JP2000214016A - Man power detecting sensor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the quantity of play of a steering wheel fitted with a man power detecting sensor. SOLUTION: A middle beam 18 is supported by a handle supporting appliance 7, inside a steering wheel 6 of a truck with an auxiliary power, a pressure- sensitive sensor 22 is fixed to the middle beam 18, and the pressure-sensitive sensor 22 is brought into contact with a cushioning material at one end of a pressurizing rod 23 supported by a supporting board 19. The other end of the pressurizing rod 23 is pressed by the internal surface of the steering wheel 6, and the deflection of the steering wheel 6 developed by force by both hands of an operator of the truck is measured as a resistance change of the pressure- sensitive sensor 22.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a human-power detection sensor for detecting human power, and more particularly to a human-powered vehicle for detecting the magnitude of a force applied by a human to a steering wheel or the like and applying the power to an auxiliary power-supply vehicle. The present invention relates to a human-power detection sensor that can perform the operation.

[0002]

2. Description of the Related Art Conventionally, there has been a carrier with auxiliary power, in which an operator simply turns on and off the auxiliary power or controls the amount of auxiliary power by pulling a lever. A proposal for controlling the speed of driving wheels by extracting left and right separate sensor outputs from a handle gripped by the operator by providing two driving wheels, a driving motor, a control unit, and the like on the left and right is disclosed in, for example, Japanese Patent Application No. Hei. It is found in documents such as 32645.

One example will be described with reference to FIG. FIG.
FIG. 3A is a perspective view of a transport vehicle, and FIG. 13B is a detailed view of a pressure-sensitive sensor provided below the handle 64. In the figure, a loading platform 61 on which luggage is loaded has a left drive wheel 6
2. A right drive wheel 63, a left drive motor 70 for rotating the drive wheels, a right drive motor 71, a left drive control unit 67 for controlling the rotation of the drive motor, a right drive control unit 68, and a battery 69 as a power source are housed. are doing. A U-shaped tip of the handle 64 attached to the front of the loading platform 64 has a pin 72 penetrating through a fulcrum extending from a column supporting the loading platform 61 as shown in FIG. Supported.

Accordingly, when the operator presses the handle 64, the handle 64 swings around the pin 72 in the elliptical groove of the limiting plate 75, and when released, is urged by the spring 74 to return to the neutral point. It has been done. The displacement of the handle 64 is detected by a load cell 73 that is a pressure-sensitive sensor disposed below the limit plate 73. A similar mechanism is the handle 64
, The outputs of the left and right load cells 73 are separately taken out and added to the left or right driving section 67 or 68, whereby the left driving wheel 62 outputs the left load cell output, and the right driving wheel 63 outputs the right driving wheel 63. The rotation according to the output of the load cell is given.

[0005]

As is apparent from the above description, in the conventional example, the lower end of the handle 64 is connected to the pin 72.
And relies on the urging of a spring 74 to swing the entire handle 64 and return to a neutral point. In order to give a constant displacement to the load cell, it is necessary to give the handle 64 some play. When the operator grasps the handle 72 with both hands and applies a force to the handle 72 to push the cart, only the handle 72 swings around the fulcrum separately from the bogie main body. It is easy to have an uncomfortable feeling that only the handle with play moves. This play of the steering wheel tends to give a particularly strong sense of anxiety when it is desired to apply a force opposite to the traveling direction to the steering wheel and use it as a brake.

[0006]

SUMMARY OF THE INVENTION In order to solve such problems, the present invention provides a hollow pipe for a handle, a handle support for supporting both ends of the hollow pipe, and a handle pipe disposed inside the hollow pipe. A pressure-sensitive sensor installed in the center beam, a pressure rod having one end in contact with the pressure-sensitive sensor part of the pressure-sensitive sensor and the other end in contact with the inner wall of the hollow pipe. There is provided a human-power detection sensor, wherein a pressure bar is configured to press the pressure-sensitive sensor unit.

The human-power detection sensor according to the present invention is characterized in that the length of the pressure rod is made variable, and the pressure-sensitive sensors are mounted on the same front and back of the center beam. The output of the sensor is extracted as a difference.

