Motor learning support device, motor learning support method, and program

Abstract

The present invention includes: an upper arm angular acceleration acquiring unit that measures the angular acceleration of a turning motion of an upper arm; a forearm angular acceleration acquiring unit that measures the angular acceleration of a turning motion of a forearm; a motion response sound generating unit that generates an upper arm motion response sound that is a sound the characteristics of which change in response to the magnitude of the angular acceleration of the turning motion of the upper arm, and a forearm motion response sound that is a sound the characteristics of which change in response to the magnitude of the angular acceleration of the turning motion of the forearm; a characteristics applying unit that applies, to the generated upper arm motion response sound and forearm motion response sound, acoustic characteristics that are mutually different; and an audio reproduction unit that reproduces the upper arm motion response sound to which the acoustic characteristics have been applied and the forearm motion response sound to which the acoustic characteristics have been applied.

Description

[Technical field]

[0001] The present invention relates to a motor learning support device, a motor learning support method, and a program for supporting the transfer of motor skills. [Background technology]

[0002] It is generally beneficial for learners who wish to acquire new motor skills to observe and imitate the movements of experts who already possess that skill. Furthermore, the transfer of skills from experts to learners may be promoted by experts providing verbal and gestural guidance to learners. However, the level of skill that a learner can attain may vary depending on several factors, including:

[0003] (1) The complexity and speed of the movements to be acquired (2) The learner's ability to understand the intent of the expert's instruction (3) The ability of an expert to grasp the skill level of a learner From this perspective, support means aimed at reducing or overcoming the difficulties involved in acquiring motor skills have been proposed. For example, Patent Document 1 describes a system that provides feedback on the timing at which the magnitude of the rotational movement of the learner's body is at its maximum, and on the deviation from the ideal timing. Such means help learners to understand their own motor patterns and the differences between them and those of experts.

[0004] However, when the motor skill to be acquired involves complex and fast movements of the upper limbs (upper arms, forearms), etc., such movements have a higher degree of freedom than the rotational movements of the trunk, and therefore it is necessary to more carefully select and extract the characteristics of the movements to be fed back, and generate feedback information that is easy to understand. For example, in pitching a baseball, the movement of the pitching arm just before the ball leaves the fingers of an expert is very fast. Furthermore, pitching a baseball requires the skill to throw different types of pitches (straight, curve, etc.), and a previous study (Non-Patent Document 1) that compared the postures of experts during pitching between different types of pitches reported that there was no difference in the direction of the long axis of the forearm movements, but the rotational movements around the long axis were different. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2019-97853 A [Non-patent literature]

[0006] [Non-Patent Document 1] Sakurai, S., Ikegami, Y., Okamoto, A., Yabe, K., & Toyoshima, S. (1993). "A Three-Dimensional Cinematographic Analysis of Upper Limb Movement during Fastball and Curveball Baseball Pitches." Journal of Applied Biomechanics, 9(1), 47-65.<URL: https: / / doi.org / 10.1123 / jab.9.1.47> Summary of the Invention [Problem to be solved by the invention]

[0007] It is difficult for students to accurately grasp their own movements, and even when experts try to instruct students using words and gestures, it is extremely difficult to express them appropriately.

[0008] Therefore, an object of the present invention is to provide a motor learning support device that allows the differences in motor skills between experts and learners to be shared and supports the transfer of motor skills. [Means for solving the problem]

[0009] The motor learning support device of the present invention includes an upper arm angular acceleration acquisition unit, a forearm angular acceleration acquisition unit, a motor-responsive sound generation unit, a feature assignment unit, and a sound playback unit.

[0010] The upper arm angular acceleration acquisition unit measures the angular acceleration of the rotational motion of the upper arm. The forearm angular acceleration acquisition unit measures the angular acceleration of the rotational motion of the forearm. The motion-corresponding sound generation unit generates an upper arm motion-corresponding sound whose characteristics change according to the magnitude of the angular acceleration of the rotational motion of the upper arm, and a forearm motion-corresponding sound whose characteristics change according to the magnitude of the angular acceleration of the rotational motion of the forearm. The feature assignment unit assigns different acoustic features to the generated upper arm motion-corresponding sound and forearm motion-corresponding sound. The audio playback unit plays the upper arm motion-corresponding sound with the acoustic features assigned, and the forearm motion-corresponding sound with the acoustic features assigned. Effect of the Invention

