Remote touch support device and remote touch support method

Abstract

This remote touching assistance device comprises: a human body information transmission unit; and a touch information transmission unit. The human body information transmission unit acquires recipient-side information regarding a touch recipient from a touch recipient-side device worn by the touch recipient, generates human body information about the touch recipient, and outputs the human body information to a toucher-side device worn by a toucher. The touch information transmission unit acquires toucher-side information regarding a touch by the toucher from the toucher-side device, generates touch information about the touch by the toucher, and outputs the touch information to the touch recipient-side device.

Description

Technical Field

[0001] The present invention relates to a remote touching support device and a remote touching support method.

Background Art

[0002] In recent years, research and development of technologies for transmitting or indicating various sensations such as tactile sensation, force sensation, and thermal sensation have been promoted. For example, Japanese Patent No. 5954894 discloses a technology for transmitting thermal sensation. Further, Japanese Unexamined Patent Application Publication No. 2020-98649 discloses a technology for presenting tactile force sensation.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] These technologies only teach one-way transmission of sensations, etc., and have not reached teaching two-way transmission of sensations, etc.

[0005] An object of the present invention is to provide a remote touching support device and a remote touching support method that enable two-way transmission of sensory information.

Means for Solving the Problems

[0006] One aspect of the present invention is a remote touching support device. The remote touching support device comprises a human body information transmission unit and a touching information transmission unit. The human body information transmission unit acquires recipient-side information about the touching recipient from a touching recipient-side device worn by the touching recipient, generates human body information of the touching recipient, and outputs the human body information to a touching performer-side device worn by the touching performer. The touching information transmission unit acquires performer-side information about the touching performer from the touching performer-side device, generates touching information of the touching performer, and outputs the touching information to the touching recipient-side device. The human body information transmission unit includes a receiver information acquisition unit that acquires receiver information from the touching receiver device, a virtual human body generation unit that generates a virtual human body that virtually represents the touching receiver based on the receiver information acquired by the receiver information acquisition unit, and a human body information output unit that outputs information about the virtual human body generated by the virtual human body generation unit as human body information to the touching hand side device. The touching information transmission unit includes a hand-side information acquisition unit that acquires hand-side information from the touching hand side device, a virtual human body reproduction unit that virtually reproduces the hand-side touch on the virtual human body based on the hand-side information acquired by the hand-side information acquisition unit, and a touching information output unit that outputs information about the touch that has been virtually reproduced on the virtual human body by the virtual human body reproduction unit as touching information to the touching receiver device. The receiver information acquisition unit acquires three-dimensional position information of multiple locations on the body surface of the touching receiver and body temperature information of multiple locations as receiver information. The virtual human body generation unit represents a virtual human body using a three-dimensional curved surface representing the body surface of the person being touched and the body temperature distribution on the body surface of the person being touched. The human body information output unit outputs information about the three-dimensional curved surface representing the body surface of the virtual human body and information about the temperature distribution on the three-dimensional curved surface as human body information.

[0007] One aspect of the present invention is a remote touching support method. The remote touching support method includes receiving recipient-side information about the touching recipient from a touching recipient-side device worn by the touching recipient, generating human body information of the touching recipient, and outputting the human body information to a touching performer-side device worn by the touching performer, and receiving performer-side information about the touching performer from the touching performer-side device, generating touching information of the touching performer, and outputting the touching information to the touching recipient-side device. Outputting to the touching device involves acquiring recipient information from the touching recipient device, generating a virtual human body that virtually represents the touching recipient based on the recipient information, and outputting information about the virtual human body as human body information to the touching device. Outputting to the touching recipient device involves acquiring performer information from the touching device, virtually reproducing the performer's touch on the virtual human body based on the performer information, and outputting information about the virtually reproduced touch on the virtual human body as touching information to the touching recipient device. Acquiring recipient information involves acquiring three-dimensional positional information and body temperature information at multiple locations on the touching recipient's body surface as recipient information. Generating a virtual human body that virtually represents the touching recipient involves representing the virtual human body with a three-dimensional curved surface representing the touching recipient's body surface and the body temperature distribution on the touching recipient's body surface. When touching the device, the output to the hand-held device includes human body information, specifically information about the three-dimensional curved surface representing the body surface of a virtual human body, and information about the temperature distribution on that three-dimensional curved surface. [Effects of the Invention]

