JP2014102130A - Tactile feeling measurement apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To present accurate push-in length to a user in measurement in a tactile feeling measurement apparatus having a non-linear elastic body and a tactile feeling measurement system.SOLUTION: A tactile feeling measurement apparatus 1 includes: a main body part 10; a tip part 20 including a vibration detection part 21 which detects the vibration of an object to be detected as an object whose tactile feeling is measured; a connection part 30 including a non-linear elastic body (31) for energizing the tip part 20 to the object to be measured side, which connects the main body part 10 to the tip part 20; a force measurement part (40) which measures a force applied between the connection part 30 and the tip part 20; a push-in length measurement part (50) for measuring the push-in length of the tip part 20; a push-in length display part for displaying the push-in length of the tip part 20; and an extension fixing part 70 for fixing the tip part 20 to the main body part 10 such that the extension length of the non-linear elastic body (31) is adjustable.

Description

  Embodiments discussed in this specification relate to a tactile sensation measuring instrument that measures a tactile sensation of a measurement target.

  Conventionally, a tactile sensor system that obtains vibration information on the skin surface, etc., from a polymer piezoelectric (PVDF: PolyVinylidene DiFluoride) film, processes the vibration information, and evaluates the hand feeling such as “roughness” and “elasticity”. It has been known. In this tactile sensor system, a technology that can hold a pressing force against a specific material even by manual operation at an arbitrary elevation angle by a user by sliding on the skin with a pair of guide rollers located between PVDF films. Etc. are known.

  The tactile sensation is vibration information (including sound) obtained when the vibration detector rubs against the measurement target surface with a certain pressure. This vibration information is close to sensory information obtained when a person touches the target surface with a finger or the like. The tactile sensation is called “handling” especially when weaving fabric or paper is used as the measurement target surface. It is a texture that feels when a person touches something, such as touch, texture, and comfort. The measurement target surface assumed in the specification includes a wide range including the walls and floors of buildings and dwellings.

  As a conventional measuring instrument, there is known a device that has two differential transformers and measures viscoelastic characteristics of a measurement target part in order to measure viscoelasticity of a soft object (for example, see Patent Document 1). .

  In this apparatus for examining viscoelastic characteristics, the movable parts of the differential transformer are connected in series in the movable direction via an elastic body, and the tip of one movable part is brought into contact with the part to be measured while the other The movable part is displaced by applying an external force. Further, in this apparatus, the movable part that is in contact with the measurement target part is displaced while receiving the drag of the measurement target part by the elastic force of the elastic body subjected to the load due to the above displacement. Yes. And the method of examining the viscoelastic characteristic of a measurement object site | part by taking these both displacement information from each differential transformer is taken.

  Further, as a micro surface shape measuring probe for measuring a micro surface shape, a load detecting unit for measuring a load acting on the piezoelectric sensor, a control unit for adjusting a biasing force by a biasing device based on the measured load, and an adjustment There is known a micro surface shape measurement probe including a displacement measuring device that measures a position of a contact that is in contact with an object to be measured with a biasing force (for example, see Patent Document 2).

JP 2007-24606 A JP 2007-155440 A

“Measure the feeling of touch (SONY CX-PAL Vol.82 Angle)”, [online], October 2009, Internet <URL: http://www.sony.co.jp/Products/SC-HP/cxpal /vol82/pdf/angle82.pdf>

  By the way, considering the progress of ICT (Information and Communication Technology) in the future, general users will regularly acquire tactile sensations such as the measurement target surfaces (building materials, household surfaces, clothing touches) of various objects. You can imagine the near future to share with others. In addition, with the advancement of brain science, the effects of various tactile sensations on human memory, cognition, and emotions are being clarified, so there is a possibility of developing human-centric computing that incorporates tactile elements.

  In order for the tactile sensation information to have a high value in the application scene, it is preferable that the tactile sensation shared with others can be compared with each other by measuring the vibration information while controlling the measurement conditions. In order to make this possible, it is preferable to use a tactile sensation measurement technique capable of measurement according to a target measurement series (a series of pressing force and scanning speed). At the same time, in order for a general user to easily measure the tactile sensation of various materials including a fixed object, it is preferable that the measuring device itself is small.

