Robot unit, robot system, and robot

Abstract

A robot unit according to the present disclosure comprises a drive mechanism (12), an outer skin (11), a controller (21), and an input interface (24). The outer skin (11) is flexible and covers the drive mechanism (12). The controller (21) controls the drive mechanism (12). The input interface (24) receives at least one of physiological information, behavior information, and a medical examination result of a subject. The controller (21) drives the drive mechanism (12) so as to reduce the dimension in the height direction from an installation surface of the drive mechanism (12), in response to said at least one of the physiological information, the behavior information, and the medical examination result of the subject meeting a state deterioration condition.

Description

Robot units, robot systems, and robots

[0001] This disclosure relates to robot units, robot systems, and robots, and more specifically, to technologies for inducing behavioral changes in users.

[0002] In recent years, interest in maintaining and improving health has increased, and systems that provide information on maintaining and improving health to each individual have been proposed. For example, Christian Krauter, Katrin Angerbauer, Aimee Sousa Calepso, Alexander Achberger, Sven Mayer, and Michael Sedlmair. 2024. Sitting Posture Recognition and Feedback: A Literature Review. In Proceedings of the 2024 CHI Conference on Human Factors in Computing Systems (CHI '24). Association for Computing Machinery, New York, NY, USA, Article 943, 1-20. (Non-Patent Literature 1) discloses a technology that reflects the user's posture in the shape of an artificial flower. Furthermore, technologies that obtain the results of a user's health checkup and encourage actions to improve their lifestyle have also been proposed (for example, "kencom" https: / / kencom.jp / login (Non-Patent Literature 2)).

[0003] Christian Krauter, Katrin Angerbauer, Aimee Sousa Calepso, Alexander Achberger, Sven Mayer, and Michael Sedlmair. 2024. Sitting Posture Recognition and Feedback: A Literature Review. In Proceedings of the 2024 CHI Conference on Human Factors in Computing Systems (CHI '24). Association for Computing Machinery, New York, NY, USA, Article 943, 1-20. 「kencom」https: / / kencom.jp / login

[0004] According to the technologies disclosed in Non-Patent Document 1 and Non-Patent Document 2, users can easily recognize information regarding their own health or posture and can easily understand the actions to be taken to improve their health. However, even if users recognize their own health status, posture, and actions to be taken, motivation may not arise in the users, and there are cases where users do not take actions to improve their health status. Therefore, there is a need for a technology that not only presents information regarding users' own health status, posture, and actions to be taken but also improves the motivation to transform actions and / or take actions.

[0005] The present disclosure has been made in view of such circumstances, and an object thereof is to provide a technology that improves the motivation to transform actions and / or take actions in users.

[0006] A robot unit according to a certain aspect of this disclosure comprises a drive mechanism, a flexible outer shell covering the drive mechanism, a controller for controlling the drive mechanism, and an input interface for receiving at least one of the subject's physiological information, behavioral information, and health check results, wherein the controller drives the drive mechanism so that its height from the mounting surface decreases in response to at least one of the subject's physiological information, behavioral information, and health check results satisfying a condition of deterioration.

[0007] A robot system according to a certain aspect of this disclosure comprises the above-described robot unit and a measurement unit for acquiring physiological information of a target.

[0008] A robot according to a certain aspect of this disclosure comprises a drive mechanism, a flexible outer shell covering the drive mechanism, and a control device for controlling the drive mechanism, wherein the control device drives the drive mechanism so that its height from the mounting surface decreases in response to at least one of the subject's physiological information, behavioral information, and health check results satisfying a condition of deterioration.

[0009] A robot unit according to a certain aspect of this disclosure comprises a drive mechanism, a flexible outer shell covering the drive mechanism, a controller for controlling the drive mechanism, and an input interface for receiving at least one of the subject's physiological information, behavioral information, and health check results. The controller determines drive parameters that can visually represent the robot's condition based on at least one of the subject's physiological information, behavioral information, and health check results, and drives the drive mechanism based on the drive parameters.

[0010] A robot unit according to a certain aspect of this disclosure includes a robot comprising a drive mechanism and a flexible outer skin covering the drive mechanism; a controller for controlling the drive mechanism; and an input interface for receiving at least one of the subject's physiological information, behavioral information, and health check results, wherein the controller determines drive parameters that can visually represent the robot's condition based on at least one of the subject's physiological information, behavioral information, and health check results, and drives the drive mechanism based on the drive parameters.

[0011] According to this disclosure, it is possible to improve the motivation of users to change their behavior and / or take action.

[0012] This is a schematic diagram showing the overall configuration of the robot system 100 in Embodiment 1. This is a functional block diagram of the robot system 100 in Embodiment 1. This is a perspective view showing the configuration of the drive mechanism 12. This is a front view showing the configuration of the drive mechanism 12. This is a diagram for explaining the driving mode of the drive mechanism 12. This is a diagram showing an example of a conversion table included in the determination data 232. This is a diagram for explaining the changes in the appearance and operation of the robot 10. This is a diagram showing the changes in the appearance of the robot 10 when a force is applied from the outside. This is a diagram for explaining the changes in the appearance of the robot 10 when the drive mechanism 12 is driven so that the height dimension of the drive mechanism 12 from the installation surface of the drive mechanism 12 becomes smaller. This is a flowchart for explaining the processing of the robot 10, processing unit 20, and measuring instrument 30 in the robot system 100. This is a schematic diagram showing the overall configuration of the robot system 100A in Embodiment 2. This is a functional block diagram of the robot system 100A in Embodiment 2. This is a schematic diagram showing the overall configuration of the robot system 100B in Embodiment 3. This is a functional block diagram of the robot system 100B in Embodiment 3. This is a schematic diagram showing the overall configuration of the robot system 100C in Embodiment 4. This is a functional block diagram of the robot system 100C in Embodiment 4. This is a flowchart for explaining the processing performed by the controller in Modification 1. This is a diagram for explaining the processing performed by the controller in Modification 2. This is a flowchart for explaining the processing of the robot, processing unit, and measuring instrument in Modification 2. This is a diagram showing the configuration of the drive mechanism in the modified example. This is a diagram for explaining the driving mode of the drive mechanism in the modified example. This is a diagram for explaining how the robot tilts due to the drive mechanism in the modified example. This is a diagram showing the change in the appearance of the robot when an external force is applied. This is a diagram showing an example of a conversion table included in the judgment data. This is a diagram for explaining an example of daily operation.

[0013] The embodiments of this disclosure will be described in detail below with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and their descriptions will not be repeated.

[0014] [Embodiment 1] In recent years, interest in maintaining and improving health has increased, and systems have been proposed that present information about each individual's health status. However, even if users are presented with their current health status and attitude, or notified of actions they should take, they may not take action to improve their health.

[0015] For example, consider a scenario where a user is working on a computer. If the user works with their head jutting forward or their back hunched, they may experience fatigue. Even if they recognize their posture during work, they may not have the motivation to change it.

[0016] Therefore, the robot system 100 according to this disclosure reduces the dimensions of the robot 10, which is covered with a flexible outer skin 11, based on at least one of the user's physiological information, behavioral information, and health checkup results. This causes wrinkles to form in the outer skin 11 of the robot 10. The reduction in the dimensions of the robot 10 and the formation of wrinkles in the outer skin 11 represent the robot 10's "discomfort." Users who feel the robot's "discomfort" are expected to be motivated to change their behavior and / or take action to alleviate the robot's "discomfort."

[0017] Embodiment 1 describes a robot system 100 that, when a user P is working with a computer, changes their posture to one that reduces fatigue, and improves their motivation to maintain that fatigue-reducing posture. Specifically, the configuration of the robot system 100 according to Embodiment 1 will be described below with reference to Figures 1 and 2. In the following description of Embodiment 1, user P is an example of an object, and the computer display D used by user P for work is an example of a first object. The distance L between user P and display D is an example of the object's physiological information and posture data.

[0018] Figure 1 is a schematic diagram showing the overall configuration of the robot system 100 in Embodiment 1. Figure 2 is a functional block diagram of the robot system 100 in Embodiment 1. The robot system 100 comprises a robot 10, a processing unit 20, and a measuring instrument 30. The robot 10 and the processing unit 20 are connected to enable communication by wire or wireless. The processing unit 20 and the measuring instrument 30 are connected to enable communication by wire or wireless. In this disclosure, "robot" refers to a device that drives an internal drive mechanism in response to instructions. In Embodiment 1, the robot 10 corresponds to "robot". In this disclosure, "robot unit" refers to a configuration that includes a robot and a device that outputs instructions to the robot based on at least one of the user's physiological information, behavioral information, and health check results. In Embodiment 1, the robot unit 50, which includes the robot 10 and the controller 21, corresponds to "robot unit". "Robot system" refers to a configuration that includes a robot unit and a measuring instrument and / or input device for acquiring at least one of the user's physiological information, behavioral information, and health check results. In Embodiment 1, the robot system 100 corresponds to the "robot system".

[0019] The robot 10 changes its appearance and / or behavior based on the instructions it receives. The robot 10 includes an outer shell 11, a drive mechanism 12, a control device 13, a receiving device 14, and a sound output unit 15. The drive mechanism 12, the control device 13, the receiving device 14, and the sound output unit 15 are communicated with each other via a bus.

[0020] The outer shell 11 covers the drive mechanism 12 of the robot 10. Therefore, when user P uses the robot system 100, user P can only see the outer shell 11 of the robot 10's components and cannot see the drive mechanism 12. The details of the drive mechanism 12 will be described later, but a part of the base 121 of the drive mechanism 12 may be visible to user P from the exterior of the robot 10. In other words, the outer shell 11 covers the drive mechanism 12 in a manner that prevents its structure and / or shape from being visible from the outside. This allows the user to feel that the robot 10 has a biological element, as if it were alive, and also possesses a certain cuteness.

[0021] The outer skin 11 is flexible. Therefore, the outer skin 11 deforms as the drive mechanism 12 of the robot 10 changes. This causes wrinkles to form in the outer skin 11. The outer skin 11 is made of, for example, a cloth-like felt. In addition to felt, the outer skin 11 may be made of, for example, cotton, linen, silk, wool, Tencel, rayon, polyester, nylon, acrylic, urethane resin, silicone resin, polyethylene, natural rubber, synthetic rubber, and thermoplastic elastomer. The outer skin 11 has parts 111a and 111b that remind the user P of the "eyes" of the robot 10. It is preferable that, when the outer skin 11 is covering the drive mechanism 12, the length of the outer circumference of the surface parallel to the installation surface of the drive mechanism 12 becomes shorter as it moves away from the installation surface of the drive mechanism 12. In other words, it is preferable that the length of the outer circumference of the outer skin 11 at a first distance from the installation surface of the drive mechanism 12 is longer than the length of the outer circumference at a second distance greater than the first distance. By providing the outer shell 11 in this way, the appearance of the robot 10 can give the user P the impression that the object is covered with cloth.

[0022] The drive mechanism 12 is configured to be driven based on instructions received from the control device 13. Specifically, it is configured to extend and contract vertically relative to the mounting surface on which the robot 10 is installed, to bend at least a portion of it relative to the mounting surface on which the robot 10 is installed, and to rotate around an axis substantially perpendicular to the mounting surface. By extending and contracting vertically relative to the mounting surface on which the robot 10 is installed, and / or bending at least a portion of it relative to the mounting surface on which the robot 10 is installed, the height dimension of the drive mechanism 12 from the mounting surface is reduced. In Embodiment 1, extending and contracting vertically relative to the mounting surface on which the robot 10 is installed, and bending at least a portion of it relative to the mounting surface on which the robot 10 is installed, are achieved by the rotation of a member around an axis substantially parallel to the mounting surface (axis R2 in Figure 3). The configuration of the drive mechanism 12 will be described in detail later.

[0023] The control device 13 controls the driving of the drive mechanism 12. The control device 13 drives the drive mechanism 12 based on instructions received from the processing device 20.

[0024] The receiving device 14 receives instructions from the processing device 20. The instructions include information regarding the driving mode of the drive mechanism 12 and information regarding the sound output unit 15 to output. For example, the instructions include driving the drive mechanism 12 so that the height dimension of the drive mechanism 12 from the installation surface is reduced. For example, the instructions include driving the drive mechanism 12 so that the height dimension of the drive mechanism 12 from the installation surface is increased, and instructions to rotate the drive mechanism 12.

[0025] The sound output unit 15 outputs sound. The sound output unit 15 is, for example, a speaker. The control device 13 causes the sound output unit 15 to output sound based on instructions received from the processing device 20. The control device 13 may also cause the sound output unit 15 to output sound independently of instructions from the processing device 20. The sounds output may be, for example, the sounds of small animals and warning sounds.

