Action illusion generation system.

Abstract

Provided is a behavior illusion generation system 1000 that generates a tactile sensation that causes an illusion of behaviors such as walking or exercise even when not in a standing position. 【Solution means】A selection input unit 100 that selects one from a plurality of tactile sensations (walking illusion mode 110, exercise illusion mode 120, others), a plurality of regions into which the feet 60 of the user 50 are divided, and a plurality of stimulation generation devices 500 (1 to 18, 30, 31) arranged for each of the regions, and a table 400 in which the types, intensities, and times of stimulations corresponding to the tactile sensations (walking illusion mode 110, exercise illusion mode 120, others) are set based on the correlation between the tactile sensations generated by the stimulation generation device 500 acquired in advance and a plurality of types of stimulations are stored in a recording unit 300, and a command unit 200 that refers to the table 400 and commands the stimulation generation device 500 to perform an operation corresponding to the type, intensity, and time of the stimulation according to the selected tactile sensation (walking illusion mode 110, exercise illusion mode 120, others).

Description

Technical Field

[0001] The present invention relates to a system for generating an action illusion, and more particularly to a system for generating a tactile sensation that stimulates the feet to virtually create an illusion of actions such as walking and exercising.

Background Art

[0002] When a person walks, they simultaneously and unconsciously perform actions such as supporting their own body weight, stepping out their feet, and shifting their body weight in accordance with the condition of the walking surface. This action is complex as it endures a large load on the feet while constantly maintaining the balance of the body.

[0003] In recent years, technologies such as virtual reality (VR) and augmented reality (AR) have been accelerating in sophistication, and a method of sensory stimulation in a VR environment has been proposed to create a more realistic situation such as walking (see Patent Document 1).

[0004] On the other hand, elderly people with weak legs and waist or physically disabled people with difficulty walking require training to walk safely. Conventionally, a tactile sensation presentation device, a tactile sensation presentation system, and a tactile sensation presentation method that can transmit information in a natural form through the tactile sensation of the sole of the foot have been proposed (see Patent Documents 2 and 3).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, although the technology disclosed in Patent Document 1 describes that a device using a plurality of tactile presentation technologies (Haptics) is disposed in a shoe-shaped or sock-shaped structure and operates while taking feedback by a communication circuitry, it does not disclose what specific procedures should be taken and what kind of tactile sensations should be generated.

[0007] In addition, the technologies disclosed in Patent Documents 2 and 3 are for performing walking training in a standing position. Elderly people with weak legs and waist or physically disabled people with difficulty walking may not be able to properly feedback the sensations on the feet, may not be able to withstand the load, or may risk losing their body balance.

[0008] The present invention has been made in view of the above circumstances, and is a behavior illusion generation system that generates a tactile sensation that causes an illusion of behaviors such as walking and exercising even when not in a standing position. Specifically, it is possible to provide a system that stimulates the feet and reproduces a tactile sensation that virtually causes a motion illusion.

Means for Solving the Problems

[0009] One aspect of the present invention is a behavior illusion generation system for a foot that stimulates a foot including a user's knee, ankle, heel, sole, and toes to virtually generate a behavior illusion and reproduce a tactile sensation. A selection input unit that selects one from a plurality of tactile sensations, a stimulation generation device that divides the foot into a plurality of regions and is disposed for each region, a recording unit that stores a table in which the type, intensity, and time of the stimulus corresponding to the tactile sensation are set based on the correlation between the tactile sensation generated by the stimulation generation device acquired in advance and a plurality of types of stimuli, a command unit that refers to the table according to the selected tactile sensation and commands the stimulation generation device to perform an operation corresponding to the type, intensity, and time of the stimulus, and includes.

[0010] This configuration experimentally obtains in advance the relationship between the tactile sensation and the stimulus on the user's foot, and uses this as a table. When generating a tactile sensation that causes an illusion of actions such as walking or exercising, it refers to this table and applies a stimulus to reproduce the tactile sensation during walking. As a stimulus for promoting the tactile sensation, a stimulus generation device that applies vibrations, electric currents, punctures, pressurization, temperature, etc. can be applied, and the intensity and time of these stimuli are set. For example, the table can be applied by a healthy person who can walk, memorizing the stimuli during walking, subjectively evaluating from the correspondence between the intensity and time of the stimulus generation device and the sensation based on this memory, and accumulating the evaluation results.

