JP2018096870A - Motion measuring device, and motion measuring member - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motion measuring device capable of easily and correctly measuring a position and/or a posture of a moving point inside a measurement object during deformation of the measurement object.SOLUTION: A motion measuring device measures a change of a position and/or a posture of a moving point inside a measurement object, and includes: first and second annular members 3, 4; at least two sensor sheets 2 (2A to 2F) installed between the first and second annular members 3, 4; and an analysis device 5. The sensor sheet 2 expands and contracts according to movement of the moving point and is configured to be changed of electrostatic capacitance of a detection part of each sensor sheet 2 according to expansion and contract. The analysis device 5 calculates a change of a distance between a first fixed part 2Aa and a second fixed part 2Ab based on the change of the electrostatic capacitance of the detection part. The position and/or the posture of the moving point is calculated based on the change of the distance between the first fixed part 2Aa and the second fixed part 2Ab in each sensor sheet 2.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a motion measurement device that measures a change in the position and / or orientation of the measurement target when the measurement target is deformed, and a motion measurement member used in the motion measurement device.

According to the Ministry of Health, Labor and Welfare's National Life Survey (2013), about 1 in 10 people have subjective symptoms of low back pain, which is a social problem.
The causes of low back pain vary from factors caused by disorders such as bones, muscles, and nerves to mental factors. However, it is known that the occurrence of low back pain is largely related to the bending and twisting of the low back which is frequently performed over a long period of time.
Therefore, to prevent back pain, it is considered effective to reduce bending and twisting motions that cause stress in the lower back.
On the other hand, motion capture is known as a method for measuring body movement including bending and twisting of the waist (see, for example, Patent Document 1).

JP 2014-117409 A

Measurement by motion capture requires large-scale equipment (for example, a dedicated studio), and there are restrictions on the place and space where measurement is possible. In addition, not everyone can easily perform measurement because the equipment is expensive and complicated preparation is required before measurement. In addition, measurement by motion capture cannot measure a portion that is shadowed from the camera.
The present inventors have intensively studied to solve such problems and completed the present invention based on a new technical idea.

(1) The motion measuring device of the present invention is a motion measuring device that measures a change in position and / or posture of an operating point in the measuring object when the measuring object is deformed.
A first member serving as a reference for the movement of the operating point;
A second member that moves and / or rotates in accordance with the movement of the operating point;
A sensor sheet having a first fixing portion fixed to the first member and a second fixing portion fixed to the second member, and being laid between the first member and the second member. At least two,
An analysis device;
With
The sensor sheet includes an elastomeric dielectric layer, a first electrode layer formed on an upper surface of the dielectric layer, and a second electrode layer formed on a lower surface of the dielectric layer, the first electrode layer and The opposing part of the second electrode layer is a detection unit, and is configured to expand and contract according to the movement of the operating point, and the capacitance of the detection unit changes according to the expansion and contraction.
The analysis device calculates a change in the distance between the first fixing unit and the second fixing unit for each sensor sheet based on a change in capacitance of the detection unit, and the first fixing in each sensor sheet. A change in the position and / or posture of the operating point is calculated based on a change in the distance between the part and the second fixed part.

Since the motion measurement apparatus has the above-described configuration, it avoids the problem of limiting the measurement location and measurement site that motion capture has, and easily changes the position and / or posture of the operation point in the measurement object. Can be measured accurately and accurately. It is also suitable for continuously measuring changes in the position and orientation of the operating point.
Moreover, since the said movement measuring apparatus employ | adopts a lightweight electrostatic capacity type | mold sensor sheet which is excellent in a stretching property as a sensor sheet, when a measuring object deform | transforms, the said deformation | transformation is not inhibited.

(2) It is preferable that the motion measuring device includes 3 to 6 sensor sheets.
In this case, the object to be measured spreads and the change in the position and / or posture of the operating point can be measured more accurately.

(3) The motion measuring device is
The human body is used as the measurement object, and it is used to measure the movement of the subject's lower back.
The first member is a first annular member fixed around the waist of the subject,
The second member is a second annular member fixed around the trunk of the subject above the first annular member,
The operating point is located in a displacement plane having the second annular member as an outer periphery,
It is preferable to provide six sensor sheets.

  By using such a motion measuring device, the motion of the lower back of the subject can be measured in real time. The obtained information on the motion of the lower back can be used for reducing the risk of lower back pain of the subject.

(4) A motion measurement member used in the motion measurement device according to any one of (1) to (3),
A first member serving as a reference for the movement of the operating point;
A second member that moves and / or rotates in accordance with the movement of the operating point;
A sensor sheet having a first fixing portion fixed to the first member and a second fixing portion fixed to the second member, and being laid between the first member and the second member. At least two,
With
The sensor sheet includes an elastomeric dielectric layer, a first electrode layer formed on an upper surface of the dielectric layer, and a second electrode layer formed on a lower surface of the dielectric layer, the first electrode layer and The opposing part of the second electrode layer is used as a detection unit, and is configured to expand and contract according to the movement of the operating point, and to change the capacitance of the detection unit according to the expansion and contraction. And
This motion measurement member can be suitably used for the motion measurement device.

ADVANTAGE OF THE INVENTION According to this invention, the change of the position and / or attitude | position of the operating point in a measurement object at the time of a deformation | transformation of a measurement object can be measured easily and correctly. In addition, changes in the position and posture of the operating point can be continuously measured.
Furthermore, deformation of the measurement object is not hindered during measurement.

It is the schematic for demonstrating the motion measurement apparatus which concerns on 1st Embodiment. It is a figure for demonstrating the orthosis containing the member for motion measurement which concerns on 1st Embodiment. (A) is a perspective view which shows the sensor sheet | seat which the motion measurement apparatus shown in FIG. 1 has, (b) is the sectional view on the AA line of (a). (A) is a perspective view which shows the sensor element which the sensor sheet | seat shown in FIG. 3 has, (b) is BB sectional drawing of (a). (A), (b) is a figure explaining the usage method of the motion measuring device in 1st Embodiment. It is a parallel link model for calculating the change of the position and attitude of the operating point of the measurement object. (A) is a perspective view which shows the sensor sheet | seat which the motion measuring device which concerns on 2nd Embodiment has, (b) is CC sectional view taken on the line of (a). It is a schematic diagram which shows another example of the member for motion measurement which concerns on embodiment of this invention. It is a perspective view which shows typically the member for operation | movement measurement used in the experiment example. It is a graph which shows the result of the evaluation 1 in an experiment example. It is a graph which shows the result of the evaluation 2 in an experiment example. It is a graph which shows the result of the evaluation 3 in an experimental example. It is a graph which shows the result of the evaluation 4 in an experiment example. It is a graph which shows the result of the evaluation 5 in an experiment example. It is a graph which shows the result of the evaluation 6 in an experimental example.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(First embodiment)
FIG. 1 is a diagram for explaining the motion measurement apparatus according to the present embodiment. FIG. 2 is a view for explaining a brace including a motion measuring member according to the present embodiment. FIG. 3A is a perspective view illustrating a sensor sheet included in the motion measurement device illustrated in FIG. 1, and FIG. 3B is a cross-sectional view taken along line AA in FIG. 4A is a perspective view showing a sensor element included in the sensor sheet shown in FIG. 3, and FIG. 4B is a cross-sectional view taken along line BB in FIG. FIGS. 5A and 5B are diagrams illustrating a method of using the motion measurement device according to the present embodiment.

