JP2019198939A - Tactile sensor - Google Patents

Abstract

To provide a tactile sensor for a slave robot of a teleexistence system that is capable of measuring a plurality of physical values while suppressing a data amount.SOLUTION: A tactile sensor 3b to be attached to a hand part of a slave robot having a sensor group that operates in linkage with changes in posture of an operator and also acquires signals for operating a presentation device fitted to the operator. The tactile sensor includes: a temperature sensor 31 for acquiring temperature of a contact object that is a contact object of the hand part; an accelerator sensor 32 for acquiring vibration generated between the hand part and the contacted contact object; and a pressure sensor 33 for acquiring pressure applied to the hand part by contacting the contact object. Here, the temperature sensor 31, the accelerator sensor 32, and the pressure sensor 33 are laminated in the tactile sensor 3b in said order.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a tactile sensor, and more particularly to a tactile sensor included in a slave robot of a teleexistence system.

  Telexistence is that if the operator remotely operates a slave robot (Slave Robot) that is located away from the operator, the operator is present in a location that does not actually exist. This is a technique for allowing an operator to experience the senses such as vision, hearing, and touch (see Non-Patent Document 1, for example). In the tele-existence system, the slave robot is a humanoid robot, and the corresponding parts of the slave robot operate in synchronization with the movement of the operator's body (head, torso, arms, hands, etc.). To do.

  In teleexistence, tactile information (pressure, vibration, and temperature) acquired by the slave robot is fed back to the operator. For this reason, a plurality of sensors for measuring pressure, vibration, and temperature are provided at the tip of the hand of the slave robot corresponding to the fingertip of the operator. The slave robot is sometimes called a surrogate because it meets and works on behalf of the operator at a remote location away from the operator.

T. Kurogi, M. Nakayama, K. Sato, S. Kamuro, CL Fernando, M. Furukawa, K. Minamizawa, and S. Tachi, “Haptic Transmission System to Recognize Differences in Surface Textures of Objects for Telexistence”, IEEE Virtual Reality 2013, pp. 137-138.

  Since the operator and the slave robot are separated from each other, the information acquired by the tactile sensor is transmitted to the tactile presentation device provided in the operator via the communication network. For this reason, in order to ensure real-time property, it is preferable that the amount of information acquired by the touch sensor is small. However, in the above technique, vibration information generated when the hand of the slave robot touches another object is acquired using a microphone as sound information generated at that time. For this reason, since vibration information is acquired at a sampling rate that matches the human audible range, the amount of information increases.

  The present invention has been made in view of these points, and an object of the present invention is to provide a tactile sensor for a slave robot of a teleexistence system capable of measuring a plurality of physical quantities while suppressing the amount of data.

  An aspect of the present invention is a tactile sensation for attaching to a hand portion of a slave robot that operates in conjunction with a change in the posture of the operator and includes a sensor group that acquires a signal for operating a presentation device worn by the operator. It is a sensor. The tactile sensor includes a temperature sensor for acquiring a temperature of a contact target of the hand part, an acceleration sensor for acquiring vibration generated between the contact target and the touch part, and the contact target. A pressure sensor for acquiring a pressure applied to the hand part by contact. The tactile sensor is stacked in the order of the temperature sensor, the acceleration sensor, and the pressure sensor.

  The tactile sensor may further include a vibration transmission member that transmits vibration generated between the touch part and the contact target that is in contact with the hand part to the acceleration sensor.

  The temperature sensor measures the temperature of the contact object before the contact of the hand part with the contact object, and the contact type temperature sensor that can measure the temperature of the contact object when the hand part contacts the contact object. Possible non-contact temperature sensors.

  The temperature sensor may be arranged so that a plurality of the contact temperature sensors surround the non-contact temperature sensor.

  The sampling rate of the pressure sensor may be larger than the sampling rate of the temperature sensor, and may be smaller than the sampling rate of the acceleration sensor.

  The tactile sensor may further include a non-slip portion serving as a contact surface of the hand portion.

  According to the present invention, it is possible to provide a tactile sensor for a slave robot of a teleexistence system that can measure a plurality of physical quantities while suppressing the amount of data.

