JP2003005887A - Input device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an input device which is easily and inexpensively constituted and is suitable for a purpose where instantaneousness for easily and precisely detecting the operation (posture) of a human body is requested. SOLUTION: The input device is applied for a data globe for inputting information detecting the operation (posture) of a forefinger 1 as the local part of the human body to an unillustrated information processor. Piezoelectric elements 3a are arranged in the bending parts of a finger sack-type outfit 2a which is closely stuck to the forefinger 1 as two piezoelectric elements for detecting the operation (posture) of the forefinger 1. Piezoelectric elements 3b are disposed in the different bending parts on an outer side with respect to the bending direction of the bending parts. Information detecting (tracking/ detecting) the operation (posture) of the forefinger 1 is obtained based on potential generated due to deformation with the bending operation of the piezoelectric elements 3a and 3b in the bending parts.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a so-called data glove or data suit mainly for inputting information obtained by detecting (tracking and detecting) a motion (posture) of a human body to an information processing device such as a computer, a robot or a game machine. Called input device.

[0002]

2. Description of the Related Art Conventionally, an input device of this kind has a color that is different from each other depending on the point of the costume that is in principle almost monochromatic and that is in close contact with the human body, or is provided with a marker having different reflectance and the human body wearing the costume is dressed. The type that applies image processing of the method of detecting the movement (posture) of the human body from the position of the marker in each image obtained by the results of shooting with multiple cameras whose relative position and angle of view to Is.

However, an input device of the type to which such image processing is applied lacks immediacy of input, and
Research and development have been actively conducted in the field of entertainment software such as video games and movies that mainly use many images.

On the other hand, in the case of an input device of the type in which bending detection by an optical fiber is applied, the optical fiber is passed through the bending portion of the costume that is in close contact with the human body, and the movement of the human body due to the optical loss during bending of this optical fiber ( Attitude) is detected.

On the other hand, in the case of an input device using a piezoelectric element, the presence or absence of contact with the piezoelectric element disposed in the bending direction of the costume that is in close contact with the human body and the weight are detected, or an optical fiber is used. Similarly to the above, the movement (posture) of the human body is detected by the change in the electric potential generated when the piezoelectric element provided in the bending portion of the costume that is in close contact with the human body is bent.

On the other hand, in the case of an input device applied to robots for extreme environments such as maintenance robots for high voltage overhead lines and disaster assistance robots that require immediate input, a manipulator close to the human body is provided, In such a field as well, at present, a configuration that is an extension of a normal industrial robot, which is not generally required to be combined with a switch or a lever at present, is applied.

[0007]

In the case of the input device of the type to which the above-mentioned image processing is applied, it is necessary to install a plurality of cameras at specific positions and angles, but the setting and installation for this are complicated. Therefore, there is a problem that the entire device becomes large and expensive, and the image processing itself is complicated, so that it is not suitable for an application requiring immediateness and the application field is limited. There's a problem.

Also, in the case of an input device of a type to which bending detection is applied by using an optical fiber or a piezoelectric element, the optical fiber or the piezoelectric element as these sensors may vary depending on the individual body of the person wearing the costume provided at the bending portion. Since there is a difference between the sensor detection value and the actual amount of bending, it is difficult to detect the movement (posture) of the human body precisely. There is a problem that it is difficult to accurately detect the movement (posture) of the human body because only the axis with a high rate is targeted for detection, and some axes are often omitted.

Further, in the case of an input device of the type using a piezoelectric element, unlike the optical fiber, the movement of a human body wearing a costume provided with a piezoelectric element as a sensor in the bending direction is mainly based on a change in posture. Since it is for detection, it is necessary to set the initial position appropriately in order to specify the posture, and this setting is difficult and complicated. Only the axis with a high operating rate is detected in the flexion part accompanied by movement, and some axes are often omitted. Therefore, it is difficult to accurately detect the movement (posture) of the human body. is there.

In addition, in the case of an input device applied to a robot for an extreme environment where immediacy of input is required, an extension device applied to an ordinary industrial robot is used with a manipulator close to a human body. Therefore, not only is the configuration complicated and costly, but also the operation is complicated and requires proficiency, and it cannot be applied to quick work.

In any case, the various conventional input devices are not suitable for applications requiring immediacy, and the field of application is limited, or it is difficult to detect the motion (posture) of the human body precisely. In addition to the above-mentioned problems, there are various problems that the configuration is complicated, the cost is high, and the operation is complicated.

The present invention has been made to solve such a problem, and its technical problem is to simply and inexpensively construct, and to easily detect the motion (posture) of the human body with precision. An object of the present invention is to provide an input device suitable for applications that require immediateness.