The motion measurement device 1 according to the present embodiment uses a human body as a measurement object and is used for measuring the motion of the waist of a subject.
As shown in FIG. 1, the motion measuring device 1 includes a first annular member 3 fixed around the waist of the subject, and a second annular member fixed around the trunk of the subject above the first annular member 3. 4 and motion measuring member 30 including six sensor sheets 2 (2A to 2F) installed between first annular member 3 and second annular member 4, and measuring instrument 5A and calculator 5B. It has the analysis apparatus 5 provided with.
The sensor sheets 2A to 2F are provided between the first annular member 3 and the second annular member 4 so as not to be parallel to each other. Each of the sensor sheets 2 </ b> A to 2 </ b> F is connected to the analysis device 5 via a lead wire 22.

The motion measurement member 30 is integrated with the brace so as to be attached to the subject.
In the present embodiment, as shown in FIG. 2, the motion measurement member 30 is integrated with a compression shirt 31B and a belt 31A as an orthosis.
Here, a second annular region 34 corresponding to the second annular member 4 is set around the waist of the compression shirt 31 </ b> B, and the belt 31 </ b> A is used as the first annular member 3. Further, six sensor sheets 2 are installed between the second annular region 34 and the belt 31A.
The sensor sheet 2 and the compression shirt 31 </ b> B, and the sensor sheet 2 and the belt 31 </ b> A are all fixed by a snap button 26. Thereby, the mutual positional relationship of the fixing position (first fixing portion) of each sensor sheet 2 on the belt 31A is kept constant. Further, the fixing positions (second fixing portions) of the sensor sheets 2 in the second annular region 34 set in the compression shirt 31B also maintain the mutual positional relationship constant. When the sensor sheet 2 is fixed using the snap button 26, the number of sensor sheets 2 can be easily increased or decreased.

As shown in FIGS. 3A and 3B, the sensor sheet 2 includes a sensor element 10 and a covering member 21 (21A) made of an insulating material laminated on both surfaces (a front surface and a back surface) of the sensor element 10. 21B).
On the back side of the sensor sheet 2, a snap button 26 is provided as a fixing member that fixes the sensor sheet 2 to the first annular member 3 and the second annular member 4.
The sensor sheet 2 has a belt shape, and the longitudinal direction (the left-right direction in the figure) is the extension / contraction direction.

As shown in FIGS. 4A and 4B, the sensor element 10 is a laminated body including a dielectric layer, an electrode layer, an electrode connection portion, and the like. The sensor element 10 is configured to be extendable and contractable in the longitudinal direction (left and right direction in the figure).
The sensor element 10 is formed on a sheet-like dielectric layer 11 having elasticity, a first electrode layer (front electrode layer) 12A formed on the front surface of the dielectric layer 11, and a back surface of the dielectric layer 11. The second electrode layer (back side electrode layer) 12B, the first wiring (front side wiring) 13A extending in the longitudinal direction connected to the first electrode layer 12A, and the longitudinal direction connected to the second electrode layer 12B. 2nd wiring (back side wiring) 13B is provided.

  The dielectric layer 11 is made of an elastomer composition containing an elastomer such as urethane rubber. The first electrode layer 12A, the second electrode layer 12B, the first wiring 13A, and the second wiring 13B are all made of a conductive composition containing a conductive material such as a carbon nanotube.

Furthermore, the sensor element 10 includes a sheet-like connection member 18 in which two electrode connection portions 16A and 16B made of copper foil are formed on the upper surface of a non-stretchable resin sheet 17. In the sensor element 10, the first wiring 13A and the electrode connection portion 16A, and the second wiring 13B and the electrode connection portion 16B are electrically connected via conductive adhesives 14A and 14B, respectively.
A front side protective layer 15A and a back side protective layer 15B are formed on the front side and the back side of the dielectric layer 11 so as to cover the first electrode layer 12A and the second electrode layer 12B. A lead wire 22 for connecting to the analyzer 5 is soldered to each of the electrode connecting portions 16A and 16B. Furthermore, the connection terminal 23 (refer FIG. 3 (a) (b)) is provided in the edge part on the opposite side of each electrode connection part 16A, 16B of the lead wire 22. As shown in FIG.

The first electrode layer 12A and the second electrode layer 12B have the same plan view shape, and the first electrode layer 12A and the second electrode layer 12B are opposed to each other with the dielectric layer 11 in between. . In the sensor element 10, a portion where the first electrode layer 12 </ b> A and the second electrode layer 12 </ b> B face each other serves as the detection unit 19.
In the above sensor element, the first electrode layer and the second electrode layer do not necessarily have to face each other across the dielectric layer, and at least a part thereof may be opposed.

In the sensor element 10, the dielectric layer 11 can expand and contract in the longitudinal direction. Therefore, the dielectric layer 11 can be deformed so that the area of the front and back surfaces changes. Further, when the dielectric layer 11 is deformed, the first electrode layer 12A and the second electrode layer 12B, the front side protective layer 15A and the back side protective layer 15B (hereinafter referred to as both are simply protected) following the deformation. (Also referred to as layer) can also be deformed.
Therefore, in the sensor element 10, the capacitance of the detection unit 19 changes in correlation with the deformation amount of the dielectric layer 11 (area change of the electrode layer). Therefore, the deformation amount of the sensor element 10 can be detected by detecting the change in the capacitance of the detection unit.

Returning to FIGS. 3A and 3B, the two covering members 21 </ b> A and 21 </ b> B are laminated on the front side and the back side of the sensor element 10 via an adhesive layer (not shown), respectively.
The covering members 21 </ b> A and 21 </ b> B are both cloth fabrics having stretch anisotropy, and are provided so as to cover the entire sensor element 10 when the sensor sheet 2 is viewed in plan.
The covering members 21A and 21B having expansion and contraction anisotropy are members that are easily expanded and contracted in the longitudinal direction of the sensor element 10 (easy stretchable) and hardly stretched in the direction perpendicular to the longitudinal direction (width direction) (hardly stretchable). It is.
The sensor sheet 2 including the covering members 21A and 21B can suppress the sensor element 10 from contracting in the width direction as the extension amount increases when the sensor element 10 extends in the longitudinal direction. Therefore, the correlation (proportional relationship) between the extension amount and the capacitance is maintained even when the extension amount of the sensor element 10 becomes large or when the sensor element 10 is repeatedly extended and contracted, the sensor element 10 is more Suitable for making accurate measurements.

