JP2019000495A - Exercise supporting method, exercise supporting system, and exercise supporting program - Google Patents

Abstract

A gymnastics support method, a gymnastics support system, and a gymnastics support system that support users by producing regular and rational gymnastics contents using other means that can be connected to a robot without depending on the ability of a single robot. Provide support programs.
A gymnastics support method by a robot R having at least two gymnastics information output means for expressing gymnastics content, wherein the gymnastics content is selected and at least one of user information, environmental information, and robot information is selected. Based on this, it is determined whether or not to change the gymnastic information that expresses the contents of the gymnastics, and when the gymnastic information is changed, an output unit for the gymnastic information after the change is activated.
[Selection] Figure 4

Description

  The present invention relates to a gymnastics support method, a gymnastics support system, and a gymnastics support program that conveys how to perform gymnastics to a user with a robot, and more specifically, changes how to communicate gymnastics according to conditions related to the robot, the user, or the environment. The present invention relates to an exercise support method, an exercise support system, and an exercise support program.

  Traditionally, with the increase in average life expectancy, changes in dietary habits, prevention of adult diseases, an increase in the unmarried rate, and increased burdens due to social insurance premiums and pension benefits, especially for the elderly with a healthy longevity Social demands for initiatives have increased year by year. On the other hand, people's inclination to save has also increased due to economic circumstances and soaring prices. For this reason, people have been actively engaged in exercises that can be performed easily (for example, gymnastics, running, walking, etc.). However, it was not easy for these people to acquire the habit of exercising continuously.

  Therefore, it is possible to provide gymnastics plan information performed by the user from the mobile terminal to the robot, and to feed back the gymnastics result (gymnastic driving information) of the robot that performed the gymnastics with the robot from the robot to the mobile terminal. An idea for promoting the formation and continuation of a user's physical exercise habits is disclosed (for example, see Patent Document 1). Moreover, the idea that the robot changes gymnastic plan information according to the user's situation (for example, facial expression, how to do gymnastics, meal information) is also disclosed.

JP 2013-169611 A

  However, according to the idea of the prior art, the user may not be able to perform regular and rational gymnastics. In other words, regardless of the length of the gymnastic time or the complexity of the gymnastic content, if the user exercises without understanding the correct way, it may be burdensome and may have an adverse effect on the body. In view of this point, even if the robot changes the gymnastic plan information according to the user's situation, it does not have a technology that essentially conveys a regular and rational manner of gymnastics.

  In general, taking into account the health of the body, gymnastics that incorporate multiple movements over a long period of time under proper guidance are considered effective. On the other hand, not only the purpose of gymnastics (for example, anti-aging, refresh, stiff shoulders, strengthening of legs and legs), but also user attributes (for example, gender, age, physical characteristics, etc.) and environment (for example, indoor temperature and lighting) ), The contents of the gymnastics [for example, a single gymnastic pose (including the angle of the body part), the speed and number of movements, a combination of a plurality of gymnastics, etc.) should be adjusted accordingly. However, as the number of users (especially seniors) increases, the number of instructors for gymnastics is insufficient, and other means for providing regular and reasonable gymnastics to users are necessary. Become.

  On the other hand, with the advancement of technology, humanoid and conversational robots have become commonplace, so it is considered effective to compensate for the shortage of gymnastics instructors. On the other hand, as described above, depending on the contents of gymnastics, the flexibility of the body and the movement of details are incorporated, so the ability of the robot alone (for example, the operating area of the operating part and the driving time) is a rule for the user. It cannot be denied that it has not led to the provision of reasonable and reasonable gymnastics.

  Therefore, an object of the present invention is to provide a gymnastics support method and a gymnastics method that support a user by directing regular and rational gymnastics contents using other means that can be connected to the robot without depending on the ability of the robot alone. To provide a support system and a gymnastics support program.

  The present invention is a gymnastics support method by a robot having at least two gymnastics information output means for expressing gymnastic content, which is based on at least one of user information, environmental information, and robot information. Then, it is determined whether or not the gymnastic information expressing the contents of the gymnastics is to be changed, and when the gymnastic information is changed, an output unit for the gymnastic information after the change is activated.

