JP7442363B2 - Cloth-type sensors, clothes-type sensors, and robots equipped with clothes-type sensors - Google Patents

Description

The present invention relates to a cloth-type sensor, a clothes-type sensor, and a robot equipped with a clothes-type sensor, and particularly relates to a cloth-type sensor, a clothes-type sensor, and a robot equipped with a clothes-type sensor, each having a flexible detection section.

An example of this type of conventional robot is disclosed in Patent Document 1. The robot disclosed in Patent Document 1 is provided with a touch sensor on the surface for detecting a user's contact with the body surface. More specifically, a second layer touch sensor is installed along the curved surface of the robot's resin main body frame, and this second layer touch sensor is sandwiched between the main body frame and an outer skin made of urethane rubber. It will be done. A cloth skin is attached to the surface of the skin, and a first layer touch sensor is installed between the skin and the skin along the curved shape of the skin. Furthermore, it has been disclosed that a touch sensor is combined with a pressure sensor or the like to detect various types of contact.

JP2019-72495

In the robot disclosed in Patent Document 1, a film-like second layer touch sensor is attached to a hard body frame inside the robot, and a soft outer skin is attached thereon. For this reason, it is difficult to attach touch sensors and pressure sensors to the internal frame in robots with more complex configurations, such as android robots that closely resemble humans. Furthermore, in the robot disclosed in Patent Document 1, when the touch sensor and the pressure sensor are damaged (or malfunction), it is necessary to remove the outer skin and/or the outer skin for repair, which takes time and effort. Furthermore, since a film-like touch sensor and a pressure sensor are used, the robot must have a rigid body frame, and cannot be used for a robot having a body without a frame, such as a stuffed animal.

Therefore, the main object of the present invention is to provide a novel cloth-type sensor, a clothes-type sensor, and a robot equipped with a clothes-type sensor.

Another object of the present invention is to provide a cloth-type sensor, a clothes-type sensor, and a robot equipped with a clothes-type sensor that can function as a pressure sensor.

The first invention is to knit a first cloth with an insulating yarn and a second cloth with a conductive yarn , while knitting an insulating yarn between the first cloth and the second cloth . A first conductive cloth in which the first cloth and the second cloth are connected , and a first cloth side of the first conductive cloth, which is formed by knitting a yarn obtained by twisting conductive yarn and insulating yarn. and a microcontroller electrically connected to the second cloth. It is a cloth-type sensor.

When pressure is applied to the cloth-type sensor from the second conductive cloth side, the fluffy part of the second conductive cloth comes into contact with the second cloth of the first conductive cloth, and the second cloth and the second conductive cloth A conductor is constructed, and the resistance value of this conductor is detected. Then, a pressure value corresponding to the resistance value is obtained from, for example, table data.

A second invention is dependent on the first invention, and the first conductive cloth and the second conductive cloth have stretchability.

A third invention includes a microcontroller, a first cloth being knitted with an insulating thread , and a second cloth being knitted with a conductive thread , and an insulating thread being used between the first cloth and the second cloth. By knitting, a first conductive cloth in which the first cloth and the second cloth are connected , and a second conductive cloth formed by knitting a yarn obtained by twisting conductive yarn and insulating yarn. In the second conductive cloth, some of the conductive threads protrude from the insulating threads and become fluffy, and the plurality of first conductive cloths are connected in a planar manner using a third insulating cloth. They are combined and fixed to clothing, and a plurality of second conductive cloths are individually overlapped and sewn on the first cloth side of each of the plurality of first conductive cloths, thereby forming each of the plurality of first conductive cloths. This is a clothing-type sensor in which each of the second cloths is individually connected to a microcontroller using an electric wire sewn to a third cloth, and each of the plurality of second conductive cloths is grounded.

A fourth invention is dependent on the third invention, and the first conductive cloth and the second conductive cloth have stretchability.

A fifth invention is a robot that is dependent on the third or fourth invention and is equipped with a clothing-shaped sensor.

According to this invention, pressure from the second conductive cloth side can be detected based on the resistance value of the conductor made up of the first conductive cloth and the second conductive cloth. can. In other words, it can function as a pressure sensor.

The above objects, other objects, features and advantages of the present invention will become more apparent from the following detailed description of embodiments with reference to the drawings.

