JP2008523387A - Measuring system of force acting on palm - Google Patents

Abstract

The present invention relates to an apparatus for measuring a force applied to a hand when a worker works at an industrial site, and includes a glove having a plurality of sensing units on a palm surface, a case having a band, and the case. And a reservoir that receives and records the signal measured by the sensing unit.
[Selection] Figure 1

Description

  The present invention relates to an apparatus for measuring the force applied to an object by a human hand, and an apparatus and system for analyzing information collected through the apparatus.

  In the industrial field, interest in musculoskeletal diseases is increasing as a dimension to prevent work-related accidents. Workers in the field tend to develop musculoskeletal diseases because they are exposed to various harmful factors depending on the work environment. The occupational factors that cause this musculoskeletal disease are very diverse, and in most cases, one or more adverse factors act in a complex manner. Inconvenient working posture, use of excessive force, maintenance of static state, insufficient rest, excessive repetitive work, restricted working space, inappropriate working environment (temperature, humidity, noise, lighting, etc.), etc. A musculoskeletal disorder is a chronic musculoskeletal health disorder that complains of pain and sensory abnormalities due to the combined action of fatigue accumulated in the musculoskeletal region and damage to the body region.

  The onset of such musculoskeletal diseases has led to many social problems such as increased wage compensation costs and medical expenses, and decreased productivity and quality of life. Therefore, the Labor Department's “Rules on Occupational Health Standards” outlines the content that employers investigate harmful factors for musculoskeletal burden work every three years to prevent musculoskeletal diseases in workers. The revised bill has been announced and implemented since July 12, 2003.

As described above, various forms of devices have been developed for measuring the force applied to the body when workers work while the interest in musculoskeletal diseases increases. For example, Patent Document 1 discloses a device that measures a force transmitted by a hand by attaching a sensor to a joystick. Patent Document 2 discloses a sensor between two handles formed by two bars. An apparatus is disclosed that is installed and configured to measure the force acting when the handle is gripped by hand.
Republic of Korea Publication No. 10-2001-3939 US Publication No. 5,317,916

  However, since the measuring device provided by such a prior art cannot be inspected while working while the worker is wearing it on the hand, it is limited to simply measure the hand grip strength. Therefore, when a worker is subjected to various work environments, there is a problem that the physical force applied by the body cannot be measured each time.

  A technical problem to be solved by the present invention is to make it possible to easily measure the force applied by a worker in various work environments and to analyze the measured data in various forms.

  In order to achieve such a technical problem, the measuring device of the present invention includes a glove having a plurality of sensing units on the palm surface, a case having a band, a signal installed in the case and measured by the sensing unit. And a reservoir for receiving and recording.

  Here, the sensing unit includes a palm (palm) side portion, a node portion connecting between each joint of the finger, a joint portion connecting the finger and the palm, and a joint portion connecting the finger and the palm. Can be provided on the palm surface of the glove in at least one place corresponding to the above.

  The sensing unit may be composed of an FSR (force sensing resistor) sensor that outputs voltages having different magnitudes while changing a resistance value according to an applied force. At this time, it is desirable that the surface of the FSR sensor is coated with an epoxy resin and coated with a coating material that has been processed to form irregularities.

  In addition, the back surface of the hand of the glove may further include a collecting member for organizing a signal line connecting the sensing unit and the reservoir.

  The palm surface of the glove is composed of a perforated outer skin and an inner skin, and a space is formed between the perforated outer skin and the inner skin. The sensing portion is installed in accordance with the hole, and the signal line passes through the hole. It is preferably located in the space between the skin and the outer skin.

  The storage includes an input unit that receives a signal from the sensing unit, a conversion unit that converts the signal into a digital signal, and a control unit that stores the digital signal in a memory that is a binary file. . At this time, the memory is preferably formed of a small memory card such as an MMC (multi media card).

  The arithmetic device according to the present invention includes a process unit and a memory, and the process unit stores the original data recorded in such a manner that the time, the channel, and the measured value are related to each other by the calculation method of the program recorded in the memory. From the original data, the measured value is converted into a force value in units of Newton (N), and the original data is generated as Newton data.