[0011] According to the motor learning support device of the present invention, the differences in motor skills between an expert and a learner can be shared, and the transfer of motor skills can be supported. [Brief description of the drawings]

[0012] [Figure 1] FIG. 2 is a block diagram showing the functional configuration of the motor learning support device of the first embodiment. [Diagram 2] 4 is a first flowchart showing the operation of the motor learning support device of the first embodiment. [Diagram 3] 4 is a second flowchart showing the operation of the motor learning support device of the first embodiment. [Figure 4]A schematic diagram showing the rotational movement of the throwing arm (upper arm / right arm) when pitching a ball. [Diagram 5] A schematic diagram showing the rotational movement of the throwing arm (forearm and right arm) when pitching. [Figure 6] FIG. 4 is a schematic diagram showing an example of the arrangement of acceleration sensors on the upper arm. [Figure 7] FIG. 2 is a schematic diagram showing an example of the arrangement of an acceleration sensor on a forearm. [Figure 8] FIG. 1 is a schematic diagram showing a method for measuring the angular acceleration of the rotational movement of the upper arm. [Figure 9] FIG. 1 is a schematic diagram showing a method for measuring the angular acceleration of the rotational movement of the forearm. [Figure 10] FIG. 4 is a block diagram showing a detailed functional configuration of a feature adding unit. [Figure 11] 1 is a graph showing the time series changes in each acceleration of the rotational motion of the pitching arm. [Figure 12] 13 is a graph showing the time series change in the intensity of the feedback sound when pitching a ball. [Figure 13] 11 is a graph showing time series changes in frequency components of feedback sound when pitching a ball. [Figure 14] FIG. 2 is a diagram showing an example of the functional configuration of a computer. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, an embodiment of the present invention will be described in detail. Note that components having the same functions are given the same reference numbers and duplicated explanations will be omitted.

[0014] <Outline of the motor learning support device> The motor learning support device in the following embodiment is a device that measures the angular acceleration of the rotational movement around the long axis using acceleration sensors attached to the upper arm and forearm of the throwing arm, and generates feedback information whose characteristics change instantly depending on the magnitude of the angular acceleration. The motor learning support device is used by both experts and learners. The motor learning support devices used by experts and learners respectively have the same configuration.

[0015] The means for presenting feedback information can be visual means using a light-emitting device, tactile means using a skin vibration device, or auditory means using a sound wave generating device, and the appropriate means can be applied depending on the environment in which the learner is placed.

[0016] It is known that the average time resolution of human vision, touch, and hearing (the minimum interval at which two consecutive events can be distinguished) is as follows: vision (about 20-30 milliseconds) > touch (about 10 milliseconds) > hearing (about 5 milliseconds). Therefore, in an environment suitable for hearing sounds, auditory means are most useful, but in the presence of environmental noise, tactile or visual means are also expected to be useful. However, with regard to tactile means, care must be taken because there is a possibility that the feedback information presented by this means may be mixed with the proprioception of the learner's own body movements, such as skin deformation and deep body parts. In addition, with regard to visual means, the movement of the eyes during pitching may have a negative effect on pitching performance, so care must also be taken. In Example 1, an example in which an auditory means is used as a presentation means will be described. EXAMPLES

[0017] The functional configuration of the motor learning support device 1 of the first embodiment will be described below with reference to Fig. 1. As shown in the figure, the motor learning support device 1 of the present embodiment includes an upper arm angular acceleration acquisition unit 11, a forearm angular acceleration acquisition unit 12, a motor-associated sound generation unit 13, a feature assignment unit 14, a database 15, an operation unit 16, and a sound playback unit 17.

[0018] Hereinafter, a first flowchart which is a part of the operation of the motor learning support device 1 of the present embodiment will be described with reference to FIG.

