Information processing device, information processing method, and computer-readable recording medium

Abstract

An information processing device according to one embodiment of the present art comprises a control unit. The control unit controls, on the basis of a signal that indicates a voluntary movement of a user at a first time point, an action unit that is mounted on a body part of the user and that moves the body part of the user at a third time point included in a period from the first time point to a second time point at which a motion of the body part of the user corresponding to the signal indicating the voluntary movement of the user occurs.

Description

[Technical Field]

[0001] The present technology relates to an information processing device, an information processing method, and a computer-readable recording medium that can be applied to a device that drives a body to assist movement. [Background technology]

[0002] Conventionally, methods have been developed to generate physical movement by moving the user's body. For example, a method that generates movement using electrical muscle stimulation (EMS) or a method that generates movement using mechanical actuators that drive joints is known. By using these methods, it is possible to realize assistance for various movements.

[0003] For example, Non-Patent Document 1 describes a system that uses EMS to speed up human reaction times. This system is configured to generate physical movement using EMS in advance within a specific period of time between the time the user receives a visual stimulus and the time they react. By appropriately setting the timing for generating this physical movement using EMS, it is possible to assist the user's movements without significantly impairing the user's sense of having performed the movement themselves. [Prior art documents] [Non-patent literature]

[0004] [Non-Patent Document 1] Shunichi Kasahara, Jun Nishida, and Pedro Lopes. "Preemptive Action: Accelerating Human Reaction using Electrical Muscle Stimulation Without Compromising Agency." In CHI Conference on Human Factors in Computing Systems Proceedings (CHI 2019), Glasgow, Scotland UK. ACM, New York, NY, USA. May 4-9, 2019. Paper No.643, 15pages Summary of the Invention [Problem to be solved by the invention]

[0005] When assisting human movements in this way, there is a possibility that the timing of the user's movements may be off depending on the timing of the assistance, so there is a demand for technology that can appropriately control the timing of the user's movements.

[0006] In view of the above circumstances, an object of the present technology is to provide an information processing device, an information processing method, and a computer-readable recording medium that are capable of appropriately controlling the timing of a user's actions. [Means for solving the problem]

[0007] In order to achieve the above object, an information processing device according to an embodiment of the present technology includes a control unit. The control unit controls, based on a signal indicating the user's voluntary movement at a first time point, an action unit that is attached to the user's body part and moves the user's body part at a third time point included in the period from the first time point to a second time point at which movement of the user's body part occurs in response to the signal indicating the user's voluntary movement.

[0008] In this information processing device, a movement of a user's body part that occurs at a second time point in response to a signal indicating the user's voluntary movement at a first time point is assisted by moving an operating unit attached to the body part. The operating unit is driven at a third time point within the period from the first time point to the second time point. This makes it possible to start assisting prior to the movement of the user's body part, making it possible to appropriately control the timing of the user's movement.

[0009] The control unit may detect a movement signal that generates the user's voluntary movement from a signal indicating the user's voluntary movement, and set the third point in time for controlling the action unit based on the timing of detection of the movement signal.

[0010] When the movement signal is detected, the control unit may control the action unit so that the movement of the user's body part accelerates or decelerates with respect to the second time point.

[0011] The control unit may control the action unit based on a reference signal related to a movement of a body part of the user.

[0012] The reference signal may be a signal indicating a timing of a movement of the user's body part. In this case, the control unit may set at least one of the third time point for controlling the action unit and a fourth time point for ending control of the action unit based on the timing of the movement of the user's body part.

[0013] The control unit may set at least one of the third time point and the fourth time point according to a driving force that drives the action unit.

[0014] The action unit may be operable to promote or suppress a movement of the user's body part. In this case, the control unit may set the third point in time later as the driving force of the action unit increases when promoting the movement of the user's body part, and may set the fourth point in time earlier as the driving force of the action unit increases when suppressing the movement of the user's body part.

[0015] The reference signal may be a signal indicating whether the user needs to perform a predetermined motion by moving a body part of the user. In this case, the control unit may compare the need for the predetermined motion indicated by the reference signal with the presence or absence of the motion signal that generates the predetermined motion, and control the action unit based on the comparison result.

[0016] The control unit may control the action unit so that the user's body part performs the predetermined movement when the movement signal that generates the predetermined movement is not detected in a situation where the predetermined movement is required.

[0017] The control unit may control the action unit so that the user's body part does not perform the predetermined movement when the movement signal that causes the predetermined movement is detected in a situation where the predetermined movement is not necessary.

[0018] The reference signal may be a signal indicating a result of sensing, using a predetermined sensor, information for determining whether the user moves a body part of the user.

[0019] The motion of the user's body part may be a motion for performing an input operation related to a predetermined application, and the reference signal may be a signal indicating a timing of the input operation.

[0020] The reference signal may be a movement signal detected from a signal indicating a voluntary movement of another user different from the user.

[0021] The signal indicative of the user's voluntary movement may be at least one of an electromyographic signal of the user, an electroencephalographic signal of the user, or a spinal signal of the user.

[0022] The effector may be a first magnetic field effector that receives a force according to a magnetic field. In this case, the control unit may control the first magnetic field effector by electrically changing a magnetic field between the first magnetic field effector and a second magnetic field effector that is provided separately from the first magnetic field effector.

[0023] At least one of the first magnetic field effector and the second magnetic field effector may include an electromagnet, and in this case, the control unit may control the electromagnet to generate an attractive or repulsive magnetic force between the first magnetic field effector and the second magnetic field effector.

[0024] The movement of the user's body part may be a contact movement in which the user brings the user's body part into contact with an object to be moved. In this case, the second magnetic field effect unit may be provided on the object to be moved.

[0025] The body part of the user may be a finger of the user. In this case, the touch action may be a touch operation by the finger of the user. The operation target may be an input device that accepts the touch operation.

[0026] An information processing method according to an embodiment of the present technology includes: The method includes controlling, based on a signal indicating a voluntary movement of a user at a first time point, an action unit attached to the user's body part and moving the user's body part at a third time point included in a period from the first time point to a second time point at which a movement of the user's body part occurs in response to the signal indicating the voluntary movement of the user.

[0027] A computer-readable recording medium according to one embodiment of the present technology records a program that causes a computer system to execute the following steps. A step of controlling, based on a signal indicating a voluntary movement of the user at a first time point, an action unit attached to the user's body part and moving the user's body part at a third time point included in a period from the first time point to a second time point at which a movement of the user's body part occurs in response to the signal indicating the voluntary movement of the user. [Brief explanation of the drawings]

[0028] [Figure 1] 1 is a schematic diagram showing a configuration example of a body drive system according to a first embodiment of the present technology; [Figure 2] FIG. 2 is a block diagram showing an example of the functional configuration of the body drive system shown in FIG. 1. [Figure 3] 10 is a graph showing an example of an electromyographic signal. [Figure 4] FIG. 1 is a schematic diagram showing basic motion assistance by a body drive unit. [Figure 5] FIG. 2 is a schematic diagram for explaining the basic operation of the body drive system. [Figure 6] FIG. 10 is a schematic diagram for explaining the start timing of action assistance. [Figure 7] FIG. 10 is a block diagram showing the flow of action assistance without using a reference signal. [Figure 8] 10 is a flowchart illustrating an example of action assistance without using a reference signal. [Figure 9] 10A and 10B are schematic diagrams showing an example of motion assistance for accelerating or decelerating finger motion. [Figure 10] FIG. 10 is a block diagram showing the flow of action assistance using a reference signal. [Figure 11] 10 is a flowchart illustrating an example of action assistance using a reference signal. [Figure 12] 10A and 10B are schematic diagrams illustrating an example of an action assist that controls the timing of a touch operation. [Figure 13] 13 is a graph showing the control content of the action assistance shown in FIG. 12. [Figure 14] FIG. 10 is a schematic diagram showing an example of action assistance in cooperation with another user. [Figure 15] FIG. 15 is a block diagram showing the flow of the action assistance shown in FIG. 14. [Figure 16] 15 is a schematic diagram for explaining the control content of the action assistance shown in FIG. 14. FIG. [Figure 17] FIG. 10 is a schematic diagram showing an example of action assistance for an action that requires cognitive judgment. [Figure 18] FIG. 10 is a schematic diagram showing an example of the configuration of a body drive system according to a second embodiment. [Figure 19] FIG. 10 is a schematic diagram showing an example of the configuration of a body drive system according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0029] Hereinafter, embodiments of the present technology will be described with reference to the drawings.

[0030] First Embodiment [Configuration of the body drive system] FIG. 1 is a schematic diagram showing a configuration example of a body drive system according to a first embodiment of the present technology. The physical driving system 100 is a system that realizes motion assistance that assists the motion of a body part that is a part of the body of the user 1. The physical driving system 100 performs motion assistance such as encouraging the motion of a body part and motion assistance such as suppressing the motion of a body part so that the motion of the user 1 is performed appropriately, for example. The motion assistance by the body drive system 100 is realized by moving an operating unit attached to a body part. For example, by configuring the operating unit to be able to move body parts such as the fingers 2, palms, arms, legs, torso, and head of the user 1, it is possible to assist the motion of each body part.

[0031] In this embodiment, the body actuation system 100 performs motion assistance to assist the user 1 in bringing a body part into contact with a motion target. That is, the motion of the body part of the user 1 that is the target of motion assistance is a contact motion in which the user 1 brings a body part of the user 1 into contact with a motion target. Here, a contact motion is, for example, a series of motions that involve contact between the user 1 and an object. For example, actions such as pressing a button, touching a screen, and grabbing an object are included in the contact motion.

[0032] Note that the targets of motion assistance by physical actuation system 100 are not limited to contact motions. For example, motion assistance may be realized to assist a motion performed by user 1 using a tool (such as the motion of the back of the hand (wrist) when user 1 uses a brush) or a motion that requires adjustment of force (such as the motion of slightly lifting fingers 2 when performing pottery, etc.). In this way, it is also possible to assist motions that do not require contact with an object.

[0033] 1 is configured to assist a touch operation in which a user 1 touches a motion target (a touch sensor 45 described later) with his / her finger 2. The touch operation is, for example, an operation performed by the user 1 by touching the motion target with the finger 2. In this embodiment, the finger 2 of the user 1 is an example of a body part of the user 1. Furthermore, the touch operation with the finger of the user 1 is an example of the above-mentioned touch action.

