Motion induction device, motion induction system, control program and control method for motion induction device

Abstract

To provide a movement guiding device capable of giving moving force corresponding to the movement of a human body to the human body without executing complicated work.SOLUTION: A movement guiding device includes a storage part and a control part. The control part acquires input information indicating the movement that a human body is caused to perform, extracts, from the storage part, identification information indicating at least one artificial myoneme corresponding to the movement indicated by the acquired input information as identification information indicating an operation artificial myoneme corresponding to the movement, and outputs, to a driving part, instruction information for causing the operation artificial myoneme to expand or contract on the basis of the extracted identification information.SELECTED DRAWING: Figure 1

Description

Technical Field

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[0001] The present disclosure relates to an operation guidance device, an operation guidance system, a control program for the operation guidance device, and a control method.

Background Art

[0002] Conventionally, an operation assistance device that assists the movement of the human body by various actuators has been known. In such an operation assistance device, as the actuator, an artificial muscle configured to contract the tube material by introducing compressed air into a contractible tube material, and an artificial muscle configured to contract carbon nanotubes by applying a voltage are used.

[0003] Non-Patent Document 1 discloses a glove-type operation assistance device using an artificial muscle thread such as a McKibben artificial muscle thread. The operation assistance device described in Non-Patent Document 1 has a function of assisting the movement of the "finger" by the bending force applied to the "finger" generated in response to the contraction of the artificial muscle thread attached to the "finger" of the human body.

Prior Art Documents

Patent Documents

[0004]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] The motion-assist device described in Non-Patent Document 1 applied a motor force to a specific part of the human body to cause that part to perform a single motion. Therefore, in order for this motion-assist device to apply a motor force of an artificial muscle thread corresponding to another motion to the human body, it was necessary to perform the cumbersome task of reattaching the artificial muscle thread to the part of the human body to be moved. Furthermore, although this motion-assist device could apply a motor force to a specific part of the human body to forcibly move that part, it was unable to provide the human body with somatic sensations (such as a sense of touch or pressure) that would induce movement.

[0007] The present disclosure has been made to solve these problems, and as a result of extensive research, we have discovered a new motion induction device, motion induction system, and control program and control method for a motion induction device, which attach an active body including multiple stretchable artificial muscle threads to a human body, extract identification information indicating the artificial muscle thread corresponding to the motion in accordance with input information indicating the motion to be performed by the human body, and output instruction information for stretching or contracting the artificial muscle thread based on the extracted identification information.

[0008] The object of the present disclosure is to provide a motion induction device, a motion induction system, a control program and a control method for a motion induction device that enable a kinetic force corresponding to the movement of a human body to be applied to the human body without performing complicated work. [Means for solving the problem]

[0009] The present disclosure relates to a motion induction device, a motion induction system, a control program for a motion induction device, and a control method, as shown below.

[0010] (1) A motion induction device that induces motion in a human body wearing an active body, The active body is A substrate; A plurality of stretchable artificial muscle threads; a holding section that holds the artificial muscle thread so that the artificial muscle thread and the substrate do not move relative to each other when the artificial muscle thread stretches and contracts; Including, The motion induction device is a storage unit that stores identification information indicating at least one artificial muscle thread corresponding to each movement of the human body wearing the active body; a control unit that controls a drive unit that stretches or contracts the plurality of artificial muscle threads; Including, The control unit acquiring input information indicating a motion to be performed by the human body; extracting, from the storage unit, identification information indicating at least one artificial muscle thread corresponding to the motion indicated by the acquired input information as identification information indicating the working artificial muscle thread corresponding to the motion; outputting instruction information for extending or contracting the actuated artificial muscle thread to the driving unit based on the extracted identification information; Motion guidance device. (2) the storage unit further stores expansion / contraction information indicating an expansion rate or contraction rate of at least one artificial muscle thread corresponding to each of the movements of the human body wearing the active body, In extracting the identification information, the control unit extracts stretch information of the actuating artificial muscle thread from the storage unit, The control unit generating the instruction information based on the extracted identification information and stretching information; The motion induction device according to (1) above. (3) The stretching information of at least one artificial muscle thread corresponding to each of the operations is indicates an elongation rate or contraction rate calculated based on the length of at least one artificial muscle thread corresponding to each motion on the surface of the human body at the start of each motion and the length of the artificial muscle thread on the surface of the human body at the end of each motion; The motion induction device according to (2) above. (4) The elongation rate or the contraction rate is is an elongation rate or contraction rate of the artificial muscle yarn corresponding to a predetermined path, calculated based on a first length of the predetermined path on the body surface of the human body when the human body wearing the active body starts a predetermined movement, and a second length of the predetermined path on the body surface of the human body when the human body wearing the active body finishes the predetermined movement. The motion induction device according to (3) above. (5) The driving unit elongates or contracts the actuated artificial muscle thread, thereby evoking in the human body a somatic sensation associated with the movement corresponding to the actuated artificial muscle thread. The motion induction device according to any one of (1) to (4) above. (6) The holding unit holds at least one artificial muscle thread corresponding to each movement on the base material on at least one path spanning a joint that moves when the human body makes each movement. The motion induction device according to any one of (1) to (5) above. (7) The motion induction device according to any one of (1) to (6) above, one of an active body and a driving unit; A motion guidance system including: (8) A control program for a motion induction device that induces motion in a human body wearing an active body, The active body includes a substrate, a plurality of stretchable artificial muscle threads, and a holding unit that holds the artificial muscle threads so that the artificial muscle threads and the substrate do not move relative to each other when the artificial muscle threads stretch or contract, The motion inducing device includes: a storage unit that stores identification information indicating at least one artificial muscle thread corresponding to each motion of the human body wearing the active body; and a control unit that controls a drive unit that stretches or contracts the multiple artificial muscle threads, The control unit acquiring input information indicating a motion to be performed by the human body; extracting, from the storage unit, identification information indicating at least one artificial muscle thread corresponding to the motion indicated by the acquired input information as identification information indicating the working artificial muscle thread corresponding to the motion; outputting instruction information for extending or contracting the actuated artificial muscle thread to the driver based on the extracted identification information; A control program for executing the above. (9) A control method for a motion induction device that induces motion in a human body wearing an active body, comprising: The active body includes a substrate, a plurality of stretchable artificial muscle threads, and a holding unit that holds the artificial muscle threads so that the artificial muscle threads and the substrate do not move relative to each other when the artificial muscle threads stretch or contract, The motion inducing device includes: a storage unit that stores identification information indicating at least one artificial muscle thread corresponding to each motion of the human body wearing the active body; and a control unit that controls a drive unit that stretches or contracts the multiple artificial muscle threads, The control unit acquiring input information indicating a motion to be performed by the human body; extracting, from the storage unit, identification information indicating at least one artificial muscle thread corresponding to the motion indicated by the acquired input information as identification information indicating the working artificial muscle thread corresponding to the motion; outputting instruction information for extending or contracting the actuated artificial muscle thread to the driver based on the extracted identification information; A control method comprising: [Effects of the Invention]