[0019] The upper arm angular acceleration acquisition unit 11 includes a pair of acceleration sensors (acceleration sensors 1 and 2 described later) arranged at positions that are 2-fold symmetrical about the long axis of the upper arm as the rotation axis, and measures the angular acceleration of the rotational motion of the upper arm (S11). The forearm angular acceleration acquisition unit 12 includes a pair of acceleration sensors (acceleration sensors 3 and 4 described later) arranged at positions that are 2-fold symmetrical about the long axis of the forearm as the rotation axis, and measures the angular acceleration of the rotational motion of the forearm (S12). The motion-corresponding sound generation unit 13 generates an upper arm motion-corresponding sound, which is a sound whose characteristics change according to the magnitude of the angular acceleration of the rotational motion of the upper arm, and a forearm motion-corresponding sound, which is a sound whose characteristics change according to the magnitude of the angular acceleration of the rotational motion of the forearm (S13). The feature assignment unit 14 assigns different acoustic features to the upper arm motion-corresponding sound and the forearm motion-corresponding sound generated in step S13 (S14). The sound reproducing unit 17 reproduces the upper arm movement corresponding sound to which the acoustic features have been added, and the forearm movement corresponding sound to which the acoustic features have been added (S17).

[0020] By executing the above-mentioned steps S11 to S14 and S17, the motor learning support device 1 generates and makes audible sounds corresponding to the rotational movements of the upper arm and forearm. By listening to the sounds corresponding to the upper arm movements and the forearm movements corresponding to the pitching motions of the expert and the learner, it is expected that the expert and the learner will repeatedly pitch while communicating with each other, and the transfer of skills will be promoted. Furthermore, the motor learning support device 1 may execute the second flowchart shown in FIG. 3 in order to support the learner in acquiring skills by self-study in a situation where the expert is not present.

[0021] The database 15 stores the corresponding sounds to which acoustic features have been added by executing steps S11 to S14 together with the ID of the corresponding person (S15). The database 15 stores the corresponding person's ID, date and time, etc. together with the corresponding sounds. This makes it possible to extract only the corresponding sounds of people corresponding to experts from the database 15.

[0022] The operation unit 16 accepts an operation by a user (e.g., a learner or an instructor) (S16). The motor learning support device 1 executes control according to the operation input to the operation unit 16. Here, the motor learning support device 1 executes control to call and play a corresponding sound designated by a user operation from among the corresponding sounds stored in the database 15 (e.g., a corresponding sound with an ID corresponding to an expert). The audio playback unit 17 plays the corresponding sound according to the control (S17).

[0023] The motor learning support device 1 may also play back the corresponding sound stored in the database 15 as follows. The motor learning support device 1 detects the end timing of one motor motion based on a change in the value of the angular acceleration of the rotational motion of the upper arm and forearm, and executes control to play back any previously designated corresponding sound (e.g., a corresponding sound with an ID corresponding to an expert) from among the corresponding sounds stored in the database 15 each time the end timing is detected. The audio playback unit 17 plays back the corresponding sound in accordance with the control (S17). This makes it possible to play back the corresponding sound of the expert's upper arm and forearm motion immediately after the sound corresponding to the learner's upper arm and forearm motion is played back, thereby appropriately supporting the learner's self-study.

[0024] The processing of each component will be described in detail below.

[0025] <Upper arm angular acceleration acquisition unit 11, forearm angular acceleration acquisition unit 12> The upper arm angular acceleration acquisition unit 11 and the forearm angular acceleration acquisition unit 12 measure the angular acceleration of the rotational movement of the forearm and upper arm by the following method (S12).

[0026] As shown in Figure 4, a three-dimensional coordinate system is defined for the upper arm, with the plane perpendicular to the long axis as the xy plane and the long axis as the z axis. Similarly, as shown in Figure 5, a three-dimensional coordinate system is defined for the forearm, with the plane perpendicular to the long axis as the xy plane and the long axis as the z axis. However, the origin of the xy plane is the center of rotation of the shoulder joint (for the upper arm) and the center of rotation of the elbow joint (for the forearm).

[0027] As shown in Fig. 6, acceleration sensors 1 and 2 are placed at positions that are 2-fold symmetric with respect to the z-axis of the upper arm as the axis of rotation. As shown in Fig. 7, acceleration sensors 3 and 4 are placed at positions that are 2-fold symmetric with respect to the z-axis of the forearm as the axis of rotation. In addition, a common external fixed coordinate system for the upper arm is defined as the XYZ axes in Fig. 8, and similarly, a common external fixed coordinate system for the forearm is defined as the XYZ axes in Fig. 9.