[0026] The processing unit 20 outputs instructions to the robot 10 based on at least one of the received physiological information of user P, behavioral information of user P, and the results of user P's health check. The processing unit 20 mainly includes a controller 21, an input / output interface (I / F) 24, an input unit 25, and an output unit 26. Each of these units is connected to each other via a bus so as to be able to communicate with each other. The controller 21 has a processor 22 and a memory 23. The processing unit 20 is, for example, a computer and a smartphone. Note that the processing unit 20 does not have to be composed of one computer and / or smartphone, but may be composed of multiple computers and / or smartphones. In one embodiment, the controller 21 controls the drive mechanism 12 by outputting instructions to the control device 13.

[0027] The processor 22 is an example of an electrical circuit and controls the operation of the processing unit 20 by executing a given program. The program executed by the processor 22 may be stored in memory 23 or in an external storage device accessible to the processor 22. The processor 22 is, for example, a CPU (Central Processing Unit).

[0028] Memory 23 non-temporarily stores a program including a determination program 231 executed by the processor 22, and determination data 232. Memory 23 includes volatile memory (e.g., RAM (Random Access Memory)) and non-volatile memory (e.g., ROM (Read Only Memory), hard disk drives, and solid-state drives). The determination program 231 and determination data 232 may be stored in an external storage device accessible by the processor 22. When the determination program 231 is executed by the processor 22, the current state of user P is evaluated and the robot 10 is driven. The processing performed by the processor 22 when the determination program 231 is executed will be described in detail later.

[0029] The judgment data 232 is data used by the judgment program 231 when making a judgment. The judgment data 232 includes a conversion table for identifying target values ​​from at least one of physiological information, behavioral information, and health checkup results, and a condition deterioration condition. The judgment data 232 may be predetermined or entered by user P. Alternatively, the judgment data 232 may be generated by the controller 21 based on at least one of the physiological information, behavioral information, and health checkup results acquired by the controller 21. The judgment data 232 will be described in detail later.

[0030] The input / output interface 24 is an interface for exchanging various types of data between the processor 22 and a device including an input unit 25 connected to the input / output interface 24. The input / output interface 24 is implemented, for example, by a network adapter. The communication method may be wireless communication such as Bluetooth® or wireless LAN, or wired communication using USB (Universal Serial Bus), etc. The input / output interface 24 is an example of an input interface.

[0031] The input unit 25 includes, for example, at least one of a mouse, keyboard, touch panel, and microphone, and accepts input of operations and information to the processing unit 20. This information includes user P's behavior information. The behavior information includes records of predetermined behaviors that the user wishes to make habitual. The records of predetermined behaviors include records of whether or not the predetermined behavior was performed, and records of the number of times the predetermined behavior was performed within a predetermined period. Predecessor behaviors include, for example, exercise, eating, and health management. Exercise behaviors include, for example, running, yoga, walking, stretching, gymnastics, tennis, swimming, and going to the gym. Eating behaviors include, for example, choosing low-sodium menus, reducing the amount of white rice, and eating breakfast. Health management behaviors include, for example, abstaining from alcohol, quitting smoking, and getting at least seven hours of sleep. In addition, the behavior information may include not only information about actions the user takes to improve their health, but also, for example, records of learning behaviors and hobby behaviors. Learning behaviors include, for example, studying English, studying Korean, and studying for qualification exams. Activities related to hobbies include, for example, practicing a musical instrument.

[0032] Furthermore, the information received by the input unit 25 includes the results of user P's health checkup. The health checkup results include indicator values ​​for evaluating user P's health status obtained by user P undergoing a health checkup. The indicator values ​​included in the health checkup results include, for example, the results of physical measurements (e.g., height, weight, waist circumference, BMI (Body Mass Index)), the results of vision tests, the results of hearing tests, the results of chest X-rays, the results of blood pressure measurements, the results of blood tests (e.g., red blood cell count, hemoglobin level, AST (aspartate aminotransferase) level, ALT (alanine aminotransferase) level, γ-GT (gamma-glutamyl transpeptidase) level, LDL (Low-Density Lipoprotein) cholesterol level, HDL (High-Density Lipoprotein) cholesterol level, triglyceride (neutral fat) level, fasting blood glucose level, and HbA1c (hemoglobin A1c) level), the results of electrocardiogram tests, the results of urine tests, and the results of stool tests. Furthermore, the health checkup results include an evaluation of the obtained indicator values. For example, if there are criteria for LDL cholesterol measurements as a normal range, a range suggestive of high LDL cholesterol, and high LDL cholesterol (requires medical consultation), and user P's LDL cholesterol measurement is within the normal range, the evaluation of the obtained indicator value will be "normal". Note that the health checkup results are not limited to results obtained through a medical examination, but also include results measured at home (e.g., weight and blood pressure). In addition, the processing unit 20 may receive the health checkup results from another device and server that can communicate with the processing unit 20, rather than from the input unit 25.

[0033] The output unit 26 displays information according to the instructions of the controller 21. This information may include, for example, physiological information and behavioral information. The output unit 26 is configured, for example, by a liquid crystal display capable of displaying images.

[0034] The measuring instrument 30 acquires physiological information of user P and transmits it to the processing unit 20. The measuring instrument 30 includes a measuring unit 31, a processor 32, a memory 33, and a communication unit 34.

[0035] The measurement unit 31 acquires, for example, physiological information of the user such as posture data, body temperature, pulse, respiration, heart rate, electroencephalogram, gaze, cerebral blood flow, step count, blood glucose level, blood oxygen saturation, electromyography, blink rate, acceleration, electrocardiogram, and image data. The measurement unit 31 may be a sensor that detects the state of user P, or it may be a camera that acquires an image of user P. If the measurement unit 31 is a camera, it includes a lens and an image sensor and generates image data. The image data is transmitted to the controller 21. The controller 21 extracts information such as pulse, respiratory rate, heart rate, gaze, and blink rate from the image data through image processing. The posture data is data relating to user P's posture and includes posture evaluation information based on an image of user P, the distance L between user P and the display D, and the results of pressure distribution measurement obtained by a pressure sensor provided on the chair in which user P sits. In Embodiment 1, the measurement unit 31 is a distance sensor that measures the distance L between user P and the display D.

[0036] The processor 32 provides overall control over the measuring instrument 30. In the measuring instrument 30, physiological information acquired by the measurement unit 31 is stored in the memory 33.

[0037] The measuring instrument 30 can communicate with the processing unit 20 via the communication unit 34. The communication unit 34 transmits physiological information to the processing unit 20 using wired communication and / or wireless communication.

[0038] The robot system 100 may include multiple measuring instruments 30. In this case, the controller 21 receives physiological information of the user P from the multiple measuring instruments 30.

[0039] [Configuration of the drive mechanism] Next, an example of the configuration of the drive mechanism 12 will be described. Figure 3 is a perspective view showing the configuration of the drive mechanism 12. Figure 4 is a front view showing the configuration of the drive mechanism 12. Referring to Figures 3 and 4, the drive mechanism 12 includes a base 121, a first motor 122, a first member 123, a second motor 124, and a second member 125.

[0040] The drive mechanism 12 is configured such that when the first motor 122 is driven, the first member 123 is rotated with respect to the base 121. Further, the drive mechanism 12 is configured such that when the second motor 124 is driven, the second member 125 is rotated. In the following description, as shown in FIG. 4, the surface (installation surface) on which the base 121 is installed is taken as the XY plane, and the direction perpendicular to the XY plane is taken as the Z-axis direction. The Z-axis direction is also referred to as the height direction and the vertical direction.

[0041] The components of the drive mechanism 12 are arranged on the base 121. The components of the drive mechanism 12 excluding the base 121 may be referred to as the skeleton part. In one embodiment, the skeleton part includes the first motor 122, the first member 123, the second motor 124, and the second member 125. The outer skin 11 covers at least the skeleton part. A part of the base 121 may not be covered by the outer skin 11 and may be visible to the user P from the appearance of the robot 10.

[0042] One end 123a of the first member 123 is connected to the shaft portion of the first motor 122 provided on the base 121. The shaft portion of the first motor 122 is provided so as to be substantially perpendicular to the XY plane. The first member 123 rotates about the axis R1 when the first motor 122 rotates.

[0043] The second motor 124 is provided at the other end 123b of the first member 123 opposite to the one end 123a. The shaft portion of the second motor 124 is provided so as to be substantially perpendicular to the Z axis. The first end portion 125a of the second member 125 is connected to the shaft portion of the second motor 124. The second member 125 rotates about the axis R2 when the second motor 124 rotates.

[0044] FIG. 5 is a diagram for explaining the driving mode of the drive mechanism 12. For the sake of explanation, the first member 123 and the second member 125 of the drive mechanism 12 are illustrated in FIG. 5. FIG. 5 shows the state of the drive mechanism 12 when the second member 125 rotates about the axis R2.

[0045] State 410 is the state in which the long axis of the second member 125 is parallel to the height direction. The position of the second end 125b in state 410 is defined as the first position. When the second end 125b is in the first position, as shown in state 410, the second end 125b is at the position furthest from the mounting surface of the drive mechanism 12. Therefore, in state 410, the height dimension h1 of the drive mechanism 12 from the mounting surface is larger than in other states. At this time, the outer shell 11 is stretched in the direction away from the mounting surface along the Z axis (for example, the appearance 540 in Figure 7). In state 410, the angle between the XY plane and the long axis of the second member 125 is defined as angle M1.

[0046] State 420 is a state in which the second end portion 125b is closer to the mounting surface of the drive mechanism 12 compared to state 410. In state 420, the height dimension h2 of the drive mechanism 12 from the mounting surface is smaller than the dimension h1 in state 410. At this time, the outer skin 11 is not stretched in the height direction compared to state 410, but no wrinkles are formed (for example, the appearance 510 in Figure 7). In state 420, the angle between the XY plane and the long axis of the second member 125 is defined as angle M2.

[0047] State 430 is the state in which the long axis of the second member 125 is perpendicular to the height direction. The position of the second end 125b in state 430 is defined as the second position. In the state in which the second end 125b is in the second position, as shown in state 430, the second end 125b is closer to the mounting surface of the drive mechanism 12 compared to states 410 and 420. Therefore, the height dimension h3 of the drive mechanism 12 from the mounting surface in state 430 is smaller than the dimension h1 in state 410 and the dimension h2 in state 420. At this time, the outer skin 11 is pulled in the direction toward the mounting surface along the Z axis, and wrinkles are formed (for example, the appearance 520 in Figure 7). In state 430, the angle between the XY plane and the long axis of the second member 125 is defined as angle M3.

[0048] The drive mechanism 12 can displace the second end portion 125b between the first position and the second position by driving the second motor 124. In the first embodiment, the displacement of the second end portion 125b between the first position and the second position has been described, but the range in which the second end portion 125b is displaced is not limited to this. Specifically, the second end portion 125b may be displaced downward in the vertical direction from the second position.

[0049] [Determination Program] A process performed by the controller 21 (processor 22) of the processing device 20 by executing the determination program 231 will be described. The controller 21 determines whether or not the state deterioration condition is satisfied based on at least one of the physiological information of the user P acquired by the measuring device 30, the behavior information of the user P input by the user P through the input unit 25, and the health diagnosis result of the user P.

[0050] The physiological information includes posture data, body temperature, pulse, respiration, heart rate, brain waves, line of sight, cerebral blood flow, number of steps, blood glucose level, blood oxygen saturation, myoelectric potential, number of blinks, acceleration, electrocardiogram, and image data. The behavior information includes records related to a predetermined behavior that the user P desires to habituate. The health diagnosis result includes an index value for evaluating the health state of the user P obtained by the user P receiving a health diagnosis, and an evaluation of the index value. The state deterioration condition includes an index used to determine whether or not the state of the user P has deteriorated and whether or not it is necessary to improve the state of the user P for at least one of the physiological information of the user P, the behavior information of the user P, and the health diagnosis result of the user P. Hereinafter, a process in which the controller 21 determines whether or not the state deterioration condition is satisfied will be described using the distance L between the user P and the display D, which is an example of physiological information.

[0051] First, the controller 21 identifies the target value using the distance L obtained by the measuring instrument 30. Specifically, the controller 21 identifies the target value from the distance L using the determination data 232 stored in the memory 23. The determination data 232 includes a conversion table for identifying the target value from the distance L. Figure 6 shows an example of a conversion table included in the determination data 232. The conversion table shows the target value for a given distance L. For example, if the distance L is "10 cm", the target value is "3", and if the distance L is "20 cm", the target value is "5".

[0052] Next, the controller 21 determines whether the condition for deterioration is met. The condition for deterioration includes a reference range for the target value. If the reference range is "2 or more and 4 or less" and the target value is "5", the controller 21 determines that the target value is not included in the reference range. The controller 21 then determines that the condition for deterioration is met. Also, if the reference range is "2 or more and 4 or less" and the target value is "3", the controller 21 determines that the target value is included in the reference range. The controller 21 then determines that the condition for deterioration is not met.

