JP2016052474A - Program and information processing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable the easy association of a user's arbitrary biological signal with an operation of a device.SOLUTION: A computer includes drive means, and is made to execute: a setting step for setting a correspondence relation between an operation of a device to be controlled on the basis of drive of the drive means and a user's arbitrary biological signal on the basis of an instruction from a user; a reception step for receiving a user's biological signal; a determination step for determining an operation of the device corresponding to the received biological signal on the basis of the correspondence relation; and a transmission step for transmitting a drive signal for the drive means to the device so as to perform the determined operation of the device.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a program and an information processing apparatus.

  Conventionally, there are many techniques related to artificial limbs used by persons with disabilities who have lost their limbs due to an accident or the like.

  For example, in Patent Document 1, in order for a prosthetic wearer to freely operate the prosthetic limb on his / her own intention, the wearer can grasp the state of the prosthetic limb by transmitting a sensory feedback signal to the wearer. Thus, a wearable motion assisting device capable of optionally controlling the driving means for driving the artificial limb is disclosed.

JP 2009-60946 A

  However, in a conventional artificial limb control device such as the wearable movement assist device disclosed in Patent Document 1, the correspondence between the operation of the artificial limb and the biological signal is determined in advance and can be freely set by the user. Can not do it. Therefore, if you want to make the movement of the prosthesis correspond to a biological signal that is different from the biological signal corresponding to the movement of a healthy limb, or use a type of biological signal other than a preset biological signal Each time, an engineer with specific knowledge must set the motion of the prosthesis corresponding to the biological signal. Therefore, the user cannot freely customize the operation of the prosthesis or easily associate an arbitrary biological signal with the operation of the prosthesis.

  In addition, there is a technology for controlling the operation of a device by associating a device that is not limited to a prosthesis with a biological signal. However, even in this technology, an arbitrary biological signal cannot be easily associated with the operation of the device. .

  SUMMARY OF THE INVENTION In view of the above circumstances, an object of the present invention is to provide a program and an information processing apparatus that can easily associate a user's arbitrary biological signal with the operation of a device.

  A program according to a predetermined embodiment of the present invention includes a drive unit in a computer, and shows a correspondence relationship between an operation of a device controlled based on driving of the drive unit and a user's arbitrary biological signal from a user. A setting step for setting based on an instruction; a receiving step for receiving a user's biological signal; a determining step for determining an operation of a device corresponding to the received biological signal based on a correspondence; and an operation of the determined device A transmission step of transmitting a drive signal for the drive means to the device to be performed may be included.

  The program of the present invention can be installed or loaded on a computer through various recording media such as an optical disk such as a CD-ROM, a magnetic disk, and a semiconductor memory, or via a communication network. .

  Further, in this specification and the like, the “unit” does not simply mean a physical configuration, but also includes a case where the functions of the configuration are realized by software. In addition, functions of one configuration may be realized by two or more physical configurations, or functions of two or more configurations may be realized by one physical configuration. Further, the “system” includes a system configured to provide a specific function to the user, which is configured by an information processing apparatus or the like. For example, a server device, a cloud computing type, an ASP (Application Service Provider), a client server model, and the like are included, but the invention is not limited thereto.

  According to the present invention, it is possible to easily associate any biological signal of the user with the operation of the device.

It is a lineblock diagram of a prosthetic limb control system in an embodiment of the present invention. It is a figure which shows typically an example of the robot hand in embodiment of this invention. It is a figure which shows typically the input pattern synthesize | combined from the biosignal in embodiment of this invention. It is a figure which shows an example of the screen which sets the response | compatibility with the operation | movement pattern and biological signal in embodiment of this invention. It is a chart which shows the processing flow of the learning phase in embodiment of this invention. It is a chart which shows the processing flow of the operation phase in embodiment of this invention.

  Hereinafter, one embodiment of the present invention will be described in detail. The following embodiments are examples for explaining the present invention, and are not intended to limit the present invention only to the embodiments. The present invention can be variously modified without departing from the gist thereof. Furthermore, those skilled in the art can employ embodiments in which the elements described below are replaced with equivalent ones, and such embodiments are also included in the scope of the present invention. Furthermore, positional relationships such as up, down, left, and right shown as needed are based on the display shown unless otherwise specified. Furthermore, various dimensional ratios in the drawings are not limited to the illustrated ratios.

