Motion support program, device, and method using gyro moment, and force feedback device

Abstract

To provide an operation support program capable of concretely presenting how to move a tool such as a racket which is used in sport or the like.SOLUTION: There is provided a tool for which, a way of how to move the tool, should be presented, the tool comprises: a power output part which can generate force having a component in a direction where the tool is moved by generation of gyro moment. The operation support program causes a computer to function as: drive signal generation means for generating and outputting a drive signal which is sent to a power output part of the tool on the basis of tool movement information related to the movement which should be generated on the tool, and generates force corresponding to the movement to be generated. The operation support program preferably causes the computer to function as: tool movement information determination means for determining the tool movement information, on the basis of at least one of the movement information related to the movement of a processing object, and the operation information related to the operation which is a factor of the movement.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technique for assisting movements in a given activity, including moving a tool. [Background technology]

[0002] In the field of sports, with the advancement of sensing technology, various methods for assisting player movements have been proposed. For example, Patent Document 1 discloses a technology that determines defects in a player's movements from time-series information on state quantities of the movement of sports equipment, such as swinging movements and swinging-up movements, and notifies the player of the defects and encourages them to correct them using a feedback stimulator. Here, the feature quantities of the movement of the sports equipment are acquired by a wearable device worn by the player or a sensing device attached to the sports equipment.

[0003] Patent Document 2 discloses a force feedback device that is attached to the shaft of a golf club to generate a gyroscopic moment, allowing a golf player to learn accurate movements. For example, when a twisting motion is applied to the club grip during a swing, this device generates a force that tries to return the club to its original position, and this force is transmitted to the club grip, encouraging the golf player to swing without twisting.

[0004] Furthermore, although not limited to the field of sports, Non-Patent Document 1 discloses a device that attaches a rapidly rotating flywheel to a gimbal and generates a gyro moment perpendicular to the axis of the flywheel by controlling the magnitude and direction of the angular velocity applied to the flywheel. It also discloses a method of presenting a force sensation due to the gyro moment to a subject holding this device, thereby providing a sense of direction to a destination.

[0005] Furthermore, Patent Document 3 discloses a guidance device that generates a gyroscopic moment by driving a first motor that rotates a rotor and a second motor that rotates the rotor and the first motor as a whole. It also discloses a method in which this device is attached to a walking stick, and torque is generated in the walking stick in the direction of the route to be guided, thereby presenting the route to the pedestrian using the walking stick. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Special Publication No. 2021-528202 [Patent Document 2] Japanese Patent Application Publication No. 2018-020002 [Patent Document 3] Japanese Patent Application Laid-Open No. 2014-181926 [Non-patent literature]

[0007] [Non-Patent Document 1] Masayuki Yoshie, Hiroaki Yano, Hiroo Iwata, "Haptic Display Device Using Gyroscopic Moment", Transactions of the Virtual Reality Society of Japan, Vol. 7, No. 3, pp. 329-337, 2002 Summary of the Invention [Problem to be solved by the invention]

[0008] However, with the above-described conventional techniques, it is difficult to support sports movements by presenting the actual way to move sports equipment such as a racket or a club.

[0009] For example, the technology disclosed in Patent Document 1 is limited to notifying a golf player of defects in a sports movement and providing correction information, but is not capable of providing specific instructions on how to move the sports equipment. Similarly, the force feedback device in Patent Document 2 can also prompt a golf player to correct their swing, but does not provide specific instructions on how to swing a golf club.

[0010] In this regard, since the golf ball to be hit is stationary on the ground, the encouragement to correct the swing using the force feedback device of Patent Document 2 is effective as a movement support for the golf player. However, when supporting how to move a sports tool such as a table tennis racket, which must be used to hit a ball moving in three-dimensional space, it becomes necessary to specifically present how to move it.

[0011] Furthermore, the devices disclosed in Non-Patent Document 1 and Patent Document 3 are only capable of providing the user with a sense of direction to a destination or presenting a course, but do not provide specific instructions on how to move the tool being used. In particular, it is extremely difficult to use these devices to provide specific instructions on how to quickly move a sports tool, such as a table tennis racket, which requires movements in units of less than a second.

[0012] Therefore, the present invention aims to provide a movement assistance program, device and method, as well as a force feedback device, that can specifically show how to move tools such as rackets used in sports and other activities. [Means for solving the problem]

[0013] According to the present invention, there is provided a program for assisting a user in performing a predetermined activity including moving a tool, the program comprising: The above tools are A tool that is moved to perform a treatment on a treatment target to change the manner of movement of the treatment target, a power unit capable of generating a force having a component in a direction that moves the tool by generating a gyroscopic moment; When carrying out the procedureBased on the obtained tool movement information relating to the movement that the tool should take, The tool in question The force corresponding to the movement to be taken The power unit in question The computer functions as a drive signal generating means for generating and outputting the drive signal to be generated. A motion assistance program is provided.

[0014] In one embodiment of the motion assistance program according to the present invention, the tool is a moving The relevant It is operated to perform a treatment on a treatment target, It is also preferable that this movement assistance program further causes the computer to function as a tool movement information determination means that determines the tool movement information based on at least one of the movement information related to the movement of the treatment target and the movement information related to the movement that caused the movement.

[0015] In the above embodiment, the tool movement information determining means determines the tool movement information including information related to a speed or acceleration to be adopted by the tool; The power unit is a motor that rotates a drive unit provided on the tool, It is also preferable that the drive signal generating means generates a drive signal that enables the power unit to rotate the drive unit at an angular velocity corresponding to the speed or the acceleration.

[0016] Furthermore, in the above embodiment, a visual information presentation unit capable of presenting visual information that can be perceived visually to the support target performing the movement is provided, It is also preferable that this action support program further causes the computer to function as visual information generation means that generates and outputs visual information regarding the movement to be made by the tool, which is sent to the visual information presentation unit based on the determined tool movement information.

[0017] In the above embodiment, a visual information presentation unit capable of presenting visual information that can be perceived visually to the support target performing the movement is provided, The tool movement information determination means also determines a treatment position, which is a position where the treatment is performed, and / or a treatment posture, which is a posture of the tool when the treatment is performed; It is also preferable that this action assistance program further causes the computer to function as a visual information generation means that generates and outputs visual information regarding the treatment position and / or treatment posture to be taken, which is sent to the visual information presentation unit based on the determined treatment position and / or treatment posture.

[0018] Book By invention Also, a program for supporting a movement in a predetermined activity including moving a tool, The tool has a power unit capable of generating a gyroscopic moment to generate a force having a component in a direction that moves the tool, a scene determination means for determining a corresponding scene from among a plurality of scenes classified in advance in the activity based on sensing result information obtained by sensing the status of the activity; 、 A drive signal is sent to the power unit based on the obtained tool movement information relating to the movement to be taken by the tool, to generate the force corresponding to the movement to be taken, Based on the determined scene or the determined scene transition, a drive signal is generated to realize the force activation pattern that is preset for the scene or the scene transition. Output do drive signal generating means; to make the computer function A movement assistance program is provided.

