Skill acquisition support method, skill acquisition support system, and control program

Abstract

To enable a learner to recognize and compare his / her own tactile sense and that of an expert without interfering with the tactile sense of his / her own body parts and motion during work, to instantly correct his / her own motion without affecting work efficiency.SOLUTION: A skill acquisition support method comprises: a first stimulus generation step of acquiring first and second tactile sense data indicating tactile sense corresponding to a first body part based on the movement of the first body part when a first worker and a second worker perform the same work, and generating a first stimulus based on the first tactile sense data by a stimulus transmission unit attached to a second body part of the first worker that is different from the first body part; and a second stimulus generation step of switching the stimulus generated by the stimulus transmission unit to a second stimulus based on the second tactile sense data in conjunction with the movement of the first body part of the first worker.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a skill acquisition support method, a skill acquisition support system, and a control program. [Background technology]

[0002] In traditional crafts, manufacturing, and other industries, the lack of successors and the aging of workers have led to an increasing number of businesses being closed or going out of business, which has become a social issue in recent years. In addition, in fields such as medicine, architecture, and art, passing on advanced skills is not easy, and this is one of the challenges facing the future.

[0003] Furthermore, even if efforts are made to train successors, it is difficult to say that a system has been established in many manufacturing production sites and other work sites that can efficiently transfer skills to learners, especially in the case of physical skills that are difficult to automate using robots or AI.The current mainstream education methods are still to learn by watching the work of experts, or traditional subjective transfer of skills through experience, and it takes a long time to master these skills.

[0004] The traditional method of transferring physical skills to learners is by observing the work of an expert or receiving verbal instruction based on subjective sensory expressions. In transferring physical skills, it is important to convey the expert's intuitive tips to learners, but while this can be conveyed sufficiently through work observation and verbal instruction, it takes a long time for learners to grasp the tips themselves.

[0005] To address this issue, the information processing device in Patent Document 1 supports the acquisition of performance by repeatedly conducting training using a simulator that links the force-sensing information of an expert. This information processing device applies force to the user's fingers and joints by operating an exoskeleton member using a force-sensing mechanism attached to the fingertips, allowing the learner to recognize how much force is excessive or insufficient in the extension and flexion directions of the joints. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] International Publication No. 2020 / 100671 (Patent Application No. 2020-556101) Summary of the Invention [Problem to be solved by the invention]

[0007] However, because multiple pieces of information, namely the learner's own bodily sensation information and the expert's bodily sensation information, are simultaneously applied to the same part of the body performing the work while the learner is performing the work, these pieces of information interfere with each other. This makes it difficult for the learner to understand, and they are unable to directly compare their own bodily sensations (bodily sensations) while performing the work with those of the expert. Furthermore, the tactile presentation device attached to the fingertips can interfere with the work, which can lead to concerns that the learner will not be able to achieve sufficient learning benefits.

[0008] The present invention has been made in consideration of the above circumstances, and aims to enable a learner to recognize and compare his or her own tactile sense with that of an expert without interfering with the learner's tactile sense of his or her own body parts or movements during work while performing the task that is the target of skill acquisition, and to enable the learner to instantly correct his or her own movements without affecting workability. [Means for solving the problem]

[0009] The above object of the present invention can be achieved by the following means.

[0010] (1) a first tactile data acquisition step of acquiring first tactile data indicating a tactile sensation corresponding to a first body part based on a movement of the first body part while performing a task of a first worker; a second tactile data acquisition step of acquiring second tactile data indicating a tactile sensation corresponding to a first body part based on a movement of the first body part when a second worker performs the same task as the task; a first stimulus generating step of generating a first stimulus based on the first tactile data by a stimulus transmitter attached to a second body part different from the first body part of the first worker; a second stimulus generation step of switching the stimulus generated by the stimulus transmission unit to a second stimulus based on the second tactile data in conjunction with the movement of the first body part of the first worker.

[0011] (2) the first worker is a learner of the work, The skill acquisition support method according to (1) above, wherein the second worker is an expert in the work.

[0012] (3) A skill acquisition support method as described in (1) above, in which the second stimulus generation step is executed when a signal change in tactile data based on the movement of the first body part reaches or exceeds a predetermined threshold as a predetermined movement among the movements of the first body part.

[0013] (4) A skill acquisition support method as described in (1) above, in which a video of the first worker is analyzed as a predetermined movement among the movements of the first body part, and the second stimulus generation step is executed when a change in coordinate information of the first body part due to image recognition satisfies a predetermined condition.