  In the near future in which such a technology is widely used, applications such as using tactile sensation information as a search key (or a part thereof) to identify a specific object that can be touched are assumed. For example, a person is interested in a comfortable table sitting at a restaurant on the go or a seat material of a Shinkansen seat, and tries to search on the web etc. to find out the manufacturer and model number of such a product. At this time, it will be possible to narrow down the search target by adding tactile sensation information on the surface together with “table” and “sheet” as search keywords. It is also possible to convey tactile sensations such as clothing through mail order / net sales.

  The tactile sensation depends on the pressing force, and vibration information obtained by rubbing changes. Therefore, it is preferable to appropriately control the pressing force. Moreover, it is preferable to precisely control the pressing force by manual operation while presenting the target pressing length to the user with respect to the measurement target surface having an arbitrary elevation angle (the pressing force is influenced by the measuring instrument and the measurement situation). Is inconvenient because the measurement results cannot be standardized). Therefore, by using a non-linear elastic body to reproduce the pressing force at an arbitrary angle, in a measuring instrument that measures tactile sensation, a mechanical model that relates the pressing force-indentation length in a state directed to an arbitrary elevation angle Can be considered.

FIG. 7 is a simplified explanatory diagram of the tactile sensation measuring instrument 301 according to the reference technique.
As shown in FIG. 7, the tactile sensation measuring instrument 301 includes a main body part 310, a tip part 320, a connecting part 330, and a force sensor 340.

  The tip portion 320 includes a vibration detection unit 321. The vibration detection unit 321 detects the vibration of the measurement target 200 when the user moves the tactile sensation measuring instrument 301 on the measurement target 200 with a predetermined pressing force.

The connecting part 330 includes a non-linear spring 331 and connects the main body part 310 and the tip part 320.
The force sensor 340 is disposed between the connecting portion 330 and the tip portion 320 and measures an internal force applied between the connecting portion 330 and the tip portion 320.

The effective mass (including a part of the mass of the force sensor 340) that is the actual mass of the connecting portion 330 is M, the effective mass of the tip portion 320 is m, the elevation angle of the measuring object 200 is θ, and is nonlinear. When the length of the spring 331 is l, the spring stress acting on the nonlinear spring 331 is k (l), the force acting on the force sensor 340 is P, and the gravitational acceleration is g, the pressing force F is expressed by the following formula (1 ).
F = k (l) + (m + M) g · cos θ (1)

From this equation (1), the following equation (2) for the indentation length l to be presented to the user is obtained.
l = k ⁻¹ (F− (m + M) g · cos θ) (2)

  Regarding this equation (2), the effective mass m and the spring stress k (l) of the tip 320 can be easily tuned from the internal force P measured by the force sensor 340. Further, the gravitational acceleration g is given, and the elevation angle θ can be measured by a gyroscope.

However, the effective mass M of the connecting portion 330 may change over time due to oxidation or the like, or may change due to replacement of parts such as the force sensor 40, but must be determined in a state where the tactile sensation measuring device 301 is disposed. . If the nonlinear spring 331 is a linear spring, it can be obtained by the following equation (3). However, the nonlinear spring 331 cannot perform a simple calculation because the spring characteristic is not a straight line.
M = ((P1-P2) -k (l1-l2) / 2g (3)

  Therefore, when the nonlinear spring 331 is used, the accurate effective mass M of the connecting portion 330 cannot be easily calculated, and as a result, the pushing length of the tip portion 320 corresponding to the pushing force to be presented to the user can be accurately calculated. Cannot be calculated.

  The device for examining the viscoelastic characteristics described above generates a pressing force that changes periodically by combining a cam mechanism, and measures the viscoelasticity by capturing the hysteresis of the distortion change of the target surface according to this, so that the pressing of the tip portion is performed. There is no need to precisely control the force. Therefore, this apparatus does not disclose a technique for presenting an accurate indentation length to a user or a technique for calibration of a measuring instrument for measuring an accurate pressing force.

  Moreover, since the above-mentioned minute surface shape measurement probe does not change the pressing force, it does not have a double pressing elastic displacement mechanism like a nonlinear spring. Therefore, this apparatus does not disclose a technique for presenting an accurate indentation length to a user or a technique for calibration of a measuring instrument for measuring an accurate pressing force.

  In one aspect, an object is to provide a tactile sensation measuring instrument and a tactile sensation measuring system that can provide a user with an accurate indentation length at the time of measurement even though a nonlinear elastic body is provided.