[0011] The motion induction device, motion induction system, control program and control method for the motion induction device disclosed herein make it possible to impart a kinetic force corresponding to the motion of a human body to the human body without performing any complicated work. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram illustrating an example of a first embodiment of a motion guidance system. [Figure 2] FIG. 2 is a diagram illustrating an example of a schematic configuration of the motion induction device according to the first embodiment. [Figure 3]FIG. 3(A) is a diagram illustrating the stretching and contraction of the artificial muscle thread according to the first embodiment, and FIG. 3(B) is a diagram illustrating the movement of the human body in response to the stretching and contraction of the artificial muscle thread according to the first embodiment. [Figure 4] FIG. 4(A) is a diagram illustrating the measurement of the length of the artificial muscle thread on the surface of the human body at the start of a human body movement according to the first embodiment, and FIG. 4(B) is a diagram illustrating the measurement of the length of the artificial muscle thread on the surface of the human body at the end of a human body movement according to the first embodiment. [Figure 5] 5(A) and (B) are diagrams showing an example of an artificial muscle thread according to the second embodiment. [Figure 6] FIG. 6(A) is a diagram showing an example of an artificial muscle thread according to a third embodiment, and FIG. 6(B) is a diagram showing an example of an artificial muscle thread according to a fourth embodiment. [Figure 7] FIG. 7(A) is a diagram showing an example of an artificial muscle thread according to a fifth embodiment, and FIG. 7(B) is a diagram showing an example of an artificial muscle thread according to a sixth embodiment. [Figure 8] FIG. 8(A) is a diagram showing an example of an artificial muscle thread according to the seventh embodiment, and FIG. 8(B) is a diagram showing an example of an artificial muscle thread according to the eighth embodiment. [Figure 9] FIG. 9(A) is a diagram showing an example of the data structure of an action table, and FIG. 9(B) is a diagram showing an example of the data structure of a continuous action table. [Figure 10] FIG. 10 is a diagram illustrating an example of an operation flow of the operation guidance process. DETAILED DESCRIPTION OF THE INVENTION

[0013] Various embodiments of the present invention will be described below with reference to the drawings. However, it should be noted that the technical scope of the present invention is not limited to these embodiments, but extends to the inventions set forth in the claims and their equivalents.

[0014] (First embodiment) A motion induction system S1 according to a first embodiment will be described with reference to FIGS. 1 to 4. FIG. 1 is a diagram showing an example of the first embodiment of the motion induction system S1. The motion induction system S1 includes at least one of an active body 1 and a driving unit 5, and a motion induction device 7. The motion induction system S1 may be composed of (1) the motion induction device 7 and the driving unit 5, (2) the motion induction device 7 and an active body 1, or (3) the motion induction device 7, the active body 1, and the driving unit 5. For example, a user can purchase a motion induction system S1 that combines an active body 1, a driving unit 5, and a motion induction device 7. A user can also purchase a motion induction device 7 and combine it with an active body 1 and / or a driving unit 5 that the user already owns to construct a motion induction system S1.

[0015] (Active 1) The active body 1 includes at least a substrate 2, a stretchable artificial muscle thread 3, and a holder 4 that holds the artificial muscle thread 3 and the substrate 2 so that they do not move relative to each other when the artificial muscle thread 3 stretches or contracts. The active body 1 is composed of one or more types of active bodies described, for example, in JP 2019-98122 A. The active body 1 is not limited to those described in JP 2019-98122 A, and may be any active body that can achieve the functions of the substrate 2, artificial muscle thread 3, and holder 4 described below. An example of the active body 1 shown in FIG. 1 is described below.

[0016] The substrate 2 is not particularly limited as long as it is made of a material that maintains its shape when the artificial muscle thread 3 is not stretched, that is, that maintains its shape when no force is applied to the holding part 4, and changes shape when the artificial muscle thread 3 is stretched. The substrate 2 is, for example, clothing that can be worn by the human body H. The clothing may be a shirt, pants, socks, etc., and may be worn either directly on the skin of the human body H or not. In the example shown in FIG. 1, the substrate 2 is an undershirt that applies a predetermined pressure to the human body H when worn. The substrate 2 may also be footwear such as supports, shoes, and slippers, or jewelry. The substrate 2 is not limited to the above examples and may be any material that can be worn by the human body H.