One end of the sensor sheet 2 is fixed to the first annular member 3 and the other end is fixed to the second annular member 4 by a snap button 26 provided on the back side.
Therefore, when the position and posture of the second annular member 4 with respect to the first annular member 3 change, the sensor sheets 2 (2A to 2F) expand and contract according to the change. At this time, the capacitance of the detection unit 19 of the sensor sheet 2 changes in proportion to the expansion / contraction amount (length change amount) of the sensor sheet 2.
Therefore, in the motion measurement device 1, for example, when the sensor sheet 2A expands and contracts, the change amount of the length of the sensor sheet 2A, that is, the sensor sheet 2A, based on the change in the capacitance of the detection unit 19 of the sensor sheet 2A The amount of change in the distance La between the fixing portion (first fixing portion) 2Aa of the first annular member 3 and the fixing portion (second fixing portion) 2Ab of the second annular member 4 of the sensor sheet 2A is acquired. Can do. Of course, the amount of change in the distances Lb to Lf between the first fixed portion and the second fixed portion in the other sensor sheets 2B to 2F can also be acquired.
Here, the analysis device 5 calculates the amount of change in the distances La to Lf based on the change in capacitance of the sensor sheets 2A to 2F.

Each of the sensor sheets 2A to 2F is fixed to the first annular member 3 and the second annular member 4 in a state in which the sensor sheets 2A to 2F are stretched to some extent (pretension) in advance.
This is because the change amount of the length of the sensor sheet is acquired both when the sensor sheet is expanded and contracted.
When the sensor sheet is stretched in advance, the stretch amount (hereinafter also referred to as pre-tension amount) depends on the deformation amount of the measurement object. When the sheet contracts, the change in the length of the sensor sheet may not be reliably measured. On the other hand, when the pre-tension amount is large, the sensor sheet is easily damaged when the sensor sheet is further extended.
For example, when measuring the motion of the lower back in the motion measuring device 1, the pretension amount is preferably an amount that increases the length of the sensor sheet by 20 to 100% (elongation rate: 20 to 100%).

Returning to FIG. 1, the analysis device 5 includes the measuring device 5 </ b> A that measures the capacitance of the detection unit 19, and the first fixing unit and the second fixing unit based on the change in the capacitance of the detection unit 19. Change of each of the sensor sheets 2A to 2F, and based on the change of the distance between the first fixed portion and the second fixed portion in the sensor sheets 2A to 2F, And / or a calculator 5B that calculates a change in posture.
The measuring instrument 5A is, for example, a circuit combining a Schmitt trigger oscillation circuit for converting capacitance into a frequency signal and an F / V conversion circuit for converting the frequency signal into a voltage signal as the capacitance measuring circuit. I have.
The computing unit 5B has a role of performing computation using a parallel link model, which will be described later, and includes an arithmetic circuit, a storage unit, and the like.

Although not shown, the motion measurement apparatus 1 may further include a monitor that displays a measurement result, an output device that notifies information according to the measurement result, and the like.
In this case, for example, the motion measurement apparatus 1 stores in advance the operation with high risk of occurrence of low back pain in the storage unit, and when the operation with high risk of occurrence of low back pain is measured, via the output device, You may be comprised so that warning information by an audio | voice, a sound, a color, etc. may be alert | reported.

As shown in FIGS. 5A and 5B, the motion measurement device 1 is used by mounting the motion measurement member 30 on the waist of the subject 100.
Here, the first annular member 3 is fixed around the waist of the subject 100 so as to be positioned around the lumbar spine of the subject 100 in an anatomical standing posture. Therefore, in this embodiment, as shown in FIG. 2, a belt 31A is adopted as the first annular member 3, and by passing the belt 31A through a belt loop of a trouser (not shown) worn by the subject, The first annular member 3 can be fixed around the waist of the subject.
On the other hand, the second annular member is fixed to the subject 100 so as to be positioned around the thoracic vertebra of the subject 100 in an anatomical standing posture. Therefore, in this embodiment, as shown in FIG. 2, the compression shirt 31B is adopted as a device in which the second annular member 3 is integrated, and a predetermined region around the thoracic vertebra of the compression shirt 31B is formed in the second annular shape. The area 34 is set.
The subject can attach the motion measurement member 30 of the motion measurement device 1 to the waist by wearing the compression shirt 31B and the belt 31A.

When the subject 100 wearing the motion measurement member 30 moves his / her waist so as to change from the state of FIG. 5A to the state of FIG. 5B, the position of the second annular member 4 and The posture changes, and the position and posture of the operating point c located in the displacement plane defined by the second annular member 4 change.
The motion measuring device 1 can calculate the change in the position and posture of the operating point c based on the change in the length of the sensor sheets 2A to 2F. As a result, the motion of the waist of the subject 100 can be measured. it can.

Next, a method for measuring changes in the position and posture of the operating point c of the subject 100 using the motion measuring device 1 will be described with reference to FIG. FIG. 6 shows a parallel link model for calculating changes in the position and orientation of the operating point of the measurement object.
As shown in FIG. 6, the parallel link model employed in the present embodiment includes a circle G that constitutes a reference plane, two circles above and below a circle H that constitutes a displacement plane, and six lines L1 to L6. It is a configured model. In this model, both ends of the lines L1 to L6 are fixed to a circle G and a circle H, respectively.
In this model, the two upper and lower circles G and H are not deformed, the circle H is changed while the circle G is fixed, and the outer circumference of the circle H is changed based on the change in the length of the lines L1 to L6 at that time. The three-dimensional coordinates (x, y, z) as the changed positions of the operating point c located in the displacement plane and the rotation angles (α, β, γ) with respect to each coordinate axis as the posture are calculated.

Specifically, using the change in the length of the lines L1 to L6 and the Jacobian matrix, the three-dimensional coordinates (x, y, z) of the operating point c after the change and the rotation angles (α, β, γ).
The length of each of the lines L1 to L6 calculated with the three-dimensional coordinates (x, y, z) and the rotation angle (α, β, γ) is Li, the length of each of the changed lines L1 to L6 is Ldi, and each of the lines L1 to L6 Assuming that the amount of change in length is dLdi, dLdi is expressed by the following equation (1).

  Moreover, the change of the calculated | required three-dimensional coordinate (x, y, z) and rotation angle ((alpha), (beta), (gamma)) is shown by following formula (2).