FIG. 1 is a diagram showing a cloth-type sensor according to an embodiment of the present invention. FIG. 2 is a diagram for explaining the outline of the configuration of the detection section of the cloth-type sensor shown in FIG. 3(A) is a partially enlarged view of the cloth on the non-conductive surface side of the first conductive cloth constituting the detection part of the cloth-type sensor shown in FIGS. 1 and 2, and FIG. 3 is a partially enlarged view of the cloth on the conductive surface side of the first conductive cloth constituting the detection section of the cloth-type sensor shown in FIG. 2. FIG. FIG. 4 is a partially enlarged view of the first conductive cloth that constitutes the detection section of the cloth-type sensor shown in FIGS. 1 and 2. FIG. FIG. 5 is a partially enlarged view of the second conductive cloth that constitutes the detection section of the cloth-type sensor shown in FIGS. 1 and 2. FIG. FIG. 6(A) is a diagram showing a state in which a relatively small pressure is applied to the detection part from the second conductive cloth side, and FIG. 6(B) is a diagram showing a state in which a relatively large pressure is detected from the second conductive cloth side. It is a figure which shows the state added to the part. FIG. 7 is a circuit diagram showing an example of a measurement circuit built into the controller shown in FIG. 1. FIG. 8(A) is a diagram showing the arrangement of a plurality of detection units on the front side of the clothing type sensor, and FIG. 8(B) is a diagram showing the arrangement of the plurality of detection units on the back side of the clothing type sensor. FIG. 9 is a partially enlarged view of a cloth with wires for bonding a plurality of first conductive cloths among a plurality of detection parts constituting the clothing-type sensor shown in FIGS. 8(A) and 8(B). FIG. 10 is a diagram illustrating a method for bonding a plurality of first conductive cloths among a plurality of detection units constituting the clothing-type sensor shown in FIGS. 8(A) and 8(B). FIG. 11(A) is a diagram for explaining an actuator that moves the eyelids and eyeballs of an android robot equipped with the clothing-type sensor shown in FIGS. 8(A) and (B), and FIG. FIG. 11C is a diagram for explaining actuators that move the forehead, between the eyebrows, and the corners of the mouth, and FIG. 11C is a diagram for explaining the actuators that move the lips of the android robot. FIG. 12 is a diagram for explaining actuators that move the head, shoulders, and hips of the android robot. FIG. 13 is a block diagram showing the electrical configuration of the android robot.

Referring to FIG. 1, cloth-type sensor 10 of this embodiment includes a detection section 12 and a controller 14, and detection section 12 and controller 14 are electrically connected.

FIG. 2 is a diagram schematically showing the structure of the detection section 12 shown in FIG. 1. As shown in FIG. 2, the detection unit 12 has a layered structure and includes a first conductive cloth 20 and a second conductive cloth 22. Furthermore, the first conductive cloth 20 includes a cloth 20a on the non-conductive surface side (corresponding to the "first cloth") and a cloth 20b on the conductive surface side (corresponding to the "second cloth") using insulating threads. composed of connections. Therefore, an intermediate layer 20c of insulating thread for binding is provided between the cloth 20a and the cloth 20b. The second conductive cloth 22 is provided overlapping the first conductive cloth 20 on the non-conductive surface side of the cloth 20a.

However, the second conductive cloth 22 does not need to be always in contact with the cloth 20a. Further, although not shown, the second conductive cloth 22 is sewn to the first conductive cloth 20 so that its surfaces overlap with the first conductive cloth 20. For example, the second conductive cloth 22 may be sewn to the first conductive cloth 20 along the four sides with a seam allowance of several millimeters. Alternatively, each of the four corners of the second conductive cloth 22 may be sewn to each of the four corners of the first conductive cloth 20.

This is just an example, and when the first conductive cloth 20 is sewn to another cloth, the second conductive cloth 22 is overlapped with the first conductive cloth 20 and sewn to the other cloth. You can also attach it. Further, the second conductive cloth 22 may be fixed by other methods as long as it can be fixed at a position where the surfaces thereof overlap with the first conductive cloth 20.

Returning to FIG. 2, the controller 14 shown in FIG. 1 is connected to the cloth 20b on the conductive surface side of the detection unit 12 by an electric wire. Furthermore, the second conductive cloth 22 of the detection unit 12 is grounded.

FIG. 3(A) is a partially enlarged view of the cloth 20a on the non-conductive surface side, and FIG. 3(B) is a partially enlarged view of the cloth 20b on the conductive surface side. Further, FIG. 4 is a partially enlarged view of the first conductive cloth 20 that constitutes the detection section 12 of the cloth-type sensor 10. The non-conductive surface side cloth 20a, the conductive surface side cloth 20b, and the first conductive cloth 20 of this example will be specifically explained with reference to FIGS. 3(A), 3(B), and FIG. 4. . However, in FIGS. 3(A), 3(B), and 4, in order to clearly show the cloth 20a on the non-conductive surface side and the cloth 20b on the conductive surface side, the cloth 20b on the conductive surface side is indicated by a white line. It is shown. Further, in FIG. 4, the insulating thread, ie, the intermediate layer 20c, is shown by dotted lines.