[0019] Also Action support program relating to scene determination means according to the present invention wherein the plurality of scenes includes a treatment scene in which treatment is performed on a moving treatment target by the tool; It is also preferable that, when the treatment scene is determined, the drive signal generating means generates a drive signal for generating the force corresponding to the movement that the tool should take in the treatment.

[0020] Furthermore, the above Embodiments relating to determination of treatment scene In the above, it is also preferable that the drive signal generating means generates a drive signal for preparing to generate the force when a scene immediately before the treatment scene is determined.

[0021] Also Action support program relating to scene determination means according to the present invention the scene determination means also determines development speed information relating to the development speed of the scene based on the sensing result information; It is also preferable that the drive signal generating means generates a drive signal for generating the force having a magnitude that matches the speed of development of the scene, based on the development speed information.

[0022] Furthermore, as a specific example of the movement assistance program according to the present invention, it is also preferable that the activity is a sport, the tool is sports equipment used in the sport, and the tool movement information is information relating to the speed or acceleration that the sports equipment should have in the sport.

[0023] The present invention also provides a device for assisting a user in performing a predetermined activity, including moving a tool, the device comprising: The above tools are A tool that is moved to perform a treatment on a treatment target to change the manner of movement of the treatment target, a power unit capable of generating a force having a component in a direction that moves the tool by generating a gyroscopic moment; When carrying out the procedure Based on the obtained tool movement information relating to the movement that the tool should take, The tool in question The force corresponding to the movement to be taken The power unit in question A drive signal generating means is provided for generating and outputting a drive signal to be generated. A motion assistance device is provided.

[0024] As one embodiment of the movement assistance device according to the present invention, the movement assistance device comprises: a visual information presentation unit capable of presenting visual information that can be perceived by the eyes to the support target performing the movement; visual information generating means for generating visual information relating to the movement of the tool based on the tool movement information, the visual information being sent to the visual information presenting unit; It is also preferable that it further has

[0025] In addition, as another embodiment of the movement assistance device according to the present invention, the movement assistance device is preferably the above-described tool equipped with a drive signal generating means.

[0027] According to the present invention, there is also provided a method for assisting a user in performing a predetermined activity involving moving a tool, the method comprising the steps of: The above tools are A tool that is moved to perform a treatment on a treatment target to change the manner of movement of the treatment target, a power unit capable of generating a force having a component in a direction that moves the tool by generating a gyroscopic moment; When carrying out the procedure Based on the obtained tool movement information relating to the movement that the tool should take, The tool in question The force corresponding to the movement to be taken The power unit in question generating a drive signal to be generated; sending the generated drive signal to the power unit to generate the force; A computer-implemented motion assistance method is provided, comprising: [Effects of the Invention]

[0028] The motion assistance program, device, method, and force feedback device of the present invention make it possible to specifically present how to move tools such as rackets used in sports and other activities. [Brief explanation of the drawings]

[0029] [Figure 1] 1 is a functional block diagram showing a functional configuration of an embodiment of a movement assistance device according to the present invention. [Figure 2] 1A and 1B are schematic diagrams illustrating the structure and function of an embodiment of a force feedback device according to the present invention. [Figure 3] 1A and 1B are schematic diagrams for explaining a specific example of motion assistance using an embodiment of a motion assistance device and a force feedback device according to the present invention. [Figure 4] 10A and 10B are schematic diagrams for explaining another embodiment of the movement assistance device according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0030] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0031] [Movement support device, movement support system] FIG. 1 is a functional block diagram showing the functional configuration of an embodiment of a movement support device according to the present invention.

[0032] The AR (Augmented Reality) glasses 1 shown in Figure 1 as one embodiment of the movement support device according to the present invention are worn by an athlete playing a ball game (table tennis in Figure 1) in this embodiment, and are a device that presents mechanical movement support information to the athlete via a sports tool (racket 2 in Figure 1) and visual movement support information via a display 105.

[0033] Here, the racket 2 is moved to perform treatment on a moving treatment target (ball 3 in Figure 1), and in this embodiment, it is a force-sense presentation device equipped with a power unit, in this embodiment a first motor 211 and a second motor 221, that can generate a force (hereinafter sometimes referred to as a "guide force") having a component in a direction that moves the racket 2 by generating a gyro moment.

[0034] Specifically, the racket 2 of this embodiment will be described in detail later with reference to FIG. (a) Angular momentum (vector) generated by the first motor 211 rotating the weight 210 serving as a driving unit, (b) Angular velocity (vector) generated by the second motor 221 rotating the "first motor 211 + weight 210" system as a driving unit, and A gyroscopic moment is generated from this, and this gyroscopic moment generates the above-mentioned "guiding force" F M is generated, and this "guiding force" F M This is presented to the athlete as mechanical (tactile) movement support information.

[0035] In order to fulfill the function of presenting such dynamic motion support information, the AR glasses 1 (motion support device) specifically: (A) A drive signal generating unit 112 that generates and outputs a drive signal that is sent to the power unit (the first motor 211 and the second motor 221) based on the obtained "tool movement information" related to the "motion to be taken" of the tool (racket 2) to generate a "guide force" corresponding to this "motion to be taken." It has the following characteristics.

[0036] In this way, the AR glasses 1 (motion assistance device) can specifically present how to move a tool such as a racket used in sports and other activities by generating a "guide force" corresponding to the "movement to be taken" for the power unit provided in the tool. For example, in this embodiment, the player can specify the "movement to be taken" of the racket 2 using the "guide force" F. M This makes it easier for the player to learn the desired hitting motion for ball 3, for example, and also makes it possible to improve one's own ability in table tennis.

[0037] Here, the "tool movement information" may be information relating to the "movement to be taken" of the tool (racket 2) that has been determined in advance by measurement or artificially. For example, time-series data of the speed or acceleration realized during a desired racket movement may be generated by actual measurement or artificially set based on experience, and such data may be used as the "tool movement information." However, in this embodiment, the "tool movement information" is determined by the tool movement information determination unit 111. This tool movement information determination unit 111: (B) a functional component that determines “tool movement information” based on at least one of acquired movement information related to the movement of the target (ball 3) to be moved by the tool (racket 2) and movement information related to the movement that caused the movement (for example, movement information of the racket used by the opponent); It is as follows.

[0038] Furthermore, the AR glasses 1 of this embodiment can not only present the "guide force," but also generate visual information related to the "movement to be taken" of the tool (racket 2) and visual information related to the treatment position and treatment posture of the treatment target (ball 3), and display these on the display 105. The generation of this visual information and its presentation to the support target (athlete) will be described in detail later.

[0039] Of course, the fields in which the AR glasses 1 can be applied are not limited to table tennis. For example, the AR glasses 1 can be applied to ball games that use "tools" such as baseball and tennis, and even to sports (sports) that use "tools" other than ball games, such as kendo, fencing, skiing, and snowboarding. (a) "Tools" refers to the equipment used in this sport, such as bats, bamboo swords, and skis. (b) "Tool movement information" may be information relating to the speed or acceleration of the sports equipment in the sport. Here, for example, in soccer, soccer shoes can be used as a "tool" (by installing a power unit or the like inside the shoes), and the AR glasses 1 can be used as a soccer training device that transmits drive signals to these soccer shoes (force feedback device).