[0017] The artificial muscle thread 3 has a long shape that expands and / or contracts when in operation more than when inactive, and examples thereof include McKibben artificial muscle threads, carbon nanotube muscle fibers, and stretchable rubber artificial muscles. In the example shown in FIG. 1, the artificial muscle thread 3 is a McKibben artificial muscle thread. The artificial muscle thread 3 may also be an artificial muscle thread using a dielectric elastomer, or an artificial muscle thread made from a shape memory alloy (SMA) or a shape memory polymer (SMP) that expands or contracts along its longitudinal direction when heated. Furthermore, the artificial muscle thread 3 is not limited to the above examples and may be other artificial muscle threads.

[0018] The holder 4 is a member that holds the artificial muscle thread 3 and the substrate 2 so that they do not move relative to each other when the artificial muscle thread 3 is extended or contracted. The holder 4 holds the artificial muscle thread 3 on the substrate 2 so that when the human body H wears the active body 1, the artificial muscle thread 3 is located on a predetermined path on the body surface of the human body H when not extended or contracted. The predetermined path on the body surface of the human body H on which the artificial muscle thread 3 is located when not extended or contracted is a path that crosses at least one joint of the human body H. In the example shown in FIG. 1 , the artificial muscle thread 3 is located on a path that crosses the shoulder joint (scapulohumeral joint) and passes through at least the biceps brachii and deltoid muscles (back side). In other words, the holder 4 holds at least one artificial muscle thread 3 corresponding to each movement on the substrate 2 on at least one path that crosses a joint that moves when the human body H performs that movement. This allows the artificial muscle thread 3 to move accurately at a position that crosses the joint.

[0019] In the example shown in Fig. 1, a holding part 4 is provided at each end of the artificial muscle thread 3, and the holding parts 4 are provided at two locations on the predetermined path. The number and locations of the holding parts 4 are not limited to the example shown in Fig. 1, and two or more holding parts 4 may be provided at any location on the predetermined path.

[0020] (Drive unit 5) The driver 5 is a device that outputs compressed air, voltage, etc. to stretch and / or contract the artificial muscle thread 3. The driver 5 receives information (instruction information, described below) transmitted from the motion-inducing device 7 and drives itself in accordance with the received information. In the example shown in FIG. 1, the driver 5 is an air compressor that outputs compressed air to contract the McKibben artificial muscle thread 3. A transmission member 6 is provided between one end of the artificial muscle thread 3 and the output mechanism of the driver 5 to transmit the compressed air, voltage, etc. output by the driver 5 to the artificial muscle thread 3. In the example shown in FIG. 1, the transmission member 6 is a polyurethane tube that sends compressed air to the artificial muscle thread 3. If the artificial muscle thread 3 is a carbon nanotube muscle fiber, the driver 5 is a voltage generator and the transmission member 6 is a voltage cable. If the artificial muscle thread 3 is an elongated rubber artificial muscle, the driver 5 is an air compressor and the transmission member 6 is a polyurethane tube. Furthermore, when the artificial muscle fiber 3 is an artificial muscle fiber made of a dielectric elastomer, the driving unit 5 is a voltage generator and the transmission member 6 is a voltage cable. When the artificial muscle fiber 3 is an artificial muscle fiber made of SMA, SMP, or the like, the driving unit 5 is a voltage generator and the transmission member 6 is a voltage cable for applying voltage to a heater placed near the artificial muscle fiber.

[0021] (Movement guidance device 7) The motion induction device 7 includes a memory unit 72 (FIG. 2, described later) that stores identification information (such as muscle thread identification information described later) identifying at least one artificial muscle thread 3 corresponding to each motion of the human body H wearing the active body 1, and a control unit 73 (FIG. 2, described later) that controls a drive unit 5 that stretches or contracts the multiple artificial muscle threads 3. The control unit 73 acquires input information (described later) indicating a motion to be performed by the human body H, extracts from the memory unit 72 identification information identifying at least one artificial muscle thread 3 corresponding to the motion indicated by the acquired input information as identification information identifying the actuating artificial muscle thread (artificial muscle thread to be actuated, described later) corresponding to the motion, and outputs instruction information to the drive unit 5 for stretching or contracting the actuating artificial muscle thread based on the extracted identification information. In other words, the motion induction device 7 has the function of acquiring input information indicating a motion to be performed by the human body H and outputting instruction information to the drive unit 5 for stretching or contracting the artificial muscle thread 3 based on the acquired input information, thereby inducing a motion of the human body H wearing the active body 1.

[0022] 2 is a diagram showing an example of a schematic configuration of a motion induction device 7 included in the first embodiment. The motion induction device 7 is a personal computer (PC) or a server device. The motion induction device 7 may be any device to which the present invention is applicable, such as a multi-function mobile phone (a so-called "smartphone"), a personal digital assistant (PDA), a tablet terminal, a tablet PC, a notebook PC, or a portable game console.

[0023] (Communications Department 71) The communication unit 71 has an interface circuit for wireless communication according to a communication method such as Wi-Fi (registered trademark) or Wi-Fi Aware (registered trademark), and establishes wireless communication with a communication unit (not shown) included in the drive unit 5 to directly transmit information. The communication unit 71 transmits instruction information supplied from the control unit 73 to the drive unit 5. The communication unit included in the drive unit 5 has a communication interface corresponding to the communication unit 71.

[0024] The interface circuit of the communication unit 71 may be a short-range wireless communication circuit conforming to a communication method such as Bluetooth (registered trademark) or communication using a 920 MHz band specified low-power radio. The communication unit 71 is not limited to a circuit for wireless communication, and may be a circuit for transmitting various signals by, for example, infrared communication. The communication unit 71 may also be a communication interface for connecting to a USB (Universal Serial Bus) or the like, or a communication interface for a wired or wireless LAN (Local Area Network).