The cloth 20a on the non-conductive side is made by circularly knitting insulating yarn. In this example, the insulating thread is a polyester thread. The same applies hereafter. The cloth 20b on the conductive surface side is made by circular knitting conductive yarn. In this example, the conductive thread is a nylon silver plated thread. The same applies hereafter.

As shown in FIG. 4, the first conductive cloth 20 is made by knitting. In other words, the first conductive cloth 20 is created by knitting a cloth 20a on the non-conductive surface side and a cloth 20b on the conductive surface side, and knitting between them with an insulating thread such as polyester yarn. The cloth 20a on the conductive surface side and the cloth 20b on the conductive surface side are connected. Therefore, as described above, the first conductive cloth 20 has a three-layer structure including the cloth 20a on the non-conductive side, the cloth 20b on the conductive side, and the intermediate layer 20c therebetween. Although it is difficult to see in FIG. 4, in this embodiment, the size of the stitches in the first conductive cloth 20 is made smaller in the order of the cloth 20a on the non-conductive side, the intermediate layer 20c, and the cloth 20b on the conductive side.

The reason why the intermediate layer 20c is provided in this manner is to provide different characteristics between the front and back sides of the first conductive cloth 20. Further, the intermediate layer 20c serves as a filter and has the function of preventing the entire structure of the first conductive cloth 20 from being broken even if strong pressure is applied to the first conductive cloth 20. Further, by providing the intermediate layer 20c, a spatial distance can be provided between the cloth 20a on the non-conductive surface side and the cloth 20b on the conductive surface side. Therefore, as will be described later, when the second conductive cloth 22 is not pressed against the first conductive cloth 20 side, the second conductive cloth 22 is prevented from contacting the cloth 20b on the conductive surface side (i.e., can be in an insulated state).

In addition, the size of the stitches is changed when the second conductive cloth 22 is pressed against the first conductive cloth 20, as will be described later. This is because it is necessary to pass through the stitches of the cloth 20a on the non-conductive side and the intermediate layer 20c, and to contact the cloth 20b on the conductive side.

In this example, in order to give stretchability to the first conductive cloth 20, the cloth 20a on the non-conductive side and the cloth 20b on the conductive side are made by circular knitting, but the present invention is not limited to this. There is no need to The cloth 20a on the non-conductive surface side and the cloth 20b on the conductive surface side may be made by weft (horizontal) knitting or warp (warp) knitting. Even in such a case, the first conductive cloth 20 can be made stretchable.

FIG. 5 is a partially enlarged view of the second conductive cloth 22 that constitutes the detection section 12 of the cloth-type sensor 10. As shown in FIG. The second conductive cloth 22 is made by tricot knitting using a yarn 22a made by twisting an insulating yarn 220 such as a polyurethane yarn and a conductive yarn 222.

In this embodiment, the second conductive cloth 22 is made by tricot knitting using the yarn 22a, but this is just an example and does not need to be limited. The second conductive cloth 22 may be made using other knitting methods as long as it is knitted.

In addition, in FIG. 5, in order to clearly show the insulating thread 220 and the conductive thread 222, the insulating thread 220 is shown as a white line, and a line is placed on the insulating thread 220 (on the front side). Although the conductive threads 222 are shown overlapping, they are actually twisted.

Further, as shown in FIG. 5, the conductive thread 222 is softer than the insulating thread 220 and has inferior elasticity, so a portion thereof protrudes from the thread 220. In other words, the second conductive cloth 22 is a fluffy cloth.

As mentioned above, the conductive thread 222 is, for example, a nylon silver-plated thread, but it has poorer stretchability than the insulating thread (polyurethane thread in this example) 220, and after twisting, the insulating thread 222 is a silver-plated nylon thread. Other types of metal-plated threads can be used as long as they are soft enough to bend under the force applied (or applied) by contraction of thread 220. As another type of metal plated thread, copper plated thread can be used. In other words, the conductive thread 222 is a metal-plated thread that is thinner and softer than the insulating thread 220.

In other embodiments, instead of the metal-plated thread, a thread made of organic conductive fibers or a thread made of conductive fibers processed from carbon fibers can be used as the conductive thread 222. Furthermore, in other embodiments, an ultra-thin (for example, several μm in diameter) electric wire made of copper, silver, nickel, or stainless steel (SUS) may be used as the conductive thread 222 instead of the metal-plated thread. can.

In addition, as the conductive fiber made of organic matter, the product name "Thunderon (registered trademark)" manufactured by Nippon Kasuke Dyeing Co., Ltd. or the product name "Beltron (registered trademark)" manufactured by KB Seiren Co., Ltd. can be used. . Further, as the conductive fiber processed from carbon fiber, the product name "Kura Carbo (registered trademark)" manufactured by Kuraray Co., Ltd. can be used.

