shown as a gray area on the expert's graph. In Figures 9 to 11, the data for each subject is shown by a black solid line, the data for the expert is shown by a gray dashed line, and the area obtained by adding or subtracting the standard deviation from the average of the expert's data is shown as a gray area.

[0094] Referring to Figures 6 to 14, it can be seen that during the series of tasks, there are times when the threshold is exceeded for each jerk and each angular jerk, indicating that subjects 1 to 3 have times when their movements are not as smooth as those of a skilled worker. Furthermore, for most of the time during the series of tasks, one of the posture angles exceeds the threshold, indicating that subjects 1 to 3 are adopting unnatural postures compared to a skilled worker. In this way, the lack of smoothness in movement and the adoption of unnatural postures can be evaluated, and by issuing warnings at the points in time when the movement is not smooth and when an unnatural posture is adopted, subjects 1 to 3 can recognize at which points in the work they are adopting unnatural postures and unnatural movements. Then, subjects 1 to 3 can review their work techniques and bring their work techniques closer to those of a skilled worker.

[0095] <Example 2> In Example 2, we will use the technology transfer support system 1B of Embodiment 3 to verify how a predetermined task performed by subject U, who is unfamiliar with the work, is evaluated. In Example 2, we will also verify the evaluation of the task performed when assisting with undressing in a toilet. The skilled worker and subjects 1-3 are the same as in Example 1.

[0096] Participants 1-3 wore the measurement device 10 of the technology transfer support system 1B and performed predetermined tasks. While performing these tasks, each jerk, each postural angle, and each angular jerk were calculated as shown in Embodiment 3 above. The calculation results for each jerk, each postural angle, and each angular jerk are shown in Figures 15-23. Figure 15 is a graph showing the evaluation results of the vertical movement jerk of the pelvis in Embodiment 2. Figure 16 is a graph showing the evaluation results of the horizontal movement jerk of the pelvis in Embodiment 2. Figure 17 is a graph showing the evaluation results of the anterior-posterior movement jerk of the pelvis in Embodiment 2. Figure 18 is a graph showing the evaluation results of the trunk flexion postural angle in Embodiment 2. Figure 19 is a graph showing the evaluation results of the trunk lateral flexion postural angle in Embodiment 2. Figure 20 is a graph showing the evaluation results of the trunk rotation postural angle in Embodiment 2. Figure 21 is a graph showing the evaluation results of the trunk flexion movement angular jerk in Embodiment 2. Figure 22 is a graph showing the evaluation results of the angular jerk of trunk lateral flexion in Example 2. Figure 23 is a graph showing the evaluation results of the angular jerk of trunk rotation in Example 2. In Figures 15 to 23, the threshold is shown by a horizontally extending dashed line. In Figures 15 to 17 and 21 to 23, the data for each subject and the expert are shown by a black solid or dashed line, and the area obtained by adding or subtracting the standard deviation from the average of the expert's data is shown as a gray area on the expert's graph. In Figures 18 to 20, the data for each subject is shown by a black solid line, the data for the expert is shown by a gray dashed line, and the area obtained by adding or subtracting the standard deviation from the average of the expert's data is shown as a gray area.

[0097] Referring to Figures 15 to 23, it can be seen that during the series of tasks, there are times when the threshold is exceeded for each jerk and each angular jerk, indicating that subjects 1 to 3 have times when their movements are not as smooth as those of a skilled worker. Furthermore, for most of the time during the series of tasks, one of the posture angles exceeds the threshold, indicating that subjects 1 to 3 are adopting unnatural postures compared to a skilled worker. In this way, since the lack of smoothness in movement and the adoption of unnatural postures have been evaluated, issuing a warning at the point in time when the movement is not smooth and when an unnatural posture is adopted will allow subjects 1 to 3 to recognize at which point in the work they are adopting unnatural postures and unnatural movements. Then, subjects 1 to 3 can review their work techniques and bring their work techniques closer to those of a skilled worker.

[0098] Furthermore, comparing Embodiment 1, which evaluates using the jerk of each part of the upper spine, with Embodiment 2, which evaluates using the jerk of each part of the pelvis, it can be seen from Figures 6 to 8 showing the jerk of the upper spine and Figures 15 to 18 showing the jerk of the pelvis that subjects 1 to 3 show a significant deviation from that of skilled workers. From this, it can be seen that by using the jerk of the pelvis, it is possible to evaluate non-smooth movements with higher accuracy. Thus, although the posture and movement of the trunk are reflected in the acceleration data and angular velocity data of the upper spine, the trunk, which is more directly affected by the posture and movement of the limbs and lower back, can be evaluated with higher accuracy using the acceleration data and angular velocity data of the pelvis. Therefore, it is possible to improve the movements of unskilled workers, which are a focus of attention in occupational accidents, and provide appropriate guidance more quickly. From these perspectives, Embodiments 2 and 3, which are equipped with the first measuring device 11 and the second measuring device 12, are more accurate and desirable embodiments for evaluating the work of subject U than Embodiment 1, which is equipped with only the first measuring device 11.