Further, in the human-power detection sensor according to the present invention, two sets of the pressure-sensitive sensor parts are arranged at a position of about 8% of a distance between fulcrums of the hollow pipe from the center of the hollow pipe for a handle, and each of the pressure-sensitive sensor parts is arranged in a horizontal direction. Is extracted as a difference. In addition, the hollow pipe for a handle is divided into two parts at a central portion, and the pressure sensor section is disposed inside each of the left and right hollow pipes.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As an example of an embodiment of the present invention, first, an auxiliary powered vehicle 1 (hereinafter referred to as a bogie) equipped with a human power detection sensor will be described with reference to FIGS. FIG. 1 is a projection view of a truck, FIG. 1 (a) is a front view seen from a position where a person pushing the truck stands, FIG. 1 (b) is a side view, and FIG. It is the bottom view which looked at the bottom. FIG. 2A is a perspective view of the entire bogie, and FIG.
(B) is an auxiliary drive unit 8 attached to the bottom surface of the base 2
It is a perspective view of. Although described as an embodiment is a truck for carrying luggage mainly used in factories, etc., an auxiliary powered truck equipped with a human power detection sensor of the present invention is:
The present invention can be widely applied to a personal carrier device for nursing care such as a wheelchair.

In FIG. 1, a carriage 1 has a pair of fixed casters 4 attached to a lower front portion of a rectangular shallow dish-shaped base 2 made of, for example, a metal plate, and a pair of free casters 5 attached to a lower rear portion. Here, the direction of the axle supporting the caster wheels with respect to the base 2 is fixed in the fixed caster 4, and the direction of the axle of the universal caster 5 can be changed to any direction by an external force. A pair of columns 7 are fixed substantially vertically behind the base 2, and the handle 6 is provided horizontally via a handle support 7a at the upper end. The handle support 7a is fixed integrally with the column 7.

The auxiliary drive unit 8 has a drive unit base 12 fixed to the lower surface of the base 2 and a drive motor 9 attached to the drive unit base 12.
The drive wheel 11 is rotatably supported by a drive wheel bearing 12 a fixed to the drive unit base 12. Although the drive motor 9 and the drive wheel 11 can be directly connected to each other and driven, in this case, for example, V
The drive wheels 11 are rotated in the forward or reverse direction via a continuously variable transmission 10 having a belt and a V-pulley having a variable diameter. The drive motor 9 usually has a built-in reduction gear so that an optimum speed can be obtained in combination with the reduction ratio of the continuously variable transmission 10. When a force is applied to the handle 6 in a direction opposite to the traveling direction, the drive motor 9 rotates in the reverse direction to act as a brake.

A rectangular plate-shaped carrier 3 on which loads carried by the carriage 1 are loaded is arranged on the base 2. At least a load sensor 15 is provided between the bed 3 and the base 2, and a spring 16 and a guide 17 are placed as necessary to detect the weight of the load loaded on the bed 3. Detailed description of these will be described later. A battery 13 serving as a power source of the auxiliary drive unit is housed below the base 2.

The details of the structure will be described later.
A human-power detection sensor is incorporated in the inside of the device, and detects a component in the + e or -e direction of the force with which the operator grips and pushes the handle 6. Therefore, it is normal for the operator to hold the handle 6 with both hands from the left side in FIG. 1B and push the cart in the + e direction. As described above, the bogie has two types of pressure-sensitive sensors, a load sensor that detects the weight of the load loaded on the loading platform 3 and a human-power detection sensor that detects the force of pushing and pulling the handle 6 by the operator. Operation control can be performed as follows.