It is a figure which shows typically the external appearance of the component of a tele-existence system. It is a figure which shows typically the flow of the information exchanged between the component of a tele-distance system, and each component. It is a figure which shows typically the external appearance of the tactile sensor which concerns on embodiment. It is a figure which shows typically arrangement | positioning of the electronic component on the board | substrate which comprises the sensor group with which the tactile sensor which concerns on embodiment is provided. It is a figure for demonstrating the laminated structure of the board | substrate which comprises the tactile sensor which concerns on embodiment. It is a figure which shows typically the positional relationship of the contact-type temperature sensor which concerns on embodiment, and a non-contact-type temperature sensor. It is a figure which shows an example of the magnitude relationship of the sampling rate of the sensor group with which the tactile sensor which concerns on embodiment is provided in a table | surface form.

<Outline of teleexistence system>
FIG. 1 is a diagram schematically showing the appearance of the components of the teleexistence system S. FIG. 2 is a diagram schematically showing the components of the teleexistence system S and the flow of information exchanged between the components. Hereinafter, with reference to FIG.1 and FIG.2, the outline | summary of the tele-distance system S used as the premise of the tactile sensor 3b which concerns on embodiment is demonstrated first.

  As shown in FIG. 1, an operator U who uses the tele-distance system S wears various presentation devices 2 (a head-mounted display 2a, a tactile sense presentation device 2b, a headphone 2c, and an image sensor 2d). The movement of the operator U's body is tracked by a capture device (not shown) and transmitted to the control device 1 as capture information indicating the posture of the operator U's body.

  The slave robot R includes various sensors 3 (image sensor 3a, touch sensor 3b, and microphone 3c), and sensor information acquired by each sensor 3 is transmitted to the control device 1. The tactile sensor 3b includes a temperature sensor 31, an acceleration sensor 32, and a pressure sensor 33.

  As shown in FIG. 1, the slave robot R is a machine imitating a human shape. For this reason, the image sensor 3a is arranged at a position corresponding to the eyes of the slave robot R. Similarly, the tactile sensor 3b is disposed at a position corresponding to the fingertip of the slave robot R, and the microphone 3c is disposed at a position corresponding to the ear of the slave robot R.

  The control device 1 is a cloud server that exists on the communication network N. As shown in FIG. 2, the control device 1 analyzes the change in the posture of the operator U based on the capture information. The control device 1 generates an operation signal for operating the slave robot R based on the change in the posture of the operator U, and transmits the operation signal to the slave robot R. The slave robot R includes an actuator in each part such as a neck, a shoulder, and an elbow, and the operation signal generated by the control device 1 is a signal for operating these actuators. Thereby, the slave robot R can move in conjunction with a change in the posture of the operator U.

  The control device 1 generates a presentation signal for operating the presentation device 2 worn by the operator U based on the sensor information acquired from the sensor 3 included in the slave robot R, and transmits the presentation signal to the presentation device 2. For example, image information acquired by imaging by the imaging element 3a is converted by the control device 1 into an image signal to be presented on the head mounted display 2a. As a result, the operator U can view the image captured by the imaging element 3a, which is the “eye” of the slave robot R, through the monitor of the head mounted display 2a. FIG. 1 shows a state in which the right hand of the slave robot R and a cube that is the contact object O held by the right hand of the slave robot R are shown on the monitor of the head mounted display 2a.

  Similarly, tactile information including temperature, vibration, and pressure acquired by the tactile sensor 3b is converted by the control device 1 into a tactile presentation signal for operating the tactile presentation device 2b. Thereby, the operator U can feel the tactile sensation captured by the “fingertip” of the slave robot R via the tactile sensation presentation device 2b.

  In the teleexistence system S according to the embodiment, the head mounted display 2a is a shielded head mounted display. For this reason, when the operator U observes the video imaged by the imaging device 3a via the head mounted display 2a, it is possible to obtain an immersion feeling as if the operator U is at the location where the slave robot R is present.

  On the other hand, once the operator U wears the head mounted display 2a, the operator U cannot see his / her surroundings. Since the head mounted display 2a also operates as part of the capture device, the operator U needs to wear the head mounted display 2a before synchronizing the movement of the operator U and the movement of the slave robot R. Since the operator U wears the head mounted display 2a before the image signal is sent from the control device 1 to the head mounted display 2a, the movement of the operator U and the movement of the slave robot R are synchronized. Until completion, the operator U cannot see the surroundings, which is inconvenient.

  Therefore, as shown in FIG. 1, the head mounted display 2 a includes an imaging element 2 d for capturing an image of the line of sight of the operator U when the head mounted display 2 a is attached to the operator U. Thereby, the operator U can observe the surroundings with the head mounted display 2a mounted.

