robot

Abstract

Provided is a robot capable of naturally guiding the breathing of a user. A robot according to one aspect of the present invention is capable of guiding the breathing of a user and comprises: an exterior member; a first detection unit that acquires information pertaining to the breathing of the user; and a control unit that controls, on the basis of the information acquired by the first detection unit, the operation of the robot so as to guide the breathing of the user into a prescribed state.

Description

Technical Field

[0001] The present invention relates to a robot. Background Art

[0002] Conventionally, robots that provide healing to users by interacting with them have been known (see, for example, Patent Document 1).

[0003] On the other hand, in order to relax a user, a respiration guidance device that activates the user's parasympathetic nerve by guiding the user's respiration to a predetermined state is known. For example, Patent Document 2 discloses a device comprising: a respiration sensor disposed on a huggable main body, the respiration sensor detecting a respiration rate of a user hugging the main body; an expansion / contraction mechanism portion built into the main body, the expansion / contraction mechanism portion expanding and contracting a contact side of the main body that is in contact with the hugging user; and an expansion / contraction control portion that drives and controls the expansion / contraction mechanism portion. Prior Art Documents Patent Documents

[0004] Patent Document 1 International Publication No. 2017 / 169826 Patent Document 2 Japanese Unexamined Patent Publication No. 2013-022302 Summary of the Invention Problems to be Solved by the Invention

[0005] For robots that provide healing to users, it is required to naturally guide the user's respiration in order to relax the user.

[0006] An object of the present invention is to provide a robot that can naturally guide a user's respiration. Means for Solving the Problems

[0007] A robot according to one aspect of the present invention is a robot capable of inducing a user's breathing, comprising: an exterior member; a first detection unit for acquiring information regarding the user's breathing; and a control unit that controls the operation of the robot to induce the user's breathing to a predetermined state based on the information acquired by the first detection unit. The robot has multiple inflatable / contractable parts located at different positions, and the control unit operates the inflatable / contractable part corresponding to the position in contact with the user, based on information regarding the user's holding state of the robot. . [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a robot that can naturally guide the user's breathing. [Brief explanation of the drawing]

[0009] [Figure 1] This is a perspective view illustrating a robot according to the embodiment. [Figure 2] Figure 1 is a side view of the robot. [Figure 3] This is a cross-sectional view along the line III-III in Figure 2. [Figure 4] This diagram illustrates the configuration of a camera according to the embodiment. [Figure 5] This diagram illustrates the configuration of a vital sensor according to the embodiment. [Figure 6] This figure illustrates the configuration of an expansion / contraction mechanism according to an embodiment. [Figure 7] This is a block diagram illustrating the hardware configuration of the control unit according to the embodiment. [Figure 8] This is a block diagram illustrating the functional configuration of the control unit according to the first embodiment. [Figure 9] This figure illustrates the process of respiratory induction by a robot according to the first embodiment. [Figure 10] This is a flowchart illustrating the processing performed by the control unit according to the first embodiment. [Figure 11] This is a block diagram illustrating the functional configuration of the control unit according to the second embodiment. [Figure 12] This is a flowchart illustrating the processing performed by the control unit according to the second embodiment. [Figure 13]It is a diagram illustrating an arrangement example of an expansion / contraction mechanism in a robot according to the third embodiment. [Figure 14] It is a diagram illustrating a configuration example of an expansion / contraction mechanism in a robot according to the third embodiment. [Figure 15] It is a block diagram illustrating an example of the functional configuration of a control unit according to the third embodiment. [Figure 16] It is a flowchart illustrating an example of processing performed by a control unit according to the third embodiment. MODE FOR CARRYING OUT THE INVENTION

[0010] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In each drawing, the same reference numerals are assigned to the same components, and duplicate descriptions will be omitted as appropriate.

[0011] The embodiments described below exemplify a robot for embodying the technical idea of the present disclosure, and are not intended to limit the present disclosure to the embodiments shown below. Unless specifically stated otherwise, the dimensions, materials, shapes, relative arrangements, and the like of components described below are not intended to limit the scope of the present disclosure thereto, but are intended to be illustrative. In addition, the sizes and positional relationships of members shown in the drawings may be exaggerated for clarity of explanation.

[0012] <Example of Overall Configuration of Robot 100> The configuration of the robot 100 according to the embodiment will be described with reference to FIGS. 1 to 3. FIG. 1 is a perspective view illustrating the robot 100 according to the embodiment. FIG. 2 is a side view of the robot 100. FIG. 3 is a cross-sectional view taken along the line III-III in FIG. 2.

[0013] Robot 100 is a robot having an exterior component 10 and capable of being driven by supplied power. The robot 100 illustrated herein is a doll-shaped communication robot modeled after a baby bear. Robot 100 is made to be of a size and weight suitable for a user to hold. Here, "user" means the user (applicant) of robot 100. Typical examples of users include working adults living alone, seniors whose children have become independent, and frail elderly people who are the target of home medical care. In addition to the user of robot 100, the term "user" may also include those who simply come into contact with robot 100, such as the administrator of robot 100. Furthermore, in this specification, the term "hold" may be replaced with the term "hold".

[0014] In this embodiment, the robot 100 can induce the user's breathing. The user corresponds to a "person" who breathes. Breathing is the only function of a "person's" autonomic nervous system that can be consciously altered from the outside. For example, the robot 100 can induce and synchronize the user's breathing rhythm to a slow breathing rhythm by making the user feel this rhythm. Breathing characteristics that the robot 100 can induce include breathing speed, breathing frequency, breathing rate, breathing depth, and breathing amplitude. By inducing the user's breathing to predetermined breathing characteristics, the robot 100 can activate the user's parasympathetic nervous system and help the user relax.

[0015] The exterior member 10 may be flexible. The exterior member 10 includes, for example, a soft material that feels pleasant to the touch when a user of the robot 100 touches the robot 100. The exterior member 10 may be flexible by including at least one of an elastic body and a porous body. Specifically, the material of the exterior member 10 can include organic materials such as urethane foam, rubber, resin, and fibers. Preferably, the exterior member 10 is composed of an exterior made of a heat-insulating urethane foam material and a soft fabric material that covers the outer surface of the exterior. By having flexibility in the exterior member 10, for example by including at least one of an elastic body and a porous body, the user can feel the softness of the robot 100. This can reduce feelings of constraint and resistance and promote communication between the user and the robot 100.

[0016] Robot 100, as an example, has a torso 1, a head 2, arms 3, and legs 4. The head 2 has a right eye 2a, a left eye 2b, a mouth 2c, a right cheek 2d, and a left cheek 2e. The arms 3 include a right arm 3a and a left arm 3b, and the legs 4 include a right leg 4a and a left leg 4b. Here, the torso 1 corresponds to the main body of the robot. As shown in Figure 2, the part of the torso 1 of robot 100 on the side where the nose 5 of robot 100 is located is the abdomen 191 of robot 100. The part of the torso 1 of robot 100 on the opposite side from where the nose 5 of robot 100 is located is the back 192 of robot 100.

[0017] As shown in Figures 1 to 3, the head 2, arms 3, and legs 4 correspond to drive units connected to the robot body so as to be displaceable relative to it. In this embodiment, the drive unit includes arms 3 connected to the robot body of robot 100 so as to be displaceable relative to it. Robot 100 can induce breathing by controlling at least one of the following actions: wrapping arms 3 around a part of the user's body, applying pressure to the user's skin with arms 3, and stroking a part of the user's body with arms 3.

[0018] In this embodiment, the arm 3 is configured to be displaceable relative to the torso 1. For example, when the robot 100 is picked up by a user, the right arm 3a and the left arm 3b are displaced to make contact with the user's neck, torso, etc., as if embracing the user. This action makes the user feel a sense of closeness to the robot 100, thus promoting interaction between the user and the robot 100. Interaction with the user refers to actions in which the user and the robot 100 touch each other (acts of contact), such as stroking, tapping, and hugging.

[0019] The torso 1, head 2, arms 3, and legs 4 are all covered by exterior members 10. The exterior members on the torso 1 and the arms 3 are integrated, while the exterior members on the head 2 and legs 4 are separate from those on the torso 1 and arms 3. However, the configuration is not limited to these, and for example, only the parts of the robot 100 that are likely to be touched by the user may be covered by the exterior members 10. Also, at least one of the exterior members 10 on each of the torso 1, head 2, arms 3, and legs 4 may be separated from the other exterior members. Furthermore, the non-displaceable parts of the head 2, arms 3, and legs 4 may not contain any internal components such as sensors, and may be composed solely of the exterior members 10.

[0020] Robot 100 has a camera 11, a tactile sensor 12, a control unit 13, a vital sensor 14, a battery 15, an expansion / contraction mechanism 18, a first capacitance sensor 21, and a second capacitance sensor 31 inside the exterior member 10 of its outer casing 10. Furthermore, robot 100 has a tactile sensor 12, a control unit 13, a vital sensor 14, a battery 15, and an expansion / contraction mechanism 18 inside the exterior member 10 of its torso 1. In addition, robot 100 has a camera 11 and a first capacitance sensor 21 inside the exterior member 10 of its head 2, and a second capacitance sensor 31 inside the exterior member 10 of its arm 3.

[0021] Furthermore, the robot 100 has a display 24, a speaker 25, and a light 26 inside the exterior member 10 of the head 2. The robot 100 also has a display 24 inside the exterior member 10 of the right eye area 2a and the left eye area 2b. In addition, the robot 100 has a speaker 25 inside the exterior member 10 of the mouth area 2c, and a light 26 inside the exterior member 10 of the right cheek area 2d and the left cheek area 2e.