  The robot constitutes at least a humanoid head and upper body, and the output means displays the head, the upper body, a sound part that emits music or voice, a screen part that displays a moving image and / or a still image. It is desirable that there are at least two or more communication units instructing a computer or a robot capable of communication connection.

  In addition, the user information includes a physical condition acquired by a physical information acquisition unit in contact with the body of the user who is performing gymnastic exercises, and the robot information is output during the output of the gymnastic information. It is desirable to determine whether to change the gymnastic information based on the physical condition and / or the output condition immediately after acquisition, including the situation.

  Furthermore, the present invention is a gymnastics support system by a robot having at least two gymnastic information output means for expressing gymnastic content, wherein the selecting means for selecting the gymnastic content, the user information, the environmental information, and the Control means for determining whether or not to change the gymnastic information expressing the contents of the gymnastics based on at least one of the robot information, and a control for invoking an output means for changing the gymnastic information when the gymnastic information is changed And at least means.

  The robot constitutes at least a humanoid head and upper body, and the output means displays the head, the upper body, a sound part that emits music or voice, a screen part that displays a moving image and / or a still image. It is desirable that there are at least two or more communication units instructing a computer or a robot capable of communication connection.

  In addition, the user information includes a physical condition acquired by a physical information acquisition unit in contact with the body of the user who is performing gymnastic exercises, and the robot information is output during the output of the gymnastic information. It is desirable that the determination means determine whether to change the gymnastic information based on the physical condition and / or the output condition immediately after acquisition.

  Furthermore, the present invention is a gymnastics support program by a robot having at least two gymnastics information output means for expressing gymnastic content, which processes the selection of gymnastics content, and includes at least user information, environmental information, and robot information. Processing to determine whether or not to change the gymnastic information expressing the content of the gymnastics based on one, and when changing the gymnastics information, processing the activation of the output means of the gymnastic information after the change To do.

  The robot constitutes at least a humanoid head and upper body, and the output means displays the head, the upper body, a sound part that emits music or voice, a screen part that displays a moving image and / or a still image. It is desirable that there are at least two or more communication units instructing a computer or a robot capable of communication connection.

  In addition, the user information includes a physical condition acquired by a physical information acquisition unit in contact with the body of the user who is performing gymnastic exercises, and the robot information is output during the output of the gymnastic information. It is desirable that the determination means, including the situation, process a determination as to whether or not to change the exercise information based on the physical condition and / or the output condition immediately after acquisition.

  Below, the definition of each requirement which comprises this invention, a meaning, or a specific example is shown.

“Gymnastics contents” may include, for example, information related to hydration and breaks during gymnastics as well as gymnastics menus and courses expressed by users and robots.
“Gymnastics menu” refers to the types of gymnastics that can be selected by the user. For example, the menu of the trunk (for example, forward-lowering the upper body, riding on one side, licking the hips, stretching the waist, etc.) Menus (for example, lifting a hip joint, treading between groin joints, stepping, thighs, etc.), each menu may have a required time (about several minutes). “Gymnastics course” refers to a set of gymnastics that combines several types of gymnastics menus (including original gymnastics sets), such as anti-aging, refreshing the mind and body, eliminating stiff shoulders, A predetermined time (about several tens of minutes) may be set for each of the courses including a set on the theme of reinforcement or the like. “Gymnastics content” may include basic knowledge about the menu of gymnastics (for example, intention, mechanism of muscle movement, effects, etc.).

“Gymnastic information” may correspond to a program for causing the robot to express the contents of the above-mentioned gymnastics with movements and voices, and voice / moving image / still image data for explaining the “gymastics contents”.
In addition, as a moving image and a still image for explaining “gymnastic content”, a 2D or 3D animation of a human or robot modeled by a 3D model of a gymnastic exercise performed by a specialized gymnastic instructor may be applicable.

  The “output means” corresponds to one that is output to the outside based on the gymnastic information so that the user can confirm the contents of the gymnastics. For example, a part of the robot (for example, the head and upper body) and a voice are output. Devices (for example, DA converters and speakers), devices for outputting moving images and still images (for example, codecs and screens), other robots connected through a computer network, and various devices Good.