(In the equation, J is a Jacobian matrix that associates the three-dimensional coordinates of the operating point c and the rotation angle with respect to each coordinate axis with the change in the length of the lines L1 to L6.)

Then, the changes (dx, dy, dz, dα, dβ, dγ) calculated using Expression (2) are added to (x, y, z, α, β, γ), respectively. By repeating this change calculation and addition, the three-dimensional coordinates (x, y, z) of the operating point c after the change and the rotation angles (α, β, γ) with respect to the respective coordinate axes can be obtained.
Specifically, L _{1 to} L ₆ are calculated using (x, y, z, α, β, γ) obtained by addition. These L _{1 to} L ₆ are put into the above equation (1) and the same calculation process is repeated. When the difference between Ld _{1 to} Ld ₆ and L _{1 to} L ₆ becomes smaller than a certain value, the calculation is completed, and the obtained three-dimensional coordinates (x, y, z) and rotation angle (α, β , Γ).

When this parallel link model is employed in the motion measuring apparatus 1 of the present embodiment, the first annular member 3 corresponds to the circle G constituting the reference surface, and the second annular member 4 corresponds to the circle H constituting the displacement surface. Each of the six sensor sheets 2A to 2F corresponds to each of the lines L1 to L6.
As already described, the sensor sheets 2 </ b> A to 2 </ b> F can measure a change in the distance between the first fixing portion and the second fixing portion that occurs when the second annular member 4 varies with respect to the first annular member 3. it can. Therefore, the motion measurement apparatus 1 can measure the length change of the lines L1 to L6 in the parallel link model as the length change of the sensor sheets 2A to 2F.
Therefore, the motion measuring device 1 can measure the change in the position and orientation of the operating point determined in the displacement plane with the second annular member 4 as the outer periphery by adopting the parallel link model. Changes in the position and posture of the points can be measured as the waist motion.

The movement of the lower back can be regarded as a combined action in which three types of movements of bending the upper body back and forth (bending / extending), moving the upper body left and right (side bending), and twisting the upper body (rotation) are combined.
Therefore, the z-axis of the parallel link model shown in FIG. 6 is matched with the sagittal-horizontal axis of the subject, the x-axis of the parallel link model is matched with the forehead-horizontal axis of the subject, and the parallel link model When the motion measuring apparatus 1 performs measurement with the y-axis of the subject and the vertical axis of the subject matched, the amount of bending / extension, the amount of lateral bending, and the amount of rotation can be obtained from the following displacement amounts, respectively.
That is, the bending / extension amount can be obtained from the displacement amount of the y-axis and the z-axis and the rotation amount α around the x-axis among the changes in the position and posture of the operating point c.
The lateral bending amount can be obtained from the displacement amount of the x-axis and the y-axis and the rotation amount γ around the z-axis among the changes in the position and posture of the operating point c.
The amount of rotation can be obtained from the amount of rotation β around the y-axis among changes in the position and orientation of the operating point c.

In the measurement of the lumbar movement in the present embodiment, the three-dimensional coordinates on the reference plane defined by the first annular member 3 are set to the origin o at the position overlapping the lumbar vertebra (for example, the fifth lumbar vertebra), and the second annular member 4. Is preferably determined at a position overlapping the lower thoracic vertebra and the upper lumbar vertebra (for example, the twelfth thoracic vertebra and the first lumbar vertebra). This is because it is suitable for grasping the movement of the waist.
Of course, as long as the movement of the waist can be measured, the attachment positions of the first annular member 3 and the second annular member 4 are not limited to such positions.

According to the motion measurement device of the present embodiment, the motion of the waist of the subject can be easily and accurately measured.
Moreover, the operation | movement of the said waist | hip | lumbar part can also be measured continuously.
Furthermore, it does not hinder the movement of the subject's waist during measurement.

(Second Embodiment)
The motion measurement device of the present embodiment is different from the first embodiment in the configuration of the sensor element included in the sensor sheet.
FIG. 7 is a perspective view showing a sensor sheet included in the motion measuring apparatus according to the present embodiment, and FIG.
As shown in FIGS. 7A and 7B, the sensor element 40 of the present embodiment is formed on a sheet-like first dielectric layer 41A having elasticity and the front surface of the first dielectric layer 41A. The first electrode layer 42A, the second electrode layer 42B formed on the back surface of the first dielectric layer 41A, and the second dielectric layer 41B laminated on the front side of the first dielectric layer 41A so as to cover the first electrode layer 42A And a third electrode layer 42C formed on the front surface of the second dielectric layer 41B.
The sensor element 40 includes a first wiring 43A connected to the first electrode layer 42A, a second wiring 43B connected to the second electrode layer 42B, and a third wiring 43C connected to the third electrode layer 42C. Prepare.
The sensor element 40 includes a connection member 48 in which three electrode connection portions 46A, 46B, 46C made of copper foil are formed on the upper surface of a non-stretchable resin sheet 47, and includes a first wiring 43A, an electrode connection portion 46A, The second wiring 43B and the electrode connecting portion 46B, and the third wiring 43C and the electrode connecting portion 46C are electrically connected through conductive adhesives 44A, 44B, and 44C, respectively.
In the sensor element 40, a back side protective layer 45B and a front side protective layer 45A are formed on the back side of the first dielectric layer 41A and the front side of the second dielectric layer 41B, respectively. A lead wire 52 for connecting to the analyzer 5 is soldered to each of the electrode connecting portions 46A, 46B, and 46C.

In the sensor element 40, the first to third electrode layers 42A to 42C have the same planar view shape. The first electrode layer 42A and the second electrode layer 42B are opposed to each other across the first dielectric layer 41A, and the first electrode layer 42A and the third electrode layer 42C are entirely disposed across the second dielectric layer 41B. Are facing each other.
In the sensor element 40, a portion where the first electrode layer 42A and the second electrode layer 42B face each other and a portion where the first electrode layer 42A and the third electrode layer 42C face each other serve as the detection unit 49, and the first electrode layer The sum of the capacitance of the portion where 42A and the second electrode layer 42B face each other and the capacitance of the portion where the first electrode layer 42A and the third electrode layer 42C face each other becomes the capacitance of the detection unit 49. .

  When measuring capacitance using a sensor sheet provided with the sensor element 40, it is easy to eliminate measurement errors due to noise by electrically connecting the second electrode and the third electrode. Therefore, it is possible to measure the change in capacitance in the detection unit 49 more accurately.