  FIG. 1 shows a system configuration diagram of a prosthetic limb control system 1 according to the present embodiment. As shown in FIG. 1, a prosthetic limb control system 1 includes a prosthetic limb control application (hereinafter also referred to as a prosthetic limb control app) for controlling a robot hand 30 and one or a plurality of biological sensors 10 worn by a user at any part of the body. And the robot hand 30. The biometric sensor 10, the portable terminal 20, and the robot hand 30 are configured to be communicable via a communication network. This communication network is configured by a wireless network or a wired network. Examples of communication networks include mobile phone networks, PHS (Personal Handy-phone System) networks, wireless LAN (Local Area Network), 3G (3rd Generation), LTE (Long Term Evolution), 4G (4th GenerationMex), (Registered Trademark), infrared communication, Bluetooth (Registered Trademark), wired LAN, telephone line, power line network, IEEE 1394, and other networks. In the present embodiment, the biosensor 10 and the mobile terminal 20 will be described as being connected via a wireless network such as Bluetooth (registered trademark). In addition, although the robot hand (prosthetic hand) 30 is demonstrated as an example of the control object in this embodiment, even if it is an apparatus which wants to operate according to a user's intention, such as an artificial leg and an industrial robot, it becomes a control object. Good.

  The prosthetic limb control application is an application that acquires a user's biological signal and outputs an operation signal for operating the robot hand 30 based on the acquired biological signal. Since the input to the prosthetic limb control application uses a biological signal, the user can easily operate the robot hand 30 by moving the body or speaking.

  Furthermore, the prosthetic limb control application in the present embodiment allows the user to freely and easily set an arbitrary biological signal of the user and the operation of the robot hand 30. That is, the user can set a biological signal for operating the robot hand 30, for example, a movement or sound of the user's own body in association with an arbitrary operation of the robot hand 30 by using the artificial limb control application. It becomes possible.

  In general, when a prosthesis is controlled using a biological signal such as a myoelectric signal, considerable maturity is required to generate a myoelectric signal corresponding to the movement of the prosthesis as expected by the user. In addition, since biological signals such as myoelectric signals are easily affected by noise, there are cases where the user cannot output the intended biological signal even if the user intends to move the body in the same manner. In this case, the operation of the robot hand 30 is not intended by the user and is erroneous.

  On the other hand, in the prosthetic limb control application according to the present embodiment, the user can appropriately set or update the biological signal corresponding to the operation of the robot hand 30. For this reason, the user can associate the operation of the robot hand 30 intended by the user with an arbitrary biological signal of an arbitrary part that can be stably output according to his / her characteristics. Therefore, it is possible to prevent the malfunction of the robot hand 30 described above.

  Each structure of the prosthetic limb control system 1 which implement | achieves such a function is demonstrated using FIG.

  The biological sensor 10 is a sensor that can be attached to an arbitrary part of a user and receive a biological signal. Examples of biological signals include signals that can be sensed by an arm or abdominal myoelectric signal (myoelectric signal), an ocular potential signal, a cardiac potential signal, an audio signal, an electroencephalogram signal, a photoreflector, or the like. Not. In the present embodiment, a myoelectric signal will be described as an example of a biological signal. As shown in FIG. 1, the biological sensor 10 includes a measurement unit 110 and a transmission unit 120 as functional units.

  The measurement unit 110 acquires a biological signal from the human body. The measurement unit 110 may include, for example, a device that acquires a biological signal by being attached to a human body, such as an electrode, or a device that acquires a biological signal that is separated from the human body, such as a microphone or a photo reflector. The biosensor 10 can include a measuring unit 110 such as a plurality of electrodes. In the present embodiment, the measurement unit 110 is described as electrodes that are attached to the muscles of the arm at three locations and acquire myopotentials. However, the number of the measurement units 110 and the mounting locations are not limited thereto. For example, it may be attached to different parts of the body such as the abdomen, arms and legs.

  The transmission part 120 transmits the acquired biomedical signal to the portable terminal 20 mentioned later.