[0034] In the body actuation system 100, a wearable magnet unit 10 and an electromagnet unit 20 are used to move a finger 2 of a user 1. The wearable magnet unit 10 is a unit worn by the user 1 and includes a wearable magnet 11 that is worn on the finger 2 of the user 1. The electromagnet unit 20 includes an electromagnet 21 that generates a magnetic field that acts on the wearable magnet 11. In FIG. 1, the wearable magnet 11 is worn on the index finger of the right hand of a user 1. In this case, an action assist is performed to assist the contact operation by the index finger of the right hand. Of course, the wearable magnet 11 may also be worn on another finger 2 of the user 1. The wearable magnet unit 10 is an example of the above-mentioned action unit. For example, by controlling the current input to the electromagnet 21, a magnetic force (attractive force) that attracts the worn magnet 11 and a magnetic force (repulsive force) that repels the worn magnet 11 are generated. These magnetic forces (attractive force and repulsive force) act on the worn magnet 11, causing the finger 2 of the user 1 wearing the worn magnet 11 to move.

[0035] Furthermore, the body drive system 100 monitors a signal indicating a voluntary movement that moves the finger 2 that is the target of motion assistance. A voluntary movement of user 1 is, for example, a movement consciously performed by user 1. For example, an action realized by a voluntary movement of moving each part of the body becomes a movement of user 1. As an example, when user 1 makes an action of touching finger 2 to an object, the movement intended by user 1 is realized by a voluntary movement of bending each joint of finger 2. The signal indicating a voluntary movement is, for example, a biological signal that changes in accordance with the voluntary movement, and is a signal that can indicate the occurrence of a voluntary movement. For example, when user 1 performs a voluntary movement, a signal that transmits a command to move a muscle is generated in the brain of user 1. This signal is transmitted to the target muscle via the nervous system, such as the spinal cord, and the muscle contracts, causing the voluntary movement. The signal transmitted during this process becomes a signal indicating the voluntary movement. Therefore, by monitoring signals indicative of voluntary movement, it is possible to detect the occurrence of that movement before any part of the body moves.

[0036] In this embodiment, a myoelectric signal is used as a signal indicating a voluntary movement. In Fig. 1, a myoelectric signal for moving the muscle that moves finger 2, which is the target of motion assistance, is detected by a myoelectric sensor 40 attached to the arm of user 1. The electromagnet 21 is controlled using the myoelectric signal detected by this myoelectric sensor 40. This makes it possible to start assisting a movement by driving the electromagnet 21 before the finger 2 of the user 1 actually moves, for example. The specific configuration of the body actuation system 100 will be described below.

[0037] Fig. 2 is a block diagram showing an example of the functional configuration of the body drive system 100 shown in Fig. 1. The body drive system 100 includes a body drive unit 30, an electromyographic sensor 40, a touch sensor 45, an application controller 46, and an electromagnet controller 50. The body drive unit 30 is a mechanism for driving the body of the user 1, and includes a wearable magnet unit 10, an electromagnet unit 20, and an electromagnet drive unit 25.

[0038] The wearable magnet unit 10 is a unit that is worn on the finger 2 of the user 1 and moves the finger 3 of the user 1, and has a wearable magnet 11. The wearable magnet 11 is a permanent magnet that is worn on the finger 2 of the user 1. A small neodymium magnet is typically used as the wearable magnet 11. This makes it possible to easily generate a relatively strong attractive or repulsive force on the finger 2 of the user 1. In this way, the wearable magnet unit 10 can be said to be an element that receives a force according to a magnetic field and moves the finger 2 of the user 1. In this embodiment, the wearable magnet unit 10 corresponds to an action unit. The wearable magnet unit 10 also functions as a first magnetic field action unit that receives a force according to a magnetic field.

[0039] The wearable magnet 11 is attached to the finger 2 of the user 1, for example, via a wearing device (not shown). For example, the wearable magnet 11 is fixed to a ring-shaped wearing device, a band-shaped wearing device, or a bag-shaped wearing device. The wearable magnet 11 is placed on the nail side near the tip of the finger 2, for example, as shown in FIG. 1. This makes it possible to preserve the tactile sensation on the pad side of the finger 2. The wearable magnet 11 is also placed so that one of the magnetic poles (south pole or north pole) faces the nail side. The specific configuration of the mounted magnet 11, such as the type and arrangement, is not limited. For example, multiple mounted magnets 11 may be arranged on one finger 2. Also, for example, the mounted magnet 11 may be arranged on the side or the ventral side of the finger 2. Furthermore, the mounted magnet 11 may be directly fixed to each finger 2 of the user 1.

[0040] The electromagnet unit 20 has an electromagnet 21 that generates a magnetic field that acts on the wearable magnet unit 10 (wearable magnet 11). The electromagnet 21 consists of, for example, a coil and an iron core around which the coil is wound, and generates a magnetic field by magnetizing the iron core when a current is passed through the coil. The magnetic field changes by changing the value and direction of the current flowing through this coil. This makes it possible to control the direction and strength of the force acting on the wearable magnet unit 10. In this way, the electromagnet unit 20 is provided separately from the mounting magnet unit 10 and can be said to be an element that generates a magnetic field that moves the mounting magnet unit 10. In this embodiment, the electromagnet unit 20 functions as a second magnetic field application unit.

[0041] 1, the electromagnet unit 20 is provided on a touch sensor 45 that is the target of the action of the finger 2 of the user 1. Specifically, the electromagnet unit 20 is disposed on the opposite side of the contact surface of the touch sensor 45 that is in contact with the finger 2 of the user 1 (for example, on the underside of the contact surface). This makes it possible to assist the action of attracting the finger 2 to the touch sensor 45 or moving the finger 2 away from the touch sensor 45 (see FIG. 3).

[0042] Thus, in this embodiment, a permanent magnet (mounted magnet 11) is used in the first magnetic field effect unit (mounted magnet unit 10) provided on the body side of the user 1, and an electromagnet 21 is provided in the second magnetic field effect unit (electromagnet unit 20) provided on the side of the object of operation. For example, an electromagnet may be provided in the first magnetic field effect unit on the body side and a permanent magnet may be provided in the second magnetic field effect unit on the target side, or an electromagnet may be provided in both the first magnetic field effect unit on the body side and the second magnetic field effect unit on the target side. In this way, at least one of the first magnetic field effector and the second magnetic field effector includes an electromagnet. By using the electromagnet, it becomes possible to easily control the movement of the body part (finger 2) of the user 1.

[0043] The electromagnet driving unit 25 drives the electromagnets 21 provided in the electromagnet unit 20. The electromagnet driving unit 25 generates a driving signal according to a control signal generated by an electromagnet control unit 52 (body driving processing control unit 54) described later, and supplies the driving signal to each electromagnet 21. The driving signal may be a digital signal such as a PWM (Pulse Width Modulation) signal, or may be an analog current signal. The specific configuration of the electromagnet driving unit 25 is not limited, and may be appropriately configured using, for example, a current source capable of driving the electromagnet 21. The electromagnet driving unit 25 may be configured as a part of the electromagnet controller 50.

[0044] The myoelectric sensor 40 is a sensor that detects myoelectric signals for moving the muscles of the user 1. The myoelectric signals are signals that indicate the time change of the action potential that moves the muscles. This signal is used as a signal that indicates the voluntary movement of the user 1. In this embodiment, a myoelectric sensor 40 is used that detects surface myoelectricity using surface electrodes 41 attached to the surface of the skin of the user 1. By using the surface myoelectricity, it is possible to reduce the burden on the user 1.

[0045] The surface electrodes 41 include a pair of measurement electrodes 41a and 41b and a reference electrode 41c. The measurement electrodes 41a and 41b are attached at positions where they can detect the myoelectric signals of the muscles that move the body part that is the target of the motion assistance (here, the index finger 2 of the right hand). A change in the potential between the measurement electrodes 41a and 41b is detected as the myoelectric signal. The reference electrode 41c is attached at a position away from the measurement electrodes 41a and 41b. By referring to the potential of the reference electrode 41c, it is possible to accurately detect the target myoelectric signal. Note that a configuration excluding the reference electrode 41c may also be used.

[0046] Fig. 3 is a graph showing an example of an electromyography (EMG) signal. Fig. 3 shows an electromyography (EMG) graph in which the electromyography signal (action potential) is plotted along the time axis. The vertical axis of the graph represents the action potential measured between measurement electrodes 41a and 41b, and the horizontal axis represents time. For example, when user 1 performs a voluntary movement to move a body part, the action potential changes significantly (positive and negative amplitudes increase). Figure 3 includes four waveforms (envelopes) that change significantly in the action potential. These waveforms actually transmit signals that move the muscles.

[0047] Hereinafter, a signal that generates a voluntary movement of the user 1, that is, a signal that actually moves the muscles, will be referred to as a spontaneous movement signal S1. The spontaneous movement signal S1 can be said to be a biological signal (voluntary biological movement signal) that indicates the voluntary movement itself. For example, in an electromyogram, when voluntary movement is performed, a spontaneous movement signal S1 (a waveform in which the action potential changes significantly) is generated. Furthermore, a myoelectric signal other than the spontaneous movement signal S1 is referred to as a steady signal S0. In this embodiment, the spontaneous movement signal S1 corresponds to a movement signal.

[0048] As mentioned above, muscle contraction (muscle exertion) occurs after a certain time has passed since the appearance of the action potential change (spontaneous movement signal S1). Also, the time it takes for the muscle to contract after the action potential change (muscle exertion delay time) varies depending on the body part and the type of muscle being targeted. By recording these delay times in advance, it is possible to estimate in advance the timing at which the body parts will actually move. Furthermore, the myoelectric sensor 40 detects action potentials at a predetermined sensing rate (for example, 1 kHz, etc.) This sensing rate is appropriately set so that it is an interval shorter than the delay time of muscle exertion, for example.

[0049] 2, the touch sensor 45 is a sensor that detects contact of the finger 2 of the user 1 with the contact surface. For example, a capacitance type contact detection sensor, a pressure sensor, a mechanical button, or the like is used as the touch sensor 45. The detection result of the touch sensor 45 is output as a user operation input by a touch operation to an application controller 46 and an electromagnet controller 50, which will be described later. In this way, the touch sensor 45 functions as an input device that accepts a touch operation by the finger 2 of the user 1.

[0050] The application controller 46 is a computing device for running an application that uses the touch sensor 45. As the application controller 46, for example, a computer such as a PC or a game device is used. The application controller 46 is also connected to a display device such as a display (not shown) and displays an operation screen for an application that uses the touch sensor 45 (for example, a rhythm game). The application controller 46 executes various processes, such as generating an operation screen for the application, changing the operation screen according to the progress of the application, or reflecting the input of a touch operation performed by the user 1 in the operation of the application.

[0051] The electromagnet controller 50 is a control unit that controls the operation of the electromagnet 21 of the electromagnet unit 20. The electromagnet controller 50 includes a storage unit 51 and an electromagnet control unit 52.

