Abstract: A motion state monitoring system, a training support system, a motion state monitoring method, and a program capable of suitably managing measurement results according to an attaching direction of a sensor are provided. A motion state monitoring system according to the present disclosure monitors a motion state of a target part of a subject's body. The motion state monitoring system includes an acquisition unit, an attaching direction detection unit, and a control processing unit. The acquisition unit acquires sensing information of a sensor attached to the target part. The attaching direction detection unit detects an attaching direction of the sensor. The control processing unit outputs information related to the sensing information in association with the attaching direction.

Abstract: A health promotion system using a computer includes: an operation mechanism configured to operate in response to an operation performed by a person; a control unit configured to control the operation mechanism; identification information acquisition unit that acquires identification information for identifying the person who operates the operation mechanism; and motion detection unit that detects a motion of the person. The control unit determines whether or not the motion detected by the motion detection unit satisfies a health promotion motion that is predetermined for the person identified by the identification information, and operates the operation mechanism in response to the operation performed by the person only when the detected motion satisfies the health promotion motion.

Abstract: An article conveying system includes a tray that is disposed on a floor surface and on which an article to be conveyed is mounted, a robot provided with a force sensor that detects an external force, a frictional force reduction device provided in at least one of the floor surface or the tray, to adjust a frictional force between the floor surface and the tray, and a controller that controls the robot to apply a lateral load to the tray and thereby slide the tray on the floor surface, and controls the frictional force reduction device based on a magnitude of the external force in a direction of the lateral load that is detected by the force sensor when the lateral load is applied.

Abstract: A training system generates a training plan for enabling a trainee to perform a plurality of kinds of training, and includes: a track record information accepting unit that acquires track record information regarding the physical action of the trainee; the target information generation unit that accepts environmental data of daily life of the trainee after the training plan is finished, and generates target information regarding a target of the function recovery of the trainee based on the accepted environmental data; the storage unit that stores statistical information regarding the function recovery in the training performed by a plurality of other trainees; and the plan generation unit that generates the training plan of the trainee based on the track record information, the target information, and the statistical information and outputs the generated training plan.

Abstract: A motion state monitoring system including: a selection unit that selects one or a plurality of sensors from among a plurality of sensors associated with a plurality of respective body parts of a body of a subject based on one or a plurality of specified motions to be monitored; a calibration result determination unit that determines whether or not a calibration of each of at least the one or plurality of sensors selected by the selection unit has been completed; a calculation processing unit that generates a result of a calculation indicating a motion state of the subject based on a result of detection performed by each of the one or plurality of sensors selected by the selection unit when the calibration result determination unit determines that the calibration has been completed; and an output unit that outputs the result of the calculation performed by the calculation processing unit.

Abstract: A motion state monitoring system including: a selection unit configured to select one or a plurality of sensors from among a plurality of sensors associated with a plurality of respective body parts of a body of a subject based on one or a plurality of specified motions to be monitored; a calculation processing unit configured to generate a result of a calculation indicating a motion state of the subject based on a result of detection performed by each of the one or plurality of sensors selected by the selection unit; and an output unit configured to output the result of the calculation performed by the calculation processing unit, in which the output unit is further configured to output information about the one or plurality of the body parts of the body of the subject corresponding to the one or plurality of respective sensors selected by the selection unit.

Abstract: A motion state monitoring system, a training support system, a motion state monitoring method, and a program capable of suitably managing measurement results according to an attaching direction of a sensor are provided. A motion state monitoring system according to the present disclosure monitors a motion state of a target part of a subject's body. The motion state monitoring system includes an acquisition unit, an attaching direction detection unit, and a control processing unit. The acquisition unit acquires sensing information of a sensor attached to the target part. The attaching direction detection unit detects an attaching direction of the sensor. The control processing unit outputs information related to the sensing information in association with the attaching direction.

Abstract: A motion state monitoring system, a training support system, a motion state monitoring method, and a program capable of suitably managing measurement results according to an attaching direction of a sensor are provided. A motion state monitoring apparatus according to the present disclosure monitors a motion state of a target part of a subject's body. The motion state monitoring apparatus includes an acquisition unit, an attaching direction input unit, and a control processing unit. The acquisition unit acquires sensing information of a sensor attached to the target part. The attaching direction input unit receives an input of an attaching direction of the sensor in a stationary state. The control processing unit outputs information related to the sensing information in association with the attaching direction.

Abstract: A training system generates a training plan for enabling a trainee to perform a plurality of kinds of training, and includes a storage unit, a track record information accepting unit, and a plan generation unit. The storage unit stores training information including the content of training, therapist information indicating the type of a therapist who is in charge of the training and assists the trainee, and statistical information regarding the function recovery in the training performed by a plurality of other trainees. The track record information accepting unit accepts track record information regarding the physical action of the trainee. The plan generation unit generates a training plan including the content of the training, the type of the therapist, and an execution period of the training based on the training information, the therapist information, and the statistical information and outputs the generated training plan.

Abstract: A presentation system includes a storage unit, an acquisition unit, a determination unit, and an output unit. The storage unit is configured to store definition information defining a housing environment according to a physical ability. The acquisition unit is configured to acquire first physical ability information of a trainee who performs training for the purpose of maintaining or recovering the physical ability before the training, and plan information which is a plan of the training. The determination unit is configured to estimate second physical ability information which is the physical ability of the trainee after an end of the plan based on the first physical ability information and the plan information, and determine the housing environment corresponding to the second physical ability information based on the definition information. The output unit is configured to output presentation information including the determined housing environment.