[0022] More specifically, as shown in Figure 3, the robot 100 has a torso frame 16 and a torso mounting base 17 inside the exterior member 10 of the torso 1. The robot 100 also has a head frame 22 and a head mounting base 23 inside the exterior member 10 of the head 2. Furthermore, the robot 100 has a right arm frame 32a and a right arm mounting base 33 inside the exterior member 10 of the right arm 3a, and a left arm frame 32b inside the exterior member 10 of the left arm 3b. In addition, the robot 100 has a right leg frame 42a inside the exterior member 10 of the right leg 4a, and a left leg frame 42b inside the exterior member 10 of the left leg 4b.

[0023] The torso frame 16, head frame 22, right arm frame 32a, left arm frame 32b, right leg frame 42a, and left leg frame 42b are structures formed by combining multiple columnar members. The torso mounting base 17, head mounting base 23, and right arm mounting base 33 are plate-shaped members having a mounting surface. The torso mounting base 17 is fixed to the torso frame 16, the head mounting base 23 is fixed to the head frame 22, and the right arm mounting base 33 is fixed to the right arm frame 32a. The torso frame 16, head frame 22, right arm frame 32a, left arm frame 32b, right leg frame 42a, and left leg frame 42b may be formed in a box shape including multiple plate-shaped members.

[0024] The right arm frame 32a is connected to the torso frame 16 via a right arm connecting mechanism 34a, and is driven by a right arm servo motor 35a, allowing it to be displaced relative to the torso frame 16. When the right arm frame 32a is displaced, the right arm 3a is displaced relative to the torso 1. The right arm connecting mechanism 34a preferably has a reduction gear that increases the output torque of the right arm servo motor 35a, for example.

[0025] In this embodiment, the right arm frame 32a is composed of a multi-joint robot arm including a plurality of frame members and a plurality of connecting mechanisms. For example, the right arm frame 32a has a right shoulder frame F1a, a right upper arm frame F2a, a right elbow frame F3a, and a right forearm frame F4a. The torso frame 16, the right shoulder frame F1a, the right upper arm frame F2a, the right elbow frame F3a, and the right forearm frame F4a are each connected to one another via connecting mechanisms.

[0026] The right arm servo motor 35a is a collective designation for multiple servo motors. For example, the right arm servo motor 35a includes the right shoulder servo motor M1a, the right upper arm servo motor M2a, the right elbow servo motor M3a, and the right forearm servo motor M4a. The right shoulder servo motor M1a rotates the right shoulder frame F1a around a rotation axis perpendicular to the torso frame 16. The right upper arm servo motor M2a rotates the right upper arm frame F2a around a rotation axis perpendicular to the rotation axis of the right shoulder frame F1a. The right elbow servo motor M3a rotates the right elbow frame F3a around a rotation axis perpendicular to the rotation axis of the right upper arm frame F2a. The right forearm servo motor M4a rotates the right forearm frame F4a around a rotation axis perpendicular to the rotation axis of the right elbow frame F3a.

[0027] The left arm frame 32b is connected to the torso frame 16 via a left arm connecting mechanism 34b and is driven by a left arm servo motor 35b, allowing it to be displaced relative to the torso frame 16. As the left arm frame 32b is displaced, the left arm 3b is displaced relative to the torso 1. The left arm connecting mechanism 34b preferably has a reduction gear that increases the output torque of the left arm servo motor 35b, for example.

[0028] In this embodiment, the left arm frame 32b is composed of a multi-joint robot arm including a plurality of frame members and a plurality of connecting mechanisms. For example, the left arm frame 32b has a left shoulder frame F1b, a left upper arm frame F2b, a left elbow frame F3b, and a left forearm frame F4b. The torso frame 16, the left shoulder frame F1b, the left upper arm frame F2b, the left elbow frame F3b, and the left forearm frame F4b are each connected to one another via connecting mechanisms.

[0029] The left arm servo motor 35b is a collective designation for multiple servo motors. For example, the left arm servo motor 35b includes the left shoulder servo motor M1b, the left upper arm servo motor M2b, the left elbow servo motor M3b, and the left forearm servo motor M4b. The left shoulder servo motor M1b rotates the left shoulder frame F1b around a rotation axis perpendicular to the torso frame 16. The left upper arm servo motor M2b rotates the left upper arm frame F2b around a rotation axis perpendicular to the rotation axis of the left shoulder frame F1b. The left elbow servo motor M3b rotates the left elbow frame F3b around a rotation axis perpendicular to the rotation axis of the left upper arm frame F2b. The left forearm servo motor M4b rotates the left forearm frame F4b around a rotation axis perpendicular to the rotation axis of the left elbow frame F3b. As the arm 3 has four joints, the robot 100 can achieve highly realistic movements. Highly realistic movements refer to movements that are natural for animals, including humans. In this embodiment, highly realistic movements correspond to the natural movements of the robot 100 as a bear cub.

[0030] The head frame 22 is connected to the body frame 16 via a head connecting mechanism 27 and is driven by a head servo motor 35c, allowing it to be displaced relative to the body frame 16. As the head frame 22 is displaced, the head 2 is displaced relative to the body 1. The head connecting mechanism 27 preferably has, for example, a reduction gear that increases the output torque of the head servo motor 35c.

[0031] In this embodiment, the head frame 22 includes a neck frame F1c and a face frame F2c. The torso frame 16, the neck frame F1c, and the face frame F2c are each connected to one another via connecting mechanisms.

[0032] The head servo motor 35c is a collective designation for multiple servo motors. For example, the head servo motor 35c includes a neck servo motor M1c and a face servo motor M2c. The neck servo motor M1c rotates the neck frame F1c around a rotation axis perpendicular to the torso frame 16. The face servo motor M2c rotates the face frame F2c around a rotation axis perpendicular to the rotation axis of the neck frame F1c. By having the head 2 have a two-axis joint in this way, the robot 100 can achieve more realistic movements.

[0033] The right leg frame 42a is connected to the torso frame 16 via a right leg connecting mechanism 44a and has a right leg wheel 41a on its bottom side. To stabilize the posture of the robot 100, it is preferable that the robot 100 has two right leg wheels 41a in the front-rear direction of the right leg frame 42a. The right leg wheels 41a are driven by a right leg servo motor 35d and are rotatable around a rotation axis perpendicular to the front-rear direction of the right leg frame 42a. The rotation of the right leg wheels 41a enables the robot 100 to move. It is preferable that the right leg connecting mechanism 44a has, for example, a reduction gear that increases the output torque of the right leg servo motor 35d.

[0034] The left leg frame 42b is connected to the torso frame 16 via a left leg connecting mechanism 44b and has a left leg wheel 41b on its bottom side. To stabilize the posture of the robot 100, it is preferable that the robot 100 has two left leg wheels 41b in the front-rear direction of the left leg frame 42b. The left leg wheels 41b are driven by a left leg servo motor 35e and are rotatable around a rotation axis perpendicular to the front-rear direction of the left leg frame 42b. The rotation of the left leg wheels 41b enables the robot 100 to move. It is preferable that the left leg connecting mechanism 44b has, for example, a reduction gear that increases the output torque of the left leg servo motor 35e.

[0035] In this embodiment, the robot 100 moves forward or backward by simultaneously rotating the right leg wheel 41a and the left leg wheel 41b forward or backward. The robot 100 turns right or left by braking either the right leg wheel 41a or the left leg wheel 41b with a brake and rotating the other forward or backward. In this way, the legs 4 enable the robot 100 to achieve more realistic movements.

[0036] The tactile sensor 12, control unit 13, vital sensor 14, and battery 15 are fixed to the torso mounting base 17. The control unit 13 and battery 15 are fixed on the side of the torso mounting base 17 opposite to the side where the tactile sensor 12 and vital sensor 14 are fixed. Note that the arrangement of the control unit 13 and battery 15 here is due to the available space on the torso mounting base 17 and is not necessarily limited to the above. However, fixing the battery 15 on the side of the torso mounting base 17 opposite to the side where the tactile sensor 12 and vital sensor 14 are fixed lowers the center of gravity of the robot 100 because the battery 15 is heavier than the other components. A lower center of gravity of the robot 100 is preferable because it stabilizes at least one of the robot 100's position and posture, and makes it easier to charge and replace at least one of the batteries 15.

[0037] The first capacitive sensor 21 is fixed to the head mount 23, and the second capacitive sensor 31 is fixed to the right arm mount 33. The display 24 has a right eye display 24a and a left eye display 24b. The right eye display 24a, the left eye display 24b and the speaker 25 are fixed to the head frame 22. The lights 26 have a right cheek light 26a and a left cheek light 26b. The right cheek light 26a and the left cheek light 26b are fixed to the head frame 22.

[0038] The tactile sensor 12, control unit 13, vital sensor 14, battery 15, first capacitive sensor 21, second capacitive sensor 31, etc., can be fixed using screws or adhesive members. The right eye display 24a, left eye display 24b, speaker 25, right cheek light 26a, left cheek light 26b, etc., can also be fixed using screws or adhesive members.

[0039] There are no particular restrictions on the materials used for the torso frame 16, torso mounting base 17, head frame 22, head mounting base 23, right arm frame 32a, right arm mounting base 33, and left arm frame 32b; resin materials or metal materials can be used. However, from the viewpoint of ensuring strength during operation, it is preferable to use metal materials such as aluminum for the torso frame 16, right arm frame 32a, and left arm frame 32b. On the other hand, if strength can be ensured, it is preferable to use resin materials for these parts in order to lighten the robot 100. There are no particular restrictions on the materials used for the torso mounting base 17, head frame 22, head mounting base 23, right arm mounting base 33, and left arm frame 32b; resin materials or metal materials can be used; however, from the viewpoint of lightening the robot 100, it is preferable to use resin materials.