FIG. 3A shows a motor 9 for driving the carriage 1.
3B shows a block diagram of the rotation control system, and FIG. 3B shows a change in the traveling speed of the transport vehicle when a constant force is applied to the steering wheel 6. Conventionally, for the appropriate driving state (for example),
Due to the magnitude of the load, the vehicle was in a running state. When the luggage to be transported by this cart is loaded on the carrier 3,
The weight is applied as an output of the load sensor 15 to the drive information calculation unit 41 inside the control unit 14. The output of the load sensor is input as a coefficient for calculating drive information such that the running speed shown in FIG. 3B has a constant speed characteristic regardless of the load. The drive information is supplied to the continuously variable transmission 10 to control the acceleration characteristics of the bogie at the start, and to control the motor M via the controller 43 and the driver 44 (PWM control). Drive wheel 1
The speed of the bogie is detected by a speed detection sensor -42 attached to 1 and a servo system is constructed such that the speed does not exceed a certain speed by being fed back to the controller 43. In this way, a constant running characteristic can be obtained only by the force of the operator applied to the steering wheel, regardless of the magnitude of the load mounted on the bogie. That is, conventionally, the relationship between the force applied to the steering wheel 6 and the traveling speed changes depending on the large, medium, and small load weights as shown in FIG. 3B. However, the drive control of the bogie is performed by providing a weight sensor. According to the present invention, regardless of the weight, the bogie can be steered with speed characteristics as indicated by, for example. The gear ratio of the transmission 10 for setting the acceleration characteristic of the bogie at the start is often about three steps, but if the stepless transmission is used to take advantage of the stepless transmission, the speed characteristic can be strictly maintained. Alternatively, the transmission may be omitted, and the acceleration control may be performed only by the motor control. Furthermore, as in the case of forward movement (+ e direction),
When the carriage is moved backward (in the -e direction), the auxiliary power is effectively applied, and the same control can be performed when moving backward as in the control when moving forward. Further, the speed characteristics may be changed between forward and reverse.

In FIG. 1, the bogie 1 is described as having a pair of fixed casters in front and driving wheels 11 between them. However, the driving wheels are placed at the positions of the left and right fixed casters, and one wheel on one side can be driven. No trouble occurs. Depending on the purpose of use, the fixed casters may be removed, and three-point support of one drive wheel and a pair of rotating casters may be advantageous.
Similarly, even if an independent continuously variable transmission is not used to change the acceleration rate, the drive information calculation unit in the control unit 14 changes the acceleration rate electrically and as a part of the control of the drive motor 9. It is also possible to change the acceleration rate electrically.

A specific configuration example of the load sensor will be described with reference to FIG. FIG. 4A is a perspective view of the base 2 of the carriage 1, and shows the arrangement of the load sensor 15, the spring 16, and the guide 17 through the bed 3. FIG. 4B is a plan view of the base 2, also showing the carrier 3 in a see-through manner.
The own weight of the carrier 3 and the weight of the loaded luggage are supported by, for example, three springs 16. The upper end of the spring 16 is on the carrier 3,
The lower ends are fixed to the base 2 respectively. Guide 17
The upper end of the cylinder fixed to the base 2 is engaged with a column fixed to the carrier 3 to slide vertically, thereby restricting the movement of the carrier 3 in a direction other than the vertical direction.

The details of the load sensor 15 are shown in FIG. A pressure-sensitive sensor 15a is attached to the upper surface of the base 2. As an example of the sensor, a pressure-sensitive conductive polymer film on which a pressure-sensitive resistance element is printed is used, and the property that the electric resistance decreases as the force applied to the film surface increases is used. Two electrodes are provided on the film surface, and lead wires 15
c is drawn to measure the resistance value between the electrodes. Although there are various sizes depending on the application, the width B of the sensor is about 15 mm, the thickness is about 0.2 to 1 mm, the length L is about 200 mm, and the diameter of the pressure-sensitive area 15b is 9.5 m.
The m-th position is common.

The upper end of the pressure rod 15d is fixed to the carrier 3,
Pressure is applied to the pressure-sensitive area 15b via the cushioning material 15e attached to the lower end. The relationship between the electric conductivity, which is the reciprocal of the electric resistance in the pressure-sensitive area 15b, and the pressure acting on the pressure-sensitive area 15b is qualitatively as shown in FIG. 5B, and the middle of the graph has a considerable linearity. ing. If the pressure-sensitive sensor 15a having such characteristics is used, the weight of the luggage loaded on the carrier 3 can be measured with necessary accuracy. FIG.
In such a configuration, such load sensors 15 are provided at the four corners of the carrier 3 so that there is no error no matter where the cargo is loaded on the carrier 3. If less accuracy is required, two or one sensor may be placed in the center.