Abstract: A training system generates a training plan for enabling a trainee to perform a plurality of kinds of training, and includes a storage unit, a track record information accepting unit, and a plan generation unit. The storage unit stores training information including the content of training, tool information indicating the type of a tool used for the training, and statistical information regarding the function recovery in the training performed by other trainees. The track record information accepting unit accepts track record information regarding the track record of the action of the trainee. The plan generation unit generates a training plan including the content of the training that the trainee conducts, the tool that is used for the training, and an execution period of the training based on the training information, the tool information, and the statistical information and outputs the generated training plan.

Abstract: An article conveying system includes a tray that is disposed on a floor surface and on which an article to be conveyed is mounted, a robot provided with a force sensor that detects an external force, a frictional force reduction device provided in at least one of the floor surface or the tray, to adjust a frictional force between the floor surface and the tray, and a controller that controls the robot to apply a lateral load to the tray and thereby slide the tray on the floor surface, and controls the frictional force reduction device based on a magnitude of the external force in a direction of the lateral load that is detected by the force sensor when the lateral load is applied.

Abstract: A robot system comprises a robot provided with a robot arm and a robot hand, and a control device for controlling the motion of the robot, wherein a permitted area where a teaching operation for the robot hand should be permitted is preset within a maximum area which the robot hand can reach. The control device is provided with a judging part which judges if the robot hand as a whole is present in the permitted area, based on robot hand position information, and a teaching operation restricting part which permits a teaching operation for the robot hand when it is judged that the robot hand as a whole is present in the permitted area and prohibits a teaching operation for the robot hand when it is judged that the robot hand as a whole is not present in the permitted area.

Abstract: A device which prevents a gear from ending up being damaged while enabling the gear to be more easily and suitably gripped is provided. A gear gripping device 10 comprises a pawl which is provided to be able to move so as to approach a circumference of a gear G and which can engage with a gear groove which is formed at the circumference of the gear, a first drive part 18 which drives the pawl to abut against the circumference of the gear G, a second drive part 20 which makes the gear G rotate in the circumferential direction of the gear G, and an engagement detection part 50 which detects if the pawl has engaged with the gear groove.

Abstract: A device which prevents a gear from ending up being damaged while enabling the gear to be more easily and suitably gripped is provided. A gear gripping device 10 comprises a pawl which is provided to be able to move so as to approach a circumference of a gear G and which can engage with a gear groove which is formed at the circumference of the gear, a first drive part 18 which drives the pawl to abut against the circumference of the gear G, a second drive part 20 which makes the gear G rotate in the circumferential direction of the gear G, and an engagement detection part 50 which detects if the pawl has engaged with the gear groove.

Abstract: A robot system comprises a robot provided with a robot arm and a robot hand, and a control device for controlling the motion of the robot, wherein a permitted area where a teaching operation for the robot hand should be permitted is preset within a maximum area which the robot hand can reach. The control device is provided with a judging part which judges if the robot hand as a whole is present in the permitted area, based on robot hand position information, and a teaching operation restricting part which permits a teaching operation for the robot hand when it is judged that the robot hand as a whole is present in the permitted area and prohibits a teaching operation for the robot hand when it is judged that the robot hand as a whole is not present in the permitted area.

Abstract: There is provided a legged robot that performs motion by changing a joint angle, which includes a trajectory generating section to calculate a center-of-gravity trajectory in designated stepping motion from the stepping motion including at least one of walking motion, running motion and stopping motion, and generate a center-of-gravity trajectory by superimposing a designated travel velocity onto a travel velocity of a center of gravity in the calculated center-of-gravity trajectory in stepping motion, and a trajectory updating section to store the generated center-of-gravity trajectory and update all the stored center-of-gravity trajectories so as to be continuous, and a trajectory reproducing section to calculate time-varying data of a target value of the joint angle based on the updated center-of-gravity trajectory, and a joint driving section to rotate a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle.

Abstract: There is provided a legged robot that performs motion by changing a joint angle, which includes a section of generating a center-of-gravity trajectory of the legged robot based on a trinomial equation obtained by discretizing a ZMP equation and a target ZMP, a section of calculating time-varying data of a target value of the joint angle based on the generated center-of-gravity trajectory, and a section of rotating a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle, wherein the ZMP equation involves an angular momentum according to a center-of-gravity velocity.

Abstract: A sucking-conveying device capable of sequentially and efficiently taking out and conveying a workpiece one-by-one, even when a taking-out means attached to the robot is not correctly positioned relative to a workpiece to be taken out. The sucking-conveying device includes a robot and a vision sensor capable of detecting a plurality of workpieces randomly located in a container. A suction nozzle, configured to suck and take out the workpieces one-by-one, is mounted on the robot. By attaching the nozzle to a robot arm, the position and orientation of the nozzle may be changed. The suction nozzle is fluidly connected to a suction unit via a blow member. The suction unit sucks air through the nozzle, and generates suction force at the nozzle for sucking a target workpiece to be taken out toward the nozzle, whereby the nozzle can suck and hold the target workpiece.

Abstract: A legged robot that runs while repeating a jump cycle including a ground-contact phase from a landing to a takeoff and an aerial phase from a takeoff to a landing is provided. The legged robot adjusts the landing timing after a jump in accordance with a planned timing, thereby attaining a smooth landing. A measuring unit of the legged robot measures an actual aerial phase period in a k-th jump cycle. A subtractor calculates a time difference between a target aerial phase period and the actual aerial phase period in the k-th jump cycle. A target velocity determining unit calculates a target vertical velocity of a center of gravity on a takeoff timing in a (k+1)-th jump cycle so as to eliminate the time difference. Motors in respective joints are controlled so as to realize the calculated target vertical velocity in the (k+1)-th jump cycle.