[0040] The control unit 13 controls the operation of the entire robot 100. In this embodiment, in particular, the control unit 13 can control the operation of the robot 100 to guide the user's breathing to a predetermined state based on the output from the camera 11. The control unit 13 is communicated via wired or wireless connections to the camera 11, the tactile sensor 12, the vital sensor 14, the first capacitive sensor 21, the second capacitive sensor 31, the right arm servo motor 35a, and the left arm servo motor 35b. The control unit 13 is also communicated via wired or wireless connections to the head servo motor 35c, the right leg servo motor 35d, and the left leg servo motor 35e. Furthermore, the control unit 13 is communicated via wired or wireless connections to the right eye display 24a, the left eye display 24b, the speaker 25, the right cheek light 26a, and the left cheek light 26b.

[0041] Camera 11 is an image sensor that outputs captured images of the robot 100's surroundings to the control unit 13. Camera 11 is an example of a shooting unit that captures images of the user. Camera 11 is also an example of a first detection unit that acquires information about the user's breathing. Furthermore, camera 11 is an example of an image sensor that acquires information about the user's breathing based on the captured images of the user. Camera 11 is positioned inside the exterior member 10 at a location corresponding to the bear cub's nose 5. Camera 11 can be fixed in place using adhesive members or the like. The configuration of camera 11 will be described in detail separately with reference to Figure 4.

[0042] The tactile sensor 12 is a sensor element that acquires information perceived by the sense of touch inherent in a human hand, etc., converts it into a tactile signal which is an electrical signal, and outputs it to the control unit 13. For example, the tactile sensor 12 converts information about pressure and vibration generated when a user touches the robot 100 into a tactile signal using a piezoelectric element and outputs it to the control unit 13. The tactile signal output from the tactile sensor 12 is used to detect the user's contact or proximity to the robot 100.

[0043] The vital sensor 14 is an example of a first detection unit that acquires information about the user's breathing. The vital sensor 14 is also an example of an electromagnetic wave sensor that acquires information about the user's breathing using electromagnetic waves. Furthermore, the vital sensor 14 is also an example of a second detection unit that acquires information about at least one of the user's pulse, heart rate, blood pressure, and pulse pressure. The vital sensor 14 may be placed inside the exterior member 10 of the robot 100. The configuration of the vital sensor 14 will be described in detail separately with reference to Figure 5.

[0044] The inflation / deflation mechanism 18 is a mechanism that can inflate and deflate the torso 1 of the robot 100. In this embodiment, the inflation / deflation mechanism 18 is used to guide the user's breathing. The configuration of the inflation / deflation mechanism 18 will be described in detail separately with reference to Figure 6.

[0045] The first capacitance sensor 21 and the second capacitance sensor 31 are sensor elements that output a capacitance signal to the control unit 13 based on a change in capacitance when a user touches or approaches the robot 100. The first capacitance sensor 21 is preferably a rigid sensor that does not have flexibility from the viewpoint of stabilizing the exterior member 10. Since the arm 3 is a part that the user is likely to touch, the second capacitance sensor 31 is preferably a flexible sensor that includes conductive threads or the like from the viewpoint of providing a good tactile feel. The capacitance signals output from the first capacitance sensor 21 and the second capacitance sensor 31 are used to detect the user's contact or proximity to the robot 100.

[0046] The right eye display 24a and the left eye display 24b are display modules that display strings of characters, numbers, and symbols or images in response to commands from the control unit 13. The right eye display 24a and the left eye display 24b are composed of, for example, liquid crystal display modules. The strings of characters or images displayed on the right eye display 24a and the left eye display 24b may be used for expressing the robot 100's emotions, etc. For example, the robot 100 can implicitly induce interaction with a user by displaying a "smiling" image on the right eye display 24a and the left eye display 24b to share in the happiness of a user who is sitting with feelings of happiness.

[0047] Speaker 25 is a speaker unit that amplifies the audio signal from the control unit 13 and outputs sound. The sound output from speaker 25 is the words or cries of the robot 100 and may be used to express the robot 100's emotions, etc.

[0048] The right cheek light 26a and the left cheek light 26b are examples of light-emitting units provided on the head 2 of the robot 100. The right cheek light 26a and the left cheek light 26b are light modules that change at least one of the following: flashing speed, light brightness, and light color. The right cheek light 26a and the left cheek light 26b are composed of, for example, LED (Light Emitting Diode) light modules. The robot 100 can induce breathing by changing at least one of the flashing speed, light brightness, and light color of the right cheek light 26a and the left cheek light 26b.

[0049] Battery 15 is a power source that supplies power to the camera 11, tactile sensor 12, control unit 13, vital sensor 14, first capacitive sensor 21, second capacitive sensor 31, right arm servo motor 35a, and left arm servo motor 35b. Battery 15 also supplies power to the head servo motor 35c, right leg servo motor 35d, and left leg servo motor 35e. Furthermore, battery 15 supplies power to the right eye display 24a, left eye display 24b, speaker 25, right cheek light 26a, and left cheek light 26b. Various types of rechargeable batteries, such as lithium-ion batteries and lithium polymer batteries, can be used for battery 15.

[0050] The installation positions of various sensors in the robot 100, such as the tactile sensor 12, the first capacitance sensor 21, and the second capacitance sensor 31, can be changed as appropriate. Furthermore, the tactile sensor 12, the first capacitance sensor 21, and the second capacitance sensor 31 may be placed outside the robot 100 and transmit necessary information to the robot 100 or an external device wirelessly.

[0051] Furthermore, the robot 100 does not necessarily have to have the control unit 13 inside the exterior member 10; the control unit 13 can communicate with each device wirelessly from outside the exterior member 10. The battery 15 can also supply power to each component from outside the exterior member 10.

[0052] In this embodiment, a configuration in which the head 2, arms 3, and legs 4 are displaceable is illustrated, but the invention is not limited to this, and at least one of the head 2, arms 3, and legs 4 may be displaceable. Furthermore, the arms 3 are configured as a 4-axis articulated robot arm, but they may be configured as a 6-axis articulated robot arm. In addition, it is preferable that the arms 3 be connectable to an end effector such as a hand. Furthermore, the legs 4 are configured as a wheeled system, but they can be configured as a crawler system or a leg system, etc.

[0053] The configuration and shape of the robot 100 are not limited to those exemplified in this embodiment and can be appropriately modified according to user preferences and usage patterns. For example, the robot 100 may not be modeled after a bear cub, but rather after another living creature or a humanoid or other humanoid form. The robot 100 may also be in the form of a mobile device such as a drone or vehicle having at least one of the following: an arm, a display, a speaker, and a light.

[0054] <Camera 11 Configuration Example> Figure 4 shows an example of the configuration of camera 11. Camera 11 includes a light source 201 for imaging, a wavelength filter 202, a lens 203, and an image sensor 204. Camera 11 is positioned near the surface of robot 100 while being camouflaged so that it is difficult to see from outside robot 100.

[0055] The imaging light source 201 emits illumination light L with a predetermined peak wavelength towards the user 200. There are no particular restrictions on the predetermined peak wavelength, but from the viewpoint of making the illumination light difficult to see, it is preferable that the predetermined peak wavelength is invisible light such as near-infrared light. The wavelength filter 202 is an optical element that transmits light with wavelengths near the peak wavelength of the illumination light L from the imaging light source 201. The lens 203 uses the reflected light R from the user 200, etc., of the illumination light L from the imaging light source 201 to form an image of the user 200, etc., on the imaging surface of the image sensor 204. The image sensor 204 outputs the captured image Im, which is the image formed by the lens 203, to the control unit 13. The control unit 13 can acquire the user 200's respiratory characteristics information based on the captured image Im. The respiratory characteristics information includes information indicating respiratory characteristics, information related to respiratory characteristics, etc. From the viewpoint of acquiring respiratory characteristics information from the captured image Im, the captured image Im output from the image sensor 204 corresponds to information about the user's breathing. The image sensor can be a CCD (Charge Coupled Device) or CMOS (Complementary Metal-Oxide Semiconductor), etc. The captured image may be a still image or a video.

[0056] In camera 11, the placement of the wavelength filter 202 camouflages the lens 203 and image sensor 204 so that they are difficult to see from outside the robot 100. Camera 11 uses light from the light source 201 that has been reflected by the user 200 and passed through the wavelength filter 202 to photograph the user 200. Furthermore, the nose area 5 is a part that the user 200 has fewer opportunities to touch compared to the torso 1, head 2, arms 3, etc. Therefore, by placing camera 11 on the nose area 5, the user 200 is less likely to come into contact with camera 11. This reduces the discomfort caused by the surface of camera 11 being harder than the surface of exterior material 10 when the user 200 comes into contact with the robot 100. Even if the user 200 does come into contact with the nose area 5, the difference in tactile sensation compared to the torso 1, head 2, arms 3, etc., is not so unnatural, thus reducing the discomfort of touch.

[0057] The location where the camera 11 is placed is not limited to the nose 5, but may be other parts such as the mouth or eyes, as long as the same effect as placing it on the nose 5 as described above is obtained. Furthermore, the camera 11 is not limited to being placed inside the exterior member 10, but may be placed outside the exterior member 10. If the camera 11 is placed outside the exterior member 10, it is not necessarily required to camouflage the camera 11 so that it is difficult to see, so the camera 11 does not need to have a wavelength filter 202 for camouflage.

[0058] In this embodiment, the image Im captured by camera 11 is used to acquire respiratory characteristic information, and may also be used for other purposes such as personal authentication of user 200. Multiple cameras may be provided on multiple parts of the robot 100 for different purposes.