[0040] Furthermore, the fields in which the AR Glasses 1 can be applied are not limited to competitions (sports). For example, in various training such as training for handling machinery and heavy machinery, and flight simulation training, the AR Glasses 1 can be used as a training device, with the levers and handles to be operated being treated as "tools."

[0041] However, the AR glasses 1 of this embodiment are particularly suitable for supporting activities (sports) in fields such as ball games, where treatment is performed by quickly moving a ``tool'' such as a racket to treat an object such as a ball that moves quickly in three-dimensional space.

[0042] [Device configuration, operation support program and method] The functional configuration of the AR glasses 1 will be described in detail below. As also shown in the functional block diagram of Fig. 1, the AR glasses 1 of this embodiment include a communication interface (IF) 101, an acceleration / angular velocity sensor unit 102, a camera 103, a microphone 104, a display 105, a speaker 106, and a processor / memory. The processor / memory stores an embodiment of a motion assistance program according to the present invention (for example, has a motion assistance app according to the present invention installed thereon), has computer functionality, and executes this motion assistance program to perform motion assistance processing.

[0043] For this reason, the movement assistance device according to the present invention is not limited to the AR glasses described above, but can be other display-equipped wearable terminals such as an HMD (Head-mounted Display), various display devices such as an HUD (Head-Up Display), or even a simulator device, equipped with an embodiment of the movement assistance program according to the present invention. Furthermore, the movement assistance device according to the present invention may be a control device without a display that transmits a drive signal to generate a guide force to a force feedback device such as the racket 2.

[0044] The processor memory also includes, as functional components, a tool movement information determination unit 111, a drive signal generation unit 112, a scene determination unit 113, a visual and auditory information generation unit 114, an input control unit 121, and an output control unit 122. These functional components can be considered to be functions implemented by an embodiment of the movement assistance program according to the present invention stored in the processor memory. The processing flow shown by arrows connecting the functional components of the AR glasses 1 (movement assistance device) in the functional block diagram of FIG. 1 can also be understood as an embodiment of the movement assistance method according to the present invention.

[0045] The above-described functional components of this embodiment will be described in detail below using the specific example shown in Fig. 1. In this specific example, a practice match of table tennis is being held using a table tennis table installed in a table tennis court. The player who is the target of motion assistance is wearing AR glasses 1 and is using a racket 2 as a force feedback device to hit a ball 3, which is the target of treatment.

[0046] The table tennis court is also equipped with at least one (preferably multiple) cameras 4 capable of photographing (a) a ball 3 as the object of treatment, (b) an opponent (their arms, legs, head, etc.), (c) the racket used by the opponent, (d) the player (their arms, legs, head, etc.) wearing AR glasses 1 as the object of movement assistance, and (e) the racket 2 used by the player, and capable of wirelessly transmitting the photographed image data to the AR glasses 1.

[0047] Here, by applying known image recognition technology to this captured image data, it becomes possible to identify and specify the above (a) to (e), determine the position, speed, and acceleration of the above (a) to (e), and even track the position, speed, and acceleration of the above (a) to (e).Furthermore, a microphone 5 is also installed that can collect various sounds during the table tennis practice match and transmit audio data wirelessly to the AR glasses 1.

[0048] The camera 4 may be, for example, an RGB-D camera that also functions as a distance sensor and generates image information that includes distance information to the target. The AR glasses 1 can receive information from the camera 4 and microphone 5 described above via a wireless LAN (Local Area Network), Bluetooth, or the like through a communication interface 101, and output the information to the tool movement information determination unit 111 and the scene determination unit 113 via an input control unit 121. The generated drive signal information can also be transmitted to the racket 2 via the communication interface 101 via a wireless LAN, Bluetooth, or the like.

[0049] <Tool movement information determination means> Also in the functional block diagram of FIG. 1, the tool movement information determination unit 111 determines the acquired (a) movement information relating to the movement of the ball 3 (target) to be acted upon by the racket 2 (tool); and (b) Motion information relating to the motion that caused this movement "Tool movement information" is determined based on at least one of the above.

[0050] Here, the movement information (a) above is, for example, time-series position data of the ball 3 (for a predetermined period of time immediately after it is hit by the opponent's racket), and can be generated using a known image recognition technique as described above from image data generated by the camera 4 or the camera 103 and acquired via the input control unit 121. Of course, if this movement information (for example, time-series position data) is generated by the camera 4 or the camera 103, the movement information may be acquired from the camera 4 or the camera 103. Furthermore, the motion information (b) above is, for example, time-series position data of the opponent's racket (for a predetermined period of time immediately before it hits the ball 3), and can be generated or acquired in the same manner as the movement information above.

[0051] Incidentally, the time point at which the racket hits the ball 3, which determines the range of the time-series position data described above, may be determined from changes in the relative position between the racket 2 and the ball 3, or changes in the speed and direction of the ball 3. It is also possible to apply known voice recognition technology to the voice data collected by the microphone 5 to recognize the sound of the racket hitting the ball 3, and to determine the time point at which this hitting sound is recognized as the time point at which the racket hits the ball 3.

[0052] Furthermore, the determined "tool movement information" can be "time-series speed data" relating to the speed that the racket 2 should assume at each point in time when hitting the ball 3. It is also preferable that the information includes "time-series acceleration data" relating to the acceleration that the racket 2 should assume at each point in time, instead of or in addition to this time-series speed data. Here, the "time-series acceleration data" can be generated from the determined "time-series speed data" of the racket 2. Furthermore, the "time-series speed data" can also be generated from the determined "time-series position data" of the racket 2. In either case, a drive signal is then generated based on the generated "time-series speed data" or "time-series acceleration data."

[0053] Furthermore, the process of determining "tool movement information" from the movement information (a) and the motion information (b) can be performed using, for example, motion simulation or a machine learning model that uses time-series data as explanatory variables. Specifically, time-series position data representing the movement of the ball 3 within the position range (or time interval) in which the player hits the ball 3 can be estimated from the movement information (time-series position data of the ball 3) using motion simulation. From this estimated time-series position data, movement information (time-series speed data or time-series acceleration data of the racket 2) capable of returning the ball 3 corresponding to this data along the same trajectory as the ball 3 has traveled can be calculated using a predetermined physical equation (a collision-rebound equation under a predetermined restitution coefficient), and this information can be used as "tool movement information." Here, for example, an Open Dynamics Engine (ODE) can be used as the motion simulation engine. ODE is provided as a module in, for example, a Python computational science library.

[0054] In addition, at least one of the time-series position data constituting movement information and the time-series position data constituting action information can be input into a trained RNN (Recurrent Neural Network) algorithm such as LSTM (Long Short-Term Memory) to output "tool movement information" (time-series speed data or time-series acceleration data).