  The process unit is expressed by the mathematical formula defined as Y = α × X (X: measurement value, α: proportional constant defined as a ratio between the magnitude of the known force and the measurement value of the force). Convert the measured value of the original data.

  Further, the process unit configures and outputs a window for displaying a left hand and a right hand and a horizontal bar displayed on the hand.

  At this time, the process unit parses the Newton data in order of time, identifies the horizontal bar in the channel of the Newton data, highlights the force value in a bar form, and Depending on the size of the bar, a difference may be given to the size of the bar-shaped highlight.

  The process unit parses the Newton data to construct and output a histogram composed of an x-axis displaying a force-specific section and a y-axis displaying a ratio (%).

  The process unit parses the Newton data to construct and output a waveform diagram composed of a time x-axis and a force y-axis.

  In addition, the process unit constructs two channel-specific force values from the Newton data, each of which is represented by a waveform diagram, and outputs it by overwriting it.

  In addition, the process unit parses the Newton data, and configures and outputs a force value with time in a waveform diagram for each channel.

  The process unit parses the Newton data and calculates an average, standard deviation, minimum value, and maximum value of the force value for each channel.

  In addition, the process unit parses the Newton data, configures the time-dependent change of the force value in each channel waveform diagram, outputs to the window, and the range of the waveform diagram output to the window The designated area is deleted from the Newton data or updated to Newton data only for the area designated.

  The process unit is defined as Y (n) = {f (n) + f (n + 1) + f (n + 2)} / 3 (f (n): the nth converted measurement value, n: natural number). The value of the force is smoothed by the following mathematical formula.

  The analysis system according to the present invention includes a glove having a plurality of sensing units on a palm surface, a case having a band, a signal installed in the case and measured by the sensing unit (and receiving time and each sensing unit). A measuring device including a reservoir that records the identified channels in relation to each other and records the original data; and a process unit and a memory; wherein the process unit uses the calculation method of the program recorded in the memory to The measurement value is converted into a force value with Newton (N) as a unit, and the original data is generated as Newton data.

  Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement the embodiments. However, the present invention can be realized in various different forms and is not limited to the embodiments described herein.

  FIG. 1 is a schematic diagram of a measuring apparatus constructed according to an embodiment of the present invention. The present embodiment will be described with reference to this drawing.

In the present embodiment, the measuring device includes a glove 10 provided with a sensing unit 11 and a reservoir 20 that records a result measured by the sensing unit 11.
The glove 10 includes a plurality of sensing units 11 on the palm surface 10a. The sensing unit 11 is provided along a portion where the palm contacts the article when the article is held by hand. FIG. 2 illustrates the palm of a person, which will be described in more detail.

  Usually, the back of a person's hand is in a relaxed state and the palm is contracted. In this state, the finger is moved around the palm to grasp the article. Accordingly, the article comes into contact with the hand side portion 101, the node portion 103 connecting the joints of the fingers, and the joint portion 107 connecting the fingers and the palm. Further, on the thumb side, a portion 105 connecting the thumb and the wrist also contacts the article.

  In the present embodiment, in consideration of such a point, a plurality of sensing units 11 are provided along points corresponding to the above-described contact portions in the palm surface 10a of the glove 10. As a result, the glove 10 is provided with a plurality of sensing portions 11 at each node portion from the thumb to the ring finger on the palm surface 10a, the hand side portion, and the portion connecting the thumb and the wrist (see FIG. 3). ).

  On the other hand, in the present embodiment, the sensing unit 11 measures the force applied by the hand when it comes in contact with the article, but an FSR sensor can be used as one desirable mode. In the following description, an example in which the sensing unit 11 is configured by an FSR sensor will be described, but the present invention is not limited to this.