[0025] (Storage unit 72) The memory unit 72 stores expansion / contraction information indicating the expansion rate or contraction rate of at least one artificial muscle thread 3 corresponding to each movement of the human body H wearing the active body 1, and in extracting the identification information, the control unit 73 extracts the expansion / contraction information of the actuating artificial muscle thread from the memory unit 72, and generates instruction information based on the extracted identification information and expansion / contraction information. This allows the target actuating artificial muscle thread to be accurately controlled.

[0026] The storage unit 72 includes, for example, at least one of a semiconductor memory, a magnetic disk device, and an optical disk device. The storage unit 72 stores driver programs, operating system programs, application programs (such as control programs for realizing the functions of the motion guidance device 7), data, and the like used in processing by the control unit 73. For example, the storage unit 72 stores, as driver programs, a communication device driver program that controls the communication unit 71. Computer programs may be installed into the storage unit 72 from a computer-readable portable recording medium, such as a CD-ROM or DVD-ROM, using a known setup program or the like.

[0027] The storage unit 72 stores, as data, information about the artificial muscle thread 3 corresponding to the motion of the human body H wearing the active body 1. For example, the storage unit 72 stores muscle thread identification information (e.g., artificial muscle thread ID) indicating the artificial muscle thread 3 corresponding to motion identification information (e.g., motion ID (identification)) indicating the motion of the human body H. The storage unit 72 may also store various tables (described later) in which multiple motion IDs are associated with corresponding artificial muscle thread IDs. The storage unit 72 may also temporarily store data related to predetermined processing.

[0028] (Control unit 73) The control unit 73 has one or more processors and their peripheral circuits. The control unit 73 comprehensively controls the overall operation of the motion induction device 7 and is, for example, a CPU (Central Processing Unit). The control unit 73 executes processing based on programs (driver programs, operating system programs, application programs, etc.) stored in the storage unit 72. The control unit 73 can also execute multiple programs (application programs, etc.) in parallel.

[0029] The control unit 73 has an acquisition unit 731, an extraction unit 732, and an output unit 733. Each of these units in the control unit 73 is a functional module implemented by a control program executed on a processor in the control unit 73. Each of these units in the control unit 73 may be implemented in the movement guidance device 7 as an independent integrated circuit, microprocessor, or firmware.

[0030] (Acquisition part 731) The acquisition unit 731 acquires input information indicating a motion to be performed by the human body H. For example, the input information includes motion identification information indicating the motion to be performed by the human body H in order to identify the motion. The input information may include any information as long as it can identify the motion to be performed by the human body H.

[0031] When the motion guidance device 7 has an operation unit, the acquisition unit 731 acquires input information corresponding to operation information input in response to the operation of the operation unit by the user (for example, selection operation information for selecting an action to be performed by the human body H). The operation unit is a keyboard, a mouse, and / or a touch panel, but may also be an external device such as a smartphone capable of wireless communication.

[0032] Furthermore, the acquiring unit 731 may extract input information pre-stored in the storage unit 72 and acquire the extracted input information. Furthermore, when the storage unit 72 pre-stores a plurality of pieces of input information, the acquiring unit 731 may extract one or more pieces of input information from the plurality of pieces of input information randomly or in accordance with a predetermined selection program and acquire the extracted input information.

[0033] (Extraction part 732) The extraction unit 732 extracts the artificial muscle thread 3 corresponding to the operation indicated by the input information acquired by the acquisition unit 731 as the artificial muscle thread 3 to be actuated. Hereinafter, the artificial muscle thread 3 to be actuated may be referred to as the actuating artificial muscle thread. For example, when the storage unit 72 stores thread identification information corresponding to operation identification information, the extraction unit 732 extracts from the storage unit 72 the thread identification information corresponding to the operation identification information included in the acquired input information as the acting thread identification information indicating the actuating artificial muscle thread. When the storage unit 72 stores multiple thread identification information corresponding to one operation identification information, the extraction unit 732 extracts the multiple thread identification information corresponding to the operation identification information included in the acquired input information as the acting thread identification information.

[0034] (output unit 733) The output unit 733 generates instruction information including the extracted actuating muscle thread identification information, and outputs the generated instruction information to the drive unit 5. For example, the output unit 733 transmits the generated instruction information to the drive unit 5 via the communication unit 71. Upon receiving the instruction information output from the output unit 733, the drive unit 5 identifies the actuating artificial muscle thread corresponding to the actuating muscle thread identification information included in the instruction information, and outputs compressed air, voltage, or the like so that the actuating artificial muscle thread stretches or contracts.

[0035] Fig. 3(A) is a diagram illustrating the expansion and contraction of the artificial muscle thread 3 (working artificial muscle thread) according to the first embodiment, and Fig. 3(B) is a diagram illustrating the induction of movement of the human body H in response to the expansion and contraction of the artificial muscle thread 3 (working artificial muscle thread) according to the first embodiment. The artificial muscle thread 3 shown in Figs. 3(A) and (B) is an example of a McKibben artificial muscle thread.

[0036] As shown in Figure 3(A), the artificial muscle thread 3 contracts when the drive unit 5 is activated. Because the base material 2 is attached to the human body H while generating a predetermined pressure, the contraction of the artificial muscle thread 3 imparts a somatic sensation to the skin of the human body H that touches the artificial muscle thread 3 via the base material 2.

[0037] The length of the predetermined path on the body surface of the human body H on which the artificial muscle thread 3 is provided varies depending on before and after movement of a specific part of the human body H. For example, the length of the predetermined path for the artificial muscle thread 3 shown in FIG. 3(A) is longer than the length of the predetermined path for the artificial muscle thread 3 shown in FIG. 3(B). Therefore, when the human body H to which somatosensation has been imparted moves a specific part of the human body H in a specific direction, the somatosensation imparted by the contraction of the artificial muscle thread 3 weakens (or is no longer felt). In the example shown in FIG. 3(B), when the human body H to which somatosensation has been imparted performs the so-called "shoulder abduction" movement, the somatosensation imparted by the contraction of the artificial muscle thread 3 weakens (or is no longer felt). In other words, the wearer of the base material 2 recognizes the sensation of tension imparted by the contraction of the artificial muscle thread 3 as an uncomfortable feeling, and moves a specific part of the human body H in a specific direction to relieve this sensation of tension.