Therefore, as shown in FIGS. 6(A) and 6(B), when pressure is applied to the cloth-type sensor 10 from the second conductive cloth 22 side, the second conductive cloth 22 The fluffy portion of the cloth 22, that is, the conductive thread 222 passes between the stitches of the cloth 20a on the non-conductive side of the first conductive cloth 20 and the interlayer 20c, and comes into contact with the cloth 20b on the conductive side. In other words, the conductive surface side cloth 20b and the second conductive cloth 22 are electrically connected.

However, FIG. 6(A) shows the case where the cloth-type sensor 10 is pressed from the second conductive cloth 22 side with the index finger, and FIG. 6(B) shows the cloth-type sensor 10 pressed against the second conductive cloth 22 with a clenched fist. The figure shows the case when pressed from the side.

In the case shown in FIG. 6(A), the pressure applied to the cloth-type sensor 10 is smaller than in the case shown in FIG. 6(B). Conversely, in the case shown in FIG. 6(B), the pressure applied to the cloth-type sensor 10 is greater than in the case shown in FIG. 6(A). That is, in the case shown in FIG. 6(B), the point where the second conductive cloth 22 contacts the cloth 20b on the conductive surface side of the first conductive cloth 20 is different from the case shown in FIG. 6(A). The number of contacts is large, that is, the contact area is large. Therefore, the resistance value of the conductor formed by the conductive surface side cloth 20b and the second conductive cloth 22 is smaller in the case shown in FIG. 6(B) than in the case shown in FIG. 6(A).

Returning to FIG. 1, the controller 14 is a microcontroller (sensor IC), and in this embodiment, as described above, the conductive surface side cloth 20b and the second conductive cloth 22 are electrically connected to each other. The resistance value of the conductor constituted by the side cloth 20b and the second conductive cloth 22 is measured (or detected), and the pressure value is calculated based on the measured resistance value. However, the pressure value corresponding to the resistance value is measured in advance and stored in the memory within the controller 14 as table data.

The controller 14 includes a measurement circuit 30 for measuring the resistance value of the conductor constituted by the conductive surface side cloth 20b and the second conductive cloth 22. FIG. 7 shows an example of a circuit diagram of the measurement circuit 30. As shown in FIG. 7, the measurement circuit 30 includes a reference resistor R _REF , and a reference voltage V _REF is applied to one end of the resistor R _REF . However, the reference voltage V _REF is applied to the measurement circuit 30 using a DC power supply provided to the controller 14 .

One end of a resistor R _X is connected to the other end of the resistor R _REF , and the other end of the resistor R _X is grounded. The resistance R _X corresponds to the resistance of the conductor constituted by the cloth 20b on the conductive surface side and the second conductive cloth 22. The resistance value of the resistance R _X is infinite when the second conductive cloth 22 is not in contact with the cloth 20b on the conductive surface side, and when the second conductive cloth 22 is not in contact with the cloth 20b on the conductive surface side. As the area becomes larger, it becomes smaller.

Further, a connection point P between the resistor R _REF and the resistor R _X is connected to the input end of the buffer (or voltage follower) circuit 32 . The output end of the buffer circuit 32 is connected to an analog-to-digital converter (hereinafter referred to as "ADC") 34. The output end of the ADC 34 is connected to the calculation section 36.

In the measurement circuit 30, _the voltage V _X at the connection point P is detected, and the detected voltage V The signal is input to a calculation unit 36 such as the following. The calculation unit 36 calculates the resistance value r _x of the resistor R _x according to Equation 1. The calculated resistance value is input (or transmitted) to the computer of the device to which the cloth-type sensor 10 is applied. However, r _REF is the resistance value of the resistor R _REF .

[Number 1]
r _X = r _REF * V _X / (V _REF - V _x )
Note that the reference resistance R _REF is the dynamic range of the measurement circuit 30.

Further, in the controller 14, the calculation unit 36 obtains the pressure value corresponding to the resistance value _rX by referring to the table data. Therefore, the cloth-type sensor 10 can function as a pressure sensor, as described above. However, as the second conductive cloth 22 is pressed toward the first conductive cloth 20, the resistance value _rX of the resistor _RX changes from infinity to a non-infinite value. It can also function as a contact sensor.

Although the cloth-type sensor 10 of this embodiment can be used alone, a clothes-type sensor 50 can be made by using a plurality of cloth-type sensors.

FIG. 8(A) is an example of a schematic diagram of the clothing type sensor 50 viewed from the front side, and FIG. 8(B) is an example of a schematic diagram of the clothing type sensor 50 viewed from the back side. In FIGS. 8(A) and 8(B), the plurality of detection units 12 are shown on the outside (front side) of the clothing (here, a long-sleeved jacket), but in reality, it is necessary to avoid spoiling the design. It is placed on the inside (back side) of clothing. Further, the detection unit 12 is arranged so as to fit inside the clothes. However, the plurality of detection units 12 may be provided outside the clothing. Further, the plurality of detection units 12 may be provided between the outer and inner fabrics of the clothes.