[0052] The storage unit 51 is a non-volatile storage device. For example, a recording medium using a solid-state element such as an SSD (Solid State Drive) or a magnetic recording medium such as an HDD (Hard Disk Drive) is used as the storage unit 51. In addition, the type of recording medium used as the storage unit 51 is not limited, and any recording medium that non-temporarily records data may be used. A control program according to this embodiment is stored in the storage unit 51. The control program is, for example, a program that controls the overall operation of the electromagnet controller 50. Other information stored in the storage unit 51 is not limited to this. In this embodiment, the storage unit 51 corresponds to a computer-readable recording medium on which a program is recorded, and the control program corresponds to a program recorded on the recording medium.

[0053] The electromagnet control unit 52 controls the operation of the electromagnet controller 50. The electromagnet control unit 52 has a hardware configuration necessary for a computer, such as a CPU and memory (RAM, ROM). The CPU loads a control program stored in the storage unit 51 into the RAM and executes it, thereby performing various processes. The electromagnet control unit 52 corresponds to an information processing device according to this embodiment.

[0054] For example, a PLD (Programmable Logic Device) such as an FPGA (Field Programmable Gate Array) or other devices such as an ASIC (Application Specific Integrated Circuit) may be used as the electromagnet control unit 52. Also, for example, a processor such as a GPU (Graphics Processing Unit) may be used as the electromagnet control unit 52. Also, the electromagnet control unit 52 may be configured using the hardware that configures the application controller 46 described above.

[0055] In this embodiment, the CPU of the electromagnet control unit 52 executes a program (control program) according to this embodiment, thereby realizing functional blocks including a locomotor activity signal detection unit 53 and a body drive processing control unit 54. These functional blocks then execute the information processing method according to this embodiment. Note that dedicated hardware such as an IC (integrated circuit) may be used as appropriate to realize each functional block.

[0056] The spontaneous movement signal detection unit 53 acquires a signal indicating a voluntary movement of the user 1. Specifically, the myoelectric signals detected by the myoelectric sensor 40 at a predetermined sensing rate are sequentially read. Furthermore, spontaneous movement signal detection unit 53 detects spontaneous movement signal S1 from the electromyographic signal. Specifically, the time at which spontaneous movement signal S1 is generated is detected from the value of the electromyographic signal (action potential). When the action potential indicated by the electromyography signal exceeds a predetermined threshold, the spontaneous movement signal detector 53 determines that the spontaneous movement signal S1 has been generated, and outputs the time at which the spontaneous movement signal S1 is generated as the detection timing T0 of the spontaneous movement signal S1.

[0057] The detection timing T0 of the spontaneous movement signal S1 detected from the electromyographic signal is indicated by a dotted line in Figure 3. The detection timing T0 corresponds to the time when the waveform of the spontaneous movement signal S1 begins. The threshold for determining the action potential is set, for example, according to the level of the steady-state signal S0 so that the spontaneous movement signal S1 can be properly determined. This makes it possible to detect a signal indicating an attempt to perform a movement (spontaneous movement signal S1) before the actual movement occurs. This is because before the human body moves, the corresponding muscles generate muscle action potentials to exert their muscle power. In this way, the spontaneous movement signal detector 53 uses the electromyography sensor 40 (EMG) to detect the spontaneous movement signal S1 that is generated prior to the flexor of the muscle.

[0058] The body drive processing control unit 54 controls the motion assistance (body drive processing) performed by the body drive unit 30. As described above, in the body drive unit 30, the wearable magnet 11 is driven by the magnetic field acting on the wearable magnet 11, i.e., the magnetic field generated by the electromagnet 21. Therefore, the body drive processing control unit 54 controls the wearable magnet unit 10 by electrically changing the magnetic field between the wearable magnet unit 10 (wearable magnet 11) and the electromagnet unit 20 (electromagnet 21). Specifically, the body drive processing control unit 54 generates a control signal for controlling the electromagnet 21. For example, control parameters such as the timing, direction, period, and strength for controlling the mounted magnet 11 are set. Based on these control parameters, a control signal for controlling the electromagnet 21 is generated. The generated control signal is output to the electromagnet drive unit 25.

[0059] In this way, the body drive processing control unit 54 controls the wearable magnet unit 10 (wearable magnet 11), which is an action unit that moves body parts of the user 1, by controlling the magnetic field generated by the electromagnet unit 20 (electromagnet 20). In the present disclosure, controlling the action unit means controlling the movement of the action unit. Here, the body drive processing control unit 54 controls the timing, direction, period, strength, etc. of controlling the wearable magnet 11. Note that the timing of controlling the wearable magnet 11 refers to the timing at which control of the wearable magnet 11 begins, and is the timing at which the wearable magnet 11 is driven.

[0060] 4 is a schematic diagram showing basic movement assistance by the body drive unit 30. Here, it is assumed that the north pole of the mounted magnet 11 faces the electromagnet 21. 4A, a control signal is generated to pass a current through electromagnet 21 so that the touch sensor 45 side of electromagnet 21 becomes the south pole, and is output to electromagnet driving unit 25. In this case, an attractive magnetic force is generated between mounted magnet 11 and electromagnet 21. As a result, finger 2 of user 1 is moved in a direction approaching touch sensor 45. 4B, a control signal is generated to pass a current through electromagnet 21 so that the touch sensor 45 side of electromagnet 21 becomes the north pole, and is output to electromagnet driving unit 25. In this case, a repulsive magnetic force is generated between mounted magnet 11 and electromagnet 21. As a result, finger 2 of user 1 is moved in a direction away from touch sensor 45. When the south pole of the mounted magnet 11 faces the electromagnet 21, the magnetic poles of the electromagnet 21 on the touch sensor 45 side can be set to north and south poles to generate attractive and repulsive forces.

[0061] In this way, the body drive processing control unit 54 controls the electromagnet 21 so that a magnetic force that is an attractive force or a repulsive force is generated between the wearable magnet unit 10 (wearable magnet 11) and the electromagnet unit 20 (electromagnet 21). For example, when an attractive force is generated, it is possible to promote a touch operation in which the user 1 touches the finger 2 to the touch sensor 45. Conversely, when a repulsive force (a rebound force) is generated, it is possible to suppress a touch operation.

[0062] The body drive processing control unit 54 uses the detection result of the spontaneous movement signal detection unit 53 as a trigger for processing to move the wearable magnet unit 10 (wearable magnet 11) in this way. For example, the timing (control timing T3) for controlling the wearable magnet unit 10 is set based on the detection timing T0 of the spontaneous movement signal S1. Alternatively, if the spontaneous movement signal S1 is not detected by a scheduled time, control is performed such that the wearable magnet unit 10 is driven. This point will be explained in detail later.

[0063] The body drive processing control unit 54 also acquires a reference signal related to the movement of the body part of the user 1, and controls the wearable magnet unit 10 (wearable magnet 11) based on the acquired reference signal. The reference signal is, for example, an external signal output from another computer such as the application controller 46, a sensor that monitors the movement status of the user 1, or the like. Here, a signal indicating the timing of a touch operation by the finger 2 of the user 1, whether a touch operation is necessary, etc. is read as a reference signal. Based on such a reference signal, control parameters including the timing and direction for driving the mounted magnet 11 are set. It is also possible to drive the mounted magnet 11 without using a reference signal. In this embodiment, the spontaneous movement signal detector 53 and the body drive processing controller 54 work together to implement the controller.

[0064] Fig. 5 is a schematic diagram for explaining the basic operation of the body drive system 100. As shown in Fig. 5, a signal (Motor Control Signal) for controlling a muscle 4 is generated in the brain 3 of the user 1. When the user 1 performs an action to move a part of the body (voluntary movement), a voluntary movement signal S1 (Voluntary Signal) is generated as a signal for controlling the muscle 4 and transmitted to the muscle 4. When this voluntary movement signal S1 reaches the muscle 4, the muscle 4 starts to contract, resulting in muscle movement. The body drive system 100 is a system that assists this muscle movement using a body drive unit 30 (such as the mounted magnet 11 and the electromagnet 21). Therefore, the movement of the body part (finger 2) of the user 1 ultimately becomes an integrated movement that combines the movement by the body drive unit 30 and muscle movement.

[0065] For example, if motion assistance is performed after the user 1 has made a muscle movement, there is a possibility that the timing of the final motion may be off or that an incorrect motion may be assisted. Therefore, in this embodiment, a spontaneous movement signal S1 indicating that the user 1 is about to move is detected using an electromyography sensor 40, and movement assistance is performed by electromagnetic drive using the attached magnet 11 and electromagnet 21 prior to the actual exercise behavior.

[0066] As explained with reference to Figure 4, in the electromagnetically driven motion assistance, the electromagnet 21 is activated to generate an attractive force or a repulsive force on the finger 2 of the user 1 on which the attached magnet 11 is attached, thereby moving the finger 2 of the user 1. In general, the delay time from when electromagnet 21 starts to be driven until movement occurs in a body part is shorter than the delay time from when muscle exertion (spontaneous movement signal S1) is detected by electromyography sensor 40 until movement occurs in a body part. Therefore, for example, in the movement of finger 2, by immediately driving electromagnet 21 after detecting spontaneous movement signal S1, it is possible to accelerate the movement of finger 2 by, for example, about 20 msec. By utilizing such characteristics, the body driving system 100 references the spontaneous movement signal S1 and starts motion assistance so as to modulate the body movement of the user 1 before (or simultaneously with) the user's own movement.

[0067] FIG. 6 is a schematic diagram for explaining the start timing of the action assistance. Hereinafter, the timing at which the myoelectric signal (action potential) is measured by the myoelectric sensor 40 and the spontaneous movement signal detection unit 53 will be referred to as measurement timing T1. Furthermore, the timing at which finger 2 actually moves in response to spontaneous movement signal S1 is referred to as movement timing T2. Movement timing T2 is set, for example, based on the characteristics of finger 2 (such as the delay time of muscle exertion). For example, if spontaneous movement signal S1 is detected at measurement timing T1, it can be predicted that actual movement will occur at movement timing T2. Furthermore, if spontaneous movement signal S1 is not detected at measurement timing T1, it can be predicted that finger 2 of user 1 will not move at movement timing T2. In this way, movement timing T2 can be said to be a timing that predicts the presence or absence of voluntary movement based on measurement timing T1. The timing at which the motion assistance starts is referred to as control timing T3. The control timing T3 is the timing at which the wearable magnet unit 10 (wearable magnet 11) is controlled, i.e., the timing at which the electromagnet 21 is driven, and is set by the body drive processing control unit 54. The measurement timing T1, the operation timing T2, and the control timing T3 correspond to a first time point, a second time point, and a third time point, respectively.