  The “robot” is not limited as long as it is controlled by a computer (including a self-learning function-equipped type) and expresses the contents of the above-mentioned gymnastics, for example, a type having at least a head and an upper body, biped It may be a walking type or a conversation-only type, and may have a computer network communication function, a data storage function, and various sensor functions.

“User information” corresponds to information related to a gymnastic schedule or a user who is performing gymnastics. For example, unique information for each user expressing gymnastics [for example, name, sex, age, blood type, height weight, dominant arm, ADL ( Values related to Activities of Daily Living, number of participations, etc., physical condition of users during gymnastics (eg, pulse, heart rate, body temperature, sweating, etc.), information on groups of users participating in gymnastics (eg, number of people, Average age, presence detection, etc.) may be applicable.
In addition, in order to measure the physical information of the user during gymnastic exercises, for example, a wearable terminal such as a wristband or a chair in which a pressure sensor or the like is attached to a portion on which the user is seated may be used as physical information acquisition means.

“Environmental information” means information related to the environment surrounding the robot or the user who is scheduled or doing gymnastics. For example, indoor / outdoor temperature / humidity, indoor air conditioning / lighting / available communication network environment / operation by robot Information about possible areas, outdoor weather / season, and other areas may be applicable.
The “environmental information” may be information appropriately collected on the Internet. For example, timely data is obtained from a weather forecast site based on pre-registered area information and used for gymnastics support. May be.

“Robot information” means information related to the specs of the gymnastics schedule or the gymnastics, for example, the actuator capacity of the operating part (for example, temperature rise due to heating, upper limit of overcurrent, etc., measured by an in-machine sensor), The number of joints, movable range (measured by a distance measuring sensor / human sensor), presence / absence of the output means, battery capacity value and remaining amount, operable time, or output status thereof may be applicable.
The “robot information” may include information in which information related to speech (speech dictionary or prosodic dictionary) is stored in a database.

  Of the “user information”, “environment information”, and “robot information”, a condition regarding information having a limit value such as an actuator capability or a battery capacity value of a robot operating part is a “static condition”, and a value related to a user's ADL. A condition relating to information that changes depending on the state of gymnastics, such as the number of times of participation, the communication network environment in the room, and the operable area by the robot may be defined as a “dynamic condition”. The “static condition” may be stored in the robot R in advance before gymnastics.

  According to the gymnastic support method of the present invention, the content of gymnastics is selected, it is determined whether or not to change the gymnastic information expressing the content of gymnastics based on at least one of user information, environmental information, and robot information, When the gymnastic information is changed, it is possible to always provide gymnastics content suitable for the user and / or the robot by activating output means for the gymnastic information after the change. In other words, by changing the gymnastic information and output means to avoid inappropriate guidance of the robot, operation outside the allowable range, and sudden stop, the user's mind and body and the specifications of the robot are not overloaded, both desired The state can be maintained. Therefore, even if the contents of gymnastics are difficult to teach, gain, or pose, the user can happily tackle the contents of the gymnastics with appropriate gymnastic information using the robot.

  Further, the robot constitutes at least a human-shaped head and upper body, and the output means includes the head, the upper body, an audio unit that emits music or voice, a screen unit that displays a moving image and / or a still image, communication By providing at least two or more communication units for instructing a connectable computer or robot, it is possible to provide two suitable output means even for the contents of gymnastics that are difficult for the user to understand and difficult to express only by the specifications of the robot. A suitable gymnastic content can be provided by combining two or more. In other words, by expressing the contents of the gymnastics with the robot's head, upper body and voice, it is possible to create a situation where the instructor is actually doing the gymnastics up close, or to connect the video, still image and communication on the screen. By expressing the contents of gymnastics with a simple computer or robot, it is possible to produce a situation where the instructor is actually explaining up close. Therefore, depending on the two or more output means selected by the robot, provision of gymnastic content superior to that of an actual instructor can be expected.