Next, the configuration of the robot hand 30 will be described with reference to FIG. FIG. 2 is a diagram illustrating an example of the robot hand 30. The robot hand 30 is a prosthetic hand imitating a human hand as shown in FIG. The robot hand 30 includes a main body 350 and five finger portions 351A to 351E (hereinafter, the finger portions 351A to 351E are collectively referred to as finger portions 351). Further, the robot hand 30 is provided with a motor 370A to 370E at the base of each finger and a motor 370F at the wrist as a drive unit 370. Driving the motors 370A to 370F allows the robot hand 30 to perform operations such as bending a finger or twisting the wrist. In the example shown in FIG. 2, six motors are used. However, the number of motors may be at least one and is not limited to the example shown in FIG. Since there are various types of motors, the number of motors may be determined according to the function of the motor and the content to be operated. In the example of FIG. 2, the robot hand 30 having five fingers is illustrated, but the present invention is not limited to this, and the number of fingers can be arbitrarily configured. Furthermore, the drive unit 370
The motor will be described as an example. However, the present invention is not limited to this example, and various actuators such as an electric field responsive polymer, a dielectric elastomer, a shape memory alloy, a McKibben artificial muscle, and an electrorheological fluid may be used.

  Furthermore, it is desirable that the finger portions 351 of the robot hand 30 can be replaced with modules each having a special function. The module preferably has, for example, a telephone function, a microphone function, a speaker function, a music player function, and the like.

  The function unit of the robot hand 30 will be described with reference to FIG. As shown in FIG. 1, the robot hand 30 includes a control unit 310, a transmission unit 320, and a reception unit 330 as functional units.

  The control unit 310 acquires an operation pattern from the receiving unit 330 described later, and controls the operation of the robot hand 30 by controlling the drive of the drive unit 370 of the robot hand 30 based on the operation pattern. It is desirable that the control unit 310 can control the rotation speed, line speed gradient, angle, torque, and the like (hereinafter also referred to as drive data) of the drive unit 370 corresponding to the operation of the robot hand 30. The control unit 310 grasps an operation pattern that is a combination of drive data such as the rotation speed and angle of the drive unit 370 corresponding to various operations of the robot hand 30.

  The transmission unit 320 transmits a combination (operation pattern) such as a rotation speed, a speed gradient, and a rotation angle of the drive unit 370 corresponding to the operation of the robot hand 30 to the mobile terminal 20 in a learning phase to be described later. For example, when the user manually moves the robot hand 30, the control unit 110 recognizes the operation pattern at this time, and transmits the recognized operation pattern to the mobile terminal 20. The receiving unit 330 receives an operation pattern (drive signal) from the mobile terminal 20 described later. Note that the transmission unit 120 and the reception unit 130 may communicate with the mobile terminal 20 using drive data such as the rotation angle of the drive unit 370 as a drive signal.

Next, the configuration of the mobile terminal 20 will be described with reference to FIG.
The portable terminal 20 is an information processing apparatus having a function of communicating with the biosensor 10 and the robot hand 30 via a wired or wireless network. Specific examples include, but are not limited to, mobile phones, smartphones, notebook PCs, PDAs, tablets, and the like. As shown in FIG. 1, the mobile terminal 20 includes a main control unit 210, an input unit 220, a display unit 230, a communication unit 240, and a storage unit 250. The user can control the robot hand 30 by installing the prosthetic limb control application on the mobile terminal 20.

  The main control unit 210 includes an arithmetic processing unit 211 such as a CPU and an MPU, and a memory (not shown). The arithmetic processing unit 211 operates various functional units by executing a program recorded in a memory (not shown) based on various inputs. This program may be stored in an external memory such as microSD, or distributed via a network and installed in the mobile terminal 20. The memory (not shown) stores data required for processing by the system of the mobile terminal 20 such as an OS (Operating System).

  The input unit 220 refers to buttons, a touch panel, a mouse, a keyboard, and the like, and is configured to accept an operation from a user.

  The display unit 230 is a liquid crystal screen or the like that displays an image on the mobile terminal 20. The communication unit 240 is for connecting the mobile terminal 20 to a network.

  The storage unit 250 is configured by a storage medium such as a RAM, and stores data relating to applications downloaded by the user, image files, audio files, and the like. The storage unit 250 is not limited to the one built in the mobile terminal 20 and may be an external memory such as a microSD. By installing the prosthetic control application, the correspondence table DB is stored in the storage unit 250 as shown in FIG. In the correspondence table DB, the biological signal and the operation pattern of the robot hand 30 are stored in association with each other. The operation pattern associated with the correspondence table DB may be drive data itself such as the rotation angle of the drive unit 370.

