JP2020077374A - Virtual body motion control system, human body restraint jig, and virtual body motion control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To operate a virtual body capable of simulating the movement of at least a part of a human body without any problem even if there is a human body in a narrow real space. SOLUTION: The motion control system of a virtual body is a non-joint part restraining jig for restraining the movement of each of two non-joint parts sandwiching at least one joint part of a human body, and each of the non-joint part restraining jigs. With a data processing device that controls the movement of the virtual body by processing the detection result of the force that the non-joint part acts on the non-joint part restraining jig when trying to move the joint part at the above location. , Equipped with. The data processing device uses a torque conversion processing unit that calculates the torque acting on the joint portion using the detection result by the sensor, and the corresponding joint of the virtual body corresponding to the joint portion using the calculated torque. It includes a motion conversion processing unit that calculates rotation motion data representing the movement of a portion, and a rotation motion imparting unit that gives a rotation motion to the corresponding joint portion according to the calculated rotation motion data. [Selection diagram] Fig. 1

Description

  The present invention relates to a virtual body motion control system capable of simulating at least part of the motion of a human body, a virtual body motion control method, and a human body restraint jig used in the virtual body motion control system.

  Conventionally, a virtual body that is the same as the human body or simulates at least a part of the human body changes the position of each part of the human body in an actual space as an interface for simulating the operation of at least a part of the human body. Motion sensors that measure the are widely used. An optical type, an acceleration / gyro type, or a magnetic type is widely used for the motion sensor.

  For example, a method of collecting motion data from a plurality of motion sensor tags arranged on an object, wherein the motion data is transmitted with at least one radio frequency signal, the transmitted motion data is received, and a three-dimensional space is received. There is known a method of acquiring three-dimensional data including the position, orientation, acceleration, and / or velocity of the object in (Patent Document 1).

Japanese Patent Publication No. 2017-505908

By such a method, the motion of an object, for example, a human body can be accurately captured, but in some cases, the information of the captured motion is given to the virtual body, and the virtual body is operated by simulating the motion. In this case, the following problems occur.
For example, when a virtual body is operated in an infinitely wide space, it is necessary to operate in a wide space in which the movement of an actual object such as a human body is not restricted. For example, when the virtual body freely dances in the virtual space, the human body also needs to freely dance in the real space. However, in the real space, there are cases where the place is limited, and it may not be possible to cause the virtual body in the virtual space to move as desired due to collision with a wall or an obstacle.
For this reason, there is a problem that, when the movement range of the virtual body in the virtual space is wider than that in the real space, the virtual body cannot receive a sufficient movement input from the real space.

  Therefore, the present invention, when controlling the movement of a virtual body capable of simulating at least a part of the movement of the human body, controls the movement of the virtual body in a virtual space wider than the real space in which the human body is located. An object of the present invention is to provide a motion control system for a virtual body, a motion control method for the virtual body, and a human body restraint jig used in the motion control system, which can be performed without problems even if a human body is present in a narrow real space.

One aspect of the present invention is a virtual body motion control system capable of simulating at least part of the motion of a human body. The operation control system for the virtual body is
A non-joint part restraint jig that restrains the movement of each of two non-joint parts that sandwich at least one joint part of the human body;
The force, pressure, or the circumference of the joint portion, which is provided at each of the non-joint portion restraint jigs, and acts on the non-joint portion restraint jig when the joint portion is operated. Information about the torque of, or a sensor that detects myoelectric information of each of the constrained non-joint site,
A data processing device that processes a detection result of the sensor to control the operation of the virtual body.
The data processing device,
A torque conversion processing unit that calculates a torque acting on the joint portion using the detection result of the sensor,
A motion conversion processing unit that uses the calculated torque to calculate rotational motion data that represents the motion of a corresponding joint part of the virtual body corresponding to the joint part;
And a rotation motion imparting unit that imparts a rotation motion to the corresponding joint portion of the virtual body according to the calculated rotation motion data.

  The torque conversion processing unit is configured such that information on force or pressure acting on the non-joint part restraint jig, the non-joint part restrained by the non-joint part restraint jig is applied to the non-joint part restraint jig by the force or pressure. Distance information between the position to which the pressure is applied and the joint part, information on the length of the non-joint part, and a joint of the joint part when the non-joint part restraining jig restrains the non-joint part. It is preferable to calculate the torque based on the angle information.

The motion conversion processing unit applies to the torque and the corresponding joint part including a non-linear elastic element whose elastic coefficient changes non-linearly so as to simulate the operation of the joint part and a non-linear viscous element whose viscosity resistance coefficient changes non-linearly. It is preferable that a motion result in the kinematic model of the virtual body is calculated using the corresponding kinematic model of the virtual body, and the calculated motion result is used as the rotational motion data.
According to one embodiment, the non-linear elastic element is an elastic element whose elastic coefficient changes non-linearly according to the information of the joint angle of the corresponding joint part, and the non-linear viscous element is the joint angle of the corresponding joint part. Is a viscous element in which the viscous resistance coefficient changes non-linearly in accordance with the information of and the information of the time change of the joint angle.
The rotary motion imparting unit generates a motion signal for moving the virtual body from the rotary motion data and supplies the motion signal to the virtual body.

The operation control system of the virtual body,
A stimulation control unit that generates a stimulation signal for making the non-joint portion or the joint portion experience the rotating motion according to the application of the rotating motion;
It is preferable that the apparatus further comprises a stimulus applying element that is connected to the stimulus control unit and applies a stimulus to the non-joint site or the joint site by the generated stimulation signal.
The stimulation signal is preferably a stimulation signal relating to at least one stimulation of vibration stimulation, electrical stimulation, and pressure stimulation. According to one embodiment, the stimulus is a vibration stimulus that causes the non-joint portion to experience the rotational motion according to the application of the rotational motion.

  It is preferable that the motion control system for the virtual body includes a display for displaying an image of the virtual body that operates by applying a rotational motion to the corresponding joint part according to the impartation of the rotational motion.

The operation control system of the virtual body,
Rotation of the corresponding non-joint portion of the virtual body when the non-joint portion exerts a force so that the corresponding non-joint portion of the virtual body corresponding to the non-joint portion performs a predetermined target rotation operation. An error between the operation and the target rotational operation is calculated, and the torque conversion processing unit or the operation conversion processing unit calculates the torque or the rotational operation data based on the error so that the error becomes small. It is preferable to include a calibration unit that adjusts a parameter used in the calculation.

  According to one embodiment, the joint part includes a plurality of finger joint parts of the hand, and the rotating motion at the corresponding joint part includes a bending and stretching motion of a corresponding finger of the virtual body.

  According to an embodiment, the joint part includes a plurality of joint parts of a leg and a waist, and the rotational motion at the corresponding joint part includes a walking motion by the corresponding leg of the virtual body.