[0068] In this embodiment, the spontaneous movement signal detector 53 acquires a myoelectric signal (a signal indicating a voluntary movement of the user 1) at measurement timing T1. At this time, a threshold determination is performed on the action potential of the electromyography signal to determine whether or not a spontaneous movement signal S1 has been generated. For example, if the action potential changes and the spontaneous movement signal S1 is detected, the measurement timing T1 becomes equal to the detection timing T0. In this case, the voluntary movement begins and the finger 2 of the user 1 actually moves at movement timing T2, which is later than the measurement timing T1.

[0069] In the body drive processing control unit 54, control timing T3 is set prior to the action timing T2 so that action assistance for driving the finger 2 of the user 1 is performed. At this time, the content of the action assistance (such as the direction in which the mounted magnet 11 is driven) is set so as to assist the action predicted to occur at the action timing T2. That is, in this embodiment, based on the myoelectric signal of the user 1 at the measurement timing T1, the body drive processing control unit 54 controls the attached magnet 11 that is attached to the finger 2 of the user 1 and moves the finger 2 of the user 1 at the control timing T3 included in the period from the measurement timing T1 to the movement timing T2 at which the movement of the finger 2 of the user 1 occurs in response to the myoelectric signal of the user 1. This makes it possible to perform movement assistance at an appropriate timing without delay, and to appropriately control the timing of the user's movement.

[0070] The control timing T3 may be set arbitrarily within the period from the measurement timing T1 to the operation timing T2, that is, within the range of T1≦T3≦T2. For example, the control timing T3 may be set to be substantially the same timing as the measurement timing T1 (T3=T1), which makes it possible to sufficiently accelerate the movement of the finger 2 of the user 1, for example. Furthermore, for example, the control timing T3 may be set to be substantially the same timing as the action timing T2 (T3=T2), which makes it possible to perform action assistance without the user 1 being aware of it.

[0071] In this way, by performing precedential actuation, in which the mounted magnet 11 is moved prior to the actual voluntary movement, various types of motion assistance can be realized. For example, it is possible to accelerate or decelerate the touch operation by the finger 2 of the user 1 (see FIG. 9, etc.). Also, for example, by using a reference signal, it is possible to control the timing of the touch operation (see FIGS. 13 and 16, etc.). Also, for example, if the user 1 makes a mistake in the touch operation, it is possible to provide motion assistance to correct the mistake (see FIG. 17, etc.). Each action assist will be described in detail below.

[0072] Fig. 7 is a block diagram showing the flow of motion assistance without using a reference signal. Fig. 8 is a flowchart showing an example of motion assistance without using a reference signal. In the movement assistance without using a reference signal, the movement assistance is started according to a preset control timing T3, for example, triggered by the spontaneous movement signal S1. 7, the detection result (presence or absence of spontaneous movement signal S1) of spontaneous movement signal detector 53 is input to body drive processing controller 54. Body drive processing controller 54 generates a control signal based on the detection result. The generated control signal is output to body driver 30 (electromagnet driver 25). The flow of processing in the electromagnet controller 50 will be described below with reference to FIG.

[0073] The process shown in FIG. 8 is a loop process that is repeatedly executed when performing action assistance. First, the spontaneous movement signal detector 53 detects the spontaneous movement signal S1 from the electromyography signal (step 101). Specifically, it is determined whether the value of the electromyography signal (action potential) exceeds a predetermined threshold. For example, if the electromyography signal value exceeds the threshold, it is determined that the spontaneous movement signal S1 has been generated. On the other hand, if the electromyography signal value does not exceed the threshold, it is determined that the spontaneous movement signal S1 has not been generated. The result of this determination process is output as a trigger signal indicating the presence or absence of the spontaneous movement signal S1, for example. Alternatively, the measurement timing T1 at which the spontaneous movement signal S1 is detected may be output as the detection timing T0.

[0074] Next, the body drive processing control unit 54 determines the content of the motion assistance (body drive processing) based on the detection result of the spontaneous movement signal detection unit 53 (step 102). Specifically, control parameters for driving the mounted magnet 11 (electromagnet 21) are set. For example, when a spontaneous movement signal S1 is detected, a control timing T3 for controlling the mounted magnet 11 is set based on the detection timing T1 of the spontaneous movement signal S1. Here, the control timing T3 is set to the time after a predetermined waiting time has elapsed from the detection timing T1. For example, if the mounted magnet 11 is to be driven immediately, the predetermined waiting time is set to 0. The predetermined waiting time may be set as appropriate within a range that is equal to or shorter than the delay time for muscle exertion. Furthermore, the body drive processing control unit 54 sets the direction and period for driving the mounted magnet 11. Here, the direction and period for driving the mounted magnet 11 are set to a preset direction and period. If the spontaneous movement signal S1 is not detected, the subsequent processing is not executed.

[0075] Next, the body drive processing control unit 54 generates a control signal for the electromagnet 21 according to the set control parameters and outputs it to the electromagnet drive unit 25 (step 103). The control signal is, for example, a pulse signal whose voltage rises at control timing T3. The positive or negative voltage of this pulse signal corresponds to the orientation of the magnetic pole generated in the electromagnet 21. The width of the pulse signal corresponds to the period during which a magnetic force is generated, i.e., the period during which the mounted magnet 11 is driven. The waveform of the pulse signal may be set appropriately depending on the type of motion assistance, etc. For example, by setting a rectangular pulse signal, it is possible to increase the speed at which the mounted magnet 11 is driven. Alternatively, for example, a pulse signal that rises at a constant slope may be set. In this case, it is possible to gradually change the force applied to the mounted magnet 11, thereby achieving natural motion assistance.

[0076] 9 is a schematic diagram showing an example of motion assistance that accelerates or decelerates the motion of the finger 2. Here, as an example of motion assistance that does not use a reference signal, a process of accelerating or decelerating a contact operation by the finger 2 of the user 1 will be described. Also, the waiting time of the control timing T3 is set to 0, and the mounted magnet 11 (electromagnet 21) is immediately driven after the spontaneous movement signal S1 is detected.

[0077] 9A, motion assistance is performed to accelerate the touch operation. In this case, the electromagnet 21 is driven so that the mounted magnet 11 moves in the same direction as the movement direction (indicated by the black arrow in the figure) in which the user 1 moves the finger 2 to perform the touch operation. Here, an attractive force (indicated by the white arrow in the figure) is generated between the mounted magnet 11 and the electromagnet 21, and the mounted magnet 11 is driven in a direction approaching the electromagnet 21. This causes the finger 2 of the user 1 to move toward the touch sensor 45 earlier than the movement due to voluntary movement. As a result, the contact timing T' at which the finger 2 of the user 1 comes into contact with the touch sensor 45 is earlier than the movement timing T2 when no movement assistance is performed. 9A, when the finger 2 of the user 1 touches the touch sensor 45, the driving of the electromagnet 21 is stopped and the attractive force is cut off. This allows the next touch operation to be performed smoothly. Hereinafter, the timing at which the driving of the electromagnet 21 is stopped, i.e., the timing at which the control of the mounted magnet 11 is ended, will be referred to as end timing T4. In this embodiment, end timing T4 corresponds to the fourth point in time.

[0078] 9B, a motion assist is performed to decelerate the touch operation. In this case, the electromagnet 21 is driven so that the mounted magnet 11 moves in the direction opposite to the motion direction in which the user 1 moves the finger 2. Here, a repulsive force (gray arrow in the figure) is generated between the mounted magnet 11 and the electromagnet 21, and the mounted magnet 11 is driven in a direction away from the electromagnet 21. At this time, the period during which the repulsive force is applied to the mounted magnet 11 (repulsive force end timing T4) is set to be longer than the operation timing T2. In other words, the repulsive force is applied to the mounted magnet 11 even after the operation timing T2. As a result, a force acts on the finger 2 (worn magnet 11) of the user 1, moving it away from the touch sensor 45, even after the action timing T2 at which a movement due to voluntary movement occurs. As a result, the contact timing T' at which the finger 2 of the user 1 comes into contact with the touch sensor 45 is later than the action timing T2 when no action assistance is performed.

[0079] In this manner, in this embodiment, when the spontaneous movement signal S1 is detected, the mounted magnet 11 is controlled so that the movement (touch operation) of the finger 2 of the user 1 is accelerated or decelerated with reference to the movement timing T2. This is a motion assist that adjusts the timing of the touch operation by the finger 2 of the user 1 forward or backward from the original motion timing 3. By appropriately combining such processes, it becomes possible to precisely control the timing of the touch operation.

[0080] Fig. 10 is a block diagram showing the flow of motion assistance using a reference signal. Fig. 11 is a flowchart showing an example of motion assistance using a reference signal. In the motion assistance using a reference signal, for example, the timing T0 at which the spontaneous movement signal S1 is detected or the presence or absence of the spontaneous movement signal S1 is compared with the reference signal to set the motion assistance. 11, the detection result of the spontaneous movement signal detector 53 and the reference signal are input to the body drive processing controller 54. The body drive processing controller 54 compares the detection result of the spontaneous movement signal detector 53 with the reference signal, and generates a control signal based on the comparison result. The generated control signal is output to the body driver 30 (electromagnet driver 25). The flow of processing in the electromagnet controller 50 will be described below with reference to FIG.

[0081] The process shown in FIG. 11 is a loop process that is repeatedly executed when performing action assistance. First, spontaneous movement signal detection unit 53 detects spontaneous movement signal S1 from the electromyogram (step 201). This process is similar to step 101 shown in Fig. 9. Spontaneous movement signal detection unit 53 outputs a trigger signal indicating the presence or absence of spontaneous movement signal S1, and detection timing T0 of spontaneous movement signal S1. Next, the body drive processing control unit 54 acquires a reference signal (step 202). The reference signal is output from, for example, a computer different from the electromagnet control unit 52 of the electromagnet controller 50, and is read by the body drive processing control unit 54.

[0082] Next, the body drive processing control unit 54 determines the content of the motion assistance (body drive processing) based on the detection result of the spontaneous movement signal detection unit 53 and the reference signal (step 203). For example, the reference signal is a signal that indicates the timing of the movement (touch operation) of the finger 2 of the user 1. In this case, a control parameter is set to accelerate or decelerate the movement of the finger 2 of the user 1 so that the finger 2 of the user 1 performs the touch operation in accordance with the timing specified by the reference signal.