Next, components of the motion measuring device will be described.
(Sensor sheet)
<Sensor element>
<< Dielectric layer >>
The dielectric layer has stretchability. Examples of such a dielectric layer include those made of an elastomer composition.
As said elastomer composition, what contains an elastomer and another arbitrary component as needed is mentioned, for example.
Examples of the elastomer include natural rubber, isoprene rubber, nitrile rubber (NBR), ethylene propylene rubber (EPDM), styrene / butadiene rubber (SBR), butadiene rubber (BR), chloroprene rubber (CR), silicone rubber, and fluorine. Examples thereof include rubber, acrylic rubber, hydrogenated nitrile rubber, and urethane rubber. These may be used alone or in combination of two or more.
In addition to the elastomer, the elastomer composition may contain additives such as a plasticizer, an antioxidant, an antioxidant, a colorant, a dielectric filler, and the like.

The average thickness of the dielectric layer is preferably 10 to 1000 μm from the viewpoint of increasing the capacitance and improving the detection sensitivity. More preferably, it is 30-200 micrometers.
The dielectric layer is preferably stretchable so that the length in the expansion / contraction direction increases by 30% or more from the unstretched state.
It is possible to extend so that the length in the expansion / contraction direction increases by 30% or more, and it does not break even if the length increases by 30% following the deformation of the measurement object, and the original state It can also be restored to (non-stretched state) (that is, in the elastic deformation range).
The dielectric layer is more preferably stretchable so that the length in the expansion / contraction direction increases by 50% or more, more preferably stretchable so as to increase by 100% or more, and increases by 200% or more. It is particularly preferable that the film can be elongated.
The stretchable length of the dielectric layer can be controlled by the design (material, shape, etc.) of the dielectric layer.

<< Electrode layer >>
Each of the electrode layers described above can be deformed following the dielectric layer. Such an electrode layer is composed of a conductive composition containing a conductive material.
Examples of the conductive material include carbon nanotubes, graphene, carbon nanohorns, carbon fibers, conductive carbon black, graphite, metal nanowires, metal nanoparticles, and conductive polymers. These may be used alone or in combination of two or more.
As the conductive material, a material having a large aspect ratio such as a carbon nanotube or a metal nanowire is preferable. This is because it is suitable for forming an electrode layer that deforms following the deformation of the dielectric layer.

In addition to the conductive material, the conductive composition may contain, for example, a binder component and various additives that function as a connecting material for the conductive material.
Examples of the additive include a dispersant for a conductive material, a crosslinking agent for a binder component, a vulcanization accelerator, a vulcanization aid, an anti-aging agent, a plasticizer, a softener, and a colorant. Can be mentioned.

<< Protective layer >>
Examples of the material for the protective layer include the same elastomer composition as the material for the dielectric layer.

<< Connecting member >>
The connection member includes a sheet-like base material and a plurality of electrode connection portions formed on the upper surface of the base material.
As said sheet-like base material, cloth fabrics, such as a resin film, a resin board, and a nonwoven fabric, etc. can be used, for example. The base material may be a mesh made of fibers or the like. The sheet-like substrate is preferably one that does not substantially expand or contract (deform) when the dielectric layer expands or contracts. If the base material is easily deformed, inconveniences such as breakage of the electrode connection portion and the like are likely to occur.
The resin material of the resin film or resin plate is not particularly limited, and examples thereof include polyester such as PET, hard polyvinyl chloride, polyethylene (PE), polypropylene (PP), polycarbonate (PC), and polyimide (PI). It is done.

As said electrode connection part, what consists of metal foils, such as copper foil, etc. are mentioned, for example. Furthermore, the electrode connection part may be, for example, a printing layer or a plating layer made of a metal material in addition to the copper foil.
The electrode connection part is fixed to the base material through an adhesive or the like, for example.

  The said electrode connection part is electrically connected with the wiring (1st-3rd wiring) connected to the electrode layer via a conductive adhesive. It does not specifically limit as said conductive adhesive, A conventionally well-known conductive adhesive can be used and a commercial item can also be used.

  Such a sensor element is, for example, a member in which an electrode layer and a protective layer are laminated on the front and back surfaces of a dielectric layer using a method similar to the method for producing a sensor sheet described in JP-A-2016-90487. Can be manufactured by attaching the connecting member and then electrically connecting the electrode layer (wiring) and the electrode connecting portion.

<Coating member>
The covering member is an insulating member provided around the sensor element.
Examples of the covering member include a stretch fabric cloth and a member made of an elastomer composition. The covering member is preferably a member having stretch anisotropy.
The cloth fabric having elasticity is not particularly limited, and may be a woven fabric, a knitted fabric, or a non-woven fabric. Moreover, it is preferable that the ratio of 5% modulus of the difficult stretch direction with respect to 5% modulus of the easily stretchable direction is 10 or more in the member having the stretch anisotropy.
The cloth fabric is integrated with the sensor element using an adhesive such as an acrylic adhesive, a urethane adhesive, a rubber adhesive, or a silicone adhesive. Here, the pressure-sensitive adhesive needs to have flexibility that does not hinder expansion and contraction of the dielectric layer.
In the embodiment of the present invention, the covering member is an arbitrary member, and may be provided on both surfaces or one surface of the sensor element as necessary.

<Fixing member>
The fixing member is a member for fixing the sensor sheet to the first annular member and the second annular member (second annular region). As long as the fixing member can securely fix the sensor sheet to the first annular member and the second annular member, the material and shape of the first annular member and the second annular member are taken into consideration. What is necessary is just to select suitably.
Examples of the fixing member include a hook-and-loop fastener, an adhesive, and a stapler in addition to the snap button.
When the sensor sheet is fixed to the first annular member and the second annular member with a snap button or a hook and loop fastener, the sensor sheet is also attached to the first annular member and the second annular member side with the snap button and the hook and loop fastener. It is configured to be fixed. For example, when using a snap button, one of a spring and a lever is fixed to the sensor sheet side, and the other is fixed to the first and second annular member sides.
Furthermore, the sensor sheet may be fixed with a double-sided tape or clip, or may be fixed by sewing.

(Analysis device)
<Instrument>
The measuring instrument is connected to the sensor sheet (sensor element). The measuring instrument measures the capacitance of the detection unit.
Examples of the method of measuring the capacitance include a method of measuring with a measuring instrument such as an LCR meter. Further, for example, a method using a CV conversion circuit using an automatic balanced bridge circuit, a method using a CV conversion circuit using an inverting amplifier circuit, a method using a CV conversion circuit using a half-wave voltage doubler rectifier circuit, After converting capacitance to voltage or frequency by a method using a CF oscillation circuit using a Schmitt trigger oscillation circuit, a method using a combination of a Schmitt trigger oscillation circuit and an F / V conversion circuit, Examples include a method of measuring with a measuring instrument such as a frequency counter.