According to another aspect of the present invention, two non-joint parts sandwiching at least one joint part of the human body are provided in order to control the motion of a virtual body that can simulate the motion of at least part of the human body. Is a human body restraint jig that restrains the movement of the human body. The human body restraint jig is
A non-joint part restraint jig that restrains the movement of each of two non-joint parts that sandwich at least one joint part of the human body;
The force, pressure, or the circumference of the joint portion, which is provided at each of the non-joint portion restraint jigs, and acts on the non-joint portion restraint jig when the joint portion is operated. A sensor for detecting the information regarding the torque of, and outputting the information regarding the force, the pressure, or the torque around the joint part to an external data processing device;
Equipped with.
The sensors are provided on both sides of the non-joint part restraint jig sandwiching the non-joint part in a direction in which the non-joint part is about to move due to bending and stretching of the joint part.

The non-joint part restraint jig is configured such that the size can be adjusted according to the size of the non-joint part,
Distance information between a position at which the non-joint part restrained by the non-joint part restraint jig applies the force or the pressure to the non-joint part restraint jig and the joint part, and a length of the non-joint part. Measuring device for measuring at least one of information on the height and information on the joint angle of the joint part when the non-joint part restraint jig restrains the non-joint part, and outputs the measurement result to the data processing device. Is preferably provided.

Another aspect of the present invention is a virtual body motion control method capable of simulating at least part of the motion of a human body. The operation control method of the virtual body is
Each of the non-joint parts acts on the non-joint part restraint jig when attempting to move the joint part while restraining the motion of each of the two non-joint parts sandwiching at least one joint part of the human body. Detecting force, pressure, or information about the torque around the joint part, or myoelectric information of each of the constrained non-joint parts;
Calculating a torque acting on the joint part using the detection result of the detecting step;
Using the calculated torque, calculating rotational motion data representing the motion of the corresponding joint part of the virtual body corresponding to the joint part;
Applying a rotational motion to the corresponding joint part of the virtual body according to the calculated rotational motion data.

  According to the above-described virtual body motion control system, virtual body motion control method, and human body restraint jig, the motion of the virtual body in a virtual space wider than the real space in which the human body is located can be performed in a narrow real space. Even if there is, it can be done without problems.

It is a figure explaining the outline of the operation control system of the virtual body of one embodiment. It is a figure showing an example of composition of a data processor of one embodiment which controls operation of a virtual body. It is a figure explaining a finger joint as an example of the joint part of the human body used in one embodiment. (A) is a figure explaining in detail a non-joint part around a finger joint and a non-joint part restraint jig used in one embodiment, and (b) is a torque conversion process of a data processor of one embodiment. It is a figure explaining the example of the model for a unit to calculate torque from the detection result of a sensor. It is a figure explaining the example of the non-linear function in a non-linear elastic element and a non-linear viscous element. (A), (b) is a figure explaining an example of operation of a virtual body used by one embodiment. (A)-(c) is a figure which shows the example of the characteristic of the nonlinear elastic element given to the 1st-3rd model joint shown in FIG.4 (b). It is a figure which shows the example of the characteristic of the non-linear viscous element given to the 1st-3rd model joint shown in FIG.4 (b). (A)-(f) is a figure which shows the example of the time change of the force which a non-joint part shown to Fig.4 (a) gives to a sensor. (A)-(c) is a figure which shows the example of the time change of the torque which acts around each 1st-3rd model joint of the model shown in FIG.4 (b). (A)-(c) is a figure which shows the example of the time change of the torque which arose in the nonlinear viscous element of each of the 1st-3rd model joint of the model shown in FIG.4 (b). (A)-(c) is a figure which shows the example of the time change of each joint angle of the 1st-3rd model joint of the model shown in FIG.4 (b). (A), (b) is a figure which shows the example of the task content of the virtual body performed by the method of this embodiment, and the conventional method, and the operation result of the virtual body. (A)-(c) is a figure explaining an example of calibration of rotation operation of a virtual body obtained based on a detection result by a sensor. FIG. 4 is a schematic perspective view of an example of a finger restraint jig that restrains the operation of the index finger, which is one form of a human body restraint jig. It is a general | schematic perspective view of an example of a leg restraint jig which restrains movement of a leg which is one form of a human body restraint jig. (A) is a figure explaining the example of the non-joint part which restrains operation in an embodiment in a part of a human body-a body-legs-feet, and (b) explains an example of arrangement of a sensor. FIG. (A) is a figure explaining the example of the non-joint part which restrains operation in this embodiment in a part of a human body's arm-hand, and (b) is a figure explaining an example of arrangement of a sensor. .. (A) is a figure explaining the example of the non-joint part which restrains operation in this embodiment in a finger of a human body, and (b) is a figure explaining the example of arrangement of a sensor. (A) is a figure explaining the example of arrangement | positioning of the non-joint part and sensor which restrain a twist rotation operation around the joint of a human body, (b) restrains the twist rotation operation of an arm of a human body. It is a figure explaining the example of arrangement | positioning of the non-joint site | part and the sensor.

  Hereinafter, a virtual body motion control system that executes a virtual body motion control method according to an embodiment will be described with reference to the drawings.

(Outline of virtual body motion control)
FIG. 1 is a diagram illustrating an outline of a virtual body motion control system (hereinafter, simply referred to as a system) according to an embodiment. The system 1 shown in FIG. 1 includes a non-joint part restraint jig 10, a sensor 12, a data processing device 14, a vibrator 16, and a wearable display 18.

  The non-joint part restraint jig 10 is arranged so as to restrain the motion of each of the two non-joint parts that sandwich the joint parts of the human body lying on the bed 3. For example, the non-joint part restraint jig 10 restrains the parts of the upper arm and the forearm (non-joint parts) with respect to the elbow joint of the arm. The non-joint part restraint jig 10 fixes each non-joint part so that each non-joint part is not displaced.

  The sensor 12 is provided at each location of the non-joint site restraint jig 10, and the force exerted on the non-joint site restraint jig 10 by each non-joint site when the joint site is moved (bend / extend or rotate). It is a part that detects information about pressure or torque acting around the joint part. For example, the sensor 12 is provided on the surface of the non-joint part restraint jig 10 that contacts the non-joint part. In FIG. 1, the sensor 12 is shown in a place different from the non-joint part restraint jig 10 for the sake of clarity, but the sensor 12 is provided in each non-joint part restraint jig 10. There is. The detection results from the sensors 12 provided in the respective non-joint part restraint jigs 10 are supplied to the data processing device 14.

  It should be noted that the sensor 12 is not limited to the case of detecting the information on the force or the pressure acting on the non-joint site restraint jig 10 by each non-joint site, and detects the myoelectric information of each restrained non-joint site. Good. At least, it is only necessary to be able to detect the information on how much force the non-joint part whose movement is restricted exerts. The detected information is appropriately calibrated in the data processing device 14 and converted into force information. Further, the sensor 12 may detect information about the torque around the joint part. In this case, as the information on the detected torque, the value of the torque is calculated by the data processing device 14 through a predetermined conversion formula.