[0028] Let a1 and a2 be the values ​​detected by acceleration sensors 1 and 2. a1 and a2 include a component due to gravity, a component due to the translational motion of the upper arm, a component due to the rotational motion of the upper arm around the shoulder joint, and a component due to the rotational motion around the long axis of the upper arm, but of these, the component due to the rotational motion has opposite signs for acceleration sensors 1 and 2, while the other components have the same values ​​for the two sensors. Therefore, the tangential acceleration of the rotational motion of the upper arm can be obtained by dividing the difference between a1 and a2 by 2.

[0029] Furthermore, the distance between acceleration sensors 1 and 2 is d 12 Then, the radius of rotation of each sensor is d 12 Therefore, the angular acceleration of the rotation of the upper arm around the z-axis is α upper Then, α upper =(a1-a2) / 2÷d 12 / 2=(a1-a2) / d 12 It can be expressed as:

[0030] Similarly, the values ​​detected by the acceleration sensors 3 and 4 are a3 and a4, respectively, and the distance between the acceleration sensors 3 and 4 is d 34 Let the angular acceleration of the rotation of the forearm around the z-axis be α fore Then, α fore =(a3-a4) / d 34 It should be noted that such a method of measuring the angular acceleration of rotational motion using a pair of acceleration sensors is a conventional technique. For example, Non-Patent Document 1 discloses a method of measuring the angular acceleration of rotational motion.

[0031] (Reference non-patent literature 1: Saito, Watanabe, Inoue, Inoue, Sakai, Takeda, Inertial sensor measurement of upper limb and trunk movements during baseball pitching, Nagoya Gakuin University Review, Humanities and Natural Sciences, Vol. 48, No. 1, pp. 33-48, 2011) Using the above-mentioned method, upper arm angular acceleration acquisition unit 11 and forearm angular acceleration acquisition unit 12 acquire the angular acceleration of the rotational motion of the upper arm and forearm at a sampling period T. However, T is set so as to satisfy 2F<1 / T, where F is the highest frequency that can occur in the angular acceleration.

[0032] <Movement-responsive sound generation unit 13> The movement responsive sound generating unit 13 generates upper arm movement responsive sounds and forearm movement responsive sounds by the following method (S13).

[0033] The angular acceleration value obtained at time iT (i is an integer equal to or greater than zero) is expressed as α i Let x be the sound source whose characteristics change according to its value. i (t) (where iT≦t<(i+1)T). Sound source x i Various types of signals can be used for (t). For example, if a sawtooth wave is used, it is defined as follows:

number

[0034] The amplitude p and fundamental frequency f of the sawtooth wave can be a monotonically increasing function of the absolute value of the angular acceleration α. ​​For example, if the function p(α) is p(α)∝|α|, p(α)∝e |α| , p(α) ∝ log |α|, and examples of functions f(α) are f(α) ∝ |α|, f(α) ∝ e |α| , a monotonically increasing function of |α|, such as f(α) ∝ log |α|, can be used.

[0035] p(α) and f(α) can be the same or different functions. The initial phase φ of the kth harmonic k (iT) is used appropriately to suppress discontinuous changes in the phase of each harmonic that may occur when updating the sampling time iT of the angular acceleration.

[0036] The type of sound source may be a periodic complex sound such as a sawtooth wave, a triangular wave, a square wave, etc., whose amplitude and frequency are modulated by a function of acceleration, or a non-periodic noise whose amplitude is modulated by a function of acceleration.

[0037] <Characterization section 14> The feature imparting unit 14 applies a group of time-invariant parallel band-pass filters to the upper arm movement responsive sounds and forearm movement responsive sounds generated by the above method, and imparts static features to the timbre of each sound source (S14). Figure 10 shows an example of the configuration of the feature imparting unit 14.

[0038] Here, the number N of bandpass filters constituting the bandpass filter group can be any number. For example, when N=2, the output sound y i The power spectrum of (t) can have two peak frequencies. In general, when we hear a sound whose power spectrum has two peak frequencies, the combination of those two peak frequencies creates the perception of a vowel (a, i, u, e, o).

[0039] Therefore, the feature imparting unit 14 may perform band-pass filtering on the upper arm motion corresponding sound and the forearm motion corresponding sound so that a combination of two different peak frequencies occurs in the power spectrum of the upper arm motion corresponding sound and the forearm motion corresponding sound, respectively. This makes it easier to grasp the rotational motion of the upper arm and the forearm.