[0014] (5) The skill acquisition support method described in (1) above, wherein the second body part is a part that is at least a predetermined distance away from the first body part.

[0015] (6) the first body part is a finger or a fingertip; The skill acquisition assistance method according to (1) above, wherein the second body part is one of the head, arm, leg, or back of the hand.

[0016] (7) the first body part is plural; The skill acquisition support method according to (1) above, wherein the second body parts are multiple in number corresponding to the multiple first body parts.

[0017] (8) The skill acquisition assistance method according to (1) above, wherein the stimulus generated by the stimulus transmission unit is vibration.

[0018] (9) A skill acquisition support method as described in (1) above, wherein when switching from the first stimulus to the second stimulus, a composite stimulus combining the first and second stimuli is generated.

[0019] (10) a sensor unit that acquires tactile data indicating a tactile sensation corresponding to a first body part based on a movement of the first body part during work; a stimulus transmission unit that is attached to a second body part different from the first body part and transmits a stimulus to the second body part; a control unit that generates a stimulus based on the tactile data in the stimulus transmission unit, the control unit acquires first tactile data when a first worker performs a task and second tactile data when a second worker performs the same task as the first worker; generating a first stimulus based on the first tactile data to the stimulus transmission unit worn by the first worker; A skill acquisition support system that switches the stimulus generated by the stimulus transmission unit to a second stimulus based on the second tactile data in conjunction with the movement of the first body part of the first worker.

[0020] (11) The first worker is a learner of the work, The skill acquisition support system according to (10) above, wherein the second worker is an expert in the work.

[0021] (12) A skill acquisition support system as described in (10) above, in which the stimulus generated by the stimulus transmission unit is switched to a second stimulus based on the second tactile data as a trigger when a signal change in tactile data based on the movement of the first body part reaches or exceeds a predetermined threshold as a predetermined movement of the first body part.

[0022] (13) A skill acquisition support system as described in (10) above, which analyzes a video of the first worker as a predetermined movement of the first body part, and switches the stimulus generated by the stimulus transmission unit to a second stimulus based on the second tactile data when a change in coordinate information of the first body part due to image recognition satisfies a predetermined condition.

[0023] (14) The skill acquisition support system according to (10) above, wherein the second body part is a part that is at least a predetermined distance away from the first body part.

[0024] (15) The first body part is a finger or a fingertip, The skill acquisition support system according to (10) above, wherein the second body part is one of the head, arm, leg, and back of the hand.

[0025] (16) The first body part is plural; The skill acquisition support system according to (10) above, wherein the second body parts are plural in number corresponding to the plural first body parts.

[0026] (17) The skill acquisition assistance system according to (10) above, wherein the stimulus generated by the stimulus transmission unit is vibration.

[0027] (18) The skill acquisition support system described in (10) above, wherein when switching from the first stimulus to the second stimulus, a composite stimulus that combines the first and second stimuli is generated.

[0028] (19) A control program for causing a computer to execute the skill acquisition support method described in any one of (1) to (9) above. [Effects of the Invention]

[0029] A skill acquisition support method according to the present invention includes a first tactile data acquisition step of acquiring first tactile data indicating tactile sensations corresponding to a first body part based on a movement of a first body part of a first worker while performing a task, a second tactile data acquisition step of acquiring second tactile data indicating tactile sensations corresponding to the first body part based on a movement of the first body part of a second worker while performing the same task, a first stimulus generation step of generating a first stimulus based on the first tactile data using a stimulus transmission unit attached to a second body part different from the first body part of the first worker, and a second stimulus generation step of switching the stimulus generated by the stimulus transmission unit to a second stimulus based on the second tactile data in conjunction with the movement of the first body part of the first worker. This enables the first worker to recognize and compare his or her own tactile sensations with those of an expert without interfering with the tactile sensations of his or her own body parts or the movements during the task while performing the task that is the target of skill acquisition, and allows him or her to instantly correct his or her movements without affecting workability. [Brief explanation of the drawings]

[0030] [Figure 1] 1 is a block diagram of a skill acquisition support system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a schematic diagram showing an example of a sensor unit and a stimulus transmission unit. [Figure 3] 3 is a flowchart showing a skill acquisition assistance method according to the first embodiment. [Figure 4] 10 is a subroutine flowchart showing the process of acquiring tactile data in step S01 (or S02). [Figure 5] 10 is a subroutine flowchart showing the mode switching process in step S05. [Figure 6] FIG. 1 shows first and second stimulus waveforms and a composite stimulus waveform thereof. [Figure 7] 10 is a flowchart showing a skill acquisition assistance method according to a second embodiment (real time). DETAILED DESCRIPTION OF THE INVENTION

[0031] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, the scope of the present invention is not limited to the disclosed embodiments. In the description of the drawings, the same elements are denoted by the same reference numerals, and duplicate explanations will be omitted. Furthermore, the dimensional proportions in the drawings are exaggerated for the convenience of explanation and may differ from the actual proportions.