The data processing device 14 is a device that is configured by a computer, processes the detection result of the sensor 12, and controls the operation of the virtual body V located in another space. The virtual body V is controlled by the human body of the operator.
Here, the different space is a space different from the real space in which the actual human body of the operator is located, and may be a virtual space, or a separated real space different from the space in which the human body of the operator is located. (For example, a remote space). The virtual space is, for example, an unrealistic space created by a computer.
The virtual body V is capable of simulating at least a part of the movement of the human body, and may be a robot (for example, a remote robot) existing in an actual space, or an avatar or a ghost character in the virtual space. May be Further, the virtual body V is not limited to the one that simulates the entire human body, and may be one that can simulate and operate a part of the human body. For example, the virtual body V may imitate a hand to bend and extend a finger.

The vibrator 16 is a stimulating element provided on the contact surface where the non-joint part restraint jig 10 comes into contact with the non-joint part of the human body. The vibrator 16 applies a vibration stimulus to a non-joint part in accordance with a vibration signal supplied from the data processing device 14 to rotate the joint part as if the joint part and the non-rotating part were fixed. It can give the illusion of movement. The vibration signal is generated in the data processing device 14 in accordance with the rotational movement of the joint part. In the present embodiment, the vibration stimulus is used as a stimulus that gives the illusion that the joint part is rotating, but it is not limited to the vibration stimulus, and various stimuli are used to make the non-joint part or the joint part experience the rotating motion. You can also According to one embodiment, the stimulation is preferably at least one stimulation of vibration stimulation, electrical stimulation, and pressure stimulation, or a combination stimulation thereof. Therefore, the stimulus applying element is changed to an element different from the vibrating element 16 according to the type of stimulus.
The wearable display 18 displays (the state of) the virtual body V that has rotated, on the screen, and it is as if the joint part of the operator of the virtual body V who saw the screen was rotated. The illusion can be given through vision.

As described above, in the embodiment, when the motion of each of the two non-joint parts sandwiching the joint part is constrained and the human body applies a force to exert a torque around the joint part, the non-joint part is supported. The data processing device 14 calculates the torque acting around the joint part by detecting this force with the sensor 12 provided at the same time. Further, the data processing device 14 uses the calculated torque to calculate rotational motion data that represents the motion of the joint part, using the kinematic model of the virtual body V that models the joint part (kinetic equation regarding rotation). .. This kinematic model is a model corresponding to the corresponding joint part of the virtual body V.
The data processing device 14 generates an operation signal for operating the virtual body V from the calculated rotation operation data, supplies the operation signal to the virtual body V, and operates the virtual body V. That is, the data processing device 14 applies the rotational motion to the corresponding joint part of the virtual body V corresponding to the joint part according to the calculated rotating motion data.

In this way, the human body can move the virtual body V in a stationary state without moving, so that the movement of the virtual body V in a virtual space wider than the real space can be performed in a space where the real space is extremely narrow. Even if there is, it can be operated without problems. That is, in the past, the virtual body V was operated in accordance with the movement of the human body, but in the embodiment, the virtual body V is operated using information on the force, pressure, torque generated by the human body or myoelectric potential information. .
Therefore, the virtual body V can be freely moved even in a narrow space where the movement of the human body is limited.

(Specific explanation of virtual body motion control)
FIG. 2 is a diagram illustrating an example of the configuration of the data processing device 14 that controls the operation of the virtual body V. The data processing device 14 is composed of a computer having a CPU 20 and a memory 22. An input operation system 24 such as a mouse and a keyboard and a display 26 are connected to the computer. The display 26 may be the wearable display 18 as shown in FIG.
A software module for controlling the operation of the virtual body V is formed by calling and activating a program stored in the memory 22. Specifically, a torque conversion processing unit 28, a motion conversion processing unit 30, and a rotational motion imparting unit 32 are formed as software modules. The processing of each of these units is substantially performed by the CPU 20 for each software module.

The torque conversion processing unit 28 is a part that calculates the torque acting on the joint part using the detection result of the sensor 12.
The motion conversion processing unit 30 is a part that calculates the rotational motion data of the corresponding joint part of the virtual body V corresponding to the joint part using the calculated torque.
The rotation motion imparting unit 32 is a part that imparts a rotation motion to the corresponding joint part of the virtual body V according to the calculated rotation motion data. That is, the rotation motion imparting unit 32 generates a motion signal for moving the virtual body V, and supplies this motion signal to the virtual body V.
The virtual body V has a corresponding joint part corresponding to each joint part so that the motion of the joint part of interest can be reproduced, and the corresponding joint part is generated in accordance with the operation signal supplied from the data processing unit 14. It is configured to rotate.

Hereinafter, in order to explain the embodiment in an easy-to-understand manner, a finger joint will be described as an example of a joint part of a human body.
FIG. 3 is a diagram illustrating a finger joint as an example of a joint part of a human body. In FIG. 3, a first joint 50, a second joint 52, and a third joint 54 are illustrated as finger joints. Further, non-joint parts 56 and 58 sandwiching the first joint 50 and non-joint parts 58 and 60 sandwiching the second joint 52 are illustrated.
FIG. 4A is a diagram illustrating in detail the non-joint parts 56, 58, 60 around the finger joint and the non-joint part restraining jig 10. The non-joint part restraint jig 10 surrounds the outer circumference of each of the non-joint parts 56, 58, 60 and fixes the non-joint parts 56, 58, 60 so as not to move.
The sensor 12 for detecting the force applied to the non-joint part restraint jig 10 by the non-joint parts 56, 58, 60 is not attached to the surface of the non-joint part restraint jig 10 in contact with each of the non-joint parts 56, 58, 60. It is provided inside and outside the fingers of the joint parts 56, 58, and 60. The inside of the finger refers to the side of the belly of the finger, and the outside of the finger refers to the dorsal side of the finger (the side opposite to the side of the belly). That is, as shown in FIG. 4A, the sensor 12 sandwiches the non-joint parts 56, 58, 60 in the direction in which the non-joint parts 56, 58, 60 are about to move due to the bending and stretching of the joint parts 50, 52. It is provided on each of both sides of the non-joint part restraint jig 10.
In FIG. 4A, the sensor 12 provided inside the finger is referred to as a sensor 12a, and the sensor 12 provided outside the finger is referred to as a sensor 12b for distinction. Hereinafter, this sensor will be collectively referred to as the sensor 12, and the sensor inside the finger and the sensor outside the finger will be described as the sensor 12a or the sensor 12b when described separately.

  The arrangement position and the number of the sensors 12 provided in the non-joint part restraint jig 10 differ depending on what kind of rotation operation of the joint part is calculated in the data processing device 14. In the case of a knuckle as shown in FIG. 3, the motion around the first joint 50, the second joint 52, and the third joint 54 is about an axis extending in one direction (direction perpendicular to the paper surface of FIG. 4A). Since the rotation operation is performed, the sensor 12 detects the force applied to the non-joint part restraint jig 10 from the inside and outside of the fingers of the non-joint parts 56, 58, 60 so that the sensor 12 detects the non-joint parts 56, 58, 60. It is provided inside and outside the finger 60. In the case of a joint part that rotates about an axis in two directions, a sensor 12 that detects at least force in four directions is provided. Furthermore, in the case of a joint part that rotates about three axes, it is preferable to include a sensor that detects a rotational torque about an axis along which the non-joint part that holds the non-joint part holding jig 10 extends.