  The tactile sensation measuring instrument includes a main body, a tip including a vibration detection unit that detects vibration of a measurement target that is a target for measuring tactile sensation, and a nonlinear elastic body that biases the tip toward the measurement target. A connecting portion that connects the main body portion and the tip portion, a force measuring portion that measures a force applied between the connecting portion and the tip portion, and an indentation length measurement that measures the indentation length of the tip portion. A push-in length display portion that displays a push-in length of the tip portion, and a telescopic fixing portion that fixes the tip portion to the body portion so that the stretch length of the nonlinear elastic body can be adjusted. A tactile sensation measuring device is provided.

  Even if the disclosed tactile sensation measuring instrument and tactile sensation measuring system include a non-linear elastic body, an effect of being able to present an accurate indentation length to the user at the time of measurement is obtained.

It is a front sectional view showing the tactile sensation measurement system according to the embodiment. It is a rear view (the 1) which shows the tactile sense measuring device which concerns on embodiment. It is a rear view (the 2) which shows the tactile sense measuring device which concerns on embodiment. It is right side sectional drawing (the 1) which shows the tactile sense measuring device which concerns on embodiment. It is right side sectional drawing (the 2) which shows the tactile sense measuring device which concerns on embodiment. It is a perspective view which shows an example of the use condition of the tactile sensation measurement system which concerns on embodiment. It is the simplified explanatory view (the 1) for explaining effective mass calculation of a connecting part in an embodiment. It is explanatory drawing (the 2) simplified for demonstrating the effective mass calculation of the connection part in embodiment. It is a rear view which shows the tactile sensation measuring device which concerns on embodiment which made the front-end | tip part upward. It is explanatory drawing which simplified the tactile-feeling measuring device which concerns on a reference technique.

  Hereinafter, a tactile sensation measuring instrument and a tactile sensation measuring system according to embodiments will be described with reference to the drawings.

FIG. 1 is a front sectional view showing a tactile sensation measurement system 100 according to an embodiment.
2A and 2B are rear views showing the tactile sensation measuring instrument 1 according to the embodiment.

3A and 3B are right side cross-sectional views showing the tactile sensation measuring instrument 1 according to the embodiment.
FIG. 4 is a perspective view showing an example of a usage state of the tactile sensation measurement system 100 according to the embodiment.

  A tactile sensation measuring system 100 shown in FIG. 1 includes a tactile sensation measuring instrument 1 and an analyzer 101 arranged separately from the tactile sensation measuring instrument 1. The analyzer 101 may be disposed integrally with the tactile sensation measuring instrument 1.

  As shown in FIGS. 1 to 3B, the tactile sensation measuring instrument 1 includes a main body part 10, a tip part 20, a connecting part 30, a force sensor 40 which is an example of a force measuring part, and an example of a pushing length measuring part. The encoder 50, the indentation length display unit 60, the expansion / contraction fixing unit 70, the gyroscope 80 as an example of an angle measurement unit, and the control transmission unit 90 as an example of a transmission unit.

The main body portion 10 includes a button switch 11, a battery 12, and a main body portion side cylindrical portion 13.
The button switch 11 is an example of a power supply and is disposed on the side surface of the main body unit 10.
The battery 12 is disposed for processing and operation of each part of the tactile sensation measuring instrument 1.

  The main body side cylindrical portion 13 accommodates a part of the nonlinear spring 31 of the connecting part 30, a part of the wiring shaft 34, and the like. As will be described later, the connecting portion side cylindrical portion 32 slides on the outer peripheral surface on the inner peripheral surface of the main body portion side cylindrical portion 13.

  The tip portion 20 includes a vibration detection unit 21. The vibration detection unit 21 is, for example, a PVDF film. The vibration detection unit 21 detects the vibration of the measurement target 200 when the user moves the tactile sensation measuring instrument 1 on the measurement target 200 with a predetermined pressing force. The measurement object 200 is an object for measuring a sense of touch, for example, a sofa shown in FIG. The measurement object 200 is not particularly limited in the present embodiment.

  The connecting part 30 includes a nonlinear spring 31 that is an example of a nonlinear elastic body, a connecting part side cylindrical part 32 that is an example of a cylindrical part, a secondary spring 33, and a wiring shaft 34. The tip 20 is connected.

  As shown in FIG. 1, the non-linear spring 31 is an elastic body that does not have a straight spring characteristic, unlike a linear spring that has a straight spring characteristic. The non-linear spring 31 biases the distal end portion 20 toward the measurement target 200 side. Examples of the non-linear spring 31 include, but are not limited to, ones having different diameters depending on positions and those having different pitches depending on positions.