[0038] 3(A) and 3(B), contraction of the artificial muscle thread 3 can induce a somatic sensation in the human body H that induces a predetermined movement. This somatic sensation can be evoked without the artificial muscle thread 3 exerting a force strong enough to forcibly propel the human body.

[0039] The driving unit 5 outputs compressed air, voltage, etc. to elongate or contract the artificial muscle thread 3 to a desired length. The driving unit 5 may output compressed air, voltage, etc. based on an elongation rate or contraction rate calculated by dividing the length of a predetermined path on the body surface of the human body H at the end of a predetermined movement by the length of the predetermined path on the body surface of the human body H at the start of the predetermined movement.

[0040] The elongation rate or contraction rate is indicated by the stretching information. The stretching information of at least one artificial muscle thread 3 corresponding to each movement indicates the elongation rate or contraction rate calculated based on the length of at least one artificial muscle thread 3 corresponding to each movement on the body surface of the human body H at the start of each movement and the length of at least one artificial muscle thread 3 corresponding to each movement on the body surface of the human body H at the end of each movement. This allows the artificial muscle thread 3 to stretch and contract accurately.

[0041] The elongation rate or contraction rate is the elongation rate or contraction rate of the artificial muscle thread 3 corresponding to the predetermined path, calculated based on a first length of the predetermined path on the body surface of the human body H when the human body H wearing the active body 1 starts the predetermined movement, and a second length of the predetermined path on the body surface of the human body H when the human body H wearing the active body 1 finishes the predetermined movement. This allows the artificial muscle thread 3 to stretch and contract accurately.

[0042] The driver 5 stretches or contracts the actuated artificial muscle yarn, thereby evoking in the human body H a somatic sensation associated with the movement corresponding to the actuated artificial muscle yarn. This allows the user of the base material 2 to be appropriately induced to make a movement.

[0043] For example, if the instruction information includes expansion / contraction information stored in the memory unit 72 indicating an expansion rate or contraction rate, the drive unit 5 outputs compressed air or voltage, etc., so that the artificial muscle thread 3 expands according to the expansion rate included in the instruction information, and also outputs compressed air or voltage, etc., so that the artificial muscle thread 3 contracts according to the contraction rate included in the instruction information.

[0044] FIG. 4(A) is a diagram illustrating the measurement of the length of the artificial muscle thread 3 on the body surface of the human body H at the start of the movement of the human body H according to the first embodiment, and FIG. 4(B) is a diagram illustrating the measurement of the length of the artificial muscle thread 3 on the body surface of the human body H at the end of the movement of the human body H according to the first embodiment.

[0045] As shown in Figure 4(A), first, a stretchable string-like elastic member (e.g., a rubber string) is provided along a predetermined path on the body surface of the human body H where the artificial muscle thread 3 is to be provided. Then, the length of the predetermined path on the body surface of the human body H at the start of a predetermined movement is measured (Figure 4(A)), and then the length of the predetermined path on the body surface of the human body H at the end of the predetermined movement is measured (Figure 4(B)).

[0046] For each of the multiple movements, measurements such as those shown in Figures 4(A) and (B) are performed on one or more human bodies H, and the elongation rate or contraction rate for each movement is calculated. Note that the elongation rate or contraction rate for each movement may be the average or median of some or all of the measurement results for each of the multiple human bodies H.

[0047] (Second embodiment) The motion guidance system S2 according to the second embodiment is the motion guidance system S1 according to the first embodiment, except that an artificial muscle thread 3b is further added in addition to the artificial muscle thread 3 (3a). Figures 5(A) and 5(B) are diagrams showing examples of the artificial muscle threads 3a and 3b according to the second embodiment.

[0048] Fig. 5(A) is a schematic diagram of the human body H seen from the front side, and Fig. 5(B) is a schematic diagram of the human body H seen from the back side. Artificial muscle threads 3a and 3b are both actuating artificial muscle threads for inducing the same movement (shoulder abduction) in the human body H, and are contracted simultaneously.

[0049] The ends of the artificial muscle threads 3a and 3b are provided with transmission members 6 that connect to the same or different driving units 5. The same or different driving units 5 simultaneously extend or contract the artificial muscle threads 3a and 3b based on instruction information output from a motion induction device 7.

[0050] (Third embodiment) The motion guidance system S3 according to the third embodiment is the motion guidance system S1 according to the first embodiment, to which artificial muscle threads 3c and 3d are added instead of or in addition to the artificial muscle thread 3. Fig. 6(A) is a diagram showing an example of the artificial muscle threads 3c and 3d according to the third embodiment.

[0051] 6(A) is a schematic diagram of a human body H viewed from the front, and the portions of the artificial muscle threads 3c and 3d and the holding parts 4c and 4d indicated by dotted lines are hidden by the human body H and cannot be seen from the front. The artificial muscle threads 3c and 3d are both actuating artificial muscle threads for inducing the same movement (horizontal shoulder adduction) in the human body H, and are contracted simultaneously.

[0052] The ends of the artificial muscle threads 3c and 3d are provided with transmission members 6 that connect to the same or different driving units 5. The same or different driving units 5 simultaneously extend or contract the artificial muscle threads 3c and 3d based on instruction information output from the motion induction device 7.

[0053] The motion induction system S3 may be provided with the artificial muscle threads 3a and 3b included in the motion induction system S2, and a driving unit 5 corresponding to the artificial muscle threads 3a and 3b.

