Motion teaching system and motion teaching method

A motor teaching method for detecting cerebral activity of a subject and supporting motor training of the subject, using a system including an operation device configured to teach motion to the subject in accordance with a predetermined motor pattern by guiding movement of a movable part of a body of the subject, a measurement device configured to acquire a cerebral activity signal, by measuring the cerebral activity of the subject, and one or a plurality of computational devices configured to hold information indicating transition patterns of cerebral activity of the motor pattern from prior to teaching to during teaching, the method comprising:

• a step in which the one or the plurality of computational devices specify a transition pattern of the subject from the plurality of transition patterns;
• a step in which the one or the plurality of computational devices determine an evoking content to be performed with respect to the subject prior to teaching of the motor pattern, such that the cerebral activity of the subject during the teaching period of the motor pattern is classified into a motor imagery class, based on the specified transition pattern of the subject;
• a step in which the one or the plurality of computational devices instruct the subject to evoke the determined evoking content, prior to teaching of the motor pattern;
• a step in which the one or the plurality of computational devices classify the cerebral activity of the subject into one of a plurality of classes including the motor imagery class, by decoding the cerebral activity signal acquired by the measurement device;
• and
• a step in which the one or the plurality of computational devices cause the operation device to execute an operation for teaching the motor pattern, in response to the cerebral activity of the subject being classified into a class corresponding to the evoking content, as a result of decoding the cerebral activity signal acquired prior to teaching of the motor pattern,
• wherein the plurality of transition patterns of cerebral activity comprises the following four patterns:
• (A) cerebral activity during the motor teaching period is in a motor imagery state when cerebral activity prior to motor teaching is in the motor imagery state;
• whereas cerebral activity during the motor teaching period is in a rest state when cerebral activity prior to motor teaching is in the rest state;
• (B) cerebral activity during the motor teaching period is in the rest state when cerebral activity prior to motor teaching is in the motor imagery state;
• whereas cerebral activity during the motor teaching period will be in the motor imagery state when cerebral activity prior to motor teaching is in the rest state;
• (C) cerebral activity during the motor teaching period is in the motor imagery state, irrespective of the class of cerebral activity prior to motor teaching;
• and
• (D) cerebral activity during the motor teaching period is in the rest state, irrespective of the class of cerebral activity prior to motor teaching.

A computer comprising:

• one or a plurality of computational devices;
• and
• a storage device configured to hold a program that is executed by the one or the plurality of computational devices,
• the one or the plurality of computational devices executing:
• a step of acquiring, for each of a plurality of subjects, a spatial filter to be utilized in decoding cerebral activity of the subject, and a reproducibility of a predetermined motor pattern calculated based on a result of having performed motion reproduction of the motor pattern, after teaching the motor pattern using an operation device configured to teach motion in accordance with the motor pattern by guiding movement of a movable part of a body of the subject;
• a step of classifying the spatial filters of the subjects into a plurality of groups, by clustering the spatial filters of the subjects;
• a step of specifying, from the plurality of groups, an optimal group to which a spatial filter of a subject with a highest degree of mastery of the motor pattern belongs, based on the reproducibility of the motor patterns of the subjects,
• a step of holding information indicating a plurality of transition patterns of cerebral activity of the motor pattern from prior to teaching to during teaching,
• a step of specifying a transition pattern of the subject from the plurality of transition patterns,
• a step of determining an evoking content to be performed to the subject prior to teaching of the motor pattern, such that the cerebral activity of the subject during the teaching period of the motor pattern is classified into the motor imagery class, based on the specified transition pattern of the subject, and
• a step of outputting the determined evoking content, prior to teaching of the motor pattern,
• wherein the plurality of transition patterns of cerebral activity comprises the following four patterns:
• (A) cerebral activity during the motor teaching period is in a motor imagery state when cerebral activity prior to motor teaching is in the motor imagery state;
• whereas cerebral activity during the motor teaching period is in a rest state when cerebral activity prior to motor teaching is in the rest state;
• (B) cerebral activity during the motor teaching period is in the rest state when cerebral activity prior to motor teaching is in the motor imagery state;
• whereas cerebral activity during the motor teaching period will be in the motor imagery state when cerebral activity prior to motor teaching is in the rest state;
• (C) cerebral activity during the motor teaching period is in the motor imagery state, irrespective of the class of cerebral activity prior to motor teaching;
• and
• (D) cerebral activity during the motor teaching period is in the rest state, irrespective of the class of cerebral activity prior to motor teaching.

A motor teaching system for detecting cerebral activity of a subject and supporting motor training of the subject, comprising:

• an operation device configured to teach motion to the subject in accordance with a predetermined motor pattern by guiding movement of a movable part of a body of the subject;
• a measurement device configured to acquire a cerebral activity signal, by measuring the cerebral activity of the subject;
• and
• one or a plurality of computers configured to control an operation for teaching the motor pattern by the operation device and configured to classify the cerebral activity of the subject into one of a plurality of classes including a motor imagery class by decoding the cerebral activity signal,
• wherein the one or the plurality of computers execute:
• a first step of acquiring, for the subject, prior to teaching of the motor pattern by the operation device, a set of a cerebral activity signal from when the motor imagery is carried out and a cerebral activity signal from when imagery other than the motor imagery is carried out, as a training data set;
• a second step of creating a spatial filter to be utilized in decoding the cerebral activity of the subject, based on the training data set;
• a third step of determining whether the created spatial filter belongs to the optimal group specified as a group to which a spatial filter of a subject with a highest degree of mastery of the motor pattern belongs;
• a fourth step of starting teaching of the motor pattern by the operation device, in a case where the created spatial filter belongs to the optimal group,
• a fifth step of holding information indicating a plurality of transition patterns of cerebral activity of the motor pattern from prior to teaching to during teaching,
• a sixth step of specifying a transition pattern of the subject from the plurality of transition patterns,
• a seventh step of determining an evoking content to be performed to the subject prior to teaching of the motor pattern, such that the cerebral activity of the subject during the teaching period of the motor pattern is classified into the motor imagery class, based on the specified transition pattern of the subject, and
• an eighth step of outputting the determined evoking content, prior to teaching of the motor pattern,
• wherein the plurality of transition patterns of cerebral activity comprises the following four patterns:
• (A) cerebral activity during the motor teaching period is in a motor imagery state when cerebral activity prior to motor teaching is in the motor imagery state;
• whereas cerebral activity during the motor teaching period is in a rest state when cerebral activity prior to motor teaching is in the rest state;
• (B) cerebral activity during the motor teaching period is in the rest state when cerebral activity prior to motor teaching is in the motor imagery state;
• whereas cerebral activity during the motor teaching period will be in the motor imagery state when cerebral activity prior to motor teaching is in the rest state;
• (C) cerebral activity during the motor teaching period is in the motor imagery state, irrespective of the class of cerebral activity prior to motor teaching;
• and
• (D) cerebral activity during the motor teaching period is in the rest state, irrespective of the class of cerebral activity prior to motor teaching.