  The arithmetic processing unit 211 can function as the setting unit 2111, the receiving unit 2112, the determining unit 2113, the transmitting unit 2114, and the recognizing unit 2115 by installing the prosthetic limb control application.

  The receiving unit 2112 receives a biological signal from the biological sensor 10 via the communication unit 240. In the learning phase in which the operation of the robot hand 30 is associated with an arbitrary biological signal of the user, the receiving unit 2112 also receives an operation pattern transmitted from the robot hand 30.

  The recognition unit 2115 recognizes the motion of the prosthesis set by the user. For example, the recognition unit 2115 can analyze an image (including moving images and still images) taken of the robot hand 30 and recognize an operation pattern of the drive unit 370 corresponding to the operation of the robot hand 30 shown in the image. . Specifically, the angle of the finger part 351 and the wrist 350 of the robot hand 30 may be recognized from the image analysis result, and the combination of drive data such as the rotation speed of the drive unit 370 may be recognized from the recognition result. The recognizing unit 2115 recognizes the driving data of the driving unit 370 from the angle of the finger sensed by the sensor provided in the robot hand 30, and obtains the driving data to combine the driving data. May be recognized as an operation pattern of the robot hand 30. Note that the recognition unit 2115 may directly input the driving data of the driving unit 370 of the robot hand 30 by the user using the input unit 220.

  The setting unit 2111 sets a correspondence relationship between the operation of the robot hand 30 controlled by the driving unit 370 and the biological signal in the learning phase. The correspondence set by the setting unit 2111 is stored in the correspondence table DB of the storage unit 250. The setting unit 2111 desirably sets the correspondence based on an instruction from the user. For example, the user can manually move the robot hand 30 to teach and register an arbitrary posture. The user can register not only the posture of the robot hand 30 but also a series of operations. At this time, drive data such as the rotation speed and rotation angle of the drive units 370A to 370F accompanying the taught movement is transmitted to the portable terminal 20, and a combination of these is registered as an operation pattern. An operation pattern may be transmitted from the robot hand 30 side.

  Next, a setting process of a biological signal that becomes an input signal will be described. For example, when the measuring unit 110 is attached to the arm muscle, the user teaches the movement of the arm that generates the input signal by moving the user's own arm. At this time, the measured biological signal is transmitted from the transmission unit 120 to the reception unit 2112. The setting unit 2111 performs setting by associating the operation pattern of the robot hand 30 with the biological signal and registering them in the correspondence table DB.

  The setting unit 2111 can also set the correspondence between the function of the module attached to the prosthesis and the biological signal. For example, when the finger part 351B of the robot hand 30 is replaced with a module having a music player function, the user sets a biological signal for playing / stopping / fast-forwarding / rewinding music by the setting unit 2111. It is desirable that this is possible. For example, when the robot hand 30 includes a module having a mobile phone function, the setting unit 2111 may be able to set a biological signal corresponding to an operation of making a call or an operation of taking a call.

  The setting unit 2111 can also set a correspondence relationship between the motion of the prosthetic limb and a pattern based on biological signals of a plurality of parts of the user. Specifically, the biological signal received by the reception unit 2112 may be synthesized and handled as an input pattern.

  FIG. 3 is a diagram schematically illustrating a state in which the biological signal measured by the measurement unit 110 and the input pattern obtained by synthesizing the biological signal are displayed on the display unit 230.

  FIG. 3A shows three biological signals IN1 to 3 measured by the three electrodes of the measuring unit 110 of the biological sensor 10, respectively. The three biological signals may be synthesized by the setting unit 2111. Specifically, the biological signals IN1 to IN3 are normalized so that the sum of the magnitudes of the three signals is 1, and the input patterns IN1 ′ to IN1 ′ to It is good also as what is converted into 3 '. FIG. 3B shows the converted input patterns IN1 ′ to 3 ′. The input patterns IN1 ′ to 3 ′ correspond to IN1 to IN3 in FIG. The setting unit 2111 desirably associates the synthesized input pattern with the operation pattern.

  FIG. 4 is a diagram illustrating an example of each setting screen when the user sets the correspondence between the biological signal and the operation pattern. In the setting screen area A1, an input pattern obtained by synthesizing the biological signal received by the receiving unit 2112 is displayed in a graph. In the area A2, each component of the input pattern displayed in the graph is displayed as a numerical value. In the area A3, a biological signal associated with the operation pattern of the robot hand 30 recognized by the recognition unit 2115 is displayed as a numerical value.