[0055] In this embodiment, the tool movement information determination unit 111 determines the following from the acquired movement information and motion information using an algorithm such as a trained RNN or a fully-connected DDN (Fully-Connected Deep Neural Network): (a) treatment position information relating to the position where the ball 3 (treatment target) should be hit (treated) by the racket 2 (tool); and (b) Treatment posture information (e.g., 3DoF information (e.g., information on the tilt angle of the racket 2 around each of the x, y, and z axes)) relating to the posture that the racket 2 (tool) should take when hitting (treating) the ball 3 (target) In this embodiment, the treatment position information and treatment posture information determined here are used by the visual information generator 114 to generate visual information to be displayed on the display 105, as will be described later.

[0056] <Drive signal generating means> Similarly, in the functional block diagram of FIG. 1, the drive signal generation unit 112 of this embodiment generates a guide force F corresponding to the "motion to be taken (by the racket 2)" that is sent to the power unit (the first motor 211 and the second motor 221 in this embodiment) of the racket 2 (tool, force sense presentation device) based on the "tool movement information" determined by the tool movement information determination unit 111. M A drive signal that generates the

[0057] In this embodiment, the generated drive signal for the first motor 211 is transmitted wirelessly (for example, wireless LAN or Bluetooth) to the first motor 211 (which has a built-in communication IF) of the racket 2 via the communication interface 101, and the generated drive signal for the second motor 221 is transmitted wirelessly (for example, wireless LAN or Bluetooth) to the second motor 221 (which has a built-in communication IF) of the racket 2 via the communication interface 101. The specific content of these generated drive signals will be explained later in conjunction with the explanation of the force sense presentation device (racket 2) using FIG.

[0058] <Force sense presentation device> Figure 2 is a schematic diagram for explaining the structure and function of one embodiment of the force feedback device according to the present invention. Figure 2(A2) shows the racket 2 with the rubber case 21, which will be described later, removed, and Figure 2(B) shows the racket 2 with part of its configuration temporarily made transparent.

[0059] As shown in Fig. 2(A1), the racket 2 serving as the force sense presentation device of this embodiment has a shape conforming to the specifications of a table tennis racket, and includes a rubber case 21 and a grip 22. Here, as shown in Fig. 2(A2) and Fig. 2(B), inside the rubber case 21 is provided a main body drive unit 21a including a weight 210 serving as a rotating disk-shaped drive unit and a first motor 211 serving as a first power unit. Furthermore, as shown in Fig. 2(B), inside the grip 22 is provided a second motor 221 serving as a second power unit.

[0060] In this embodiment, the first motor 211 can rotate the weight 210 around its principal axis of inertia as a rotation axis in accordance with a drive signal received via a built-in communication IF. Furthermore, the second motor 221 can rotate the main body drive unit 21a (including the weight 210 and the first motor 211) around an axis perpendicular to the rotation axis of the weight 210 within the range inside the rubber-attached case 21 in accordance with a drive signal also received via a built-in communication IF. Although not shown, the racket 2 also includes a storage battery as a power source for the first motor 211 and the second motor 221.

[0061] Here, as shown in FIG. 2(C), in this embodiment, (a) The moment of inertia I X By rotating the weight 210, the x-axis (O M On the axis normal to the racket hitting surface with the origin at , the angular momentum (vector) I X Generates Ω, (b) The second motor 221 rotates the main body drive unit 21a, thereby rotating the y-axis (O M An angular velocity (vector) Ωg is generated on the axis in the extension direction of the grip 22 with the origin at , (c) This allows (O M The gyro moment M is on the z-axis (which is perpendicular to the x-axis and y-axis) J (=I X Ω×Ωg, where '×' is the vector cross product, (d) As a result, the gripping point r(O M The athlete's hand holds the object, and a guide force (vector) F M can be palpable. Furthermore, this guide force F M is expressed as follows: (1) M J =r×F M This force acts on the athlete's hand, which is gripping the grip point r. At the beginning of this action, the grip 22 acts as a reaction force -F MIt will come to a standstill when it receives the force.

[0062] Hereinafter, the guide force F (d) generated by the first motor 211 and the second motor 221 will be referred to as M This embodiment describes a method for making the guide force F be a force having a component in the direction in which the racket 2 should be moved. In the following, the direction of the "movement that the racket 2 should take" is parallel to the x-axis, which is the normal direction of the racket hitting surface, that is, M (Even if it does not actually coincide, the guide force F M By regarding it as a force that has a (sufficiently large) component in the direction of the "movement to be taken," it can function adequately as a suggestive force, a supportive force, or an auxiliary force.

[0063] Moment of inertia I X When the weight 210 is rotated around the x-axis by the first motor 211 at an angular velocity Ω, if the main body drive unit 21a is rotated around the y-axis at an angular velocity Ωg by the second motor 221, the following equation is expressed on the z-axis: (2) M J =[0, 0, I X ·Ω·Ωg] ('·' denotes scalar multiplication) The gyro moment M is expressed as J Therefore, this gyro moment M J The guide force F generated by M From the above equations (1) and (2), (3) r×F M =[0, 0, I X ·Ω·Ωg] It becomes a force that satisfies

[0064] In addition, when the "tool movement information" acquired from the tool movement information determination unit 111 as information on the "motion" of the racket 2 includes (time-series information on) a velocity vector v(t) (as the velocity to be taken), the guide force (vector) F M is expressed as follows: (4) F M =m·dv(t) / dt (d* / dt represents the time derivative of a vector quantity) In the above formula (4), m is the inertial mass of the racket 2 (force feedback device) in the hand of the player holding the grip 22 at the grip point r. Here, when the above formula (3) is expressed in vector components using the above formula (4), it can be expressed as the following formula: (5) [0, 0, I X ·Ω·Ωg]=[0, r, 0]×[m·dv(t) / dt, 0, 0] =[0, 0, r m dv / dt] As a result, (6) Ωg(t)=r m (I X Ω) -1 dv(t) / dt (d* / dt represents the time derivative of a scalar) In this way, the angular velocity Ωg(t) can be derived from the velocity vector v(t) using the above (6).

[0065] In this embodiment, the guide force F corresponding to the velocity vector v(t) (time series information of the velocity vector v(t)) is M In order to generate the velocity vector v(t), the weight 210 is rotated at a constant angular velocity Ω (constant angular velocity motion) and the main body driving unit 21a is rotated at the angular velocity Ωg(t) calculated by the above equation (6). That is, in this embodiment, the angular velocity Ωg(t) of the main body driving unit 21a is controlled using the second motor 221 so as to follow the above equation (6), and thereby the guide force F corresponding to this velocity vector v(t) is generated. M This is what we embody.

[0066] Incidentally, when the "tool movement information" acquired from the tool movement information determination unit 111 includes (time series information of) the acceleration vector a(t) (as the acceleration to be taken), the following equation is used instead of the above equation (6): (7) Ωg(t)=r m (I X Ω) -1 a(t) Using this, the angular velocity Ωg(t) of the main body driving unit 21a can be controlled (according to the acceleration vector a(t)).