[0054] (Fourth embodiment) The motion guidance system S4 according to the fourth embodiment is the motion guidance system S1 according to the first embodiment, to which artificial muscle threads 3e and 3f have been added instead of or in addition to the artificial muscle thread 3. Fig. 6(B) is a diagram showing an example of the artificial muscle threads 3e and 3f according to the fourth embodiment.

[0055] Figure 6(B) is a schematic diagram of the human body H as seen from the front, and the portions of the artificial muscle threads 3e and 3f and the holding parts 4e and 4f indicated by dotted lines are hidden by the human body H and cannot be seen from the front. The artificial muscle threads 3e and 3f are both actuating artificial muscle threads for inducing the same movement (horizontal shoulder abduction) in the human body H, and are contracted simultaneously.

[0056] The ends of the artificial muscle threads 3e and 3f are provided with transmission members 6 that connect to the same or different driving units 5. The same or different driving units 5 simultaneously extend or contract the artificial muscle threads 3e and 3f based on instruction information output from the motion induction device 7.

[0057] At least one of the artificial muscle threads 3a to 3d included in the motion induction systems S2 and S3 may be provided in the motion induction system S4. In this case, a drive unit 5 corresponding to the provided artificial muscle thread 3 may be provided.

[0058] (Fifth embodiment) The motion guidance system S5 according to the fifth embodiment is the motion guidance system S1 according to the first embodiment, to which artificial muscle threads 3g, 3h, 3i, and 3j are added instead of or in addition to the artificial muscle thread 3. Fig. 7(A) is a diagram showing an example of the artificial muscle threads 3g, 3h, 3i, and 3j according to the fifth embodiment.

[0059] 7(A) is a schematic diagram of a human body H viewed from the front, and the artificial muscle threads 3g, 3h, 3i, and 3j and the holding parts 4g, 4h, 4i, and 4j shown by dotted lines are hidden by the human body H and cannot be seen from the front. The artificial muscle threads 3g, 3h, 3i, and 3j are all actuating artificial muscle threads that induce the same movement (elbow extension) in the human body H, and are all contracted simultaneously.

[0060] The ends of the artificial muscle threads 3g, 3h, 3i, and 3j are provided with transmission members 6 that connect to the same or different driving units 5. The same or different driving units 5 simultaneously extend or contract the artificial muscle threads 3g, 3h, 3i, and 3j based on instruction information output from the motion induction device 7.

[0061] At least one of the artificial muscle threads 3a to 3f included in the motion induction systems S2 to S4 may be provided in the motion induction system S5. In this case, a drive unit 5 corresponding to the provided artificial muscle thread 3 may be provided.

[0062] (Sixth embodiment) The motion guidance system S6 according to the sixth embodiment is the motion guidance system S1 according to the first embodiment, to which artificial muscle threads 3k and 3L have been added instead of or in addition to the artificial muscle thread 3. Fig. 7(B) is a diagram showing an example of the artificial muscle threads 3k and 3L according to the sixth embodiment.

[0063] 7(B) is a schematic diagram of the human body H seen from the front side. The artificial muscle threads 3k and 3L are both actuating artificial muscle threads for inducing the same movement (elbow flexion) in the human body H, and are contracted simultaneously.

[0064] The ends of the artificial muscle threads 3k and 3L are provided with transmission members 6 that connect to the same or different driving units 5. The same or different driving units 5 simultaneously extend or contract the artificial muscle threads 3k and 3L based on instruction information output from the motion induction device 7.

[0065] At least one of the artificial muscle threads 3a to 3j included in the motion induction systems S2 to S5 may be provided in the motion induction system S6. In this case, a drive unit 5 corresponding to the provided artificial muscle thread 3 may be provided.

[0066] (Seventh embodiment) The motion guidance system S7 according to the seventh embodiment is the motion guidance system S1 according to the first embodiment, to which artificial muscle threads 3m and 3n have been added instead of or together with the artificial muscle thread 3. Fig. 8(A) is a diagram showing an example of the artificial muscle threads 3m and 3n according to the seventh embodiment.

[0067] Figure 8(A) is a schematic diagram of a human body H viewed from the front, and the portions of the artificial muscle threads 3m and 3n and the holding parts 4m and 4n indicated by dotted lines are hidden by the human body H and cannot be seen from the front. The artificial muscle threads 3m and 3n are both actuating artificial muscle threads that induce the same movement (right trunk twist) in the human body H, and are contracted simultaneously.

[0068] The ends of the artificial muscle threads 3m and 3n are provided with transmission members 6 that connect to the same or different driving units 5. The same or different driving units 5 simultaneously extend or contract the artificial muscle threads 3m and 3n based on instruction information output from the motion induction device 7.

[0069] At least one of the artificial muscle threads 3a to 3L included in the motion induction systems S2 to S6 may be provided in the motion induction system S7. In this case, a drive unit 5 corresponding to the provided artificial muscle thread 3 may be provided.

[0070] (Eighth embodiment) The motion guidance system S8 according to the eighth embodiment is the motion guidance system S1 according to the first embodiment, to which artificial muscle threads 3p and 3q have been added instead of or in addition to the artificial muscle thread 3. Fig. 8(B) is a diagram showing an example of the artificial muscle threads 3p and 3q according to the eighth embodiment.

[0071] Figure 8(B) is a schematic diagram of the human body H seen from the front, and the artificial muscle threads 3p and 3q and the holding parts 4p and 4q indicated by dotted lines are hidden by the human body H and cannot be seen from the front. The artificial muscle threads 3p and 3q are both actuating artificial muscle threads that induce the same movement (twisting the trunk to the left) in the human body H, and are contracted simultaneously.