[0032] Fig. 1 is a block diagram of a skill acquisition support system 1 according to this embodiment. Fig. 2 is a schematic diagram showing an example of a sensor unit 20 and a stimulus transmission unit 40. As shown in Fig. 1, the skill acquisition support system 1 includes an information processing device 10, a sensor unit 20, a camera 30, and a stimulus transmission unit 40. These are electrically connected for communication.

[0033] (Information processing device 10) The information processing device 10 is, for example, a PC (personal computer), and includes a control unit 11, a storage unit 12, and a communication unit 13. The control unit 11 also functions as an acquisition unit 111, a first stimulus generation unit 112, a second stimulus generation unit 113, and a switching determination unit 114. The configurations and functions of these units of the information processing device 10 will be described later.

[0034] (Sensor unit 20 and first body part) The sensor unit 20 includes a tactile sensor 21. The tactile sensor 21 includes any of a strain sensor, a piezoelectric element, and a PVDF (Polyvinylidene Difluoride Film) sensor. The sensor unit 20 is attached to a first body part of the worker and generates tactile data indicating the tactile sensation corresponding to the first body part. The first body part is, for example, a finger or a palm. The fingers include five fingers and include both the fingertip and the base of the fingers. In the example shown in FIG. 2(a), the sensor unit 20 is attached to the base of the index finger as the first body part. The sensor unit 20 includes a sheet-like tactile sensor 21 that detects tactile sensations and a main body unit that houses the sensor and secures it to the first body part, such as a finger. Although not shown in FIGS. 1 and 2(a), the sensor unit 20 also includes a wired cable or a short-range wireless communication unit for transmitting signals, and the sensed tactile data is sent to the information processing device 10 via these. Power is supplied to the sensor unit 20 from a commercial power source via a power cable, or from a built-in battery (secondary battery).

[0035] FIG. 2(b) is a diagram showing an example of work. In FIG. 2(b), an example is shown in which a worker polishes a workpiece using a pencil-shaped polishing rod (with a grit (abrasive material or polishing sheet) attached to the tip). The work is not limited to the polishing work shown in FIG. 2(b), but includes various other work. For example, in addition to polishing work, it includes drawing work to draw a specific shape (such as a spiral or circle) and cutting work to cut a workpiece by hand.

[0036] (First and second workers, first and second tactile data, first and second stimulus data) Workers include learners (including beginners) who are learning a task and experts (including skilled workers who are accustomed to the task or have high skills in the task). In the following, a learner or beginner who is learning a certain task will be referred to as a "first worker," and a skilled worker or expert who teaches the same task will be referred to as a "second worker." In the following, when simply referred to as a worker, both first and second workers will be included.

[0037] Furthermore, of the tactile data from the sensor unit 20 attached to the first body part during work, the tactile data of the first worker is particularly referred to as the "first tactile data," and the tactile data of the second worker is particularly referred to as the "second tactile data." When work is not performed simultaneously by the first and second workers and pre-recorded second tactile data is used (hereinafter also referred to as offline), the second tactile data, or the first and second tactile data, are linked to the type of work and stored in the storage unit 12. The stored second tactile data corresponds to one work, and has a data length of, for example, several seconds to several tens of seconds. At this time, the second tactile data may also be linked to an identifier such as an ID number that identifies the worker. When tactile data acquired in real time is played back by the stimulation transmission unit 40 (step S03 in Figure 3, S42 and S52 in Figure 7, which will be described later), the data is temporarily stored in the buffer memory of the storage unit 12 and is erased each time it is played back.

[0038] As will be described in detail later, the first stimulus generation unit 112 of the control unit 11 generates first stimulus data based on the first tactile data, and the second stimulus generation unit 113 generates second stimulus data based on the second tactile data. The first and second stimulus data (hereinafter collectively referred to as stimulus data) are sent to the stimulus transmission unit 40. The stimulus transmission unit 40 presents a tactile sensation (feeling) based on the first and second stimulus data to the first worker.

