Sports assistance device

Abstract

To provide an exercise assisting machine which can assist a body motion with high safety.SOLUTION: Skeleton data which exhibits a skeleton movement of a predetermined portion produced by an exercise acquisition device 100 worn by a first person is transmitted to an exercise assisting machine 200 worn by a second person. A motor drive data producing part 33 produces motor drive data based on the skeleton data. An operation determination part 43 determines whether a second person can move a predetermined portion within a mobile limit or not by referring mobile limit data retained in a user data retention part 42 when assisting the movement of the predetermined portion by the second person based on the motor drive data. A motor drive data modification part 41, when it is determined that the second person cannot move the predetermined portion within the mobile limit, modifies the motor drive data to motor drive data capable of moving the predetermined portion within the mobile limit, and drives a portion displacing motor 52.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to an exercise assist device. [Background technology]

[0002] Patent Document 1 describes acquiring body movement data of a first person and transmitting it to a second person wearing a movement reproduction device, and the second person reproducing the movements of the first person. Patent Document 2 describes acquiring body movement data of a person and transmitting it to a robot, and the robot reproducing the movements of the person. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2015 / 199086 [Patent Document 2] Japanese Patent Application Publication No. 7-299773 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, consider a scenario in which a first person is a coach for physical exercise, such as a specific sport, and wants to teach physical exercise to a second person in a remote location. The first person wears a motion capture device to acquire physical exercise data while performing the physical exercise. The second person wears a motion support device to perform the same physical exercise as the first person, and the motion support device assists the second person's physical exercise based on the physical exercise data transmitted from the motion capture device. In such a case, because the second person's physical abilities are different from those of the first person, it is necessary to assist the second person's physical exercise with safety in mind.

[0005] An object of the present invention is to provide an exercise assist device that can assist physical exercise with high safety. [Means for solving the problem]

[0006] The present invention includes a motor drive data generation unit that generates motor drive data for assisting a second person to move a predetermined body part of a first person based on skeletal data that indicates skeletal movement of the predetermined body part of the first person, the motor drive data being generated by a motion acquisition device worn by the first person; a part displacement motor that displaces the predetermined body part based on the motor drive data to assist the second person in moving the predetermined body part; a user data storage unit that stores motion limit data that indicates a motion limit when the second person moves the predetermined body part; and a motor drive data generation unit that generates motor drive data for assisting a second person to move the predetermined body part of a first person based on the skeletal data generated by a motion acquisition device worn by the first person. An exercise assist device is provided, comprising: a motion feasibility determination unit that, when assisting the second person in moving a predetermined part, refers to motion limit data stored in the user data storage unit and determines whether the second person can move the predetermined part within the motion limit; and a motor drive data correction unit that, when the motion feasibility determination unit determines that the second person cannot move the predetermined part within the motion limit, corrects the motor drive data generated by the motor drive data generation unit to motor drive data that allows the second person to move the predetermined part within the motion limit, and drives the part displacement motor. [Effects of the Invention]

[0007] According to the exercise assist device of the present invention, physical exercise can be assisted with high safety. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing an example of the configuration of an exercise acquisition device. [Figure 2] FIG. 2 is a diagram conceptually illustrating a state in which a first person is wearing an exercise acquisition device. [Figure 3] FIG. 2 is a perspective view conceptually illustrating an angle sensor included in the motion acquisition device. [Figure 4] 1 is a block diagram showing an exercise assistance device according to an embodiment; [Figure 5]FIG. 10 is a diagram conceptually illustrating a state in which a second person is wearing the exercise assist device. [Figure 6] FIG. 2 is a perspective view conceptually showing a part displacement motor provided in the exercise assist device. [Figure 7] FIG. 1 is a partial block diagram showing a more preferable configuration example of an exercise assist device according to an embodiment. [Figure 8] 8 is a diagram showing a process in which the more preferred configuration example shown in FIG. 7 interpolates postures of body movements. DETAILED DESCRIPTION OF THE INVENTION

[0009] An exercise assist device according to one embodiment will be described below with reference to the accompanying drawings.

[0010] 2 is a physical exercise coach, and a second person P2 shown in FIG. 5 is in a remote location away from the first person P1 and is being taught physical exercise by the first person P1. The first person P1 wears the exercise acquisition device 100 shown in FIG. 1.