FIG. 4B is a diagram illustrating an example of a model corresponding to the joint part for the torque conversion processing unit 28 to calculate the torque from the detection result of the sensor 12. The virtual body V operates so as to match the behavior of this model.
The model includes a first model joint 50a, a second model joint 52a, and a third model joint 54a corresponding to the first joint 50, the second joint 52, and the third joint 54, respectively, and non-joint parts 56, 58, 60 non-joint parts 56a, 58a, 60a corresponding to 60, respectively.

FIG. 4B shows the forces F ₁ , F ₂ , and F ₃ detected by the sensor 12 and applied to the non-joint part restraint jig 10 by the non-joint parts 60, 58, and 56. The forces F ₁ , F ₂ , and F ₃ are treated as acting on the central position of the fixed portion of the non-joint part restraint jig 10.
Therefore, when the torques τ ₁ , τ ₂ , τ ₃ around each joint part are calculated from the forces F ₁ , F ₂ , F ₃ detected by the sensor 12, information on the forces F ₁ , F ₂ , F ₃ , 3 model distance _{S 1} from the joint 54a to the position where the action of the force _{F 1,} the distance _{S 2} from the second model joint 52a to a position where the action of the force _{F 2,} the position of action of the force _{F 3} from the first model joint 50a To the distance S ₃ , information about the lengths l ₁ , l ₂ and l ₃ of the non-joint parts 60, 58 and 56, and information about the joint angles θ ₁ , θ ₂ and θ ₃ ( The torques τ ₁ , τ ₂ , τ ₃ are calculated using the information on the joint angle of the restrained joint part). It should be noted that the distance S ₁ , the distance S ₂ , and the distance S ₃ are from the position where the non-joint parts 60, 58, 56 apply force or pressure to the non-joint part restraint jig 10 (the position where the sensor 12 is arranged). It is also the distance to the third joint 54, the second joint 52, and the first joint 50.
As described above, the torque conversion processing unit 28 includes information on the forces F ₁ , F ₂ , and F ₃ that the non-joint parts 60, 58, 56 give to the non-joint part restraint jig 10, and the non-joint parts 60, 58, 56. And distance information (distance S ₁ , distance S ₂ , distance S ₃ ) from the position where force is applied to the non-joint part restraint jig 10 to the third joint 54, the second joint 52, and the one joint 50, , Information about the lengths of the non-joint parts 60, 58, 56 (lengths l ₁ , l ₂ , l ₃ ) and information about the joint angles at the joint parts (joint angles θ ₁ , θ ₂ , θ ₃ ). Since the torques τ ₁ , τ ₂ , and τ ₃ are calculated by using the torques, the torque around the joint portion can be calculated accurately. The information on the distance S ₁ , the distance S ₂ , the distance S ₃ , and the lengths l ₁ , l ₂ , and l ₃ are parameters whose values are set in advance and are input from the input operation system 24. Alternatively, the non-joint part restraint jig 10 is provided with a measuring device (not shown) that detects the distance information, the length information, and the joint angle information, and the measurement result of the measuring device is stored in the torque conversion processing unit 28. It may be transmitted.

The motion conversion processing unit 30 uses the torques τ ₁ , τ ₂ , and τ ₃ calculated by the torque conversion processing unit 28 to calculate rotational motion data of the corresponding joint part of the virtual body V. Since the detection result is constantly supplied to the data processing device 14 from the sensor 12, the torque conversion processing unit 28 causes the torques τ ₁ , τ ₂ , τ at predetermined intervals based on the forces F ₁ , F ₂ , F _{3. 3} , and the motion conversion processing unit 30 calculates the rotational motion data every time the torques τ ₁ , τ ₂ , τ ₃ are calculated.
Specifically, the motion conversion processing unit 30 uses the moments of inertia of the third joint 54, the second joint 52, and the first joint 50, the calculated torques τ ₁ , τ ₂ , τ ₃ and the own weight of the non-joint portion. The torques τ ₁ , τ ₂ , and τ ₃ are given to a motion equation related to rotation (a kinematic model of the virtual body V) in which the generated torque is related to each other, and the joint equations θ ₁ and θ are solved by solving the motion equation. The time change of ₂ and θ ₃ can be calculated.

At this time, according to one embodiment, the motion conversion processing unit 30 causes the calculated torque and elasticity in torque to simulate the motion of each joint part of the third joint 54, the second joint 52, and the first joint 50. And a kinematic model model of a virtual body V corresponding to a corresponding joint part of the virtual body V, including a nonlinear elastic element and a nonlinear viscous element whose coefficient and viscous resistance coefficient change non-linearly, It is preferable to calculate the exercise result and use the calculated exercise result as the rotation motion data.
Here, according to one embodiment, the non-linear elastic element is an elastic element whose elastic coefficient in torque changes non-linearly according to the information of the joint angle of the corresponding joint part of the virtual body V, and the non-linear viscous element is the virtual It is preferable that the viscous resistance coefficient of the torque changes non-linearly according to the information of the joint angle of the corresponding joint portion of the body V and the information of the temporal change of the joint angle.

The non-linear elastic element and the non-linear viscous element are introduced in order to facilitate the operation of the virtual body V, and are introduced so that the motion of the human joint part can be appropriately simulated.
For example, by appropriately setting the parameter value of the nonlinear elastic element, the response speed of the rotational motion data can be made closer to the response speed of the actual rotational motion of the joint part, and by appropriately setting the parameter value of the nonlinear viscous element. It is possible to prevent the overshoot of the rotational motion data that cannot occur in the actual rotational motion of the joint part.

FIG. 5 is a diagram illustrating an example of a non-linear function in a non-linear elastic element and a non-linear viscous element. For example, the joint angles θ ₁ , θ ₂ , θ ₃ or the time derivatives of the joint angles θ ₁ , θ ₂ , θ ₃ are in a predetermined range, for example, −P _n ^th (n = 1, 2, or 3) to P _n. If there is in the ^th, the value of the elastic element and a viscous element, the joint angle _{θ 1, θ 2, θ 3} , or joint angle theta _1, theta _2, is constant without changing the time derivative of the theta _3, If that is outside the predetermined range, the value of the elastic element and a viscous element, the joint angle _{θ 1, θ 2, θ 3} , or joint angle theta _1, theta _2, rapidly to changes in the time derivative of the theta ₃ It changes non-linearly like an exponential function. That is, the elastic coefficient and the viscous resistance coefficient change non-linearly with respect to the joint angles θ ₁ , θ ₂ , θ ₃ or the time derivatives of the joint angles θ ₁ , θ ₂ , θ ₃ . Here, the joint angles θ ₁ , θ ₂ , and θ ₃ are joint angles at corresponding joint portions that change according to the motion of the virtual body V. In the example shown in FIG. 5, the absolute values of the upper limit and the lower limit of the predetermined range are the same value (P _n ^th ), but may be different values. Further, when the value exceeds the predetermined range, as shown in FIG. 5, the values of the elastic element and the viscous element change exponentially and non-linearly, but the behavior of non-linearly changing at this time is different. Good. Furthermore, when the value exceeds the predetermined range, the values of the elastic element and the viscous element are not limited to a shape in which the values of the elastic element and the viscous element change exponentially and non-linearly. May be.
As described above, when modeling the joint part, by using the nonlinear elastic elements K ₁ , K ₂ , and K ₃ and the nonlinear viscous elements D ₁ , D ₂ , and D ₃ , the rotational movement of the virtual body V is performed. , It is possible to get closer to the movement intended by the person. In the example shown in FIG. 5, the absolute values of the upper limit (P _n ^th ) and the lower limit (−P _n ^th ) of the range where the values of the elastic element and the viscous element are constant are the same, but they may be different. Also, the non-linear viscous element _{D 1,} D 2, _{D 3} is the joint angle theta _1, theta _2, time derivative and joint angle theta ₁ of theta _3, theta _2, be those values depending on the theta ₃ is changed May be.