  The nonlinear spring 31 is fixed to the main body side cylindrical portion 13 at the upper spring pedestal 31a at the upper end, and is fixed to the connecting portion side cylindrical portion 32 at the lower spring pedestal 31b at the lower end.

  The connecting portion side cylindrical portion 32 is disposed around the nonlinear spring 31, and a part thereof is inserted into the main body portion side cylindrical portion 13. The connecting portion side cylindrical portion 32 slides on the inner peripheral surface of the main body side cylindrical portion 13 on the outer peripheral surface of the large diameter portion 32a at the upper end.

  The secondary spring 33 is an urging force that is weaker than the urging force of the nonlinear spring 31 with respect to the main body portion 10 of the connecting portion side cylindrical portion 32, and the urging direction of the nonlinear spring 31 is opposite to the measurement target 200 side. Energize to the other side. The auxiliary spring 33 is fixed to the lower end of the large-diameter portion 32a of the connecting portion side cylindrical portion 32 at the upper spring pedestal 33a at the upper end, and fixed to the bottom surface inside the main portion side cylindrical portion 13 at the lower spring pedestal 33b at the lower end. Has been.

  The wiring shaft 34 has a flexible wiring 34 a connected to the force sensor 40, the vibration detection unit 21, and the control transmission unit 90, and penetrates through the inside of the nonlinear spring 31 to a position higher than the connecting portion side tubular portion 32. Extend.

  The force sensor 40 is disposed between the connecting portion 30 and the tip portion 20 and measures a force applied between the connecting portion 30 and the tip portion 20.

  The encoder 50 detects the position of the wiring shaft 34 to measure the pushing length of the distal end portion 20 fixed to the wiring shaft 34 via the force sensor 40.

  As shown in FIGS. 2A and 2B, the indentation length display unit 60 displays the indentation length of the tip 20 measured by the encoder 50. As will be described later, the indentation length display unit 60 may display the indentation length of the distal end portion 20 to be set when tuning the tactile sensation measuring instrument 1.

  As shown in FIGS. 2A to 3B, the expansion / contraction fixing portion 70 fixes the distal end portion 20 to the main body portion 10 so that the expansion / contraction length of the nonlinear spring 31 can be adjusted.

  The expansion / contraction fixing unit 70 includes a slide base 71, a tip end fixing arm 72, an expansion / contraction dial 73, an adjustment screw 74, and a rotation shaft 75.

The slide base 71 slides with respect to the main body unit 10.
The distal end fixing arm 72 is connected to the slide base 71, and is fixed to the main body 10 by, for example, fitting the distal end 20 into the fixing hole 72a (FIG. 2B and FIG. 3B). And the second position P-2 (FIGS. 2A and 3A) retreated from the first position P-1.

  In the present embodiment, the distal end fixing arm 72 is connected to the slide base 71 by being rotatably supported by the slide base 71 around the rotation shaft 75 disposed on the slide base 71. Yes. Further, the distal end portion fixing arm 72 is rotated to the first position P-1 and the second position P-2 where the portion for fixing the distal end portion 20 is positioned above the slide base 71. Then, it moves to the first position P-1 and the second position P-2.

  The telescopic dial 73 is a dial that functions as an operation portion for adjusting the position of the slide base 71.

  The adjustment screw 74 is disposed so as to penetrate the slide pedestal 71, and is moved by operating the telescopic dial 73 to move the slide pedestal 71.

  The telescopic dial 73 and the adjustment screw 74 function as a pedestal position adjusting unit that adjusts the position of the slide pedestal 71.

  The gyroscope 80 shown in FIG. 1, FIG. 3A, and FIG. 3B measures the angle of the main body portion 10, and thereby measures the angle of the distal end portion 20.

  The control transmission unit 90 is connected to each part (for example, the distal end part 20, the force sensor 40, the encoder 50) of the tactile sensation measuring instrument 1 by, for example, wiring, and controls the operation of each part, for example. The control transmission unit 90 receives the information on the vibration detected by the vibration detection unit 21, the information on the force measured by the force sensor 40, and the information on the indentation length measured by the encoder 50. Send to. The control transmission unit 90 may transmit information on the tilt of the main body unit 10 detected by the gyroscope 80, information on an on / off signal that is an operation by the user of the button switch 11, and the like to the reception unit 150.