[0099] As described above, the technology transfer support systems 1A and 1B of the present invention calculate the jerk in three mutually orthogonal axes, posture angle, and angular jerk from the measured acceleration and angular velocity, and evaluate the worker's (subject U) work by comparing it with the jerk in three mutually orthogonal axes, posture angle, and angular jerk of a skilled worker. By evaluating the jerk and angular jerk, the smoothness of the movement can be determined, and by performing a series of movements for a predetermined task smoothly, the burden on the worker's body can be reduced. At the same time, by evaluating the posture angle, it is possible to determine whether the worker is taking an unnatural posture, and by avoiding unnatural postures during a predetermined task, the burden on the worker's body can be reduced. Since these evaluations are performed in comparison with thresholds based on the work techniques of skilled workers, it is possible to prevent injuries to the worker's body and to acquire the work techniques of skilled workers that are less burdensome on the worker's body.

[0100] Furthermore, in the technology transfer support systems 1A and 1B of the present invention, a warning is issued if at least one of the jerk, posture angle, and angular jerk exceeds a threshold. This allows workers to easily recognize which of their tasks differ from those of skilled workers and are causing physical strain.

[0101] Furthermore, in the technology transfer support system 1B of Embodiments 2 and 3, a second measuring device 12 is provided not only in the upper spine but also in the pelvic region. By measuring the posture and movements of the subject U during work using the measuring devices 10 provided in two locations, the amount of acceleration data and angular velocity data that can be acquired increases, allowing for a more accurate evaluation of the subject U's work than the technology transfer support system 1A of Embodiment 1, which has a measuring device 10 in only one location on the upper spine. In particular, the technology transfer support system 1B of Embodiment 3 evaluates the subject U's work based on the posture and movements of the subject U's trunk, thus enabling an even more accurate evaluation of the subject U's work.

[0102] Furthermore, the technology transfer support system 1B of Embodiment 3 includes a method of evaluation using the jerk of the pelvic region as shown in Embodiment 3, and a method of evaluation using the jerk of the upper spine and pelvis as shown in the modified example. The upper spine and pelvis move together but separately, so by using the jerk of both the upper spine and pelvis, it is possible to accurately evaluate the work of subject U. On the other hand, from the perspective of subject U correcting their posture and movements, it is easier for subject U to understand if they can recognize the evaluation of only the pelvis. Also, from the perspective of trunk evaluation, evaluation using the jerk of the pelvis is more in line with trunk evaluation than evaluation using the jerk of the upper spine. For these reasons, by using only the jerk of the pelvis, the technology transfer support system 1B can accurately evaluate the work of subject U, while also making it easier for subject U to review their posture and movements.

[0103] Although embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various modifications are possible without departing from the spirit of the invention.

[0104] For example, in the above embodiment, the calculation unit 22 calculates each jerk, each posture angle, and each angular jerk of the subject U, but the present invention does not necessarily have to be configured in this way. That is, since both each jerk and each angular jerk are used as indicators of the smoothness of movement, the calculation unit 22 may be configured to calculate either the jerk related to the vertical, horizontal, and forward / backward movement of the subject U, or the angular jerk related to the forward bending, lateral bending, and rotational movement of the subject U. In this case, the evaluation unit 24 evaluates the work of the subject U by comparing each jerk or each angular jerk of the subject U with each posture angle of the subject U, respectively, with their respective thresholds.

[0105] Furthermore, in the above embodiment, the information processing device 20 is equipped with a threshold setting unit 23, but the present invention does not necessarily have to be configured in this way. For example, if the information processing device 20 stores threshold values ​​for each jerk, each posture angle, and each angular jerk for each predetermined task in the storage unit 26, the threshold setting unit 23 does not need to be provided. In this case, the evaluation unit 24 does not obtain threshold values ​​from the threshold setting unit 23, but rather reads and obtains the threshold value for the predetermined task from the storage unit 26 when the subject U sets a predetermined task.

[0106] Furthermore, although the above embodiment includes an optical warning device 33, the present invention does not necessarily have to be configured in this way. For example, the warning device 30 does not need to include an optical warning device 33. If the optical warning device 33 is not included, there is no need for space to install the optical warning device 33, and the technology transfer support systems 1A and 1B can be used even in confined spaces.