[0011] According to this configuration, it is possible to generate a tactile sensation that causes an illusion of actions such as walking or exercising that are not limited to the standing position. Also, based on the table representing the correlation between the tactile sensation and the stimulus, it is possible to select an operation corresponding to the appropriate type, intensity, and time of the stimulus according to the user's state and physical condition, and it is possible to cause an illusion of actions such as walking or exercising without burdening the user.

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

[0013] As disclosed in Patent Documents 1, 2, and 3, as a stimulus generation device for the foot, the vibrator has a track record and can appropriately apply a stimulus to the foot. Also, the vibration can change the user's tactile sensation by changing the frequency, amplitude, and vibration time. In this way, this configuration realizes walking as if the user is in the real world. Also, for the elderly and disabled, it is possible to reproduce a state closer to actual walking training.

[0014] In the above configuration, The table consists of a plurality of tables, In the first table, for one of the regions and the other region sandwiching the location where the stimulus is generated on the foot, a combination of the intensity of the stimulus to the one region and the intensity of the stimulus to the other region is recorded so that the user can feel the stimulus at the stimulus generation location. In the second table, a combination of ranges of the stimulus for a certain frequency during the excitation of the vibrator is recorded. The selection input unit has a walking illusion mode. When the walking illusion mode is selected, it may be configured to set a stimulation location by referring to the first table and set a range of the stimulus corresponding to the weight transfer during the assumed walking of the user by referring to the second table.

[0015] In realizing the walking illusion mode, the above configuration can set the location of the foot to which the stimulus is applied by referring to the first table and set the range of the load applied to the foot during walking by referring to the second table. According to the above configuration, since the type and intensity of the stimulus can be set by the first table and the second table obtained and created experimentally in advance, a situation where the user is actually walking can be generated and reproduced as the walking illusion mode.

[0016] In the above configuration, the table further includes a third table. In the third table, a combination of transitions of expansion and contraction of the range of the stimulus due to fluctuations in the frequency during the excitation of the vibrator is recorded. It may be configured to set a transition of expansion and contraction of the range of the stimulus corresponding to the road surface condition during the assumed walking of the user by referring to the third table.

[0017] The above configuration realizes the transition of the expansion and contraction of the stimulation range due to the frequency variation during the excitation of the vibrator, thereby creating an illusion similar to the change in the load on the foot during actual walking. For example, with the right foot as a support, the left foot is stepped forward, the left foot touches the ground, a load is applied to the left foot, and then with the left foot as a support, the right foot is stepped forward. Thus, according to the above configuration, the type, intensity, and temporal transition of the stimulation can be set by a third table obtained and created experimentally in advance, so that a situation where the user is actually walking can be generated and reproduced as a walking illusion mode.

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

[0019] The above configuration defines a specific example of the third table, and realizes the expansion and contraction of the stimulation by varying the frequency. According to the above configuration, by varying the frequency in the order of high to low, it is also possible to sensitize the user's sense of the foot, making the situation where the user is actually walking closer to reality.

[0020] In the above configuration, Furthermore, it is provided with a media device for reproducing video and audio. The recording unit stores videos and audio of walking on a plurality of the road surface conditions. The command unit commands the stimulation generation device corresponding to the tactile sensation generated during walking on the road surface condition to perform an operation corresponding to the type, intensity, and time of the stimulation, and synchronizes the operation with the video and audio to reproduce the video and audio on the media device.

[0021] The above configuration synchronizes video and audio during walking in the walking illusion mode. According to the above configuration, in the walking illusion, information on video and audio by a media device is added to the user, and virtual reality (VR) or augmented reality (AR) can be realized.

[0022] According to the above configuration, while reproducing the situations encountered during actual walking as video and audio, by generating a walking illusion, it is possible to virtually realize situations such as walking outdoors, and make the situation where the user is actually walking closer to reality.