[0059] The first detection unit is not limited to the camera 11, but may be an electromagnetic wave sensor such as a Doppler sensor that utilizes electromagnetic waves such as microwaves or millimeter waves. In other words, in this embodiment, the first detection unit may include at least one of an electromagnetic wave sensor that acquires information about the user's breathing using electromagnetic waves, and an image sensor that acquires information about the user's breathing based on the user's captured image.

[0060] For example, a microwave Doppler sensor, used as an electromagnetic wave sensor, can detect vibrations on the user 200's body surface associated with breathing, and output information about the user 200's breathing through signal processing based on the detected vibrations. The vibration period output from the microwave Doppler sensor corresponds to the speed and frequency of breathing. The number of vibrations output from the microwave Doppler sensor corresponds to the number of breaths. The vibration amplitude output from the microwave Doppler sensor corresponds to the depth of breathing. A vital sensor 14, described below, can be applied to the microwave Doppler sensor, referring to Figure 5. Because the electromagnetic wave sensor does not use captured images, it is easier to place inside the exterior member 10 compared to the camera 11. By placing the first detection unit inside the exterior member 10, the user cannot see the first detection unit. As a result, the robot 100 can reduce the user's resistance to having information about their breathing acquired, and enable the smooth acquisition of information about the user's breathing.

[0061] Camera 11 may also be used as a second detection unit to acquire information on at least one of the user's pulse, heart rate, blood pressure, and pulse pressure. In this case, the irradiated light L and reflected light R correspond to electromagnetic waves used to acquire biometric information.

[0062] <Example configuration of vital sensor 14> Figure 5 illustrates the configuration of the vital sensor 14. The vital sensor 14 is a microwave Doppler sensor comprising a microwave emitter 141 and a microwave receiver 142. Microwaves are an example of electromagnetic waves.

[0063] The vital sensor 14 emits a microwave wave Ms from the inside of the outer casing 10 towards the user 200 using the microwave emitter 141. The vital sensor 14 also receives the reflected wave Mr, which is the emitted wave Ms reflected by the user 200, using the microwave receiver 142.

[0064] The vital sensor 14 uses the Doppler effect to detect minute displacements on the body surface caused by the user 200's heartbeat, etc., non-contactually, based on the difference between the frequency of the emitted wave Ms and the frequency of the reflected wave Mr. From the detected minute displacements, the vital sensor 14 acquires information such as heart rate, respiration, pulse wave, blood pressure, and pulse pressure as biometric information of the user 200, and can output this information to the control unit 13. Respiration information includes respiratory rate, rhythm, and depth of respiration. Pulse wave information includes pulse rate, pulse interval RR, pulse wave waveform, and pulse wave propagation velocity.

[0065] The vital sensor 14 is not limited to a microwave Doppler sensor; it may also detect minute displacements on the body surface by utilizing changes in the coupling between the human body and an antenna, or it may utilize electromagnetic waves other than microwaves, such as near-infrared light. Furthermore, the vital sensor 14 may also be a millimeter-wave radar, microwave radar, etc. Preferably, the vital sensor 14 is equipped with a non-contact thermometer that detects infrared rays emitted from the user 200, in addition to the Doppler sensor. In this case, the vital sensor 14 detects the user 200's biological information, including information on at least one of heart rate (pulse), respiration, blood pressure, and body temperature. The vital sensor 14 may also include multiple vital sensors capable of acquiring multiple types of biological information, such as heart rate, respiration, pulse wave, blood pressure, and pulse pressure, for each type, and may acquire multiple types of biological information.

[0066] Since the vital sensor 14 is located inside the exterior component 10, the user 200 cannot see the vital sensor 14. This reduces the user 200's resistance to having their biometric information acquired, enabling smooth acquisition of biometric information. Furthermore, because the vital sensor 14 can acquire biometric information without contact, unlike contact-type sensors that require the user 200 to be in contact with the same location for a certain period of time, biometric information can be acquired even if the user 200 moves to some extent.

[0067] Furthermore, by promoting interaction between the user 200 and the robot 100 through actions such as the robot 100's embrace, the robot 100 can acquire biometric information while being held by the user 200 and in contact with or in close proximity to the user 200. As a result, the robot 100 can acquire highly reliable biometric information with reduced noise.

[0068] <Example of the configuration of the expansion / contraction mechanism 18> Figure 6 illustrates the configuration of the expansion / contraction mechanism 18. The expansion / contraction mechanism 18 includes a support part 181, a pressing drive part 182, a rotating part 183, and a pressing part 184. The support part 181 is fixed to the body frame 16 by a screw member, adhesive member, etc. The support part 181 supports the pressing drive part 182.

[0069] The expansion / contraction mechanism 18 rotates the rotating part 183 around its pivot axis (in the direction of arrow 180) using the pressing drive unit 182, thereby causing the pressing part 184 to reciprocate around the pivot axis of the rotating part 183. The expansion / contraction mechanism 18 can press or not press the outer material 10 of the abdomen 191 by the oscillation of the pressing part 184. In the expansion / contraction mechanism 18, when the rotating part 183 rotates clockwise around its pivot axis, the pressing part 184 presses the outer material 10 of the abdomen 191 from the inside out. In this state, the outer material 10 expands in the direction pressed by the pressing part 184, and the abdomen 191 becomes inflated. On the other hand, when the rotating part 183 rotates counterclockwise around its pivot axis, the pressing part 184 does not contact the outer material 10 of the abdomen 191, and the outer material 10 is not pressed. In this state, the outer casing member 10 shrinks due to its own elasticity, and the abdomen 191 becomes contracted. The expansion / contraction mechanism 18 can expand and contract the abdomen 191 at a predetermined expansion / contraction frequency and predetermined expansion / contraction amplitude in response to the expansion / contraction control signal from the control unit 13. Since the abdomen 191 is part of the torso 1, in other words, the expansion / contraction mechanism 18 can expand and contract the torso 1 at a predetermined expansion / contraction frequency and predetermined expansion / contraction amplitude in response to the expansion / contraction control signal from the control unit 13.

[0070] <Variable example of expansion / contraction mechanism 18> To reduce the energy consumption required for expansion and contraction, the exterior member 10 at the point of contact with the pressing part 184 may have a notch formed in it, or it may be configured as an independent part separated from the surroundings. In this case, if it is desired to give the robot 100 a "biological appearance," it is preferable to provide a covering member on the surface to conceal the notch. The contact point between the pressing part 184 and the exterior member 10 may also be bonded together. Alternatively, as an expansion and contraction mechanism, a bag-shaped container may be placed inside the exterior member 10, and contraction may be prevented by applying pressure to hydraulic, pneumatic, or other filled fluid. As another expansion and contraction mechanism, a material that deforms / expands / contracts with the application of an electric current, such as a soft actuator, may be placed inside the exterior member 10 to expand and contract the abdomen of the robot 100.

[0071] <Example of configuration of control unit 13> (Example hardware configuration) Figure 7 is a block diagram showing an example of the hardware configuration of the control unit 13. The control unit 13 is built by a computer and includes a CPU (Central Processing Unit) 131, a ROM (Read Only Memory) 132, and a RAM (Random Access Memory) 133. The control unit 13 also includes an HDD / SSD (Hard Disk Drive / Solid State Drive) 134, a device connection I / F (Interface) 135, and a communication I / F 136. These are connected to each other via system bus A so that they can communicate with one another.

[0072] The CPU 131 executes control processing, including various arithmetic operations. The ROM 132 stores programs used to drive the CPU 131, such as the IPL (Initial Program Loader). The RAM 133 is used as the work area for the CPU 131. The HDD / SSD 134 stores various information such as programs, captured images acquired by the camera 11, biological information acquired by the vital sensor 14, and detection information from various sensors, such as tactile signals acquired by the tactile sensor 12.

[0073] The device connection interface 135 is an interface for connecting the control unit 13 to various external devices. These external devices include the camera 11, tactile sensor 12, vital sensor 14, first capacitive sensor 21, second capacitive sensor 31, servo motor 35, battery 15, expansion / contraction mechanism 18, and light 26. External devices also include the display 24 and speaker 25 shown in Figure 1.

[0074] Here, servo motor 35 is a collective term for the right arm servo motor 35a, left arm servo motor 35b, head servo motor 35c, right leg servo motor 35d, and left leg servo motor 35e. Display 24 is a collective term for the right eye display 24a and left eye display 24b. Light 26 is a collective term for the right cheek light 26a and left cheek light 26b.

[0075] The communication interface 136 is an interface for communicating with external devices via a communication network or the like. For example, the control unit 13 connects to the internet via the communication interface 136 and communicates with external devices via the internet.

[0076] Furthermore, at least some of the functions implemented by the CPU 131 may be implemented by electrical or electronic circuits.

[0077] (Example of functional configuration) Figure 8 is a block diagram showing an example of the functional configuration of the control unit 13. The control unit 13 includes an acquisition unit 101, a communication control unit 102, a storage unit 103, an authentication unit 104, a registration unit 105, a start control unit 106, a motor control unit 107, a detection unit 108, and an output unit 109. Furthermore, the control unit 13 includes a respiratory characteristic information acquisition unit 110, an inflation / contraction control unit 111, and a light emission control unit 112. Note that the control unit 13 may further include other functional components not listed above.

[0078] The control unit 13 can implement the functions of the acquisition unit 101 and the output unit 109 via the device connection interface 135, etc., and the functions of the communication control unit 102 via the communication interface 136, etc. Furthermore, the control unit 13 can implement the functions of the storage unit 103 and the registration unit 105 via non-volatile memory such as an HDD / SSD 134. In addition, the control unit 13 can implement the functions of the authentication unit 104, the start control unit 106, the motor control unit 107, and the detection unit 108 by having a processor such as a CPU 131 execute processing defined in a program stored in non-volatile memory such as a ROM 132.