As shown in FIGS. 8(A) and 8(B), in the embodiment, nine clothing type sensors 50 (or channels) are provided in each arm portion of a long-sleeved jacket, and nine clothing type sensors 50 are provided in the torso of the jacket. A total of 80 cloth-type sensors 10 are provided, 33 on the front side and 29 on the back side of the body of the jacket. However, the controller 14 can commonly use one microcontroller. For example, a switch is provided between the measurement circuit 30 (or controller 14) and each detection section 12, and by switching the switch, the 80 detection sections 12 are sequentially connected to the cloth 20b on the conductive surface side. However, the controller 14 may be composed of a plurality of microcontrollers, and each of the detection units 12, which is less than 80, may be connected to each microcontroller via a switch.

In this embodiment, the detection sections 12 of the same size are used in order to reduce the processing load, but the size and/or shape of the detection sections 12 may be changed as appropriate.

Nine detection units 12 are connected in a line in each of the left arm part and the right arm part. On the front side of the torso, 27 detection units 12 are connected to form a rectangular surface in the area corresponding to the chest and abdomen, and 6 detection units 12 in the area corresponding to the collarbone and shoulders are connected to form a rectangular surface. connected to the top of the surface. On the back side of the torso, in a portion corresponding to the back, 27 detection units 12 are connected to form a rectangular surface, and two detection units 12 are connected side by side on the upper part of the rectangular surface. Ru.

Although omitted in FIGS. 8(A) and 8(B), a stretchable strip-shaped cloth 60 (corresponding to the "third cloth") is provided between adjacent detection units 12. Adjacent detection units 12 are connected (or combined) in a plane (or side by side) via the cloth 60 to create a group of cloth-like detection units 12. However, each of the arms, the front side of the torso, and the 12 groups of cloth-like detection parts on the back side of the torso are fixed by individually pasting or sewing them on the inside of the jacket. Further, the plurality of detection units 12 are fixed to clothing such that the second conductive cloth 22 faces outside and the non-conductive cloth 20b faces inside. Furthermore, the strip-shaped cloth 60 is an insulating cloth.

As shown in FIG. 1, the detection unit 12 is connected to the controller 14 by an electric wire. Therefore, electric wires 62 are sewn to some of the above-mentioned belt-shaped cloths 60.

FIG. 9 is a diagram showing an example of a belt-shaped cloth 60 having electric wires 62 sewn thereon. As shown in FIG. 9, four electric wires 62 each having a wavy line shape are sewn onto the cloth 60. However, in FIG. 9, the black dotted line is the thread 64 sewing the electric wire 62 to the cloth 60.

In addition, as shown in FIG. 9, the four electric wires 62 are divided into two groups of two wires each, and in each group, the two electric wires 62 are arranged one on top of the other in the shape of waves of opposite phase, and are arranged in a band-like cloth. When 60 is viewed vertically, it is lined up in two rows. The four electric wires 62 are each covered with an insulating resin such as polyvinyl chloride and are electrically independent.

FIG. 10 shows an example of a state in which the first conductive cloths 20 are connected by a strip-shaped cloth 60 on which electric wires 62 are sewn. In FIG. 10, the first conductive cloth 20 is shaded in order to distinguish between the first conductive cloth 20 and the strip-shaped cloth 60. Further, in order to distinguish each electric wire 62, different types of wires are shown. In addition, in FIG. 10, the thread 64 sewing the electric wire 62 is omitted. Further, although not shown in the drawings, similarly to the plurality of first conductive cloths 20, each second conductive cloth 22 is also connected by a belt-shaped cloth 60 having electric wires 62 sewn thereon. Therefore, the following description regarding FIG. 10 also applies to the case where each second conductive cloth 22 is also connected by the strip-shaped cloth 60 having the electric wire 62 sewn thereon.

As shown in FIG. 10, each of the four electric wires 62 sewn onto a strip of cloth 60 is cut to an appropriate length, and one end of each wire is attached to a different first conductive cloth 20 (conductive wire). It is connected to the face side cloth 20b). In the example shown in FIG. 10, electric wires 62 sewn to the strip-shaped cloth 60 are individually connected to a plurality of (four in FIG. 10) first conductive cloths 20 lined up on the left side of the strip-shaped cloth 60. be. Among the four electric wires 62, two electric wires 62 in the left column are connected to the second and third first conductive cloths 20 from the top, respectively, and among the two electric wires 62 in the right column, One of the two electric wires 62 from the top is connected to the first conductive cloth 20, and although not shown, the other one of the two electric wires 62 in the right row is connected to the first conductive cloth 20 further above. It is connected to cloth 20.