[0023] In the above configuration, the table has a fourth table, in the fourth table, combinations of the stimulation to the areas near the Achilles tendon and near the quadriceps tendon of the user and the angle of the ankle corresponding to the assumed stride of the user during walking are recorded. The selection input unit is provided with a motion illusion mode. When the motion illusion mode is selected, with reference to the fourth table, the range of the stimulation corresponding to the stride of the user during walking can be set.

[0024] In realizing the motion illusion mode, the above configuration can set a combination of the stimulation to the area near the Achilles tendon of the user with reference to the fourth table and the angle of the ankle corresponding to the assumed stride of the user during walking. The motion illusion mentioned here means that, for example, when stimulating the Achilles tendon of a user sitting on a chair, an illusion that the ankle is being bent can be generated even though the ankle is not actually being bent.

[0025] According to the above configuration, even when the user is lying on their back, in order to create an illusion of movement, it is possible to generate a tactile sensation that causes an illusion of actions such as walking or exercising in various VR and AR situations other than sitting. In addition, for users who cannot move their feet at will, it is possible to train the bending of the ankles during normal walking, thus realizing safer walking training.

Advantages of the Invention

[0026] The present invention is an action illusion generation system that generates a tactile sensation that causes an illusion of actions such as walking or exercising even when not in a standing position. Specifically, it is possible to provide a system that stimulates the feet and reproduces a tactile sensation that virtually causes a movement illusion.

Brief Description of the Drawings

[0027]

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Embodiments for Carrying Out the Invention

[0028] <Description of the Overall Configuration> Hereinafter, with reference to the drawings, a preferred embodiment of the behavioral illusion generation system for the foot according to the present invention will be described. In the following description, components denoted by the same reference numerals in different drawings may be the same, and the description thereof may be omitted.

[0029] One embodiment according to the present invention is a behavioral illusion generation system for the foot that reproduces touch by stimulating the foot of the user including the knee, ankle, heel, sole, and toes to virtually generate a behavioral illusion, and includes a selection input unit that selects one from a plurality of touches, a stimulus generation device (1 to 18, 30, 31) disposed for each of a plurality of regions into which the foot is divided, and a correlation between the touch generated by the stimulus generation device acquired in advance and a plurality of types of stimuli to Based on this, a recording unit storing a table in which the type, intensity, and time of the stimulus corresponding to the touch are set, and a command unit that refers to the table according to the selected touch and commands the stimulus generation device to perform an operation corresponding to the type, intensity, and time of the stimulus. As long as it has a configuration including these, any specific aspect may be adopted.

[0030] Referring to FIGS. 1 to 4, the behavioral illusion generation system 1000 according to the present embodiment includes a selection input unit 100 that selects one from a plurality of touches (walking illusion mode 110, motion illusion mode 120, others), a stimulus generation device 500 (1 to 18, 30, 31) disposed for each of a plurality of regions into which the foot 60 of the user 50 is divided, and a correlation between the touch generated by the stimulus generation device 500 acquired in advance and a plurality of types of stimuli toBased on this, a recording unit 300 storing a table 400 that sets the type, intensity, and duration of stimuli corresponding to the sense of touch (walking illusion mode 110, motion illusion mode 120, others), and a command unit 200 that refers to the table 400 according to the selected sense of touch (walking illusion mode 110, motion illusion mode 120, others) and commands the stimulus generation device 500 to perform operations corresponding to the type, intensity, and duration of the stimuli, are configured.

[0031] The selection input unit 100 has a so-called switch-like function for the user 50 to select what kind of action illusion to perform. The action illusion here refers to the "sense of touch" generated by the stimulus to the foot 60 of the user 50. In FIG. 1, the walking illusion mode 110 and the motion illusion mode 120 are shown as examples of the "sense of touch", and these will be described later.

[0032] In addition to the walking illusion mode 110 and the motion illusion mode 120 shown in FIG. 1, for the sense of touch, for example, a simple "foot stomping mode", a "jumping mode", etc. can be added according to a previously obtained table, and temporarily set as X mode and Y mode 130.

[0033] The selection input unit 100 may not only have a switch-like function, but also read data such as the state of the foot 60 of the user 50 (for example, characteristics of the walking state such as a sense of discomfort or hypersensitivity in the user's sole), and the results when the previous action illusion generation system 1000 was used. The selected "sense of touch" and data, etc. are transmitted to the command unit 200.