  In addition, the user information includes a physical condition acquired by a physical information acquisition unit in contact with the body of the user who is performing gymnastic exercises, and the robot information is output during the output of the gymnastic information. Optimal by appropriately determining whether or not the contents of gymnastics are suitable for the user and the robot by determining whether or not to change the gymnastic information based on the physical status and / or the output status immediately after acquisition. Can provide guidance. That is, not only fatigue due to mental and physical burden that the user during gymnastics is not aware of, but also the possibility that the robot during gymnastics may stop suddenly due to overheating can be avoided, so it is easy to digest the desired gymnastic content, The user can obtain a sense of fulfillment both physically and mentally.

  In general, in the conventional gymnastics support by robots, if there was a limit in motion reproducibility, it was not possible to complement reproducibility according to the appropriateness of the user, but according to the present invention, depending on the user and the usage environment Therefore, it is possible to expect the effect that the specialized gymnastic instructor does not need to be resident in the gymnastics and the effect that the gymnastic instructor can concentrate on the individual guidance of the participants. Furthermore, in the past, gymnastics instructors have been operating programs such as changing gymnastics items flexibly, taking breaks, and promoting hydration based on situational judgments. It is expected that the program will be changed based on reasonable grounds.

It is a schematic diagram which shows an example of the hardware structure of the robot in one Embodiment of this invention. It is a functional block diagram of the robot. It is a flowchart which shows an example of the gymnastics support system in one Embodiment of this invention. It is a conceptual diagram which shows the assistance condition in the said gymnastics assistance system.

  The features of the gymnastic support system according to the present invention will be described below with reference to FIGS.

  First, a basic hardware configuration and software configuration for operating the robot R will be described with reference to FIG.

  The robot R shown in FIG. 1 may be an entire apparatus (for example, a humanoid) that autonomously performs a predetermined operation on behalf of (or with) a human. As a mechanism of the robot R, for example, a CPU (Central Processing Unit) that performs execution of various software (for example, an OS (Operating System) and various applications) for controlling the operation of the robot, and the operation of the robot are related. ROM (Read Only Memory) for storing various programs and various data (for example, audio, moving images, still images) and RAM (Random Access Memory) for loading various programs and various data are connected to each other via a bus. In addition, an input / output interface, a power supply device (for example, a battery) and an operation device (for example, a motor) may be connected to the bus. Input / output interfaces include input devices (eg, keyboard, mouse, touch panel, camera, voice recognition application or devices equipped with this application), output devices (eg, monitors, audio output speakers), storage devices (eg, hard disk drives) , Flash memory), communication equipment, various sensors (eg, image sensor, touch sensor, 3D sensor, RGB sensor, gyro sensor, sonar sensor, infrared sensor, laser sensor, bumper sensor, battery monitoring sensor, temperature / humidity sensor, acceleration) Sensor) may be connected. A drive may be connected to the input / output interface, and a removable medium (for example, a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory) may be appropriately attached to write or read predetermined information. . These hardware may be mounted in a humanoid housing having at least a head and an upper body.

  The robot R and other robots or computer terminals (for example, personal computers, smartphones, tablets) may be systematically configured via a predetermined communication network. The communication network may be, for example, the Internet, an intranet, an extranet, a LAN, a CATV communication network, a VPN, a telephone line, a mobile communication network, or a satellite communication network. Transmission media constituting all or part of the communication network are wired (eg, IEEE 1394, USB, power line carrier, telephone line), wireless (eg, IrDA, Bluetooth (registered trademark), IEEE 802.11 wireless (wifi, etc.), It can also be used with mobile phone networks, satellite lines, and terrestrial digital networks. Between each computer, data and programs may be uploaded and downloaded via communication devices, and data and programs may be transferred via removable media.

  The robot R may be activated and operated by a predetermined application program. The robot R may be provided with a power button for turning on / off the power, a volume control button for adjusting the volume of sound, a selection button for selecting an operation, and the like. These buttons are touch panels according to a predetermined application program. It may be displayed electrically above. In the robot R, a predetermined application program may be downloaded and installed via a communication network. The robot R may be remotely operated and controlled via a communication network at a computer terminal in which the same or related application program is installed. The robot R and the computer terminal may share various data with hardware (a cloud server or the like) accessible via a communication network, and may be synchronized with a predetermined application program.