[0079] Furthermore, the control unit 13 can implement the functions of the respiratory characteristic information acquisition unit 110, the inflation / deflation control unit 111, and the light emission control unit 112 by having a processor such as the CPU 131 execute processes specified in a program stored in a non-volatile memory such as the ROM 132. Some of the functions of the control unit 13 may be implemented by an external device such as a PC or server, or by distributed processing between the control unit 13 and the external device.

[0080] The acquisition unit 101 acquires a captured image Im of the user 200 from the camera 11 by controlling communication between the control unit 13 and the camera 11. The acquisition unit 101 also acquires a tactile signal S from the tactile sensor 12 by controlling communication between the control unit 13 and the tactile sensor 12. Furthermore, the acquisition unit 101 acquires the user 200's biological information B from the vital sensor 14 by controlling communication between the control unit 13 and the vital sensor 14.

[0081] Furthermore, the acquisition unit 101 acquires a first capacitance signal C1 from the first capacitance sensor 21 by controlling communication between the control unit 13 and the first capacitance sensor 21. The acquisition unit 101 also acquires a second capacitance signal C2 from the second capacitance sensor 31 by controlling communication between the control unit 13 and the second capacitance sensor 31.

[0082] The communication control unit 102 controls communication with external devices via a communication network or the like. For example, the communication control unit 102 can transmit captured images Im acquired by the camera 11, biological information B acquired by the vital sensor 14, tactile signals S acquired by the tactile sensor 12, etc., to external devices via the communication network.

[0083] The storage unit 103 stores biological information B acquired by the vital sensor 14. The storage unit 103 continuously stores the acquired biological information B while the acquisition unit 101 is acquiring biological information B from the vital sensor 14. The storage unit 103 can also store information obtained from the captured image Im by the camera 11, the tactile signal S from the tactile sensor 12, the first capacitance signal C1 from the first capacitance sensor 21, and the second capacitance signal C2 from the second capacitance sensor 31. The storage unit 103 may also store predetermined correspondence information regarding the correspondence between respiratory characteristic information acquired based on the captured image Im and the operation of the inflation / deflation mechanism 18, the operation of the light 26, and at least one of the servo motor 35.

[0084] The authentication unit 104 authenticates user 200 based on the image Im of user 200 captured by camera 11. For example, the authentication unit 104 performs facial authentication based on the captured image Im, which includes the face of user 200, captured by camera 11, by referring to the registration information 150 of face images pre-registered in registration unit 105. This allows the system to associate user 200, who is currently in contact with or near robot 100, with pre-registered personal information, and to associate biometric information B acquired by vital sensor 14 with said personal information. Furthermore, the control unit 13 can also control the system to stop the acquisition of biometric information by vital sensor 14 if the face image included in the captured image Im is not registered in registration unit 105.

[0085] The start control unit 106 initiates the acquisition of biological information B by the vital sensor 14. For example, when the detection unit 108 detects contact or proximity of the user 200 to the robot 100, the start control unit 106 turns on a switch that supplies power from the battery 15 to the vital sensor 14. This causes the start control unit 106 to initiate the acquisition of biological information B by the vital sensor 14.

[0086] The detection unit 108 detects contact or proximity of the user 200 to the robot 100 based on the image Im captured by the camera 11. The detection unit 108 may also detect the distance from the robot 100 to the user 200 based on the image Im captured by the camera 11. The detection unit 108 may also detect contact or proximity of the user 200 to the robot 100 based on a first capacitance signal C1 or a second capacitance signal C2. Furthermore, the detection unit 108 may also detect contact or proximity of the user 200 to the robot 100 based on a tactile signal S from the tactile sensor 12.

[0087] The respiratory characteristics information acquisition unit 110 acquires respiratory characteristics information M1 of the user 200 (see Figure 4) contained in the captured image Im, based on the captured image Im acquired via the acquisition unit 101. For example, the respiratory characteristics information acquisition unit 110 detects vibrations of the user 200's chest associated with breathing from multiple captured images Im continuously acquired via the acquisition unit 101. From these vibrations, the respiratory characteristics information acquisition unit 110 acquires respiratory characteristics information M1 such as breathing rate, frequency, respiratory rate, and breathing depth. The respiratory characteristics information acquisition unit 110 may also acquire respiratory characteristics information M1 by rPPG (remote photoplethysmography) based on the captured image Im. rPPG is a technique that estimates heart rate and respiration by analyzing changes in skin color due to blood flow. The respiratory characteristics information acquisition unit 110 may also acquire respiratory characteristics information M1 based on biological information B acquired using the vital sensor 14. The respiratory characteristics information acquisition unit 110 outputs the respiratory characteristics information M1 to the inflation / deflation control unit 111.

[0088] The inflation / deflation control unit 111 controls the operation of the inflation / deflation mechanism 18 to guide the user 200's breathing to a predetermined state, in accordance with the respiratory characteristic information M1 from the respiratory characteristic information acquisition unit 110. For example, based on the respiratory characteristic information M1, the inflation / deflation control unit 111 obtains operation information N1 of the inflation / deflation mechanism 18 by referring to the correspondence relationship information 130 stored in the storage unit 103. The inflation / deflation control unit 111 can control the operation of the inflation / deflation mechanism 18 by outputting the operation information N1 to the inflation / deflation mechanism 18 via the output unit 109. The operation information N1 corresponds to the inflation / deflation control signal.

[0089] Table 1 below shows an example of correspondence information 130. In Table 1, correspondence information 130 includes respiratory velocity V1-V4 and respiratory depth D1-D4 as respiratory characteristic information M1. Correspondence information 130 also includes inflation / contraction frequencies f1-f4 paired with respiratory velocity V1-V4 and inflation / contraction amplitudes Am1-Am4 paired with respiratory depth D1-D4.

[0090] [Table 1]

[0091] For example, the inflation / contraction frequency in the motion information N1 is predetermined to be shifted by a predetermined frequency from the frequency corresponding to the breathing rate in the breathing characteristic information M1. The inflation / contraction control unit 111 obtains information on the inflation / contraction frequency that is shifted by a predetermined frequency from the frequency corresponding to the breathing rate in the breathing characteristic information M1 by referring to the correspondence relationship information 130. The inflation / contraction control unit 111 inflates and contracts the inflation / contraction mechanism 18 at this inflation / contraction frequency. The user 200 breathes in accordance with the inflation and contraction of the inflation / contraction mechanism 18. In this way, the robot 100 can guide the user 200's breathing so that, for example, the breathing rate gradually slows down. Each state of the breathing rate in a time series that gradually slows down corresponds to a "predetermined state" of breathing.

[0092] Furthermore, for example, the inflation / contraction amplitude in motion information N1 is predetermined to be shifted by a predetermined amplitude from the amplitude corresponding to the breathing depth in respiratory characteristic information M1. The inflation / contraction control unit 111 obtains information on the inflation / contraction amplitude that is shifted by a predetermined amplitude from the amplitude corresponding to the breathing depth in respiratory characteristic information M1 by referring to the correspondence relationship information 130. The inflation / contraction control unit 111 inflates and contracts the inflation / contraction mechanism 18 with this inflation / contraction amplitude. The user 200 breathes in accordance with the inflation and contraction of the inflation / contraction mechanism 18. In this way, the robot 100 can guide the user 200's breathing by increasing the inflation / contraction amplitude so that, for example, the breathing depth gradually deepens. Each state of breathing depth in a time series that gradually deepens corresponds to a "predetermined state" of breathing.

[0093] The operation of the inflation / contraction mechanism 18 corresponds to the inflation / contraction of the torso 1 of the robot 100, and is in line with the operation of the robot 100. Therefore, when the user 200 is holding the robot 100, touching it, and communicating with it, the robot 100 can guide the user 200 to breathe through the operation of the robot 100 controlled by the inflation / contraction control unit 111. Note that the correspondence relationship information 130 shown in Table 1 is just an example and is not limited thereto. Similarly, the breathing guidance method by the inflation / contraction control unit 111 is just an example and is not limited thereto. For example, the robot 100 may use a deep neural network (DNN) or the like to estimate the operation of the inflation / contraction mechanism 18 to properly guide breathing based on the breathing characteristic information M1, and control the operation of the inflation / contraction mechanism 18 according to this estimation result.

[0094] The respiratory characteristics information acquisition unit 110 may output respiratory characteristics information M1 to the light emission control unit 112. The light emission control unit 112 may control the operation of the light 26 to guide the user 200's breathing to a predetermined state in accordance with the respiratory characteristics information M1 from the respiratory characteristics information acquisition unit 110. The light emission control unit 112 may control at least one of the following: the blinking speed of the light 26, the brightness of the light from the light 26, and the color of the light from the light 26. For example, based on the respiratory characteristics information M1, the light emission control unit 112 obtains operation information N2 of the light 26 by referring to the correspondence information stored in the storage unit 103. The operation information N2 of the light 26 is information for controlling at least one of the following: the blinking speed of the light 26, the brightness of the light from the light 26, and the color of the light from the light 26. The light emission control unit 112 can control the operation of the light 26 by outputting the operation information N2 of the light 26 to the light 26 via the output unit 109. While holding the robot 100 and interacting with it, user 200 observes the light 26 and breathes in accordance with the flashing speed of the light 26. This allows the robot 100 to guide user 200's breathing.