  6A and 6B are diagrams illustrating an example of the operation of the virtual body V. FIG. 6A shows an example of the initial state of the virtual body V that reproduces the initial state in which the finger is on a pedestal on a hemisphere and the finger is restrained by the non-joint part restraint jig 10 on this pedestal. The virtual body V is a simulation of the finger shown in FIG. With respect to the finger located on the pedestal, the rotational motion data of the finger is created based on the detection result by the sensor 12 when a force is applied to the finger constrained by the non-joint part constraining jig 10, and according to the rotational motion data, 6B shows a state in which the rotation motion imparting unit 32 imparts a rotation motion to the virtual body V. The example shown in FIG. 6B shows a state in which the knuckle is straightened from the bent state as shown in FIG. 6A.

7A to 7C show the third model joint 54a and the second model joint 54a shown in FIG. 4B when the virtual body V performs the operation shown in FIGS. 6A and 6B. 52a is a diagram showing characteristics of nonlinear elastic elements K ₁ , K ₂ , and K ₃ given to the first model joint 50a. FIG. 8 shows a third model joint 54a, a second model joint 52a, which models the joint parts shown in FIG. 4B when the virtual body V performs the operation shown in FIGS. 6A and 6B. nonlinear viscous element _D 1 gave the first model articulation _50a, which is a diagram showing characteristics of the _D 2, D _3. As shown in FIG. 8, the characteristic of the non-linear viscous element changes according to the time derivative of the joint angles θ ₁ , θ ₂ , θ ₃ . It should be noted that the joint angles θ ₁ , θ ₂ , and θ ₃ are parameters that define the motions of the joints of the third model joint 54a, the second model joint 52a, and the first model joint 50a that model the joint parts. This is different from the fixed angle when the joint part is fixed as shown in FIG. The first model joint 50a, the second model joint 52a, and the third model joint 54a have the same characteristics of the nonlinear viscous elements D ₁ , D ₂ , and D ₃ , but may have different characteristics.

  9A to 9F, when the virtual body V performs the operation shown in FIGS. 6A and 6B, the non-joint portions 60, 58, and 56 shown in FIG. It is a figure which shows the example of the time change of the force given to 12a, 12b. FIGS. 9A and 9B show changes with time in the force applied to the sensors 12a and 12b by the non-joint region 60. 9 (c) and 9 (d) show changes with time of the force exerted by the non-joint portion 58 on the sensors 12a, 12b. 9E and 9F show changes with time of the force applied to the sensors 12a and 12b by the non-joint portion 56. As shown in FIG.

FIGS. 10A to 10C show the third model joint 54a, the second model joint 52a, and the first model joint 50a when the virtual body V performs the motions shown in FIGS. 6A and 6B. It is a figure which shows the example of the time change of the torque (tau) ₁ , (tau) ₂ , (tau) ₃ which acted on each circumference | surroundings. These torques τ ₁ , τ ₂ , τ ₃ are the distance information (distance S ₁ , distance S ₂ , distance S ₃ ) described above, length information (lengths l ₁ , l ₂ , l ₃ ), and joints. It is calculated using the angle information (joint angles θ ₁ , θ ₂ , θ ₃ ).

11A to 11C show the third model joint 54a, the second model joint 52a, and the first model joint 50a when the virtual body V performs the motions shown in FIGS. 6A and 6B. is a diagram showing the rest of the examples obtained by subtracting the torque resulting from torque applied to each by the nonlinear elastic elements K _1, K _2, K ₃ and nonlinear viscous elements D1, D2, D3.

12A to 12C show the third model joint 54a, the second model joint 52a, and the first model when the virtual body V performs the operation shown in FIGS. 6A and 6B. It is a figure which shows the example of the time change which the joint angles (theta) ₁ , (theta) ₂ , (theta) _{3 of} each joint 50a showed. The joint angles θ ₁ , θ ₂ , and θ ₃ are parameters that define the motions of the joints of the third model joint 54a, the second model joint 52a, and the first model joint 50a that model the joint parts, and are actually parameters. This is different from the fixed angle when the joint part is fixed as shown in FIG.

As described above, the data processing device 14 calculates the joint angles θ ₁ , θ ₂ , and θ ₃ by using the detection result detected by the sensor 12 while the finger is restrained by the non-joint part restraint jig 10. By using the joint angles θ ₁ , θ ₂ , and θ ₃ as rotational motion data, the virtual body V can be operated by applying a rotational motion to the corresponding joint part of the virtual body V. The display 26 or the wearable display 18 can display the rotation operation of the virtual body V on the screen as shown in FIGS. 6A and 6B.

13A and 13B are diagrams showing an example of task contents of a virtual body and operation results of the virtual body performed by the method of this embodiment and the conventional method. FIG. 13B shows an example (example) of the result when the virtual body V is made to operate by simulating the operation of the finger by the above-described method, and an example of the result of the conventional method for the finger of the virtual body V is shown. An example (conventional example) of a result obtained by simulating the same finger movement as in (1) is shown.
In the conventional example, a motion capture device (https://www.leapmotion.com/motion-live/) that captures the motion (displacement) of the non-joint part with a camera is used to acquire the motion of the non-joint part and the joint part. The acquired action is reflected in the virtual body V.
The operation of the finger is, as shown in FIG. 13A, an operation of bending the straightened index finger and moving the index finger to a target reaching point indicated by a circle. FIG. 13B shows the change over time in the distance from the target reaching point. As can be seen from FIG. 13B, in the example, it is found that the tip of the index finger reaches the target reaching point at substantially the same time as in the conventional example. From this, it can be said that the method according to the present embodiment can cause the virtual body V to accurately simulate the movement of the human body, as in the conventional motion capture technology.