The details of the human power detection sensor 25 provided inside the handle 6 will be described with reference to FIG. FIG. 6 (a)
Is a cross-sectional view of the handle 6 projected from above, (b) is a front cross-sectional view, (c) is a cross-sectional view cut along the axis of the pressure rod 23,
(D) is a perspective view of the human power detection sensor 25, and shows the internal sensor part with the handle 6 removed. Arrows + e and -e are valid in common in FIGS. 6A and 6C, and indicate the same direction as + e and -e in FIG. The handle 6 is made of, for example, a metal pipe, and is supported at both ends by a handle support 7 a fixed to the upper end of the column 7.
When the operator grips the handle 6 with both hands and applies a force in the direction in which the bogie is to be advanced, the handle 6 bends, and the human power detection sensor detects the + e and -e directions of the flexural components. There is no problem even if the handle support 7a is formed integrally with the column 7. Also, the cross-sectional shape of the handle 6 may be changed to a shape that is not circular but easy to grasp.

A support plate 19 is fixed with small screws 21 to the center of a center beam 18 supported at both ends independently of the handle 6 by grooves formed in the handle support 7a. Middle beam 18
A pressure-sensitive sensor 22 is attached at a predetermined position.
As the pressure-sensitive sensor 22, for example, the same type of pressure-sensitive resistance element as the above-described load sensor 15a can be used. The pressure rod 23 has a cylindrical portion inserted into a hole in the support plate 19 and is slidably supported. A buffer 24 is attached to a flange portion having a diameter larger than the cylindrical portion. Contacting pressure area. In the example of FIG. 6, four sets of pressure-sensitive sensors 22 are used. The center beam 18 is inserted into the inside of the handle 6, and when each is supported by the handle support 7 a, the tip of the pressure rod 23 is pushed by the inner diameter of the handle 6 to apply an initial pressure to the pressure-sensitive sensor 22 via the cushioning material 24. The length of the pressure bar 23 is determined so as to provide the pressure.

FIG. 7A shows an arrangement example of the pressure-sensitive sensor 22.
(B) and (c). FIG. 7A is the same as the arrangement of FIG. 6, and can be detected with the best accuracy. FIG. 3B shows a case where the number of pressure-sensitive sensors 22 is halved, and the pressure on the handle 6 is balanced by a spring 24a on the opposite side of the sensor.
If the initial pressure of the pressure sensor is appropriate, it can be detected in forward and backward movements. It is possible to detect even if a pair of sensors is attached to the center of the handle 6, and this is sufficient if the variation in the acceleration rate and the maximum speed is allowed to some extent. As shown in FIGS. 7A and 7C, the two pressure-sensitive sensors 22 are configured in a well-known bridge, and their outputs are differentially taken out to compensate for the influence of the external environment such as temperature. It is desirable that the wiring is performed so that the resistance values RA and RB of the pressure-sensitive sensor units 20 (A) and 20 (B) on the same side of the center beam 18 are at the positions shown in FIG. The form of the pressure rod is a standard one shown in FIG. 7 (e), or the pressure rod is divided into two members 23a and 23b instead of the cushioning material 24 as shown in FIG. It is also possible to use the type (g) in which the entire length of the pressure rod is adjusted with a screw.

Assuming that the handle 6 is a simple beam supported at both ends, as shown in FIG. 8A, the handle 6 is bent by one resultant force W obtained by adding the forces Wl and Wr of the left and right hands of the operator. Become. Now, assuming that the resultant force W is constant, the distance between the fulcrums at both ends is l
When the distance of the resultant force W from the center of the beam is t · l as shown in (b), the position x at which the maximum bending occurs and the amount of bending Vmax are obtained, and as shown in the table of (c). become.
In this table, the amount of bending is expressed as V / Vo by taking a ratio with the bending when the resultant force W is at the center of the beam as 1. From this table, it can be seen that the position of the resultant force W greatly fluctuates and almost one hand pushes, that is, the position x at which the maximum deflection occurs even when t is 0.4 or more does not exceed 0.077. That is, the position x where the maximum deflection occurs as shown in the graph of (c) does not exceed about 8% from the center of the beam. From this, as shown in FIG. 6, if the two pairs of front and back pressure-sensitive sensor units 20 are arranged at a distance of about 8% from the center of the handle 6, the forces of the left and right hands are not equal due to a direction change or the like. Also,
There is an advantage that the maximum deflection amount can be detected on average.