  Next, the relationship between each function of the robot R and hardware will be described with reference to FIG.

  As shown in FIG. 2, the robot R includes a control unit 1 that controls input and output of various information (including transmission and reception via network communication), activation and stop of various programs and various output units, and the control unit. A storage unit 2 for storing various programs and various data according to the above, a selection unit 3 for selecting contents and means based on the various programs and various data stored in the storage unit, and various programs selected by the selection unit The output unit 4 that executes a predetermined operation based on various data, the meter side unit 5 that measures various information associated with the output unit, and the suitability of the predetermined operation based on the various information measured by the meter side unit And a determination unit 6 that determines the above.

  The control unit 1 may be, for example, a CPU that performs arithmetic processing on a predetermined operation related to the robot R or a program mounted on the CPU. The control unit 1 is a storage process control that stores and extracts various programs and various data from the storage unit 2, a selection process control that provides and determines various programs and various data from the selection unit 3, and an output unit 4. Functions related to output processing control for executing / stopping the operation, measurement processing control for starting / ending measurement for the meter side unit 5, and determination processing control for starting / ending determination for the determination unit 6 May be provided.

  The storage unit 2 corresponds to, for example, a ROM or storage device that stores various programs and various data necessary for the operation of the robot R, and may have a database function. The storage unit 2 may store the above-described user information, environment information, robot information, and gymnastic information, and information related to staff in charge of assisting gymnastic content. The storage and extraction of various programs and various data from the storage unit 2 may be performed constantly or at any time according to the control unit 1.

  The selection unit 3 may correspond to, for example, a screen-like input / output device such as a touch panel that enables display / selection of a start / stop switch of the robot R and start / stop options of various programs. It may be externally attached, or may be connectable via network communication. The sequence of options displayed on the selection unit 3, the types, and the flow up to the determination may be determined according to various programs, various applications, or various data.

  The output unit 4 corresponds to means for the robot R to actually express the contents of gymnastics. For example, the operating unit 41 (for example, the head 41a and the upper body part 41b) which is a part of the part constituting the robot, the contents of the gymnastics The voice unit 42 that utters voices, the screen unit 43 that displays gymnastic content as a moving image or a still image, and the expression in the operation unit of another robot and / or the expression in the voice unit or screen unit of another computer terminal are executed. For this purpose, the communication unit 44 connected to these via network communication may be used.

  The operating part 41 is a part in which the part formed by the casing, cylinder, joint, etc. of the robot R is operated by driving of a motor and a battery. For example, in the head 41a, the neck is rotated, bent back and forth, left and right, and the upper body. In the part 41b, the entire arm part with the shoulder as a fulcrum, the forearm with the elbow as a fulcrum, the forearm with the fulcrum, the hand with the wrist as a fulcrum, the fulcrum with the fulcrum Operations such as opening and closing, bending of the finger, overhanging of the chest, rotation of the waist, and forward bending may be performed.

The voice unit 42 is a part that outputs gymnastic information as a voice. For example, software that generates a desired voice at any time based on voice data generated by a predetermined program, voice information or prosody information recorded in a voice database A speaker that emits this sound may be applicable.
The voice unit 42 may be equipped with a voice recognition function and hardware associated with this function, and may be capable of executing a conversation with a human.

The screen unit 43 is a part that outputs gymnastic information as a moving image or a still image. For example, a monitor mounted on the robot R, an external monitor connected via a communication unit 44 via a network line, a screen, A touch panel of a computer terminal including a liquid crystal display, a projector, a smartphone, or a tablet may be applicable.
The screen unit 43 may be used also as the selection unit 3, and information displayed on the screen may be controlled by the control unit 1.

The communication unit 44 is a part that performs communication in order to output gymnastic information other than the robot R, and may correspond to a transmission medium that constitutes all or part of the communication network described above.
The communication unit 44 may have a function of receiving information transmitted from other robots or other computer terminals connected via a communication network.