<Calculator>
The computing unit calculates the amount of change in the length of the sensor sheet (the amount of change in the distance between the first fixed portion and the second fixed portion) based on the measured capacitance, and further calculates the length of the sensor sheet. Based on the parallel link model described above, the position and orientation of the measurement object after the change are calculated from the change amount of the height.
As the arithmetic unit, for example, a computer including a storage unit such as a CPU, RAM, ROM, and HDD, a monitor, various input / output interfaces, and the like can be used.
For example, a terminal device such as a personal computer, a smartphone, or a tablet may be used as the computing unit.

(Other embodiments)
Although the motion measurement device according to the first and second embodiments includes six sensor sheets, the motion measurement device according to the embodiment of the present invention only needs to include at least two sensor sheets. 3 to 6 sensor sheets are preferably provided.
The number of sensor sheets may be appropriately determined in consideration of the measurement object.
In the first and second embodiments, the movement of the waist is the measurement target, and the movement of the waist is moved in any direction of the three axes (x axis, y axis, z axis). In addition to being able to change and rotating around each axis, the motion measurement device of the first and second embodiments is provided with six sensor sheets to acquire six pieces of variation information.

On the other hand, if the number of variation information to be measured is reduced, the number of sensor sheets may be reduced accordingly.
For example, as a measurement object, a measurement object whose position is freely changed while maintaining the posture, or a position is changed only in two axial directions (not moving in the remaining one axial direction), and the posture is one axis. In the case of measuring the movement of the measurement object that varies only around, the number of sensor sheets may be three.
Also, for example, when measuring the movement of a measurement object whose position varies only in two axial directions and the posture varies only around two axes, the number of sensor sheets may be four. The number of sensor sheets may be five when measuring the movement of the measurement object whose position changes only in the two-axis direction and the posture changes around three axes.
That is, the number of sensor sheets can be reduced from six if there is information that does not change among the total six pieces of fluctuation information of the movement information in the three axis directions and the rotation information around each axis.

  Specifically, when the measurement target is a hip joint, assuming that there is almost no vertical movement of the trunk, five sensor sheets are used using the model formula without the vertical movement information. The motion of the hip joint can be measured using five pieces of variation information of movement information of the trunk in the longitudinal and lateral directions and rotation information about three axes. In addition, if it is assumed that the movement of the trunk in the left-right direction can be ignored, the movement measurement apparatus equipped with four sensor sheets is used to move the trunk in the front-rear direction and about the three axes. The movement of the hip joint can be measured by the four pieces of fluctuation information with the rotation information.

In addition, when the measurement target is a hip joint, rotation information about each of the three axes mainly becomes variation information during operation. Therefore, a reference plane is set on the trunk side, and a displacement plane is set on the thigh. By using a motion measuring device provided with a sensor sheet, rotation information about three axes can be measured, and a change in posture of an operating point set on the thigh can be measured.
Furthermore, when the measurement target is a shoulder joint, the rotation information around each of the three axes is mainly the fluctuation information at the time of movement. By using the motion measuring device provided with the sensor sheet, rotation information about three axes can be measured, and the change in posture of the operating point set on the upper arm can be measured.
In addition, when the measurement target is a wrist joint and the rotation information about the two axes is the fluctuation information during operation, the first member is set on the lower arm, the second member is set on the back of the hand, and the two sensor sheets are attached. By using the provided motion measuring device, rotation information about two axes can be measured, and a change in posture of the operating point set on the back of the hand can be measured.

In the motion measurement device according to the embodiment of the present invention, the first member that is a reference for the movement of the operating point and the second member that moves and / or rotates in accordance with the motion of the operating point are configured in multiple stages. May be.
FIG. 8 is a schematic diagram illustrating another example of the motion measurement member according to the embodiment of the present invention.
The motion measuring member 71 shown in FIG. 8 has a structure in which the annular members that move and / or rotate in accordance with the motion of the operating point are further stacked in the motion measuring device 1 of the first embodiment.
The motion measurement member 71 includes a first annular member 73 and a second annular member 74, and six sensor sheets 72 (72 </ b> A to 72 </ b> F) provided between the first annular member 73 and the second annular member 74. The third annular member 76 and six sensor sheets 75 (75A to 75F) provided between the third annular member 76 and the second annular member 74 are provided.

  Here, the first annular member 73, the second annular member 74, and the six sensor sheets 72 are respectively the first annular member 3, the second annular member 4, and the six sensor sheets 72 in the motion measuring apparatus 1 shown in FIG. This is a member corresponding to the sensor sheet 2. In the motion measuring member 71, the third annular member 76 is further arranged on the opposite side (the upper side in the drawing) of the second annular member 74 to the first annular member 73 side, and the third annular member 76 and the second annular member are arranged. Six sensor sheets 75 (75A to 75F) that are not parallel to each other are laid between the two. The configuration of each of the six sensor sheets 75 is the same as that of the sensor sheet 2 in the first embodiment.

In the motion measurement device according to the embodiment of the present invention, when the motion measurement member 71 is used, the position and orientation of the motion point (first motion point) in the displacement plane formed by the second annular member 74 are determined. While the change is measured using the surface formed by the first annular member as a reference surface, the second annular member 74 forms the change in the position and posture of the second operating point in the displacement surface formed by the third annular member 76. The surface can be measured as a reference surface. In addition, from the measurement result, a change in the position and orientation of the second operating point can be calculated using the surface formed by the first annular member as the reference surface.
Therefore, the motion measuring apparatus provided with the motion measuring member 71 can measure the motion of the measurement object more finely. It is also suitable for measuring complex movements.
In the motion measurement device according to the embodiment of the present invention, the motion measurement member may be configured in multiple stages exceeding two stages in which annular members are further stacked.

In the motion measuring apparatus according to the first embodiment, the belt 31A is employed as the first annular member, and the first annular member 4 is fixed to the subject by passing this 31A through the belt loop of the trousers worn by the subject. In the motion measurement device according to the embodiment of the present invention, the waist portion of the trousers worn by the subject is set as a first annular region corresponding to the first annular member, and one end side of the sensor sheet 2 is directly connected to the first annular region. It may be fixed. In such a configuration, the first annular member is integrated with the trousers worn by the subject.
In the motion measurement device according to the embodiment of the present invention, each of the first annular member and the second annular member is not limited to the above-described compression shirt, a part of the trousers, or the belt, and is fixed to a predetermined position of the subject. It may be an annular or rod-shaped member.

The measurement object in the motion measurement apparatus according to the embodiment of the present invention is not limited to the movement of the human waist, and the measurement object is the movement of the human shoulder, wrist movement, neck movement, crotch movement, ankle movement, and the like. It can be.
The measurement object is not limited to the movement of a person, and may be a movement of an animal other than a person, or may be a movement of a machine, a robot, or the like.
In addition, the motion measuring apparatus is suitable for measuring animal movements, particularly human movements, because it includes a sensor sheet that is lightweight, excellent in elasticity, and has an excellent characteristic that does not hinder the movement of the measurement object. ing.