Although not shown, the other end of each electric wire 62 is connected to the controller 14 via a switch. However, the input terminal of the switch connected to each electric wire 62 (or first conductive cloth 20) is different.

Further, although not shown, the other end of each electric wire 62 connected to the plurality of second conductive cloths 22 is grounded.

Further, although not shown, in the clothing type sensor 50, an electric wire 62 is similarly sewn to each of the plurality of first conductive cloths 20 connected by a strip-shaped cloth 60 on which an electric wire 62 is sewn. Each first conductive cloth 20 and each second conductive cloth 22 are fixed by overlapping each of the plurality of second conductive cloths 22 connected by a strip-shaped cloth 60.

However, since each first conductive cloth 20 and each second conductive cloth 22 only need to overlap, there is no need to sew the first conductive cloth 20 to the second conductive cloth 22, and the band-shaped cloth 60 is sewn together. You can do it like this.

In another embodiment, two pieces of clothing are used, and a plurality of first conductive cloths 20 are arranged and fixed on the outside of the inner clothing, and a plurality of second conductive cloths 20 are arranged and fixed on the outside of the outer clothing. The cloths may be arranged and fixed, and the two pieces of clothing may be overlapped and sewn together so that each of the plurality of first conductive cloths 20 and each of the plurality of second conductive cloths 22 overlap.

Therefore, in the clothing type sensor 50, the resistance value _rX of the conductor constituted by the cloth 20b on the conductive surface side of each first conductive cloth 20 and each second conductive cloth 22 is individually detected.

Note that the method of connecting the electric wires 62 shown in FIG. 10 is an example, and does not need to be limited. In this embodiment, as described above, since the nine first conductive cloths 20 are connected in a vertically aligned manner, the electric wires 62 sewn to the strip-shaped cloths 60 extending along the rows are connected. I just made it.

Further, although FIG. 10 shows a case where four electric wires 62 are connected to four first conductive cloths 20 for simplicity, the electric wires 62 may be connected to four first conductive cloths 20 depending on the number of first conductive cloths 20 In some cases, a plurality of strip-shaped cloths 60 on which are sewn are arranged between adjacent first conductive cloths 20.

Such a clothing-type sensor 50 can be attached to an android robot (hereinafter simply referred to as "robot") 100, which is an example of an agent existing in physical space (or real space). The robot 100 is a humanoid robot that has a figure (external appearance, etc.) that closely resembles a human (see FIGS. 11(A), (B), (C), and FIG. 12), and has movements (waving, behavior, etc.) that closely resemble humans. , utterance).

As an example of this robot 100, Erica (registered trademark), which is developed by the applicant, can be used. The robot 100 will be briefly described below. However, instead of the conventional tactile sensor, the clothing-type sensor 50 of the present application is provided.

11(A), FIG. 11(B), FIG. 11(C), and FIG. 12 show an example of the appearance and configuration of the robot 100. Specifically, FIG. 11(A) is a diagram for explaining actuators A1, A2, A3, A4, and A5 that move the eyelids (128a, 128b) and eyeballs of the robot 100, and FIG. 11(C) is a diagram for explaining actuators A10, A11, A13 that move the lips of the robot 100. FIG. It is a diagram. Further, FIG. 12 is a diagram for explaining actuators A14, A15, A16, A17, A18, and A19 that move the head 126, shoulders 132, and hips 134 of the robot 100. The appearance and configuration of the robot 100 will be briefly described below using FIGS. 11(A) to 11(C) and FIG. 12.

Note that the robot 100 shown in FIGS. 11(A) to 11(C) and FIG. 12 is an example, and any android robot having other appearance and configuration can be used. Further, the robot 100 is not limited to an android robot, and other robots having a human-like appearance can also be used. As an example, a communication robot can be used that can communicate with a human or other robot with whom it communicates through body movements and/or voice. Specifically, Robobee (registered trademark), which is an example of a communication robot developed by the applicant, can be used. Unlike humans, this RoboBobby is movable on wheels, but it has a head, body, and both arms, and has an appearance similar to humans. In this RoboBobby, by attaching the clothes-shaped sensor 50 of the present application, a contact (tactile) sensor can be omitted.

Robot 100 includes a body 124 and a head 126 mounted on body 124 . Upper and lower eyelids 128a and 128b are formed on the head 126 above and below the eyes (eyeballs), and the eyes are opened and closed by controlling the vertical movement of the upper and lower eyelids 128a and 128b. Operation becomes possible. The head 126 is further formed with lips, and both ends thereof become the corners of the mouth 130. The corner of the mouth 130 is also movable up and down.

The upper end of the torso section 124 (below the head) is the shoulder 132, and the middle of the torso section 124 is the waist 134. The shoulders 132 can move up and down, the hips 134 can twist (rotate) left and right, and can bend forward and backward.