[0011] As shown in Fig. 1, motion acquisition device 100 includes a 360-degree camera 1, an angle sensor group 2G including a plurality of angle sensors 2 (see Fig. 2), and a piezoelectric vibration sensor group 3G including a plurality of piezoelectric vibration sensors 3 (see Fig. 2). Motion acquisition device 100 also includes an image recording / playback unit 4, memory units 5 and 6, switches 7 to 9, a skeleton data generation unit 12, a vibration data generation unit 13, a body movement data generation unit 14, and a communication unit 15. Communication unit 15 is connected to a network 20 such as the Internet.

[0012] As shown in Figure 2, a first person P1 wears a 360-degree camera 1 on his or her head. Angle sensors 2 are attached to the first person P1's body near his or her shoulders, elbows, and wrists, for example, using connectors 16. Multiple piezoelectric vibration sensors 3 are attached to the skin in multiple locations where large muscles are present. Each piezoelectric vibration sensor 3 generates a sensor output value that detects muscle vibrations. Each angle sensor 2 is assigned an identification code, and each piezoelectric vibration sensor 3 is also assigned an identification code.

[0013] As conceptually shown in Figure 3, the angle sensor 2 includes a first sensor 2a mounted on a first support 2a1 and a second sensor 2b mounted on a second support 2b1. The first support 2a1 and the second support 2b1 are rotatable in the directions of the arrows. The first sensor 2a and the second sensor 2b can be configured, for example, as gyro sensors.

[0014] The angle sensor 2 attached near the shoulder is arranged so that the first support 2a1 contacts the shoulder and the second support 2b1 contacts the upper end of the upper arm, thereby obtaining a sensor output value corresponding to the angular relationship between the shoulder and the upper arm. The angle sensor 2 attached near the elbow is arranged so that the first support 2a1 contacts the lower end of the upper arm and the second support 2b1 contacts the upper end of the forearm, thereby obtaining a sensor output value corresponding to the angular relationship between the upper arm and the forearm. The angle sensor 2 attached near the wrist is arranged so that the first support 2a1 contacts the lower end of the forearm and the second support 2b1 contacts the back of the hand, thereby obtaining a sensor output value corresponding to the angular relationship between the forearm and the hand.

[0015] Although not shown in Fig. 2, angle sensors 2 may also be attached to the lower body. For example, angle sensors 2 attached to the knees or nearby areas may be arranged so that the first support 2a1 contacts the lower end of the thigh and the second support 2b1 contacts the upper end of the lower leg.

[0016] Returning to Fig. 1, image data generated by capturing an image of the surroundings of the first person P1 using the 360-degree camera 1 is supplied to the image recording / playback unit 4 and terminal 7a of the switch 7. The image recording / playback unit 4 records the image data, plays back the image data at a predetermined timing instructed by the first person P1, and supplies the image data to terminal 7b of the switch 7.

[0017] The sensor output values ​​detected by each angle sensor 2 in the angle sensor group 2G are supplied to a memory unit 5 and a terminal 8a of a switch 8. The memory unit 5 stores the sensor output values, reads out the sensor output values ​​at a predetermined timing instructed by the first person P1, and supplies them to a terminal 8b of the switch 8. The sensor output values ​​detected by each piezoelectric vibration sensor 3 in the piezoelectric vibration sensor group 3G are supplied to a memory unit 6 and a terminal 9a of a switch 9. The memory unit 6 stores the sensor output values, reads out the sensor output values ​​at a predetermined timing instructed by the first person P1, and supplies them to a terminal 9b of the switch 9.

[0018] Switching signals are supplied to the switches 7-9 when the first person P1 operates an operation unit (not shown). By connecting the switches 7-9 to terminals 7a-9a via the switching signals, the switches 7-9 can output the image data output from the 360-degree camera 1, the sensor output values ​​output from the angle sensor group 2G, and the sensor output values ​​output from the piezoelectric vibration sensor group 3G. By connecting the switches 7-9 to terminals 7b-9b via the switching signals, the switches 7-9 can output the image data reproduced by the image recording / reproducing unit 4, the sensor output values ​​read out from the memory unit 5, and the sensor output values ​​read out from the memory unit 6.

[0019] The skeletal data generation unit 12 generates skeletal data indicating skeletal movements of the first person P1 based on the sensor output values ​​of the angle sensor group 2G supplied by the switch 8, and supplies the generated skeletal data to the body movement data generation unit 14. The vibration data generation unit 13 generates vibration data indicating muscle vibrations accompanying the skeletal movements of the first person P1 based on the sensor output values ​​of the piezoelectric vibration sensor group 3G supplied by the switch 9, and supplies the vibration data to the body movement data generation unit 14. The body movement data generation unit 14 synchronizes the image data supplied by the switch 7 with the skeletal data and vibration data, and generates body movement data in a predetermined format including these data.