[0034] Based on the selection result and data transmitted from the selection input unit 100, the command unit 200 refers to the table 400 stored in the recording unit 300, stimulates the foot 60, and creates the instruction content necessary to reproduce the sense of touch that virtually generates an action illusion.

[0035] Table 400 divides the foot part 60 into a plurality of regions (for example, refer to the division in FIG. 5), and includes a stimulation generation device 500 disposed for each of the regions, and the correlation between the tactile sensation generated by the stimulation generation device 500 acquired in advance and a plurality of types of stimulations. to Based on this, the type, intensity, and time of the stimulation corresponding to the tactile sensation are set. Regarding Table 400, several examples will be described later, including the basis for the correlation between the tactile sensation and a plurality of types of stimulations.

[0036] The data transmitted from the selection input unit 100 and the instruction content created by referring to Table 400 in the recording unit 300 are transmitted to the stimulation generation device 500. The stimulation generation device 500 stimulates the foot part 60 based on the type, intensity, and time of the stimulation according to the instruction content.

[0037] For the selection input unit 100, for example, a switch using a semiconductor switching element can be applied to the part for making a selection, and a media reader or the like can be applied to the part for inputting data.

[0038] The command unit 200 can be configured by, for example, a microcomputer, and has a processor CPU for performing operations, a control program, a list of various data, a table, a map stored in a ROM, and a RAM for temporarily storing the operation results by the CPU.

[0039] The recording unit 300 is provided with a non-volatile memory, and stores necessary data and the like in this non-volatile memory. The non-volatile memory can be composed of an EEPROM which is a rewritable ROM, or a RAM with a backup function that supplies a holding current to maintain storage even when the power is turned off.

[0040] Referring to FIGS. 2 and 3, the stimulation generating device 500 is disposed on the sole 62 (FIG. 2) of the foot 60, the Achilles tendon 64, and the quadriceps tendon 66 (FIG. 3). A plurality of stimulation generating devices 500-1 to -18 are arranged from the toes to the heel side on the sole 62, and stimulation generating devices 500-30 and -31 are arranged on the Achilles tendon 64 and the quadriceps tendon 66. These stimulation generating devices 500-1 to -18, -30, and -31 are arranged for each set area based on the correlation between touch and stimulation according to the test results and evaluations by the inventor. In FIG. 2, examples of the lead wires for transmitting and supplying signals and power for operating the devices are shown for the stimulation generating devices 500-1, 5, 8, and 16.

[0041] The stimulation generating device 500 may be directly attached to or affixed to the foot 60 of the user 50, or it may be provided with an insole adapted to the sole 62 shown in FIG. 2, and further arranged in, for example, shoes (sandals, sneakers, boots, etc.) that accommodate the Achilles tendon 64 and the quadriceps tendon 66.

[0042] The stimulation generating device 500 is not particularly limited as long as it can add vibration. For example, a vibration motor, a voice coil motor, a linear vibration actuator, a piezo actuator, an ultrasonic vibrator, etc. can be applied. In addition, for stimulation by current, puncture, pressure, temperature, circuits, actuators, Peltier elements, etc. can be appropriately selected and applied.

[0043] <Description of Table 400> Hereinafter, several examples and their bases of the table 400 applicable to this embodiment will be described. In creating the following table 400, a voice coil motor (Ipx7 outer diameter 20mm, manufactured by huyunxin) was applied as the stimulation generating device 500.

[0044] When a person walks, starting from a standing position, one foot is lifted and extended forward, and the heel is placed on the ground at a position in front by the step width. At this time, the load (force) associated with the forward movement with the person's weight as the mass increases as the load moves and moves from the landed heel to the toe. Then, after supporting the load with only one foot, next the other foot is lifted and extended forward, and the same action is repeated.

[0045] This means that when forming the foot, when the weight is on it, and when kicking it out, the load range changes, but this situation cannot be expressed only by the intensity of vibration, so the stimulation site when walking can be reproduced by changing the sensory reception range.