[0067] Based on the above explanation, when the drive signal generation unit 112 (FIG. 1) acquires the velocity vector v(t) or acceleration vector a(t) as "tool movement information" from the tool movement information determination unit 111, it calculates the angular velocity Ωg(t) corresponding to this velocity vector v(t) or acceleration vector a(t) using the above equation (6) or (7), and generates a drive signal for the second motor 221 such that the second motor 221 rotates the main body drive unit 21a at this calculated angular velocity Ωg(t). At the same time, it generates a drive signal for the first motor 211 such that the first motor 211 rotates the weight 210 at a constant angular velocity Ω.

[0068] By driving the first motor 211 and the second motor 221 with such a drive signal, a guide force F M This is given to the player (made tactile), thereby assisting and supporting the athletic action using the racket 2, in this case the action of hitting the flying ball 3 with the racket 2.

[0069] In this embodiment, the above-mentioned guide force F M The time when the guide force F can be generated and presented is limited to a short time period when one end of the main body drive unit 21a rotates from one side of the rubber case 21 to the other side. M In order to be able to present the guide force F for a considerable period of time, it is also preferable to rotate the weight 210 at high speed (for example, by rotating it at a speed close to the maximum speed of the first motor 211) to set the angular velocity Ω to a sufficiently large value, thereby making it possible to use a smaller value for the angular velocity Ωg(t) (determined by the above formula (8)). As a result, the desired guide force F can be obtained by simply controlling the angular velocity Ωg(t) of the second motor 221, whose driving range is a much smaller range than the driving range of the other power unit (first motor 211). M This will be possible to present for a considerable period of time.

[0070] The racket 2 has been described above as one embodiment of the dynamics display device according to the present invention, but the dynamics display device according to the present invention is not limited to the above-described embodiment. For example, the racket 2 may further be provided with a rotation mechanism that can twist the rotation axis of the weight 210 in the xy plane using a third motor with the z-axis as its rotation axis, thereby generating a gyro moment on the y-axis. In this case, it is also possible to generate a guide force that causes the grip 22 to rotate around the y-axis as its rotation axis.

[0071] Furthermore, the drive unit (weight 210, main body drive unit 21a, etc.) and the rotation shaft of the power unit (motor) may be directly connected, or a power transmission mechanism such as gears, belts, or a transmission may be provided between them. Furthermore, multiple drive units may be driven by one power unit (motor) via the above-mentioned power transmission mechanism. The shape of weight 210 is not limited to a disk shape, and may be, for example, a spherical shape or a regular polygonal shape as long as it is not a shape that is likely to cause unevenness or bias in its rotation.

[0072] Furthermore, as described above, the dynamics display device according to the present invention is not limited to a table tennis racket, but can also be used for sports equipment used in various other sports. Most of the sports equipment, such as bats, tennis rackets, and golf clubs, has a grip that is the part that the player holds in their hand, and in many cases, the "direction in which the grip should be moved" in a game is roughly perpendicular to the direction in which the grip extends.

[0073] Here, the driving range of the power unit (motor) installed in this grip is usually a much smaller range than the driving range of other power units (for example, the motor that rotates the weight inside the striking head case), just like the driving range of the second motor (Fig. 2(B)). Even with a power unit (motor) in the grip with such a limited driving range, a formula equivalent to the above-mentioned formula (8) can be applied to calculate the guide force F that indicates the "direction to move." M This makes it possible to provide this to competitors.

[0074] <Scene determination method> Returning to the functional block diagram of FIG. 1 , in this embodiment, the scene determination unit 113 determines a relevant scene from among a plurality of pre-classified scenes in the competition (activity) based on sensing result information obtained by sensing the situation of the competition (activity). Here, examples of sensing result information that can be used include image information (including the state of the competition) generated by the camera 4 or the camera 103, audio information (including sounds related to the competition) generated by the microphone 5 or the microphone 104, and posture information (e.g., 3DoF information) of the athlete (or their head) generated by the acceleration / angular velocity sensor unit 102. The scene determination unit 113 can receive this information via the input control unit 121 as needed.

[0075] In this embodiment, the classification results are suitable for many ball games, including table tennis. (a) Scene 1: "Hit the ball" (b) Scene 2: "Moving" (c) Scene 3: "Preparing the tool" These three scenes are preset, and one of them is selected at each point in time (or in a predetermined time interval). ···→Scene 1→Scene 2→Scene 3→Scene 1→··· The scenes will change in this way.

[0076] The scene determination unit 113 may use, for example, the following method to determine the specific scenes 1 to 3: (a) From the time-series image data including the athlete generated by camera 4, time-series joint position data (for example, position coordinate data of each joint in a three-dimensional coordinate system with the body center as the origin) of the athlete for a predetermined time interval is generated using OpenPose or PoseNet, which are posture estimation DNN models; (b) This time-series joint position data may be input to a trained scene estimation model, and the scene related to the scene information output from the scene estimation model may be regarded as the scene unfolding in the specified time interval.

[0077] Here, the scene estimation model (b) above can be generated by training an RNN algorithm such as LSTM using learning data including a set of time-series joint position data actually obtained when "hitting the ball" and correct answer data (a value indicating scene 1), a set of time-series joint position data actually obtained when "moving" and correct answer data (a value indicating scene 2), and a set of time-series joint position data actually obtained when "holding a tool" and correct answer data (a value indicating scene 3).

[0078] As another method for determining scenes 1 to 3, time-series joint position data of the opponent can be generated from time-series image data including the opponent generated by camera 103 or camera 4, and the scene can be determined in the same manner as above. Also, instead of the above-mentioned joint position data of the athlete, it is also possible to determine scenes 1 to 3 using posture data (for example, 3DoF data) of the athlete (or his / her head) generated by acceleration / angular velocity sensor unit 102.

[0079] Furthermore, from the audio information generated by microphone 5 and microphone 104, sounds such as the racket hitting ball 3, the ball 3 hitting the table, and the player's feet touching the floor can be extracted by voice recognition, and scenes 1 to 3 at each point in time can be determined from the sequence of when these sounds occurred. For example, after the opponent hits ball 3, the period from when ball 3 first hits the table to when the player hits ball 3 can be defined as scene 1: "hitting the ball."

[0080] As described above, upon receiving the scene information determined by the scene determination unit 113, the drive signal generation unit 112 generates a guide force F that is preset for the scene or the transition of the scene based on the determined scene or the transition of the determined scene. M A driving signal for realizing the activation pattern is generated.

[0081] As described above, the plurality of preset scenes (scenes) may include a "treatment scene" in which a treatment (hitting action) is performed by the tool (racket 2) on a moving treatment target (ball 3), i.e., scene 1: "hitting the ball." In this case, when this "treatment scene" (scene 1: "hitting the ball") is determined, the drive signal generating unit 112 generates a guide force F corresponding to the movement that the tool (racket 2) should take in this treatment (hitting action), as described in detail with reference to FIG. M The drive signal for generating the signal is generated.