[0107] Furthermore, in the above embodiment, the information processing device 20 is configured as a server computer and connected to the measuring device 10 and the warning device 30 via a network, but the present invention does not necessarily have to be configured in this way. For example, the information processing device 20 may be configured as a small device integrated with the measuring device 10 and the warning device 30. That is, in the above embodiment 1, the first measuring device 11, the information processing device 20, and the first warning device 31 are configured as a small device integrated together. Also, in the above embodiments 2 and 3, the first measuring device 11, the information processing device 20, and the first warning device 31 are configured as a small device integrated together, or the second measuring device 12, the information processing device 20, and the second warning device 32 are configured as a small device integrated together. In this case, the measuring device 10 and the warning device 30 that are not configured as a small device integrated with the information processing device 20 are connected to the information processing device 20 via a network.

[0108] Furthermore, in the above embodiment, the measuring device 10 has a first measuring device 11 and a second measuring device 12, which are composed of an acceleration sensor and an angular velocity sensor, but the present invention does not necessarily have to be configured in this way. For example, the measuring device 10 may be composed of an imaging device capable of capturing images of the upper body of a subject. In this case, by analyzing the images captured by the imaging device, coordinates in three mutually orthogonal axes associated with the posture and movements of the subject during work are measured. In other words, the measuring device 10 only needs to be able to measure values ​​indicating the posture of the subject U (acceleration and angular velocity, or coordinates) and values ​​indicating the movements of the subject U, associated with the posture and movements of the subject U during work.

[0109] When the measuring device 10 is configured with an imaging device as described above, the coordinates of the subject U measured by the measuring device 10 are transmitted to the information processing device 20 as coordinate data. The information processing device 20 evaluates the work of the subject U based on the coordinate data of the subject U. Specifically, the calculation unit 22 calculates acceleration and angular velocity from the displacement of the coordinate data for each sampling time, and calculates jerk and angular jerk as in the embodiment described above. The posture angle is calculated from the relative positional relationship from the coordinate data. At this time, the threshold is set based on coordinate model data of the skilled person in three mutually orthogonal axes.

[0110] Furthermore, the transfer of skills involving physical movements can only be achieved when those movements are improved in the actual environment in which the skills are provided. Therefore, it is important that the model data of skilled workers be measured in the actual situations and spaces in which unskilled workers require instruction. For example, in the case of caregiving work, the work space differs from one facility to another, and even within the same facility, the space of the toilet and the location of the toilet differ. Therefore, it is necessary to acquire model data of skilled workers under the conditions of the space in which unskilled workers engage in work, or the space in which practical practice or training is conducted, and to evaluate the work of unskilled workers based on that model data of skilled workers. Therefore, it is necessary to identify which predetermined task subject U will perform. In the above embodiment, subject U selects which predetermined task to perform before starting the work, but the present invention does not necessarily have to be configured in this way. For example, the skill transfer support systems 1A and 1B may be equipped with small cameras that grasp the environment around subject U, and the system may use image recognition or AI to determine what task subject U will perform and automatically select the predetermined task.

[0111] Furthermore, in the above embodiment, when the threshold setting unit 23 sets the thresholds for each jerk, each posture angle, and each angular jerk, it sets the thresholds by adding a standard deviation to the maximum value of each model jerk, each model posture angle, and each model angular jerk in a series of operations performed by a skilled worker. However, the present invention does not necessarily have to be configured in this way. For example, in the case of operations where the time progression and work content are somewhat similar even if the workers are different, thresholds may be set by adding a standard deviation to each model jerk, each model posture angle, and each model angular jerk of the skilled worker for each sampling time. In this case, the evaluation unit 24 compares the thresholds set differently for each sampling time with each jerk, each posture angle, and each angular jerk of the subject U for the same sampling time to evaluate the work of the subject U. [Explanation of Symbols]

[0112] 1A, 1B Technology Transfer Support System 10 Measuring devices 11. First measuring device 12. Second measuring device 20 Information Processing Devices 22 Calculation Section 24 Evaluation Department 25 Warning instruction section 30 Warning device U Target Persons