The measuring unit 5 is a part for measuring information about the robot R and the user in operation, for example, the operating status of the operating unit 41 (for example, time, angle, number of times, etc.), and the driving status of the motor that operates this operating unit. (For example, temperature, number of revolutions, time, etc.), battery driving status (for example, remaining amount, time, etc.), or various sensors that collect numerical data related to the physical condition of the user during the above-described gymnastics, and this sensor A CPU in which a program for calculating new numerical data based on the numerical data is installed, an embedded chip, or the like may be applicable.
The numerical data measured and calculated by the meter side unit 5 may be always stored in the storage unit 2 by the control unit 1.

The determination unit 6 is for the robot R and / or the user who is operating before or after the operation, and / or the user, the output unit 4 from which the robot outputs gymnastic information (or the scheduled output), the contents of the gymnastics output from the output unit For example, in the part for determining the suitability of the gymnastic information, for example, comparison of numerical data measured and calculated by the meter side unit 5 with a threshold set by a predetermined program, comparison of numerical data before and after the measurement and calculation, and this comparison A CPU in which a program for generating information related to the determination of availability based on the above is installed, an embedded chip, or the like may be applicable.
The determination unit 6 restores the state before the above-described determination of availability based on various information stored in the storage unit 2 in advance and numerical data measured and calculated by the measurement side unit 5 and always stored in the storage unit. The conditions [for example, recovery sensing (polling) of various sensors, recovery due to preset time measurement, etc.] may be derived by a program related to a predetermined machine learning technique. Further, the determination unit 6 is based on various information and numerical data stored in the storage unit 5 described above. It is also possible to reflect the prediction of occurrence of a new factor for determining whether or not the user is possible, the user's followability after the determination of whether or not possible, the degree of activity, and the like as priorities in the learning function.

Next, an example of the flow of the gymnastics support system will be described with reference to FIGS. 3 and 4.
In these figures, there may be a portion described using the reference numerals used in FIG. 1 or FIG.

As shown in FIG. 3, first, in step S <b> 110, the user may activate the robot R from the selection unit 3. After the robot R is activated, a selection screen for gymnastics content may be displayed on the selection unit 3. The user may determine desired gymnastic content from the selection unit 3. After determining the contents of gymnastics, the control unit 1 may perform processing related to the operation preparation of the output unit 4. The operating unit 41 of the output unit 4 may be energized with a power supply device or an operating device.
In addition, after selecting the gymnastic content, the user may select a staff member who supports the selected gymnastic content. The robot R may communicate with the user and the staff in charge via the voice unit 42 by voice. The content of communication with the robot R may vary depending on the above-described user information and environment information, and may include a conversation with the selected responsible staff.

Next, in step S <b> 120, the robot R that is performing gymnastics may measure, for example, a battery driving state in which the operating unit 41 is operated in the measuring unit 5. Based on the measurement result by the meter side unit 5, it may be determined whether the output unit 4 in which the determination unit 6 is operating is suitable for the robot R. For example, the meter side unit 5 measures the remaining battery level, and the determination unit 6 is suitable for the operation of the operating unit 41 with respect to the remaining battery level (for example, since the remaining battery level continues for a predetermined time, the robot R If it is determined that the operation does not affect the operation, the operation unit may continue the operation, and the control unit 1 operates the screen unit 43 (for example, an external screen, etc.) and reproduces the moving image in parallel. May be.
The metering unit 5 may measure not only the battery driving status but also so-called dynamic conditions among the above-described user information, environment information, and robot information. The suitability of the operating output unit 4 may be determined based on the measurement result. As the output unit 4, not only the screen unit 3, but also the operation of another robot R <b> 1 or the change of indoor temperature / certification by the audio reproduction by the audio unit 42 or the network connection by the communication unit 44, or a combination thereof may be used. .

  On the other hand, in step S130, after a predetermined time elapses, the meter side unit 5 measures the driving state of the battery again, and the determination unit 6 is not suitable for the operation of the operating unit 41 with respect to the remaining battery level (for example, as it is) If it is determined that the operation of the robot R is affected if the operation is continued, the control unit 1 may stop the operation of the operation unit, or may operate only the screen unit 3 to reproduce the moving image.