In this embodiment, the actuators described below for moving the above-mentioned parts of the robot 100 are all stepping motors driven by pulsed electric power, and the amount of rotation of the stepping motors is determined by the number of pulses. The number of pulses is given as a command value. In addition, in a normal state, each target part is given an initial value to the actuator, and when displacing it, a command value of the number of pulses corresponding to the direction and magnitude is given to the corresponding actuator. In this embodiment, each actuator is operated with a command value of "0-255", and any value of "0-255" is given as an initial value.

The actuator A1 is an actuator for controlling the vertical movement of the upper eyelid 128a. Actuators A2, A3, and A4 are actuators for moving the eyeball left and right and up and down. Actuator A5 is an actuator that controls the vertical movement of the lower eyelid 128b. Therefore, the eyes are opened and closed by actuators A1 and A5.

Actuator A6 is an actuator for moving the forehead, and actuator A7 is an actuator for moving the glabella.

Actuator A8 is an actuator for raising the corner of the mouth 130. Actuator A9 is an actuator for moving the tongue up and down. The actuator A10 is an actuator that spreads the lips to the left and right, and the actuator A11 is an actuator that pushes the lips forward.

The actuator A13 is an actuator for protruding or pulling the jaw. The mouth is opened and closed by this actuator A13.

Actuator A14 is an actuator for tilting the head 126 left and right, actuator A15 is an actuator for raising and lowering the head 126, and actuator A16 is an actuator for rotating the head left and right. .

The actuator A17 is an actuator for moving the shoulder 132 up and down. Actuator A18 is an actuator for bending the waist 134 forward or tilting backward, and actuator A19 is an actuator for rotating (twisting) the waist 134 left and right.

As shown in FIG. 13, the robot 100 includes a processor (in this embodiment, a CPU) 150 that controls the entire robot 100. CPU 150 is connected to communication module 156 through bus 152 and, thus, CPU 150 is communicatively connected to a network via communication module 156, either by wire or wirelessly.

CPU 150 can also access RAM 154 through bus 152, and according to the programs and data stored in RAM 154, provides command values to actuator control circuit 158 through bus 152 to control the operation of each actuator A1-An.

RAM 154 is used as a buffer area and work area for CPU 150. However, instead of the RAM 154, an HDD can also be used. The actuator control circuit 158 drives each actuator A1-An by generating a number of pulse powers according to the command value given from the CPU 150 and applying them to the corresponding stepping motors.

However, in addition to using such a stepping motor as the actuator, any actuator such as an actuator using a servo motor, a fluid actuator, etc. can be used.

Sensor I/F (interface) 162 is connected to CPU 150 via bus 152 and receives outputs from clothing-type sensor 50 and eye camera 166, respectively.

Output (detection data) from the clothing type sensor 50 (controller 14) is given to the CPU 150 via the sensor I/F 160. As described above, the clothing-type sensor 50 has each detecting section 12 and controller 14 functioning as a pressure sensor and a contact sensor. It is possible to know the location (region) where the person was touched or hit, and/or the strength with which the person was touched or hit. In other words, the clothing-shaped sensor 50 forms part of the tactile sense of the robot 100.

Note that when the clothing type sensor 50 is attached to the robot 100, the table data is stored in the memory (RAM 154) of the robot 100, and the clothing type sensor 50 reads the resistance value _rX and the resistance value _rX . The identification number (placement position) of the detected detection unit 12 may be output to the robot 100, and the pressure value may be acquired on the robot 100 side.

Eye camera 166 is an image sensor and forms part of the robot's 100 vision. That is, the eye camera 166 is used to detect a video or image seen from the eyes of the robot 100. In this embodiment, data (image data) corresponding to an image captured by the eye camera 66 (moving image or still image) is provided to the CPU 150 via the sensor I/F 160. CPU 150 stores the image data in RAM 154 or transmits it to an external computer via communication module 156 and the network.

Further, the speaker 168 and the microphone 170 are connected to the input/output I/F 162. The speaker 168 outputs audio when the robot 100 speaks. The microphone 170 is a sound sensor and constitutes a part of the hearing system of the robot 100. This microphone 170 has directionality and is mainly used to detect the voice of a human being who is a communication target who interacts (communicates) with the robot 100.

Note that although the robot 100 shown in FIGS. 11 to 13 has a configuration in which the elbow joint and fingers do not move, actuators may also be provided in the elbow joint and fingers to move them.

In this embodiment, the clothes-shaped sensor 50 is attached to the robot 100, but it may also be attached (worn) by a human being. Therefore, it is possible to detect that another person is touching or hitting the person wearing the clothing-type sensor 50. It is also possible to detect the strength with which another person touches or hits the person wearing the clothing-type sensor 50.