As described above, the human power detecting sensor for detecting the deflection of the handle 6 has the following features. Primarily,
Since the initial pressure is applied to the pressure sensor 22, if the operator applies a force to the steering wheel, the operator can immediately respond and obtain an output proportional to the applied force, thus eliminating unnatural play of the steering wheel. be able to. Next, since the slight bending of the steering wheel is used, the operator hardly notices the movement of the steering wheel itself, and there is no uncomfortable feeling of the operation despite pressing the sensor.

The direction change can also be performed with the help of the drive motor 9. FIG. 9 and FIG. 10 show an embodiment of a carrier vehicle 30 (hereinafter referred to as a bogie) with a direction changing auxiliary power, which incorporates the human power detection sensor of the present invention. FIG. 9 shows this cart 3
9 (a) is a front view as viewed from a position where a person pushing the cart stands, FIG. 9 (b) is a side view, and FIG. 9 (c).
Is a bottom view of the bottom of the cart viewed from the ground side. FIG.
FIG. 9A is a perspective view of the entire bogie, and FIG. 9B is a perspective view of an auxiliary drive unit 8 a attached to the bottom surface of the base 2. The difference between the bogie 1 shown in FIGS. 1 to 3 and the bogie 30 of the present embodiment is that the pressures of the left and right hands are separately detected by the steering wheel, and the driving wheels 11 of the auxiliary driving unit 8a are used when changing the direction. Is a shaking of the head, and in particular, only this difference will be described.

As shown in FIG. 9A, the handle 35 is cut at the center, and the force exerted on the handle 35 by the operator is detected separately for the left and right sides. The configuration of the pressure-sensitive sensor installed inside the handle 35 will be described later. The auxiliary drive unit 8a is provided with a drive motor 9 and a continuously variable transmission 10 mounted on a fan-shaped rotary base 31, and the drive wheels 11 are rotatably supported by a drive wheel receiver 31a fixed to the rotary base 31. The drive wheels 11 are driven through the continuously variable transmission 10 by the rotation of the drive motor 9.
Rotating is not different from the previous example.

The rotation base 31 can swing about a support shaft 32 implanted in the base 2 in parallel with the bottom surface of the base 2. A sector gear 31b is formed by cutting a tooth shape in an arc portion of the rotation base 31. The steering motor 34 is fixed to the base 2 with the output shaft facing downward, and the pinion 33 attached to the output shaft is
is engaged with b. Therefore, if the steering motor 34 rotates, the pinion 33 attached to its output shaft
Rotates the sector gear 31b, the rotation base 31 swings around the support shaft 32, the drive wheel 11 also changes its rotation surface, and the truck 30 can change the traveling direction.

The base 2 of the carriage 30 is forward (+ e direction)
, A pair of free casters and a pair of fixed casters at the rear. Although the mounting positions of the casters are in front of and behind the bogie 1 shown in FIG. 1, the types of the casters are selected so that the direction can be easily changed. As described in the configuration of the bogie 1, the bogie 30 of this time also allows various changes other than the basic configuration, such as the required number of casters and the presence or absence of a continuously variable transmission.

FIG. 11 is a block diagram showing the electric system of the bogie 30. The difference from the block diagram of FIG. 3 is that a steering motor portion is added and a direction change angle is fed back.

FIG. 12 shows the details of the human-power detection sensor incorporated in the handle 35. FIG. 12A is a cross-sectional view of the handle as viewed from above, and the arrow directions of + e and -e correspond to the arrow directions of FIG. FIG. 12B is a cross-sectional view of the handlebar viewed parallel to the ground. The handle 35 and the center beam 18 are supported by a handle support 7b attached to the upper end of the column 7. The handle 35 is cut at the center, and the handle 35 (L) gripped by the operator's left hand and the handle 35 gripped by the right hand.
(R), each of which is supported in a cantilever manner by a handle support 7b. Soft spacer 35a in the center
To cover foreign objects from entering the inside of the handle. The center beam 18, the pressure sensor 22, the pressure rod 23, the cushioning material 24, the support plate 19, and the like attached thereto are shown in FIG.
It has the same configuration as.

In the case of FIG. 12, since the handle support 7b supports the handle 35 in a cantilever manner, the handle support 7b receives the rotational moment of the handle 35, so that the rotational moment is not transmitted to the center beam 18. (L) of the handle,
(R) As in FIG. 7D, a pair of pressure-sensitive sensors are assembled in a bridge on each side and differentially processed to cancel a disturbance such as a temperature change. The drive information calculation unit 41a in FIG. 11 compares the outputs Wl and Wr of the left and right pressure sensors, and as shown in FIG. 12 (c), the smaller value Wl becomes the amount of forward movement and rotates the drive motor. ,
In this case, the difference ΔW between the two is the amount of left turn, and is processed by the control unit to rotate the steering motor 34 in the left turn direction.