  As illustrated in FIG. 1, the analyzer 101 is a computer having, for example, a CPU that is an example of a processor, a storage unit, an input unit, an output unit, an interface unit, and the like. The storage unit includes, for example, a ROM, a RAM, a magnetic recording medium, and the like, and includes a storage area for a control program that causes the CPU to control each component, a work area when the CPU executes the control program, and a storage for a dynamic model 110 described later. It functions as an area, a recording unit 120 that is a storage area for various data transmitted from the control transmission unit 90, and the like.

  In addition, the CPU functions as the connection portion effective mass calculation unit 130. As will be described in detail later, the connection portion effective mass calculation unit 130 calculates the effective mass M of the connection portion 30 (including a part of the mass of the force sensor 40).

  As shown in FIG. 4, the measurement information display unit 140 displays measurement information including information on the indentation length to be set when the tactile sensation measuring instrument 1 is measured.

The receiving unit 150 receives information transmitted by the control transmission unit 90 of the tactile sensation measuring instrument 1.
Hereinafter, calculation of the effective mass M of the connecting portion 30 during tuning will be described. Tuning does not have to be performed every measurement, and may be performed at the time of replacement of parts, after a long time, or at a predetermined interval.

  FIG. 5A and FIG. 5B are simplified explanatory views for explaining the effective mass calculation of the connecting portion 30 in the present embodiment.

  5A and 5B, the telescopic fixing part 70 is illustrated in a simplified manner, and the telescopic dial 73-1 is not located at the upper end of the main body part 10 as shown in FIGS. It is arranged below. 5A and 5B, the expansion / contraction fixing unit 70 is assumed to be positioned at the first position P-1 where the tip end fixing arm 72 fixes the tip end portion 20 to the main body portion 10.

When the tip 20 is directed vertically downward, the effective mass, which is the mass that actually occurs in the connecting portion 30, is M, and the length of the nonlinear spring 31 detected by the encoder 50 is l _1. When the acting spring stress is k (l ₁ ) and the gravitational acceleration is g, the internal force P ₁ acting upward on the force sensor 40 is expressed by the following formula (4).
P ₁ = k (l ₁ ) + Mg (4)

The mass m is the mass of the tip 20, the thickness d ₁ is the thickness of the force sensor 40. The internal power P _1, it is preferable to use those when stationary tip 20 at depression angle theta = 0 pretensions was confirmed by the gyroscope 80.

When the tactile sensation measuring instrument 1 is rotated 180 degrees so that the tip portion 20 faces vertically upward like the tactile sensation measuring instrument 1 shown in FIG. 6, the length l ₁ of the nonlinear spring 31 is obtained as shown in FIG. 5B. For example, the mass of other portions of the connecting portion 30 such as the connecting portion side cylindrical portion 32 not shown in FIGS. 5A and 5B is added, and the thickness of the force sensor 40 is increased (thickness). d ₁ → thickness d ₂ ). Therefore, the length of the non-linear spring 31 is a length l ₂ shorter than the length l ₁ .

The length _{l 2} of the non-linear spring 31, by returning to the length _{l 1} by the expansion and contraction fixing portion 70, a spring stress k _{(l 1)} acting on the spring, the spring stress k of the case shown in FIG. 5A _(l 1) Can be the same. Incidentally, as shown in FIG. 6, to facilitate the returning of the length of the non-linear spring 31 to the length l ₁ by the expansion and contraction fixing unit 70 by displaying the current push length 60a and the target pushing length 60b to push length display section 60 be able to.

Internal force P ₂ acting downward on the force sensor 40 is expressed by the following equation (5).
P ₂ = k (l ₂ ) −Mg Formula (5)

It should be noted that the internal forces P _2, it is preferable to use those when stationary tip 20 at depression angle theta = [pi elevation by the gyroscope 80 was confirmed.

The following equation (6) is derived from the difference between the equations (4) and (5).
2Mg = P ₁ −P ₂ Formula (6)

From this equation (6), the connection portion effective mass calculation unit 130 derives the effective mass M of the connection portion 30 as shown in the following equation (7).
M = (P ₁ −P ₂ ) / 2 g (7)

  Based on this equation (7), from the above equation (2) that is the dynamic model 110, for example, the analyzer 101 can calculate the indentation length l corresponding to the desired pressing force to be presented to the user. .