[0095] The respiratory characteristics information acquisition unit 110 may output respiratory characteristics information M1 to the motor control unit 107. The motor control unit 107 may control the operation of the servo motor 35 to guide the user 200's breathing to a predetermined state in accordance with the respiratory characteristics information M1 from the respiratory characteristics information acquisition unit 110. By controlling the operation of the servo motor 35, the motor control unit 107 can control the drive body including the arm 3 which is connected to the robot body of the robot 100 so as to be displaceable relative to it. The motor control unit 107 may control at least one of the following actions: wrapping the arm 3 around a part of the user 200's body, applying pressure to the user 200's skin with the arm 3, and stroking a part of the user 200's body with the arm 3. For example, based on the respiratory characteristics information M1, the motor control unit 107 acquires operation information N3 of the servo motor 35 by referring to the correspondence information stored in the storage unit 103. The motor control unit 107 can control the operation of the servo motor 35 by outputting operation information N3 of the servo motor 35 to the servo motor 35 via the output unit 109. The user 200 holds the robot 100, touches the robot 100, and communicates with the robot 100, breathing in accordance with the movement of the arm 3. In this way, the robot 100 can guide the user 200 to breathe.

[0096] <Examples of Robot 100's operation> Figure 9 illustrates how the robot 100 guides breathing. In Figure 9, user 200 is holding the robot 100, touching it, and communicating with it. In this state, the robot 100 inflates and deflates its abdomen 191 using the inflation / deflation control unit 111 shown in Figure 8. The robot 100 allows user 200, who is holding the robot 100, to feel the inflation and deflating of its abdomen 191. User 200 breathes in accordance with the inflation and deflating of the abdomen 191. In this way, the robot 100 can guide user 200 to breathe.

[0097] Alternatively, in the state shown in Figure 9, the robot 100 controls at least one of the following actions using the motor control unit 107 shown in Figure 9: wrapping the arm 3 around a part of the user 200's body, applying pressure to the user 200's skin with the arm 3, and stroking a part of the user 200's body with the arm 3. This allows the robot 100 to make the user 200, who is holding the robot 100, feel the movement of the arm 3, thereby inducing the user 200 to breathe in accordance with the movement of the arm 3. In addition to the above, the robot 100 may also induce the user 200 to breathe by controlling at least one of the following using the light emission control unit 112 shown in Figure 9: the blinking speed of the light 26, the brightness of the light from the light 26, and the color of the light from the light 26.

[0098] Figure 10 is a flowchart illustrating the processing performed by the control unit 13. Figure 10 shows an example of the processing performed by the control unit 13 to guide the user 200 to breathe. The control unit 13 starts the processing shown in Figure 10 when the detection unit 108 detects contact or proximity of the user 200 to the robot 100. The following explanation will also refer to the functional configuration diagram in Figure 8 as appropriate.

[0099] First, in step S101, the control unit 13 acquires the respiratory characteristics information M1 of the user 200 contained in the captured image Im, based on the captured image Im acquired via the acquisition unit 101 by the respiratory characteristics information acquisition unit 110. The respiratory characteristics information acquisition unit 110 outputs the respiratory characteristics information M1 to the inflation / deflation control unit 111.

[0100] Next, in step S102, the control unit 13 controls the operation of the inflation / deflation mechanism 18 in accordance with the respiratory characteristic information M1 from the respiratory characteristic information acquisition unit 110, using the inflation / deflation control unit 111, to guide the user 200's breathing to a predetermined state.

[0101] Next, in step S103, the control unit 13 determines whether or not to terminate the process. For example, the control unit 13 may determine to terminate the process if a predetermined time has elapsed, and not to terminate the process if that time has not elapsed. Alternatively, the control unit 13 may determine to terminate the process if it is detected that the user 200 is neither in contact with nor near the robot 100, and not to terminate the process if it is detected that the user 200 is in contact with or near the robot 100. However, other determination methods are also acceptable.

[0102] If it is determined in step S103 that the process should not be terminated (step S103, NO), the control unit 13 repeats the process from step S101 onwards. On the other hand, if it is determined in step S103 that the process should be terminated (step S103, YES), the control unit 13 terminates the process.

[0103] As described above, the control unit 13 can execute processes to induce the robot 100 to breathe the user 200. Although the process of controlling the operation of the inflation / deflation mechanism 18 has been illustrated here, the flowchart in Figure 10 can also be applied to processes of controlling the operation of the servo motor 35 or the light 26 by replacing the processing by the inflation / deflation control unit 111 with the processing by the motor control unit 107 or the light emission control unit 112.

[0104] <Main effects and benefits of Robot 100> As described above, the robot 100 includes an exterior member 10, at least one of a camera 11 and a vital sensor 14 (first detection unit) that acquires information about the user's breathing, and a control unit 13 that controls the operation of the robot 100 to guide the user's breathing to a predetermined state based on the information acquired by the first detection unit. For example, the control unit 13 guides the user's breathing to a predetermined state by controlling the operation of at least one of the drive unit including the inflation / contraction mechanism 18, the light 26 (light-emitting unit), and the arm 3.

[0105] In this embodiment, when the robot 100 and the user 200 are communicating, the robot 100 guides the user 200 to breathe, so the robot 100 can naturally guide the user 200's breathing. In other words, this embodiment provides a robot that can naturally guide the user's breathing.

[0106] Furthermore, in this embodiment, during the period when the robot 100 and the user 200 are in contact, the camera 11 acquires respiratory characteristic information M1 of the user 200 in an unrestricted and natural state without contacting the user 200. The robot 100 controls its own movements based on this respiratory characteristic information M1. As a result, the robot 100 can naturally guide the user 200's breathing without making the user 200 feel restricted.

[0107] Furthermore, the robot 100 grasps the user 200's condition using the first detection unit and provides respiratory guidance according to the user 200's condition, thereby enabling appropriate respiratory guidance.

[0108] Furthermore, in this embodiment, since breathing is guided by the movements of the robot 100, it is easy to create many opportunities for interaction between the user 200 and the robot 100. As a result, the robot 100 can guide the user 200's breathing amidst many opportunities for interaction.

[0109] [Second Embodiment] A robot according to the second embodiment will now be described. This embodiment differs from the first embodiment in that it controls the robot's operation to guide the user's breathing to a predetermined state based on information regarding at least one of the user's pulse, heart rate, blood pressure, and pulse pressure acquired by a second detection unit such as a vital sensor. Note that the same names and reference numerals as in the first embodiment indicate the same or similar components, and detailed explanations will be omitted as appropriate. This also applies to the embodiments described later.

[0110] <Example of the functional configuration of the control unit 13a> Figure 11 is a block diagram illustrating the functional configuration of the control unit 13a of the robot 100a according to the second embodiment. The control unit 13a includes a psychological state information acquisition unit 113, an expansion / contraction control unit 111a, a motor control unit 107a, and a light emission control unit 112a.

[0111] The control unit 13a can implement the functions of the psychological state information acquisition unit 113, the expansion / contraction control unit 111a, the motor control unit 107a, and the light emission control unit 112a by having a processor such as the CPU 131 shown in Figure 7 execute processes defined in a program stored in a non-volatile memory such as the ROM 132. Some of the functions of the control unit 13a may be implemented by an external device such as a PC or server, or by distributed processing between the control unit 13 and the external device.

[0112] The psychological state information acquisition unit 113 acquires psychological state information M2 based on information about at least one of the user's pulse rate, heart rate, blood pressure, and pulse pressure output from the vital sensor 14. Psychological state information M2 is information about the user 200's psychological state. Psychological state information M2 includes information indicating the user 200's degree of relaxation, information related to the user 200's degree of relaxation, information indicating the user 200's degree of stress, information related to the user 200's degree of stress, information indicating the user 200's emotions, information related to the user 200's emotions, etc. For example, the more relaxed the user 200 is, the lower their pulse rate, heart rate, etc., and the lower their blood pressure, pulse pressure, etc. will be. Therefore, the psychological state information acquisition unit 113 can acquire psychological state information M2, etc., indicating the user 200's degree of relaxation, from the output of the vital sensor 14.

[0113] The psychological state information acquisition unit 113 outputs the acquired psychological state information M2 to the inflation / deflation control unit 111a. Based on the respiratory characteristics information M1 and the psychological state information M2, the inflation / deflation control unit 111a controls the operation of the inflation / deflation mechanism 18 to guide the user 200's breathing to a predetermined state.

[0114] The psychological state information acquisition unit 113 may output psychological state information M2 to at least one of the expansion / contraction control unit 111a, the light emission control unit 112a, and the motor control unit 107a. The light emission control unit 112a can control the operation of the light 26 to guide the user 200's breathing to a predetermined state based on the respiratory characteristic information M1 and the psychological state information M2. The motor control unit 107a can control the operation of the servo motor 35 to guide the user 200's breathing to a predetermined state based on the respiratory characteristic information M1 and the psychological state information M2.

[0115] <Example of processing by the control unit 13a> Figure 12 is a flowchart illustrating the processing performed by the control unit 13a. Figure 12 shows the processing performed by the control unit 13a to guide the user 200 to breathe. The control unit 13a starts the processing shown in Figure 12 when the detection unit 108 detects contact or proximity of the user 200 to the robot 100a. The following explanation will also refer to the functional configuration diagram in Figure 11 as appropriate. Furthermore, the processing in steps S121 to S122 in Figure 12 is the same as the processing in steps S101 to S102 in Figure 10, so redundant explanations will be omitted here.

[0116] In step S123, the control unit 13a acquires heart rate information as user 200's psychological state information M2 based on the information about the user 200's heart rate output from the vital sensor 14, using the psychological state information acquisition unit 113. The psychological state information acquisition unit 113 outputs the acquired heart rate information to the inflation / deflation control unit 111a.

[0117] Next, in step S124, the inflation / contraction control unit 111a determines whether the heart rate in the heart rate information acquired from the psychological state information acquisition unit 113 is below a threshold. For example, the heart rate threshold is predetermined and stored in the storage unit 103. The inflation / contraction control unit 111a can acquire the heart rate threshold information by referring to the storage unit 103.