[0082] In this case, when the scene (scene 3: "holding the tool") immediately before this "treatment scene" (scene 1: "hitting the ball") is determined, the drive signal generation unit 112 generates a guide force F M It is also preferable to generate a driving signal for preparing to generate the guide force F. M A specific example of the generation of will be explained in detail later with reference to FIG.

[0083] Also in the functional block diagram of FIG. 1 , the scene determination unit 13 preferably determines development speed information relating to the speed of scene development based on the above-mentioned sensing result information. For example, when constructing the above-mentioned scene estimation model (RNN algorithm such as LSTM), additional objective variables may be set as "scene development is fast," "scene development is normal," and "scene development is slow," and these correct answer data may also be incorporated into the training data. As a result, development speed information relating to the speed of scene development is obtained as the output of this trained scene estimation model. Alternatively, although it is a simple method, average speed information of the ball 3 in the target scene may be generated from the sensing result information, and the development speed information may be determined from this average speed information using a correspondence table between average speed ranges and development speed information preset for the target scene.

[0084] In this case, the drive signal generating unit 112 generates a guide force F having a magnitude according to the deployment speed related to the deployment speed information based on the received deployment speed information. M It is also preferable to generate a drive signal for generating the guide force F. M A specific example of the generation of will be explained later with reference to FIG.

[0085] The scene determination process in the scene determination unit 113 has been described above, but the preset scenes are not limited to the above three (scenes 1, 2, and 3). In other words, two or more scenes can be arbitrarily determined according to the target sport (activity). However, it is also preferable that the preset multiple scenes are a group of scenes that are appropriately divided so that a force sense characteristic of that scene is presented in each scene by the force sense presentation device of the present invention (racket 2 in FIG. 1).

[0086] <Visual and auditory information generation means> Similarly, in the functional block diagram of FIG. 1, the visual and audio information generation unit 114 of this embodiment generates the following information based on the "tool movement information" determined by the tool movement information determination unit 111: (a) Visual information relating to the movement to be made with the racket 2, sent to the display (visual information presentation unit) 105 via the output control unit 122, and audio information relating to the movement to be made with the racket 2, sent to the speaker 106 via the output control unit 122. Furthermore, based on the treatment position information and / or treatment posture information determined by the tool movement information determination unit 111, (b) visual information relating to the action position and / or action posture to be taken by the racket 2, which is sent to the display 105 via the output control unit 122, and audio information relating to the action position and / or action posture to be taken by the racket 2, which is sent to the speaker 106 via the output control unit 122; may be generated and output.

[0087] Hereinafter, with reference to FIG. 3, a specific example of the presentation of the above-mentioned visual information and audio information, and the generation of a drive signal and a guide force F based on the scene determined as described above will be described. M A specific example of the generation of the following will be described.

[0088] <Specific examples of motion support> Fig. 3 is a schematic diagram illustrating a specific example of motion assistance using an embodiment of the motion assistance device and haptic device according to the present invention. This specific example is similar to that shown in Fig. 1, and shows a table tennis practice match being played using a table tennis table installed in a table tennis court. A player who is the target of motion assistance is wearing AR glasses 1 and is using a racket 2 as a haptic device to hit a ball 3, which is the target of treatment.

[0089] According to FIG. 3(A), the display 105 of the AR glasses 1 worn by the athlete displays: (a) An image of the ball 3 is displayed as virtual reality at a position on the screen corresponding to the "treatment position" estimated from the motion information of the opponent's racket or the movement information of the ball 3 (i.e., at a position in the virtual space corresponding to the position in the real space to be displayed (as the destination of coordinate transformation)), and further, (b) Similarly, an image of the racket 2 showing the "treatment posture" estimated from the movement information of the opponent's racket or the movement information of the ball 3 is displayed as virtual reality, superimposed on the image of the ball 3 in (a) above. This allows the player to visually confirm in advance the position where the racket 2 should hit the ball 3 and the posture that the racket 2 should assume at this position. In addition, together with the display of the image of the ball 3 in (a) above, a sound indicating in advance the position where the ball 3 will fly (the treatment position), such as "Left!" or "Right!", may be output from the speaker 106 (FIG. 1).

[0090] Furthermore, it is also preferable to move the image of the racket 2 in (b) above to the display position and display it, and determine the speed of the movement based on the speed information of the racket 2 to be moved, which is included in the "tool movement information." For example, the faster the speed information included in the "tool movement information" indicates the faster the racket 2 is moving, the faster the image of the racket 2 may be moved. This allows the player to visually confirm in advance the speed at which the racket 2 should be moved.

[0091] The display 105 that displays the visual information described above is a transparent display. A player wearing the AR glasses 1 can view the real playing environment, such as the ball 3, the opponent, and the table tennis table, through the display 105. Furthermore, the player can view a virtual image of the ball 3 indicating the treatment position and a virtual image of the racket 2 indicating the treatment posture within the field of view of this playing environment, and receive guidance related to the game while playing. Alternatively, the display 105 may be non-transparent and display a camera image of the playing environment generated by the camera 103, and further display the virtual image in conjunction with it.

[0092] Next, as shown in Figure 3(B), for each scene determined as the current scene from scenes 1 to 3, a force feedback appropriate for that scene is presented by racket 2. The scenes determined here usually change as the game progresses, as follows: ... → Scene 1: "Hit the ball" → Scene 2: "Move" → Scene 3: "Prepare the tool" → Scene 1: "Hit the ball" → ...

[0093] In Scene 1: "hitting the ball," the guide force F is adjusted to the velocity vector v(t) (or acceleration vector a(t)) of the racket 2, as explained using FIG. 2(C) and the above formula (8). MIn addition, the image of the ball 3 and the image of the racket 2 are displayed in conjunction with this, as explained with reference to Figure 3(A). This allows the player to simultaneously receive haptic information as guidance for the desired movement and corresponding visual information in an intuitively understandable manner, which in turn makes it possible to efficiently improve performance in competition. Below, specific examples of haptic presentation by the racket 2 in each of Scenes 1 to 3 are explained.

[0094] First, in Scene 1: "Hit the ball" (1a) (by transmitting the corresponding drive signal to the first motor 211) to rotate the first motor 211 at a constant high speed, and rotate the weight 210 at a constant high angular velocity (Ω), (1b) (by transmitting to the second motor 221 a drive signal generated to realize the angular velocity Ωg(t) calculated by the above equation (6) (or the above equation (7))) the second motor 221 is rotated, and the main body drive unit 21a (FIG. 2) is rotated at an angular velocity Ωg(t) corresponding to the velocity v(t) (or acceleration a(t)) at which the racket 2 should be moved. As explained above, this allows the player to see the direction and magnitude of the movement that the racket 2 should take. M It is possible to give (make tangible)

[0095] Next, in Scene 2: "Moving", (2a) (by sending a corresponding drive signal to the first motor 211) to rapidly decelerate and then stop the rotation of the first motor 211; (2b) (by transmitting the corresponding drive signal to the second motor 221) the rotation of the second motor 221 is stopped promptly in synchronization with the stopping of the rotation of the first motor 211 in (2a) above. Thus, at the start of Scene 2: "Moving", the gyro moment M JBy quickly ending the occurrence of the force and not presenting unnecessary force sensations to the player, the player will not feel any force sensations that will interfere with the play, and will be able to recognize that the situation has entered Scene 2: "Moving".