[0039] (Camera 30) The camera 30 is a fixed camera mounted on a wall or ceiling, or a handheld camera held by the cameraman. A combination of these fixed and handheld cameras may also be used. The camera 30 has an image sensor 31 and optical elements such as a lens (not shown), and captures images of the workplace where the worker is working using the image sensor 31 to generate video data. The camera 30 also has a wired cable or a short-range wireless communication unit for transmitting signals, and the video data is sent to the information processing device 10 via these.

[0040] (Stimulus transmission unit 40 and second body part) The stimulus transmission unit 40 has an equalizer 41, an amplifier 42, and a vibrator 43. The vibrator 43 can present various vibration stimuli with different strengths and rhythms by varying the drive voltage and frequency. In addition, by varying the drive voltage and frequency, the magnitude and direction of the force sensation to be output can be set. The stimulus transmission unit 40 receives stimulus data sent from the control unit 11.

[0041] The stimulus transmission unit 40 performs preprocessing on this stimulus data (waveform signal) by adjusting the frequency characteristics and the amplification using an equalizer 41 and an amplifier 42. In this preprocessing, user characteristic data for each user (first worker) may be stored in advance in the storage unit 12, and different preprocessing may be performed depending on the user characteristic data. For example, user characteristic data according to the user's skin condition and individual differences (shape, size, sensitivity, preferences) may be stored, and the acquired tactile data may be preprocessed, such as by amplification, modulation, and subtraction, taking this into consideration, to present the processed stimulus data. The stimulus transmission unit 40 vibrates the vibrator at an intensity (amplitude) and frequency according to the preprocessed stimulus data, thereby transmitting (presenting) a tactile sensation (tactile sensation) to the first worker wearing the stimulus transmission unit 40.

[0042] The stimulus transmission unit 40 is attached to a second body part of the first worker (learner) and generates a stimulus in the second body part, thereby transmitting a tactile stimulus to the first worker. The second body part is a body part different from the first body part and is a part that is at least a predetermined distance away from the first body part. For example, this distance is a distance at which the tactile senses do not intermingle and the worker can distinguish between the tactile sense of the first body part and the tactile sense due to the stimulus transmitted to the second body part. The second body part may be any body part on the whole body, as long as it is different from the first body part. As the second body part, any of the head (particularly the temple), arm, leg, and back of the hand is particularly preferred.

[0043] The example shown in FIG. 2(c) shows a state in which the device is attached to the head (particularly the temples) as the second body part. When attached, vibrators 43 located near one or both of the temples vibrate, thereby transmitting a tactile sensation corresponding to the stimulus data to the first worker. Although not shown in FIGS. 1 and 2, the stimulus transmission unit 40 has a wired cable for transmitting signals or a short-range wireless communication unit, and the stimulus data is sent from the information processing device 10 via these. Power is supplied to the stimulus transmission unit 40 from a commercial power source via a power cable, or from a built-in battery (secondary battery).

[0044] If the first worker is to learn tactile sensations from multiple locations, the stimulus transmission unit 40 may be attached to multiple second body parts, or multiple vibrators from a single stimulus transmission unit 40 may transmit the sense of touch to multiple second body parts. For example, if the first body part is the index finger of the right hand and the palm, and the first and second tactile data are acquired from two locations, the index finger and the palm of the hand, the tactile data from these two locations is reproduced by two vibrators placed near the left and right temples, respectively. For example, the tactile data from the index finger is reproduced by a vibrator placed near the right temple, and the tactile data from the palm is reproduced by a vibrator placed near the left temple.

[0045] (Information processing device 10) (Control unit 11) The control unit 11 is a CPU that controls each unit of the device and performs various calculation processes according to a program. The control unit 11 functions as an acquisition unit 111, a first stimulus generation unit 112, a second stimulus generation unit 113, and a switching determination unit 114.

[0046] The acquisition unit 111 cooperates with the communication unit 13 to acquire tactile data from the sensor unit 20 and video data from the camera 30 .

[0047] The first stimulus generator 112 generates first stimulus data based on the first tactile data, and the second stimulus generator 113 generates second stimulus data based on the second tactile data.

[0048] The switching determination section 114 performs a trigger determination to send the first stimulus data or the second stimulus data to the stimulus transfer section 40.

[0049] The switching determination unit 114 performs a trigger determination in conjunction with a predetermined movement of the first body part of the first worker. As the trigger determination, for example, at least one of (Trigger Determination Condition 1) determination based on image analysis and (Trigger Determination Condition 2) determination based on the intensity of the first tactile data can be applied.