[0020] The communication unit 15 transmits the physical movement data to the exercise support device 200 shown in Fig. 4 worn by the second person P2 via the network 20 and a distribution server (not shown). The exercise acquisition device 100 may distribute the physical movement data to the exercise support device 200 live while the first person P1 is exercising, or may distribute the physical movement data to the exercise support device 200 at a predetermined timing after the first person P1 has finished exercising.

[0021] 1, at least the switches 7 to 9, the skeleton data generating unit 12, and the vibration data generating unit 13 can be configured by a microcomputer. The storage units 5 and 6 may be memories included in the microcomputer. The exercise acquisition device 100 may be configured using any hardware and software.

[0022] The configuration and operation of the exercise support device 200 will be described using Figures 4 and 5. A second person P2 is wearing the exercise support device 200. As shown in Figure 4, the exercise support device 200 includes a communication unit 31, a body movement data development unit 32, a motor drive data generation unit 33, a piezoelectric vibration actuator drive data generation unit 34, an image recording / playback unit 35, memory units 36 and 37, and switches 38 to 40. The exercise support device 200 also includes a motor drive data correction unit 41, a user data storage unit 42, a motion feasibility determination unit 43, an actuator drive unit 44, a head-mounted display 51, a part displacement motor group 52G, and a piezoelectric vibration actuator group 53G. The part displacement motor group 52G includes a plurality of part displacement motors 52 (see Figure 5). The piezoelectric vibration actuator group 53G includes a plurality of piezoelectric vibration actuators 53 (see Figure 5).

[0023] As shown in Figure 5, the second person P2 wears a head-mounted display 51 on his or her head and views an image displayed on the head-mounted display 51. Part displacement motors 52 are attached to the second person P2 near his or her shoulders, elbows, and wrists, for example, by connectors 56. A plurality of piezoelectric vibration actuators 53 are attached to the skin of the first person P1 in multiple locations where large muscles exist, similar to the locations where the plurality of piezoelectric vibration sensors 3 are attached. Each piezoelectric vibration actuator 53 vibrates the muscle. An identification code is assigned to each part displacement motor 52, and each piezoelectric vibration actuator 53 is also assigned an identification code.

[0024] As conceptually shown in Figure 6, the part-displacement motor 52 includes a first motor 52a mounted on a first support 52a1 and a second motor 52b mounted on a second support 52b1. The first support 52a1 and the second support 52b1 are rotatable in the directions indicated by the arrows. The first motor 52a rotates the first support 52a1, and the second motor 52b rotates the second support 52b1.

[0025] The part displacement motor 52 attached near the shoulder is arranged so that the first support 52a1 contacts the shoulder and the second support 52b1 contacts the upper end of the upper arm. Therefore, when the first motor 52a or the second motor 52b rotates to rotate the first support 52a1 or the second support 52b1, it can help to set the angular relationship between the shoulder and the upper arm to a predetermined angle.

[0026] The part-displacement motor 52 attached near the elbow is arranged so that the first support 52a1 contacts the lower end of the upper arm and the second support 52b1 contacts the upper end of the forearm, and can therefore assist in maintaining the angular relationship between the upper arm and the forearm at a predetermined angle. The part-displacement motor 52 attached near the wrist is arranged so that the first support 52a1 contacts the lower end of the forearm and the second support 52b1 contacts the back of the hand, and can therefore assist in maintaining the angular relationship between the forearm and the hand at a predetermined angle.

[0027] Returning to FIG. 4, the communication unit 31 receives the body movement data transmitted from the movement acquisition device 100 via the distribution server and the network 20. The body movement data development unit 32 develops the body movement data so that the image data, skeletal data, and vibration data are separated from one another. The image data is supplied to the image recording / playback unit 35 and a terminal 38a of a switch 38. The image recording / playback unit 35 records the image data, plays back the image data at a predetermined timing instructed by the second person P2, and supplies the played back image data to a terminal 38b of the switch 38.

[0028] The skeleton data is supplied to a motor drive data generation unit 33. The motor drive data generation unit 33 generates motor drive data for driving each part displacement motor 52 based on the skeleton data. The motor drive data is supplied to a storage unit 36 ​​and a terminal 39a of a switch 39. The storage unit 36 ​​stores the motor drive data, reads out the motor drive data at a predetermined timing instructed by the second person P2, and supplies it to a terminal 39b of the switch 39.