According to this embodiment, the grounded second conductive cloth is overlapped with the cloth on the non-conductive side of the first conductive cloth in which the cloth on the conductive side and the cloth on the non-conductive side are connected, and the second conductive cloth is When the conductive cloth is pressed against the first conductive cloth, the pressure on the cloth-type sensor is detected based on the resistance value of the conductor made up of the second conductive cloth and the cloth on the conductive surface side. Therefore, it can function as a pressure sensor.

Further, according to this embodiment, since the resistance value of the conductor composed of the second conductive cloth and the cloth on the conductive surface side changes from an infinite value to a non-infinite value, contact with the cloth-type sensor occurs. , it can function as a contact sensor.

Furthermore, according to this embodiment, since the detection section is composed of the first conductive cloth and the second conductive cloth, the sensor can be manufactured easily. Furthermore, since the first conductive cloth is made of a joined jersey knit, it has excellent durability.

Furthermore, according to this embodiment, by fixing a plurality of cloth-type sensors to clothes, it is possible to create a clothes-type sensor that functions as a contact sensor and a pressure sensor.

Further, according to this embodiment, since the clothes-shaped sensor is formed of cloth, the degree of freedom in the appearance (three-dimensional surface) of the robot can be increased. It can also flexibly deform by following the movements of the robot. Furthermore, since the conductive surface side cloth and the non-conductive surface side cloth constituting the first conductive cloth are both made of circular knitting, and the second conductive cloth is made of tricot knitting, Both have high elasticity and can therefore be provided at bent parts of the robot. Furthermore, it can be applied to a stuffed toy type robot having a body without a frame by simply fixing it to the outer skin (or jacket).

In this embodiment, the clothing type sensor 50 is provided with a plurality of detection units 12 so as to cover the entire arm, the entire chest and abdomen, and the entire back, but it is not necessary to be limited to this. There isn't. Some of the detection units 12 can also be omitted.

Further, in this embodiment, the clothing type sensor 50 for a long-sleeved jacket is configured using a plurality of cloth type sensors 10 (detecting units 12), but it is also possible to configure a clothing type sensor for pants (or pants). It's okay. Further, the sensor is not limited to clothes, and it is also possible to configure a sensor in which a plurality of cloth sensors 10 are arranged in socks, a supporter, or a belly band.

Note that the specific numerical values shown in the above-mentioned embodiments are merely examples, and there is no need to limit them, and they can be changed as appropriate depending on the actual product and the environment to which the product is applied.

DESCRIPTION OF SYMBOLS 10... Cloth-type sensor 12... Detection part 14... Controller 20... First conductive cloth 20a... Cloth on non-conductive surface side 20b... Cloth on conductive surface side 20c... Intermediate layer 22... Second conductive cloth 50... Clothes-shaped sensor 60...Cloth 62...Electric wire 100...Robot 126...Head 128a...Upper eyelid 128b...Lower eyelid 130...Corner of mouth 132...Shoulder 134...Waist 150...CPU
154...RAM
156... Communication module 164... Antenna sensor 166... Eye camera 168... Speaker 170... Microphone

Claims (5)

By knitting a first cloth with an insulating thread and a second cloth with a conductive thread , the first cloth and the second cloth are knitted with an insulating yarn between the first cloth and the second cloth. a first conductive cloth to which a second cloth is connected ;
a second conductive cloth formed by knitting a twisted yarn of a conductive yarn and an insulating yarn, and overlapped on the first cloth side of the first conductive cloth;
a microcontroller electrically connected to the second cloth ;
The second conductive cloth is a cloth-type sensor in which a part of the conductive thread protrudes from the insulating thread and is fluffy . The cloth-type sensor according to claim 1, wherein the first conductive cloth and the second conductive cloth have stretchability. microcontroller and
By knitting a first cloth with an insulating thread and a second cloth with a conductive thread , the first cloth and the second cloth are knitted with an insulating yarn between the first cloth and the second cloth. a first conductive cloth to which a second cloth is connected ;
A second conductive cloth formed by knitting a thread made of twisted conductive thread and insulating thread,
In the second conductive cloth, a part of the conductive thread protrudes from the insulating thread and becomes fluffy,
A plurality of first conductive cloths are connected in a planar manner using an insulating third cloth and fixed to clothing, and a plurality of first conductive cloths are connected to each other on the first cloth side of each of the plurality of first conductive cloths. The second conductive cloths are individually overlapped and sewn together, and each of the second cloths constituting each of the plurality of first conductive cloths is connected to the microcontroller using an electric wire sewn to the third cloth. A clothing-shaped sensor in which the plurality of second conductive cloths are individually connected and each of the plurality of second conductive cloths is grounded. The clothing type sensor according to claim 3, wherein the first conductive cloth and the second conductive cloth have stretchability. A robot equipped with the clothing-shaped sensor according to claim 3 or 4.

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