Machine control device, machine system, machine control method, and recording medium storing machine control program

A method for controlling a machine based on brain signals of a user, comprising:

• (i) performing first supervised learning with first training sets, each of the first training sets being a pair of a body movement the user performs or images and information of the brain signals corresponding thereto, the first supervised learning creating a first estimation model for use in estimating, from the information of the brain signals, which one of the body movements the user performs or images, the body movements going toward the first to nth body postures where n is an integer not less than 2;
• (ii) calculating correct rates by performing plural times of estimation respectively from plural sets of the information of the body signals by using the first estimation model, the correct rates indicating probabilities that the respective results of the estimation are correct;
• (iii) performing second supervised learning with second training sets, each of the second training sets being a pair of the correct rate and the information of the brain signals corresponding thereto, the second learning creating a second estimation model for use in estimating a correct rate;
• (iv) estimating a correct rate from the information of the brain signals by using the second estimation model;
• (v) judging whether the correct rate estimated by the step (iv) exceeds a threshold or not;
• (vi) estimating by using the first estimation model, from the information of the brain signals, which one of the body movements the user performs or images, only if it is judged by the step (v) that the correct rate exceeds the threshold;
• and
• (vii) controlling the machine according to a result of the estimation performed by the step (vi), so as to change a posture of the machine between first to nth postures through at least one intermediate posture therebetween, thereby the step of change from one of the first to nth posture to another of the first to nth postures including a plurality of substeps of change, the first to the nth postures being respectively associated with the first to nth body postures, wherein:
• if the step (vi) performs the estimation and the posture of the machine is not currently identical with the posture associated with the body posture toward which the body movement estimated by the step (vi) goes, the step (vii) changing the posture of the machine by performing a part of the substeps of change toward the posture associated with the body posture toward which the body movement estimated by the step (vi) goes.