  The sensing unit 11 measures the force applied to each part of the hand by generating voltages having different magnitudes while the resistance value varies depending on the force acting on the surface. The sensing unit 11 is preferably applied to an epoxy resin in order to improve measurement accuracy, and is preferably covered with a coating material in order to prevent wear and damage. This coating material is subjected to a concavo-convex formation treatment on its surface to prevent slipping.

  On the other hand, as shown in FIG. 4, the plurality of sensing units 11 provided on the palm surface 10 a of the glove 10 are connected to the reservoir 20 through the signal line 13. In order to prevent this, a collecting member 15 for arranging the signal lines 13 may be further provided.

  In one example, the collecting member 15 can be composed of a plurality of guide grooves installed on the plate. However, the signal lines 13 drawn from the sensing units 11 are collected by the collecting member 15, and the collecting member 15 Arranged in 15 guide grooves. Thereby, the plurality of signal lines 13 are arranged into one and connected to the reservoir 20. As described above, the collecting member 15 for organizing the signal lines 13 is not limited to the above-described one, and it is needless to say that various forms are possible. The collecting member 15 is desirably provided on the back surface 10b of the hand in the glove 10 so as not to interfere with the movement of the hand.

  On the other hand, FIG. 5 is a schematic cross-sectional view of the palm surface shown by cutting along the line AA in FIG. 3, and the configuration of the palm surface of the glove will be described with reference to this.

  The palm surface 10a of the glove 10 has a double structure of the inner skin (A2) and the outer skin (A1), and the signal line 13 is arranged in the space (S) between the inner skin (A2) and the outer skin (A1). Structure. More specifically, a hole (h) is formed in the outer skin (A1), and the FSR sensor 11 is installed on the outer side of the outer skin (A1) so as to face the hole (h). The signal line 13 connected to the FSR sensor 11 is disposed through the hole (h) in the inner surface of the outer skin (A1), that is, in the space (S) formed by the outer skin (A1) and the inner skin (A2). . As a result, the signal line 13 has a form covered with an outer skin (A1) and can be protected from external force, and since the signal line does not come out of the glove, the design is beautiful, Interference due to signal lines can be prevented in the process in which an operator wears gloves.

  Meanwhile, the storage 20 of the present embodiment receives the signal measured by the sensing unit 11 through the signal line 13 and stores it in the memory 25 as a binary file. FIG. 6 is a block diagram schematically showing the configuration of the reservoir 20. With reference to this, the reservoir 20 will be described as follows.

  The storage 20 includes an input unit 21 that receives a signal, a conversion unit 22 that converts the signal into a digital signal, a display unit 23 that displays an operation state, a control unit 24 that controls the operation state of each unit, and data And a memory 25 for storing. And each component is mutually connected through high-speed serial communication (serial peripheral interface, SPI).

  The memory 25 is composed of a detachable small memory card such as MMC (multi media card) or SDC (secure digital card), and the control unit 24 is composed of a microprocessor such as ATmega128. Control elements.

  The reservoir 20 configured as described above receives the signal measured by the sensing unit 11 through the input unit 21, amplifies the signal to a predetermined size by an amplifier (not shown), and converts the amplified signal. Transmitted to the unit 22. The conversion unit 22 converts the received signal into a digital signal and stores it in a binary file in the memory 25 under the control of the control unit 24.

  The reservoir 20 configured as described above is realized by substantially installing a plurality of circuit elements on a printed circuit board. The printed circuit board is installed in a case 30 having a storage space therein.

  On the other hand, the case 30 is provided with a pair of rings, and a band 31 provided with an elastic band or Velcro tape is provided on the ring.

  Thereby, an operator wears the glove 10 in his hand and uses the band 31 on his wrist to fix the reservoir 20. Therefore, the worker on site can fix the storage device 20 to the wrist while wearing the glove 10 in his / her hand, so that the measuring device can be carried throughout the working time. Thereafter, the operator works with the measuring device of this embodiment attached to the body, and information collected through each part of the palm by the sensing unit 11 of the glove 10 in this process is stored in the reservoir through the signal line 13. 20, where the signal is processed and stored in the memory 25 (see FIG. 7).