[0096] As a modification, in order to make the transition to Scene 3: "Preparing the Tool" smoother, it is also preferable to set the rotational position of the second motor 221 near the midpoint of its rotation range (driving range) in Scene 2: "Moving" which immediately precedes Scene 3. In other words, it is also preferable to return the main body driving unit 21a (FIG. 2) to near the center of the rubberized case 21 (near a position parallel to the rubber surface).

[0097] Next, in Scene 3: "Preparing the Tools" (3a) (by sending the corresponding drive signal to the first motor 211) to start the rotation of the first motor 211 toward the high constant speed of (1a) above; (3b) (By sending the corresponding drive signal to the second motor 221) the rotation position of the second motor 221 is set to one end position of the rotation range (drive range) (the start position of rotation in scene 1). In other words, the main body drive unit 21a (FIG. 2), which rotates within the range inside the rubberized case 21 (by the second motor 221), is rotated in the opposite direction to the rotation in scene 1 so that one end of the main body drive unit 21a (FIG. 2) is at a position on one side of the rubberized case 21 (the start position of rotation in scene 1).

[0098] As a result, in scene 3: "holding the tool" immediately before scene 1, preparations are made for the high angular velocity (Ω) rotation of the weight 210 in scene 1: "hitting the ball", so that the force feedback in scene 1: "hitting the ball" can be presented more smoothly and without discomfort. Also, in scene 3: "holding the tool" immediately before scene 1, the rotation range (drive range) of the second motor 221 is secured to the maximum as a preliminary preparation for scene 1, so that the guide force F in scene 1: "hitting the ball" MIn addition, the range of possible angular velocity Ωg(t) values, and therefore the guide force F that can be presented, can be M It is also possible to expand the range of values.

[0099] The speed of development of the above-described scenes 1 to 3 usually changes significantly as the game progresses. Therefore, it is preferable to control the motor drive in each scene in accordance with the speed of development. For example, in scene 3: "Preparing the Tool," if the development speed information determined by the scene determination unit 113 is "Fast Scene Development," "Normal Scene Development," or "Slow Scene Development," the angular acceleration at the start of rotation of the weight 210 (first motor 211) may be set to "High," "Medium," or "Slow," respectively. It is also preferable to set the reverse rotation speed of the second motor 221 to "High," "Medium," or "Slow," respectively. This allows the preparatory action for scene 1 in scene 3 to be performed quickly when the scene development is fast, and the preparatory action to be performed slowly when the scene development is slow, thereby minimizing the application of unnecessary reaction forces and inertial forces that impair the controllability of the racket 2 to the player. It is also preferable that the specific settings and adjustments of the angular acceleration of the weight 210 (first motor 211) and the reverse rotation speed of the second motor 221 to "large," "medium," and "small" can be made by the athlete as appropriate via a user interface (not shown).

[0100] The above describes the control of the first motor 211 and the second motor 221 in each of Scenes 1 to 3, i.e., the control of the presented force sense, using a specific example of a table tennis practice match. In the case of table tennis, the scene transition from Scene 1: "hitting the ball" to Scene 3: "holding the tool" is actually completed within 3 seconds. In contrast, it has been confirmed that by using a racket 2 equipped with a first motor 211 and a second motor 221 with a torque output of approximately 1 Nm, the force sense control in each scene within this short period of time (within 3 seconds) can be suitably implemented. Note that the force sense control by the power unit in accordance with the scene transitions described above is merely a suitable example, and naturally, various other force sense control methods suitable for the activity (game) are possible.

[0101] <Another embodiment of the movement support device> FIG. 4 is a schematic diagram for explaining another embodiment of the movement support device according to the present invention.

[0102] The racket 7 shown in Fig. 4(A) is another embodiment of the motion support device according to the present invention, and is a sports implement (tool) that also serves as another embodiment of the force feedback device according to the present invention. Specifically, the racket 7 is (a) A communication interface (IF) 701 and a speaker 706 mounted in the grip 74; (b) A processor and memory installed in the grip 74 that functions as a tool movement information determination unit 711, a drive signal generation unit 712, a scene determination unit 713, a visual and auditory information generation unit 714, an input control unit 721, and an output control unit 722 by executing the installed movement support program according to the present invention; (c) A weight 730, a first motor 731, and a second motor 741 It is equipped with:

[0103] Here, each of the (functional) components (a) to (c) above has the same structure, configuration, and mechanism as the (functional) components with the same names in the AR glasses 1 (FIG. 1) and the racket 2 (FIGS. 1 and 2), and performs the same functions. However, the drive signal generation unit 712 in this embodiment outputs the generated drive signals to the first motor 731 and the second motor 741 without relying on wireless communication. In addition, the communication interface 701 transmits the visual information generated by the visual / auditory information generation unit 714 wirelessly (for example, via wireless LAN or Bluetooth) to the AR glasses 8 worn by the player, and displays this visual information on the display of the AR glasses 8.

[0104] Even in such a racket 7, the guide force F corresponding to the movement that the racket 7 should take is MBy generating this information, it is possible to specifically show the player holding the racket 7 how to move the racket 7. It is also possible to show the player visual information related to the movement that the racket 7 should take, and visual information related to the treatment position and treatment posture of the treatment target (ball 3), via the display of the AR glasses 8 worn by the same player.

[0105] Next, a smartphone 9 shown in FIG. 4(B) is yet another embodiment of the movement assistance device according to the present invention. The smartphone 9 is equipped with the movement assistance program according to the present invention (for example, the movement assistance app according to the present invention is installed), (a) transmitting the generated drive signal wirelessly (for example, via wireless LAN or Bluetooth) to the racket 2 held by the player; and (b) The generated visual information is transmitted wirelessly (e.g., via wireless LAN or Bluetooth) to the AR glasses 8 worn by the same athlete. This is a device that can do this.

[0106] In other words, the smartphone 9 is a device that has been transferred to itself, so to speak, by removing the processor and memory that have the movement assistance program of the present invention installed, the communication interface (701), and the speaker (706) from the racket 7 shown in Fig. 4(A). Incidentally, the smartphone 9 may be carried and used by an athlete wearing the AR glasses 8 and holding the racket 2, as shown in Fig. 4(B).

[0107] Even with such a smartphone 9, the guide force F corresponding to the movement of the racket 2 is M By generating the visual information, it is possible to specifically show the player holding the racket 2 how to move the racket 2. It is also possible to show the player visual information related to the movement that the racket 2 should take, and visual information related to the treatment position and treatment posture of the treatment target (ball 3), via the display of the AR glasses 8 worn by the same player.

[0108] As explained above in detail, according to the present invention, a force corresponding to a movement to be taken (a guide force F in FIG. 2(C)) is applied to a power unit provided in a tool (a force feedback device). M ), it is possible to specifically show how to move tools such as rackets used in sports and other activities. For example, in just one embodiment, the player can be shown the movement that the racket should make in the direct form of a guide force, which makes it easier for the player to learn the desired hitting motion for the ball, and can also improve the player's ability in ball games, for example.