In the above, an example using a low-cost pressure-sensitive resistance element as a pressure-sensitive sensor has been described. However, it is not necessary to limit the invention to a pressure-sensitive resistance element, and a conventionally used resistance wire strain gauge is used. A similar effect can be obtained with a general pressure-sensitive sensor such as a so-called load cell. In addition, even if the detection of the loading weight is omitted, it can be used as a truck.

[0032]

As described above, the human-power detection sensor according to the present invention detects slight bending of the hollow pipe of the handle, so that even when the operator pushes or pulls the handle, the movement of the bogie body and the handle causes play. I can't feel it. Therefore, even if the user pulls in the reverse direction to apply the brake, he / she does not feel uncomfortable. The operator himself can continue working without noticing the presence of the sensor.

Further, since the human-power detection sensor of the present invention is housed in a hollow pipe, it is hardly affected by external environment such as moisture and dust in the air, and the sensor itself can use an inexpensive pressure-sensitive resistance element. It is also a great effect that the cost can be reduced.

[Brief description of the drawings]

FIG. 1 is a projection view of a carrier vehicle with auxiliary power.

FIG. 2 is a perspective view of the cart of FIG. 1;

FIG. 3 is a block diagram of an electric system of the bogie of FIG. 1;

FIG. 4 is a structural diagram of a load sensor;

FIG. 5 is a conceptual diagram showing the shape and characteristics of a load sensor.

FIG. 6 is a projection view and a perspective view of a human-power detection sensor incorporated in a handle of a cart.

FIG. 7 is an arrangement example of a human-power detection sensor incorporated in a handle, a connection diagram, and an explanatory diagram of various types of a pressure rod.

FIG. 8 is an explanatory diagram of a distribution of a maximum bending position of the handle.

FIG. 9 is a projection view of a bogie using auxiliary power for driving and changing directions.

FIG. 10 is a perspective view of the cart shown in FIG. 9;

FIG. 11 is a block diagram of the cart of FIG. 9;

FIG. 12 is a configuration example of a handle that individually detects pressures of left and right hands.

FIG. 13 is a perspective view of a conventional bogie with auxiliary power.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Transport vehicle with auxiliary power (abbreviated as a trolley), 2 bases, 3 pallets, 6, 35 handles, 8, 8a Auxiliary drive unit, 9 drive motor, 10 continuously variable transmission, 11 drive wheels, 14 control unit, 15 Load sensor, 15a pressure-sensitive sensor, 15b pressure rod, 18 middle beam, 19 support plate, 23 pressure rod, 24 cushioning material, 25 human-power detection sensor, 30 vehicle with auxiliary power for direction change, 31 rotation base, 34 Steering motor,

Claims (5)

[Claims] 1. A hollow pipe for a handle, a handle supporter for supporting both ends of the hollow pipe, a pressure-sensitive sensor installed on a center beam disposed inside the hollow pipe, and one end of the pressure-sensitive sensor. A pressure rod which is in contact with the pressure-sensitive sensor portion and the other end of which is in contact with the inner wall of the hollow pipe, wherein the pressure rod is configured to press the pressure-sensitive sensor portion by bending of the hollow pipe. Characteristic human power detection sensor. 2. The human power detection sensor according to claim 1, wherein the length of the pressure rod is variable. 3. The human-power detection sensor according to claim 1, wherein the pressure-sensitive sensors are mounted on the front and back of the same portion of the center beam, and outputs of both sensors are taken out as a difference. 4. Two sets of said pressure-sensitive sensors are arranged at a position of about 8% of a distance between fulcrums of said hollow pipe from the center of said hollow pipe for a handle, and each horizontal force component is taken out as a difference. The human power detection sensor according to claim 3, wherein: 5. A hollow pipe for a handle is provided at a center portion thereof.
The human-power detection sensor according to claim 1, wherein the pressure-sensitive sensor units are disposed inside the hollow pipes on the right and left sides, respectively.