[0008] According to the present invention, a remote touching support device and a remote touching support method are provided that enable bidirectional transmission of sensory information. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a block diagram showing the functional configuration of a remote touch support device according to one embodiment. [Figure 2] Figure 2 is a block diagram showing the hardware configuration of a remote touch support device according to one embodiment. [Figure 3]Figure 3 is a flowchart illustrating the process performed by the human body information transmission unit of a remote touch support device according to one embodiment. [Figure 4] Figure 4 is a flowchart showing the process performed by the touching information transmission unit of a remote touching support device according to one embodiment. [Figure 5] Figure 5 is a schematic diagram illustrating the operation of remote touching performed using a remote touching support device according to one embodiment. [Modes for carrying out the invention]

[0010] Embodiments of the present invention will be described below with reference to the drawings.

[0011] [Functional Configuration] Referring to Figure 1, a remote touching support device 10 according to one embodiment of the present invention will be described. Figure 1 is a block diagram showing the functional configuration of the remote touching support device 10 according to one embodiment of the present invention. The remote touching support device 10 is a device that supports touching between two people who are in different locations. In other words, the remote touching support device 10 is a device that enables two people who are in different locations to perform a simulated touching.

[0012] Here, "touching" refers to any act or action in which one person touches another person's body with their hands. For example, touching may include acts or actions such as placing a hand on someone, stroking, kneading, pressing, acupressure, and massaging.

[0013] Furthermore, for convenience, the person receiving the touching will be referred to as the "touching recipient" or simply the "recipient," and the person performing the touching will be referred to as the "touching provider" or simply the "provider." For example, the touching recipient might be a grandmother, and the touching provider might be her grandchild. Of course, the roles of touching recipient and touching provider are not limited to these. For example, the touching recipient might be a patient, and the touching provider might be a nurse; the relationship between the two can vary.

[0014] Furthermore, on the premise that the touching recipient and the touching performer satisfy the following requirements.

[0015] When using the remote touching support device 10, the touching recipient wears the touching recipient side device 60, and the touching performer wears the touching performer side device 70.

[0016] The touching recipient side device 60 is a wearable device of a clothing type to be worn on the body. The touching performer side device 70 is a glove type wearable device to be worn on the hand.

[0017] For example, the touching recipient side device 60 is of the type to be worn on the upper body like this. Of course, the touching recipient side device 60 may be of various types, such as the type to be worn on the whole body or the type to be worn on a specific part of the body, without being limited to this.

[0018] The touching recipient side device 60 incorporates a plurality of position sensors. Also, the touching recipient is in an environment where the three-dimensional positions of each position sensor of the touching recipient side device 60 can be detected. For example, living in a house or a room with grid sensors on the wall. Thereby, the touching recipient side device 60 can detect the three-dimensional positions of each part of the touching recipient wearing the touching recipient side device 60. That is, the touching recipient side device 60 can detect the position, posture, body position, etc. of the touching recipient. Furthermore, the touching recipient side device 60 can transmit information on the three-dimensional positions of each part of the touching recipient.

[0019] In addition, the touching recipient-side device 60 incorporates a plurality of temperature sensors. As a result, the touching recipient-side device 60 can detect the body temperature of each part of the touching recipient wearing the touching recipient-side device 60. Furthermore, the touching recipient-side device 60 can transmit information on the body temperature of each part of the touching recipient.

[0020] Hereinafter, for the sake of convenience, the information on the three-dimensional position and body temperature of each part of the touching recipient will be referred to as the recipient-side information.

[0021] The remote touching support device 10 acquires the recipient-side information from the touching recipient-side device 60, generates human body information of a virtual human body representing the touching recipient, and outputs the human body information to the touching performer-side device 70.