Here, an example of a program for determining the appropriateness of the measurement and output of the battery remaining amount by the meter side unit 5 and the determination unit 6 is shown below.
def onInput_onStart (self, menuId):
nowbattery = self.battery.getBatteryCharge ()
if nowbattery <10:
self.motion.setStiffnesses ('Body', 0)
self.motion.setStiffnesses ('Head', 1)
else:
self.motion.setStiffnesses ('Body', 1)
#start next application
self.onRunProgram (menuId)
At this time, the metering unit 5 may measure with the above program every time a predetermined operation (for example, a program or an application) is started. Among them, the judgment unit 6 compares the predetermined threshold value with the measurement result of the meter side unit 5 in the third line “if nowbattery <10” and the sixth line “else” to determine whether the output unit 4 is operating properly. At the same time, information related to output from another output unit (for example, moving image playback on the screen unit 43) may be generated after “#start next application” on the eighth line.

  Therefore, the following effects can be expected from the main body operation support system.

  That is, a gymnastics support system by a robot R having at least two gymnastic information output units 4 expressing gymnastic content (operating unit 41, voice unit 42, screen unit 43, and communication unit 44). When the selection unit 3 to be selected, the determination unit 6 that determines whether or not to change the gymnastic information that expresses the contents of gymnastics based on at least one of user information, environment information, and robot information, and when the gymnastic information is changed By providing at least the control unit 1 that activates the output unit for the gymnastic information after the change, it is possible to always provide gymnastics content suitable for the user and / or the robot R. That is, by changing the gymnastic information and the output unit 4 to avoid inappropriate guidance of the robot R, operation outside the allowable range, or sudden stop, both of the user's mind and body and the robot specifications are not overloaded. A desired state can be maintained. Therefore, even if the contents of gymnastics are difficult to teach, gain, or pose, the user can happily tackle the contents of the gymnastics with appropriate gymnastic information using the robot.

  Further, the robot R constitutes at least a humanoid head 41a and an upper body 41b, and the output unit 4 displays the head, the upper body, an audio unit 42 that emits music or voice, a moving image and / or a still image. Even if the content of the gymnastics is difficult to understand for the user or the specifications of the robot, it is difficult for the user to understand by being at least two of the screen unit 43, the communicable computer or the communication unit 44 instructing the robot. Two or more suitable output units can be combined to provide suitable gymnastic content. That is, by expressing the contents of gymnastics with the robot's head 41a and upper body 41b and voice, the situation where the instructor is actually doing the gymnastics up close is produced, and the video, still image and communication connection on the screen unit 43 are produced. By expressing the contents of gymnastics with a possible computer or robot R1, it is possible to produce the situation that the instructor is actually explaining up close. Therefore, depending on the two or more output units 4 selected by the robot R, it can be expected to provide gymnastic content superior to that of an actual instructor.

  In addition, the user information includes a physical state acquired by a terminal wristband or a terminal chair that is in contact with the body of the user who is performing the exercise, and the robot information is acquired during the output of the exercise information. By determining whether or not to change the gymnastic information based on the physical condition and / or the output condition immediately after acquisition, including the output status, it is possible to appropriately determine whether or not the gymnastics content is suitable for the user and the robot R. Guidance can be provided. That is, not only fatigue due to physical and mental burdens that the user during gymnastics is not aware of, but also the possibility that the robot R during gymnastics may stop suddenly due to overheating can be avoided, so that it is easy to digest the desired gymnastic content. The user can obtain a sense of fulfillment both physically and mentally.

Hereinafter, the support status of the gymnastics support system will be described with reference to FIG.
Here, the robot R determines whether or not to change gymnastic information that expresses gymnastic content based on at least one of user information, environmental information, and robot information.

  For example, if there is information on the presence of a wheelchair user as the user information, it is determined whether or not to change the gymnastic information for the user. Activate the voice output means such as “Please move only” or the output means such as “Exercise only the upper body”.

  As environmental information, obtain weather information at the current location via the Internet, etc., or obtain room temperature, etc., and determine whether to change the gymnastic information with respect to the environmental information. The voice output means such as “Let's drink water frequently because the temperature is high” or the exercise information change output means such as slowing down the speed of gymnastics is activated.