[0053] The controller 21 outputs an instruction to the robot 10 when the condition deterioration conditions are met. This instruction includes an instruction to the control device 13 to drive the drive mechanism 12 so that the height dimension of the drive mechanism 12 from the installation surface is reduced. In response to this instruction, the drive mechanism 12 drives the second motor 124 so that the second end 125b of the second member 125, opposite to the first end 125a, moves closer to the installation surface.

[0054] The driving mode of the second motor 124 is described, for example, in a conversion table. As shown in Figure 6, if the condition deterioration condition is met, the controller 21 drives the second motor 124 so that the angle between the XY plane and the long axis of the second member 125 is angle M3 (corresponding to state 430 in Figure 5). If the condition deterioration condition is not met, the controller 21 drives the second motor 124 so that the angle between the XY plane and the long axis of the second member 125 is angle M2 (corresponding to state 420 in Figure 5). Furthermore, if the processing by the judgment program 231 executed immediately before determines that the condition deterioration condition is met, and the angle between the XY plane and the long axis of the second member 125 in the drive mechanism 12 is angle M3, and the controller 21 determines that the condition deterioration condition is not met, the controller 21 drives the second motor 124 so that the angle between the XY plane and the long axis of the second member 125 is angle M1 (corresponding to state 410 in Figure 5).

[0055] When the conditions for deterioration are met, the controller 21 outputs an instruction to the robot 10, which includes an instruction to rotate the skeletal part. In response to this instruction, the drive mechanism 12 rotates the skeletal part.

[0056] Furthermore, in response to the condition of deterioration being met, the instructions that the controller 21 outputs to the robot 10 include an instruction to output sound from the sound output unit 15. In response to this instruction, the sound output unit 15 emits sound.

[0057] [Robot Appearance] The changes in the appearance of the robot 10 due to the changes in the outer shell 11 caused by the operation of the drive mechanism 12 will be explained. Figure 7 is a diagram illustrating the changes in the appearance and operation of the robot 10.

[0058] The external view 510 shows, for example, the appearance of the robot 10 when the robot system 100 is started. At this time, the drive mechanism 12 is in the state shown in state 420 of Figure 5. The height dimension of the robot 10 in the external view 510 is h4.

[0059] When the controller 21 determines that the condition of deterioration is met, the drive mechanism 12 is driven so that the height dimension of the drive mechanism 12 from the installation surface decreases. As a result, as shown in the external view 520 of Figure 7, the height dimension h5 of the robot 10 becomes smaller than h4. When the height dimension of the robot 10 decreases, wrinkles appear on the outer skin 11 because it is flexible. The decrease in the height dimension and the appearance of wrinkles on the surface of the outer skin 11 represent the "stress" of the robot 10.

[0060] Furthermore, the drive mechanism 12 rotates the skeletal part of the drive mechanism 12. The external appearance 530 shows the state in which the skeletal part rotates around axis R1 while maintaining the height dimension h5 of the robot 10. The rotation of the robot 10 around axis R1 represents the robot 10's "uncomfort," "restlessness," and "unpleasantness."

[0061] When user P improves their behavior and / or state, and the controller 21 determines that the condition for worsening state is no longer met, the drive mechanism 12 is driven to state 410 in Figure 5. As a result, as shown in appearance 540 in Figure 7, the height dimension h6 of the robot 10 becomes larger than dimensions h4 and h5. Furthermore, the outer skin 11 is stretched vertically, so the wrinkles on the surface disappear. The increase in height dimension and the disappearance of wrinkles on the surface of the outer skin 11 represent the robot 10's "lively and energetic" and "comfortable" appearance. After a predetermined time has elapsed, the controller 21 drives the drive mechanism 12 to the state shown in state 420 in Figure 5, and the appearance of the robot 10 returns to appearance 510.

[0062] As shown in appearances 520 and 530, when the conditions for deterioration of the state are met, the robot 10 expresses "spiciness," "discomfort," "restlessness," and "unease," so user P recognizes that the robot 10 is feeling "spiciness," "discomfort," "restlessness," and "unease." When the conditions for deterioration of the state are no longer met, the robot 10 stops expressing "spiciness," "discomfort," "restlessness," and "unease," which motivates user P to improve their behavior and state.

[0063] Furthermore, as indicated by the external appearance 540, the robot 10 expresses a "lively and energetic" and "comfortable" state when it no longer meets the conditions for deterioration. As a result, user P recognizes that the state of the robot 10 has improved as a result of their own behavioral changes, and user P is motivated to maintain the improved behavior and state.

[0064] Figure 8 shows the change in the appearance of the robot 10 when an external force is applied. The drive mechanism 12 deforms when an external force is applied. Therefore, the appearance of the robot 10 changes according to the external force applied. For example, as shown in Figure 8, when a force is applied to the robot 10 from the top to the bottom in the vertical direction, the height dimension of the robot 10 decreases by length A. Note that if the drive mechanism 12 deforms due to an externally applied force, after a predetermined time has elapsed, the drive mechanism 12 returns to its state before the external force was applied.

[0065] Figure 9 is a diagram illustrating the changes in the appearance of the robot 10 when the control device 13 drives the drive mechanism 12 so that the height dimension of the drive mechanism 12 from the installation surface decreases. When the second end 125b rotates with the direction of the midpoint between parts 111a and 111b of the outer skin 11 coinciding with the position of the second end 125b, if the drive mechanism 12 is driven so that the height dimension of the drive mechanism 12 from the installation surface decreases, the robot 10 moves as if bending forward, as shown in appearance 550. When the second end 125b rotates with the direction of the midpoint between parts 111a and 111b of the outer skin 11 and the position of the second end 125b offset by 90° around axis R1, if the drive mechanism 12 is driven so that the height dimension of the drive mechanism 12 from the installation surface decreases, the robot 10 tilts laterally, as shown in appearance 560. Furthermore, the way the outer casing 11 changes when the control device 13 drives the drive mechanism to reduce the height dimension from the mounting surface of the drive mechanism is not limited to the embodiments shown in the external appearance 550 and external appearance 560.

[0066] [Control of the Robot System] Figure 10 is a flowchart illustrating the processing of the robot 10, processing unit 20, and measuring instrument 30 in the robot system according to Embodiment 1. Figure 10 illustrates an example in which the robot 10 is controlled based on the user's physiological information and / or behavioral information.

[0067] Referring to Figure 10, the measuring instrument 30 acquires physiological information in step 10. Then, it transmits the acquired physiological information to the processing device 20 (step S12).

[0068] The processing unit 20 receives behavioral information from the input unit 25 (step S20). The processing unit 20 then receives physiological information via the input / output interface 24 (step S22). Subsequently, the controller 21 executes the determination program 231 stored in the memory 23. The controller 21 determines whether the condition deterioration condition is met based on the physiological information and / or behavioral information, as well as the determination data 232 (step S24). If the controller 21 determines that the condition deterioration condition is met, it outputs an instruction to drive the drive mechanism 12 so that the height dimension of the drive mechanism 12 from the installation surface decreases (step S26). If the controller 21 determines that the condition deterioration condition is not met, it outputs an instruction to drive the drive mechanism 12 so that the height dimension of the drive mechanism 12 from the installation surface increases (step S26). Note that if only physiological information is used to determine whether the condition deterioration condition is met, step S20 does not need to be executed. Also, if only behavioral information is used to determine whether the condition deterioration condition is met, step S22 does not need to be executed.

[0069] The robot 10's receiving device 14 receives instructions regarding the driving of the drive mechanism 12 (step S30). The control device 13 drives the drive mechanism 12 according to the received instructions (step S32). If an instruction is received to drive the drive mechanism 12 so that the height dimension of the drive mechanism 12 from the installation surface decreases, the second motor 124 is driven so that the second end 125b moves closer to the installation surface. If an instruction is received to drive the drive mechanism 12 so that the height dimension of the drive mechanism 12 from the installation surface increases, the second motor 124 is driven so that the second end 125b moves away from the installation surface.

[0070] In step S24, if it is determined that the condition deterioration is met, the control device 13 may output an instruction to rotate the frame along with an instruction to drive the drive mechanism 12 so that the height dimension of the drive mechanism 12 from the installation surface of the drive mechanism 12 decreases. As a result, in step S32, the control device 13 rotates the frame.

[0071] In step S24, if the control device 13 determines that the condition for deterioration has been met, it may output a sound from the sound output unit 15. The sound output here is a sound that expresses the robot 10's "pain," "discomfort," "restlessness," and "uncomfort," and is, for example, the sound of a small animal crying.

[0072] Figure 10 illustrates an example in which the robot 10 is controlled based on the user's physiological information and / or behavioral information. However, in this embodiment, the robot system 100 may be controlled based on at least one of the physiological information, behavioral information, and health checkup results.

[0073] According to this disclosure, the robot's body length decreases in real time as the height dimension of the drive mechanism from the mounting surface decreases in response to at least one of the user's physiological information, behavioral information, and health checkup results meeting the condition for deterioration. This causes wrinkles to form in the flexible outer skin. The wrinkles in the outer skin represent the robot's discomfort. It is expected that users who feel the robot's discomfort will be motivated to change their behavior and / or take action to alleviate the robot's discomfort. According to this disclosure, it is possible to improve the motivation of users to change their behavior and / or take action.

[0074] [Embodiment 2] In Embodiment 1 described above, the controller 21, which determines whether or not the condition for deterioration is met based on at least one of physiological information, behavioral information, and health checkup results, was included in a processing unit 20 separate from the robot 10. The controller may be configured to be integrated with the robot.

[0075] In Embodiment 2, a robot unit 50A in which the robot and controller are integrated will be described. Note that, for the robot system 100A including the robot unit 50A according to Embodiment 2, only the configurations and processes that differ from the robot system 100 according to Embodiment 1 will be specifically described, and the configurations and processes common to the robot system 100 according to Embodiment 1 will not be repeated in principle.

[0076] Figure 11 is a schematic diagram showing the overall configuration of the robot system 100A in Embodiment 2. Figure 12 is a functional block diagram of the robot system 100A in Embodiment 2. Referring to Figures 11 and 12, the robot unit 50A includes a controller 21A and an input / output I / F 24A, in addition to the outer shell 11, drive mechanism 12, and sound output unit 15. In Embodiment 2, the controller 21A controls the drive of the drive mechanism 12, and therefore also corresponds to a "control device" that controls the drive mechanism 12. Furthermore, since instructions from the controller 21 are transmitted directly to the drive mechanism 12, the robot unit 50A does not have a receiving device 14, unlike the robot 10 shown in Figure 2. As shown in Figure 11, the appearance of the robot unit 50A in Embodiment 2 is the same as the appearance of the robot 10 in Embodiment 1.

[0077] The input device 25A is connected to the input / output interface 24A and accepts input of operations and information for the robot unit 50A. This information includes user P's behavior information. The input device 25A includes, for example, at least one of a mouse, keyboard, touch panel, and microphone. The input / output interface 24A is an example of an input interface.

[0078] The controller 21A determines whether the condition deterioration condition is met based on at least one of the physiological information received from the measuring instrument 30, the behavioral information received from the input device 25A, and the health checkup results, and outputs an instruction to drive the drive mechanism 12 according to the determination result. For example, if at least one of the physiological information, behavioral information, and health checkup results meets the condition deterioration condition, the controller 21A outputs an instruction to drive the drive mechanism 12 so that the height dimension of the drive mechanism 12 from the installation surface is reduced.

[0079] According to the robot unit 50A of Embodiment 2, a controller that determines whether or not the condition for deterioration is met is located inside the robot, so it can be made more space-efficient compared to the robot system 100 of Embodiment 1.

[0080] [Embodiment 3] In Embodiments 1 and 2 described above, the robot unit was configured to receive physiological information acquired by an external measuring instrument. Here, the measuring unit for acquiring physiological information (for example, a sensor and a camera) may be configured to be integrated with the robot unit.

[0081] In Embodiment 3, a robot unit 50B equipped with a measuring unit will be described. Regarding the robot system 100B including the robot unit 50B according to Embodiment 3, only the configurations and processes that differ from the robot system 100 according to Embodiment 1 and the robot system 100A according to Embodiment 2 will be specifically described. Configurations and processes common to the robot system 100 according to Embodiment 1 and the robot system 100A according to Embodiment 2 will not be repeated in principle.

[0082] Figure 13 is a schematic diagram showing the overall configuration of the robot system 100B in Embodiment 3. Figure 14 is a functional block diagram of the robot system 100B in Embodiment 3. Referring to Figures 13 and 14, the robot unit 50B includes an outer shell 11, a drive mechanism 12, a sound output unit 15, a controller 21A, an input / output I / F 24A, as well as a measurement unit 31B and an input device 25A.