[0022] The touching performer-side device 70 has a function of receiving the human body information and pseudo-expressing the feeling of touching the touching recipient based on the human body information. For this reason, the touching performer-side device 70 has, for example, a temperature control element and an actuator for each finger. For example, the temperature control element warms the fingertip of the touching performer, and the actuator applies pressure to the fingertip of the touching performer. As a result, the touching performer can pseudo-receive the feeling of touching the touching recipient through the touching performer-side device 70 worn on the hand. The feeling of touch includes tactile sensation, force sensation, thermal sensation, etc. In other words, the touching performer-side device 70 reproduces the human body information of the virtual human body representing the touching recipient as the feeling of the hand and fingers of the touching performer.

[0023] In addition, the touching performer-side device 70 can detect the movements, temperature, etc. of the hand and fingers of the touching performer. For this reason, the touching performer-side device 70 has, for example, a motion sensor, a pressure sensor, a temperature sensor, etc. Furthermore, the touching performer-side device 70 can transmit information on the movements, pressure, and temperature detected by those sensors.

[0024] In the following, for convenience, information such as the position, movement, temperature, and pressure of the touching person's hands and fingers will be referred to as "touching person information." Touching person information is information used to reproduce the touching of the touching person.

[0025] The remote touching support device 10 acquires information from the touching hand side device 70, generates touching information from the touching hand, and outputs the touching information to the touching receiver side device 60.

[0026] The touch-receiving device 60 has the function of receiving touching information and, based on the touching information, simulating the touching of the person performing the touching. For this reason, the touch-receiving device 60 incorporates, for example, multiple actuators and multiple temperature-regulating elements. For example, the multiple actuators and multiple temperature-regulating elements are distributed throughout the touch-receiving device 60. For example, the multiple actuators and multiple temperature-regulating elements are provided on multiple protrusions arranged in a grid. For example, the multiple protrusions can protrude and retract independently of each other, and their temperature is adjustable.

[0027] This allows the touch-receiving device 60 to reproduce the touching actions or movements of the touching person, such as placing a hand on, stroking, or kneading. As a result, the touch-receiving device can virtually experience the touching of the touching person.

[0028] The details of the remote touching support device 10 are described below. The remote touching support device 10 has a human body information transmission unit 20 and a touching information transmission unit 30.

[0029] The human body information transmission unit 20 acquires recipient-side information about the touching recipient from the touching recipient-side device 60 worn by the touching recipient, generates human body information of the touching recipient, and outputs the human body information to the touching hand-side device 70 worn by the touching hand.

[0030] The touching information transmission unit 30 acquires touching information from the touching hand side device 70, generates touching information from the touching hand, and outputs the touching information to the touching receiver side device 60.

[0031] The human body information transmission unit 20 includes a receiver-side information acquisition unit 21, a virtual human body generation unit 22, and a human body information output unit 23.

[0032] The receiver information acquisition unit 21 acquires receiver information from the touching receiver device 60. The receiver information acquisition unit 21 acquires three-dimensional positional information of multiple locations on the body surface of the touching receiver and body temperature information of multiple locations as receiver information.

[0033] The virtual human body generation unit 22 generates a virtual human body that virtually represents the touching recipient based on the recipient-side information acquired by the recipient-side information acquisition unit 21. The virtual human body generation unit 22 represents the virtual human body with a three-dimensional curved surface representing the body surface of the touching recipient and the body temperature distribution on the body surface of the touching recipient. For this reason, the virtual human body generation unit 22 calculates a three-dimensional curved surface representing the body surface of the touching recipient based on three-dimensional positional information from multiple locations, and calculates the body temperature distribution on the body surface of the touching recipient based on body temperature information from multiple locations.

[0034] The human body information output unit 23 outputs information about the virtual human body generated by the virtual human body generation unit 22 as human body information to the touching hand-side device 70. Specifically, the human body information output unit 23 outputs information about the three-dimensional curved surface representing the body surface of the virtual human body and information about the temperature distribution on the three-dimensional curved surface as human body information.

[0035] The touching information transmission unit 30 includes a user-side information acquisition unit 31, a virtual human body reproduction unit 32, and a touching information output unit 33.

[0036] The user-side information acquisition unit 31 acquires user-side information from the touching user-side device 70. The user-side information acquisition unit 31 acquires information on position, pressure, and temperature on a three-dimensional curved surface as user-side information. Here, the position on the three-dimensional curved surface corresponds to the position of the hand and fingers of the user wearing the touching user-side device 70.