  According to one embodiment, as described above, the data processing device 14 transmits the signal of the vibration stimulus for making the human body actually feel the rotational motion at the non-joint part in response to the rotational motion imparted by the rotational motion imparting unit 32. It is preferable to provide a stimulus control unit to generate. In this case, the vibrator 16 (stimulation applying vibrator) provided in the non-joint part restraint jig 10 that is connected to the stimulus control unit and applies the vibration stimulus to the non-joint part by the generated signal of the vibration stimulus is shown in FIG. Is preferably provided as shown in FIG. By vibrating stimulus, the joint part and the non-rotating part are fixed, but the joint part can receive the illusion that the joint part is rotating. Try to adjust the force applied to the non-joint area so that Therefore, even if the joint portion and the non-joint portion are fixed, the virtual body V can easily realize the intended rotation operation from the state of the illusionary joint portion. Further, it is preferable that the state of the virtual body V as shown in FIG. 6B be displayed on the screen of the display 26 or the wearable display 18. That is, the display 26 can display an image of the virtual body V that operates by applying a rotational motion to a corresponding joint part of the virtual body V according to the rotational motion imparted to the virtual body V by the rotational motion imparting unit 32. preferable. As a result, the operator of the virtual body V looking at this screen receives the illusion that his or her hand makes a rotational motion, and the operator makes a non-intended rotational motion so that the human body further performs the intended rotational motion. Try to adjust the force applied to the joint area.

According to one embodiment, the data processing device 14 preferably comprises a calibration unit. Since the calibration unit performs a predetermined target rotation operation on the corresponding non-joint portion of the virtual body V corresponding to the non-joint portion, the calibration unit detects the corresponding non-joint portion of the virtual body V when the non-joint portion generates a force. When the torque conversion processing unit 28 or the motion conversion processing unit 30 calculates the torque or the rotation operation based on the error, the error between the rotation operation and the target rotation operation is calculated, and the error is reduced. It is preferable to adjust the parameters used. Examples of the parameters include the upper limit threshold P _n ^th , the lower limit threshold −P _n ^th , and α and β used for the shoulders of the exponential function in the nonlinear elastic element and the nonlinear viscous element shown in FIG. Such calibration is performed before the control for causing the virtual body V to perform an operation that simulates the operation of the human body.

  14A to 14C are diagrams illustrating an example of calibration of the rotation operation of the virtual body V obtained based on the detection result of the sensor 12. FIGS. 14A and 14B show the operation using the model shown in FIG. 4B. The rotation operation of the virtual body V is the same as the rotation operation of the model shown in FIG.

As shown in FIGS. 14A and 14B, a motion 102 (see FIG. 14B) of the finger tip (non-joint part) of the virtual body V is an arc-shaped motion 100 (FIG. 14) that is a target motion. (See (a)), the error 104 (see FIG. 14 (c)) between the motion 102 of the finger tip (non-joint part) of the virtual body V and the target arc-shaped motion 100 is calculated, Based on the error 104, the parameter used when calculating the torque or the rotational motion data is adjusted so that the error 104 becomes smaller. As the parameters, for example, parameters of the nonlinear elastic element and the nonlinear viscous element shown in FIG. 5, for example, constants α and β used for shoulders of exponential functions, threshold values ± P _n ^{th, and the} like are adjusted. The target motion is not limited to an arcuate motion, and may be a linear motion along the horizontal direction or a linear motion along the vertical direction.

According to one embodiment, as shown in FIGS. 4A and 4B, the joint part includes a plurality of finger joint parts of the hand, and the rotational motion at the corresponding joint part of the virtual body V is the same as that of the virtual body V. It preferably includes a corresponding bending and unfolding action of the finger. Further, according to one embodiment, it is also preferable that a plurality of joint parts of the arm are included, and the rotational motion at the corresponding joint part of the virtual body V includes bending and stretching motion of the corresponding arm of the virtual body V. Such a plurality of finger joint parts, or a shoulder joint part located at the base of an arm, an elbow joint part, and a wrist joint part located at the tip of an arm have complicated motions, but a data processing device By using the motion control system of the virtual body V including 14 it is possible to accurately reproduce the motion even with complicated motion.
Further, according to one embodiment, it is preferable that the joint part includes a plurality of joint parts of a leg and a waist, and the rotational motion at the corresponding joint part includes a walking motion by the corresponding leg of the virtual body V. Since such a rotating motion can be reproduced in a solid state of the human body as shown in FIG. 1, the motion of the virtual body V in a virtual space wider than the real space in which the human body is located can be reproduced in a narrow real space. Even if there is a human body in the space, it can be operated without problems.

FIG. 15 is a schematic perspective view of an example of a finger restraint jig that restrains the action of the index finger, which is one form of the human body restraint jig.
The finger restraint jig 100 shown in FIG. 15 includes a non-joint portion restraint jig 10 and sensors 12a and 12b.

  The non-joint part restraint jig 10 restrains the motion of each of the non-joint parts 56, 58, 60 (see FIG. 4A) of the index finger. The non-joint part restraint jig 10 corresponds to the bases 156a, 158a, 160a on which the ventral parts of the non-joint parts 56, 58, 60 of the index finger are placed, and the back part of the non-joint parts 56, 58, 60. And frame portions 156b, 158b, 160b extending linearly. In the non-joint part restraint jig 10, the corresponding portions of the first joint 50, the second joint 52, and the third joint correspond to the bending of the first joint 50, the second joint 52, and the third joint 54 of the index finger. It is configured to bend freely. Specifically, the frame portion 156b is rotatably supported by the frame portion 158b, the frame portion 158b is rotatably supported by the frame portion 160b, and the frame portion 160b is a portion corresponding to the third joint 54. It is rotatably supported by.

The sensors 12a and 12b are provided at the respective positions of the frame portions 156b, 158b and 160b, and the non-joint portions 56, 58 and 60 are respectively mounted on the bases 156a, 158a and 160a and the frame when the joint portions are operated. It is configured to detect the force or pressure information acting on the units 156b, 158b, 160b and output the force or pressure information to the external data processing device 14.
The sensors 12a and 12b include frame portions 156b and 158b sandwiching the non-joint portions 56, 58 and 60 in a direction in which the non-joint portions 50, 52 and 54 try to move due to bending and stretching of the first joint 50 and the second joint 52. , 160b and bases 156a, 158a, 160a.
As described above, the sensors 12a and 12b are provided on both sides of the non-joint portion restraint jig 10 sandwiching the non-joint portions 56, 58 and 60, respectively, so that the non-joint portions 56, 58 and 60 do not operate, respectively. However, the torque acting on the first joint 50, the second joint 52, and the third joint 54 can be obtained.

Since the length of the non-joint parts 56, 58, 60 of the finger differs depending on the person, the frame parts 156b, 158b, 160b are configured to expand and contract according to the length of the non-joint parts 56, 58, 60. There is. The bases 156a, 158a, 160a can also be moved according to the expansion and contraction of the frame parts 156b, 158b, 160b.
Therefore, the finger restraint jig 100 can be freely adjusted according to the lengths of the non-joint portions 56, 58, 60 of the index finger, and the bending of the first joint 50, the second joint 52, and the third joint 54. Accordingly, the space between the frame portion 156b and the frame portion 158b and the space between the frame portion 158b and the frame portion 160b can be freely bent.