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

[0047] Regarding the first table 410, the correlation between the tactile sensation and the stimulation for generating a phantom sensation that realizes the load application covering the entire foot part 60 using a limited number of stimulation generation devices 500 is explained. The phantom sensation is a phenomenon in tactile perception where when vibration stimuli are applied to two points on the skin, the stimuli fuse and vibration is perceived at a point between the two points. Also, it is known that the perceived position is biased towards the stronger intensity side depending on the intensity ratio of the vibration stimuli at the two points.

[0048] Regarding the second table 420, it represents the correlation between the intensity of the tactile sensation and the intensity of the stimulation when the frequency of the stimulation generation device 500 is changed in order to simulate the increase and decrease of the load at a specific position of the foot part 60 as walking progresses, that is, to set the expansion and contraction of the stimulation range due to the weight transfer during walking.

[0049] Regarding the third table 430, it represents the correlation between the intensity of the tactile sensation and the intensity of the stimulation when the frequency of the stimulation generation device 500 is varied in a time series to simulate the change in the stimulation position on the foot part 60 as walking progresses.

[0050] Regarding the fourth table 440, in order to generate an illusion that the joints of the foot 60 are operating during walking, it represents the correlation between the tactile sensation and the stimulus in the Achilles tendon 64 and the quadriceps tendon 66.

[0051] The table 400 is not limited to the first table. As will be described later, a table based on the pre-acquired data related to the action illusion, such as using the video and audio data 450 as a table, is prepared, stored in the recording unit 300, and can be used according to the scene by the command unit 200.

[0052] <Description of the First Table> With reference to FIGS. 5 to 10, the content of the first table 410 and a part of the pre-acquired results serving as the basis will be described.

[0053] Referring to FIG. 5, the sole 62 of the foot 60 is divided into a plurality of regions (longitudinal directions A - H, transverse directions a - d). And some of the regions are provided with the stimulus generation devices 500 (1 - 18). Here, approximately, the regions (A - B, a - d) are near the toes, the regions (C - F, b - c) are near the instep, and the regions (G - H, b - c) are near the heel.

[0054] Here, assume a case where an attempt is made to apply the stimulus ST1 to the regions (A - B, c - d) near the toes. The stimulus generation devices 500 arranged in this region are (1, 2, 5, 6), and with one stimulus generation device 500, the required load cannot be achieved.

[0055] At this time, referring to FIG. 6, in order to apply the stimulus ST1, three combinations are given from the first table 410. Each combination selects two stimulus generation devices 500 (for example, 5, 6 in the first selection combination), and sets the amplitude (a3 for 5 and a5 for 6) as their respective intensities.

[0056] Referring to FIGS. 7 and 8, it shows the case where the stimulation ST1 to the sole 62 is moved from (5,6) of the stimulation generating device 500 in the (TypeA), (7) direction and is located between (5,7) (TypeB). Note that TypeA can be rephrased as stimulation at a short distance from the ball of the thumb, and TypeB can be rephrased as stimulation at a long distance from the ball of the thumb.

[0057] Referring to FIG. 9, it shows the test conditions in which TypeA and TypeB are respectively loaded with a size (amplitude) of 0.1 mm to 1 mm, a frequency of 100 Hz, and a vibration time of 0.5 sec, and a test was conducted to confirm whether the tactile sensation moved in the directions such as the arrows TR and TL in FIG. 7 to the user. Further, FIG. 10 shows an example of the frequency at which the phantom sensation for creating the first table for frequencies from 10 Hz to 500 Hz occurred.

[0058] The test results confirmed that the tactile sensation moved in the directions such as the arrows TR and TL in FIG. 7 at any of the frequencies shown in FIG. 10. Thus, by referring to the first table 410 and disposing the stimulation generating device 500 in the region, a phantom sensation can be caused to generate a spatially continuous stimulation ST1.

[0059] In this way, in the first table 410, for one region and another region sandwiching the location where the stimulation ST1 to the foot part 60 is generated, the combination of the intensity of the stimulation to one region and the intensity of the stimulation to the other region is recorded so that the user 50 can feel the stimulation ST1 at the location where the stimulation ST1 is generated.

[0060] <Explanation of the second table> Next, referring to FIGS. 11 to 14, a part of the content of the second table 420 and the previously obtained results serving as the basis will be described.