(Experiment example: Verification of measurement accuracy)
Hereinafter, an experimental example for verifying the measurement accuracy of the motion measurement device according to the embodiment of the present invention was performed.
In this experimental example, the following motion measurement members were prepared to measure the changes in the position and orientation of the operating point, and at the same time, using the motion capture, the changes in the position and orientation of the same operating point were measured. The measurement accuracy using the measurement member was evaluated. The results are shown in Table 1 and FIGS.

<Production of motion measurement member>
FIG. 9 is a perspective view schematically showing the motion measurement member used in the experimental example.
Two circular iron wire meshes (diameter 270 mm and diameter 240) were prepared. The metal mesh 103 having a diameter of 270 mm was used as the first annular member, and the wire mesh 104 having a diameter of 240 mm was used as the second annular member.
In the fixing position (first fixing portion) of the sensor sheets 102A to 102F of the wire net 103 and the fixing position (second fixing portion) of the sensor sheets 102A to 102F of the wire mesh 104, the snap button fixed to the cloth piece is used. (Convex side) was attached.

<< Preparation of sensor sheet >>
Six sensor sheets (see FIGS. 3 and 4) 102A to 102F were manufactured through the following steps.
[Production of sensor element]
(1) Preparation of dielectric layer For 100 parts by mass of polyol (Pandex GCB-41, manufactured by DIC), 40 parts by weight of plasticizer (dioctyl sulfonate) and isocyanate (Pandex GCA-11, manufactured by DIC) 17 .62 parts by weight were added and stirred and mixed with an agitator for 90 seconds to prepare a raw material composition for a dielectric layer.
Next, it heated in the heating apparatus (crosslinking furnace), conveying a raw material composition in the state pinched | interposed between two protective films. Here, cross-linking was performed under the conditions of an in-furnace temperature of 70 ° C. and an in-furnace time of 30 minutes to obtain a roll-wrapped sheet having a predetermined thickness with a protective film. Thereafter, it was post-crosslinked in a furnace adjusted to 70 ° C. for 12 hours to prepare a sheet having a thickness of 100 μm made of polyether urethane elastomer. The obtained urethane sheet was cut into a size of 14 mm × 80 mm × thickness 100 μm, and one corner was cut off at a size of 7 mm × 20 mm × thickness 100 μm to produce a dielectric layer.

Further, when the elongation at break (%) of the produced dielectric layer was measured, the elongation at break (%) was 505%.
Here, the elongation at break was measured according to JIS K 6251.

(2) Preparation of electrode layer material 30 mg of highly oriented carbon nanotubes manufactured by Taiyo Nippon Sanso Co., Ltd. (4 to 12 layers, fiber diameter 10 to 20 nm, fiber length 150 to 300 μm, carbon purity 99.5%) Added to 30 g of alcohol (IPA), subjected to wet dispersion using a jet mill (NanoJet Pal JN10-SP003, manufactured by Joko), diluted twice and a carbon nanotube dispersion having a concentration of 0.05% by weight. Obtained.

(3) Preparation of protective layer A sheet made of a polyether-based urethane elastomer was prepared using the same method as that of the preparation of (1) dielectric layer described above except that the thickness was different, and this was then cut to 14 mm. A back side protective layer of × 80 mm × thickness 50 μm and a front side protective layer of 14 mm × 60 mm × thickness 50 μm were prepared.

(4) Production of connecting member A resin sheet made of polyimide having a size of 14 mm × 10 mm × thickness 0.05 mm was prepared. Separately, two copper foils of 2 mm × 5 mm × 0.05 mm thickness were prepared.
Next, the said copper foil was affixed on the surface of the said resin sheet with the double-sided adhesive tape, and it was set as the connection member.

(5) Manufacture of sensor element First, an opening having a predetermined shape was formed in the release-treated PET film on one surface (front surface) of the back side protective layer 15B manufactured in the step (3). A mask was pasted.
The mask is provided with openings corresponding to the second electrode layer and the second wiring, and the size of the opening is 10 mm wide × 50 mm long in the portion corresponding to the second electrode layer. The corresponding part is 5 mm wide × 20 mm long.

Next, the carbon nanotube dispersion prepared in the step (2) was applied using an air brush so that the coating amount per unit area (cm ² ) was 0.223 g. Then, it was made to dry for 10 minutes at 100 degreeC, and the 2nd electrode layer 12B and the 2nd wiring 13B were formed. Thereafter, the mask was peeled off.

Next, the dielectric layer 11 produced in the step (1) was laminated on the back side protective layer 15B so as to cover the entire second electrode layer 12B and a part of the second wiring 13B.
Further, the first electrode layer 12A and the first wiring 13A were formed on the front side of the dielectric layer 11 by using the same method as the formation of the second electrode layer 12B and the second wiring 13B.

Next, step (3) above is performed so that the entire first electrode layer 12A and a part of the first wiring 13A are covered on the front side of the dielectric layer 11 on which the first electrode layer 12A and the first wiring 13A are formed. The front protective layer 15A produced in the above was laminated by lamination.
Further, the connecting member 18 is laminated on the back side of the back side protective layer 15B so that the end of the back side protective layer 15B and a part of the connecting member 18 overlap, and then the first wiring 13A and the electrode connecting part 16A, and The second wiring 13B and the electrode connection portion 16B were connected via a conductive adhesive.
Thereafter, the lead wire 22 was fixed to the electrode connecting portion 16A and the electrode connecting portion 16B with solder, whereby the sensor element 10 was obtained.

[Production of sensor sheet]
(1) Preparation of cloth cloth The following cloth cloth was prepared as a cloth cloth.
Stretch anisotropic fabric: Super stretch II (purchased from Santoku Co., Ltd., quality: 90% nylon, 10% polyurethane, 600 μm thick)

(2) Preparation of adhesive layer 50 parts by weight of methyl ethyl ketone (MEK) and 2 parts by mass of a curing agent (manufactured by Soken Chemical Co., Ltd., L-45) are added to 50 parts by weight of the adhesive (manufactured by Soken Chemical Co., Ltd., SK Dyne 1720). The mixture was obtained by mixing (2000 rpm, 120 seconds) and defoaming (2000 rpm, 120 seconds) with Awatori Nertaro (manufactured by Thinky, model number: ARE-310). Next, the resulting mixture was formed on a PET film (50E-0010KF, manufactured by Fujimori Kogyo Co., Ltd.) having a release treatment on the surface with a wet film thickness of 100 μm using an applicator. And cured at 100 ° C. for 30 minutes to produce an adhesive layer with a thickness of 30 μm after curing.