According to one embodiment, in the non-joint part restraint jig 10, the non-joint parts 56, 58, 60 restrained by the non-joint part restraint jig 10 apply force or pressure to the non-joint part restraint jig 10. The distance information between the position and the first joint 50, the second joint 52, and the third joint 54, the information on the lengths of the non-joint portions 56, 58, and 60, and the non-joint portion restraint jig 10 is the non-joint portion. A measurement device that measures at least one piece of information about the joint angles of the first joint 50 and the second joint 52 when 56, 58, and 60 are restrained and outputs the measurement result to the data processing device 14 in advance is provided. preferable. As the joint angle, the bending angle between the frame portion 156b and the frame portion 158b, the bending angle between the frame portion 158b and the frame portion 160b, and the inclination angle of the frame portion 160b with respect to the horizontal plane can be used.
As the measuring device, for example, a laser displacement meter can be used for measuring the length and distance, and a rotary potentiometer or an encoder can be used for measuring the joint angle.

  FIG. 16 is a schematic perspective view of an example of a leg restraint jig that restrains the movement of the leg, not the index finger. The leg restraint jig shown in FIG. 16 is used in a state of sitting on a chair, from the pelvis to the knee joint part, the thigh from the knee joint part to the ankle joint part, and from the ankle joint part to the tip of the foot. The part is restrained as a non-joint part. Like the finger restraint jig shown in FIG. 15, such a leg restraint jig can be configured using a frame portion that linearly extends corresponding to the non-joint portion. This device configuration is the same as that of the finger restraint jig 100, and therefore its description is omitted. Also in the leg restraint jig, although not shown, the sensors 12a and 12b are non-joint portion restraining jigs sandwiching the non-joint portion in a direction in which the non-joint portion tries to move due to bending and stretching of the knee joint portion and the ankle joint portion. It is provided on both sides of.

The control of the operation of the virtual body V described above can be realized by the following method.
That is, the operation control method of the virtual body V is
When attempting to operate the joint parts while restraining the motions of the two non-joint parts sandwiching at least one joint part of the human body of the operator operating the virtual body V, the respective non-joint parts are the non-joint parts. A step of detecting information on a force, a pressure, or a torque acting around the joint portion acting on the restraint jig 10, or myoelectric information of each restrained non-joint portion;
Calculating the torque acting on the joint part using the detection result of the detecting step;
Using the calculated torque, calculating a rotational motion data representing a motion of the corresponding joint part of the virtual body V corresponding to the joint part;
A step of applying a rotational motion to the corresponding joint part of the virtual body V according to the calculated rotational motion data.

  As described above, information or muscles relating to the force, pressure, or torque detected when an attempt is made to operate a joint part with the motions of two non-joint parts sandwiching at least one joint part of the human body being restrained. The electric motion information is used to calculate the rotational motion data representing the motion of the corresponding joint part of the virtual body V, and the rotational motion is given to the corresponding joint part of the virtual body V according to this rotational motion data. The operation of the virtual body V in the virtual space wider than the space can be performed without any problem even if the human body exists in the narrow real space.

FIG. 17A is a diagram illustrating an example of a non-joint part that restrains the motion in the embodiment in the head-body part-leg part-foot part of the human body, and FIG. It is a figure explaining the example of arrangement.
The head 200 moves as a non-joint part in the front-rear and left-right directions with respect to the neck, the chest 202 moves as a non-joint part in the front-back direction with respect to the neck, and the flank 204 as a non-joint part with respect to the neck. The lower body 206 moves in the left-right direction and moves in the front-back, left-right direction with respect to the pelvis as a non-joint portion. The thigh 208 moves in the antero-posterior direction with respect to the pelvis as a non-joint part, the lower leg 210 moves in the antero-posterior direction with respect to the knee as a non-joint part, and the foot moves up and down with respect to the ankle. Move to. Therefore, as shown in FIG. 17B, the sensor 12 is arranged in each of the non-joint portions in correspondence with the movement direction while restraining the movement of the non-joint portions. 17A and 17B, only the non-joint part of the right leg is shown, and the non-joint part of the left leg is not shown, but the non-joint part of the left leg is also shown in the non-joint part of the right leg. The sensor 12 is arranged with restraint similarly to the joint portion.

FIG. 18A is a diagram for explaining an example of a non-joint part that restrains the motion in the present embodiment in the arm-hand part of the human body, and FIG. 18B is an example of the arrangement of the sensor 12. It is a figure explaining.
The hand 214 moves vertically and horizontally with respect to the wrist, the forearm 216 moves forward and backward (or left and right) with respect to the elbow, and the upper arm 218 moves vertically and horizontally with respect to the shoulder joint (or vertical and forward and backward directions). Move to. Therefore, as shown in FIG. 18B, the sensor 12 is arranged in each of the non-joint portions in correspondence with the movement direction while restraining the movement of the non-joint portions. 18A and 18B, only the non-joint part of the right arm to the right hand is shown, and the non-joint part of the left arm to the left hand is not shown, but the non-joint part of the left arm to the left hand is also shown in the right arm. ~ Like the non-joint part of the right hand, the above-mentioned movement is restricted and the sensor 12 is arranged corresponding to the above-mentioned movement direction.

FIG. 19A is a diagram illustrating an example of a non-joint part of the finger of the human body that restrains the motion in the present embodiment, and FIG. 19B is a diagram illustrating an example of arrangement of the sensor 12. is there.
The non-joint part 56 moves vertically with respect to the first joint, the non-joint part 58 moves vertically with respect to the first joint or the second joint, and the non-joint part 60 moves with the second joint or the third joint. Moves vertically and horizontally with respect to the joint. Therefore, as shown in FIG. 19B, the sensor 12 is arranged in each of the non-joint portions in correspondence with the movement direction while restraining the movement of the non-joint portions. 19A and 19B, only the non-joint part of the index finger is shown, and the non-joint part of the other finger is not shown, but the non-joint part of the other finger is also shown in the non-joint part of the index finger. The sensor 12 is arranged corresponding to the movement direction by restraining it similarly to the joint portion.

FIG. 20A is a diagram illustrating an example of the arrangement of the sensor 12 and the non-joint portion that restrains the twisting and rotating motion around the joint of the human body.
The head 200 is twisted and rotated with respect to the neck 201 as a non-joint portion, and the chest 202 is twisted and rotated with respect to the waist 205 or the neck 201 as a non-joint portion. The foot 212, as a non-joint portion, twists and rotates with respect to the pelvis. For this reason, the head 200, the chest 202, and the foot 212 restrain the torsional rotation motion, and the sensor 12 that measures the force or pressure acting on each non-joint portion about to twist and rotate around the joint is the head. Located on the section 200, the chest 202, and the foot 212.

FIG. 20B is a diagram illustrating an example of the arrangement of the sensor 12 and the non-joint portion that restrains the twisting and rotating motion of the arm of the human body.
The hand 214 twists and rotates with respect to the shoulder as a non-joint portion. For this reason, the hand 214 restrains the torsional rotation operation, and the sensor 12 for measuring the force or pressure acting on the non-joint portion about to twist and rotate around the shoulder is arranged in the hand 214. For example, on the back side of the hand 214 and the palm side, sensors for detecting force or pressure are provided at two locations on the thumb side and the little finger side, respectively.