[0050] (Trigger Determination Condition 1) In the determination by image analysis, real-time video data acquired from the camera 30 is analyzed to determine whether a predetermined action has been performed. For example, the switching determination unit 114 uses a trained model for skeletal detection to analyze changes in the movement of the first worker's joints to determine whether a predetermined action has been performed during work. For example, in the case of polishing work, the switching determination unit 114 determines that the trigger condition is met by recognizing that the polishing rod has been pressed against the polishing member from changes in the relative positions of the coordinate information of the polishing member and the polishing rod, and the coordinate information of the joints of the hand, arm, etc.

[0051] (Trigger determination condition 2) In a determination based on the intensity of the first tactile data, if a signal change in tactile data greater than or equal to a predetermined threshold (for example, the amount of signal change in a short, predetermined period of time is greater than or equal to a predetermined threshold) is input in real time from the sensor unit 20 used by the first worker, the switching determination unit 114 determines that the trigger determination condition is met.

[0052] (Storage unit 12) The storage unit 12 is configured by a semiconductor memory and / or a magnetic recording medium memory, and stores tactile data and user characteristic correction data.

[0053] (Communications Department 13) The communication unit 13 is an interface for communicating with other devices via wired or wireless communication. For wireless communication, the communication unit 13 can use wireless communication standards such as BLE (Bluetooth (registered trademark) Low Energy), Bluetooth (registered trademark), IEEE802.11, IrDA, etc.

[0054] (Skill acquisition support method according to the first embodiment) Next, the skill acquisition support method according to the first embodiment will be described with reference to Figures 3 to 5. Figure 3 is a flowchart showing the skill acquisition support method according to the first embodiment.

[0055] (Step S01) The acquisition unit 111 acquires second tactile data of a second worker relating to a certain task (hereinafter referred to as task x; task x may be any task), for example, the sanding task shown in FIG. 2(b) or a drawing task. The processing here is shown in the subroutine flowchart of FIG. 4.

[0056] (Step S110) The second worker (expert) starts task x and operates the first body part.

[0057] (Step S120) Accompanying task x in step S110, acquisition unit 111 acquires second tactile data of the first body part measured by sensor unit 20.

[0058] (Step S130) The information processing device 10 stores the second haptic data acquired in step S120 in the storage unit 12. This ends the processing in FIG. 4, and the process returns to step S02 and subsequent steps in FIG.

[0059] (Step S02) The acquisition unit 111 acquires first haptic data of the first worker regarding the same task x performed in step S01. Although a detailed description will be omitted, the processing here is also performed in the same manner as in the subroutine flowchart of FIG.

[0060] (Step S03) The skill acquisition assistance system 1 transmits a stimulus based on the first tactile data acquired in step S02 to the first worker using the stimulus transmission unit 40 attached to the second body part of the first worker. More specifically, the first stimulus generation unit 112 generates first stimulus data based on the first tactile data. The switching determination unit 114 then sends this first stimulus data to the stimulus transmission unit 40. Upon receiving this, the stimulus transmission unit 40 presents this first stimulus data as a first stimulus to the first worker. The acquisition of the first tactile data in step S02 and the presentation of the first stimulus based thereon in step S03 are performed substantially in real time (for example, waveform 1 in FIG. 6, which will be described later, is played). Hereinafter, the process of playing the first stimulus based on the first tactile sense of the first worker (learner) in this process will also be referred to as learner mode.

[0061] (Step S04) The control unit 11 determines whether or not a predetermined condition is satisfied. Examples of the predetermined condition include when a predetermined time has elapsed since the process of step S02 was first started, or when an input instruction to start execution of a mode switching instruction is received from the first worker via an input device such as an operation panel (not shown) of the information processing device 10. Alternatively, the predetermined condition may be when it is determined that preparations for execution of a certain task x have been made based on video images from the camera 30. If the predetermined condition is satisfied (YES), the control unit 11 proceeds to step S05, and if not (NO), the control unit 11 repeats the processes from step S02 onwards.

[0062] (Step S05) Here, the mode switching process shown in Fig. 5 is mainly executed by the switching determination unit 114. Fig. 5 is a subroutine flowchart showing the process of step S05.