[0072] The ends of the artificial muscle threads 3p and 3q are provided with transmission members 6 that connect to the same or different driving units 5. The same or different driving units 5 simultaneously extend or contract the artificial muscle threads 3p and 3q based on instruction information output from the motion induction device 7.

[0073] At least one of the artificial muscle threads 3a to 3n included in the motion induction systems S2 to S7 may be provided in the motion induction system S8. In this case, a drive unit 5 corresponding to the provided artificial muscle thread 3 may be provided.

[0074] (Operation Table T1) In a motion induction system S provided with multiple artificial muscle threads 3 among the artificial muscle threads 3a to 3q included in the motion induction systems S2 to S8, a motion induction device 7 controls multiple artificial muscle threads 3. For this reason, a storage unit 72 of the motion induction device 7 stores a motion table T1 that associates each motion with a corresponding artificial muscle thread 3 (actuating artificial muscle thread).

[0075] 9(A) is a diagram showing an example of the data structure of the action table T1. The action table T1 is stored in the storage unit 72 of the action induction device 7. The action table T1 stores action identification information indicating each action, in association with the action name, active muscle thread identification information, and elongation rate / contraction rate.

[0076] "Action identification information" is identification information for identifying an action. "Action name" is character string information indicating the name of the action. "Acting muscle thread identification information" is identification information for identifying the acting muscle thread identification information corresponding to the action. "Extension rate / contraction rate" is numerical information indicating the extension rate or contraction rate of the acting muscle thread identification information corresponding to the action. "Extension rate / contraction rate" is an example of stretching information.

[0077] 9(A), when the acquisition unit 731 acquires input information including the action identification information "M001," the extraction unit 732 searches the action table T1 and extracts the actuating thread identification information "P001" and "P002" corresponding to the action identification information "M001." The extraction unit 732 extracts the actuating thread identification information "P001" and "P002," as well as the extension / contraction rates "88%" and "91%" corresponding to the actuating thread identification information "P001" and "P002." The output unit 733 then generates instruction information including the extracted action identification information and extension / contraction rates, and outputs the generated instruction information to the drive unit 5. As a result, the driving unit 5 drives the actuating artificial muscle thread corresponding to the actuating muscle thread identification information "P001" so that the contraction rate is "88%", and drives the actuating artificial muscle thread corresponding to the actuating muscle thread identification information "P002" so that the contraction rate is "91%".

[0078] The "extension rate / contraction rate" stored in the motion table T1 shown in Fig. 9(A) is an extension rate / contraction rate that causes the artificial muscle threads 3a to 3q to generate a kinetic force that evokes somatosensation in the human body H and induces motion in the human body H. For example, by setting the "extension rate / contraction rate" to an extension rate / contraction rate that causes the artificial muscle threads 3a to 3q to generate a kinetic force that assists the motion of the human body H and reduces the load on the muscles of the human body H, the motion induction systems S1 to S8 can be used as motion assist systems. In this specification, "motion induction" is a concept that encompasses inducing motion in the human body H by evoking somatosensation in the human body H, and assisting the motion of the human body H.

[0079] (Continuous motion table T2) In a motion induction system S provided with multiple artificial muscle threads 3 among the artificial muscle threads 3a to 3q included in the motion induction systems S2 to S8, the motion induction device 7 may continuously control the artificial muscle threads 3 that evoke multiple motions in a predetermined order. For this purpose, the storage unit 72 of the motion induction device 7 further stores a continuous motion table T2 that associates consecutive motions with a corresponding motion order.

[0080] 9(B) is a diagram showing an example of the data structure of the consecutive action table T2. The consecutive action table T2 is stored in the storage unit 72 of the action induction device 7. The consecutive action table T2 stores consecutive action identification information indicating each consecutive action, in association with the consecutive action name and the action order.

[0081] "Continuous action identification information" is identification information for identifying consecutive actions. "Continuous action name" is character string information indicating the name of the consecutive actions. "Action order" is information in which the action identification information of each consecutive action is arranged in a predetermined order.

[0082] In the example shown in FIG. 9(B), when the acquisition unit 731 acquires input information including the continuous action identification information "A001," the extraction unit 732 searches the continuous action table T2 and extracts multiple action identification information included in the action order corresponding to the continuous action identification information "A001." Next, the extraction unit 732 searches the action table T1 (FIG. 9(A)) and extracts the action thread identification information and the elongation rate / contraction rate corresponding to the first action identification information from the extracted multiple action identification information (extraction process). Then, the output unit 733 generates instruction information including the extracted action identification information and the elongation rate / contraction rate, and outputs the generated instruction information to the drive unit 5 (output process). The extraction unit 732 and the output unit 733 sequentially execute the extraction process and output process for the second and subsequent extracted multiple action identification information.

[0083] (Embodiment of a control method for a motion induction device) 10 is a diagram showing an example of the operation flow of the motion guidance process. The motion guidance process is executed by the control unit 73.

[0084] First, the acquisition unit 731 acquires input information indicating a motion to be performed by the human body H (step S110). Next, the extraction unit 732 extracts, as an actuating artificial muscle thread, at least the artificial muscle thread corresponding to the motion indicated by the input information acquired by the acquisition unit 731 (step S120). Then, the output unit 733 generates instruction information including at least actuating muscle thread identification information for identifying the extracted actuating artificial muscle thread, and outputs the generated instruction information to the drive unit 5 (step S130), thereby completing the motion guidance process.