  The restraint of the motion of the non-joint part and the placement of the sensor 12 shown in FIGS. 17 to 20 may be applied in combination with each other, or depending on the non-joint part to be restrained and the motion thereof, FIGS. The restriction of the movement of a part of the non-joint portion and the arrangement of the sensor 12 may be applied.

INDUSTRIAL APPLICABILITY The motion control system for a virtual body of the present invention can be utilized for operating a virtual body in a virtual reality having a vast space, or for remote control of a robot or the like in an actual remote space. The narrow actual space where the human body is located can be used as the space of the virtual reality, such as the space of the Internet cafe or home.
Examples of the robot operated in the remote space include an industrial robot, a remote medical robot, and a disaster support robot in a work environment in which a worker cannot approach.

  Although the virtual body motion control system, the virtual body motion control method, and the human body restraint jig of the present invention have been described above in detail, the present invention is not limited to the above-described embodiments and does not depart from the gist of the present invention. Of course, various improvements and changes may be made.

1 Virtual body motion control system 3 Bed 10 Non-joint part restraint jig 12, 12a, 12b Sensor 14 Data processing device 16 Transducer 18 Wearable display 20 CPU
22 memory 24 input operation system 26 display 28 torque conversion processing unit 30 motion conversion processing unit 32 rotational motion imparting unit 50 first joint 50a first model joint 52 second joint 52a second model joint 54 third joint 54a third model joint 56, 58, 60 Non-joint part 56a, 58a, 60a Model non-joint part 100 Arc-shaped motion 102 Motion of finger tip of virtual body V 104 Error 156a, 158a, 160a Base 156b, 158b, 160b Frame part 200 Head 201 Neck 202 Chest 205 Waist 204 Side Belly 206 Lower Body 208 Thigh 210 Lower Thigh 212 Foot 214 Hand 216 Forearm 218 Upper Arm

Claims (11)

A motion control system for a virtual body capable of simulating at least part of the motion of a human body,
A non-joint part restraint jig that restrains the movement of each of two non-joint parts that sandwich at least one joint part of the human body;
The force, pressure, or the circumference of the joint portion, which is provided at each of the non-joint portion restraint jigs, and acts on the non-joint portion restraint jig when the joint portion is operated. Information about the torque acting on the, or a sensor that detects myoelectric information of each of the constrained non-joint site,
A data processing device that processes the detection result of the sensor to control the operation of the virtual body,
The data processing device,
A torque conversion processing unit that calculates a torque acting on the joint portion using the detection result of the sensor,
A motion conversion processing unit that uses the calculated torque to calculate rotational motion data that represents the motion of a corresponding joint part of the virtual body corresponding to the joint part;
And a rotation motion imparting unit that imparts a rotation motion to the corresponding joint portion of the virtual body according to the calculated rotation motion data.   The torque conversion processing unit is configured such that information on force or pressure acting on the non-joint part restraint jig, the non-joint part restrained by the non-joint part restraint jig is applied to the non-joint part restraint jig by the force or pressure. Distance information between the position to which the pressure is applied and the joint part, information on the length of the non-joint part, and a joint of the joint part when the non-joint part restraining jig restrains the non-joint part. The virtual body motion control system according to claim 1, wherein the torque is calculated using angle information.   The motion conversion processing unit includes the torque, a non-linear elastic element in which the elastic coefficient in torque changes non-linearly so as to simulate the motion of the joint portion, and a non-linear viscous element in which the viscous resistance coefficient changes non-linearly in torque. The kinematic model of the virtual body corresponding to the corresponding joint part is used to calculate a motion result in the kinematic model of the virtual body, and the calculated motion result is used as the rotational motion data. Alternatively, the operation control system of the virtual body according to the item 2. A stimulation control unit that generates a stimulation signal for making the non-joint portion or the joint portion experience the rotating motion according to the application of the rotating motion;
The stimulus imparting element, which is connected to the stimulus control unit and applies a stimulus to the non-joint site or the joint site by the generated stimulus signal, the virtual according to any one of claims 1 to 3. Body motion control system.   The operation of the virtual body according to any one of claims 1 to 4, further comprising: a display that displays an image of the virtual body that operates by applying the rotation operation to the corresponding joint portion according to the application of the rotation operation. Control system.   Rotation of the corresponding non-joint portion of the virtual body when the non-joint portion exerts a force so that the corresponding non-joint portion of the virtual body corresponding to the non-joint portion performs a predetermined target rotation operation. An error between the operation and the target rotational operation is calculated, and the torque conversion processing unit or the operation conversion processing unit calculates the torque or the rotational operation data based on the error so that the error becomes small. The operation control system for a virtual body according to claim 1, further comprising a calibration unit that adjusts a parameter used in the calculation.   7. The joint part includes a plurality of joint parts of a hand or an arm, and the rotation motion in the corresponding joint part includes a bending and stretching motion of a corresponding finger or arm of the virtual body. The virtual body motion control system described in.   The virtual joint according to any one of claims 1 to 7, wherein the joint portion includes a plurality of joint portions of a leg and a waist, and the rotational movement in the corresponding joint portion includes a walking movement by the corresponding leg of the virtual body. Body motion control system. A human body restraint jig that restrains the movement of each of two non-joint parts that sandwich at least one joint part of the human body in order to perform the motion control of a virtual body that can simulate the motion of at least a part of the human body. And
A non-joint part restraint jig that restrains the movement of each of two non-joint parts that sandwich at least one joint part of the human body;
The force, pressure, or the circumference of the joint portion, which is provided at each of the non-joint portion restraint jigs, and acts on the non-joint portion restraint jig when the joint portion is operated. A sensor that detects information regarding the torque of, and outputs the information regarding the force, the pressure, or the torque to an external data processing device,
Equipped with
The sensor is provided on each of both sides of the non-joint part restraint jig sandwiching the non-joint part in a direction in which the non-joint part is about to move due to the motion of the joint part. A human body restraint jig. The non-joint part restraint jig is configured such that the size can be adjusted according to the size of the non-joint part,
Distance information between a position at which the non-joint part restrained by the non-joint part restraint jig applies the force or the pressure to the non-joint part restraint jig and the joint part, and a length of the non-joint part. Measuring device for measuring at least one of information on the height and information on the joint angle of the joint part when the non-joint part restraint jig restrains the non-joint part, and outputs the measurement result to the data processing device. The human body restraint jig according to claim 9, further comprising: A method for controlling the motion of a virtual body, which is capable of simulating at least part of the motion of the human body,
Each of the non-joint parts acts on the non-joint part restraint jig when attempting to move the joint part in a state where the motion of each of the two non-joint parts sandwiching at least one joint part of the human body is restrained. Detecting force, pressure, or information about torque around the joint part, or myoelectric information of each of the constrained non-joint parts,
Calculating a torque acting on the joint part using the detection result of the detecting step;
Using the calculated torque, calculating rotational motion data representing the motion of the corresponding joint part of the virtual body corresponding to the joint part;
A step of giving a rotational motion to the corresponding joint part of the virtual body in accordance with the calculated rotational motion data, the motion control method of the virtual body.