[0083] The measurement unit 31B generates user physiological information such as posture data, body temperature, pulse, respiration, heart rate, electroencephalogram, gaze, cerebral blood flow, step count, blood glucose level, blood oxygen saturation, electromyography, blink rate, acceleration, electrocardiogram, and image data. The measurement unit 31B may be a sensor that detects the user's state or a camera that acquires an image of user P. The measurement unit 31B is connected to the input / output interface 24A.

[0084] The controller 21A determines whether the condition deterioration condition is met based on at least one of the physiological information received from the measurement unit 31B, the behavioral information received from the input device 25A, and the health checkup results, and outputs an instruction to drive the drive mechanism 12 according to the determination result.

[0085] According to the robot unit 50B of Embodiment 3, the robot is equipped with a controller that determines whether or not the conditions for deterioration are met and a measurement unit for acquiring physiological information, so it can be made more space-saving compared to the robot system 100 of Embodiment 1 and the robot system 100A of Embodiment 2.

[0086] In Figure 13, the appearance of the robot system 100B in Embodiment 3 is shown in the same way as the appearance of the robot 10 in Embodiment 1 and the appearance of the robot unit 50A in Embodiment 2. However, the robot system 100B may have the measuring unit 31B and / or the input device 25A exposed to the outside. Specifically, for example, if the measuring unit 31B is a camera, it may be configured in such a way that the lens is visible from the outside. Also, for example, if the input device 25A is a touch panel, the touch panel may be placed on the surface of the robot system 100B.

[0087] [Embodiment 4] In Embodiment 3 described above, an example was described in which the controller and the measurement unit for acquiring physiological information are configured as an integrated unit. However, the measurement unit may be configured as an integrated unit with the robot, and the controller may be included in a processing unit separate from the robot.

[0088] In Embodiment 4, a robot system 100C comprising a robot 10C including a measuring unit and a processing unit 20 including a controller 21 will be described. Note that for the robot system 100C according to Embodiment 4, only the configurations and processes that differ from the robot system 100 according to Embodiment 1, the robot system 100A according to Embodiment 2, and the robot system 100B according to Embodiment 3 will be specifically described, and the configurations and processes common to the robot system 100 according to Embodiment 1, the robot system 100A according to Embodiment 2, and the robot system 100B according to Embodiment 3 will not be repeated in principle.

[0089] Figure 15 is a schematic diagram showing the overall configuration of the robot system 100C in Embodiment 4. Figure 16 is a functional block diagram of the robot system 100C in Embodiment 4. Referring to Figures 15 and 16, the robot system 100C comprises a robot 10C and a processing unit 20.

[0090] In addition to the outer shell 11, drive mechanism 12, control device 13, and sound output unit 15, the robot 10C includes a measurement unit 31C and an input / output interface 14C.

[0091] The measurement unit 31C generates user physiological information such as posture data, body temperature, pulse, respiration, heart rate, electroencephalogram, gaze, cerebral blood flow, steps, blood glucose level, blood oxygen saturation, electromyography, blink rate, acceleration, electrocardiogram, and image data. The measurement unit 31C may be a sensor that detects the user's state, or a camera that acquires an image of the user P.

[0092] The input / output interface 14C is an interface for exchanging various types of data between the control device 13 and the device including the processing unit 20 connected to the input / output interface 14C. The input / output interface 14C is implemented, for example, by a network adapter. The communication method may be wireless communication such as Bluetooth® or wireless LAN, or it may be wired communication using USB (Universal Serial Bus), etc.

[0093] In Embodiment 4, the user's physiological information acquired by the measurement unit 31C is transmitted from the robot 10C to the processing unit 20 via the input / output interface 14C. The controller 21 of the processing unit 20 determines whether the condition deterioration condition is met based on the physiological information received from the measurement unit 31C, and outputs an instruction to drive the drive mechanism 12 according to the determination result. The control device 13, which receives the instruction via the input / output interface 14C, drives the drive mechanism 12 based on the instruction.

[0094] In the robot system 100C according to Embodiment 4, the controller that determines whether or not the condition deterioration conditions are met is configured as a separate device from the robot, which includes a measurement unit for acquiring physiological information. This makes it easy to increase the data processing capacity of the controller. Furthermore, since the robot does not need to have a configuration that performs complex calculations, the robot itself can be made more energy-efficient and generate less heat.

[0095] In the above-described embodiment, the processing by the robot system was explained using the distance L between the user P and the display D as an example of physiological information, but the physiological information is not limited to this. For example, the robot system may drive the drive mechanism according to the user's blood glucose level. In this case, the measuring unit is a thin sensor inserted into the user's arm or abdomen, and the sensor measures the blood glucose level in the subcutaneous interstitial fluid. When the obtained blood glucose level falls outside the reference range, the controller determines that the condition of deterioration is met and drives the drive mechanism so that the height dimension of the drive mechanism from the installation surface decreases. Conversely, when the blood glucose level is within the reference range, the controller determines that the condition of deterioration is not met and drives the drive mechanism so that the height dimension of the drive mechanism from the installation surface increases.

[0096] Furthermore, when a reference range is set, whether the condition is judged to have worsened if it falls within the reference range or if it falls outside the reference range may differ depending on the physiological information, behavioral information, and health checkup results.

[0097] Alternatively, the robot system may drive the drive mechanism based on the user's electrocardiogram. In this case, the measurement unit is an electrocardiogram sensor, which acquires the user's electrocardiogram. From the acquired electrocardiogram, the function of the autonomic nervous system is evaluated by R-R interval testing, and a target value is identified. This target value is set to increase as the tension and stress level, as measured by the heart rate variability index, increases. When the target value exceeds the reference range, the controller determines that the condition of deterioration is met and drives the drive mechanism to decrease its height from the mounting surface. As the user rests, tension and stress are relieved, and the heart rate variability index changes. When the target value falls below the reference range, the controller determines that the condition of deterioration is no longer met and drives the drive mechanism to increase its height from the mounting surface.

[0098] While the example described shows behavioral information being input by the user via an input unit, it is not limited to this. For example, it may be input by a wearable watch and a smartphone in conjunction with the system. Furthermore, the wearable watch and smartphone may, for example, generate user behavioral information based on location information and transmit the generated behavioral information to the robot system.

[0099] In the above-described embodiment, a conversion table was used to identify the target value, but the measurement value obtained by the measurement unit 31 may also be used as the target value. For example, in the above-described embodiment 1, the value of distance L may be used as the target value. In this case, the reference range is set to, for example, "15 cm or more and 20 cm or less".

[0100] In the embodiment described above, the reference range had both an upper and lower limit, such as "2 or more and 4 or less," but it may also have only one limit, such as "2 or more." When the target value is "5," the controller determines that the condition deterioration condition is not met when the reference range is "2 or more and 4 or less," but when the reference range is "2 or more," it determines that the condition deterioration condition is met.

[0101] Conditions for worsening of condition may be conditions for determining whether a user is in a specific state, such as "whether or not a specified device is being used." For example, if the measuring unit is a camera and acquires the user's image data as physiological information, the controller may determine from the image data whether or not the user is using a smartphone. If the controller determines that the user is using a smartphone, it determines that the condition for worsening of condition has been met. For example, if refraining from using a smartphone late at night improves health, this can increase motivation to refrain from using a smartphone.

[0102] Furthermore, the conditions for deterioration of the state are not limited to the examples described above; a predetermined duration of a given state may also be used. Specifically, for example, if the distance L between user P and display D is used as an example of physiological information, the condition for deterioration of the state may be "whether or not the state in which the distance L is less than or equal to a predetermined value has continued for 5 minutes." In such cases, the controller 21 periodically or intermittently receives at least one of the following: physiological information, behavioral information, and health checkup results, and determines whether or not the condition for deterioration of the state is met.

[0103] Furthermore, the controller may use image processing to identify the target value. For example, if the measuring unit is a camera and acquires image data of the user, the controller identifies the target value from the video data. Specifically, for example, a reference image of the user sitting in a chair is prepared as a reference image, and the controller uses the similarity between the reference image and the image data as the target value.

[0104] Furthermore, for example, if multiple pressure sensors are placed on the seat of a chair on which a user sits, and the pressure distribution on the seat is obtained from these multiple pressure sensors, the seating posture may be evaluated by analyzing the seat pressure, and a target value may be identified.

[0105] The controller may determine whether the condition for deterioration is met based on the user's behavior information. For example, the controller may set the target value to "1" if the user used the training gym and to "0" if the user did not use the training gym. When the baseline range is "less than 1", the controller will determine that the condition for deterioration is not met if the user used the training gym because it is not within the baseline range, but will determine that the condition for deterioration is met if the user did not use the training gym because it is within the baseline range. Alternatively, the controller may determine the target value based on the number of times the user went to the training gym in the past week.

[0106] Furthermore, the controller may determine whether the condition for deterioration is met based on two or more of the user's physiological information, behavioral information, and health checkup results. For example, the controller may identify a first value based on "weight," which is an example of the user's physiological information, and a second value based on "gym usage history," which is an example of user P's behavioral information, and then identify the sum of the first and second values ​​as the target value. In this case, it is desirable that the physiological information, behavioral information, and health checkup results used are related items.

[0107] Furthermore, if it is determined that the condition of deterioration is met, the size of the height dimension of the drive mechanism from the mounting surface may be changed according to the magnitude of the target value. For example, consider the case where the reference range is "5 or more and less than 15". In this case, whether the target value is "20" or "25", the target value is not included in the reference range, so the controller determines that the condition of deterioration is met. Here, the height dimension h6 of the drive mechanism from the mounting surface when the target value is "25" is smaller than the height dimension h7 of the drive mechanism from the mounting surface when the target value is "20". By changing the height dimension of the drive mechanism from the mounting surface when the condition of deterioration is met according to the target value, the user can recognize how far the target value is from the reference range when the condition of deterioration is met. In addition to the height dimension of the drive mechanism from the mounting surface, the magnitude and speed of rotation of the frame may also be changed according to the magnitude of the target value.

[0108] The drive mechanism is not limited to the structure described in the embodiment, as long as the control device can control the height dimension of the drive mechanism from the mounting surface and the rotation of the frame. For example, an actuator that extends and retracts in the height direction may be provided between the base and the frame, and the height dimension of the drive mechanism from the mounting surface may be reduced or increased by the voltage applied to the actuator. This allows the robot to extend and retract in the vertical direction relative to the mounting surface on which it is installed. In other words, the drive mechanism can be driven so that its height dimension from the mounting surface is reduced.

[0109] If a robot unit includes a light-emitting device inside and its outer shell transmits light, the control device may illuminate the light-emitting device in response to the fulfillment of a condition deterioration condition. Furthermore, for example, when determining whether a condition deterioration condition is met for each of two different pieces of physiological information, the color of the emitted light may be changed to indicate which piece of physiological information the condition deterioration condition has been determined for. Specifically, for example, when determining whether a condition deterioration condition is met for each of the user's body temperature and posture data, if it is determined that the condition deterioration condition is met for body temperature, red light may be emitted while the height dimension of the drive mechanism from the mounting surface is reduced, and if it is determined that the condition deterioration condition is met for posture data, blue light may be emitted while the height dimension of the drive mechanism from the mounting surface is reduced. In this way, the user can easily recognize the behavior and state that should be changed.

[0110] Furthermore, components 111a and 111b may emit light. Specifically, for example, components 111a and 111b may be composed of light-emitting diodes.

[0111] [Modification 1] The robot system may change the driving mode of the drive mechanism 12 using the results of a past determination of whether or not the condition for deterioration is met.

[0112] Modification 1 describes a modification of the processing of the robot system controller described in Embodiments 1 to 4. In Modification 1, the controller changes the operation instruction output to the drive mechanism 12 using the results of a past determination of whether or not the condition deterioration condition is met.

[0113] Figure 17 is a flowchart illustrating the process performed by the controller in Modification 1. The process in Figure 17 is initiated, for example, when the application program executed by the controller instructs the determination of the user's state. In one implementation example, the process in Figure 17 is performed when the drive mechanism is in the state shown in Figure 5, state 420. The above process will be explained with reference to Figure 17. In the following explanation, the operation of each component will be described using the robot system 100 described in Embodiment 1, but the process in Modification 1 is applicable not only to Embodiment 1 but also to the robot systems described in Embodiments 2 to 4. In Figure 17, an example is shown in which the robot 10 is controlled based on the user's physiological information and / or behavioral information, but in the process described in Figure 17, the robot 10 may be controlled based on at least one of the physiological information, behavioral information, and health checkup results.

[0114] In step S50, the controller 21 receives at least one of the following from the measuring instrument 30 and / or the input unit 25: physiological information, behavioral information, and health checkup results.