Claims

1. At least one measuring device that measures the acceleration and angular velocity in three mutually orthogonal axes, or the coordinates in three mutually orthogonal axes, associated with the posture and movements of the subject during work, The system includes an information processing device that evaluates the subject's work based on the subject's acceleration data and angular velocity data, or the subject's coordinate data, acquired by the aforementioned measuring device, The information processing device includes a calculation unit that calculates at least one of the jerk related to vertical, horizontal, and longitudinal movement, and the angular jerk related to flexion, lateral flexion, and rotational movement, as well as the posture angles related to flexion, lateral flexion, and rotation, from the subject's acceleration data and angular velocity data, or the subject's coordinate data acquired by the measuring device; and an evaluation unit that compares at least one of each jerk and each angular jerk, as well as each posture angle, calculated by the calculation unit, with a preset threshold to evaluate whether at least one of each jerk and each angular jerk, as well as each posture angle, of the subject is equal to or greater than the threshold. The threshold is set by the calculation unit based on at least one of the model jerk related to vertical, horizontal, and longitudinal movement, and the model angular jerk related to flexion, lateral flexion, and rotational movement, as well as the model posture angle related to flexion, lateral flexion, and rotation, which is calculated by the calculation unit from the acceleration model data and angular velocity model data in three mutually orthogonal axes, or coordinate model data in three mutually orthogonal axes, associated with the posture and movements of a skilled worker during a predetermined task, acquired by the measuring device, and the posture angle related to flexion, lateral flexion, and rotation.

2. The technology transfer support system according to claim 1, wherein the measuring device is attached to the upper spine of a subject and has a first measuring device that measures acceleration and angular velocity in three mutually orthogonal axial directions.

3. The technology transfer support system according to claim 2, wherein the measuring device further comprises a second measuring device that is attached to the pelvic region of a subject and measures acceleration and angular velocity in three mutually orthogonal axial directions.

4. The system further includes a warning device that operates based on the evaluation results of the evaluation unit, The information processing device further includes a warning instruction unit that instructs the warning device to issue a warning based on the evaluation result of the evaluation unit, The warning instruction unit instructs the issuance of a warning when at least one of the subject's jerk and angular jerk, and at least one of the posture angles, is greater than or equal to the threshold. The technology transfer support system according to claim 1, wherein the warning device issues different warnings depending on whether at least one of the subject's jerk and angular jerk is above the threshold, and whether at least one of the subject's posture angles is above the threshold.

5. The technology transfer support system according to claim 4, wherein the warning device emits an audible warning if at least one of the subject's jerk and angular jerk is above the threshold, and emits a vibrational warning if at least one of the subject's posture angles is above the threshold.

6. The aforementioned warning device is a technology transfer system according to claim 5, which emits a warning by light.

7. A data acquisition step involves obtaining acceleration data and angular velocity data in three mutually orthogonal axes, or coordinate data in three mutually orthogonal axes, associated with the posture and movements of the subject during work, as measured by a measuring device. A calculation step to calculate at least one of the jerk related to vertical, horizontal, and longitudinal movement, as well as the angular jerk related to flexion, lateral flexion, and rotation, and the posture angles related to flexion, lateral flexion, and rotation, from the acquired acceleration data and angular velocity data of the subject, or the coordinate data of the subject. The system includes an evaluation step which compares at least one of the calculated jerk and angular jerk, as well as each posture angle, with a preset threshold to evaluate whether at least one of the subject's jerk and angular jerk, as well as each posture angle, is equal to or greater than the threshold. A method for supporting the transfer of technical skills, in which the threshold is set based on at least one of the model jerk related to vertical, horizontal, and longitudinal movement, and the model angular jerk related to flexion, lateral flexion, and rotational movement, as well as the model posture angle related to flexion, lateral flexion, and rotation, calculated from the acceleration model data and angular velocity model data in three mutually orthogonal axes, or coordinate model data in three mutually orthogonal axes, associated with the posture and movements of a skilled worker during a predetermined task, acquired by the measuring device, and the model posture angle related to flexion, lateral flexion, and rotation.

8. A data acquisition step involves obtaining acceleration data and angular velocity data in three mutually orthogonal axes, or coordinate data in three mutually orthogonal axes, associated with the posture and movements of the subject during work, as measured by a measuring device. A calculation step to calculate at least one of the jerk related to vertical, horizontal, and longitudinal movement, as well as the angular jerk related to flexion, lateral flexion, and rotation, and the posture angles related to flexion, lateral flexion, and rotation, from the acquired acceleration data and angular velocity data of the subject, or the coordinate data of the subject. The computer is made to perform a process that includes an evaluation step of comparing at least one of the calculated jerk and angular jerk, as well as each posture angle, with a preset threshold to evaluate whether at least one of the subject's jerk and angular jerk, as well as each posture angle, is greater than or equal to the threshold. The threshold is set based on a technology transfer support program that uses acceleration model data and angular velocity model data in three mutually orthogonal axes, or coordinate model data in three mutually orthogonal axes, as well as at least one of the model jerk related to vertical, horizontal, and longitudinal movement, and the model angular jerk related to flexion, lateral flexion, and rotation, as well as the model posture angles related to flexion, lateral flexion, and rotation, calculated from the posture and movements of a skilled worker during a predetermined task, acquired by the measuring device.

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