  After tuning, the user can perform measurement using the tactile sensation measuring instrument 1 by retracting the telescopic fixing portion 70 to the second position P-2 shown in FIGS. 2A and 3A.

  While viewing the measurement information display unit 140 shown in FIG. 1 and FIG. 4, the user travels (scans) the tip 20 along the measurement target 200 by a predetermined distance, and the tip at the pushing position corresponding to the distance of the running process. The part 20 may be pushed into the measuring object 200.

  In the above description, an example of tuning when the tip portion 20 is vertically upward and when it is vertically downward has been described. However, since the detection angle of the gyroscope 80 is obtained as the angle of the tip portion 20, Based on the above, the above formula can be corrected. Therefore, the angle of the tip 20 is not limited to vertically upward and vertically downward. However, as the distal end portion 20 is tilted from the vertical direction, other forces such as sliding friction between the main body side cylindrical portion 13 and the coupling portion side cylindrical portion 32 shown in FIGS. 1, 3A, and 3B are generated. In order to work, the angle of the tip 20 is preferably vertically upward and vertically downward.

Tip 20, rather than upward as shown in the downward-5B shown in FIG. 5A, in each of the downward two angles or upward two angles, by the length l ₁ of the non-linear spring 31 in the same, The effective mass M of the connecting part 30 can be calculated. However, as for the front-end | tip part 20, it is desirable to calculate the effective mass M by two angles, the downward direction shown to FIG. 5A, and the upward direction shown to FIG. 5B.

  When the parameters of the dynamic model 110 (including the coupling portion effective mass M) are tuned according to the present embodiment, the “pressing force” for accurately obtaining the pressing length l corresponding to the pressing force F at any elevation angle. -"Indentation length relationship" can be obtained. If an accurate “pushing force-pushing length relationship” is used, the user can be presented with an accurate pushing length l corresponding to the target pushing force.

  For example, when the user manually operates while looking at the measurement information display unit 140 of the analyzer 101, the tactile sensation can be measured while reproducing the accurate and wide target pressing force F with respect to the measurement target surface of the measurement target 200.

  Thus, according to the tactile sensation measuring instrument 1 according to the present embodiment, it is possible to easily obtain standardized tactile sensations for various materials including a fixed object even if it is small. Therefore, it becomes possible to share the tactile sensation information with others and use it.

  In the above embodiment, the tactile sensation measuring instrument 1 includes the expansion / contraction fixing unit 70 that adjustably adjusts the expansion / contraction length of the nonlinear spring 31 of the connecting unit 30 that connects the main body unit 10 and the distal end unit 20. Therefore, in each of the cases where the tip portion 20 has two angles different from each other with respect to the vertical axis, it is connected from the force measured by the force sensor 40 when the length of the nonlinear spring 31 is made the same by the expansion and contraction fixing portion 70. The effective mass M of the part 30 can be calculated.

  Therefore, according to the present embodiment, even if the nonlinear spring 31 is provided, an accurate pushing length can be presented to the user at the time of measurement.

  In the present embodiment, the distal end fixing arm 72 of the telescopic fixing portion 70 is connected to the slide base 71 that slides relative to the main body portion 10, and the first position for fixing the distal end portion 20 to the main body portion 10. It moves to P-1 and a second position P-2 retracted from the first position P-1. Therefore, the tip fixing arm 72 moves to the first position P-1 during tuning, and the tip fixing arm 72 moves to the second position P-2 during measurement. Tuning and measurement can be performed.

  Further, in the present embodiment, the tip end fixing arm 72 is rotatably supported by the slide base 71, and the first position P-1 and the portion for fixing the tip portion 20 are located above the slide base 71. It rotates to the second position P-2. Therefore, tuning and measurement can be performed with a simpler configuration.

  In the present embodiment, the gyroscope 80 measures the angle of the main body 10. Therefore, the effective mass M of the connection part 30 can be easily calculated.

  In the present embodiment, the connecting portion 30 includes a connecting portion side cylindrical portion 32 arranged around the nonlinear spring 31, and the connecting portion side cylindrical portion 32 is connected to the main body portion 10 with respect to the nonlinear spring 31. And a secondary spring 33 that urges the measurement object 200 to the opposite side with an urging force weaker than the urging force. Therefore, the vibration detection unit 21 can detect weak vibrations.