[0013]

According to the present invention, in the input device for inputting the information on the detected motion of the human body to the information processing equipment, the bending portion of the costume closely contacting the human body and the bending direction of the bending portion. A plurality of piezoelectric elements for detecting the movement of the human body are provided on the outside and the human body movement, and the movement of the human body is detected based on the potential generated by the deformation accompanying the bending movement of the plurality of piezoelectric elements in the bending portion. An input device for obtaining information is obtained.

On the other hand, according to the present invention, in the input device for inputting the information on the detected motion of the human body to the information processing equipment, the bent end portion is fixed to the end portion of the bent portion of the costume which is in close contact with the human body. It is possible to obtain an input device that includes a wire that rubs the outer side in the bending direction of (1), and that obtains information that the motion of the human body is detected based on the movement amount of the wire.

According to the present invention, in the above input device, the wire is provided with a piezoelectric element which is connected to the wire and is fixed in front of the root of the bent portion, and which is deformed as the wire rubs. , One end of which is fixed to the end of the bent portion and the other end of which is fixed to the piezoelectric element, and the outer side of the bent portion in the bending direction is rubbed to indicate the movement amount of the wire in the bent portion. It is possible to obtain an input device that obtains information obtained by detecting the motion of a human body based on the potential generated by the deformation of the piezoelectric element due to the rubbing.

Further, according to the present invention, in the above-mentioned input device, the wire is fixed to the end portions of a plurality of portions of the bent portion and can be rubbed on the outer side of the plurality of portions of the bent portion in the bending direction. It is possible to obtain the input device which is provided in the above and obtains the information obtained by detecting the motion of the human body based on the movement amount of the wire at the plurality of positions of the bent portion.

In addition, according to the present invention, in the above-mentioned input device, the piezoelectric element is connected to the wire and fixed in front of the roots of a plurality of bent portions, and is deformed as the wire rubs. The wire has one end fixed to end portions of a plurality of bending portions and the other end fixed to a piezoelectric element, and then rubs the plurality of portions of the bending portion on the outside in the bending direction. An input device that obtains information that detects a motion of a human body based on a potential generated by a piezoelectric element being deformed by rubbing of a wire, which indicates the amount of movement of the wire at a plurality of bent portions, can be obtained. .

On the other hand, according to the present invention, in the input device for inputting the information on the detected movement of the human body to the information processing equipment, the bent end portion is fixed to the end portion of the bending portion of the costume which is in close contact with the human body. It is possible to obtain an input device that includes a wire that rubs the inside with respect to the bending direction of, and obtains information that the motion of the human body is detected based on the movement amount of the wire.

Further, according to the present invention, in the above input device, the wire is provided with a piezoelectric element which is connected to the wire and is fixed in front of the root of the bent portion, and which is deformed by the rubbing of the wire. , One end of which is fixed to the end of the bending portion and the other end of which is fixed to the piezoelectric element, and which rubs the inside of the bending portion in the bending direction to show the movement amount of the wire in the bending portion. It is possible to obtain an input device that obtains information obtained by detecting the motion of the human body by the potential generated by the deformation of the piezoelectric element due to the rubbing.

Further, according to the present invention, in the above-mentioned input device, the wire is fixed to the ends of a plurality of portions of the bent portion, and the wire can be rubbed inside the plurality of portions of the bent portion in the bending direction. It is possible to obtain the input device which is provided in the above and obtains the information obtained by detecting the motion of the human body based on the movement amount of the wire at the plurality of positions of the bent portion.

In addition, according to the present invention, in the above-mentioned input device, the piezoelectric element is connected to the wire and fixed in front of the roots of a plurality of bent portions, and is deformed as the wire rubs. The wire has one end fixed to end portions of a plurality of portions of the bending portion and the other end fixed to the piezoelectric element, and then rubs the inside of the plurality of portions of the bending portion in the bending direction. An input device that obtains information that detects a motion of a human body based on a potential generated by a piezoelectric element being deformed by rubbing of a wire, which indicates the amount of movement of the wire at a plurality of bent portions, can be obtained. .

In any one of these input devices,
A predetermined part of the costume was equipped with a bending limit detection and correction mechanism that was a combination of permanent magnets and magnetically sensitive means, or the costume had a single bent part,
It is preferable that a plurality of linear motion position detecting devices are provided as a parallel link mechanism for detecting position displacement motions of two or more axes.

In any one of the above input devices,
In the costume, it is preferable to connect and deploy a piezoelectric element as a parallel link mechanism via a wire as a linear displacement detecting device for detecting a position displacement operation of two or more axes with respect to a single bent portion. Further, in this input device, the piezoelectric element is assembled as a device of a predetermined number of units, and the outer wire is put on the local portion of the wire other than the bending portion in the costume to be assembled. preferable.