  FIG. 4A shows a display screen when the operation pattern and the biological signal are not yet associated with each other. When the “learn” button B1 at the top of the screen is selected in the state of FIG. 4A, the operation pattern can be registered. For example, the user can register the posture and the series of motions as the motion pattern by teaching the posture and the series of motions of the robot hand 30 and selecting the “learn” button B1. The operation pattern can be selected from the menu M1.

  FIG. 4B is a diagram illustrating a state in which three operations “mo1” to “mo3” are registered as an example of the operation pattern, and a biological signal corresponding to “mo1” is set. When the preset is registered as an operation pattern, as shown in FIG. 4B, the display “mo ×” is displayed in the area A3 by the number of registered postures and operations of the robot hand 30. Further, when a biological signal corresponding to the operation pattern is set, the biological signal is input as a numerical value in the operation pattern column of area A3.

  Further, when setting the correspondence, the user selects “mo2” from the menu M1, moves the arm, transmits a biological signal to be registered to the portable terminal 20, and selects the “pair” button B2. In FIG. 4C, the received biological signal is displayed in area A1. In this state, by selecting the “pair” button B2, a new correspondence can be set (FIG. 4D). FIG. 4D shows a state in which a biological signal corresponding to the operation pattern “mo2” is set in the area A3.

  Returning to FIG. 1, the continuation of the functional unit of the mobile terminal 20 will be described. The determining unit 2113 determines an operation pattern of the robot hand 30 corresponding to the biological signal received by the receiving unit 2112 based on the correspondence table DB in the operation phase in which the user operates the robot hand 30. The determination unit 2113 may extract a biological signal pattern closest to the received biological signal from the correspondence table DB and determine a corresponding operation pattern.

  The transmission unit 2114 transmits an operation signal for causing the robot hand 30 to perform the operation indicated by the operation pattern determined by the determination unit 2113 to the reception unit 330 of the robot hand 30. For example, the operation signal is a signal indicating an operation pattern.

  Next, the processing flow of the learning phase will be described with reference to FIG. FIG. 5 is a chart showing a processing flow when the mobile terminal 20 learns the correspondence relationship. Each processing step included in the processing flow described below can be executed in any order or in parallel as long as there is no contradiction in the processing contents. These steps may be added. Further, a step described as one step for convenience can be executed by being divided into a plurality of steps, while a step described as being divided into a plurality of steps for convenience can be grasped as one step.

  In the learning phase, the user can manually move the robot hand 30 to register an arbitrary posture and a series of actions. First, the user manually moves the robot hand 30 to teach an operation or posture to be registered. The control unit 310 of the robot hand 30 acquires the operation pattern of the drive unit 370 from the angle and speed of the taught operation (S101). For example, a process for registering the posture of the robot hand 30 will be described. When the user bends all the finger portions 351 of the robot hand 30 and registers the shape of holding the fist, the angles of the drive units 370A to 370E are acquired. Further, for example, when registering a series of operations from a state where the hand is opened to a state where the fist is grasped, the rotational speeds of the drive units 370A to 370E associated with the movement are acquired. The transmission unit 320 of the robot hand 30 transmits the acquired combination of drive data as an operation pattern to the reception unit 2112 of the mobile terminal 20 (S103).

  On the other hand, the user wears the measurement unit 110 of the biological sensor 10 on an arbitrary part of the body, for example, an arm. When the measurement unit 110 is pasted on the arm, the user moves the arm to determine the movement of the arm corresponding to the operation of the robot hand 30. The corresponding biological signal may set the movement of the arm when the robot hand 30 is operated as the biological signal, but is not limited thereto. For example, a myoelectric signal when the user goes goo may be set as a biological signal corresponding to an operation in which the robot hand 30 opens all the finger portions 351 to create a par.

  When the measurement unit 110 of the biosensor 10 acquires the myoelectric potential at this time (S105), the transmission unit 120 transmits it to the reception unit 2112 of the mobile terminal 20 (S107). The setting unit 2111 associates the received biological signal with the operation pattern and registers them in the correspondence table DB of the storage unit 250 (S109).

  Next, operation phase processing (processing when the user operates the robot hand 30) will be described with reference to FIG. FIG. 6 is a chart showing a processing flow when the user operates the robot hand 30 using the mobile terminal 20.