[0037] The virtual human body reproduction unit 32 virtually reproduces the touching of the touching person onto the virtual human body based on the touching person information acquired by the touching person information acquisition unit 31. The virtual human body reproduction unit 32 reproduces the touching as pressure and temperature at a position on the body surface of the virtual human body, which is represented by a three-dimensional curved surface. The position on the body surface of the virtual human body corresponds, of course, to the position of the touching person's hand and fingers.

[0038] The touching information output unit 33 outputs information regarding touching that has been virtually reproduced on the virtual human body by the virtual human body reproduction unit 32 as touching information to the touching receiver device 60. Specifically, the touching information output unit 33 outputs the pressure and temperature at a location on the body surface of the virtual human body as touching information.

[0039] [Hardware configuration] Next, with reference to Figure 2, the hardware configuration of the remote touching support device 10 according to one embodiment of the present invention will be described. Figure 2 is a block diagram showing the hardware configuration of the remote touching support device 10 according to one embodiment of the present invention.

[0040] The remote touch support device 10 is configured as a computer. For example, the remote touch support device 10 is configured as a personal computer. However, it is not limited to this, and the remote touch support device 10 may be configured as, for example, a server computer.

[0041] As shown in Figure 2, the remote touching support device 10 includes a hardware processor 41, a program storage unit 42, a data storage unit 43, a communication interface 44, and an input / output interface 45. The hardware processor 41, the program storage unit 42, the data storage unit 43, the communication interface 44, and the input / output interface 45 are connected to each other via a bus 46, and can exchange information with each other.

[0042] The hardware processor 41 is, for example, a CPU (Central Processing Unit). The hardware processor 41 performs program execution, data calculations, and other operations. The hardware processor 41 controls the program storage unit 42, the data storage unit 43, the communication interface 44, and the input / output interface 45.

[0043] The program storage unit 42 is configured as a non-temporary tangible storage medium, for example, by combining a non-volatile memory that can be written to and read at any time, such as an HDD (Hard Disk Drive) or SSD (Solid State Drive), with a non-volatile memory such as ROM (Read Only Memory). The program storage unit 42 stores programs that the hardware processor 41 executes in order for the remote touch support device 10 to perform various processes.

[0044] The data storage unit 43 is configured as a tangible storage medium, for example, by combining the above-mentioned non-volatile memory with volatile memory such as RAM (Random Access Memory). The data storage unit 43 temporarily stores data necessary for processing performed by the hardware processor 41.

[0045] The communication interface 44 is an interface for connecting to a network, or in other words, for connecting to other devices via a network. The communication interface 44 enables the transmission and reception of information between the hardware processor 41, etc., and other devices connected via the network or network.

[0046] The input / output interface 45 is an interface for connecting external devices. The input / output interface 45 enables the transmission and reception of information between the external device connected to it and the hardware processor 41, etc.

[0047] In this hardware configuration, the functions of each part of the remote touching support device 10, namely the human body information transmission unit 20 (receiving-side information acquisition unit 21, virtual human body generation unit 22, and human body information output unit 23) and the touching information transmission unit 30 (performing-side information acquisition unit 31, virtual human body reproduction unit 32, and touching information output unit 33), can be performed by the hardware processor 41 working in cooperation with the data storage unit 43 to read and execute a program stored in the program storage unit 42.

[0048] Some or all of the parts of the remote touching support device 10 may be composed of various other forms of integrated circuits, including application-specific integrated circuits (ASICs) or field-programmable gate arrays (FPGAs).

[0049] The touching receiver device 60 and the touching performer device 70 are connected to either the communication interface 44 or the input / output interface 45. For example, if the remote touching support device 10 is configured by a personal computer on the touching receiver side, the touching receiver device 60 is connected to the input / output interface 45, and the touching performer device 70 is connected to the communication interface 44 via the network. Conversely, if the remote touching support device 10 is configured by a personal computer on the touching performer side, the touching receiver device 60 is connected to the communication interface 44 via the network, and the touching performer device 70 is connected to the input / output interface 45. Also, if the remote touching support device 10 is configured by a server computer, both the touching receiver device 60 and the touching performer device 70 are connected to the communication interface 44 via the network.

[0050] [Example of operation] The following describes an example of the operation of the remote touching support device 10 according to one embodiment of the present invention. As a premise, the touching receiver device 60 transmits receiver-side information, that is, information on the three-dimensional position of each part of the touching receiver and information on body temperature. The touching performer-side device 70 receives human body information and operates according to human body information. That is, the touching performer-side device 70 simulates the sensation of touching the touching receiver. The touching performer-side device 70 also transmits performer-side information, that is, information such as the movement and temperature of the touching performer's hand and fingers. The touching receiver-side device 60 receives touching information and operates according to touching information. That is, the touching receiver-side device 60 simulates the touching of the touching performer.

[0051] (Processing by the Human Body Information Transmission Unit 20) First, with reference to Figure 3, the processes performed by the human body information transmission unit 20 of the remote touching support device 10 will be explained. Figure 3 is a flowchart showing the processes performed by the human body information transmission unit 20.

[0052] First, in step S11, the receiver information acquisition unit 21 acquires receiver information from the touching receiver device 60.

[0053] Next, in step S12, the virtual human body generation unit 22 generates a virtual human body that virtually represents the touching recipient based on the receiver information acquired by the receiver information acquisition unit 21.

[0054] A virtual human body is represented, for example, by a three-dimensional curved surface representing the body surface of the person being touched, and the body temperature distribution on the body surface of the person being touched. Therefore, the virtual human body generation unit 22 calculates a three-dimensional curved surface representing the body surface of the person being touched based on three-dimensional positional information from multiple locations, and also calculates the body temperature distribution on the body surface of the person being touched based on body temperature information from multiple locations. The virtual human body generation unit 22 generates a virtual human body based on the calculated three-dimensional curved surface and body temperature distribution.

[0055] Next, in step S13, the human body information output unit 23 outputs the information regarding the virtual human body generated by the virtual human body generation unit 22 as human body information to the touching hand-side device 70.

[0056] The human body information transmission unit 20 repeatedly executes the processes described in steps S11 to S13 above.

[0057] (Processing by the touching information transmission unit 30) Next, with reference to Figure 4, the processes performed by the touching information transmission unit 30 will be described. Figure 4 is a flowchart showing the processes performed by the touching information transmission unit 30.

[0058] First, in step S21, the applicator-side information acquisition unit 31 acquires applicator-side information from the touching applicator-side device 70.

[0059] Next, in step S22, the virtual human body reproduction unit 32 virtually reproduces the touching of the touching person on the virtual human body based on the information of the touching person acquired by the touching person information acquisition unit 31.

[0060] The touch of the person performing the touch is expressed in terms of the pressure applied to a position on a three-dimensional curved surface representing the body surface of the person being touched, and the temperature at that position. The virtual human body reproduction unit 32 generates a virtual human body based on the pressure applied to a position on the three-dimensional curved surface, and the temperature and body temperature distribution at that position. Next, in step S23, the touching information output unit 33 outputs information regarding touching that has been virtually reproduced on the virtual human body by the virtual human body reproduction unit 32 as touching information to the touching receiver device 60.

[0061] The touching information transmission unit 30 repeatedly executes the processes described in steps S21 to S23 above.

[0062] [Remote Touch Operation Concept] Next, with reference to Figure 5, remote touching performed using the remote touching support device 10 will be described. Figure 5 is a schematic diagram showing remote touching performed using the remote touching support device 10.

[0063] The touching receiver device 60, worn by the person being touched, transmits receiver information, namely, information on the three-dimensional position of each part of the person being touched and information on their body temperature. The remote touching support device 10 generates a virtual human body representing the person being touched by mapping the receiver information, and transmits the human body information of the virtual human body to the touching hand device 70.

[0064] The touching hand device 70 simulates the sensation of touching the touch recipient based on human body information. The touching hand wearing the touching hand device 70 can receive the sensation of touching the touch recipient virtually through their hand.

[0065] Furthermore, the person performing the touching moves their hand and fingers to perform the touching. The touching-performing device 70 transmits touching-performing information to the remote touching support device 10. Based on the touching-performing information, the remote touching support device 10 reproduces the touching of the touching-performing person onto the virtual human body. The remote touching support device 10 further generates touching information representing the touching reproduced onto the virtual human body and outputs the touching information to the touching-receiving device 60.

[0066] The touch-receiving device 60 operates according to the touching information to reproduce the touching performed by the touching agent wearing the touching agent device 70 to the touch-receiving person.

[0067] [effect] As described above, the remote touching support device 10 acquires receiver information from the touching receiver device 60, generates a virtual human body representing the touching receiver, and outputs the human body information of the virtual human body to the touching hand device 70.

[0068] The touching hand device 70 receives human body information and simulates the sensation of touching the touch recipient. This allows the touching hand to simulate the sensation of touching the touch recipient.

[0069] Furthermore, the remote touching support device 10 acquires information from the touching hand side device 70, reproduces the touching of the touching hand on the virtual human body, and outputs the touching information to the touching receiver side device 60.

[0070] The touch-receiving device 60 receives touch information and reproduces the touch of the person performing the touch. This allows the touch-receiving device to experience the touching in a simulated way.

[0071] This allows the person providing the touch to transmit sensory information such as touch, force, and heat sensation bidirectionally without actually touching the person receiving the touch. Furthermore, as pressure and temperature are transmitted over time, it becomes possible to express feelings of care and consideration through tactile communication.

[0072] It should be noted that the present invention is not limited to the embodiments described above, and can be modified in various ways during implementation without departing from its essence. Furthermore, each embodiment may be combined as appropriate, and in that case, the combined effects can be obtained. Moreover, the above embodiments include various inventions, and various inventions can be extracted by selecting combinations from the multiple constituent elements disclosed. For example, if the problem can be solved and effects obtained even if some constituent elements are deleted from all the constituent elements shown in the embodiment, then the configuration with these deleted constituent elements can be extracted as an invention. [Explanation of Symbols]

[0073] 10…Remote touching support device 20…Human Body Information Transmission Department 21...Receiver-side information acquisition unit 22…Virtual Human Body Generation Unit 23...Human body information output unit 30... Touching Information Transmission Unit 31... Information acquisition unit for the donor side 32…Virtual Human Body Reproduction Department 33...Touching information output unit 41…Hardware processor 42…Program memory unit 43...Data storage unit 44…Communication Interface 45… Input / Output Interface 46... Bus 60…Touch-receiving device 70... Touch-enabled hand-side device

Claims

1. A human body information transmission unit acquires recipient-side information about the touching recipient from a touching recipient-side device worn by the touching recipient, generates human body information of the touching recipient, and outputs the human body information to a touching hand-side device worn by the touching hand, A touching information transmission unit that acquires touching information related to the touching of the touching hand from the touching hand-side device, generates touching information of the touching hand, and outputs the touching information to the touching receiver-side device. It has, The aforementioned human body information transmission unit is A receiver information acquisition unit that acquires receiver information from the touching receiver device, A virtual human body generation unit generates a virtual human body that virtually represents the touching receiver based on the receiver information acquired by the receiver information acquisition unit, A human body information output unit outputs the information about the virtual human body generated by the virtual human body generation unit as human body information to the touching hand-side device. It has, The aforementioned touching information transmission unit is A user-side information acquisition unit that acquires user-side information from the user-side touching device, A virtual human body reproduction unit virtually reproduces the touch of the person performing the treatment on the virtual human body based on the person performing the treatment information acquired by the person performing the treatment information acquisition unit, A touching information output unit outputs information regarding touching virtually reproduced for the virtual human body by the virtual human body reproduction unit as touching information to the touching receiving device. It has, The recipient-side information acquisition unit acquires, as recipient-side information, three-dimensional positional information of multiple locations on the body surface of the touch recipient and body temperature information of multiple locations. The virtual human body generation unit represents the virtual human body using a three-dimensional curved surface representing the body surface of the touch recipient and the body temperature distribution on the body surface of the touch recipient. The human body information output unit outputs, as human body information, information on a three-dimensional curved surface representing the body surface of the virtual human body and information on the temperature distribution on the three-dimensional curved surface. Remote touch assistance device.