[0029] The vibration data is supplied to a piezoelectric vibration actuator drive data generation unit 34. Based on the vibration data, the piezoelectric vibration actuator drive data generation unit 34 generates piezoelectric vibration actuator drive data for driving each piezoelectric vibration actuator 53. The piezoelectric vibration actuator drive data is supplied to a storage unit 37 and a terminal 39a of a switch 39. The storage unit 37 stores the piezoelectric vibration actuator drive data, reads out the piezoelectric vibration actuator drive data at a predetermined timing instructed by the second person P2, and supplies it to a terminal 40b of a switch 40.

[0030] Switching signals are supplied to switches 38-40 when second person P2 operates an operation unit (not shown). By connecting switches 38-40 to terminals 37a-40a via switching signals, respectively, image data, motor drive data, and piezoelectric vibration actuator drive data based on the body movement data being live-streamed from motion acquisition device 100 can be output. By connecting switches 38-40 to terminals 38b-40b via switching signals, respectively, image data played back by image recording / playback unit 35, motor drive data read from memory unit 36, and piezoelectric vibration actuator drive data read from memory unit 37 can be output.

[0031] The head-mounted display 51 displays an image based on the image data supplied from the switch 38 on a built-in display panel. This allows the second person P2 to see the same scenery that the first person P1 is seeing or was seeing. Although providing a head-mounted display 51 is not essential, it is preferable to provide one.

[0032] The user data storage unit 42 stores in advance motion limit data indicating the motion limits of each part of the second person P2's body (such as the arms or lower body). As an example, the motion limit means that when the arm stretched out in front is raised, it cannot be raised all the way up vertically, but can only be raised to an angle of 80 degrees. As another example, when the forearm is bent toward the upper arm, the forearm can only be bent at an angle of 45 degrees relative to the upper arm.

[0033] When assisting physical movement by driving one or more part displacement motors 52 based on the input motor drive data, the movement feasibility determination unit 43 determines whether the body can be moved within the movement limits by referring to the movement limit data stored in the user data storage unit 42. If the movement feasibility determination unit 43 determines that the body can be moved within the movement limits, the motor drive data correction unit 41 drives the corresponding part displacement motor 52 in the part displacement motor group 52G based on the motor drive data supplied from the switch 39.

[0034] If the movement feasibility determination unit 43 determines that the body cannot be moved within the movement limit, the motor drive data correction unit 41 corrects the motor drive data supplied from the switch 39 to motor drive data that allows the body to be moved within the movement limit. Note that the motor drive data correction unit 41 includes a memory that temporarily stores the input motor drive data in order to correct it to motor drive data. The motor drive data correction unit 41 drives the corresponding part displacement motor 52 based on the corrected motor drive data.

[0035] Based on the uncorrected or corrected motor drive data, the motor drive data correction unit 41 supplies, for example, a pulse signal to the part displacement motor 52 to drive the part displacement motor 52. The motor drive data correction unit 41 may correct the motor drive data so that it is exactly at the body's limit of movement, or may correct the motor drive data so that it is below the limit of movement.

[0036] Since the exercise assist device 200 includes the motor drive data correction unit 41, it does not assist the second person P2 in moving any part of the body beyond the movement limit of the second person P2. Therefore, the exercise assist device 200 can assist the physical exercise of the second person P2 with a high degree of safety.

[0037] The actuator driver 44 drives the corresponding piezoelectric vibration actuator 53 in the piezoelectric vibration actuator group 53G to vibrate the muscles based on the piezoelectric vibration actuator drive data supplied from the switch 40. By vibrating the muscles with one or more piezoelectric vibration actuators 53, the second person P2 can experience muscle movement when exercising. Although it is not essential to provide the actuator driver 44 and the piezoelectric vibration actuator group 53G, it is preferable to provide them.

[0038] Incidentally, a first person P1 may exercise in two separate sessions, and the exercise support device 200 may successively receive a first set of physical exercise data and a second set of physical exercise data. As shown in FIG. 8, the final posture (first posture) of the first physical exercise data is posture 60 in which the left arm is lowered straight vertically downward, and the initial posture (second posture) of the second physical exercise data is posture 70 in which the left arm is raised straight vertically upward. In such a case, it is not desirable for the second person P2 to suddenly change posture from posture 60 to posture 70.

[0039] Therefore, as shown in Fig. 7, it is preferable that the exercise assist device 200 further includes a motion continuity determination unit 45 and a motor drive data interpolation unit 46. In Fig. 7, the motion continuity determination unit 45 determines whether there is motion continuity between the final posture and the initial posture, using the first motor drive data for the final posture of the first physical motion data and the second motor drive data for the initial posture of the second physical motion data. Note that the motion continuity determination unit 45 includes a memory for temporarily storing input motor drive data in order to determine whether there is motion continuity.