(3) The pressure-sensitive adhesive layer prepared in (2) was transferred to one side of the stretch anisotropic fabric.
Thereafter, the stretchable anisotropic fabric was cut into a size of horizontal 115 mm × vertical 30 mm. At this time, it cut | judged so that a horizontal may become an easily expansion-contraction direction and a length may become a difficult expansion-contraction direction.

(4) A stretchable anisotropic fabric (covering member) 21B cut onto the back side of the sensor element 10 produced by the method described above was pasted. At this time, the end on the opposite side to the side where the wiring (the first wiring 13A and the second wiring 13B) of the sensor element 10 is formed at a position 15 mm from one end in the longitudinal direction (horizontal direction) of the stretch anisotropic fabric 21B. The stretch anisotropic fabric 21B was pasted so as to be positioned.
After that, the stretchable anisotropic fabric (coating member) 21A cut in (1) above is also attached to the front surface side of the capacitance detection sheet, and the capacitance detection sheet is sandwiched between the two cloth fabrics. It is.

(5) A spring (concave side) of a snap button for fixing the sensor sheet to the wire nets 103 and 104 was attached to both ends on the back side of the stretch anisotropic fabric 21B. Note that the distance between the snap buttons was 70 mm in an unstretched state.
Six sensor sheets 102A-102F were produced through such a process.

<Assembly of motion measurement members>
The six sensor sheets 102A to 102F were fixed to the wire nets 103 and 104 using snap buttons so as to be laid between the wire nets 103 and 104.
At this time, each of the sensor sheets 102A to 102F was fixed to the metal nets 103 and 104 in a state where the distance between the snap bonders was previously extended to about 90 mm (elongation rate 40%).

<Assembly of motion measuring device>
The lead wires 22 of the sensor sheets 102 </ b> A to 102 </ b> F were connected to an analog input / output board (AIO-161601UE3-PE manufactured by CONTEC Co., Ltd.) built in the computer, and the motion measuring device 101 was obtained.
In addition, a motion capture marker 201 is installed in the central portion of the wire mesh 104 in order to simultaneously measure changes in the position and orientation of the operating point using an optical motion capture (NaturalPoint, Inc., OptiTrack Flex3). .

(Evaluation)
The wire mesh 104 of the motion measuring device 101 is moved by the experimenter so that the position / posture changes, and the change of the position and posture of the motion point c at that time is changed to the motion measuring device 101 and the optical motion capture device. And simultaneously measured.
In this evaluation, the measurement was performed with the center of the front surface of the wire mesh 103 as the origin of the three-dimensional coordinates and the center of the front surface of the wire mesh 104 as the operating point c.

The measurement results are shown in FIGS. The results shown in each figure are as follows.
Fig. 10: Displacement amount in x-axis direction Fig. 11: Displacement amount in y-axis direction Fig. 12: Displacement amount in z-axis direction Fig. 13: Rotation angle around x-axis Fig. 14: Rotation angle around y-axis Fig. 15: Z-axis Rotational angle of surroundings In the figure, “mc” is a measurement result by motion capture.

  Moreover, the difference of the measured value of the motion measuring device 101 with respect to the measured value by motion capture was calculated. The maximum value of the obtained difference is shown in Table 1 as the maximum error.

  From the results in this experimental example, it has become clear that the movement measuring device 101 can measure changes in the position and posture of the movement point c.

DESCRIPTION OF SYMBOLS 1 Motion measuring device 2, 2A-2F, 72, 72A-72F, 75, 75A-75F, 102A-102F Sensor sheet 3, 73, 103 1st annular member 4, 74, 104 2nd annular member 5 Analyzing device 10, 40 Sensor element 11 Dielectric layer 12A, 42A First electrode layer 12B, 42B Second electrode layer 13A First wiring 13B Second wiring 14A, 14B, 44A-44C Conductive adhesive 15A, 45A Front side protective layer 15B, 45B Back side protection Layer 16A, 16B Electrode connection portion 17, 47 Resin sheet 18, 48 Connection member 19, 49 Detection portion 21 Cover member 22, 52 Lead wire 26 Snap button 31A Belt 31B Compression shirt 41A Front side dielectric layer (first dielectric layer)
41B Back side dielectric layer (second dielectric layer)
42C 3rd electrode layer 43A 1st wiring 43B 2nd wiring 43C 3rd wiring 46A-46C Electrode connection part 71 Member for motion measurement 76 3rd annular member 100 Test subject

Claims (4)

An operation measuring device for measuring a change in position and / or posture of an operation point in the measurement object at the time of deformation of the measurement object;
A first member serving as a reference for the movement of the operating point;
A second member that moves and / or rotates in accordance with the movement of the operating point;
A sensor sheet having a first fixing portion fixed to the first member and a second fixing portion fixed to the second member, and is laid between the first member and the second member. At least two,
An analysis device;
With
The sensor sheet includes an elastomeric dielectric layer, a first electrode layer formed on an upper surface of the dielectric layer, and a second electrode layer formed on a lower surface of the dielectric layer, and the first electrode layer and The opposing part of the second electrode layer is a detection unit, and is configured to expand and contract in accordance with the movement of the operating point, and the capacitance of the detection unit changes in accordance with the expansion and contraction.
The analysis device calculates a change in the distance between the first fixing unit and the second fixing unit for each sensor sheet based on a change in capacitance of the detection unit, and the first fixing in each sensor sheet. A motion measurement device that calculates a change in the position and / or orientation of the operating point based on a change in the distance between a part and the second fixed part.   The motion measuring apparatus according to claim 1, comprising 3 to 6 sensor sheets. The human body is used as the measurement object, and it is used to measure the movement of the subject's lower back.
The first member is a first annular member fixed around the waist of the subject,
The second member is a second annular member that is fixed around the trunk of the subject above the first annular member,
The operating point is located in a displacement plane having the second annular member as an outer periphery,
The motion measurement device according to claim 2, comprising six sensor sheets. A member for motion measurement used in the motion measurement device according to claim 1,
A first member serving as a reference for the movement of the operating point;
A second member that moves and / or rotates in accordance with the movement of the operating point;
A sensor sheet having a first fixing portion fixed to the first member and a second fixing portion fixed to the second member, and is laid between the first member and the second member. At least two,
With
The sensor sheet includes an elastomeric dielectric layer, a first electrode layer formed on an upper surface of the dielectric layer, and a second electrode layer formed on a lower surface of the dielectric layer, and the first electrode layer and The opposing part of the second electrode layer is used as a detection unit, and is configured to expand and contract according to the movement of the operating point, and the capacitance of the detection unit changes according to the expansion and contraction. A member for measuring motion.