[0024]

BEST MODE FOR CARRYING OUT THE INVENTION The input device of the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 is a side sectional view showing the basic structure of an input device according to the first embodiment of the present invention. This input device is applied to a data glove for inputting information on the motion (posture) of the index finger 1 detected as a local part of a human body to an information processing device (not shown), and detects the motion (posture) of the index finger 1. As the two piezoelectric elements for this purpose, the piezoelectric element 3a is provided at the bending portion of the finger sack-shaped costume 2a that is in close contact with the forefinger 1, and the piezoelectric element 3b is provided at another bending portion outside the bending direction of the bending portion. The index finger 1 is provided on the basis of the electric potential generated by the deformation of the piezoelectric elements 3a and 3b in each bending portion due to the bending operation.
Is configured to obtain information obtained by detecting (tracking detection) the motion (posture) of the.

In the case of this input device, the finger sack-shaped costume 2a is bent along with the piezoelectric elements 3a and 3b in accordance with the operation of the index finger 1. At this time, the piezoelectric elements 3a and 3b have different bending amounts and bending speeds. In response to a change in potential,
Since the polarity changes depending on the bending direction, it is possible to specify the bending amount of the piezoelectric elements 3a and 3b by integrating the generated potential. Based on the bending amounts of these piezoelectric elements 3a and 3b, the operation (posture) of the index finger 1 can be simplified and accurately detected.

However, in this input device, there may be a case where the detected integrated potential value and the actual bending amount are shifted and different, such as when the input device is already bent at the time of starting. When it is in a more extended state, the integral value becomes negative, and in the finger sack type costume 2a, it is necessary to consider the position where the joint of the index finger 1 is fully extended, that is, the bending in the opposite direction beyond the most extended position. Since it does not exist, self-correction can be performed by always regarding the smallest integral value as the most extended position.

On the other hand, regarding the maximum bending position, the amount of bending detected may change depending on the physique of the person wearing the costume 2a. For example, when the joints have different thicknesses, the bending amount of the piezoelectric elements 3a and 3b installed along the body shape is larger when the joints are thin, and the detected integrated potential value is larger and when the joints are thicker. Error will occur.

Therefore, in such an input device,
It is preferable that a predetermined limit of the costume 2a is provided with a bending limit detection and correction mechanism which is a combination of a permanent magnet and a magnetically sensitive means (reed switch or magnetically sensitive sensor) as described later.

FIG. 2 is a side sectional view showing, in a bent state, a state in which a bending limit detection and correction mechanism in which a permanent magnet 4 and a reed switch 5 are combined is provided at a predetermined position of the costume 2a of the input device.

Here, a permanent magnet 4 is provided at the tip of the bent portion of the costume 2a, and a reed switch 5 is provided at a portion facing and approaching the bent portion at the bending limit, and the permanent magnet 4 and the reed switch 5 are combined. The bending limit detection and correction mechanism detects the bending limit.

FIG. 3 shows the displacement and the detected potential when the operation of the index finger 1 is detected by the piezoelectric element 3a (or the piezoelectric element 3b is almost the same) provided on the costume 2a of this input device. 3 is a diagram showing waveforms of integrated potentials obtained by integrating the potentials and the potentials with respect to a time axis. However, here, the origin position on the displacement diagram is the most extended position, and the state where the joint is fully extended is shown in the case of the motion of the finger joint.

From FIG. 3, it can be seen that in the case of the displacement state, it changes variously up to the bending limit value according to the time change, and in the state of the potential, positive and negative are generated depending on the direction of the displacement, and the height changes according to the inclination. It is understood that the occurrence and the amount of displacement (in the case of large size) can be specified based on the potential.

However, in the case of the input device to which the data glove is applied, it is required that the posture is detected not as the displacement amount but as the motion at a specific time point, but the posture can be specified only by directly observing the generated potential. I can't.

Therefore, if the integrated potential obtained by integrating the potential generated in the piezoelectric element 3a with time is obtained, the posture can be estimated based on the operation of the index finger 1. However, even when the integrated potential is used, a change in the posture with respect to a certain point in time is only detected, and therefore correction with the actual posture is required.

In the case of the integrated potential of FIG. 3, at the left end,
The actual displacement indicated by the dotted line is displaced by about 40% with respect to the bending limit, and when integration is started from this left end portion, an origin error occurs in which the 40% bending position is erroneously recognized as the origin in the initial operation. However, if the actual displacement exceeds the false origin and approaches the true origin, the integral value will have a negative value, so if the integral value is a negative value, convert this to zero. This makes it possible to correct the origin error.

The input device according to the first embodiment having such a bending limit detection and correction mechanism can have a detection function equivalent to that of the bending detection using an optical fiber, but the same element. In the case of using, the detected electric potential changes as shown in FIG. 3 due to the difference in body size of the wearer. These errors are phenomena that occur when a detection element is arranged outside a specific bent portion and also occur when other elements such as an optical fiber are used. In this case, an error occurs in the displacement estimated from the integrated potential value due to the difference in body size. However, when the bending limit detection and correction mechanism including the permanent magnet 4 and the reed switch 5 as shown in FIG. Since the actual bending amount is detected by the signal generated from the bending limit detection, the integrated value is corrected by this actual bending amount detection signal.

Therefore, according to the input device of the first embodiment, the operation of the index finger 1 straddling two joints (especially the posture) based on the potential generated by the bending of the two piezoelectric elements 3a and 3b. It becomes possible to detect. Further, in the case of this input device, the permanent magnet 4 is provided at one of the positions approaching when the costume 2a is bent, and the reed switch 5 is provided at the other position.
The bending limit detection and correction mechanism formed by combining these is the most bent position of the costume 2a (reed switch operation position).
Since the bending limit signal is generated at, if the error of the input device is corrected based on this bending limit signal, the motion (posture) can be detected with excellent accuracy.

FIG. 4 is a side sectional view showing the basic structure of the input device according to the second embodiment of the present invention in a bent state. This input device is also applied to a data glove for inputting information obtained by detecting the movement (posture) of the index finger 1 as a local part of the human body to an information processing device (not shown). Here, a finger sack type that is in close contact with the index finger 1 is used. The wire 6a fixed to the end of the bending portion of the costume 2b and rubbing the bending end at the outside in the bending direction is provided, and the movement (posture) of the index finger 1 is detected based on the movement amount of the wire 6a ( It is configured to obtain (tracked and detected) information.

Specifically, in the case of this input device, a piezoelectric element 3c which is connected to the wire 6a and fixed in front of the root of each bent portion and which deforms as the wire 6a rubs is provided. The wire 6a has outer wires 7a and 7b covered on the local portions of the costume 2b other than the bent portions, and one end is fixed to the end portion of each bent portion and the other end is connected to the piezoelectric element 3c. The piezoelectric element 3c is fixed and is rubbed on the outside in the bending direction of each bending portion, and the piezoelectric element 3c is deformed by the rubbing of the wire 6a indicating the movement amount of the wire 6a at each bending portion. The information obtained by detecting (tracking detection) the movement (posture) of the index finger 1 is obtained based on the potential generated in (1). By the way, also in this input device, the bending limit detection is made by combining the permanent magnet 4 provided at the tip of the bending portion of the costume 2b and the reed switch 5 provided at the portion facing and approaching the bending portion at the bending limit. Also, a correction mechanism is provided.

Here, the local portions of the wire 6a other than the main bending portion are restricted by the outer wires 7a and 7b, and the amount of feeding is not changed by the movements other than the bending portions. It bends with the installed wire 6a, and the piezoelectric element 3c deforms according to the bending amount. At this time, the piezoelectric element 3c generates a potential according to the bending amount and the bending speed, and the polarity changes depending on the bending direction. Therefore, the bending amount of the piezoelectric element 3c can be estimated by integrating the generated potential. .

However, even in the case of this input device, it is assumed that the detected integrated potential value and the actual bending amount are different due to a shift, such as when the input device has already bent.
The integrated value becomes negative when the state is extended from the initial bent state, and the index finger 1 is used in the finger sack type costume 2b.
Since it is not necessary to consider the position where the joint is fully extended, that is, the bending in the opposite direction beyond the maximum extension position, it is possible to perform self-correction by always regarding the minimum integral value as the maximum extension position.

On the other hand, regarding the maximum bending position, the amount of bending detected may change depending on the physique of the person wearing the costume 2b. For example, when the thickness of the joint is different, the bending amount of the piezoelectric element 3c installed along the body shape is larger when the joint is thin, the detected integrated potential value is large, and the error relative to the case where the joint is thick is large. Will occur.

Therefore, even in this input device, the costume 2
b is provided with a bending limit detection and correction mechanism that is a combination of the permanent magnet 4 and the reed switch 5,
When the movement of the index finger 1 is detected by the piezoelectric element 3c provided on the costume 2b, the waveforms of displacement, potential, and integrated potential equivalent to those shown in FIG. 3 are obtained, and the signals generated from the detection of the bending limit are used. The actual bending amount is detected, and the integrated value is corrected by this actual bending amount detection signal.

The input device according to the second embodiment having such a bending limit detecting and correcting mechanism can also have the same detection function as the bending detection using the optical fiber, but the same function. When the element is used, the detected electric potential changes as shown in FIG. 3 depending on the difference in body size of the wearer. These errors are phenomena that occur when a detection element is arranged outside a specific bent portion and also occur when other elements such as an optical fiber are used. In this case, an error occurs in the displacement estimated from the integrated potential value due to the difference in body size. However, when the bending limit detection and correction mechanism combining the permanent magnet 4 and the reed switch 5 as shown in FIG. 4 is provided, Since the actual bending amount is detected by the signal generated from the bending limit detection, the integrated value is corrected by this actual bending amount detection signal.

Therefore, according to the input device of the second embodiment, the motion (especially the posture) of the index finger 1 straddling three joints is detected based on the potential generated by the bending of the single piezoelectric element 3c. Is possible. Also in this input device, the permanent magnet 4 is provided at one of the positions approaching when the costume 2b is bent, and the reed switch 5 is provided at the other position.
The bending limit detection and correction mechanism formed by combining these is the most bent position of the costume 2b (reed switch operating position).
Since the bending limit signal is generated at, if the error of the input device is corrected based on this bending limit signal, the motion (posture) can be detected with excellent accuracy.

FIG. 5 is a side sectional view showing the basic structure of the input device according to the third embodiment of the present invention in a bent state. This input device is also applied to a data glove for inputting information obtained by detecting the movement (posture) of the index finger 1 as a local part of the human body to an information processing device (not shown). Here, a finger sack type that is in close contact with the index finger 1 is used. A wire 6b fixed to the end of the bending portion of the costume 2c and rubbing the inside of the bending end with respect to the bending direction is provided, and the movement (posture) of the index finger 1 is detected based on the moving amount of the wire 6b ( It is configured to obtain (tracked and detected) information.

Specifically, this input device is provided with a piezoelectric element 3d that is connected to the wire 6b and is fixed in front of the root of each bent portion, and that is deformed as the wire 6b rubs. , The wires 6b are the outer wires 7c, 7d, 7 at the local parts other than the respective bending parts in the costume 2c.
In addition to being covered with e, one end is fixed to the end of each bending portion and the other end is connected and fixed to the piezoelectric element 3d, and the inside of each bending portion in the bending direction is rubbed. And the movement (posture) of the index finger 1 based on the potential generated by the deformation of the piezoelectric element 3d accompanying the rubbing of the wire 6b, which indicates the amount of movement of the wire 6b at each bent portion.
Is obtained (information detected by tracking).
Incidentally, also in this input device, the permanent magnet 4 provided at the tip of the bending portion of the costume 2c and the reed switch 5 provided at the portion facing the bending portion and approaching at the bending limit at the bending limit.
A bending limit detection and correction mechanism that is a combination of

Here, the outer portions of the wire 6b other than the main bending portion are restricted in movement by the outer wires 7c, 7d, 7e, and the amount of feeding is not changed by the movement other than the bending portion. 2c bends along with the installed wire 6b, and the piezoelectric element 3d deforms according to the bending amount. At this time,
The piezoelectric element 3d generates an electric potential according to the bending amount and the bending speed, and the polarity changes depending on the bending direction. Therefore, the bending amount of the piezoelectric element 3d can be estimated by integrating the generated electric potential.

However, even in this input device, there is a possibility that the detected integrated potential value and the actual bending amount may be shifted and different, such as when the input device has already been bent.
The integrated value becomes negative when the state is extended from the initial bent state, and the index finger 1 is used in the finger sack type costume 2c.
Since it is not necessary to consider the position where the joint is fully extended, that is, the bending in the opposite direction beyond the maximum extension position, it is possible to perform self-correction by always regarding the minimum integral value as the maximum extension position.

On the other hand, regarding the maximum bending position, the amount of bending detected may change depending on the physique of the person wearing the costume 2c. For example, when the thickness of the joint portion is different, the bending amount of the piezoelectric element 3d installed along the body shape is larger when the joint is thin, the detected integrated potential value is large, and the error relative to the case where the joint is thick is large. Will occur.

Therefore, even in this input device, the costume 2
Since c is provided with a bending limit detection and correction mechanism that is a combination of the permanent magnet 4 and the reed switch 5,
When the movement of the index finger 1 is detected by the piezoelectric element 3d provided on the costume 2c, the waveforms of displacement, potential, and integrated potential equivalent to those shown in FIG. 3 are obtained, and the signals generated from the bending limit detection are used. The actual bending amount is detected, and the integrated value is corrected by this actual bending amount detection signal.

The input device according to the second embodiment having such a bending limit detecting and correcting mechanism can have the same detection function as the bending detection using the optical fiber, but the same function. When the element is used, the detected electric potential changes as shown in FIG. 3 depending on the difference in body size of the wearer. These errors are phenomena that occur when a detection element is arranged outside a specific bent portion and also occur when other elements such as an optical fiber are used. In this case, an error occurs in the displacement estimated from the integrated potential value due to the difference in body size. However, when a bending limit detection and correction mechanism combining the permanent magnet 4 and the reed switch 5 as shown in FIG. 5 is provided, Since the actual bending amount is detected by the signal generated from the bending limit detection, the integrated value is corrected by this actual bending amount detection signal.

Therefore, also in the input device according to the third embodiment, the motion (especially the posture) of the index finger 1 straddling three joints can be detected based on the potential generated by the bending of the single piezoelectric element 3d. It will be possible. Also in this input device, the permanent magnet 4 is provided at one of the positions approaching when the costume 2b is bent, and the reed switch 5 is provided at the other position.
The bending limit detection and correction mechanism formed by combining these is the most bent position of the costume 2b (reed switch operating position).
Since the bending limit signal is generated at, if the error of the input device is corrected based on this bending limit signal, the motion (posture) can be detected with excellent accuracy.

By the way, in each of the above-described embodiments, the detection operation in the finger sack type clothes 2a, 2b, 2c which is applied to only one part of the index finger applied to the data glove has been described, but it is applied to the entire data glove. In the case of a costume, a parallel link mechanism is used to connect a plurality of linear motion position detection devices that use piezoelectric elements and wires for position displacement motion detection (posture detection) of two or more axes with respect to a single bending part. It is preferable to deploy as.

FIG. 6 is an external perspective view showing the basic structure of the input device according to the fourth embodiment of the present invention. This input device is a single bending part of a data glove type costume 2 for the entire hand, and two linear motion position detecting devices are arranged side by side to detect the posture of a part that biaxially moves. The piezoelectric element 3e is connected and provided between the movable point P _m and the fixed point P _c 1 of the costume 2 via the wire 6c to configure one linear motion position detecting device, and at the same time, from the movable point P _m to the fixed point P _m. The piezoelectric element 3f is connected and arranged between the fixed points P _c 2 through the wire 6d to configure the other linear motion position detecting device,
Fixed point P _c 2 and the movable point and relative distance d1 between the piezoelectric elements 3e, fixed point based on the potential generated by 3f are deformed P _c 1 and the movable point P _m according to the operation of the movable point P _m The configuration is such that a change from the relative distance d2 between P _m can be measured.

That is, in this data glove type costume 2, as shown in FIG. 7, one end of the linear movement position detecting device of the two systems is fixed to the same position as the detected movable portion, that is, the movable point P _m . Since the other ends are independently fixed to fixed points P _c 1 and P _c 2 spaced apart from each other, the two systems of linear motion position detecting devices are provided between the fixed point P _c 1 and the movable point P _m . A change in the relative distance d1 between the fixed point P _c 2 and the movable point P _m is detected. However, in the actual measurement of the positional displacement of the costume 2, it is necessary to consider the virtual fixed point P _cv around the joint as described later.

FIG. 8 is an external perspective view showing the outline of the biaxial detection operation in the linear movement position detecting device of these two systems.
Here, in the case of the data glove type costume 2 for the entire hand, as shown by the position indicated by the virtual fixed point P _cv , its vicinity is a single joint, but its vicinity is the first axis and the second axis. It is shown that there is a bending part that performs biaxial motion extending to the axis.

FIG. 9 is a schematic diagram showing a detailed outline of the biaxial detection operation in the linear movement position detecting device of these two systems.
Here, in the case where the relative distances d1 and d2 are detected by the two-system linear motion position detecting device provided in the data glove type costume 2, two fixed points P _c 1 and P _c 2 are initially measured. Assume a tetrahedron formed with a virtual fixed point P _cv that can be regarded as the center of the joint to be moved and four points by the movable point P _m installed in the movable part as vertices. In this tetrahedron, the relative distances between the three fixed points P _c 1 and P _c 2 and the virtual fixed point P _cv that can be regarded as the joint center to be measured are fixed, and the virtual fixed points P _cv and The relative distance to the movable point P _m (including the moved movable point P _m ′) can also be regarded as constant.

Therefore, in the case of the biaxial detection operation in the linear movement position detection device of these two systems, the movable point P _m of the tetrahedron moves after the position is moved and the movable point P _m moves in accordance with the movement of the detected portion.
When the tetrahedron after the displacement is displaced to _m ′, only the relative distances d1 and d2, which are the distances between the movable point P _m and the two fixed points 8P _c 1 and P _c 2, are initially the relative distances d1 ′ and d2. It can be regarded as a tetrahedron transformed into ′.

That is, here, the relative distance between the movable points P _m and P _m ′ and the virtual fixed point P _cv , the two fixed points P _c 1 and P _c 2
And the relative distance between the virtual fixed point P _cv and the two fixed points P _cv
Since the relative distance between _c 1 and P _c 2 is constant,
By measuring the relative distances d1, d1 ', d2, d2' and adding the known remaining lengths of the four sides, the position of the movable point _Pm 'in the space can be easily specified even in the deformed tetrahedron. can do.

Therefore, in the case of the input device according to the fourth embodiment, the piezoelectric elements 3e, which are obtained by the biaxial detection operation in the linear movement position detecting device of two systems having a relatively simple structure,
Based on the potential generated by the bending deformation of 3f, it is possible to detect the motion (posture) of the biaxially-moving joint in detail and more accurately than before.

FIG. 10 is an external perspective view showing the basic structure of the input device according to the fifth embodiment of the present invention. In this input device, one end of each bent portion of a data glove type costume 2'for the entire hand is connected by a plurality of wires 6, and the middle part of each wire 6 is covered with an outer wire 7 and collected. The other end of 6 is connected to the wire movement detecting mechanism 8. As a detailed configuration of the wire movement detecting mechanism 8, a configuration in which a predetermined number of piezoelectric elements corresponding to the number of each wire 6 are grouped as a device can be exemplified.

In the case of this input device, the movement of each wire 6 other than the main bending portion in the costume 2'is restricted by the outer wire 7 and the distance does not change except the bending portion, and the wire movement detecting mechanism 8 is provided. Thus, it is possible to obtain information obtained by detecting the movement (posture) of the costume 2'based on the movement amount of each wire 6. That is, in the case of this input device, the costume 2 ′ itself does not have an electric circuit, and it is possible to guide the movement of the detected portion to the wire movement detecting mechanism 8 which is a detector, and the detector and its peripheral circuits. It is possible to improve the degree of freedom in electrical / mechanical design regarding installation conditions.

In each of the embodiments, the finger sack type costumes 2a to 2c and the data glove type costumes 2 and 2'applied mainly to the data glove have been described. Since the configuration of the main part can be easily applied to a data suit larger than the data glove, the present invention is applicable to the above-mentioned data glove 2a to 2c and the data glove type clothes 2 and 2. It is not limited to the input device having a configuration including '.

[0066]

As described above, according to the input device of the present invention, the piezoelectric element is provided in each of the bending portion of the clothes worn on the human body and the outside of the bending portion in the bending direction, and the bending of each piezoelectric element is performed. A piezoelectric element that obtains information by detecting the movement (posture) of the human body based on the potential generated by the movement, or fixes a wire that rubs the inside or outside of the bending end portion in the bending direction in front of the root of the bending portion. Connected to a wire, indicating the amount of movement of the wire in the bent portion, the information obtained by detecting the movement of the human body is obtained based on the potential generated by the deformation of the piezoelectric element due to the rubbing of the wire, A bending limit detection and correction mechanism that combines permanent magnets and magnetically sensitive means is provided at a position, or a position displacement operation of two or more axes with respect to a single position of a bending part in clothes. By adopting a configuration in which a plurality of linear motion position detection devices that use piezoelectric elements and wires for output are provided as a parallel link mechanism, it is possible to perform motion (posture) detection with higher accuracy than before, This makes it possible to simply and inexpensively configure an input device called a so-called data glove or a data suit, which is suitable for an application requiring immediacy that can detect a motion (posture) of a human body simply and precisely. In particular, when using a plurality of wires, each wire can be covered with an outer wire and collected, and a predetermined number of piezoelectric elements corresponding to the number of each wire can be collected as a device to form an input device. It will be possible to improve the degree of freedom in electrical and mechanical design regarding the installation conditions of the detector and its peripheral circuits.

[Brief description of drawings]

FIG. 1 is a side sectional view showing a basic configuration of an input device according to a first embodiment of the invention.

FIG. 2 is a side cross-sectional view showing a state in which a bending limit detection and correction mechanism in which a permanent magnet and a reed switch are combined is provided at a predetermined position of the costume of the input device shown in FIG. 1 in a bent state.

FIG. 3 is a time axis of a waveform of displacement, detected potential, and integrated potential obtained by integrating the potential when the action of the index finger is detected by the piezoelectric element provided in the costume of the input device shown in FIG. 1 or 2. FIG.

FIG. 4 is a side sectional view showing a basic configuration of an input device according to a second embodiment of the invention in a bent state.

FIG. 5 is a side sectional view showing a basic configuration of an input device according to a third embodiment of the invention in a bent state.

FIG. 6 is an external perspective view showing the basic configuration of the input device according to the fourth embodiment of the invention.

7 is an external perspective view showing a main part for biaxial detection in the two-system linear movement position detecting device that forms a main part of the input device shown in FIG.

8 is an external perspective view showing an outline of biaxial detection operation in the two-system linear movement position detection device shown in FIG.

9 is a schematic diagram showing a detailed outline of a biaxial detection operation in the linear movement position detection device of the two systems shown in FIG.

FIG. 10 is an external perspective view showing the basic configuration of the input device according to the fifth embodiment of the invention.

[Explanation of Codes] 1 Forefinger 2, 2 ', 2a, 2b, 2c Costumes 3a to 3f Piezoelectric element 4 Permanent magnet 5 Reed switch 6, 6a to 6d Wire 7, 7a to 7e Outer wire 8 Wire motion detection mechanism d1, d2 Relative Distance P _c 1, P _c 2 Fixed point P _cv Virtual fixed point P _m , P _m ′ Moving point

Claims (14)

[Claims] 1. An input device for inputting information on a detected motion of a human body to an information processing device, wherein the motion of the human body is respectively on a bending portion of a costume that is in close contact with the human body and an outside of the bending portion in the bending direction. A plurality of piezoelectric elements for detecting the movement of the human body are obtained, and information on the movement of the human body is obtained based on a potential generated by deformation of the plurality of piezoelectric elements in the bending portion caused by the bending movement. And input device. 2. An input device for inputting information on a detected motion of a human body to an information processing device, which is fixed to an end portion of a bent portion of a costume that is in close contact with the human body and is outside of the bent end portion in a bending direction. An input device comprising a wire for rubbing, and obtaining information on detection of the motion of the human body based on the amount of movement of the wire. 3. The input device according to claim 2, further comprising a piezoelectric element that is connected to the wire and is fixed in front of a root of the bent portion, and that is deformed by rubbing of the wire. Has one end fixed to the end of the bent portion and the other end fixed to the piezoelectric element, and rubs the outside of the bent portion in the bending direction, and the movement amount of the wire in the bent portion. The input device is characterized in that information obtained by detecting the movement of the human body is obtained based on the potential generated by the deformation of the piezoelectric element due to the rubbing of the wire. 4. The input device according to claim 2, wherein the wire is fixed to end portions of a plurality of portions of the bent portion and is capable of rubbing an outer side of the plurality of portions of the bent portion in a bending direction. An input device, which is provided in the device, and obtains information on the motion of the human body based on the movement amount of the wire at a plurality of positions of the bent part. 5. The input device according to claim 4, further comprising a piezoelectric element that is connected to the wire and is fixed in front of a root of a plurality of portions of the bent portion, and that is deformed due to rubbing of the wire. The wire has one end fixed to end portions of a plurality of portions of the bending portion, and the other end fixed to the piezoelectric element, and rubs an outer side of the bending portion of the plurality of portions in a bending direction. Information indicating that the movement of the human body is detected based on the potential generated by the piezoelectric element being deformed by the rubbing of the wire, which indicates the amount of movement of the wire at a plurality of positions of the bent portion. An input device characterized by being obtained. 6. An input device for inputting information on a detected motion of a human body to an information processing device, which is fixed to an end of a bent portion of a costume that is in close contact with the human body and is inside the bent direction of the bent end. An input device comprising a wire for rubbing, and obtaining information on detection of the motion of the human body based on the amount of movement of the wire. 7. The input device according to claim 6, further comprising a piezoelectric element that is connected to the wire and is fixed in front of a root of the bent portion, and that is deformed as the wire rubs. Has one end fixed to the end of the bent portion and the other end fixed to the piezoelectric element, and rubs the inside of the bent portion in the bending direction, and the amount of movement of the wire in the bent portion. The input device is characterized in that information obtained by detecting the movement of the human body is obtained based on the potential generated by the deformation of the piezoelectric element due to the rubbing of the wire. 8. The input device according to claim 6, wherein the wire is fixed to end portions of a plurality of portions of the bent portion and is capable of rubbing an inner side of the plurality of portions of the bent portion in a bending direction. An input device, which is provided in the device, and obtains information on the motion of the human body based on the movement amount of the wire at a plurality of positions of the bent part. 9. The input device according to claim 8, further comprising a piezoelectric element that is connected to the wire and is fixed in front of a root of a plurality of portions of the bent portion, and that is deformed by rubbing of the wire. The wire has one end fixed to end portions of a plurality of portions of the bending portion and the other end fixed to the piezoelectric element, and rubs inner portions of the bending portion in a bending direction at a plurality of portions. Information indicating that the movement of the human body is detected based on the potential generated by the piezoelectric element being deformed by the rubbing of the wire, which indicates the amount of movement of the wire at a plurality of positions of the bent portion. An input device characterized by being obtained. 10. The input device according to any one of claims 1 to 9, wherein a predetermined limit of the costume is provided with a bending limit detection and correction mechanism which is a combination of a permanent magnet and a magnetically sensitive means. An input device characterized by the above. 11. The input device according to any one of claims 1 to 10, wherein the costume has a plurality of positions for detecting a position displacement motion of two or more axes with respect to a single portion of the bending portion. An input device characterized in that a linear movement position detecting device is provided as a parallel link mechanism. 12. The input device according to claim 3, 5, 7 or 9, wherein the costume detects a position displacement motion of two or more axes with respect to a single portion of the bent portion. An input device characterized in that the piezoelectric element is connected and arranged as a parallel link mechanism via the wire as a linear displacement detecting device for use in the device. 13. The input device according to claim 12,
The input device, wherein the piezoelectric element is assembled as a device of a predetermined number of units. 14. The input device according to claim 12, wherein an outer wire is put on and integrated with a local portion of the wire other than the bent portion in the costume. .