[0083] Furthermore, for example, the reference signal is a signal that specifies whether or not the user 1 needs to perform a touch operation by moving the user's finger 2. In this case, the reference signal is a signal that indicates a situation in which the user 1 should perform a touch operation by moving the user's finger 2, or a situation in which the user 1 should not perform a touch operation. In this embodiment, the touch operation corresponds to a predetermined action. The body drive processing control unit 54 compares the necessity of a contact operation indicated by the reference signal with the presence or absence of the spontaneous movement signal S1, and controls the mounted magnet 11 based on the comparison result. Specifically, an action assist (control parameter) is set to drive the mounted magnet 11 so as to encourage or suppress the contact operation.

[0084] Next, the body drive processing control unit 54 generates a control signal for the electromagnet 21 in accordance with the set control parameters and outputs it to the electromagnet drive unit 25 (step 204). This process is the same as step 103 shown in FIG. 9. This makes it possible to have the user 1 perform a touch operation at the timing specified by the reference signal, and to prevent the user 1 from making an operation mistake, for example.

[0085] 12 is a schematic diagram showing an example of motion assistance that controls the timing of a touch operation. Here, as an example of motion assistance that uses a reference signal, a process of controlling the timing of a touch operation by a finger 2 of a user 1 will be described. 12 is a schematic diagram showing a state in which user 1 is playing a rhythm game using the index fingers of both hands. The rhythm game is an application executed by application controller 46. Here, multiple rhythm marks 16 for the right and left hands are displayed on the display 15. These rhythm marks 16 move in a flowing manner from the top to the bottom of the display 15. The rhythm game is a game in which you keep the rhythm by touching your finger to the touch sensor 45 in time with when the rhythm marks 16 reach a predetermined line.

[0086] In the example shown in FIG. 12, a signal indicating the timing at which the rhythm mark 16 reaches a predetermined line, that is, a signal indicating the timing of an appropriate touch operation, is used as the reference signal. In this way, the movement of the finger 2 of the user 1 is a movement for performing an input operation related to a predetermined application (rhythm game). The reference signal is a signal that indicates the timing of the input operation. This reference signal is generated by application controller 46 and read by body drive processing control unit 54. Note that the reference signal indicates the timing of the contact operation, and can therefore be said to be a signal indicating the situation in which the contact operation should be performed.

[0087] Fig. 13 is a graph showing the control content of the action assistance shown in Fig. 12. Fig. 13 shows a schematic graph showing the myoelectric signal of the finger 2 of the user 1, a contact prediction signal predicted from the myoelectric signal, a reference signal related to the contact operation, and a control signal for controlling the electromagnet 21. 13, the spontaneous movement signal S1 in the electromyography signal is shown as a rectangular pulse. The contact prediction signal is a signal predicted from the start and end timing of the spontaneous movement signal S1, for example, and represents a contact operation that would be performed without motion assistance.

[0088] 13, the spontaneous movement signal S1 is detected at time Ta. In this case, the time when the finger 2 of the user 1 is predicted to contact the touch sensor 45 (motion timing T2) is earlier than the rising edge of the reference signal. In this case, there is a possibility that the touch operation of the user 1 is performed earlier than the timing specified by the reference signal. Therefore, an action assist is executed to decelerate the contact operation so that the contact operation of the user 1 coincides with the timing specified by the reference signal. Specifically, a control signal (pulse signal) is generated to generate a repulsive force on the mounted magnet 11. The repulsive force pulse signal is illustrated as a dark gray area.

[0089] The timing at which the repulsive force pulse signal is turned ON (control timing T3) is set before the rising edge of the contact prediction signal (operation timing T2), thereby enabling the contact operation of user 1 to be decelerated reliably. The timing (end timing T4) at which the repulsive pulse signal is turned off is set before the timing at which the reference signal rises, which allows the finger 2 of the user 1 to contact the touch sensor 45 at the timing indicated by the reference signal.

[0090] 13, the spontaneous movement signal S1 is also detected at time Tb. In this case, the time when the finger 2 of the user 1 is predicted to contact the touch sensor 45 (motion timing T2) is later than the rising edge of the reference signal. In this case, the touch operation of the user 1 may be performed later than the timing specified by the reference signal. Therefore, an action assist is executed to accelerate the contact operation so that the contact operation of the user 1 coincides with the timing specified by the reference signal. Specifically, a control signal (pulse signal) is generated to generate an attractive force on the mounted magnet 11. The attractive force pulse signal is illustrated as a light gray area.

[0091] The timing (control timing T3) at which the attractive force pulse signal is turned ON is set based on the timing at which the reference signal rises. In this case, the timing at which the reference signal rises is sufficiently close to time Tb, so the attractive force pulse signal is turned ON approximately simultaneously with time Tb. Note that, if there is time until the reference signal rises, the timing at which the attractive force pulse signal is turned ON is set so that the touch of the finger 2 of the user 1 is in time for that timing. This makes it possible to precisely control the timing of the touch operation by the user 1. Furthermore, the timing at which the attractive force pulse signal is turned off (end timing T4) is set to the timing at which the reference signal falls, which allows user 1 to smoothly release the finger that has been in contact with touch sensor 45.

[0092] Furthermore, the duration of the touch operation predicted from the spontaneous movement signal S1 detected at time Tb is longer than the duration specified by the reference signal. Therefore, there is a possibility that the touch operation will continue after the duration specified by the reference signal. For this reason, in the example shown in FIG. 13, a process for generating a repulsive force is executed at the falling edge of the reference signal. This causes the finger 2 of the user 1 to be pulled away from the touch sensor 45, enabling a smooth transition to the next touch operation.

[0093] In this way, the body drive processing control unit 54 sets at least one of the control timing T3 for controlling the mounted magnet 11 and the end timing T4 for ending control of the mounted magnet 11 based on the timing of the movement of the finger 2 of the user 1 indicated by the reference signal.

[0094] 13, the spontaneous movement signal S1 is not detected at time Tc. On the other hand, a pulse of the reference signal is present at a time that is the muscle exertion delay time after time Tc (i.e., movement timing T2 with time Tc as the reference). This corresponds to the case where user 1 does not erroneously perform the next touch operation at time Tc. In this way, when the spontaneous movement signal S1 that causes a touch operation to occur is not detected in a situation where a touch operation is required, the mounted magnet 11 is controlled so that the finger 2 of the user 1 performs the touch operation. Here, a control signal (pulse signal) that generates an attractive force is generated so that a contact operation is performed. In this case, the timing for turning on the attractive force pulse signal is set based on the timing at which the reference signal rises so that the contact of the finger 2 of the user 1 is in time. The timing for turning off the attractive force pulse signal is set to the timing at which the reference signal falls. This allows the user 1 to perform a touch operation at an appropriate timing even for rhythm marks 16 or the like to which the user 1 did not respond.

[0095] In this manner, in this embodiment, the detection result of the spontaneous movement signal S1 is compared with the timing (reference signal) at which the movement should be performed. Then, by combining the motion assistance of accelerating or decelerating the contact operation based on the comparison result, it becomes possible to control the speed and timing of the body movement of the user 1 with high time precision.

[0096] Fig. 14 is a schematic diagram showing an example of motion assistance that works in conjunction with another user. Fig. 15 is a block diagram showing the flow of the motion assistance shown in Fig. 14. Here, we will explain motion assistance that coordinates and synchronizes the touch operation of user 1a with the touch operation of another user 1b. In this motion assistance, a spontaneous movement signal detected from a signal indicating the voluntary movement of another user 1b different from user 1a (an electromyographic signal of the other user 1b) is used as a reference signal. Hereinafter, the spontaneous movement signals of users 1a and 1b will be referred to as S1a and S1b, respectively. Of these, S1b will be the reference signal for assisting the movement of user 1a.

[0097] 14 is a schematic diagram showing two users, user 1a and user 1b, playing a rhythm game. Game screens operated by user 1a and user 1b are displayed on displays 15a and 15b on the right and left sides of the figure. Note that the attached magnet 11 is not shown in FIG. 14. As shown in FIG. 15, in this motion assistance, body driving systems 100a and 100b that assist the motions of users 1a and 1b are connected to each other. Specifically, a spontaneous motion signal S1b detected from the myoelectric signal of user 1b is transmitted from body driving system 100b (spontaneous motion signal detector 53b) of user 1b to body driving system 100a (body driving processing controller 54a) of user 1a. Based on this spontaneous motion signal S1b of user 1b, the timing of user 1a's touch operation and the generation or suppression of the touch operation are controlled. This allows for coordination and synchronization of the movements of the two people.

[0098] Fig. 16 is a schematic diagram for explaining the control content of the action assistance shown in Fig. 14. Here, rhythm marks 16 are presented to two users 1a and 1b at the same timing, and training is performed assuming the same exercise. In this training, for example, user 1a, who is a novice, learns the movements of user 1b, who is an expert. The upper part of Fig. 16 shows a graph with a solid line representing the spontaneous movement signal S1b detected from the electromyographic signal of user 1b, while the lower part of Fig. 16 shows a graph with a dotted line representing the spontaneous movement signal S1a detected from the electromyographic signal of user 1a.

[0099] 16, the spontaneous movement signal S1a of user 1a is detected at time Ta. At this time, the spontaneous movement signal S1b of user 1b has not yet been detected. In this case, the touch operation of user 1a may be performed earlier than the touch operation of user 1b. Therefore, a motion assist is executed to decelerate the contact operation so that the contact operation of user 1a coincides with the timing designated by the spontaneous movement signal S1b of user 1b. Specifically, a control signal (pulse signal) that generates a repulsive force on the mounted magnet 11 is generated. The timing specified by the spontaneous movement signal S1b is, for example, the timing at which the finger 2 of the user 1b is predicted to contact the touch sensor 45 due to a voluntary movement generated by S1b. This is the movement timing T2 for the user 1b, and is calculated based on S1b detected immediately after time Ta. Here, the repulsive force pulse signal is set to OFF immediately before the timing at which the finger 2 of the user 1b contacts the touch sensor 45.

[0100] 16, the spontaneous movement signal S1b of user 1b is detected at time Tb. On the other hand, the spontaneous movement signal S1a of user 1a is not detected at time Tb. In this case, the touch operation of user 1a may be delayed relative to the touch operation of user 1b, or the touch operation of user 1a may not be performed at all. In this way, when the spontaneous movement signal S1a that generates a touch operation is not detected in a situation where a touch operation is required, the worn magnet 11 is controlled so that the finger 2 of the user 1a performs a touch operation. Here, a control signal (pulse signal) that generates an attractive force is generated so that a touch operation is performed. In this case, the timing to turn on the attractive force pulse signal is set to, for example, just before the timing when the touch operation by user 1b is predicted to be performed. The timing to turn off the attractive force pulse signal is set to the timing when the touch operation by user 1b ends. This makes it possible to generate (or accelerate) a touch operation by user 1a in accordance with the movement of user 1b.