[0118] In step S124, if it is determined that the heart rate is not below the threshold (step S124, NO), the control unit 13a determines that the user 200 is not relaxed and repeats the process from step S121 onwards. On the other hand, in step S124, if it is determined that the heart rate is below the threshold (step S124, YES), the control unit 13a determines that the user 200 is relaxed and terminates the process.

[0119] As described above, the control unit 13a can perform processing to induce breathing of the user 200 based on the user 200's respiratory characteristics information M1 and the user 200's heart rate information. Here, heart rate information is used as an example of psychological state information M2, but psychological state information M2 may also be information on at least one of the user's pulse, blood pressure, and pulse pressure. Furthermore, although the process of controlling the operation of the inflation / contraction mechanism 18 is used as an example here, the flowchart in Figure 12 can also be applied to the process of controlling the operation of the servo motor 35 or the light 26 by replacing the processing by the inflation / contraction control unit 111a with the processing by the motor control unit 107a or the light emission control unit 112a.

[0120] <Main effects and benefits of robot 100a> As described above, in this embodiment, the control unit 13a controls the operation of the robot 100a to guide the user's breathing to a predetermined state, based on information about the user's breathing acquired by either the camera 11 or the vital sensor 14 (first detection unit) and information about at least one of the user's pulse, heart rate, blood pressure, and pulse pressure acquired by the vital sensor 14 (second detection unit). For example, the control unit 13a controls the operation of the robot 100a to guide the user's breathing to a predetermined state in accordance with information about the user's psychological state obtained based on the output from the vital sensor 14.

[0121] In this embodiment, the user's psychological state, such as relaxation, can be determined from information on at least one of the user's pulse, heart rate, blood pressure, and pulse pressure, allowing for respiratory guidance to improve the psychological state. For example, after performing respiratory guidance, robot 100a can determine whether or not the user 200 is in a relaxed state, and if not, it can further guide the user 200 into a relaxed state. Other effects and advantages are the same as in the first embodiment.

[0122] [Third Embodiment] A robot according to the third embodiment will now be described. This embodiment differs from the first embodiment in that, based on information regarding the user's holding state of the robot, at least one of the abdominal inflation / deflation mechanism and the back inflation / deflation mechanism included in the inflation / deflation mechanism is inflated and deflated.

[0123] <Example configuration of robot 100b> Figures 13 and 14 illustrate the inflation / deflation mechanism 18A in the robot 100b according to the third embodiment. Figure 13 shows an example of the arrangement of the inflation / deflation mechanism 18A in the robot 100b. Figure 14 shows an example of the configuration of the back inflation / deflation mechanism 18b in the inflation / deflation mechanism 18A.

[0124] As shown in Figure 13, the inflation / deflation mechanism 18A includes an abdominal inflation / deflation mechanism 18a located on the abdomen 191 of the robot 100b, and a back inflation / deflation mechanism 18b located on the back 192 of the robot 100b. The abdominal inflation / deflation mechanism 18a is positioned to be able to press the outer covering member 10 of the abdomen 191. The configuration and function of the abdominal inflation / deflation mechanism 18a are the same as those of the inflation / deflation mechanism 18 described above, so a redundant explanation is omitted here.

[0125] The back inflation / contraction mechanism 18b is positioned to press the exterior member 10 of the back portion 192. As shown in Figure 14, the back inflation / contraction mechanism 18b includes a support portion 181b, a pressing drive portion 182b, a rotating portion 183b, and a pressing portion 184b. The support portion 181b is fixed to the side of the torso frame 16 opposite to the side where the support portion 181 is fixed, by a screw member, adhesive member, etc. That is, the support portion 181 in the abdominal inflation / contraction mechanism 18a is fixed to the abdominal 191 side of the torso frame 16, and the support portion 181b in the back inflation / contraction mechanism 18b is fixed to the back portion 192 side of the torso frame 16. The support portion 181b supports the pressing drive portion 182b.

[0126] The back expansion / contraction mechanism 18b rotates the rotating part 183b around its pivot axis (in the direction of arrow 180b) using the pressing drive unit 182b, thereby causing the pressing part 184b to reciprocate around the pivot axis of the rotating part 183b. The back expansion / contraction mechanism 18b can press or not press the exterior member 10 of the back 192 by the oscillation of the pressing part 184b. In the back expansion / contraction mechanism 18b, when the rotating part 183b rotates counterclockwise around its pivot axis, the pressing part 184b presses the exterior member 10 of the back 192 from the inside out. In this state, the exterior member 10 expands in the direction pressed by the pressing part 184b, and the back 192 becomes expanded. On the other hand, when the rotating part 183b rotates clockwise around its pivot axis, the pressing part 184b does not contact the outer casing member 10 of the back portion 192, and is not pressing the outer casing member 10. In this state, the outer casing member 10 contracts due to its own elasticity, and the back portion 192 becomes contracted. The back portion expansion and contraction mechanism 18b can expand and contract the back portion 192 at a predetermined expansion and contraction frequency and predetermined expansion and contraction amplitude in response to the back portion expansion and contraction control signal from the control unit 13b.

[0127] <Example of functional configuration of control unit 13b> Figure 15 is a block diagram illustrating the functional configuration of the control unit 13b of the robot 100b. The control unit 13b includes a holding state information acquisition unit 114 and an expansion / contraction control unit 111b.

[0128] The control unit 13b can implement the functions of the holding state information acquisition unit 114 and the expansion / contraction control unit 111b by having a processor such as the CPU 131 shown in Figure 7 execute processes defined in a program stored in a non-volatile memory such as the ROM 132. Some of the functions of the control unit 13b may be implemented by an external device such as a PC or server, or by distributed processing between the control unit 13b and the external device.

[0129] The holding state information acquisition unit 114 acquires holding state information M3, which is information regarding the holding state of the robot 100b by the user 200. For example, if the user 200 is holding the robot 100b so that its abdomen 191 is in contact with the user 200, the holding state information acquisition unit 114 acquires holding state information M3 indicating that the abdomen 191 is in contact with the user 200. On the other hand, if the user 200 is holding the robot 100b so that its back 192 is in contact with the user 200, the holding state information acquisition unit 114 acquires holding state information M3 indicating that the back 192 is in contact with the user 200. The holding state information acquisition unit 114 can detect whether the abdomen 191 or the back 192 of the robot 100b is in contact with the user 200 by, for example, processing the image Im captured by the camera 11, and acquire the holding state information M3.

[0130] The holding state information acquisition unit 114 outputs the acquired holding state information M3 to the inflation / deflation control unit 111b. Based on the respiratory characteristic information M1 and the holding state information M3, the inflation / deflation control unit 111b controls the operation of the inflation / deflation mechanism 18A to guide the user 200's breathing to a predetermined state. In other words, based on the holding state information M3, the inflation / deflation control unit 111b inflates and deflates at least one of the abdominal inflation / deflation mechanism 18a and the back inflation / deflation mechanism 18b. Specifically, based on the holding state information M3, the inflation / deflation control unit 111b controls the operation of the abdominal inflation / deflation mechanism 18a by outputting operation information N1a via the output unit 109 if the user 200 is holding the robot 100b so that the abdomen 191 is in contact with the user 200. Furthermore, based on the holding state information M3, the inflation / contraction control unit 111b controls the operation of the back inflation / contraction mechanism 18b by outputting operation information N2a via the output unit 109 when the user 200 is holding the robot 100b so that the back portion 192 is in contact with the user 200.

[0131] <Example of processing by the control unit 13b> Figure 16 is a flowchart illustrating the processing performed by the control unit 13b. Figure 16 shows the processing performed by the control unit 13b to guide the user 200 to breathe. The control unit 13b starts the processing shown in Figure 16 when the detection unit 108 detects contact or proximity of the user 200 to the robot 100b. The following explanation will also refer to the functional configuration diagram in Figure 15 as appropriate. Furthermore, the processing in step S161 in Figure 16 is the same as the processing in step S101 in Figure 10, so a redundant explanation will be omitted here.

[0132] In step S162, the control unit 13b acquires holding state information M3, which is information regarding the holding state of the robot 100b by the user 200, using the holding state information acquisition unit 114. The holding state information acquisition unit 114 outputs the acquired holding state information M3 to the expansion / contraction control unit 111b.

[0133] Next, in step S163, the control unit 13b controls the operation of the inflation / deflation mechanism 18A based on the respiratory characteristic information M1 and the holding state information M3, using the inflation / deflation control unit 111b to guide the user 200's breathing to a predetermined state.

[0134] Next, in step S164, the control unit 13b determines whether or not to terminate the process. For example, the control unit 13b can determine to terminate the process if a predetermined time has elapsed, and not to terminate the process if that time has not elapsed. Alternatively, the control unit 13b can determine to terminate the process if it is detected that the user 200 is neither in contact with nor near the robot 100b, and not to terminate the process if it is detected that the user 200 is in contact with or near the robot 100b.

[0135] If it is determined in step S164 that the process should not be terminated (step S164, NO), the control unit 13b repeats the process from step S161 onwards. On the other hand, if it is determined in step S164 that the process should be terminated (step S164, YES), the control unit 13b terminates the process.

[0136] As described above, the control unit 13b can execute a process to induce the robot 100b to breathe the user 200.

[0137] <Main effects and benefits of robot 100b> As described above, in this embodiment, the inflation / deflation mechanism 18A includes an abdominal inflation / deflation mechanism 18a located on the abdomen 191 of the robot 100b and a back inflation / deflation mechanism 18b located on the back 192 of the robot 100b. Based on the holding state information M3, the control unit 13b inflates and deflates at least one of the abdominal inflation / deflation mechanism 18a and the back inflation / deflation mechanism 18b.