[0085] (Program implementation form) There are no particular limitations on the program as long as it enables the motion induction device 7 to execute steps S110 to S130 described above (embodiment of the control method for motion induction device 7). [Industrial Applicability]

[0086] By using the active body of the various embodiments disclosed in this specification, it is possible to provide a motion induction device, a motion induction system, and a control program and control method for a motion induction device, which are therefore useful in the nursing care industry, the sports equipment industry, the clothing industry, etc. [Explanation of symbols]

[0087] 1...active body, 2...substrate, 3...artificial muscle thread, 4...holding unit, 5...driving unit, 6...transmission member, 7...motion induction device, 71...communication unit, 72...storage unit, 73...control unit, 731...acquisition unit, 732...extraction unit, 733...output unit, H...human body, S1 to S8...motion induction system

Claims

1. A motion induction device that induces motion in a human body wearing an active body, The active body is A substrate; A plurality of stretchable artificial muscle threads; a holding section that holds the artificial muscle thread so that the artificial muscle thread and the substrate do not move relative to each other when the artificial muscle thread stretches and contracts; Including, The motion induction device is a storage unit that stores identification information indicating at least one artificial muscle thread corresponding to each movement of the human body wearing the active body; a control unit that controls a drive unit that stretches or contracts the plurality of artificial muscle threads; Including, The control unit acquiring input information indicating a motion to be performed by the human body; extracting, from the storage unit, identification information indicating at least one artificial muscle thread corresponding to the motion indicated by the acquired input information as identification information indicating the working artificial muscle thread corresponding to the motion; outputting instruction information for extending or contracting the actuated artificial muscle thread to the driver based on the extracted identification information; the storage unit further stores expansion / contraction information indicating an expansion rate or contraction rate of at least one artificial muscle thread corresponding to each of the movements of the human body wearing the active body, In extracting the identification information, the control unit extracts stretch information of the actuating artificial muscle thread from the storage unit, The control unit generating the instruction information based on the extracted identification information and stretching information; The stretching information of at least one artificial muscle thread corresponding to each of the operations is indicates an elongation rate or contraction rate calculated based on the length of at least one artificial muscle thread corresponding to each motion on the surface of the human body at the start of each motion and the length of the artificial muscle thread on the surface of the human body at the end of each motion; Motion guidance device.

2. The elongation rate or the contraction rate is is an elongation rate or contraction rate of the artificial muscle yarn corresponding to a predetermined path, calculated based on a first length of the predetermined path on the body surface of the human body when the human body wearing the active body starts a predetermined movement, and a second length of the predetermined path on the body surface of the human body when the human body wearing the active body finishes the predetermined movement. The motion induction device according to claim 1 .

3. The driving unit elongates or contracts the actuated artificial muscle thread, thereby evoking in the human body a somatic sensation associated with the movement corresponding to the actuated artificial muscle thread. The motion induction device according to claim 1 or 2.

4. the holding unit holds at least one artificial muscle thread corresponding to each movement on the base material on at least one path spanning a joint that moves when the human body makes each movement; The motion induction device according to any one of claims 1 to 3.

5. The motion induction device according to any one of claims 1 to 4, one of an active body and a driving unit; A motion guidance system including:

6. A control program for a motion induction device that induces motion in a human body wearing an active body, The active body includes a substrate, a plurality of stretchable artificial muscle threads, and a holding unit that holds the artificial muscle threads so that the artificial muscle threads and the substrate do not move relative to each other when the artificial muscle threads stretch or contract, The motion inducing device includes: a storage unit that stores identification information indicating at least one artificial muscle thread corresponding to each motion of the human body wearing the active body; and a control unit that controls a drive unit that stretches or contracts the multiple artificial muscle threads, The control unit acquiring input information indicating a motion to be performed by the human body; extracting, from the storage unit, identification information indicating at least one artificial muscle thread corresponding to the motion indicated by the acquired input information as identification information indicating the working artificial muscle thread corresponding to the motion; outputting instruction information for extending or contracting the actuated artificial muscle thread to the driver based on the extracted identification information; A control program for executing the storage unit further stores expansion / contraction information indicating an expansion rate or contraction rate of at least one artificial muscle thread corresponding to each of the movements of the human body wearing the active body, In extracting the identification information, the control unit extracts stretch information of the actuating artificial muscle thread from the storage unit, The control unit generating the instruction information based on the extracted identification information and stretching information; The stretching information of at least one artificial muscle thread corresponding to each of the operations is indicates an elongation rate or contraction rate calculated based on the length of at least one artificial muscle thread corresponding to each motion on the surface of the human body at the start of each motion and the length of the artificial muscle thread on the surface of the human body at the end of each motion; Control program.

7. A control method for a motion induction device that induces motion in a human body wearing an active body, comprising: The active body includes a substrate, a plurality of stretchable artificial muscle threads, and a holding unit that holds the artificial muscle threads so that the artificial muscle threads and the substrate do not move relative to each other when the artificial muscle threads stretch or contract, The motion inducing device includes: a storage unit that stores identification information indicating at least one artificial muscle thread corresponding to each motion of the human body wearing the active body; and a control unit that controls a drive unit that stretches or contracts the multiple artificial muscle threads, The control unit acquiring input information indicating a motion to be performed by the human body; extracting, from the storage unit, identification information indicating at least one artificial muscle thread corresponding to the motion indicated by the acquired input information as identification information indicating the working artificial muscle thread corresponding to the motion; outputting instruction information for extending or contracting the actuated artificial muscle thread to the driver based on the extracted identification information; A control method comprising: the storage unit further stores expansion / contraction information indicating an expansion rate or contraction rate of at least one artificial muscle thread corresponding to each of the movements of the human body wearing the active body, In extracting the identification information, the control unit extracts stretch information of the actuating artificial muscle thread from the storage unit, The control unit generating the instruction information based on the extracted identification information and stretching information; The stretching information of at least one artificial muscle thread corresponding to each of the operations is indicates an elongation rate or contraction rate calculated based on the length of at least one artificial muscle thread corresponding to each motion on the surface of the human body at the start of each motion and the length of the artificial muscle thread on the surface of the human body at the end of each motion; Control method.

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