[0101] 16, the spontaneous movement signals S1a and S1b of the user 1a and the user 1b are both detected at time Tc. In this case, the timing of the contact operations of the user 1a and the user 1b is deemed to be approximately the same, so no control signal is generated and the electromagnet 21 (the mounted magnet 11) is not driven. This makes it possible to control the touch operation of user 1a so that it matches with high time accuracy the touch operation of user 1b, allowing beginner user 1a to directly experience and learn the touch operation of expert user 1b. Instead of using the spontaneous movement signal S1b of the user 1b as the reference signal, for example, a contact prediction signal of the user 1b calculated based on the spontaneous movement signal S1b may be used as the reference signal.

[0102] The training described above is a process for synchronizing the movements of user 1a with those of user 1b. However, this is not limiting, and for example, a movement assistance system that synchronizes the movements of users 1a and 1b with each other may be realized. In this case, as shown by the dotted line in FIG. 15, a spontaneous movement signal S1a detected from the myoelectric signal of user 1a is transmitted to the body drive system 100b (body drive processing control unit 54b) of user 1b. This allows the movements of the users to be synchronized. Furthermore, when users 1a and 1b are to perform mutually exclusive actions, the movement of user 1b is suppressed when the spontaneous movement signal S1a of user 1a is detected, and conversely, the movement of user 1a is suppressed when the spontaneous movement signal S1a of user 1b is detected. This makes it possible to assist cooperative actions in which users perform opposite actions with high time accuracy. Note that exclusive synchronization can also be achieved by inverting the values ​​of the reference signals of each user 1a and 1b.

[0103] Figure 17 is a schematic diagram showing an example of motion assistance for a motion that requires cognitive judgment. Here, we will explain motion assistance that compensates for perceptual or cognitive errors of user 1 in tasks or exercises that require cognitive judgment by user 1. A task that requires cognitive judgment is, for example, a task that involves recognizing a situation from the color of a traffic light and deciding whether to take action. In this case, perceptual errors, such as misreading the color of the traffic light, or cognitive errors, such as mistaking the situation for the color of the traffic light, can occur.

[0104] In order to avoid such errors, a signal indicating whether or not a touch operation is required (a signal indicating a situation in which a touch operation should be performed or a situation in which a touch operation should not be performed) is used as a reference signal. This enables the body drive processing control unit 54 to determine whether or not a movement generated by the spontaneous movement signal S1 of the user 1 should be executed. Furthermore, when changing the movement generated by the spontaneous movement signal S1, a movement assist is set to make the necessary changes and interventions in the movement of the user 1, and the body drive processing control unit 54 assists the movement of the user 1.

[0105] In FIG. 17, the user 1 is tasked with touching the touch sensor 45 according to the color of the sign 18. Here, a blue color of the sign 18 (white in FIG. 17) is considered a Go sign. The Go sign is a sign indicating a situation in which the touch sensor 45 should be touched. A red color of the sign 18 (black in FIG. 17) is considered a NoGo sign. The NoGo sign is a sign indicating a situation in which the touch sensor 45 should not be touched. The signals indicating the Go sign and the NoGo sign are used as reference signals.

[0106] 17A, in a situation where a Go sign is presented, a spontaneous movement signal S1 that causes a touch operation by user 1 is detected. In this case, it can be predicted that the task result will be an appropriate touch operation (Hit) before user 1's finger 2 actually touches touch sensor 45. Therefore, no motion assistance is performed to drive the attached magnet 11 (electromagnet 21). In Figure 17B, when a NoGo sign is presented, the spontaneous movement signal S1 that would cause a touch operation by user 1 is not detected. In this case, it is assumed that user 1's finger 2 does not touch the touch sensor 45, and the task result is predicted to be an appropriate avoidance of the touch operation (correct rejection). Therefore, in Figure 17B, no motion assistance is performed to drive the attached magnet 11 (electromagnet 21).

[0107] 17C, in a situation where a Go sign is presented, no spontaneous movement signal S1 that would cause a touch operation by user 1 is detected. In this case, it is assumed that finger 2 of user 1 does not touch touch sensor 45, and the task result can be predicted to be a miss of the touch operation. In this way, when a spontaneous movement signal S1 that generates a touch operation is not detected in a situation where a touch operation is required, the worn magnet 11 is controlled so that the finger 2 of the user 1 performs a touch operation. Here, the electromagnet 21 is driven so that an attractive force (indicated by the white arrow in the figure) acts on the worn magnet 11.

[0108] 17D, in a situation where a NoGo sign is presented, a spontaneous movement signal S1 that causes a touch operation by user 1 is detected. In this case, it can be predicted that the task result will be an inappropriate touch operation (false alarm) before user 1's finger 2 actually touches touch sensor 45. In this way, when a spontaneous movement signal S1 that causes a touch operation is detected in a situation where a touch operation is not necessary, the worn magnet 11 is controlled so that the finger 2 of the user 1 does not perform a touch operation. Here, the electromagnet 21 is driven so that a repulsive force (gray arrow in the figure) acts on the worn magnet 11.

[0109] As shown in Figures 17C and 17D, user 1 may be late in taking an action despite the Go command, or may take an action despite the NoGo command. By using this technology, if user 1 is late in moving despite the Go command, action assistance can be performed to catch up on the action. Furthermore, if user 1 is about to move despite the NoGo command, the spontaneous movement signal S1 can be detected before the movement occurs, making it possible to provide action assistance that suppresses the movement before it occurs. This makes it possible to avoid cognitive errors and perceptual errors on the part of the user 1 in advance, and to sufficiently improve the accuracy of the user 1's touch operations and the like.

[0110] As described above, in the electromagnet control unit 52 according to this embodiment, the movement of the user 1's finger 2 (body part) that occurs at movement timing T2 in response to the myoelectric signal of the user 1 at measurement timing T1 is assisted by moving the wearable magnet unit 10 attached to the finger 2. This wearable magnet unit 10 is driven at control timing T3, which is included in the period from measurement timing T1 to movement timing T2. This makes it possible to start assisting prior to the movement of the user's body part, and to appropriately control the timing of the user's movement.

[0111] One method of assisting human movement is to detect human movement and then provide assistance or correction to that movement. In this case, there may be a time delay associated with signal detection and processing. Furthermore, when using a mechanical mechanism (such as a wearable exoskeleton) to drive the human body, there may be a delay associated with the mechanical operation. Furthermore, even when using EMS (Electrical Muscle Stimulation), which stimulates the muscles themselves to exert their power, there is a delay between the muscles exerting their power and the actual movement of the body. Such delays in signal processing and delays due to the drive system can make it difficult to time movements appropriately or to suppress movements after they have started.

[0112] In this embodiment, control timing T3 for driving finger 2 is set before movement timing T2 at which movement of finger 2 of user 1 occurs. As a result, finger 2 of user 1 is driven prior to the movement of user 1 caused by a signal indicating voluntary movement. This makes it possible to sufficiently avoid time delays associated with signal detection and processing and to appropriately control the timing of the movement of user 1.

[0113] In this embodiment, a drive mechanism using electromagnetic force (wearable magnet unit 10 and electromagnet unit 20) is used as body drive unit 30 that moves finger 2 of user 1. Therefore, body drive unit 30 does not experience delays in mechanical drive time or delays associated with muscle exertion. This makes it possible to drive finger 2 of user 1 with, for example, high time resolution, and to control the timing of user 1's movements with sufficiently high precision.

[0114] <Second embodiment> A physical propulsion system according to a second embodiment of the present technology will be described. In the following description, descriptions of parts similar to those of the physical propulsion system 100 described in the above embodiment will be omitted or simplified.

[0115] 18 is a schematic diagram showing an example of the configuration of a physical actuation system 200 according to the second embodiment. The physical actuation system 200 is a system that assists the motion of a touch operation for each of the five fingers 2 of the hand of a user 1. The body drive system 200 includes a body drive unit 230 , an electromyographic sensor 240 , a screen interface 245 , and an electromagnet controller 250 . The body drive unit 230 includes a wearable magnet unit 210 , an electromagnet unit 220 , and an electromagnet drive unit 225 . The wearable magnet unit 210 includes a wearable magnet 11 that is worn on each finger 2 of the user 1 . The electromagnet unit 220 includes at least one electromagnet 21 that generates a magnetic field that acts on the worn magnet 11. In the example shown in FIG. 18 , a worn magnet 11 is worn on each of the five fingers 2 of the right hand of the user 1, and five electromagnets 21 are provided corresponding to each finger 2 (each worn magnet 11). In this way, the electromagnet unit 220 includes at least one electromagnet 21 arranged on the screen interface 245 corresponding to a finger 2 of the user 1. The electromagnet driving unit 225 drives each electromagnet 21 individually based on a control signal output from the electromagnet controller 250 .

[0116] The myoelectric sensor 240 uses multiple surface electrodes 41 to individually detect the exertion of the muscles to be observed. Each surface electrode 41 is placed at a position where it can detect the myoelectric signal of the muscle that moves each finger 2 of the user 1. FIG. 18 schematically illustrates a band-type wearing device including multiple surface electrodes 41. The myoelectric sensor 240 detects the action potential of the muscle measured by each surface electrode 41 and outputs it to the electromagnet controller 250 as a myoelectric signal for each finger 2 .

[0117] The screen interface 245 is a display equipped with a touch screen that the user 1 operates by touching it with his / her finger 2. The electromagnet unit 220 described above is provided in the screen interface 245. More specifically, a plurality of electromagnets 21 corresponding to each finger 2 are arranged on the back side of the operation surface of the screen interface 245 (the surface that the user 1's finger 2 touches). In this embodiment, when a user 1 moves his / her finger 2 to perform a touch operation on a screen interface 245, which is an input device, the electromagnet 21 is driven.

[0118] The electromagnet controller 250 controls each electromagnet 21 individually, thereby individually driving the attached magnet 11 attached to each finger 2. For example, it detects a spontaneous movement signal S1 of the finger 2 of the user 1 from an electromyographic signal measured by the electromyographic sensor 240, and generates a control signal for driving the corresponding electromagnet 21 based on the detection result. These processes are executed independently for each finger 2. This enables motion assistance such as accelerating and decelerating each of the five fingers 2 of the user 1, and makes it possible to control input operations on the screen interface 245 with high time precision. Note that the electromagnet unit 220 may also be used to assist motion in keyboard operations or touch panel operations, for example. This makes it possible to realize accurate and high-speed input operations, etc.