  In the present embodiment, the tactile sensation measuring instrument 1 and the analyzer 101 are arranged separately, and the control transmission unit 90 of the tactile sensation measuring instrument 1 includes information on the vibration detected by the vibration detecting unit 21, Information on the force measured by the force sensor 40 and information on the indentation length measured by the encoder 50 are transmitted to the receiving unit 150 of the analyzer 101. Therefore, the tactile sensation measuring instrument 1 and the tactile sensation measuring system 100 can each have a simple configuration.

  Further, in the present embodiment, the measurement information display unit 140 of the analyzer 101 displays measurement information including information on the indentation length to be set when the tactile sensation measuring instrument 1 is measured. Therefore, the tactile sensation measuring instrument 1 can perform measurement while looking at the measurement information display unit 140 of the analyzer 101.

  Further, in the present embodiment, the coupling portion effective mass calculation unit 130 causes the distal end 20 to be moved to the main body 10 by the expansion and contraction fixing unit 70 when the distal end 20 is upward and when the distal end 20 is downward. On the other hand, the effective mass of the connecting portion 30 is calculated from the force measured by the force sensor 40 when the lengths of the non-linear springs 31 are the same by being fixed. Therefore, the effective mass M of the connection part 30 can be calculated more accurately, and an accurate indentation length can be presented to the user during measurement.

Regarding the above embodiment, the following additional notes are disclosed.
(Appendix 1)
The main body,
A tip including a vibration detection unit that detects vibration of a measurement target that is a target for measuring tactile sensation;
A connecting portion that includes a non-linear elastic body that biases the tip portion toward the measurement object, and connects the main body portion and the tip portion;
A force measuring unit for measuring a force applied between the connecting part and the tip part;
An indentation length measuring unit for measuring the indentation length of the tip, and
An indentation length display for displaying the indentation length of the tip,
An expansion / contraction fixing part for fixing the tip part to the main body part so that the expansion / contraction length of the nonlinear elastic body can be adjusted;
A tactile sensation measuring instrument comprising:
(Appendix 2)
The telescopic fixing portion is connected to the slide base that slides relative to the main body portion, and a first position that fixes the tip end portion to the main body portion and a first position that is retracted from the first position. The tactile sensation measuring instrument according to claim 1, further comprising a distal end fixing arm that moves to the position of 2.
(Appendix 3)
The distal end fixing arm is rotatably supported by the slide pedestal, and rotates to the first position and the second position where a portion for fixing the distal end is positioned above the slide pedestal. The tactile sensation measuring instrument according to appendix 2, wherein the tactile sensation measuring instrument moves.
(Appendix 4)
The tactile sensation measuring instrument according to any one of appendix 1 to appendix 3, further comprising an angle measurement unit that measures an angle of the main body.
(Appendix 5)
The connecting portion includes a cylindrical portion disposed around the nonlinear elastic body, and the measurement target side with a biasing force that is weaker than the biasing force of the nonlinear elastic body with respect to the main body portion. The tactile sensation measuring instrument according to any one of appendix 1 to appendix 4, further comprising a secondary spring biased to the opposite side.
(Appendix 6)
A tactile sensation measuring instrument,
An analyzer arranged separately or integrally with the tactile sensation measuring instrument,
The tactile sensation measuring instrument is:
The main body,
A tip including a vibration detection unit that detects vibration of a measurement target that is a target for measuring tactile sensation;
A connecting portion that includes a non-linear elastic body that biases the tip portion toward the measurement object, and connects the main body portion and the tip portion;
A force measuring unit for measuring a force applied between the connecting part and the tip part;
An indentation length measuring unit for measuring the indentation length of the tip, and
An indentation length display for displaying the indentation length of the tip,
An expansion / contraction fixing part for fixing the tip part to the main body part so that the expansion / contraction length of the nonlinear elastic body can be adjusted;
With
The analyzer is
In the case where the tip portion is at two different angles with respect to the vertical axis, the tip portion is fixed to the main body portion by the telescopic fixing portion and the length of the nonlinear elastic body is made the same. A connection portion effective mass calculation unit for calculating the effective mass of the connection portion from the force measured by the force measurement unit,
A tactile sensation measurement system characterized by this.
(Appendix 7)
The tactile sensation measuring instrument and the analyzer are arranged separately,
The tactile sensation measuring device includes information on the vibration detected by the vibration detection unit, information on the force measured by the force measurement unit, and information on the indentation length measured by the indentation length measurement unit. Further includes a transmitter for transmitting to the analyzer,
The analyzer further includes a receiver that receives information transmitted by the transmitter.
The tactile sensation measurement system according to appendix 6, characterized in that:
(Appendix 8)
8. The tactile sensation measurement system according to appendix 7, wherein the analyzer further includes a measurement information display unit that displays measurement information including information on an indentation length to be set at the time of measurement by the tactile sensation measurement instrument.
(Appendix 9)
The connection portion effective mass calculation unit is configured to fix the tip portion to the main body portion by the telescopic fixing portion when the tip portion is upward or when the tip portion is downward. 9. The tactile sensation measurement system according to any one of appendix 6 to appendix 8, wherein an effective mass of the connecting portion is calculated from a force measured by the force measuring portion when the lengths of the force measuring portions are the same.