[0061] Here, as shown in FIG. 11, it is assumed that the stimulation ST2 is applied to the region (G, b) near the heel of the sole 62, and then the stimulation ST3 is applied to the surrounding regions (F - H, a - c).

[0062] Referring to FIG. 12, in the second table 420, the positions where stimuli under the conditions of the stimuli ST2 and ST3 are loaded, the stimulus generation device 500 to be activated, and the frequency that becomes the intensity of the stimulus are set. In this example, compared with the stimulus ST2, the stimulus ST3 is set to have a high frequency f3 (>f1).

[0063] Here, referring to FIG. 13, the evaluation method will be described. When the user 50 feels local vibration (stimulus) as shown on the left side of FIG. 13, it is rated as "1", and when feeling wide vibration (stimulus) as shown on the right side, it is rated as "100". The user subjectively evaluated from "1" to "100".

[0064] As shown in FIG. 14, the test was carried out several times (4 times), vibration (excitation) was applied for a certain period of time, and the frequency was changed with breaks (rests). As a result, it was found that at the heel, when the frequency is greater than 150 Hz, a wide vibration (stimulus) is felt, and when the frequency is lower than that, a local vibration (stimulus) is felt. Similar tests have also been carried out on parts other than the heel.

[0065] As a general tendency of the test, it was found that by applying a high frequency, a wide vibration (stimulus) is felt, and by applying a low frequency, a local vibration (stimulus) is felt. The second table 420 summarizes the thresholds of the frequencies at which a wide vibration (stimulus) is felt and the frequencies at which a local vibration (stimulus) is felt for each area of the sole 62. The second table 420 simulates the increase and decrease of the load at a specific position of the foot part 60 as walking progresses, that is, it is a table of the correlation between the tactile intensity and the stimulus intensity when the frequency of the stimulus generation device 500 is changed in order to set the expansion and contraction of the stimulus range due to the weight transfer during walking.

[0066] <Explanation of the Third Table> Next, referring to FIGS. 15 to 18, the content of the third table 430 and a part of the previously obtained results serving as the basis will be described.

[0067] Referring to FIG. 15, the third table 430 shows the sensitivity to vibration (stimulation) when the frequency is changed for the specified regions (in FIG. 15, "heel" and "ball of little toe"). The sensitivity is as shown in FIG. 13.

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

[0069] FIG. 16 shows the test results for creating the table of the "heel". FIG. 16 shows the application of the stimulus ST4 to the heel portion of the sole 62. Thus, in the third table 430, in order to simulate the change in the stimulation position on the foot part 60 as walking progresses, the correlation between the tactile intensity and the stimulation intensity when the frequency of the stimulation generating device 500 is varied in time series is recorded.

[0070] The inventor has discovered that the user's 50 sensations are different when continuously applying stimulation and when once interrupting the stimulation and restarting it after taking sufficient time. That is, in the case of the vibration pattern as shown in FIG. 17, as shown in FIG. 18, even at the same frequency of 100 Hz, the first 100 Hz (left side) in FIG. 17 and the last 100 Hz are felt differently, and the stimulus ST4 to the sole 62 is a wide - range stimulus ST4 for the former and a local stimulus ST4 for the latter.

[0071] As described above, the third table 430 optionally includes a table configured to vibrate at intervals of a predetermined time, in order from a predetermined first frequency to a second frequency higher than the first frequency, a third frequency lower than the first frequency, and a fourth frequency higher than the first frequency, or in order from a predetermined first frequency to a fifth frequency higher than the first frequency, a sixth frequency lower than the first frequency, and a seventh frequency higher than the first frequency. In this way, by varying the frequency, expansion and contraction of the stimulus are realized. According to the above configuration, by varying the frequency in the order of high and low, it is also possible to sensitize the sensation of the foot 60 of the user 50.

[0072] <Synchronization between the First Table, the Second Table, the Third Table and Video / Audio> Next, with reference to FIG. 19, an example of synchronization with video / audio when a stimulus is applied to the foot 60 of the user 50 by the stimulus generation device 500 according to the walking illusion mode 110 set from the first table 410, the second table 420, and the third table 430 will be described.