[0138] For example, if user 200 is holding robot 100b so that the robot's back portion 192 is in contact with it, robot 100b cannot provide respiratory guidance to user 200 even if it inflates and deflates its abdomen 191. Robot 100b inflates and deflates at least one of the abdominal inflation / deflation mechanism 18a and the back inflation / deflation mechanism 18b according to the holding state information M3 obtained by detecting whether the abdomen 191 or the back portion 192 of robot 100b is in contact with user 200. As a result, robot 100b can reliably provide respiratory guidance to user 200 regardless of how user 200 is holding robot 100b. Note that if user 200 is holding robot 100b so that the side portion of robot 100b is in contact with user 200, the control unit 13b may inflate and deflate both the abdominal inflation / deflation mechanism 18a and the back inflation / deflation mechanism 18b. Furthermore, the effects other than those described above are the same as in the first embodiment.

[0139] Although preferred embodiments have been described in detail above, the invention is not limited to the embodiments described above, and various modifications and substitutions can be made to the embodiments described above without departing from the scope of the claims.

[0140] Furthermore, the ordinal numbers, quantities, and other figures used in the above-described embodiments are all illustrative to specifically illustrate the technology of the present invention, and the present invention is not limited to these illustrative figures. Also, the connection relationships between the components are illustrative to specifically illustrate the technology of the present invention, and the connection relationships that realize the functions of the present invention are not limited thereto.

[0141] The robot according to this embodiment is particularly suitable for promoting oxytocin secretion and providing comfort (a sense of security or self-affirmation) to working adults living alone, seniors whose children have become independent, and frail elderly people receiving home medical care. However, it is not limited to this use and can be used to provide comfort to a variety of users.

[0142] The aspects of this disclosure are, for example, as follows: <1> A robot capable of inducing a user's breathing, comprising: an exterior member; a first detection unit for acquiring information regarding the user's breathing; and a control unit that controls the robot's operation to induce the user's breathing to a predetermined state based on the information acquired by the first detection unit. <2> The first detection unit includes at least one of an electromagnetic wave sensor that acquires information about the user's breathing using electromagnetic waves, and an image sensor that acquires information about the user's breathing based on an image of the user. <1> This is the robot described in [the document]. <3> The control unit further comprises a second detection unit that outputs information relating to at least one of the user's pulse, heart rate, blood pressure, and pulse pressure, and the control unit controls the operation of the robot to guide the user's breathing to the predetermined state based on the information acquired by the second detection unit. <1> or the above <2> This is the robot described in [the document]. <4> The control unit controls the operation of the robot in order to guide the user's breathing to the predetermined state, in accordance with the information on the user's psychological state obtained based on the information acquired by the second detection unit. <3> This is the robot described in [the document]. <5> The control unit controls at least one operation of the following: an inflatable and deflated mechanism that can inflate and deflate the torso of the robot, a light-emitting unit provided on the face of the robot, and a drive unit that includes an arm that is displaceable relative to the robot body of the robot. <1> From the above <4> It is a robot described in one of the following lists. <6> The inflation / deflation mechanism includes an abdominal inflation / deflation mechanism located on the abdomen of the robot and a back inflation / deflation mechanism located on the back of the robot, and the control unit inflates and deflates at least one of the abdominal inflation / deflation mechanism and the back inflation / deflation mechanism based on information regarding the state in which the user is holding the robot. <5> This is the robot described in [the document]. <7> The control unit controls at least one of the following: the blinking speed of the light-emitting unit, the brightness of the light from the light-emitting unit, and the color of the light from the light-emitting unit. <5> This is the robot described in [the document]. <8> The control unit controls at least one of the following actions: wrapping the arm around a part of the user's body, applying pressure to the user's skin with the arm, and stroking a part of the user's body with the arm. <5> This is the robot described in [the document]. <9> The exterior member includes at least one of an elastic body and a porous body, <1> From the above <8> It is a robot described in one of the following lists.

[0143] This application claims priority based on Japanese Patent Application No. 2022-156760, filed with the Japan Patent Office on September 29, 2022, and includes the entire contents of that Japanese Patent Application. [Explanation of Symbols]

[0144] 1 Torso 2 heads 2a Right eye 2b Left eye 2c Mouth 2d Right cheek 2e Left cheek 3 Arms 3a Right arm 3b Left arm 4 legs 4a Right leg 4b Left leg 5 Nose 10 Exterior components 11. Camera (Example of a first detection unit, example of an image sensor) 12. Tactile sensors 13, 13a, 13b Control Unit 14. Vital Sensors (Examples of electromagnetic wave sensors, examples of first detection units, examples of second detection units) 141 Microwave Emission Unit 142 Microwave Receiver 15 batteries 16 Torso Frame 17 Torso mounting platform 18, 18A Expansion mechanism 18a Abdominal expansion and contraction mechanism 18b Back inflation / deflation mechanism 21. First Capacitive Sensor 22 Head Frames 23 Head rest 24 displays 24a Right eye display 24b Left eye display 25 speakers 26. Light (Example of a light-emitting part) 26a Right cheek light 26b Left cheek light 27 Head connection mechanism 31. Second Capacitive Sensor 32a Right arm frame 32b Left arm frame 33 Right arm support platform 34a Right arm connecting mechanism 34b Left arm connecting mechanism 35 Servo motors 35a Right arm servo motor 35b Left arm servo motor 35c Head Servo Motor 35d Right leg servo motor 35e Left leg servo motor 41a Right leg wheel 41b Left leg wheel 42a Right leg frame 42b Left leg frame 44a Right leg connection mechanism 44b Left leg connection mechanism 100, 100a, 100b robots 101 Acquisition Department 102 Communication Control Unit 103 Storage Unit 104 Authentication Department 105 Registration Department 106 Start Control Unit 107, 107a Motor control unit 108 Detection unit 109 Output section 110 Breathing characteristic information acquisition unit 111, 111a, 111b Expansion and contraction control unit 112, 112a Light emission control unit 113 Psychological State Information Acquisition Unit 114 Holding status information acquisition unit 130 Correspondence Information 131 CPU 132 ROM 133 RAM 134 HDD / SSD 135 Device Connection Interface 136 Communication I / F 181 Support part 182 Pressing drive unit 183 Rotating part 184 Pressing part 191 Abdomen 192 Back 200 users 201 Light source for photography 202 wavelength filter 203 Lens 204 Image sensor A System Bath B. Biometric information C1 First capacitance signal C2 Second capacitance signal F1a Right shoulder frame F2a Upper Right Arm Frame F3a Right elbow frame F4a Right Forearm Frame F1b Left shoulder frame F2b Left Upper Arm Frame F3b left elbow frame F4b Left Forearm Frame F1c Cervical Frame F2c Face Frame Im (photographed image) L irradiation light Ms emission wave Mr reflected wave M1 Breathing characteristic information M2 Mental state information M3 Holding Status Information M1a Right shoulder servo motor M2a Right Upper Arm Servo Motor M3a Right Elbow Servo Motor M4a Right Forearm Servo Motor M1b Left shoulder servo motor M2b Left Upper Arm Servo Motor M3b Left Elbow Servo Motor M4b Left Forearm Servo Motor M1c neck servo motor M2c Face Servo Motor N1, N1a, N2a, N2, N3 operating information R Reflected light S Tactile signals

Claims

1. A robot capable of inducing the user's breathing, Exterior components and A first detection unit that acquires information regarding the user's breathing, The robot has a control unit that controls the robot's operation to guide the user's breathing to a predetermined state based on the information acquired by the first detection unit, The robot has multiple expansion and contraction parts located at different positions, The control unit operates the inflatable / contractable part of the plurality of inflatable / contractable parts that corresponds to the position in contact with the user, based on information regarding the state in which the user is holding the robot.

2. The robot according to claim 1, wherein the first detection unit includes at least one of an electromagnetic wave sensor that acquires information regarding the user's breathing using electromagnetic waves, and an image sensor that acquires information regarding the user's breathing based on an image of the user.

3. The system further includes a second detection unit that acquires information regarding at least one of the user's pulse, heart rate, blood pressure, and pulse pressure. The robot according to claim 1 or 2, wherein the control unit further controls the operation of the robot to guide the user's breathing to the predetermined state based on the information acquired by the second detection unit.

4. The robot according to claim 3, wherein the control unit controls the operation of the robot so as to guide the user's breathing to the predetermined state in accordance with information on the user's psychological state obtained based on the information acquired by the second detection unit.

5. The robot according to claim 1 or 2, wherein the control unit controls at least one operation of an inflatable and deflated mechanism that can inflate and deflate the torso of the robot, a light-emitting unit provided on the head of the robot, and a drive unit that includes an arm that is displaceable relative to the robot body of the robot.

6. The inflation / deflation mechanism includes an abdominal inflation / deflation mechanism located in the abdomen of the robot and a back inflation / deflation mechanism located in the back of the robot. The robot according to claim 5, wherein the control unit inflates and deflates at least one of the abdominal inflation / deflation mechanism and the back inflation / deflation mechanism based on information regarding the state in which the robot is held by the user.

7. The aforementioned expansion and contraction mechanism further comprises a support part, a pressing drive part, a rotating part, and a pressing part. The robot according to claim 5, wherein the rotating part includes a rotating shaft that causes the pressing part to reciprocate and swing so as to expand and contract the exterior member of the body.

8. The robot according to claim 5, wherein the control unit controls at least one of the flashing speed of the light-emitting unit, the brightness of the light from the light-emitting unit, and the color of the light from the light-emitting unit.

9. The robot according to claim 5, wherein the control unit controls at least one of the following actions: wrapping the arm around a part of the user's body; applying pressure to the user's skin with the arm; and stroking a part of the user's body with the arm.

10. The robot according to claim 1 or 2, wherein the exterior member includes at least one of an elastic body and a porous body.

Images