DESCRIPTION OF SYMBOLS 1 Tactile sensation measuring device 10 Main body part 11 Button switch 12 Battery 13 Main body part side cylindrical part 20 Tip part 21 Vibration detection part 30 Connection part 31 Non-linear spring 31a Upper spring base 31b Lower spring base 32 Connection part side cylindrical part 32a Large Diameter portion 33 Secondary spring 33a Upper spring pedestal 33b Lower spring pedestal 34 Wiring shaft 34a Flexible wiring 40 Force sensor 50 Encoder 60 Pushing length display part 60a Current pushing length 60b Target pushing length 70 Telescopic fixing part 71 Slide base 72 Tip fixing arm 72a Fixed hole 73 Telescopic dial 74 Adjustment screw 75 Rotating shaft 80 Gyroscope 90 Control transmission unit 100 Tactile sensation measurement system 101 Analyzer 110 Dynamic model 120 Recording unit 130 Connection unit Effective mass calculation unit 140 Measurement information display unit 150 Reception unit 200 Measurement Target

Claims (5)

The main body,
A tip including a vibration detection unit that detects vibration of a measurement target that is a target for measuring tactile sensation;
A connecting portion that includes a non-linear elastic body that biases the tip portion toward the measurement object, and connects the main body portion and the tip portion;
A force measuring unit for measuring a force applied between the connecting part and the tip part;
An indentation length measuring unit for measuring the indentation length of the tip, and
An indentation length display for displaying the indentation length of the tip,
An expansion / contraction fixing part for fixing the tip part to the main body part so that the expansion / contraction length of the nonlinear elastic body can be adjusted;
A tactile sensation measuring instrument comprising:   The telescopic fixing portion is connected to the slide base that slides relative to the main body portion, and a first position that fixes the tip end portion to the main body portion and a first position that is retracted from the first position. 2. The tactile sensation measuring instrument according to claim 1, further comprising a distal end fixing arm that moves to a position of 2.   The distal end fixing arm is rotatably supported by the slide pedestal, and rotates to the first position and the second position where a portion for fixing the distal end is positioned above the slide pedestal. The tactile sensation measuring device according to claim 2, wherein the tactile sensation measuring device moves. A tactile sensation measuring instrument,
An analyzer arranged separately or integrally with the tactile sensation measuring instrument,
The tactile sensation measuring instrument is:
The main body,
A tip including a vibration detection unit that detects vibration of a measurement target that is a target for measuring tactile sensation;
A connecting portion that includes a non-linear elastic body that biases the tip portion toward the measurement object, and connects the main body portion and the tip portion;
A force measuring unit for measuring a force applied between the connecting part and the tip part;
An indentation length measuring unit for measuring the indentation length of the tip, and
An indentation length display for displaying the indentation length of the tip,
An expansion / contraction fixing part for fixing the tip part to the main body part so that the expansion / contraction length of the nonlinear elastic body can be adjusted;
With
The analyzer is
In the case where the tip portion is at two different angles with respect to the vertical axis, the tip portion is fixed to the main body portion by the telescopic fixing portion and the length of the nonlinear elastic body is made the same. A connection portion effective mass calculation unit for calculating the effective mass of the connection portion from the force measured by the force measurement unit,
A tactile sensation measurement system characterized by this. The tactile sensation measuring instrument and the analyzer are arranged separately,
The tactile sensation measuring device includes information on the vibration detected by the vibration detection unit, information on the force measured by the force measurement unit, and information on the indentation length measured by the indentation length measurement unit. Further includes a transmitter for transmitting to the analyzer,
The analyzer further includes a receiver that receives information transmitted by the transmitter.
The tactile sensation measurement system according to claim 4.