[0073] Referring to FIG. 19, a media device 600 for reproducing video / audio is further connected to the command unit 200 in the system of FIG. 4, and video / audio data 450 is stored in the recording unit 300.

[0074] The command unit 200 commands the stimulus generation device 500 corresponding to the walking illusion reproduced based on the first table 410, the second table 420, and the third table 430, that is, the stimulus corresponding to the tactile sensation occurring in walking on the road surface, to perform an operation corresponding to the type, intensity, and time of the stimulus, and synchronizes the operation with the video / audio data 450 to reproduce video / audio on the media device 600.

[0075] According to this configuration, information on video / audio by the media device is added to the walking illusion for the user 50, and virtual reality (VR) or augmented reality (AR) can be realized.

[0076] Furthermore, according to this configuration, by reproducing the situations encountered during actual walking as video and sound and generating a walking illusion, it is possible to virtually realize situations such as walking outdoors.

[0077] <Explanation of the Fourth Table>

[0078] Next, with reference to FIGS. 20, 21, and 22, the content of the fourth table 440 and a part of the pre-acquired results on which it is based will be described.

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

[0080] The fourth table 440 executes the motion illusion mode 120. Motion illusion means that, for example, as shown in FIG. 21, when a stimulus is applied to the Achilles tendon 64 of an elderly person with weak legs or a physically disabled person with difficulty walking, although the actual foot part 60 does not move as shown in the upper part (actual foot) of FIG. 21, in the lower part (intracerebral image), it feels as if the ankle is bent upward.

[0081] When the user 50 is a healthy person, this motion illusion generates an illusion of movement even when the user is lying on their back, so it is possible to generate a tactile sensation that causes illusions of actions such as walking and movement in various VR and AR situations other than sitting.

[0082] The user 50 can visually perceive the difference between the upper part (actual foot) and the lower part (intracerebral image) of FIG. 21 and correct the movement of their own ankle as shown on the right side of FIG. 21. This correction, as shown in FIG. 22, helps to restore the action of stepping forward during walking to a normal state and achieve an appropriate step width.

[0083] As described above, the fourth table 440 records combinations of stimulation to areas near the Achilles tendon 64 and near the quadriceps tendon 66 of the user 50 and the angle of the ankle corresponding to the assumed stride of the user 50 during walking.

[0084] Then, when the motion illusion mode 120 is selected in the selection input unit 100, the range of the stimulation corresponding to the stride of the user 50 during walking can be set with reference to this fourth table 440.

[0085] Specifically, in implementing the motion illusion mode 120, combinations of stimulation to areas near the Achilles tendon 64 and near the quadriceps tendon 66 of the user 50 and the angle of the ankle corresponding to the assumed stride of the user 50 during walking can be set with reference to the fourth table 440.

[0086] According to this configuration, the range of postures that the user 50 can take can be expanded. Also, in the case of the user 50 who cannot move the foot as they wish, since the bending of the ankle during normal walking can be trained, it is possible to realize a motion illusion that is a preparatory stage for safer walking training.

[0087] Next, with reference to the table 400 described so far, as an example of the action illusion generation system 1000 that applies stimulation to the foot 60, the flow of the walking illusion mode 110 and the motion illusion mode 120 will be described. Note that since each configuration has already been described, it will be briefly explained.

[0088] <Example of walking illusion mode> FIG. 23 shows the flow when the walking illusion mode 110 is selected. Note that STP1 to STP3 and STP8 in this flow are outside the technical scope of a part of the present invention, such as the actions of the user 50 or the person providing support. This is described together because it is support content that is preferably performed normally in realizing this embodiment.

[0089] The user 50 selects the walking illusion mode 110 of the selection input unit 100 (STP1). Then, the user 50 adjusts the position between his / her foot 60 and the stimulation generation device 500 (STP2). After the user 50 attaches the stimulation generation device 500 to the foot 60 or brings it into contact with the foot 60, the user 50 calibrates the sensitivity of the sensation of the foot 60 and the intensity of the stimulation generation device 500 (STP3). With the above steps, the preparation of the user 50 is completed.