[0063] (Step S210) The switching determination unit 114 determines whether the trigger condition is satisfied by satisfying the above-described trigger determination condition 1 or condition 2. For example, in trigger determination condition 1, when the switching determination unit 114 recognizes that a specific operation of task x has begun by analyzing video images from the camera 30, it determines that the trigger condition is satisfied (YES) and proceeds to step S230. On the other hand, when the switching determination unit 114 determines that the trigger condition is not satisfied (NO), it proceeds to step S220.

[0064] (Step S220) The processing here is the same as that in S03. The switching determination unit 114 sends stimulus data based on the first tactile data generated by the first stimulus generation unit 112 to the stimulus transmission unit 40. Upon receiving this, the stimulus transmission unit 40 (loaded by the first worker) reproduces the first stimulus (the worker's own sensation) in real time.

[0065] (Step S230) Here, the switching determination unit 114 sends stimulus data based on the second tactile data generated by the second stimulus generation unit 113 to the stimulus transmission unit 40. Upon receiving this, the stimulus transmission unit 40 (loaded by the first worker) reproduces the second stimulus (expert's sense). The second stimulus reproduced here is second stimulus data generated based on the second tactile data stored in the storage unit 12 (for example, waveform 2 in FIG. 6, which will be described later). Hereinafter, the process of reproducing the second stimulus based on the second tactile sense of the second worker (learner) in this process will also be referred to as expert mode.

[0066] (Step S240) The control unit 11 determines whether or not a predetermined condition is satisfied. For example, this is the case when a predetermined time has elapsed since the processing of step S230 was first started. If the predetermined condition is not satisfied (NO), the control unit 11 continues the processing of step S230. If the predetermined condition is satisfied (YES), the control unit 11 ends the processing of FIG. 5 and returns to the processing of FIG. 3. Thereafter, in FIG. 3, the processing from step S02 onward (circled number 10) is repeated until an end determination is made by a higher-level control.

[0067] Thus, the skill acquisition support method of the first embodiment executes processing including: a first tactile data acquisition step of acquiring first tactile data indicating tactile sensation corresponding to a first body part based on the movement of a first body part by a first worker while performing a task; a second tactile data acquisition step of acquiring second tactile data indicating tactile sensation corresponding to the first body part based on the movement of the first body part by a second worker while performing the same task; a first stimulus generation step of generating a first stimulus based on the first tactile data by a stimulus transmission unit attached to a second body part different from the first body part of the first worker; and a second stimulus generation step of switching the stimulus generated by the stimulus transmission unit to a second stimulus based on the second tactile data in conjunction with the movement of the first body part of the first worker.

[0068] In this way, the first worker can recognize and compare his or her own tactile sensation with that of the expert without interfering with the tactile sensation of his or her own body parts or the movements during the work while performing the task that is the target of skill acquisition, and can instantly correct his or her own movements without affecting workability. In particular, in the learning mode that reproduces a first stimulus based on the first tactile sensation of the first worker (learner), the first worker meta-recognizes the first tactile sensation by feeling the first stimulus at a second body part (for example, temple) while maintaining the sensation at the first body part (for example, fingertips) during the work movement. Then, by executing the expert mode that switches to and reproduces a second stimulus based on the second tactile sensation of the second worker (expert), which has been stored in advance, the first worker can experience the tactile sensation of the expert's first body part as a second stimulus at the second body part while receiving the actual tactile sensation of his or her own first body part (fingertips). This allows the first worker to experience the first tactile sensation of the expert at the first body part as a second stimulus at the second body part. 1 While performing the work, the worker can easily imitate the differences in the movements of the skilled worker, such as strength and weakness, the rhythm of this strength and weakness, the direction of the movement, and the effects that occur due to the movement (friction, etc.), which are traditionally known as knack, and by adjusting the movement so that the sensations match, the worker can efficiently acquire skills.

[0069] (First Modification) In the first embodiment shown in Figure 5 above, in the expert mode, a second stimulus based on second tactile data from a second worker (expert) is reproduced, but in the first variant, when switching from the first stimulus that has been reproduced up to that point (in the learning mode) to the second stimulus, a composite stimulus that combines the first and second stimuli is generated.

[0070] Figure 6 shows the first and second stimulus waveforms and their composite stimulus waveform. In Figure 6, waveform 1 shows the first stimulus waveform f(t), waveform 2 shows the second stimulus waveform g(t), and waveform 3 shows the composite stimulus waveform h(t) when wf and wg are both 0.5. The composite stimulus waveform h(t) = f(t) × wf + g(t) × wg. The ratios wf and wg are set so that their sum is 1, and the composite ratio is not limited to 0.5 and can be set as appropriate. This makes it easier to match the movements to the second stimulus without any sense of incongruity when learning work-related skills, reduces the number of trial and error steps when matching, and allows for more efficient learning.