  Hereinafter, a method for analyzing the information collected in this way will be described in detail. The analysis method described in the present invention is installed as a program in an arithmetic device using a programming technique. Here, the arithmetic device is a device including a process unit and a memory for performing a logical operation, and may preferably be a computer.

  FIG. 8 is a flowchart showing the overall calculation method according to this embodiment.

  The calculation method of the present embodiment includes a measurement stage (S10), a deviation correction stage (S20), a signal processing stage (S30), and an output stage (S40).

  First, the measurement step (S10) is a step of acquiring information by measuring the force use of the operator using the glove 10 and the reservoir 20 configured as described above. In this stage (S10), the operator works by wearing gloves and a reservoir on the hand and the arm, respectively. In this process, information on the force applied by the operator is recorded and stored in the memory 25 of the reservoir 10. The reservoir 20 records the time and measured values in a memory 25 in a binary file, and the recorded file is transferred to a computer through a standard USB connector.

  In the deviation correction step (S20), the value measured by the sensing unit 11 is applied to the deviation correction function for conversion. Through this process, the measured value is converted to a value in Newton (N) units, and the force we know is converted from the value detected by the sensing unit 11 by obtaining a proportional expression. The signal detected by the sensing unit 11 through this process is converted in proportion to the magnitude of the force we know, so that it is easy to grasp how much force the worker uses during work. There is an advantage to.

  In the signal processing stage (S30), prior to the detailed analysis, data pre-processing is performed in order to obtain more accurate information. This step (S30) is selectively performed when there is noise in the information or when information other than the object of analysis exists.

  Parts of the measured information that are not required for analysis are selectively removed using an editing function, and if there is noise in the information, the noise is selected from the information using filtering and smoothing functions. To remove.

  In the output stage (S40), the measured value is visually output to the screen through a graph and statistical analysis. The visual analysis provided in this step (S40) includes an overlay waveform, a hand map meter, a histogram, and the like.

  FIG. 9 is a schematic diagram illustrating a process of converting a measurement value detected by the sensing unit 11 of the glove 10 into a force value.

  Prior to this conversion process, the memory 25 of the storage 20 is connected to a computer and the process of loading the information recorded in the memory 25 is preceded. The process of reading out such information is well known in the prior art. Since they are the same, detailed description is omitted.

  The computer records the information recorded in the memory 25 (information on the force acting on the hand by time, and simply converts the magnitude of the voltage change of the FSR sensor into a digital signal and records it. ') Is read and stored in a volatile memory such as RAM.

  Here, the original data is recorded in the memory 25 of the reservoir 20 as follows. If a voltage of 3.2 volts (v) is applied to the sensing unit 11 composed of an FSR sensor, the force acting on the sensing unit 11 acts as a resistance, and the reverse order is 0 to 3.2 volts depending on the magnitude of the force. The voltage (V) is output. This output voltage is converted into a digital signal by the converter 22 and recorded in the memory 25 as original data having a file format.

  The computer applies the deviation correction function recorded in the program to the original data and converts it into a force value. Here, the deviation correction function is defined as follows. For example, if we artificially apply 0 and 5 Newton (N) forces that we know to the sensing unit 11 of the glove 10 to obtain the output signals 0 and 1,000, respectively, the deviation correction function Is defined as Y = 0.005 × X from the relationship between force and output signal. Therefore, if the output signal is 500, the result obtained by the deviation correction result is 2.5 (N).

  The computer applies the deviation correction function defined as the proportional relationship between the known magnitude of the force and the output signal of the sensing unit 11 to the original data, and then converts the converted data. (Hereinafter 'Newton data') is recorded in volatile memory.

  As described above, the computer generates Newton data through a deviation correction process that is performed simultaneously with reading of the original data, and then processes the Newton data according to the request, and outputs a result that meets each request to the monitor screen.

  FIG. 10 shows a main window output when the program recorded in the computer is executed.

  The deviation correction process of the original data described with reference to FIG. 9 is performed in the process of selecting the file tap 101 of the main window 100 and reading the original data recorded in the file form in the memory 25.

  The Newton data is loaded into the volatile memory through the Newton data conversion process as described above, and the calculated result is output to the monitor screen by selecting various buttons 103 displayed on the main window.

  FIG. 11 illustrates an output window of the hand map meter.

  The output window 110 includes a left hand 111 and a right hand 113 and a horizontal bar 115 displayed on the hand, as illustrated. Here, the horizontal bar 115 is located along the same position as the sensing unit 11 installed in the glove 10. A progress bar 117 is displayed below the output window 110.

  This output window 11 displays the magnitude of the force applied to each part of the hand with the passage of time. The lower progress bar 117 shows the passage of time, and the horizontal bar 115 shows the time. The amount of force applied to the position during the period is displayed as a bar.

  The computer relates to time and references the recorded Newton data to highlight the horizontal bar 115, but the computer parses the Newton data according to time and channel. Here, the channel is a code that enables the plurality of sensing units 11 to be identified.

  As a result, the computer highlights each horizontal bar 115 in the form of a bar in time order. At this time, the horizontal bar 115 to be displayed is selected by referring to the channel. In addition, the size of the highlight bar displayed on the horizontal bar 115 is determined by a rule. For example, 1 (N) is 1 mm, and 2 (N) 2 mm. The size of the highlighted bar is determined by the size difference.

  Therefore, the operator can look at the horizontal bar 115 highlighted in the output window 110 and view the worker's force usage pattern with time.

  FIG. 12 illustrates an output window of the histogram.

  The output window 120 includes a histogram 121 composed of an x-axis of force and a y-axis of frequency (%). Here, the x-axis displays force divided into arbitrary sections, and the y-axis indicates the frequency of each section.

  The computer selectively outputs the record of the selected sensing unit 11 to a histogram as illustrated in FIG. When the operator selects a button for executing this histogram from the button 103 on the main window 100, the operator selects one of the plurality of sensing units 11. Further, the operator can also select the width of the force section that forms the x axis. FIG. 12 illustrates that the width is set to 80.

  Then, when the computer parses the Newton data loaded in the volatile memory, the computer selectively extracts only the information of the sensing unit 11 selected by the operator and forms the histogram 121. At this time, the computer forms a histogram, but the histogram for each section is configured to match the frequency of the y-axis by a statistical calculation method. That is, the computer extracts the magnitude of the force belonging to each section from the Newton data from the whole, obtains the ratio, and determines the magnitude of the histogram with reference to the y-axis.

  When the operator changes the frequency interval on the x-axis, the x-axis is displayed with the changed frequency interval, and a histogram suitable for the frequency interval is configured by a statistical calculation method.

  The output of such a histogram makes it easy for the operator to know how often the force for each section is distributed for each sensing unit.

  FIG. 13 shows an output window for displaying an overwritten waveform diagram that enables comparison of the magnitudes of time-dependent forces for two sensing units.

  The output window 130 includes a waveform diagram 131 consisting of a time x-axis and a force y-axis. The computer outputs the records of the first and second sensing units selected by the operator in the waveform diagram illustrated in FIG. 13 so that the two selected records can be compared with each other. Therefore, the operator can compare the distribution of the force applied to each with time according to the position of the desired hand.

  The operator selects a button for executing this overwritten waveform diagram from the buttons 103 on the main window 100, and selects two of the plurality of sensing units 11.

  Then, the computer selectively extracts the data selected by the operator from the Newton data recorded in the volatile memory by referring to the channel, and each has the time and the channel related to the extracted data. The waveform diagram corresponding to the sensing unit is configured, and the waveform diagram 131 is displayed on the output window 130.

  FIG. 14 is an output window illustrating a tile waveform diagram screen that displays the operation state of each sensing unit.

  The output window 140 allows the operator to check whether the sensing unit operates normally by displaying all the sensing unit records on one screen.

  The computer parses Newton data loaded in the volatile memory according to the channel, and constructs a waveform diagram with time. At this time, the output window 140 illustrated in FIG. 14 is configured by outputting the waveform diagrams classified by the respective channels so as to match the respective channels.

  In FIG. 14, the output window 140 is configured so that records of the sensing units installed in the left hand and the right hand on the left and right, respectively, are output as waveform diagrams with respect to the y-axis of the channel. Further, in the example of FIG. 14, an example in which the number of sensing units 11 is configured to be 23 on the left and the right is illustrated.

  FIG. 15 is a diagram illustrating an output window 150 that statistically shows changes in force. This output window 150 displays the magnitude of the force according to the time of each sensing unit installed on the left and right on one screen and displays them to the operator by classifying them into minimum and maximum, and average and standard deviation. So it is very useful for statistical analysis.

  The computer parses the Newton data loaded in the volatile memory according to the channel, and calculates the average value, standard deviation, maximum value, and minimum value of each channel based on each channel. The output window 150 as shown in FIG. 15 is obtained by a statistical calculation method. In FIG. 15, 'MEAN' is an average force value, 'STD' is a standard deviation, 'max' is a maximum value, and 'min' is a minimum value.

  A method for editing Newton data will be described below. This editing method is selectively applied according to each purpose of the operator, and is individually performed for each sensing unit. When the editing described below is performed, the Newton data constituting the output window of FIGS. 11 to 15 is updated to the edited one, and the output window is configured.

  FIG. 16 exemplifies a window for editing each sensing unit record. The editing window 160 includes a graph composed of a time x-axis and a force y-axis. In this graph, a change in the force for each sensing unit with the passage of time is displayed in a waveform diagram form.

  The editing window 160 includes a selection screen 161 for selecting any one of a plurality of sensing units, a cut button 163 for editing a record, and a copy button 165.

  The selection screen 161 selects any one of the plurality of sensing units 11 installed in the glove 10, and the cut button 163 and the copy button 165 selectively select a part of the record output on the graph. So that it can be cut and copied.

  When the operator operates the selection screen 161 and selects the sensing unit 11 (displayed in the channel in the drawing) to be edited, the computer reads the Newton data loaded in the volatile memory, In accordance with the order, Newton data is parsed to form a waveform diagram and output to the editing window 160.

  The operator designates the range of the point (P), selects the section (dotted line portion of the drawing) 167 to be edited, selects the cut button 163 or the copy button 165, and selects the portion recorded in the graph. Some of them can be removed or copied.

  The computer confirms the area delimited by the point (P) and, according to the command of the selected button, a part of the data identified by the channel in the Newton data (the data delimited by the point) Delete or copy and record the selected part data in volatile memory with other names.

  FIG. 17 shows an example of a window for smoothing noise when a part of each sensing unit record includes noise.

  The smoothing window 170 includes a graph consisting of a time x-axis and a force y-axis. In this graph, a change in the force for each sensing unit with the passage of time is displayed in a waveform diagram form.

  The computer applies a moving average to smooth the noise included in the data in order to reduce the distortion of the data due to the noise. As illustrated in FIG. 18, this moving average is obtained by smoothing one data (m1) smoothed by the average of the three consecutive original data (f1, f2, f3), and then Second data (m2) smoothed by the average of three consecutive data (f2, f3, f4) from the second data (f2) is obtained. Such a process is repeated to smooth the last original data (f10).

  Although the present invention has been described above by way of limited embodiments and drawings, the present invention is not limited thereto, and the present invention can be obtained by a person having ordinary knowledge in the technical field to which the present invention belongs. It goes without saying that various modifications and variations can be made within the scope of the technical idea of the present invention and the equivalent scope of the claims of the present invention.

  According to the present invention, the above-mentioned problems can be solved, and a worker who works on-site can work while wearing the measuring device of the present invention. Therefore, there is an effect that it is possible to easily collect the force applied by the worker using hands in various environments. In addition, since the sensing unit provided in the glove is installed along the part where the article directly contacts the hand of the human body, more accurate data can be collected.

  Since the measured data is stored in a binary file in the memory, it can be easily read out by an ordinary computer equipped with a reader, providing convenience. Since the data measured in this way is transferred to the ordinary computer and easily analyzed by the program, it is possible to easily analyze how much stress the worker receives in what environment.

FIG. 1 is a schematic diagram of a measuring apparatus constructed according to an embodiment of the present invention. FIG. 2 is a diagram schematically showing a human hand. FIG. 3 is a diagram illustrating the position of the sensing unit installed on the bottom surface in the glove according to the present embodiment. FIG. 4 is a diagram for explaining the wiring relationship of signal lines connecting the sensing units installed in the gloves of this embodiment. FIG. 5 is a cross-sectional view taken along line AA in FIG. FIG. 6 is a block diagram showing the configuration of the reservoir of this embodiment. FIG. 7 is a diagram illustrating a state in which an operator wears the measuring apparatus according to the present embodiment. FIG. 8 is a flowchart showing an overall analysis method according to an embodiment of the present invention. FIG. 9 is a schematic diagram illustrating a process of converting a measurement value detected by a sensing unit of a glove into a force value. FIG. 10 is a diagram illustrating a main window output when a program is realized by the analysis method of the present embodiment. FIG. 11 is a diagram illustrating a screen of the hand map meter. FIG. 12 is a diagram illustrating an example of a histogram screen. FIG. 13 is a diagram illustrating a screen of an overwritten waveform diagram. FIG. 14 is a diagram illustrating a tile waveform diagram screen. FIG. 15 is a diagram exemplifying a screen that statistically shows the change in force for each region. FIG. 16 is a diagram illustrating an example of a screen for editing the recording for each sensing unit. FIG. 17 is a diagram illustrating a screen for smoothing noise during recording. FIG. 18 is a schematic diagram for explaining a smoothing process according to the present embodiment.

Claims (34)