[0090] At this time, data such as the state of the user 50's foot 60 (for example, characteristics of the walking state such as a sense of discomfort or hypersensitivity in the user's sole) and the result when the previous action illusion generation system 1000 was used may be read from the selection input unit 100.

[0091] Next, the command unit 200 of the action illusion generation system 1000 refers to the first table 410 stored in the recording unit 300 and sets the stimulation location and intensity (STP4). Subsequently, it refers to the second table 420 to set the stimulation range (STP5). Then, it refers to the third table 430 to set the transition of the expansion and contraction of the stimulation range (STP6). Optionally, images and pictures are set according to the sequence of the walking illusion (STP7).

[0092] After executing the above STP1 to 7, the action illusion in the walking illusion mode 110 is started (STP8).

[0093] <Example of the motion illusion mode> FIG. 24 shows the flow when the motion illusion mode 120 is selected. Note that STP1 to STP3 of this flow exceed a part of the technical scope of the present invention, such as the actions of the user 50 or the person providing support.

[0094] The user 50 selects the motion illusion mode 120 of the selection input unit 100 (STP1). Then, the user 50 adjusts the position between his / her foot 60 and the stimulation generation device 500 (STP2). After the user 50 attaches the stimulation generation device 500 to the foot 60 or brings it into contact with the foot 60, the user 50 calibrates the sensitivity of the sensation of the foot 60 and the intensity of the stimulation generation device 500 (STP3). With the above steps, the preparation of the user 50 is completed.

[0095] Next, the command unit 200 of the action illusion generation system 1000 refers to the fourth table 440 stored in the recording unit 300 and sets the stimulation location and intensity (STP4). After executing the above STP1 - 4, the action illusion by the motion illusion mode 120 is started (STP5).

[0096] As described above, the present invention is an action illusion generation system that generates a tactile sensation that causes an illusion of actions such as walking or exercising even when not in a standing position. Specifically, it provides a system that stimulates the foot to reproduce a tactile sensation that virtually causes a motion illusion. It should be noted that the embodiments of the present disclosure are not limited to the above - described embodiments, and modifications are possible without departing from the gist thereof.

Explanation of Reference Numerals

[0097] 50 ··· User 60 ··· Foot 62 ··· Sole of the foot 64 ··· Achilles tendon 66 ··· Quadriceps tendon 100 ··· Selection input unit 110 ··· Walking illusion mode 120 ··· Motion illusion mode 130 ··· X mode, Y mode 200 ··· Command unit 300 ··· Recording unit 400 ··· Table 410 ··· First table 420 ··· Second table 430 ··· Third table 440 ··· Fourth table 450···Video and audio data 500···Stimulation generation devices (1 to 18, 31, 32) 1000···Action illusion generation system ST1 to ST4···Stimulations

Claims

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

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

3. The table comprises a plurality of tables, In the first table, a combination of an intensity of the stimulation to the one region and an intensity of the stimulation to the other region, which are sandwiched between the stimulation generation point on the foot, is recorded so that the user feels the stimulation at the stimulation generation point, for the one region and the other region, which are sandwiched between the stimulation generation point on the foot, A second table records a combination of the range of stimuli for a certain frequency when the transducer is excited, 3. The behavior illusion production system of claim 2, wherein the selection input unit is provided with a walking illusion mode, and when the walking illusion mode is selected, the selection input unit refers to the first table to set a stimulation location, and refers to the second table to set a range of the stimulation corresponding to an expected weight transfer of the user when walking.

4. The table further comprises a third table; A third table records a combination of the expansion and contraction of the range of the stimulation due to the change in frequency when the transducer is excited, The behavior illusion generation system according to claim 3 , further comprising: a setting for a transition of expansion and contraction of the range of the stimulus corresponding to the expected road surface conditions when the user is walking, by referring to the third table.

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

6. It also has a media device that reproduces video and audio. The recording unit stores a plurality of images and sounds of walking on the road surface conditions, The behavioral illusion generation system of claim 4 or claim 5, wherein the command unit commands the stimulus generating device, which corresponds to the tactile sensation generated when walking under the road surface conditions, to perform an operation corresponding to the type, intensity, and time of the stimulus, and synchronizes the operation with the video and audio to cause the media device to reproduce the video and audio.

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

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