[0040] The movement continuity determination unit 45 may determine that there is movement continuity if there is only a slight difference between the final posture of the first body movement data and the initial posture of the second body movement data. The movement continuity determination unit 45 may determine whether there is movement continuity by referring to the motion limit data stored in the user data storage unit 42.

[0041] If the motion continuity determination unit 45 determines that there is motion continuity, the motor drive data interpolation unit 46 drives the corresponding part displacement motor 52 in the part displacement motor group 52G based on the motor drive data based on the first body movement data supplied from the motor drive data correction unit 41. Furthermore, the motor drive data interpolation unit 46 subsequently drives the corresponding part displacement motor 52 in the part displacement motor group 52G based on the motor drive data based on the second body movement data.

[0042] If the motion continuity determination unit 45 determines that there is no motion continuity, the motor drive data interpolation unit 46 interpolates one or more motor drive data for assuming a posture between the last posture of the first body movement data and the first posture of the second body movement data. As shown in Fig. 8, the motor drive data interpolation unit 46 interpolates motor drive data for assuming seven postures, for example, postures 671 to 677, between posture 60 and posture 70. The motor drive data interpolation unit 46 includes a memory that temporarily stores at least the first motor drive data and the second motor drive data in order to interpolate the motor drive data.

[0043] In Fig. 4, at least the body movement data developing unit 32, motor drive data generating unit 33, piezoelectric vibration actuator drive data generating unit 34, switches 38 to 40, motor drive data correcting unit 41, movement feasibility determining unit 43, and actuator driving unit 44 can be configured by a microcomputer. The storage units 36 and 37 may be memories included in the microcomputer. In Fig. 7, the movement continuity determining unit 45 and motor drive data interpolating unit 46 can be configured by a microcomputer. The exercise assist device 200 may be configured using any combination of hardware and software.

[0044] As described above, when a first person P1 teaches a second person P2 in a remote location how to swing a racket as a physical exercise, the exercise assist device 200 can teach the swing motion with high accuracy. Even if the physical ability of the second person P2 is lower than that of the first person P1, the exercise assist device 200 does not exceed the mobility limit of the second person P2, so the exercise assist device 200 can safely assist the physical exercise.

[0045] The present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the gist of the present invention. [Explanation of symbols]

[0046] 31 Communications Department 32 Physical movement data development section 33 Motor drive data generation unit 34 Piezoelectric vibration actuator drive data generation unit 41 Motor drive data correction unit 42 User data storage unit 43 Operation possibility determination section 44 Actuator drive unit 51 Head-mounted display 52 Part displacement motor 52G part displacement motor group 53 Piezoelectric vibration actuator 53G Piezoelectric vibration actuator group 45 Operation continuity determination unit 46 Motor drive data interpolation unit 100 Motion acquisition device 200 Exercise aids

Claims

1. a motor drive data generation unit that generates motor drive data for assisting a second person to move a predetermined part of the body, based on skeletal data that indicates skeletal movements of the predetermined part of the body of the first person, the skeletal data being generated by a motion acquisition device worn by the first person; a part displacement motor that displaces the predetermined part based on the motor drive data to assist the second person in moving the predetermined part; a user data storage unit that stores movement limit data indicating a movement limit when the second person moves the predetermined part; an operation possibility determination unit that, when assisting the second person in moving the predetermined part by displacing the predetermined part based on the motor drive data, determines whether the second person can move the predetermined part within the movement limit by referring to movement limit data stored in the user data storage unit; a motor drive data correction unit that corrects the motor drive data generated by the motor drive data generation unit to motor drive data that allows the second person to move the predetermined part within the movement limit when the operation possibility determination unit determines that the second person cannot move the predetermined part within the movement limit, and drives the part displacement motor; An exercise assist device comprising:

2. a motion continuity determination unit that, when first motor drive data for causing the second person to take the predetermined part of the body into a first posture and second motor drive data for causing the second person to take the predetermined part of the body into a second posture are consecutively received from the motion acquisition device, determines whether there is motion continuity between the first posture and the second posture; a motor drive data interpolation unit that, when the motion continuity determination unit determines that there is no motion continuity between the first posture and the second posture, interpolates one or more motor drive data for the motor drive data generation unit to take a posture between the first motor drive data and the second motor drive data, and drives the part displacement motor; The exercise assist device according to claim 1 , further comprising:

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