2. The aforementioned operator-side information acquisition unit acquires information on position, pressure, and temperature on the three-dimensional curved surface as operator-side information. The virtual human body reproduction unit reproduces the touching by the pressure and temperature at the position on the body surface of the virtual human body represented by the three-dimensional curved surface. The touching information output unit outputs the pressure and temperature at the position on the body surface of the virtual human body as touching information. The remote touch support device according to claim 1.

3. The system receives recipient-side information about the touching recipient from a touching recipient-side device worn by the touching recipient, generates human body information about the touching recipient, and outputs the human body information to a touching hand-side device worn by the touching hand, and receives hand-side information about the touching hand from the touching hand-side device, generates touching information about the touching hand, and outputs the touching information to the touching recipient-side device. It has, Outputting to the touching hand-side device is, Acquiring the recipient information from the touching receiving device, Based on the aforementioned recipient information, a virtual human body is generated to virtually represent the touching recipient, The information relating to the virtual human body is output as human body information to the touching hand-side device. It has, Outputting to the aforementioned touch-receiving device is: Acquiring the information on the touching side from the touching device on the touching side, Based on the information of the person performing the treatment, the touch of the person performing the treatment is virtually reproduced on the virtual human body, The information regarding the touching that is virtually reproduced for the virtual human body is output as touching information to the touching receiving device. It has, The acquisition of the recipient information involves acquiring, as the recipient information, three-dimensional positional information of multiple locations on the body surface of the touch recipient and body temperature information of multiple locations. Generating a virtual human body that virtually represents the touch recipient involves representing the virtual human body with a three-dimensional curved surface representing the body surface of the touch recipient and the body temperature distribution on the body surface of the touch recipient. The output to the touching hand-side device includes, as human body information, information about a three-dimensional curved surface representing the body surface of the virtual human body and information about the temperature distribution on the three-dimensional curved surface. Remote touch support methods.

4. A human body information transmission unit acquires recipient-side information about the touching recipient from a touching recipient-side device, which is a clothing-type wearable device worn by the touching recipient, generates human body information of the touching recipient, and outputs the human body information to a touching hand-side device, which is a glove-type wearable device worn by the touching hand, A touching information transmission unit that acquires touching information related to the touching of the touching hand from the touching hand-side device, generates touching information of the touching hand, and outputs the touching information to the touching receiver-side device. It has, The aforementioned human body information transmission unit is A receiver information acquisition unit that acquires receiver information from the touching receiver device, A virtual human body generation unit generates a virtual human body that virtually represents the touching receiver based on the receiver information acquired by the receiver information acquisition unit, A human body information output unit outputs the information about the virtual human body generated by the virtual human body generation unit as human body information to the touching hand-side device. It has, The aforementioned touching information transmission unit is A user-side information acquisition unit that acquires user-side information from the user-side touching device, A virtual human body reproduction unit virtually reproduces the touch of the person performing the treatment on the virtual human body based on the person performing the treatment information acquired by the person performing the treatment information acquisition unit, A touching information output unit outputs information regarding touching virtually reproduced for the virtual human body by the virtual human body reproduction unit as touching information to the touching receiving device. It has, The recipient-side information acquisition unit acquires, as recipient-side information, three-dimensional positional information of multiple locations on the body surface of the touch recipient and body temperature information of multiple locations. The virtual human body generation unit represents the virtual human body using a three-dimensional curved surface representing the body surface of the touch recipient and the body temperature distribution on the body surface of the touch recipient. The human body information output unit outputs, as the human body information, information about a three-dimensional curved surface representing the body surface of the virtual human body and information about the temperature distribution on the three-dimensional curved surface. Remote touch assistance device.

5. The aforementioned operator-side information acquisition unit acquires information on position, pressure, and temperature on the three-dimensional curved surface as operator-side information. The virtual human body reproduction unit reproduces the touching by the pressure and temperature at the position on the body surface of the virtual human body represented by the three-dimensional curved surface. The touching information output unit outputs the pressure and temperature at the position on the body surface of the virtual human body as touching information. The remote touch support device according to claim 4.

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