[0040] The types of sound sources for the upper arm and forearm (sawtooth, triangular wave, square wave, noise, etc.) may be the same or different. Furthermore, when the types of sound sources for the upper arm and forearm are different, the band pass filter groups for the upper arm and forearm may be set to the same settings.

[0041] <Effects of the motor learning support device 1 of the first embodiment> The expert and the learner can compare the feedback information generated in real time with each other's pitching and share information about how their movements differ. As a result, the learner can easily understand the intention of the expert's instruction, and the expert can easily grasp the level of the learner's skill. Furthermore, even in a situation where the expert and the learner cannot communicate with each other, the learner can instantly receive the expert's feedback information that has been stored in advance. The learner can compare the feedback information generated in real time with his / her own pitching with the feedback of the expert and imitate it, which promotes the acquisition of skills even through self-study.

[0042] <Actual data> FIG. 11 shows the angular acceleration of the rotational motion of the upper arm and forearm of the throwing arm when a skilled pitcher throws two types of pitches (fastball and curveball) once each. FIG. 12 and FIG. 13 show the feedback sound signal and its spectrogram generated in real time by the motor learning support device 1 during the throws. In FIG. 11 to FIG. 13, time 0 on the time axis represents the moment when the ball leaves the hand. In FIG. 11, the solid curve represents the angular acceleration of the upper arm, and the dashed curve represents the angular acceleration of the forearm. Comparing the graphs of the fastball and the curveball in FIG. 11, the time change of the angular acceleration of the upper arm is relatively similar, whereas the time change of the angular acceleration of the forearm is significantly different. These different motion characteristics are reflected in the difference in the acoustic characteristics of the feedback sounds shown in FIG. 12 and FIG. 13.

[0043] 11, the absolute value of the angular acceleration shows a single very sharp peak immediately after the ball leaves the hand. By utilizing this property, it is possible to determine whether a pitching attempt is complete by comparing with a threshold value, and to realize the above-mentioned process of "detecting the end timing of a single motion based on changes in the angular acceleration of the rotational motion of the upper arm and forearm."

[0044] <Additional Notes> The device of the present invention has, as a single hardware entity, an input section to which a keyboard or the like can be connected, an output section to which a liquid crystal display or the like can be connected, a communication section to which a communication device (e.g., a communication cable) capable of communicating with the outside of the hardware entity can be connected, a CPU (which may also have a central processing unit, cache memory, registers, etc.), memories such as RAM and ROM, an external storage device such as a hard disk, and buses connecting the input section, output section, communication section, CPU, RAM, ROM, and external storage device so that data can be exchanged between them. If necessary, the hardware entity may also be provided with a device (drive) capable of reading and writing a recording medium such as a CD-ROM. A physical entity equipped with such hardware resources is, for example, a general-purpose computer.

[0045] The external storage device of the hardware entity stores the programs required to realize the above-mentioned functions and the data required in the processing of these programs (not limited to the external storage device, but for example the programs may be stored in a ROM, which is a read-only storage device). Data obtained by the processing of these programs is stored appropriately in the RAM, the external storage device, etc.

[0046] In the hardware entity, each program stored in an external storage device (or ROM, etc.) and the data required to process each program are loaded into memory as necessary, and interpreted, executed, and processed by the CPU as appropriate, so that the CPU realizes a predetermined function (each of the components represented as the above, "units," "means," etc.).

[0047] The present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit of the present invention. In addition, the processes described in the above-described embodiment are not limited to being executed in chronological order according to the order described, but may be executed in parallel or individually depending on the processing capacity of the device that executes the processes or as necessary.

[0048] As described above, when the processing functions of the hardware entities (the devices of the present invention) described in the above embodiments are realized by a computer, the processing contents of the functions that the hardware entities should have are described by a program. Then, by executing this program on a computer, the processing functions of the hardware entities are realized on the computer.

[0049] The various processes described above can be implemented by loading a program for executing each step of the above method into the recording unit 10020 of the computer 10000 shown in FIG. 14 and operating the control unit 10010, input unit 10030, output unit 10040, etc.