[0115] In step S52, the controller 21 determines whether the condition for deterioration is met based on at least one of the physiological information, behavioral information, and health checkup results received in step S50. If it determines that the condition for deterioration is met (YES in step S52), the process proceeds to step S54; otherwise (NO in step S52), the process proceeds to step S70.

[0116] In step S54, the controller 21 determines whether it determined in the previous judgment whether the condition for deterioration was met. If the controller 21 determines that it determined in the previous judgment whether the condition for deterioration was met (YES in step S54), the process proceeds to step S56; otherwise (NO in step S54), the process proceeds to step S58.

[0117] In step S56, the controller 21 outputs a first action instruction to the control device 13 of the drive mechanism 12. The first action instruction is an instruction for the drive mechanism 12 to act in a state where the user has not changed their behavior despite it being determined in the previous judgment that the condition for deterioration of the state has been met. For example, the first action instruction is an instruction to drive the drive mechanism 12 so that the robot 10 indicates the action that the user should take to avoid meeting the condition for deterioration of the state. Specifically, if the distance L between the user P and the display D is close, the drive mechanism 12 is driven to extend vertically upward in order to increase the distance L (for example, state 410 in Figure 5). At this time, the outer skin 11 is stretched in the direction away from the installation surface along the Z axis (for example, appearance 540 in Figure 7), so that the user P, who has recognized the movement of the robot 10, is motivated to perform a stretching motion. At that time, the sound output unit 15 may output a sound that encourages the stretching motion (for example, the sound of a small animal chirping, and an alarm sound).

[0118] In step S58, the controller 21 outputs a second operation instruction to the control device 13 of the drive mechanism 12. The second operation instruction is an instruction for the drive mechanism 12 to operate in a state where, although it was determined in the previous judgment that the condition for deterioration was not met, it is now determined in the current judgment (step S52) that the condition for deterioration is met. For example, the second operation instruction is an instruction to operate the drive mechanism 12 in a way that expresses a mild "spiciness" and "discomfort" in the robot 10. Specifically, for example, the controller 21 operates the drive mechanism 12 so that the height dimension of the current drive mechanism 12 from the installation surface is slightly reduced. At that time, the sound output unit 15 may output a sound that expresses the "spiciness" and "discomfort" of the robot 10 (for example, the sound of a small animal).

[0119] In step S60, the controller 21 determines whether a predetermined period has elapsed. The predetermined period is not particularly limited, but for example, it is 3 minutes. If it is determined that the predetermined period has elapsed (YES in step S60), the process proceeds to step S62.

[0120] In step S62, the controller 21 receives at least one of the following from the measuring instrument 30 and / or the input unit 25: physiological information, behavioral information, and health checkup results.

[0121] In step S64, the controller 21 determines whether the condition for deterioration is met based on at least one of the physiological information, behavioral information, and health checkup results received in step S62. If it determines that the condition for deterioration is met (YES in step S64), the process proceeds to step S66; otherwise (NO in step S64), the process proceeds to step S68.

[0122] In step S66, the controller 21 outputs a third action instruction to the control device 13 of the drive mechanism 12. The third action instruction is an instruction for the drive mechanism 12 to act in a state where, despite the previous judgment (step S52) determining that the condition of deterioration has been met, the user has not changed their behavior. For example, the third action instruction is an instruction to drive the drive mechanism 12 in a way that expresses the strong "spiciness" and "discomfort" of the robot 10. Specifically, for example, the controller 21 drives the drive mechanism 12 to reduce the height dimension of the current drive mechanism 12 from the installation surface (for example, state 430 in Figure 5). Furthermore, it rotates the skeletal part of the drive mechanism 12 around axis R1. At that time, the sound output unit 15 may output a sound that expresses the strong "spiciness" and "discomfort" of the robot 10 (for example, the sound of a small animal crying).

[0123] In step S68, the controller 21 outputs a fourth operation instruction to the control device 13 of the drive mechanism 12. The fourth operation instruction is an instruction for the drive mechanism 12 to operate in a state where, although it was determined in the previous judgment (step S52) that the condition for deterioration of the state was met, it is determined in the current judgment (step S64) that the condition for deterioration of the state is not met. For example, the fourth operation instruction is an instruction to operate the drive mechanism 12 in such a way that the robot 10 expresses the feeling of relief that comes from the disappearance of "uncomfort". Specifically, for example, the controller 21 operates the drive mechanism 12 so that the height dimension of the drive mechanism 12 from the installation surface of the current drive mechanism 12 increases. Furthermore, the controller 21 rhythmically rotates the skeletal part of the drive mechanism 12 around axis R1. At that time, the sound output unit 15 may output sounds that express the robot 10's "liveliness and vitality" and "comfort" (for example, the sound of a small animal).

[0124] In step S70, the controller 21 determines whether or not it has received a command to terminate the process. If it determines that it has received a command to terminate the process (YES in step S70), the controller 21 terminates the process shown in Figure 17; otherwise, it returns the process to step S50.

[0125] According to the process in Modification 1, the driving mode of the drive mechanism 12 changes depending on the result of the previous judgment on whether or not the condition for deterioration is met. Therefore, if the condition for deterioration continues to be met, the height dimension of the drive mechanism 12 from the installation surface becomes smaller, which can express a stronger "hardship" in the robot 10. This can change the user's behavior and / or motivate them to take action.

[0126] In Modification 1, the condition for deterioration in step S64 corresponds to the state in which user P should change their behavior and / or take action continuing for a predetermined period of time. Therefore, the processing in step S64 corresponds to an example in which the duration of a predetermined state is used as the condition for deterioration.

[0127] [Modification 2] In the embodiments 1 to 4 described above, the controller was described as driving the drive mechanism so that the height dimension of the drive mechanism from the installation surface decreases when at least one of the user's physiological information, behavioral information, and health checkup results satisfies the condition deterioration condition. However, the controller may determine a drive parameter that can visually represent the severity of the robot's condition based on at least one of the user's physiological information, behavioral information, and health checkup results, and drive the drive mechanism based on that drive parameter. Note that the robot system in embodiments 1 to 4 and the robot system in modification 2 differ in the processing related to the judgment program and the content of the judgment data, but the configuration is the same as that shown in Figures 2, 12, 14, and 16.

[0128] Here, "the spiciness of the robot" refers to the degree of spiciness that users perceive when they see the robot.

[0129] The following describes the process when the judgment program according to Modification 2 is executed. As an example of physiological information, behavioral information, and health checkup results, an image of the user sitting in a chair is used. The robot system configuration will be described using the robot system 100 of Embodiment 1 as an example. Figure 18 is a diagram illustrating the process when the judgment program according to Modification 2 is executed.

[0130] The controller 21 derives the angle E between the line connecting the user P's waist and head and the floor surface from an image taken of the user P sitting in a chair.

[0131] Next, the controller 21 uses the conversion table 1 to convert angle E into the level of discomfort for the robot 10. Generally, when a person is sitting in a chair, the smaller the angle between the line connecting the waist and head and the floor, the more the waist is bent, and the more fatigued the user feels. Therefore, it is preferable for angle E to be as large as possible and as close to 90° as possible. The judgment data according to Modification 2 includes a conversion table 1 for identifying the level of discomfort for the robot 10 using physiological information. The conversion table 1 is, for example, 90° minus the size of angle E. In Modification 2, the smaller the angle, the greater the level of discomfort for the robot. The process of deriving the level of discomfort for the robot 10 using the physiological information angle E and the conversion table 1 corresponds to the process of identifying the level of discomfort for the robot 10.

[0132] Next, the controller 21 determines the drive parameters of the drive mechanism 12 based on the identified spiciness of the robot 10. The determination data for the modified example 2 includes a conversion table 2 that converts the spiciness of the robot 10 into drive parameters for visual representation. The drive parameters include the drive mode and the amount of movement of the drive mechanism 12. The drive mode includes the rotation and rotation of the second motor 124, and the rotation and rotation of the first motor 122. The amount of movement includes the displacement amount if the drive mode is rotation, and the range of the angle of rotation, the speed of displacement, and the duration if the drive mode is rotation. In the modified example 2, the conversion table 2 specifies the rotation of the second motor 124 as the drive mode, and specifies the robot's spiciness × 2 as the displacement amount of said rotation. In this case, the controller 21 drives the second motor 124 to displace the second member 125 so that the angle between the long axis of the second member 125 and the Z axis becomes an angle corresponding to the robot's strength × 2, assuming that the angle between the long axis of the second member 125 and the Z axis is 0° at the first position.

[0133] In the modified example 2, if the first level of difficulty for the robot 10 is defined as the angle between the line connecting the user P's waist and head and the floor surface being the first angle, then the second level of difficulty for the robot 10 is defined as the angle between the line connecting the user P's waist and head and the floor surface being smaller than the first angle. When the difficulty is at the second level, the angle between the long axis of the second member 125 and the Z-axis is larger than that at the first level. The larger the angle between the long axis of the second member 125 and the Z-axis, the more the robot 10 leans, expressing weakness. Therefore, if the displacement amount of the second member 125 determined at the first level is defined as the first drive amount, and the displacement amount of the second member 125 determined at the second level is defined as the second drive amount, then the second drive amount expresses weakness for the robot 10 more than the first drive amount.

[0134] Figure 19 is a flowchart showing the process performed when the controller executes a determination program in the robot system according to Modification 2. In Figure 19, the same reference numerals are used for components that are the same as those in the flowchart described in Figure 10, and detailed explanations are not repeated. Figure 19 illustrates an example in which the robot is controlled based on the user's physiological information and / or behavioral information, but in the process described in Figure 19, the robot may be controlled based on at least one of the physiological information, behavioral information, and health checkup results.

[0135] In step S40, the controller executes a judgment program stored in memory. The controller identifies the level of spiciness of the robot based on the physiological information and / or behavioral information, as well as the conversion table 1 included in the judgment data relating to the modified example 2.

[0136] In step S42, the controller determines the drive parameters based on the conversion table 2 included in the judgment data for the robot's spiciness and modified form 2, which was identified in step S40.

[0137] In step S26, the controller sends an instruction to the robot to drive the drive mechanism based on the drive parameters.

[0138] In the modified example 2 described above, the angle between the line connecting user P's waist and head and the floor when user P is sitting in a chair was used as an example of physiological information, but the method is not limited to this. Examples of physiological information include posture data, body temperature, pulse, respiration, heart rate, electroencephalogram, gaze, cerebral blood flow, step count, blood glucose level, blood oxygen saturation, electromyography, blink count, acceleration, electrocardiogram, and image data. Furthermore, the level of discomfort experienced by the robot 10 may be determined using user P's behavioral information, not limited to physiological information.

[0139] Conversion table 1 is not limited to the above example, as long as it identifies the robot's level of discomfort using at least one of the user's physiological information, behavioral information, and health checkup results. Furthermore, conversion table 2 is not limited to the above example, as long as it determines the drive parameters for driving the drive mechanism so that the robot's level of discomfort can be visually represented.

[0140] According to Modification 2, it is possible to determine drive parameters that can visually represent the "suffering" of the robot, which is identified based on at least one of the user's physiological information, behavioral information, and health checkup results. The controller drives the drive mechanism based on these drive parameters, allowing the user to recognize the robot's "suffering." It is expected that the user, having sensed the robot's "suffering," will be motivated to change their behavior and / or take action to alleviate the robot's "suffering."

[0141] [Modified Drive Mechanism] The drive mechanism is not limited to the structure described using Figures 3 and 4, as long as the control device can control the height dimension of the drive mechanism from the installation surface and the rotation of the frame. Modified drive mechanisms are described below. In the following description, the drive mechanism described is a modified version of the drive mechanism in the robot system 100 described in Embodiment 1, but the modified drive mechanism can be applied not only to Embodiment 1 but also to the embodiments described in Embodiment 2, Embodiment 3, Embodiment 4, Modified 1, and Modified 2.

[0142] Figure 20 is a diagram illustrating the configuration of a modified drive mechanism. Referring to Figure 20, the drive mechanism 60 comprises a plate 61, an elastic body 62, a wire 63, a fixing member 64, a base 65, and a winding mechanism 66. In the following description, as shown in Figure 20, the surface on which the base 65 is installed (installation surface) is defined as the XY plane, and the direction perpendicular to the XY plane is defined as the Z axis direction. The Z axis direction is also referred to as the height direction and the vertical direction.

[0143] The drive mechanism 60 is configured to be driven based on instructions received from the control device 13. Specifically, it is configured to extend and contract vertically relative to the mounting surface on which the robot 10 is installed, to bend at least a portion of it relative to the mounting surface on which the robot 10 is installed, and to rotate about an axis substantially perpendicular to the mounting surface. By extending and contracting vertically relative to the mounting surface of the robot 10, and / or bending at least a portion of it relative to the mounting surface on which the robot 10 is installed, the height dimension of the drive mechanism 60 from the mounting surface is reduced. In a robot 10 equipped with a drive mechanism 60 according to a modified example, the extension and contraction vertically relative to the mounting surface on which the robot 10 is installed, and the bending at least a portion of it relative to the mounting surface on which the robot 10 is installed, are achieved by the winding mechanism 66 winding up the wire 63.

[0144] The drive mechanism 60 comprises two or more plates 61. In one embodiment, each of the plates 61 is arranged to be substantially horizontal with respect to the mounting surface. An elastic body 62 is placed between each of the plates 61 so that the plates 61 do not come into contact with each other. The shape and material of the plates 61 are not particularly limited. The plates 61 do not have to be plate-shaped; they may be ring-shaped or rod-shaped.

[0145] The elastic body 62 is placed between one plate 61 and another plate 61. The elastic body 62 imparts an elastic force to each plate 61. The shape and material of the elastic body 62 are not particularly limited, as long as it is an elastic component. The elastic body 62 can be, for example, a spring or an elastic film.

[0146] The wire 63 passes through holes provided in each of the plates 61, connecting the base 65 to the uppermost plate 61. The shape of the wire 63 is not limited; it may be linear or plate-shaped. The material of the wire 63 is not particularly limited.

[0147] The fixing member 64 secures the elastic body 62 to the surface of the plate 61. The material and shape of the fixing member 64 are not particularly limited, as long as the position of the elastic body 62 can be fixed.

[0148] In one embodiment, the plate 61 has three holes. One wire 63 is passed through each hole. An elastic body 62 is positioned between the upper and lower plates 61 such that each wire 63 passes through its interior. In one embodiment, the drive mechanism 60 includes five plates 61, twelve elastic bodies 62, and three wires 63.

[0149] The base 65 is a component that contacts the mounting surface. The components of the drive mechanism 60 are arranged on the base 65. A portion of the drive mechanism 60 on the base 65 may be visible to the user P from the appearance of the robot 10. That is, the outer shell 11 covers the drive mechanism 60 in such a manner that the structure and / or shape of the drive mechanism 60 cannot be seen from the outside. This allows the user to feel that the robot 10 has a biological element and cuteness, as if it were alive.

[0150] The plate 61 is configured to rotate around an axis R3 that is substantially perpendicular to the mounting surface relative to the base 65. The plate 61 can also rotate by displacing at a predetermined speed within a predetermined range of angles around axis R3. In one embodiment, a motor is connected to the lowest plate 61, and the lowest plate 61 is configured to rotate and rotatably around a vertical axis passing substantially through the center of the plate 61. As the lowest plate 61 rotates and rotats, the plates 61 placed above it also rotate and rotate via the elastic body 62 and wire 63.

[0151] The winding mechanism 66 is configured to wind up the wire 63. The winding mechanism 66 is located inside the base 65. The winding mechanism 66 is controlled by the control device 13. The control device 13 adjusts the amount of wire 63 wound up in the winding mechanism 66 based on commands received from the controller 21. The configuration is not limited to adjusting the length of the wire 63 by winding it up, but for example, the winding mechanism 66 includes a pulley for winding up the wire 63 and a motor for rotating the pulley. The wire 63 and the winding mechanism 66 are an example of a biasing force adjustment mechanism.

[0152] Figure 21 is a diagram illustrating the driving mode of the drive mechanism in a modified example. The controller 21 drives the drive mechanism 60 so that the height dimension of the drive mechanism 60 from the installation surface decreases when at least one of the subject's physiological information, behavioral information, and health checkup results satisfies the condition deterioration condition. The driving mode of the drive mechanism will be explained with reference to Figures 20 and 21. For the purpose of explanation, the lowest plate 61 is referred to as plate 61A, and the plate 61 one position above plate 61A is referred to as plate 61B.

[0153] In one embodiment, the state shown in Figure 20 is the initial state of the drive mechanism 60. In the initial state, the wire 63 is wound up to a predetermined length by the winding mechanism 66, and each elastic body 62 is subjected to the tension of the wire 63 in addition to the weight of the plate 61.

[0154] When all the wires 63 are wound up by a first length in the initial state, the tension in the wires 63 increases. This reduces the dimensions of all the elastic bodies 62 sandwiched between plates 61A and 61B. As the dimensions of the elastic bodies 62 decrease, the height dimension of the drive mechanism 60 from the installation surface decreases. It is possible to adjust the height dimension of the drive mechanism 60 from the installation surface according to the length of the first length that is wound up. In this way, the controller 21 drives the drive mechanism 60 so that the height dimension of the drive mechanism 60 from the installation surface decreases when at least one of the subject's physiological information, behavioral information, and health check results satisfies the condition deterioration condition. Plate 61A is an example of a third member, and plate 61B is an example of a fourth member. Winding all the wires 63 by a first amount is an example of adjusting the biasing force that biases plate 61B in the direction opposite to the installation surface.

[0155] Furthermore, the length of each wire 63 wound up by the winding mechanism 66 in the initial state may differ. In Figure 21, wire 63A is wound up by winding mechanism 66A, wire 63B is wound up by winding mechanism 66B, and wire 63C is wound up by winding mechanism 66C.

[0156] Referring to Figure 21, for example, it is assumed that in the initial state, winding mechanism 66A further winds wire 63A by a second length, and winding mechanisms 66B and 66C further wind wire 63B and wire 63C by a third length shorter than the second length. As a result, the tension of wire 63A becomes greater than the tension of wires 63B and 63C. Therefore, the elastic body 62 through which wire 63A passes becomes smaller in dimensions than the elastic body 62 through which wire 63B and wire 63C pass. As a result, the drive mechanism 60 is tilted in the plate 61B such that the hole through which wire 63A passes is located closer to the installation surface than the holes through which wires 63B and 63C pass. Winding wire 63A by a second length by winding mechanism 66A is an example of adjusting the biasing force that biases the plate 61B in the direction opposite to the installation surface. The third length may be 0.

[0157] In the modified example, the drive mechanism 60 can have a smaller height dimension from the installation surface. Furthermore, even when the outer shell 10 and a part of the drive mechanism 60 are connected, the top of the outer shell 10 (the point on the outer shell 10 that is the highest in height from the installation surface) can be tilted 360 degrees around an axis that is approximately perpendicular to the installation surface. In the drive mechanism 12 described in Figure 3, for example, the second end 125b is connected to the periphery of parts 111a and 111b. As the second member 125 rotates around axis R2 by the second motor 124, the robot 10 moves to bend forward as shown in the external view 550 of Figure 9. Here, since the second end 125b is connected to the periphery of parts 111a and 111b, the robot 10 cannot tilt its top in any direction other than the direction in which parts 111a and 111b are located. In the modified example, the drive mechanism 60 can be tilted 360 degrees around an axis approximately perpendicular to the mounting surface, even when coupled to the outer shell 11 in one region. Therefore, the robot 10 can tilt the top of the outer shell 10 360 degrees around an axis approximately perpendicular to the mounting surface. As a result, the drive mechanism 60 increases the range of motion that the robot 10 can perform.

[0158] Figure 22 is a diagram illustrating how the robot tilts due to the drive mechanism 60 in a modified example. In Figure 22, when the robot 10 is tilted, the positions of the axis of the drive mechanism (axis R1 or axis R3), the center point (reference point) of parts 111a and 111b, and the point of the drive mechanism with the highest height from the installation surface are schematically shown when the robot 10 is viewed from above in a direction perpendicular to the installation surface. Referring to Figure 22, for example, when the robot 10 moves to bend forward with the second end 125b of the drive mechanism 12 connected to the periphery of parts 111a and 111b as described above, as shown in Figure 22(a), the axis 610 of the drive mechanism, the center point 620 of parts 111a and 111b, and the point of the drive mechanism with the highest height from the installation surface 630 are located approximately in a straight line. On the other hand, in the modified drive mechanism 60, as shown in Figure 22(b), it is possible to drive the drive mechanism such that a straight line connecting the shaft 610 of the drive mechanism and the center points 620 of parts 111a and 111b form an angle 640 with a straight line connecting the shaft 610 of the drive mechanism and the point 630 in the drive mechanism that is at the highest height from the installation surface. The center points of parts 111a and 111b are examples of reference points for the outer shell 10. In the explanation in Figure 22, the center points of parts 111a and 111b were used as reference points for the outer shell 10, but the explanation is not limited to this, and the reference points may be parts 111a and 111b.

[0159] In the modified drive mechanism described above, the elastic body may be in the form of a film or a rod and may be positioned at the location of the wire 63 in Figure 20. That is, the elastic body may pass from the uppermost plate 61 to the base 65. The winding mechanism 66 is configured to wind up the elastic body. In this case, reducing the dimensions of the elastic body is achieved by the winding mechanism 66, which is an example of a biasing force adjustment mechanism, winding up the elastic body 62.

[0160] In the modified example described above, the drive mechanism has an elastic body 62, so for example, when a user P strokes the robot 10 from above with their hand, the elastic body 62 deforms. The robot 10 naturally decreases in height from the installation surface in response to the force applied by the user P. Figure 23 shows how the height from the installation surface decreases when stroked by a human hand. As shown in Figure 23, the appearance of the robot 10 changes from the initial state, appearance 710, to appearance 720, in which the height from the installation surface has decreased, when force is applied by the user P. According to the drive mechanism in the modified example, it is possible to not only perform mechanically defined movements, but also to change the appearance in response to the force applied by the user P, making it possible to express a state in which the robot 10 appears to be alive.

[0161] [Conversion Table for the Modified Drive Mechanism] Figure 24 shows an example of a conversion table included in the determination data 232 of a robot system 100 equipped with a modified drive mechanism 60. Figure 24 shows a conversion table used in a process in which the controller 21 determines whether or not the condition for deterioration is met, using the distance L between the user P and the display D, which is an example of physiological information. The conversion table shows the target value for the distance L. For example, if the distance L is "10 cm", the target value is "3", and if the distance L is "20 cm", the target value is "5".

[0162] The conversion table in Figure 24 differs from the conversion table described in Figure 6 in its content regarding "driving the drive mechanism." Specifically, in the robot system 100 equipped with a modified drive mechanism 60, "driving the drive mechanism" in the conversion table is defined by the length of the wire 63 wound up by the winding mechanism 66. Specifically, for example, assuming that the initial length of the wire 63 wound up is 2 cm, "driving the drive mechanism" is defined as winding up to 7 cm if the condition for deterioration is met, and winding up to 2 cm otherwise. The following describes the process performed by the controller 21 (processor 22) of the processing unit 20 executing the determination program 231 using the conversion table in Figure 24.

[0163] The controller 21 identifies the target value using the distance L obtained by the measuring instrument 30. Specifically, the controller 21 identifies the target value from the distance L using a conversion table contained in the determination data 232 stored in the memory 23. For example, if the distance L is "10 cm", the target value is "3", and if the distance L is "20 cm", the target value is "5".

[0164] Next, the controller 21 determines whether the condition for deterioration is met. The condition for deterioration includes a reference range for the target value. If the reference range is "2 or more and 4 or less" and the target value is "5", the controller 21 determines that the target value is not included in the reference range. The controller 21 then determines that the condition for deterioration is met. Also, if the reference range is "2 or more and 4 or less" and the target value is "3", the controller 21 determines that the target value is included in the reference range. The controller 21 then determines that the condition for deterioration is not met.

[0165] The controller 21 outputs an instruction to the robot 10 in response to the condition deterioration condition being met. This instruction includes an instruction to the control device 13 to drive the drive mechanism 12 so that the height dimension of the drive mechanism 60 from the installation surface is reduced. In response to this instruction, the winding mechanism 66 winds up the wire 63. The length of wire 63 wound up by the winding mechanism 66 is listed in the conversion table. As shown in Figure 24, if the condition deterioration condition is met, the controller 21 drives the winding mechanism 66 so that the length of wire 63 wound up is 7 cm. If the condition deterioration condition is not met, the controller 21 drives the winding mechanism 66 so that the length of wire 63 wound up is 2 cm. Note that if the length of wire 63 wound up in the initial state is 2 cm, the winding mechanism 66 does not wind up the wire 63.

[0166] In the robot systems equipped with the drive mechanisms described in Embodiments 1, 2, 3, 4, Modification 1, Modification 2, and Modification described above, the condition deterioration condition may include two or more subconditions. Each of the two or more subconditions includes an index used to determine whether the user P's condition has deteriorated and whether it is necessary to improve the user P's condition, based on the user P's physiological information and / or behavioral information. The control of the robot 10 when the condition deterioration condition includes two or more subconditions will be described below, using the robot system 100 in Embodiment 1 as an example.

[0167] The controller 21 determines whether each of the two or more subconditions is met based on the physiological information of user P acquired by the measuring instrument 30 and / or the behavioral information of user P input by user P via the input unit 25. The controller 21 may drive the drive mechanism 12 so as to reduce the height dimension of the drive mechanism 12 from the installation surface if all of the two or more subconditions are met, or it may drive the drive mechanism 12 so as to reduce the height dimension of the drive mechanism 12 from the installation surface if at least one of the two or more subconditions is met. Furthermore, the robot 10 may drive the drive mechanism 12 so as to reduce the height dimension of the drive mechanism 12 from the installation surface in different ways depending on whether all of the two or more subconditions are met or whether some of the two or more subconditions are met. Different ways of doing so include, for example, having different dimensions.

[0168] For example, suppose the first subcondition includes an index about the distance L between user P and display D, and the second subcondition includes an index about the degree of tilt of user P's upper body. The controller 21 determines whether each of the first and second subconditions is met based on user P's physiological information and / or user P's behavioral information. If both the first and second subconditions are met, the controller 21 drives the drive mechanism 12 so that its height dimension from the installation surface becomes a first height. If one of the first and second subconditions is met, the controller 21 drives the drive mechanism 12 so that its height dimension from the installation surface becomes a second height, which is higher than the first height. Specifically, if one of the first and second subconditions is met, the controller 21 drives the second motor 124 so that the angle between the XY plane and the major axis of the second member 125 is larger than when both subconditions are met. In this way, user P can recognize whether or not conditions for deterioration of their condition are met in multiple indicators of their physiological information and / or behavioral information.

[0169] Furthermore, if the robot system 100 is equipped with a modified drive mechanism 60, the robot 10 may be tilted in the direction of the center points of parts 111a and 111b relative to the rotation axis of the robot 10 if the first subcondition is met, and the robot 10 may be tilted in the direction perpendicular to the direction of the center points of parts 111a and 111b relative to the rotation axis of the robot 10 if the second subcondition is met. In this way, if only the first subcondition is met, the robot 10 will tilt so that the axis R3 of the drive mechanism 60, the center point (reference point) of parts 111a and 111b, and the point of the drive mechanism 60 with the highest height from the installation surface are all on the same line, as shown in Figure 22(a). If both the first and second subconditions are met, the robot will tilt so that the straight line connecting the axis R3 of the drive mechanism 60 and the center points of parts 111a and 111b, and the straight line connecting the axis R3 of the drive mechanism 60 and the point of the drive mechanism 60 with the highest height from the installation surface form an angle 640, as shown in Figure 22(b). In this example, the angle 640 when only the first subcondition is met is 0 degrees. The fact that the angle between the line connecting the reference point of the outer shell 11 and the rotation axis R3 is different from the angle between the line connecting the point with the highest height from the installation surface in the drive mechanism 60 and the rotation axis R3 is an example of driving the drive mechanism in a way that reduces the height dimension of the drive mechanism from the installation surface in different manner.

[0170] In the robot systems equipped with the drive mechanisms described in Embodiment 1, Embodiment 2, Embodiment 3, Embodiment 4, Modification 1, Modification 2, and Modification 2 above, the drive mechanism may be driven regardless of whether the deterioration condition is met. The control of the drive mechanism will be described below using the robot system 100 in Embodiment 1 as an example.

[0171] The controller 21 rotates the robot 10 relative to the installation surface regardless of whether the deterioration condition is met. The controller 21 may also rotate the first member 123 around the rotation axis R1 of the drive mechanism 12 regardless of whether the deterioration condition is met. Alternatively, for example, the controller 21 may drive the drive mechanism 12 such that the height dimension of the drive mechanism 12 from the installation surface is reduced, regardless of whether the deterioration condition is met.

[0172] These are routine actions that the robot system 100 has the robot 10 perform to make the user P feel as if the robot 10 is a living creature. Routine actions include, for example, actions that represent the robot 10 breathing, actions that represent the robot 10 feeling sleepy, and actions that represent the robot 10 being bored. The action that represents the robot 10 breathing is performed by the controller 21 making small changes in the height dimension of the drive mechanism from the mounting surface. In one embodiment, the action that represents the robot 10 breathing is performed intermittently while the robot 10 is operating. In addition, the action that represents the robot 10 feeling sleepy is performed by the controller 21 repeatedly tilting the robot 10 in one direction and then returning it to its original position for a predetermined period of time using the drive mechanism. Figure 25 is a diagram illustrating an example of an action that represents the robot 10 feeling sleepy. Appearance 810 shows the initial state, and appearance 820 shows the state of feeling sleepy. In the external appearance 820, for example, the controller 21 drives the first member 123 to repeatedly rotate within a predetermined range around the rotation axis R1 of the drive mechanism 12. Furthermore, if the robot 10 is equipped with the drive mechanism 60 in the modified example, the controller 21 repeatedly changes the length of the wire 63A within a predetermined range in Figure 21. This allows the robot 10 to express that it is feeling sleepy, as shown in the external appearance 820. In addition, after a predetermined time has elapsed, the controller 21 may raise the height dimension of the drive mechanism 12 from the mounting surface above the initial state. This allows the robot to express that it is awake, as shown in the external appearance 830 in Figure 25.

[0173] Daily actions are not limited to the examples described above; for example, they could involve changing the orientation of parts 111a and 111b. This allows the robot 10's line of sight to be changed. Furthermore, the drive mechanism 60 allows for more precise movement of the robot 10 compared to the drive mechanism 12, making it possible to diversify the actions that can be expressed as daily actions.

[0174] The robot system 100 notifies user P of whether or not the robot 10 is deteriorating and whether or not user P's condition needs improvement, but also allows user P to develop a deeper attachment to the robot 10 by having the robot 10 perform daily operations. This increases user P's motivation to improve their condition when the robot 10 notifies them that user P's condition is deteriorating and needs improvement.

[0175] [Aspects] The above-described exemplary embodiments will be understood by those skilled in the art to be specific examples of the following aspects.

[0176] (Section 1) A robot unit in one embodiment comprises a drive mechanism, a flexible outer shell covering the drive mechanism, a controller for controlling the drive mechanism, and an input interface for receiving at least one of the physiological information, behavioral information, and health check results of an object, wherein the controller may drive the drive mechanism such that the height dimension of the drive mechanism from the installation surface decreases when at least one of the physiological information, behavioral information, and health check results of the object satisfies a condition of deterioration.

[0177] According to the robot unit described in paragraph 1, it is possible to improve the user's motivation to change their behavior and / or take action.

[0178] (Clause 2) In the robot unit described in paragraph 1, the controller may identify a target value using at least one of the physiological information, behavioral information, and health check results of the target, the condition for deterioration of the state may include a reference range for the target value, and the controller may determine whether or not the target value is included in the reference range.

[0179] According to the robot unit described in paragraph 2, the controller can determine whether the condition of deterioration is met by determining whether the target value identified using at least one of physiological information, behavioral information, and health checkup results falls within the reference range.

[0180] (Clause 3) In the robot unit described in paragraph 1 or 2, the drive mechanism includes a base that contacts the installation surface and a frame that is disposed on the base, wherein the frame has a first member that is connected to the base at one end and a second member that has a first end that is connected to the other end of the first member, and reducing the height dimension of the drive mechanism from the installation surface may include bringing the second end of the second member opposite to the first end closer to the installation surface.

[0181] According to the robot unit described in paragraph 3, the drive mechanism is driven so that the second end of the second member approaches the mounting surface, thereby reducing the height dimension of the drive mechanism from the mounting surface.

[0182] (Clause 4) In the robot unit described in paragraph 3, the second member is rotatable about the first end, and the second end approaching the installation surface may include the rotation of the second member.

[0183] According to the robot unit described in Section 4, the second end of the second member rotates around the first end, bringing it closer to the mounting surface, thereby reducing the height dimension of the drive mechanism from the mounting surface.

[0184] (Clause 5) In the robot unit described in paragraph 3 or 4, the skeletal part is rotatable about an axis substantially perpendicular to the mounting surface with respect to the base, and the control device may rotate the skeletal part in response to at least one of the physiological information, behavioral information, and health check results of the target satisfying the condition deterioration condition.

[0185] According to the robot unit described in Section 5, the skeletal structure rotates around the rotation axis of the base. This makes it possible to express the robot's "discomfort," "restlessness," "unease," "liveliness and vitality," and "comfort."

[0186] (Clause 6) In the robot unit described in any one of paragraphs 1 to 5, the physiological information of the subject may include at least one of the following: posture data, body temperature, pulse, respiration, heart rate, electroencephalogram, gaze, cerebral blood flow, steps, blood glucose level, blood oxygen saturation, electromyography, blink count, acceleration, electrocardiogram, and image data.

[0187] The robot unit described in paragraph 6 can determine whether or not the condition of deterioration is met based on at least one of the following: posture data, body temperature, pulse, respiration, heart rate, electroencephalogram, gaze, cerebral blood flow, step count, blood glucose level, blood oxygen saturation, electromyography, blink rate, acceleration, electrocardiogram, and image data.

[0188] (Clause 7) In the robot unit described in Clause 6, the posture data may include at least one of the following: posture evaluation information based on an image of the object, the distance between the object and the first object, and the result of pressure distribution measurement obtained by a pressure sensor provided on the chair on which the object sits.

[0189] The robot unit described in paragraph 7 can determine whether or not the condition for deterioration is met based on at least one of the following: posture evaluation information based on an image taken of the object, the distance between the object and the first object, and the results of pressure distribution measurement obtained by a pressure sensor installed on the chair in which the object sits.

[0190] (Clause 8) In the robot unit described in paragraph 7, the first object may be a display.

[0191] The robot unit described in paragraph 8 can determine whether or not the condition for deterioration is met based on the distance between the target and the display.

[0192] (Paragraph 9) In the robot unit described in any one of paragraphs 1 to 8, the behavioral information of the object may include at least one of the following: a record of the object performing a predetermined movement, and a record of the object using a training gym.

[0193] The robot unit described in paragraph 9 can determine whether the condition of deterioration is met based on at least one of the following: a record of the subject performing a predetermined exercise, and a record of the subject using a training gym.

[0194] (Clause 10) The robot unit described in any one of paragraphs 1 to 9 further comprises a sound output unit, and the control device may output sound from the sound output unit in response to at least one of the physiological information, behavioral information, and health check results of the subject satisfying the condition of deterioration.

[0195] According to the robot unit described in paragraph 10, the controller can output sound when it determines that the condition for deterioration has been met.

[0196] (Clause 11) In the robot unit described in any one of paragraphs 1 to 10, the outer shell may cover the object in such a manner that the structure of the drive mechanism cannot be visually observed.

[0197] According to the robot unit described in paragraph 11, the user cannot see the structure of the robot unit's drive mechanism from its exterior. As a result, the user perceives the robot unit as having a biological element and being endearing. Therefore, when the robot unit expresses spiciness, the user's motivation to change their behavior and / or take action to eliminate that spiciness can be further enhanced. Furthermore, as the user changes their behavior and / or takes action, the robot unit expresses joy, which can further enhance the user's motivation.

[0198] (Clause 12) In the robot unit described in any one of paragraphs 1 to 11, the outer perimeter length at a first distance from the mounting surface of the drive mechanism may be longer than the outer perimeter length at a second distance greater than the first distance, when the outer perimeter covers the drive mechanism.

[0199] According to the robot unit described in paragraph 12, the appearance of the robot unit can give user P the impression that the object is covered with cloth. This gives the user the impression that there is a small animal inside the robot unit. Therefore, when the robot unit expresses spiciness, it is possible to further increase the user's motivation to change and / or take action to eliminate that spiciness.

[0200] (Clause 13) A robot system in one embodiment may include a robot unit as described in any one of paragraphs 1 to 10, and a measuring unit for acquiring physiological information of the target.

[0201] According to the robot system described in paragraph 13, it is possible to determine whether or not the condition of deterioration is met based on the physiological information of the user acquired by the measuring unit provided in the robot unit.

[0202] (Clause 14) A robot in one embodiment comprises a drive mechanism, a flexible outer shell covering the drive mechanism, and a control device for controlling the drive mechanism, wherein the control device may drive the drive mechanism such that the height dimension of the drive mechanism from the mounting surface decreases in response to at least one of the subject's physiological information, behavioral information, and health check results satisfying a condition of deterioration.

[0203] According to the robot described in paragraph 14, it is possible to improve the user's motivation to change their behavior and / or to take action.

[0204] (Clause 15) A robot unit in one embodiment comprises a drive mechanism, a flexible outer shell covering the drive mechanism, a controller for controlling the drive mechanism, and an input interface for receiving at least one of the target's physiological information, behavioral information, and health check results, wherein the controller may determine drive parameters that can visually represent the robot's level of discomfort based on at least one of the target's physiological information, behavioral information, and health check results, and drive the drive mechanism based on the drive parameters.

[0205] According to the robot unit described in paragraph 15, it is possible to improve the user's motivation to change their behavior and / or take action.

[0206] (Clause 16) In the robot unit described in paragraph 15, when the controller determines a first drive amount as the drive parameter when it identifies the spiciness as a first level, the controller may determine a second drive amount that is weaker than the first drive amount as the drive parameter when it identifies the spiciness as a second level which is spicier than the first level.

[0207] According to the robot unit described in paragraph 16, the robot's driving mode can be changed according to the degree of spiciness of the robot.

[0208] (Clause 17) A robot unit in one embodiment includes a robot comprising a drive mechanism and a flexible outer skin covering the drive mechanism, a controller for controlling the drive mechanism, and an input interface for receiving at least one of the subject's physiological information, behavioral information, and health check results, wherein the controller may determine drive parameters that can visually represent the robot's level of discomfort based on at least one of the subject's physiological information, behavioral information, and health check results, and drive the drive mechanism based on the drive parameters.

[0209] According to the robot unit described in paragraph 17, it is possible to improve the user's motivation to change their behavior and / or take action.

[0210] (Clause 18) In the robot unit described in any one of paragraphs 1 to 12 and paragraphs 15 to 17, the drive mechanism includes a third member, an elastic body provided on the third member on the side opposite to the installation surface, a fourth member provided so as to sandwich the elastic body between the third member and the third member, and a biasing force adjustment mechanism for adjusting the height dimension of the elastic body by adjusting the biasing force applied to the fourth member in the direction opposite to the installation surface, wherein reducing the height dimension of the drive mechanism from the installation surface may include reducing the dimensions of the elastic body.

[0211] According to the robot unit described in paragraph 18, the height dimension of the drive mechanism from the mounting surface can be reduced by reducing the dimensions of the elastic body.

[0212] (Clause 19) In the robot unit described in paragraph 18, the biasing force adjustment mechanism includes a wire connecting the third member and the fourth member and arranged along the elastic body, and a winding mechanism for winding the wire, and reducing the dimensions of the elastic body may include the winding mechanism winding the wire.

[0213] According to the robot unit described in paragraph 19, the dimensions of the elastic body can be reduced by winding up the wire.

[0214] (Clause 20) In the robot unit described in paragraph 18, the biasing force adjustment mechanism is configured to be able to wind up the elastic body, and reducing the dimensions of the elastic body may include the biasing force adjustment mechanism winding up the elastic body.

[0215] According to the robot unit described in paragraph 20, the dimensions of the elastic body between plates of the elastic body can be reduced by winding up the elastic body.

[0216] (Paragraph 21) In the robot unit described in any one of paragraphs 1 to 12 and paragraphs 15 to 20, the condition deterioration condition includes a first subcondition and a second subcondition, and the controller may drive the drive mechanism in a manner different from when the first subcondition or the second subcondition is met if at least one of the physiological information, behavioral information, and health check results of the target satisfies the first subcondition and the second subcondition, such that the height dimension of the drive mechanism from the installation surface is reduced.

[0217] According to the robot unit described in paragraph 21, when the first and second subconditions are met, the drive mechanism is driven in a different manner than when either the first or second subcondition is met. Therefore, the user can easily understand which of the multiple subconditions has been met.

[0218] (Clause 22) In the robot unit described in paragraph 21, the drive mechanism is rotatable about an axis substantially perpendicular to the mounting surface, and the different embodiments may include at least one of the following: a difference in the size of the dimensions, and a difference in the angle between the line connecting the reference point of the outer skin and the axis, and the line connecting the point in the drive mechanism that is highest in height from the mounting surface and the axis.

[0219] According to the robot unit described in Section 22, when the first and second subconditions are met, the drive mechanism is driven in such a way that at least one of the following is different from when either the first or second subcondition is met: the size of the dimensions, and the angle between the line connecting the reference point of the outer skin and the axis, and the line connecting the highest point in the drive mechanism from the mounting surface and the axis. Therefore, the user can easily determine which of the multiple subconditions has been met.

[0220] (Clause 23) In the robot unit described in paragraphs 18 to 20, the third member is configured to be rotatable about an axis substantially perpendicular to the installation surface, and the controller may perform at least one of the processes of rotating the third member and changing the biasing force.

[0221] The robot unit described in paragraph 23 is rotatable. This allows for a wider range of movements that the robot unit can perform.

[0222] (Clause 24) In the robot unit described in paragraph 23, the controller may perform at least one of the following processes: rotating the third member and changing the biasing force, regardless of whether at least one of the physiological information, behavioral information, and health check results of the target satisfies the condition deterioration.

[0223] According to the robot unit described in Section 24, the robot operates when the drive mechanism is activated, regardless of whether the deterioration conditions are met. This allows for the expression of the robot's breathing and drowsiness, giving the user the impression that the robot is alive. By giving the user the impression that the robot is alive, it is expected that the user's attachment to the robot will be strengthened, and they will be more readily to accept changes in the robot's proposed behavior.

[0224] (Paragraph 25) A robot system in one embodiment may include a robot unit as described in any one of paragraphs 1 to 12 and paragraphs 15 to 24, and a measuring unit for acquiring physiological information of the target.

[0225] According to the robot system described in paragraph 25, it is possible to determine whether or not the condition of deterioration is met based on the physiological information of the user acquired by the measuring unit provided in the robot unit.

[0226] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of this disclosure is indicated by the claims rather than by the description of the embodiments above, and all modifications within the meaning and scope of the claims are intended to be included. Furthermore, each technique in the embodiments is intended to be practiced individually or, as far as possible, in combination with other techniques in the embodiments.

[0227] 10 Robot, 11 Outer shell, 12 Drive mechanism, 13 Control device, 14 Receiving device, 15 Sound output unit, 20 Processing unit, 21, 21A Controller, 22 Processor, 23 Memory, 24 Input / Output I / F, 25 Input unit, 25A Input device, 26 Output unit, 30 Measuring instrument, 31, 31B Measuring unit, 32 Processor, 33 Memory, 34 Communication unit, 50, 50A, 50B Robot unit, 60 Drive mechanism, 61 Plate, 61A Plate, 61B Plate, 62 Elastic body, 63 Wire, 63A Wire, 63B Wire, 63C Wire, 64 Fixing material, 65 Base, 66 Winding mechanism, 100, 100A, 100B Robot system, 111a, 111b Parts, 121 Base, 122 First motor, 123 first member, 125a first end, 125b second end, 124 second motor, 125 second member.

Claims

1. A robot unit comprising: a drive mechanism; a flexible outer shell covering the drive mechanism; a controller for controlling the drive mechanism; and an input interface for receiving at least one of the target's physiological information, behavioral information, and health check results, wherein the controller drives the drive mechanism so that its height from the mounting surface decreases when at least one of the target's physiological information, behavioral information, and health check results satisfies a condition for deterioration.

2. The robot unit according to claim 1, wherein the controller identifies a target value using at least one of the target's physiological information, behavioral information, and health check results, the condition for deterioration includes a reference range for the target value, and the controller determines whether or not the target value is included in the reference range.

3. The robot unit according to claim 1 or 2, wherein the drive mechanism includes a base that contacts the installation surface and a skeletal part disposed on the base, the skeletal part having a first member connected to the base at one end and a second member having a first end connected to the other end of the first member, and reducing the height dimension of the drive mechanism from the installation surface includes bringing the second end of the second member opposite to the first end closer to the installation surface.

4. The robot unit according to claim 3, wherein the second member is rotatable about the first end, and the second end approaching the installation surface includes the rotation of the second member.

5. The robot unit according to claim 3, wherein the skeletal part is rotatable with respect to the base about an axis substantially perpendicular to the mounting surface, and the controller rotates the skeletal part in response to at least one of the physiological information, behavioral information, and health check results of the target satisfying the condition deterioration condition.

6. The robot unit according to claim 1 or 2, wherein the physiological information of the target includes at least one of posture data, body temperature, pulse, respiration, heart rate, electroencephalogram, gaze, cerebral blood flow, step count, blood glucose level, blood oxygen saturation, electromyography, blink rate, acceleration, electrocardiogram, and image data.

7. The robot unit according to claim 6, wherein the posture data comprises at least one of the following: posture evaluation information based on an image of the object, the distance between the object and the first object, and the result of pressure distribution measurement obtained by a pressure sensor provided on the chair on which the object sits.

8. The robot unit according to claim 7, wherein the first object is a display.

9. The robot unit according to claim 1 or 2, wherein the behavioral information of the target includes at least one of a record of the target performing a predetermined exercise and a record of the target using a training gym.

10. The robot unit according to claim 1 or 2, further comprising a sound output unit, wherein the controller outputs sound from the sound output unit in response to at least one of the physiological information, behavioral information, and health check results of the target satisfying the condition of deterioration.

11. The robot unit according to claim 1 or 2, wherein the outer shell covers the object in such a manner that the structure of the drive mechanism cannot be seen by the object.

12. The robot unit according to claim 11, wherein, when the outer shell covers the drive mechanism, the length of the outer circumference at a first distance from the mounting surface of the drive mechanism is longer than the length of the outer circumference at a second distance greater than the first distance.

13. A robot system comprising a robot unit according to claim 1 or claim 2, and a measuring unit for acquiring physiological information of the target.

14. A robot comprising: a drive mechanism; a flexible outer shell covering the drive mechanism; and a control device for controlling the drive mechanism, wherein the control device drives the drive mechanism so that its height from the mounting surface decreases when at least one of the subject's physiological information, behavioral information, and health check results satisfies a condition of deterioration.

15. A robot unit comprising: a drive mechanism; a flexible outer shell covering the drive mechanism; a controller for controlling the drive mechanism; and an input interface for receiving at least one of the target's physiological information, behavioral information, and health check results, wherein the controller determines drive parameters that can visually represent the robot's level of discomfort based on at least one of the target's physiological information, behavioral information, and health check results, and drives the drive mechanism based on the drive parameters.

16. The robot unit according to claim 15, wherein when the controller determines a first drive amount as the drive parameter when it identifies the spiciness as a first level, the controller determines a second drive amount that is weaker than the first drive amount as the drive parameter when it identifies the spiciness as a second level which is spicier than the first level.

17. A robot unit comprising: a robot including a drive mechanism and a flexible outer shell covering the drive mechanism; a controller for controlling the drive mechanism; and an input interface for receiving at least one of the target's physiological information, behavioral information, and health check results, wherein the controller determines drive parameters that can visually represent the robot's level of discomfort based on at least one of the target's physiological information, behavioral information, and health check results, and drives the drive mechanism based on the drive parameters.

18. The robot unit according to claim 1 or 2, wherein the drive mechanism includes a third member, an elastic body provided on the third member on the side opposite to the installation surface, a fourth member provided so as to sandwich the elastic body between the third member and the fourth member, and a biasing force adjustment mechanism for adjusting the height dimension of the elastic body by adjusting the biasing force applied to the fourth member in the direction opposite to the installation surface, and reducing the height dimension of the drive mechanism from the installation surface includes reducing the dimensions of the elastic body.

19. The robot unit according to claim 18, wherein the biasing force adjustment mechanism comprises a wire connecting the third member and the fourth member and arranged along the elastic body, and a winding mechanism for winding the wire, and reducing the dimensions of the elastic body includes the winding mechanism winding the wire.

20. The robot unit according to claim 18, wherein the biasing force adjustment mechanism is configured to be able to wind up the elastic body, and reducing the dimensions of the elastic body includes the biasing force adjustment mechanism winding up the elastic body.

21. The robot unit according to claim 1 or 2, wherein the condition for deterioration of the state includes a first subcondition and a second subcondition, and the controller drives the drive mechanism in a manner different from when the first subcondition or the second subcondition is met if at least one of the physiological information, behavioral information, and health check results of the target satisfies the first subcondition and the second subcondition, such that the height dimension of the drive mechanism from the installation surface of the drive mechanism becomes smaller.

22. The robot unit according to claim 21, wherein the drive mechanism is rotatable about an axis substantially perpendicular to the mounting surface, and the different embodiments include at least one of the following: the dimensions are different; and the angle between the line connecting the reference point of the outer skin and the axis and the line connecting the point in the drive mechanism with the highest height from the mounting surface and the axis is different.

23. The robot unit according to claim 18, wherein the third member is configured to be rotatable about an axis substantially perpendicular to the installation surface, and the controller performs at least one of the processes of rotating the third member and changing the biasing force.

24. The robot unit according to claim 23, wherein the controller performs at least one of the processes of rotating the third member and changing the biasing force, regardless of whether at least one of the physiological information, behavioral information, and health check results of the target satisfies the condition deterioration.

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