[0071] (Second embodiment) The first embodiment relates to an offline skill acquisition support method. The second embodiment described below relates to a real-time skill acquisition support method. In the offline method, pre-stored tactile data from task x performed by the second worker is used. In the real-time second embodiment, the first and second workers perform the same task simultaneously while communicating with each other by visually checking each other or via a monitor.

[0072] FIG. 7 is a flowchart showing a skill acquisition assistance method according to the second embodiment (real time).

[0073] (Steps S41 to S43) The processing here is the reproduction of the first worker's own haptic data in learner mode. The control unit 11 reproduces, as a first stimulus, the first haptic data obtained in association with the first worker's (learner's) working movements, in the stimulus transmission unit 40 worn by the first worker. The processing in steps S41 to S44 corresponds to steps S02, S03 (S220), S04, and S210 in FIGS. 3 and 5, respectively, and a description thereof will be omitted.

[0074] (Steps S51 to S53) The processing here is the reproduction of haptic data of a second worker (expert) in expert mode. The control unit 11 reproduces, as a second stimulus, the second haptic data obtained in association with the movements of the second worker (learner) during work, in the stimulus transmission unit 40 worn by the first worker. The processing of steps S51 to S53 corresponds to steps S01, S230, and S240 in FIGS. 3 and 5, respectively, and a description thereof will be omitted.

[0075] In this way, in the second embodiment, the same processing as in the first embodiment is executed in real time, and thus the same effects as in the first embodiment can be obtained.

[0076] The configuration of the skill acquisition support system 1 described above is a main configuration for explaining the features of the above embodiment, but is not limited to the above configuration and can be modified in various ways within the scope of the claims. Furthermore, configurations that are included in general skill acquisition support systems are not excluded.

[0077] (Various variations) The stimulus transmission unit 40 may further include a speaker in addition to the vibrator. When transmitting the tactile sensation, the speaker may also emit a sound to transmit the sensation to the first worker.

[0078] As another example, a function may be added in which the switching from the first stimulus to the second stimulus is performed manually by a third party other than the expert or the learner, or by the expert visually checking the learner's actions. In the second embodiment, the stimulus can be transmitted not only to the learner but also to the expert. This has the effect of stimulating communication between the learner and the expert, such as by the expert providing guidance and advice.

[0079] The processing in the skill acquisition support system 1 or the skill acquisition support method according to the above-described embodiment may include steps other than those shown in the flowcharts above, or may not include some of the steps described above. For example, one of steps S03 and S220 may be omitted. The order of the steps is not limited to that of the above-described embodiment. Furthermore, each step may be combined with other steps and executed as a single step, may be included in other steps, or may be divided into multiple steps and executed. Furthermore, each embodiment may be executed in combination. For example, the first and second modified examples may be executed in combination with the second embodiment.

[0080] Furthermore, the means and methods for performing various processes in the skill acquisition support system according to the above-described embodiments can be realized by either a dedicated hardware circuit or a programmed computer. The program may be provided by a computer-readable recording medium such as a USB memory or a DVD (Digital Versatile Disc)-ROM, or may be provided online via a network such as the Internet. In this case, the program recorded on the computer-readable recording medium is typically transferred to and stored in a storage unit such as a hard disk. The program may also be provided as standalone application software, or may be incorporated into the software of a device as a function of the device. [Explanation of symbols]

[0081] 1. Skill Acquisition Support System 10. Information processing equipment 11 Control section 111 Acquisition Department 112 First stimulus generator 113 Second stimulus generator 114 Switching determination unit 12 Storage section 13 Communications Department 20 Sensor section 21 Tactile Sensor 30 Camera 40 Stimulus transmission unit 43 Oscillator

Claims

1. a first tactile data acquisition step of acquiring first tactile data indicating a tactile sensation corresponding to a first body part based on a movement of the first body part while performing a task of a first worker; a second tactile data acquisition step of acquiring second tactile data indicating a tactile sensation corresponding to a first body part based on a movement of the first body part when a second worker performs the same task as the task; a first stimulus generating step of generating a first stimulus based on the first tactile data generated by the first worker's own movement in real time by a stimulus transmitting unit attached to a second body part different from the first body part of the first worker; a second stimulus generating step of switching the stimulus generated by the stimulus transmitter to a second stimulus based on the second tactile data in conjunction with a movement of the first body part of the first worker, In the second stimulus generation step, a first worker receives actual tactile sensations in a first body part during the work, and simultaneously experiences the tactile sensations in the first body part of a second worker as a second stimulus in a second body part of the first worker, a method for supporting skill acquisition.