[0050] The program describing the processing contents can be recorded on a computer-readable recording medium. The computer-readable recording medium may be, for example, a magnetic recording device, an optical disk, a magneto-optical recording medium, a semiconductor memory, or any other suitable medium. Specifically, for example, a hard disk drive, a flexible disk, a magnetic tape, or the like can be used as the magnetic recording device, a DVD (Digital Versatile Disc), a DVD-RAM (Random Access Memory), a CD-ROM (Compact Disc Read Only Memory), a CD-R (Recordable) / RW (ReWritable), or the like can be used as the optical disk, an MO (Magneto-Optical disc), or the like can be used as the magneto-optical recording medium, and an EEP-ROM (Electrically Erasable and Programmable-Read Only Memory) or the like can be used as the semiconductor memory.

[0051] The program may be distributed, for example, by selling, transferring, lending, etc. portable recording media such as DVDs and CD-ROMs on which the program is recorded. Furthermore, the program may be distributed by storing the program in a storage device of a server computer and transferring the program from the server computer to other computers via a network.

[0052] A computer that executes such a program, for example, first stores the program recorded on a portable recording medium or the program transferred from a server computer in its own storage device. Then, when executing a process, the computer reads the program stored in its own recording medium and executes a process according to the read program. As another execution form of the program, the computer may directly read the program from the portable recording medium and execute a process according to the program, or may execute a process according to the received program each time a program is transferred from the server computer to the computer. The above-mentioned process may be executed by a so-called ASP (Application Service Provider) type service that realizes a processing function only by issuing an execution instruction and obtaining a result, without transferring a program from the server computer to the computer. Note that the program in this embodiment includes information used for processing by an electronic computer and equivalent to a program (data that is not a direct command to the computer but has a nature that specifies the processing of the computer, etc.).

[0053] In addition, in this embodiment, a hardware entity is configured by executing a specific program on a computer, but at least a part of the processing contents may be realized by hardware.

Claims

1. an upper arm angular acceleration acquisition unit that measures the angular acceleration of the rotational movement of the upper arm; a forearm angular acceleration acquisition unit that measures the angular acceleration of the rotational movement of the forearm; a motion-responsive sound generator that generates an upper arm motion-responsive sound, the sound having characteristics that change according to the magnitude of the angular acceleration of the rotational motion of the upper arm, and a forearm motion-responsive sound, the sound having characteristics that change according to the magnitude of the angular acceleration of the rotational motion of the forearm; a feature imparting unit that imparts different acoustic features to the generated upper arm movement responsive sound and the generated forearm movement responsive sound; a voice reproducing unit that reproduces the upper arm movement corresponding sound to which the acoustic features have been added, and the forearm movement corresponding sound to which the acoustic features have been added, Motor learning support device.

2. The motor learning support device according to claim 1, a database for storing the corresponding sound to which the acoustic features have been assigned together with the ID of the corresponding person; An operation unit that accepts user operations, The audio playback unit is Among the corresponding sounds stored in the database, a corresponding sound designated by the user's operation is reproduced. Motor learning support device.

3. The motor learning support device according to claim 2, The motor learning support device comprises: The end timing of one exercise motion is detected based on a change in the angular acceleration value of the rotational motion of the upper arm and the forearm, The audio playback unit is Each time the end timing is detected, a pre-specified corresponding sound is reproduced from among the corresponding sounds stored in the database. Motor learning support device.

4. The motor learning support device according to any one of claims 1 to 3, The feature providing unit is A band-pass filter process is performed on the upper arm movement responsive sound and the forearm movement responsive sound so that a combination of two different peak frequencies is generated in the power spectrum of the upper arm movement responsive sound and the power spectrum of the forearm movement responsive sound. Motor learning support device.

5. Measuring angular acceleration of rotational movement of the upper arm; Measuring angular acceleration of a rotational movement of the forearm; generating an upper arm motion corresponding sound, the characteristics of which change according to the magnitude of the angular acceleration of the rotational motion of the upper arm, and a forearm motion corresponding sound, the characteristics of which change according to the magnitude of the angular acceleration of the rotational motion of the forearm; imparting different acoustic features to the generated upper arm movement responsive sound and the generated forearm movement responsive sound; and reproducing the upper arm movement responsive sound to which the acoustic features have been added, and the forearm movement responsive sound to which the acoustic features have been added. Methods for supporting motor learning.

6. A program for causing a computer to function as the motor learning support device according to any one of claims 1 to 4.

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