  With regard to robot information, for example, it is determined whether or not to change gymnastic information by grasping the capacity of the actuator, the remaining battery level, etc. Activating output means such as switching information to audio and video only.

  These user information, environment information, and robot information acquisition is not limited to one, but gymnastics guidance is provided by determining whether or not to change gymnastic information that expresses gymnastic content based on at least one. Even if there is no specialized staff to perform, gymnastic information can be accurately transmitted to the user by the auxiliary staff.

  Furthermore, if the user information is grasped in more detail by the user's terminal wristband or terminal chair (including the case where a sensor is attached to a wheelchair), it can be determined whether or not the gymnastic information is to be changed in more detail. The frame of will spread.

  Note that whether or not to change gymnastic information may be determined by software (program) installed in the robot R. However, the user information obtained separately by the robot R accessing the server via the network. Alternatively, it may be determined on the server side based on environment information and robot information, and the output means may be activated through the robot R or the like.

DESCRIPTION OF SYMBOLS 1 Control part 2 Memory | storage part 3 Selection part 4 Output part 41 Operation part 41a Head part 41b Upper body part 42 Voice part 43 Screen part 44 Communication part 5 Total side part 6 Judgment part

Claims (9)

A gymnastics support method by a robot having at least two or more gymnastics information output means expressing gymnastic content,
Select the gymnastics content,
Determining whether or not to change the gymnastic information representing the content of the gymnastics based on at least one of user information, environmental information, and robot information;
When the gymnastic information is changed, a gymnastics support method using a robot, wherein an output unit for the modified gymnastic information is activated. The robot comprises at least a humanoid head and upper body,
The output means includes at least two of the head, the upper body, an audio unit that emits music or voice, a screen unit that displays a moving image and / or a still image, a computer or a communication unit that directs communication to a robot. The method of supporting gymnastics by a robot according to claim 1. The user information includes a physical condition acquired by physical information acquisition means in contact with a user's body during gymnastics,
The robot information includes the output status of the output means acquired during the output of the gymnastic information,
The method according to claim 1 or 2, wherein whether or not to change the exercise information is determined based on the physical condition and / or the output condition immediately after acquisition. A gymnastics support system by a robot having at least two or more gymnastics information output means expressing gymnastic content,
Selecting means for selecting the gymnastic content;
Determining means for determining whether or not to change gymnastic information expressing the contents of gymnastics based on at least one of user information, environmental information, and robot information;
When the gymnastics information is changed, the robotic gymnastics support system includes at least a control unit that activates an output unit of the gymnastic information after the change. The robot comprises at least a humanoid head and upper body,
The output means includes at least two of the head, the upper body, an audio unit that emits music or voice, a screen unit that displays a moving image and / or a still image, a computer or a communication unit that directs communication to a robot. The robotic gymnastics support system according to claim 4, wherein the system is a gymnastics support system. The user information includes a physical condition acquired by physical information acquisition means in contact with a user's body during gymnastics,
The robot information includes the output status of the output means acquired during the output of the gymnastic information,
The robotic gymnastics support system according to claim 4 or 5, wherein the determination unit determines whether to change the gymnastic information based on the physical condition and / or the output condition immediately after acquisition. A gymnastics support program by a robot having at least two or more gymnastics information output means for expressing gymnastic content,
Handle the choice of gymnastics content,
Processing whether or not to change gymnastic information expressing the content of gymnastics based on at least one of user information, environmental information, and robot information;
A gymnastics support program by a robot characterized in that when the gymnastic information is changed, processing of the output of the gymnastic information output unit after the change is processed The robot comprises at least a humanoid head and upper body,
The output means includes at least two of the head, the upper body, an audio unit that emits music or voice, a screen unit that displays a moving image and / or a still image, a computer or a communication unit that directs communication to a robot. The robot gymnastics support program according to claim 7, wherein the program is a gymnastics support program. The user information includes a physical condition acquired by physical information acquisition means in contact with a user's body during gymnastics,
The robot information includes the output status of the output means acquired during the output of the gymnastic information,
9. The gymnastic exercise by a robot according to claim 7, wherein the determination unit processes whether to change the gymnastic information based on the physical condition and / or the output condition immediately after acquisition. Support program.

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