  When a user wearing the biosensor 10 on his arm moves his arm to operate the robot hand 30, the measurement unit 110 acquires a biometric signal (S201). The acquired biological signal is transmitted by the transmission unit 120 to the reception unit 2112 of the mobile terminal 20 (S203). The determining unit 2113 extracts the biological signal closest to the biological signal received by the receiving unit 2112 from the correspondence table DB (S205). The determination unit 2113 may extract a biological signal having a similarity equal to or higher than a threshold value. Next, the determination unit 2113 determines an operation pattern corresponding to the extracted biological signal (S207). The transmission unit 2114 transmits the determined operation pattern to the reception unit 330 of the robot hand 30 (S209). In accordance with the received operation pattern, the control unit 310 controls the drive unit 370 (S211).

  Thus, according to the portable terminal 20 in which the prosthetic limb control application according to the present embodiment is installed, the user can freely associate the prosthetic limb movement pattern with the biological signal. This makes it possible to appropriately update the corresponding biological signal according to the growth process and the maturity level of the treatment of the prosthesis. Moreover, even if it is a case where it replaces with a higher functional prosthesis, it can respond by updating a prosthesis control application.

[Other embodiments]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications and changes can be made based on the technical idea of the present invention.

  For example, in the above-described embodiment, it has been described that functional units such as the recognition unit 2115 and the determination unit 2113 are built in the portable terminal 20 in which the prosthetic limb control application is installed, but the present invention is not limited to this. For example, the mobile terminal 20 may be configured to access the server device via a network, and the server device side may include a functional unit constructed in the arithmetic processing unit 211 of the mobile terminal 20.

  For example, in the above-described embodiment, the user sets the correspondence relationship between the biological signal and the operation pattern of the robot hand 30, but the present invention is not limited to this. For example, the configuration may be such that the user downloads a correspondence table that matches his / her characteristics from the server device via the network. Further, the user who generates the biological signal and the user who gives an instruction for setting the correspondence between the biological signal and the motion of the prosthesis may not be the same person.

  In addition, the present invention can be applied by replacing the prosthetic limb described in the above-described embodiment with another device including a driving unit. Other devices include electric wheelchairs and vehicles such as Segway (registered trademark). For example, in the case of an electric wheelchair, using the above-described application, operations such as forward, reverse, and rotation can be easily associated with any biological signal of the user.

DESCRIPTION OF SYMBOLS 1 Prosthetic limb control system 10 Biosensor 110 Measuring part 120 Transmission part 20 Portable terminal 210 Main control part 211 Arithmetic processing part 2111 Setting part 2112 Reception part 2113 Determination part 2114 Transmission part 2115 Recognition part 220 Input part 230 Display part 240 Communication part 250 Storage Unit 30 robot hand 310 control unit 320 transmission unit 330 reception unit

Claims (5)

On the computer,
A setting step including setting a correspondence relationship between the operation of the device including the driving unit and controlled based on the driving of the driving unit and any biological signal of the user based on an instruction from the user;
A receiving step for receiving a biometric signal of the user;
A determination step for determining an operation of the device corresponding to the received biological signal based on the correspondence relationship;
A transmission step of transmitting a drive signal for the drive means to the device so that the determined operation of the device is performed;
A program for running In the computer,
Further executing a recognition step of recognizing the operation of the device set by the user,
The setting step includes
The program according to claim 1, wherein a correspondence relationship between the recognized motion and the arbitrary biological signal is set. The setting step includes
Set the correspondence between the operation of the device and a pattern based on biological signals of a plurality of parts of the user,
The receiving step includes
Receiving biological signals of the plurality of parts,
The determining step includes
The program according to claim 1 or 2, wherein an operation of the device corresponding to a pattern based on biological signals of the plurality of parts is determined based on the correspondence relationship. The setting step includes
Set the correspondence between the function of the module attached to the device and any biological signal of the user.
The program as described in any one of Claims 1-3. A setting unit that includes a driving unit and sets a correspondence relationship between an operation of the device controlled based on the driving of the driving unit and a user's arbitrary biological signal based on an instruction from the user;
A reception unit for receiving a user's biological signal;
A determination unit for determining an action of the prosthetic limb corresponding to the received biological signal based on the correspondence;
A transmission unit that transmits a drive signal for the drive means to the device so that the determined operation of the device is performed;
An information processing apparatus comprising: