JP2004309916A - Detecting mechanism for joint application force, and human phantom provided with the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To make measurable the size of an external force further applied, after reaching a limit range while making detectable that a shaft has reached the movable limit in bending direction. <P>SOLUTION: A joint application force detection mechanism is provided with the shaft having a bowl part, a ball receptacle rotatably holding the bowl part, a regulation member fixed on the ball receptacle and for limiting the movement of the shaft in a prescribed range by contacting the shaft, and a force sensor provided between the regulation member and the shaft. The joint application force detecting mechanism detects pushing force between the shaft and the regulation member with the force sensor, and when the shaft is rocked and comes into contact with the regulation member, it detects that the shaft reaches the movable range limit, and further detects the size of the force applied in the bending direction thereafter. In addition, it detects the size and action direction of the force bending the shaft, by using the force sensor with a divided electrode. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a connection portion applied force detection mechanism capable of rotating a shaft 360 degrees around a ball portion, and a human phantom provided with the same.
[0002]
[Prior art]
In recent years, there has been an increasing search for ways to quickly and safely rescue victims during disasters such as earthquakes and wars. As one of the means, the development of a rescue robot is active. In its development, it is important to be able to rescue victims safely without causing pain. Further, as the aging society progresses, development of nursing support devices such as robots and beds is progressing. Here, too, it is necessary to establish a technology for nursing safely without causing pain to the cared person.
[0003]
In the course of these technological developments, dummy phantoms are used in place of victims and cared people. In order to detect pain caused by forcibly pulling a joint of a limb, for example, a human body model of this type has been developed in which a joint has a built-in tensile force measuring mechanism. The tensile force measurement mechanism makes it possible to quantify the load when the phantom is rescued or cared as human pain.
[0004]
Non-Patent Document 1 describes a joint of a phantom equipped with a tensile force measuring mechanism 100. As shown in FIGS. 8 and 9, the tensile force measuring mechanism 100 includes a first member 102 having a through hole 101, a shaft 103 passing through the through hole 101, and a flange formed on the shaft 103 to form a flange. A second member 105 having a pressing portion 104 capable of pressing the peripheral portion of the hole 101 and a sheet-like force sensor 106 provided between the peripheral portion of the through hole 101 and the pressing portion 104 are provided. When the shaft 103 of the second member 105 is pulled through the through hole 101 of the first member 102 (indicated by an arrow in FIG. 9), the peripheral portion of the through hole 101 and the pressing portion 104 are The pressing force during the period is detected. Thereby, the pulling force between the first member 102 and the second member 105 is detected.
[0005]
As shown in FIG. 10, the force sensor 106 includes a film base 107 made of polyester, PEN, polyimide or the like, an electrode section 108 and a terminal section 109 formed by printing and drying silver ink on the film base 107 by screen printing or the like. And a single-sided sheet 111 having a pressure-sensitive portion 110 formed by applying pressure-sensitive ink having a conductive resistance changed by a pressing force on the electrode portion 108, and a connection portion 112 for connecting the electrode portion 108 and the terminal portion 109. As shown in FIG. 11, the printing surfaces are attached to each other with the printing surfaces facing each other. By applying a force in the direction of pinching from the outside to the pressure sensing unit 110, the resistance value between the electrode units 108 changes, and an increase or decrease in the pressing force can be detected.
The electrode part 108, the pressure-sensitive part 110, and the film base 107 in the vicinity of the electrode part 108 have a ring shape. The shaft 103 of the second member 105 is fitted into the through hole 113.
[0006]
[Non-patent document 1]
Proceedings of the Japan Society of Mechanical Engineers [No, 01-4] Robotex Mechatronics Lecture '01 (1A1-E8 "Development of Sensor Built-in Dummy for Rescue Robot Contest", FIG. 5).
[0007]
[Problems to be solved by the invention]
When the technique described in Non-Patent Document 1 is applied to joints such as the neck, shoulder, and hip joint of a phantom, it is possible to detect the pulling force of these joints, but it is possible to detect that the joint has reached the movable limit. , And the magnitude of the force applied in the movable limit direction cannot be detected. In particular, in these joints, when the limit of the movable range is reached, it is desired to infer human pain from the magnitude of the force applied further in the bending direction. For this reason, if the force in the bending direction after reaching the movable limit cannot be detected, the human pain cannot be quantified.
[0008]
It is also conceivable to provide a conventionally known force sensor such as a load cell at the joint, but this requires a large-scale device, and it is difficult to incorporate the force sensor into the joint of the phantom.
[0009]
Therefore, an object of the present invention is to provide a connection portion applied force detection mechanism capable of detecting that the movable limit in the bending direction has been reached and measuring the magnitude of the external force further applied after reaching the limit range, and the like. To provide a phantom.
[0010]
[Means for Solving the Problems]
The connecting portion applied force detecting mechanism of the present invention is a connecting portion applied force detecting mechanism having a shaft having a ball portion and a ball receiver rotatably holding the ball portion, wherein the mechanism is fixed to the ball receiver. A regulating member for restricting the movement of the shaft to a predetermined range by contacting the shaft, and a force sensor provided between the regulating member and the shaft are provided (claim 1).
[0011]
According to this configuration, the shaft is swung about the ball portion as a fulcrum, and when the shaft comes into contact with the regulating member, the pressing force between the shaft and the regulating member is detected by the force sensor. Accordingly, the connection portion applied force detection mechanism can detect that the shaft has reached the limit of the movable range, and can further detect the magnitude of the force applied further in the bending direction.
[0012]
In the connection portion applied force detection mechanism of the present invention, the force sensor includes a pressure-sensitive portion whose conductive resistance changes due to an external pressure, and two electrode portions sandwiching the pressure-sensitive portion and at least one of which is divided into a plurality. It may be provided (claim 2).
[0013]
According to this configuration, the force sensor detects an increase or decrease in the pressing force due to a change in the resistance value between the two electrode portions by applying a force in a direction sandwiching the pressure-sensitive portion from the outside. Here, since at least one of the electrode portions is divided into a plurality, the pressing force can be detected separately for each of the divided electrode portions. For this reason, by detecting which part of the electrode portion receives the pressing force, it is possible to detect the magnitude of the bending force of the shaft and the direction of action (bending moment of the shaft of the shaft).
[0014]
The phantom of the present invention is provided with a joint applied force detecting mechanism according to any one of claims 1 and 2 at a joint (claim 3).
[0015]
According to this configuration, it is detected that the joints such as the neck, shoulder, and hip have been bent to the limit in the bending direction, and further, the force applied in the bending direction after the limit has been reached can be detected. Detection becomes more realistic. In particular, when the connecting portion applied force detecting mechanism according to the second aspect is provided, not only the magnitude of the force but also the direction of action can be detected, so that it is possible to analyze the situation where pain is occurring in detail.
[0016]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
[0017]
FIG. 1 is a schematic front view illustrating a phantom 3 having a ball joint 2 according to an embodiment of the present invention. The human phantom 3 is a human dummy used in the process of developing a rescue robot and a care support device. In FIG. 1, the human phantom 3 includes a tensile force measuring mechanism and an actuator provided at a joint 4 and a ball joint 2 (see FIG. 2 and FIG. 3), a CCD camera 5 built in the head 13, a body surface sensor 6 provided in the body surface, a posture sensor 7 built in the body, an acceleration sensor 8, heat and carbon dioxide. And a computer 10 for collecting information from each unit or controlling each unit, a wireless device 11 for transmitting and receiving information to the outside, and a power supply 12 for operating each unit. However, the configuration of the human phantom 3 other than the ball joint 2 is not particularly limited.
[0018]
FIG. 2 is a schematic center longitudinal section side view depicting a joint 4 with a ball joint 2 according to an embodiment of the present invention. The joint 4 connects one member and the other member with three degrees of freedom, and is referred to as a neck joint 4 here. In FIG. 2, the ball joint 2 has a shaft 15 having a ball portion 14 serving as a center of rotation, a ball receiver 16 for rotatably holding the ball portion 14, and is fixed to the ball receiver 16 and the shaft 15 is in contact with the ball receiver 16. A regulating member 17 for restricting the movement of the shaft 15 and a sheet-like force sensor 18 provided between the regulating member 17 and the shaft 15 are provided.
[0019]
A mounting plate 15a is fixed to the tip of the shaft 15. The head 13 is fixed to the mounting plate 15a. The regulating member 17 is formed by an opening edge of a housing 38 in which the ball receiver 16 is accommodated and fixed. The housing 38 is fixed to the torso side of the phantom 3.
[0020]
The force sensor 18 is wound around the shaft 15 as shown in FIGS. Therefore, when the head 13 is bent with respect to the body and the shaft 15 contacts the regulating member 17, the force sensor 18 detects the pressing force between the shaft 15 and the regulating member 17.
[0021]
FIG. 4 is a cross-sectional view and a plan view illustrating a single-sided sheet 19 constituting the force sensor 18. The force sensor 18 is formed by bonding two single-sided sheets 19 with their printed surfaces facing each other as shown in FIG.
[0022]
In FIG. 4, a single-sided sheet 19 includes a film substrate 20 made of polyester, PEN, polyimide, or the like, and a single rectangular electrode portion 21 formed by printing and drying silver ink on the film substrate 20 by screen printing or the like. A terminal part 22, a connection part 23 connecting the electrode part 21 and the terminal part 22, and a pressure-sensitive part 24 formed by applying a pressure-sensitive ink whose conductive resistance changes by a pressing force onto the electrode part 21 are provided. I have.
[0023]
The electrode portion 21 and the pressure-sensitive portion 24 of the force sensor 18 are wound around the shaft 15 as shown in FIG. The terminal unit 22 is connected to the computer 10 of the phantom 3. Then, by applying a force in the direction of sandwiching the pressure-sensitive portion 24 from the outside, the resistance value between the electrode portions 21 of the single-sided sheets 19, 19 changes, and an increase or decrease in the pressing force can be detected. Here, by arranging the electrode portion 21 and the pressure-sensitive portion 24 of the force sensor 18 over the entire outer periphery of the shaft 15, the shaft 15 is regulated even when the shaft 15 is bent in any direction of 360 degrees. The contact with the member 17 can be detected.
[0024]
Next, an example of an operation when the joint 4 including the ball joint 2 of the present embodiment is bent will be described.
[0025]
When the head 13 is bent with respect to the body, the shaft 15 swings about the ball portion 14 with respect to the ball receiver 16 and the regulating member 17. When the shaft 15 is bent until it comes into contact with the regulating member 17, the force sensor 18 detects the pressing force. Thereby, it is detected that the shaft 15 has reached the limit of the movable range, that is, that the head 13 has been bent to the movable limit.
[0026]
Further, when a force in the bending direction is applied to the head 13, this force is also detected by the force sensor 18. This makes it possible to detect the magnitude of the further acting force after the movable limit is reached, so that the detection of human pain becomes more realistic.
[0027]
In addition, by using the joint 4 of the present embodiment for the shoulder or hip joint of the human phantom 3, it is possible to detect that the upper arm or thigh has reached the movable limit, and further detect the magnitude of the acting force. it can. Therefore, it is possible to detect human pain more realistically.
[0028]
The preferred embodiment of the present invention has been described above. However, the present invention is not limited to the above-described embodiment, and various design changes can be made within the scope of the appended claims. For example, in the above-described embodiment, each of the electrode portions 21 of the force sensor 18 has a single rectangular shape, but the present invention is not limited to this. For example, as shown in FIGS. May be divided.
[0029]
FIGS. 6 and 7 are a cross-sectional view and a plan view, respectively, illustrating the single-sided sheets 25 and 26 constituting the force sensor. This force sensor is formed by laminating the single-sided sheets 25 and 26 with their printing surfaces facing each other.
[0030]
In FIG. 6, one of the single-sided sheets 25 is divided into a film base 27 made of polyester, PEN, polyimide, or the like, and a plurality of, for example, four, which are formed by printing and drying silver ink on the film base 27 by screen printing or the like. The electrode portions 28a to 28d and the terminal portions 29a to 29d, the connection portions 30a to 30d for connecting the electrode portions 28a to 28d and the terminal portions 29a to 29d, and the pressure-sensitive ink are applied on the electrode portions 28a to 28d. And a pressure sensing unit 31.
[0031]
The electrode portions 28a to 28d each have a rectangular shape, and are arranged so as to form an intermittent rectangular shape as a whole. The pressure sensing portion 31 is provided so as to cover the entirety of the electrode portions 28a to 28d arranged in an intermittent rectangular shape.
[0032]
In FIG. 7, the other single-sided sheet 26 has a film base 32 made of polyester, PEN, polyimide or the like, and a single rectangular electrode portion formed by printing and drying silver ink on the film base 32 by screen printing or the like. 33 and a terminal portion 34; a connection portion 35 for connecting the electrode portion 33 and the terminal portion 34; a pressure-sensitive portion 36 formed by applying pressure-sensitive ink on the electrode portion 33; And an insulating portion 37. The insulating portion 37 prevents the electrode portion 33 from contacting any one of the other electrode portions 28a to 28d when the two single-sided sheets 25 and 26 are overlapped.
[0033]
In the ball joint 2 having this force sensor, when the shaft 15 is bent and abuts on the regulating member 17, any one of the electrode portions 28a to 28d of the one-sided sheet 25 of the force sensor or two adjacent electrodes are used. Only the pressing force is detected. For this reason, by determining the arrangement of the electrode portions 28a to 28d in advance, the direction in which the shaft 15 is bent can be detected based on which of the electrode portions 28a to 28d has detected. When a force in the bending direction is further applied, this force is also detected by the force sensor. For this reason, since the magnitude and the acting direction (bending moment of the shaft of the shaft 15) of the force by which the shaft 15 is bent can be detected at the same time, it is possible to analyze the situation where pain is occurring in detail. become.
[0034]
Further, although the electrode portions 28a to 28d of the single-sided sheet 25 of the above-described force sensor are divided into four, the number is not limited thereto and may be divided into another number. Further, the divided electrode portions do not have to be the same size. In the above-described embodiment, only the electrode portions 28a to 28d of one of the single-sided sheets 25 of the force sensor 18 are divided, but the electrode portions 28a to 28d and 33 of the two single-sided sheets 25 and 26 are divided. You may. Furthermore, although each of the electrode portions 28a to 28d, 33 of the above-described force sensor has a rectangular shape, the present invention is not limited to this, and may have another shape.
[0035]
In the above-described embodiment, the force sensor having the electrode portions 21, 28a to 28d, 33 and the pressure-sensitive portions 24, 31, 36 is used, but a force sensor having another structure is used. You may. Further, the force sensor 18 is provided to be wound around the shaft 15, but may be provided to the regulating member 17 side.
[0036]
Further, in the above-described embodiment, the ball joint 2 is used for the joint 4. However, for example, a large sensor is wound around the arm or foot of the phantom to detect a force applied to the body surface. It can also be used for other purposes. Further, in the above-described embodiment, the joint 4 is used for the human phantom 3, but the joint 4 may be used for other purposes such as an animal model or a robot that moves actively (autonomously).
[0037]
【The invention's effect】
As described above, according to the present invention, the connection portion applied force detection mechanism can detect that the shaft has reached the limit of the movable range and further detect the magnitude of the force applied in the bending direction thereafter. Can be. When using a force sensor having divided electrode parts, it is necessary to detect the magnitude of the bending force of the shaft and the direction of action by detecting which part of the electrode part receives the pressing force. Can be.
[0038]
Furthermore, in the human phantom equipped with the joint applied force detecting mechanism at the joint, it is detected that the neck, shoulder, or hip joint has been bent to the limit of the bending direction, and after reaching the limit, the bending direction is further increased. Because the force applied to the human body can be detected, the detection of human pain becomes more realistic. In particular, when using a force sensor having divided electrode parts, not only the magnitude of the force but also the direction of action can be detected, so whether the neck, upper arm or thigh is tilted forward, backward, left or right to apply a load It is possible to make a judgment, and it becomes possible to analyze in detail a situation where pain is occurring.
[Brief description of the drawings]
FIG. 1 is a schematic front view illustrating an internal configuration of a phantom according to an embodiment of the present invention.
FIG. 2 is a schematic central longitudinal sectional side view illustrating a joint using a ball joint according to an embodiment of the present invention.
FIG. 3 is a schematic perspective view of the ball joint of FIG. 2;
4A and 4B are diagrams illustrating a single-sided sheet having a single electrode portion of the force sensor, in which FIG. 4A is a cross-sectional view taken along line IV-IV of FIG. 4B, and FIG. is there.
5 is a cross-sectional view of the force sensor taken along line IV-IV in FIG.
6A and 6B are diagrams illustrating a single-sided sheet having divided electrode portions of the force sensor, in which FIG. 6A is a cross-sectional view taken along line VI-VI of FIG. 6B, and FIG. 6B is a plan view. is there.
FIGS. 7A and 7B are diagrams illustrating a single-sided sheet having a single electrode portion of the force sensor, in which FIG. 7A is a cross-sectional view taken along line VII-VII of FIG. is there.
FIG. 8 is a schematic exploded perspective view illustrating a tensile force measuring mechanism according to the related art.
9 is a side view of the tension measuring mechanism shown in FIG.
10 is a diagram illustrating a single-sided sheet of the force sensor of the tensile force measuring mechanism in FIG. 8, (A) is a cross-sectional view taken along line XX of (B), and (B) is a plan view. It is.
11 is a cross-sectional view of the force sensor of the pulling force measuring mechanism of FIG. 8 cut along the line XX of FIG.
[Explanation of symbols]
2 Ball joint 3 Manikin 4 Joint 14 Ball part 15 Shaft 16 Ball receiver 17 Restriction member 18 Force sensor 21, 28a-28d, 33 Electrode part 24, 31, 36 Pressure sensitive part

Claims (3)

A connection portion applied force detection mechanism having a shaft having a ball portion and a ball receiver rotatably holding the ball portion,
A regulating member fixed to the ball receiver and restricting the movement of the shaft to a predetermined range by abutting the shaft,
A connection part applied force detecting mechanism, comprising: a force sensor provided between the regulating member and the shaft. The force sensor is
A pressure-sensitive part whose conductive resistance changes with external pressure,
2. The connection part applied force detection mechanism according to claim 1, further comprising: two electrode parts sandwiching the pressure-sensitive part and at least one of the electrode parts being divided into a plurality of parts. A human body model comprising a joint provided with the connection portion applied force detection mechanism according to claim 1.

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