Gloves having a plurality of sensing units on the palm surface;
A case with a band;
A measuring apparatus including a reservoir that is installed in the case and receives and records a signal measured by the sensing unit.   The sensing unit includes at least one part corresponding to a palm side part, a node part connecting each joint of the finger, a joint part connecting the finger and the palm, and a joint part connecting the finger and the palm. The measuring apparatus according to claim 1, wherein more than one place is provided on a palm surface of the glove.   The measuring apparatus according to claim 1, wherein a resistance value changes according to a force applied by the sensing unit, and is configured by an FSR (force sensing resistor) sensor that outputs different voltages.   The measuring apparatus according to claim 3, wherein a surface of the FSR sensor is coated with an epoxy resin.   The measuring apparatus according to claim 3, wherein the FSR sensor is covered with a covering material.   The measuring apparatus according to claim 5, wherein the surface of the covering material has been subjected to an unevenness forming process.   The measuring apparatus according to claim 1, further comprising a collecting member provided on a back surface of the hand of the glove, wherein the collecting member includes a plurality of guide grooves for organizing signal lines connecting the sensing unit and the reservoir.   The palm surface of the glove is composed of an outer skin and an inner skin having a hole, and a space is formed between the outer skin and the inner skin. The measuring device according to claim 1, which is located as a space between.   The measurement according to claim 1, wherein the reservoir includes an input unit that receives a signal from the sensing unit, a conversion unit that converts the signal into a digital signal, and a control unit that stores the digital signal in a memory. apparatus.   The measuring apparatus according to claim 9, wherein the memory is a small memory card such as an MMC (multi media card). Including process units and memory,
In accordance with the calculation method of the program recorded in the memory, the process unit is configured to measure the measured value in units of Newton (N) from the original data recorded with time, channel, and measured value being related to each other. An arithmetic unit that converts the original data into Newton data. The arithmetic unit according to claim 11, wherein the process unit converts the measured value of the original data according to the following mathematical formula to generate Newton data.
Y = α × X
(X: measured value, α: proportional constant defined as the ratio between the magnitude of the known force and the measured value of that force)   The arithmetic unit according to claim 11, wherein the process unit configures and outputs a window that displays a left hand, a right hand, and a horizontal bar displayed on the hand.   The process unit parses the Newton data in chronological order (PARSING), identifies the horizontal bar in the Newton data channel, and highlights the force value in bar form. The computing device described.   The arithmetic unit according to claim 14, wherein the process unit gives a difference in the size of the bar-shaped highlight according to the magnitude of the force value.   12. The process unit parses the Newton data to construct and output a histogram including an x-axis displaying a force-specific section and a y-axis displaying a ratio (%). Arithmetic device as described in.   The arithmetic unit according to claim 11, wherein the process unit parses the Newton data to construct and output a waveform diagram composed of an x-axis of time and a y-axis of force.   The arithmetic unit according to claim 17, wherein the process unit configures two channel-specific force values from the Newton data in waveform diagrams, and outputs the waveform diagrams by overwriting them.   The arithmetic unit according to claim 11, wherein the process unit parses the Newton data and configures and outputs a force value with time in a waveform diagram for each channel.   The arithmetic unit according to claim 11, wherein the process unit parses the Newton data to calculate an average, a standard deviation, a minimum value, and a maximum value of the force value for each channel. The process unit parses the Newton data, configures a time-dependent change of the force value in a waveform diagram for each channel, and outputs it to a window,
The computing device according to claim 11, wherein a range-designated region of the waveform diagram output to the window is deleted from the Newton data or updated to Newton data only for the region-designated region. The arithmetic unit according to claim 11, wherein the process unit smoothes the force value by the following mathematical formula.
Y (n) = {f (n) + f (n + 1) + f (n + 2} / 3
(F (n): n-th converted measurement value, n: natural number) A glove with a plurality of sensing units on the palm surface, a case with a band, a channel that is installed in the case and receives a signal (hereinafter, measured value) measured by the sensing unit, and identifies the time and each sensing unit Measuring device including a reservoir that records the original data in relation to each other;
The process unit converts the measured value into a force value in units of Newtons (N) from the original data by a calculation method of a program recorded in the memory. An arithmetic unit for generating the original data into Newton data;
Including analysis system. 24. The analysis system according to claim 23, wherein the process unit converts the measured value of the original data according to the following mathematical formula to generate Newton data.
Y = α × X
(X: measured value, α: proportional constant defined by the ratio between the magnitude of the known force and the measured value of that force)   24. The analysis system according to claim 23, wherein the process unit configures and outputs a window for displaying a left hand and a right hand and a horizontal bar displayed on the hand.   26. The analysis of claim 25, wherein the process unit parses the Newton data in time order, identifies the horizontal bar in the Newton data channel, and highlights the force value in a bar form. system.   27. The analysis system according to claim 26, wherein the process unit gives a difference in the size of the bar-shaped highlight according to the magnitude of the force value.   24. The process unit parses the Newton data and outputs a histogram including an x-axis displaying an interval by force magnitude and a y-axis displaying a ratio (%). Analysis system described in.   24. The analysis system according to claim 23, wherein the process unit parses the Newton data and forms and outputs a waveform diagram including a time x-axis and a force y-axis.   30. The analysis system according to claim 29, wherein the process unit constructs two channel-specific force values from the Newton data into waveform diagrams, which are overlaid and output.   24. The analysis system according to claim 23, wherein the process unit parses the Newton data and constructs and outputs a force value with time in a waveform chart for each channel.   12. The analysis system according to claim 11, wherein the process unit parses the Newton data to calculate an average, standard deviation, minimum value, and maximum value of the force value for each channel. The process unit parses the Newton data, configures a time-dependent change of the force value in a waveform diagram for each channel, and outputs it to a window,
24. The analysis system according to claim 23, wherein a range-designated region of the waveform diagram output to the window is deleted from the Newton data or updated as Newton data of only the region-designated region. The analysis system according to claim 23, wherein the process unit smoothes the force value according to the following mathematical formula.
Y (n) = {f (n) + f (n + 1) + f (n + 2)} / 3
(F (n): n-th converted measurement value, n: natural number)

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