[0119] <Third embodiment> 19 is a schematic diagram showing an example of the configuration of a body driving system according to the third embodiment. In the body driving system 300, an electroencephalogram signal detected in the brain of the user 1 is used as a signal indicating the voluntary movement of the user 1, instead of the above-mentioned electromyogram signal. 19 is a schematic diagram showing the flow of a signal (spontaneous movement signal) that transmits a command for voluntary movement from when the user 1 decides to perform a voluntary movement until the movement actually occurs. The flow of the spontaneous movement signal is basically the same as that described with reference to FIG.

[0120] The physical driving system 300 has an electroencephalography (EEG) sensor 340 that measures the electroencephalogram (EEG) of the user 1. The electroencephalogram sensor 340 is, for example, an electroencephalograph equipped with a non-invasive electrode unit that the user 1 wears on the head. FIG. 19 shows a schematic diagram of the electrode unit of the electroencephalogram sensor 340. Note that the electroencephalogram sensor 340 may also be a sensor equipped with an invasive electrode unit, a semi-invasive electrode unit, or the like. The electromagnet signal measured by the electroencephalogram sensor 340 is input to the electromagnet controller 350. The electromagnet controller 350 detects, for example, from the electroencephalogram signal, a signal of voluntary movement that moves the finger 2 (spontaneous movement signal), and drives the electromagnet 21 based on the detection result.

[0121] For example, when a voluntary movement to move finger 2 occurs, the spontaneous movement signal detected from the electromyographic signal (EMG) of the muscle of finger 2 precedes the timing at which finger 2 actually moves by about 40 mSec. On the other hand, suppose that the spontaneous movement signal that generates the voluntary movement of finger 2 is detected from the EEG signal. In this case, the time required for the signal to pass through the spinal cord, etc. is omitted, so it becomes possible to detect the occurrence of voluntary movement, for example, about 100 mSec earlier than the EMG signal. Therefore, by detecting spontaneous movement signals using electroencephalogram sensor 340, it becomes possible to reliably assist the movements of user 1.

[0122] Furthermore, a signal (spinal cord signal) detected in the spinal cord, which is located on the path connecting the brain 3 and the muscles 4, may be used as the signal indicating the voluntary movement of the user 1. In this case, too, it is possible to detect the occurrence of a voluntary movement at a timing earlier than that of an electromyographic signal. Alternatively, any signal capable of indicating the occurrence of a voluntary movement of the user 1 may be used.

[0123] <Other embodiments> The present technology is not limited to the above-described embodiments, and various other embodiments can be realized.

[0124] The above describes a method for setting the timing for driving the electromagnet (control timing T3) in accordance with the timing indicated by the spontaneous movement signal S1 and the reference signal. When setting the control timing T3, the strength of the driving force for driving the attached magnet (the attractive and repulsive forces of the electromagnet) may also be set. For example, increasing the strength of the attractive force increases the speed at which the user's finger (the worn magnet) is attracted. Also, increasing the strength of the repulsive force can delay the timing at which the user's finger (the worn magnet) touches the touch sensor. Adjusting the strength of the attractive and repulsive forces in this way makes it possible to adjust the speed of the touch operation, etc.

[0125] Furthermore, at least one of the control timing T3 and the end timing T4 may be set according to the driving force that drives the mounted magnet. As described above, it is possible to shorten or lengthen the time required for the user to perform a certain action (such as touching the touch sensor) according to the driving force of the mounted magnet. Therefore, by setting the control timing T3 and the end timing T4 according to the driving force, it is possible to achieve action assistance with higher time accuracy.

[0126] For example, when an attractive force is applied to the mounted magnet, the touch operation of the user's finger is promoted. In this way, when promoting the movement of the user's finger, the control timing T3 is set later as the driving force (attractive force) of the mounted magnet increases. For example, when the strength of the attractive force is high, the control timing T3 for turning on the electromagnet is delayed, and when the strength of the attractive force is low, the control timing T3 is advanced. This makes it possible to control with high precision the timing at which the user touches the touch sensor with their finger, even if, for example, the timing of the user's voluntary movement is delayed.

[0127] Furthermore, for example, if a repulsive force is applied to the mounted magnet, the touch operation of the user's finger is suppressed. In this way, when suppressing the movement of the user's finger, the greater the driving force (repulsive force) of the mounted magnet, the earlier the end timing T4 is set. For example, if the strength of the repulsive force is high, the end timing T4 at which the electromagnet is turned off is adjusted to be earlier, and if the strength of the repulsive force is low, the end timing T4 is adjusted to be later. This makes it possible to control with high precision the timing at which the user touches the touch sensor with their finger, even if, for example, the timing of the user's voluntary movement is earlier.

[0128] The above description mainly focuses on a configuration in which electromagnets are used to drive the user's body parts (fingers). However, this is not limiting, and a configuration in which a mechanical mechanism is used to drive the body parts may also be used. For example, an assist device equipped with a wearable link mechanism (exoskeleton) operated by a motor, actuator, or the like may be employed. This makes it possible to assist the movement of each part of the user, such as the user's fingers, hands, arms, waist, legs, and neck. In addition, any assistive device that can move a user's body part prior to the user's voluntary movement can be used.

[0129] This technology is also applicable to any action performed by a user. As described above, this technology can be used to detect spontaneous movement signals and provide movement assistance before the actual movement of a body part. For example, by applying this technology to activities that require high time resolution, such as playing musical instruments or sports, or to training or assisting highly skilled skills, it becomes possible to realize these movements with high time precision.

[0130] For example, the movement of the fingers when playing a musical instrument may be assisted. In this case, for example, an electromagnet or the like provided in the operating portion of the musical instrument can be used to assist the movement of the user's fingers by moving them closer or farther away. This makes it possible to accurately assist the timing of playing. Also, for example, by using an assist system such as an exoskeleton, it is possible to control the body movements at the appropriate timing when playing sports. Furthermore, by applying this technology, it is possible to increase operation speed in situations where high-speed input operations are required, such as in eSports, or where quick operation is required, such as operating a touch panel at a reception desk.It is also possible to have other users learn the skills of users with high operation speeds.

[0131] A signal that detects a change in the user's surrounding environment may be used as a reference signal related to the movement of the user's body part. For example, when a user drives a vehicle, the user needs to perform driving operations according to the surrounding environment. It is possible to detect changes in the surrounding environment and assist such driving operations. As an example, consider a motion assist for accelerator and brake operations using the user's feet. Such motion assist can be realized using a mechanism that applies attractive or repulsive forces to magnets attached to the user's feet (thighs, lower legs, ankles, etc.) or shoe soles, or an exoskeleton that moves the user's feet.

[0132] Furthermore, a vehicle driven by a user is equipped with, for example, an on-board camera that captures images of the area in front of the vehicle. Images captured by the on-board camera are input to a computer that performs image recognition and the like. The computer detects the status of the traffic light (red light, green light, etc.) in front of the vehicle from the on-board camera image. This detection result is used as a reference signal. Therefore, it can be said that the reference signal is a signal that indicates the result of sensing information for determining whether or not the user should move their body part (legs) using a predetermined sensor (on-board camera).

[0133] For example, when a traffic light is red, a spontaneous movement signal indicating that the user is about to depress the accelerator is detected. In this case, there is a risk that the vehicle will accelerate despite the red light. Therefore, a motion assist is executed to inhibit the accelerator operation (for example, by removing the user's foot from the accelerator pedal) before the user depresses the accelerator. For example, if a spontaneous movement signal that triggers the brake pedal action is not detected when the traffic light is red, there is a risk that the vehicle will continue to run despite the red light. Therefore, an action assistance is executed to have the user pedal the brake so that the vehicle can stop at an appropriate position. In this way, by using the information that the user refers to when operating the accelerator or brake as a reference signal, it is possible to avoid erroneous operations by the user.

[0134] Alternatively, a camera that takes pictures of the rear or sides of the vehicle may be used. For example, a camera capturing images of the rear of the vehicle is used to detect a following vehicle. In this case, if the following vehicle is close enough, the driver is prevented from applying the brakes. This prevents sudden braking and makes it possible to avoid a collision with the following vehicle. Furthermore, for example, a camera capturing images of the side of the vehicle may be used to detect vehicles traveling alongside the vehicle. In this case, accelerator operation for lane changes may be suppressed. Alternatively, the user's steering operation may be suppressed. This makes it possible to avoid collisions with vehicles traveling alongside the vehicle in advance. In addition, distance sensors such as a LiDAR sensor, a radar sensor, and an ultrasonic sensor may be used.

[0135] Furthermore, for example, a reference signal may be generated based on video captured around a user playing a sport or the like. For example, if a user is playing tennis, the position of the ball is detected from the video of the user's surroundings, and the ball's trajectory is calculated. From this result, the timing at which the racket should be moved is estimated, and this information is used as a reference signal. This allows the user to swing the racket at the appropriate timing. In this way, by detecting necessary information from the user's surrounding environment and generating a reference signal, it becomes possible to precisely control the timing of various actions performed by the user.

[0136] The type of sensor used to generate the reference signal is not limited. For example, an illuminance sensor that detects the brightness of the surrounding environment may be used, which enables operation assistance such as suppressing accelerator or brake operations when the user's field of vision is dark. Weather information based on a road surface sensor, a temperature sensor, or a GPS sensor may also be used, which makes it possible to detect road surface conditions (such as ice or snow) and assist with accelerator and brake operations. Furthermore, a sensor may be used that measures wind direction, wind volume, etc. This allows the user to perform sports such as tennis or golf in a form that takes into account the influence of wind, etc. Furthermore, a barometric pressure sensor, an altitude sensor, etc. may also be used, which makes it possible to control the amount of movement of the user so as to reduce the load on the user's heart and lungs, for example.

[0137] Although the information processing method according to the present technology is executed by the computer of the physical propulsion system in the above description, the information processing method and the program according to the present technology may also be executed by another computer that can communicate with the computer installed in the physical propulsion system via a network or the like.

[0138] In other words, the information processing method and program according to the present technology can be executed not only in a computer system composed of a single computer, but also in a computer system in which multiple computers operate in conjunction with each other. In this disclosure, a system refers to a collection of multiple components (devices, modules (components), etc.), regardless of whether all the components are in the same housing. Therefore, multiple devices housed in separate housings and connected via a network, and a single device housed in a single housing and multiple modules, are both systems.

[0139] The information processing method and program execution according to the present technology by a computer system include both cases where a process for controlling an action unit that moves a user's body part is executed by a single computer and cases where each process is executed by a different computer. Furthermore, the execution of each process by a specific computer includes having another computer execute part or all of the process and obtaining the results.

[0140] In other words, the information processing method and program according to the present technology can also be applied to a cloud computing configuration in which a single function is shared and processed jointly by multiple devices via a network.

[0141] It is also possible to combine at least two of the features of the present technology described above. That is, the various features described in each embodiment may be arbitrarily combined without distinction between the embodiments. Furthermore, the various effects described above are merely examples and are not limiting, and other effects may also be achieved.