[0109] Furthermore, by using the haptic device of the present invention as a tool used in sports classes at schools or private sports schools, in training for predetermined movements in professional sports, or in work practice or training involving predetermined movements, and by applying the motion assistance technology of the present invention, it is possible to encourage more children and adults to improve their predetermined movements in sports or work.In other words, the present invention can contribute to the achievement of Goal 4 of the United Nations Sustainable Development Goals (SDGs), "Ensure inclusive and equitable quality education and promote lifelong learning opportunities for all," and Goal 8, "Promote inclusive and sustainable economic growth, employment and decent work for all."

[0110] With respect to the various embodiments of the present invention described above, various changes, modifications, and omissions within the scope of the technical spirit and perspective of the present invention may be easily made by those skilled in the art. The above description is merely an example and is not intended to be limiting in any way. The present invention is limited only by the claims and their equivalents. [Explanation of symbols]

[0111] 1. AR glasses (motion support device) 101, 701 Communication interface (IF) 102 Acceleration and angular velocity sensor unit 103, 4 cameras 104, 5 microphones 105 Display 106, 706 speakers 111, 711 Tool movement information determination unit 112, 712 Drive signal generation unit 113, 713 Scene Decision Section 114, 714 Visual and auditory information generation section 121, 721 Input control section 122, 722 Output control section 2. Racket (force feedback device, tool) 21 Rubber case 210, 730 Weight (drive unit) 211, 731 First motor (first power unit) 21a Main body drive unit 22, 74 Grip 221, 741 Second motor (second power unit) 3 Ball (treatment target) 7 Racket (motion support device, force feedback device) 8. AR Glasses 9. Smartphone (motion assist device)

Claims

1. A program to support movements in a predetermined activity including moving a tool, The tool is a tool that is moved to perform a treatment on a treatment target to change the manner of movement of the treatment target, and has a power unit that is capable of generating a force having a component in a direction that moves the tool by generating a gyroscopic moment; The computer functions as a drive signal generating means for generating and outputting a drive signal that causes the power unit to generate a force corresponding to the movement of the tool to be performed based on the obtained tool movement information related to the movement of the tool to be performed in performing the treatment. A motion support program characterized by:

2. The tool is moved to perform treatment on the moving treatment target, The computer is further caused to function as tool movement information determining means for determining the tool movement information based on at least one of the acquired movement information relating to the movement of the treatment target and the acquired motion information relating to the motion that caused the movement.

2. The movement support program according to claim 1.

3. A program for assisting a user in performing a predetermined activity, including moving a tool, comprising: the tool has a power unit capable of generating a force having a component in a direction that moves the tool by generating a gyroscopic moment; a scene determination means for determining a corresponding scene from among a plurality of scenes classified in advance in the activity based on sensing result information obtained by sensing the status of the activity; a drive signal generating means for generating and outputting a drive signal for realizing a force exertion pattern preset for a determined scene or a determined scene transition, the drive signal being sent to the power unit based on the obtained tool movement information relating to the movement to be taken by the tool, and causing the power unit to generate the force corresponding to the movement to be taken, based on the determined scene or the determined scene transition; and causing a computer to function in accordance with the instructions.

4. the plurality of scenes include a treatment scene in which a treatment is performed by the tool on a moving treatment target, When the treatment scene is determined, the drive signal generating means generates a drive signal for generating the force corresponding to the movement to be taken by the tool in the treatment.

4. The operation support program according to claim 3.

5. The operation assistance program according to claim 4, characterized in that the drive signal generating means generates a drive signal for preparing to generate the force when a scene immediately before the treatment scene is determined.

6. The scene determination means also determines development speed information relating to the speed of development of the scene based on the sensing result information; The drive signal generating means generates a drive signal for generating the force having a magnitude that matches the speed of development of the scene, based on the development speed information as well.

4. The operation support program according to claim 3.

7. The tool is moved to perform treatment on a moving treatment target, The computer is further caused to function as tool movement information determining means for determining the tool movement information based on at least one of the acquired movement information relating to the movement of the treatment target and the acquired motion information relating to the motion that caused the movement.

4. The operation support program according to claim 3.

8. the tool movement information determination means determines the tool movement information including information related to a speed or acceleration to be assumed by the tool; The power unit is a motor that rotates a drive unit provided on the tool, The drive signal generating means generates a drive signal that enables the power unit to rotate the drive unit at an angular velocity corresponding to the speed or the acceleration.

8. The movement support program according to claim 2 or 7.

9. a visual information presentation unit capable of presenting visual information that can be perceived visually to the support target performing the action is provided; The computer further functions as a visual information generating unit that generates and outputs visual information relating to the movement of the tool to be taken, which is sent to the visual information presenting unit based on the determined tool movement information.

8. The movement support program according to claim 2 or 7.

10. a visual information presentation unit capable of presenting visual information that can be perceived visually to the support target performing the action is provided; The tool movement information determination means also determines a treatment position, which is a position where the treatment is performed, and / or a treatment posture, which is a posture of the tool when the treatment is performed; The computer further functions as a visual information generating means for generating and outputting the visual information relating to the treatment position and / or treatment posture to be taken, which is sent to the visual information presenting unit based on the determined treatment position and / or treatment posture.

8. The movement support program according to claim 2 or 7.

11. the activity is a sport and the tool is sport equipment used in the sport; The tool movement information is information related to the speed or acceleration that the sports equipment should exhibit in the sport.

3. The movement support program according to claim 1 or 2.

12. A device for assisting a user in performing a predetermined activity, including moving a tool, comprising: The tool is a tool that is moved to perform a treatment on a treatment target to change the manner of movement of the treatment target, and has a power unit that is capable of generating a force having a component in a direction that moves the tool by generating a gyroscopic moment; and a drive signal generating means for generating and outputting a drive signal that causes the power unit to generate a force corresponding to the movement of the tool to be performed based on the obtained tool movement information relating to the movement of the tool to be performed when performing the treatment. A motion support device characterized by:

13. a visual information presentation unit capable of presenting visual information that can be perceived by the eyes to the support target performing the movement; visual information generating means for generating visual information relating to the movement of the tool based on the tool movement information, the visual information being sent to the visual information presenting unit; The motion support device according to claim 12, further comprising:

14. The movement assist device according to claim 12, wherein the movement assist device is a tool equipped with the drive signal generating means.

15. 1. A method for assisting movement in a predetermined activity involving moving an implement, comprising: The tool is a tool that is moved to perform a treatment on a treatment target to change the manner of movement of the treatment target, and has a power unit that is capable of generating a force having a component in a direction that moves the tool by generating a gyroscopic moment; generating a drive signal to cause the power unit to generate the force corresponding to the movement of the tool to be performed based on the obtained tool movement information relating to the movement of the tool to be performed in the treatment; sending the generated drive signal to the power unit to generate the force; 10. A computer-implemented motion assistance method comprising:

Images