2. the first worker is a learner of the task, The skill acquisition support method according to claim 1 , wherein the second worker is an expert in the work.

3. The skill acquisition support method according to claim 1, wherein the second stimulus generation step is executed when a signal change in tactile data based on the movement of the first body part reaches or exceeds a predetermined threshold as a predetermined movement of the first body part.

4. 2. The skill acquisition support method according to claim 1, wherein a video of the first worker is analyzed as a predetermined movement of the first body part, and the second stimulus generation step is executed when a change in coordinate information of the first body part due to image recognition satisfies a predetermined condition.

5. The skill acquisition assistance method according to claim 1 , wherein the second body part is a part that is separated from the first body part by a predetermined distance or more.

6. the first body part is a finger or a fingertip; The skill acquisition assistance method according to claim 1 , wherein the second body part is any one of a head, an arm, a leg, and a back of a hand.

7. the first body part is plural; The skill acquisition assistance method according to claim 1 , wherein the second body parts are plural in number corresponding to the plural first body parts.

8. The skill acquisition assistance method according to claim 1 , wherein the stimulus generated by the stimulus transmission unit is a vibration.

9. The skill acquisition support method according to claim 1 , wherein when switching from the first stimulus to the second stimulus, a composite stimulus that combines the first and second stimuli is generated.

10. A skill acquisition support method as described in claim 1, wherein the second stimulus generation step is offline and reproduces pre-stored second tactile data.

11. A skill acquisition support method as described in claim 1, wherein in the second stimulus generation step, second tactile data generated by the action of the second worker is reproduced in real time.

12. a sensor unit that acquires tactile data indicating a tactile sensation corresponding to a first body part based on a movement of the first body part during work; a stimulus transmission unit that is attached to a second body part different from the first body part and transmits a stimulus to the second body part; a control unit that generates a stimulus based on the tactile data in the stimulus transmission unit, the control unit acquires first tactile data when a first worker performs a task and second tactile data when a second worker performs the same task as the first worker; generating a first stimulus based on the first tactile data generated by a movement of the first worker in real time to the stimulus transmission unit worn by the first worker; switching the stimulus generated by the stimulus transmitter to a second stimulus based on the second tactile data in conjunction with the movement of the first body part of the first worker; By switching to the second stimulus, the first worker receives actual tactile sensations on his / her first body part during the task, while experiencing the tactile sensations on the first body part of the second worker as a second stimulus on his / her second body part, in a skill acquisition support system.

13. the first worker is a learner of the task, The skill acquisition assistance system according to claim 12 , wherein the second worker is an expert in the work.

14. The skill acquisition support system of claim 12, wherein a predetermined movement of the first body part is triggered by a signal change in tactile data based on the movement of the first body part reaching a predetermined threshold or greater, and the stimulus generated by the stimulus transmission unit is switched to a second stimulus based on the second tactile data.

15. 13. The skill acquisition support system of claim 12, wherein a video of the first worker is analyzed as a predetermined movement of the first body part, and when a change in coordinate information of the first body part due to image recognition satisfies a predetermined condition, the stimulus generated by the stimulus transmission unit is switched to a second stimulus based on the second tactile data.

16. The skill acquisition assistance system according to claim 12 , wherein the second body part is a part that is separated from the first body part by a predetermined distance or more.

17. the first body part is a finger or a fingertip; The skill acquisition assistance system according to claim 12 , wherein the second body part is any one of a head, an arm, a leg, and a back of a hand.

18. the first body part is plural; The skill acquisition assistance system according to claim 12 , wherein the second body parts are plural in number corresponding to the plural first body parts.

19. The skill acquisition assistance system according to claim 12 , wherein the stimulus generated by the stimulus transmission unit is vibration.

20. The skill acquisition assistance system according to claim 12 , wherein when switching from the first stimulus to the second stimulus, a composite stimulus that combines the first and second stimuli is generated.

21. A skill acquisition support system as described in claim 12, which, when generating the second stimulus, is offline and reproduces pre-stored second tactile data.

22. A skill acquisition support system as described in Claim 12, wherein when the second stimulus is generated, second tactile data generated by the action of the second worker is reproduced in real time.

23. A control program for causing a computer to execute the skill acquisition support method according to any one of claims 1 to 11.

Images