[0142] In this disclosure, the terms "same," "equal," "orthogonal," etc. are concepts that include "substantially the same," "substantially equal," "substantially orthogonal," etc. For example, they also include states that fall within a predetermined range (e.g., a range of ±10%) based on "completely the same," "completely equal," "completely orthogonal," etc.

[0143] The present technology can also be configured as follows. (1) A control unit that controls, based on a signal indicating a voluntary movement of a user at a first time point, an action unit that is attached to the user's body part and moves the user's body part at a third time point included in a period from the first time point to a second time point at which a movement of the user's body part occurs in response to the signal indicating the voluntary movement of the user. An information processing device comprising: (2) The information processing device according to (1), The control unit detects a movement signal that generates a voluntary movement of the user from a signal indicating the voluntary movement of the user, and sets the third time point for controlling the action unit based on the detection timing of the movement signal. Information processing device. (3) The information processing device according to (2), When the motion signal is detected, the control unit controls the action unit so that the motion of the user's body part is accelerated or decelerated based on the second time point. Information processing device. (4) The information processing device according to (2) or (3), The control unit controls the action unit based on a reference signal related to a movement of a body part of the user. Information processing device. (5) The information processing device according to (4), the reference signal is a signal indicating the timing of a movement of the body part of the user; The control unit sets at least one of the third time point at which the action unit is controlled and the fourth time point at which the control of the action unit is terminated based on the timing of the movement of the body part of the user. Information processing device. (6) The information processing device according to (5), The control unit sets at least one of the third time point and the fourth time point according to a driving force that drives the action unit. Information processing device. (7) The information processing device according to (6), The action unit can be driven to promote or inhibit movement of the user's body part, When promoting the movement of the user's body part, the control unit sets the third time point later as the driving force of the action unit becomes larger, and when suppressing the movement of the user's body part, the control unit sets the fourth time point earlier as the driving force of the action unit becomes larger. Information processing device. (8) An information processing device according to any one of (4) to (7), the reference signal is a signal indicating whether or not the user needs to perform a predetermined action by moving a body part of the user; The control unit compares the necessity of the predetermined action indicated by the reference signal with the presence or absence of the motion signal that causes the predetermined action, and controls the action unit based on the comparison result. Information processing device. (9) The information processing device according to (8), The control unit controls the action unit so that the user's body part performs the predetermined movement when the movement signal that causes the predetermined movement is not detected in a situation where the predetermined movement is required. Information processing device. (10) The information processing device according to (8) or (9), When the motion signal that causes the predetermined movement to occur is detected in a situation where the predetermined movement is not necessary, the control unit controls the action unit so that the body part of the user does not perform the predetermined movement. Information processing device. (11) The information processing device according to any one of (4) to (10), The reference signal is a signal indicating the result of sensing information for determining whether the user moves a body part of the user using a predetermined sensor. Information processing device. (12) An information processing device according to any one of (4) to (10), the movement of the user's body part is a movement for performing an input operation related to a predetermined application, The reference signal is a signal indicating the timing of the input operation. Information processing device. (13) The information processing device according to any one of (4) to (10), The reference signal is a movement signal detected from a signal indicating a voluntary movement of another user different from the user. Information processing device. (14) The information processing device according to any one of (1) to (13), The signal indicating the user's voluntary movement is at least one of an electromyographic signal of the user, an electroencephalographic signal of the user, or a spinal cord signal of the user. Information processing device. (15) An information processing device according to any one of (1) to (14), the action unit is a first magnetic field action unit that receives a force according to the magnetic field, The control unit electrically changes a magnetic field between the first magnetic field effect unit and a second magnetic field effect unit provided separately from the first magnetic field effect unit, thereby controlling the first magnetic field effect unit. Information processing device. (16) The information processing device according to (15), at least one of the first magnetic field effector and the second magnetic field effector includes an electromagnet; The control unit generates an attractive force or a repulsive force between the first magnetic field effect unit and the second magnetic field effect unit. The electromagnet is controlled so as to generate a magnetic force Information processing device. (17) The information processing device according to (15) or (16), the motion of the user's body part is a contact motion in which the user brings the user's body part into contact with a motion target, The second magnetic field effect unit is provided on the operation target. Information processing device. (18) The information processing device according to (17), the body part of the user is a finger of the user; the touch action is a touch operation by the user's finger, The operation target is an input device that accepts the touch operation. Information processing device. (19) Based on a signal indicating a voluntary movement of a user at a first time point, an operating unit attached to the user's body part and moving the user's body part is controlled at a third time point included in a period from the first time point to a second time point at which a movement of the user's body part occurs in response to the signal indicating the voluntary movement of the user. An information processing method implemented by a computer system. (20) A step of controlling, based on a signal indicating a voluntary movement of the user at a first time point, an action unit attached to the user's body part and moving the user's body part at a third time point included in a period from the first time point to a second time point at which a movement of the user's body part occurs in response to the signal indicating the voluntary movement of the user. A computer-readable recording medium on which a program for executing the above is recorded. [Explanation of symbols]

[0144] S1: Spontaneous movement signal T1: Measurement timing T2: Operation timing T3: Control timing 1...User 2...Finger 10, 210...Attached magnet unit 11...Mounting magnet 20, 220...Electromagnet unit 21...Electromagnet 25...Electromagnet drive unit 30...Body drive unit 40, 240...Electromyography sensor 340...EEG sensor 50, 250, 350...Electromagnet controller 51...Storage section 52...Electromagnet control unit 53... Locomotor activity signal detector 54...Body drive processing control unit 100, 200, 300...Body Drive System

Claims

1. a control unit that controls, based on a signal indicating a voluntary movement of the user at a first time point, an action unit that is attached to the user's body part and moves the user's body part at a third time point included in a period from the first time point to a second time point at which a movement of the user's body part occurs in response to the signal indicating the voluntary movement of the user; Equipped with The control unit sets at least one of the third time point at which the action unit is controlled and the fourth time point at which control of the action unit is terminated, depending on a driving force that drives the action unit. Information processing device.

2. 2. The information processing device according to claim 1, The control unit detects a movement signal that generates a voluntary movement of the user from a signal indicating the voluntary movement of the user, and sets the third time point for controlling the action unit based on the detection timing of the movement signal. Information processing device.

3. 3. The information processing device according to claim 2, When the motion signal is detected, the control unit controls the action unit so that the motion of the user's body part accelerates or decelerates with respect to the second time point. Information processing device.

4. 3. The information processing device according to claim 2, The control unit controls the action unit based on a reference signal related to a movement of a body part of the user. Information processing device.

5. 5. The information processing device according to claim 4, the reference signal is a signal indicating the timing of a movement of the body part of the user; The control unit sets at least one of the third time point at which the action unit is controlled or the fourth time point at which control of the action unit is terminated based on timing of a movement of the user's body part. Information processing device.

6. 2. The information processing device according to claim 1, The action unit can be driven to promote or inhibit movement of the user's body part, When promoting a movement of the user's body part, the control unit sets the third time point later as the driving force of the action unit becomes larger, and when suppressing a movement of the user's body part, the control unit sets the fourth time point earlier as the driving force of the action unit becomes larger. Information processing device.

7. 5. The information processing device according to claim 4, the reference signal is a signal indicating whether or not the user needs to perform a predetermined action by moving a body part of the user; The control unit compares the necessity of the predetermined action indicated by the reference signal with the presence or absence of the motion signal that causes the predetermined action, and controls the action unit based on the comparison result. Information processing device.

8. 8. The information processing device according to claim 7, The control unit controls the action unit so that the user's body part performs the predetermined movement when the movement signal that causes the predetermined movement is not detected in a situation where the predetermined movement is required. Information processing device.

9. 8. The information processing device according to claim 7, When the motion signal that causes the predetermined movement to occur is detected in a situation where the predetermined movement is not necessary, the control unit controls the action unit so that the body part of the user does not perform the predetermined movement. Information processing device.

10. 5. The information processing device according to claim 4, The reference signal is a signal indicating the result of sensing information for determining whether the user moves a body part of the user using a predetermined sensor. Information processing device.

11. 5. The information processing device according to claim 4, the movement of the user's body part is a movement for performing an input operation related to a predetermined application, The reference signal is a signal indicating the timing of the input operation. Information processing device.

12. 5. The information processing device according to claim 4, The reference signal is a movement signal detected from a signal indicating a voluntary movement of another user different from the user. Information processing device.

13. 2. The information processing device according to claim 1, The signal indicating the user's voluntary movement is at least one of an electromyographic signal of the user, an electroencephalographic signal of the user, or a spinal cord signal of the user. Information processing device.

14. 2. The information processing device according to claim 1, the action unit is a first magnetic field action unit that receives a force according to the magnetic field, The control unit electrically changes a magnetic field between the first magnetic field effect unit and a second magnetic field effect unit provided separately from the first magnetic field effect unit, thereby controlling the first magnetic field effect unit. Information processing device.

15. 15. The information processing device according to claim 14, at least one of the first magnetic field effector and the second magnetic field effector includes an electromagnet; The control unit controls the electromagnet so that a magnetic force that becomes an attractive force or a repulsive force is generated between the first magnetic field effect unit and the second magnetic field effect unit. Information processing device.

16. 15. The information processing device according to claim 14, the motion of the user's body part is a contact motion in which the user brings the user's body part into contact with a motion target, The second magnetic field effect unit is provided on the operation target. Information processing device.

17. 17. The information processing device according to claim 16, the body part of the user is a finger of the user; the touch action is a touch operation by the user's finger, The operation target is an input device that accepts the touch operation. Information processing device.

18. a step of controlling, based on a signal indicating a voluntary movement of the user at a first time point, an action unit attached to the user's body part and moving the user's body part at a third time point included in a period from the first time point to a second time point at which a movement of the user's body part occurs in response to the signal indicating the voluntary movement of the user; An information processing method executed by a computer system, The step of controlling the action unit sets at least one of the third time point at which the action unit is controlled and the fourth time point at which control of the action unit is terminated, depending on a driving force that drives the action unit. Information processing methods.

19. a step of controlling, based on a signal indicating a voluntary movement of the user at a first time point, an action unit attached to the user's body part and moving the user's body part at a third time point included in a period from the first time point to a second time point at which a movement of the user's body part occurs in response to the signal indicating the voluntary movement of the user; A computer-readable recording medium on which a program for executing the above is recorded, The step of controlling the action unit sets at least one of the third time point at which the action unit is controlled and the fourth time point at which control of the action unit is terminated, depending on a driving force that drives the action unit. A computer-readable recording medium.

Images