  As described above, the slave robot R includes a sensor group that operates in conjunction with a change in the posture of the operator U and acquires a signal for operating the presentation device 2 worn by the operator U. The operator U can use the tele-distance system S according to the embodiment to obtain the visual, auditory, tactile, and the like obtained if the slave robot R exists at a location where the slave robot R does not actually exist. Can experience a sense of

<Tactile sensor 3b according to the embodiment>
Based on the above, the tactile sensor 3b according to the embodiment will be described.
FIG. 3 is a diagram schematically illustrating the appearance of the tactile sensor 3b according to the embodiment. Specifically, FIG. 3 is an enlarged perspective view of the hand H corresponding to the right hand of the slave robot R and the tip of the thumb. The tactile sensor 3b according to the embodiment is attached to each fingertip of the slave robot R. Therefore, although not shown in FIG. 3, the tactile sensor 3 b is also attached to each fingertip of the hand portion H corresponding to the left hand of the slave robot R.

  Since the tactile sensor 3b is attached to the fingertip of the hand portion H of the slave robot R, when the slave robot R grasps the contact object O, the touch sensor 3b contacts the contact object O. For this reason, the tactile sensor 3b includes a non-slip portion 30 serving as a contact surface of the hand portion H of the slave robot R. The anti-slip portion 30 corresponds to the “finger's belly” of the slave robot R, and is made of a member having a high friction such as silicon.

  Further, the contact temperature sensor 31a is exposed on the surface of the touch sensor 3b. In order to avoid complications and ambiguity, not all reference numerals are given in FIG. 3, but a member of the same shape as the rectangular member indicated by reference numeral 31a in FIG. It is a temperature sensor. The contact-type temperature sensor 31a is, for example, an NTC (Negative Temperature Coefficient) thermistor, and measures the surface temperature of a substance that becomes the contact target O of the hand H of the slave robot R when the tactile sensor 3b touches the contact target O. be able to. Thus, since the contact-type temperature sensor 31a can measure the temperature of the substance by coming into contact with the substance to be contacted O, the contact-type temperature sensor 31a is provided on the surface of the hand portion H.

  Information on the surface temperature of the contact object O acquired by the contact-type temperature sensor 31 a is transmitted to the control device 1. The control device 1 generates a signal for driving a temperature presentation device (not shown) included in the tactile sense presentation device 2b worn by the operator U based on the temperature information acquired from the contact-type temperature sensor 31a. . When the current temperature of the temperature presentation device is different from the surface temperature of the contact object O, the temperature presentation device changes the temperature of the temperature presentation device using a thermoelectric element such as a Peltier element. Since heat transfer is involved, there is a limit to increasing the response speed of the temperature presentation device, which may hinder real-time performance in the teleexistence system S.

  There is also a time delay in the temperature measurement of the contact object O by the contact-type temperature sensor 31a. That is, it takes a certain time from when the contact-type temperature sensor 31a contacts the contact object O until the temperature of the contact object O is acquired. This delay can also be a cause of hindering real-time performance in the teleexistence system S.

  Therefore, the tactile sensor 3b according to the embodiment includes a non-contact type temperature sensor 31b in addition to the contact type temperature sensor 31a. The non-contact type temperature sensor 31b is realized by an infrared temperature sensor, for example, and can measure the surface temperature of the substance before the hand H of the slave robot R comes into contact with the substance to be contacted O.

  In general, the accuracy of temperature measurement of the non-contact type temperature sensor 31b is lower than the accuracy of temperature measurement of the contact type temperature sensor 31a. However, since the non-contact type temperature sensor 31b can measure the surface temperature of the contact target O before the contact type temperature sensor 31a contacts the contact target O, the control device 1 is able to measure while the tactile sensor 3b approaches the contact target O. Temperature information of the surface of the contact object O can be acquired. As a result, the control device 1 can detect the temperature of the contact object O at an earlier stage compared to the case where the temperature of the contact object O is measured only by the contact temperature sensor 31a. For this reason, the control apparatus 1 can drive the temperature presentation apparatus contained in the tactile sense presentation apparatus 2b at an early stage compared with the case where the temperature of the contact object O is measured only by the contact-type temperature sensor 31a. Therefore, when the tactile sensor 3b includes the non-contact temperature sensor 31b, the transmission speed of the temperature information in the tele-distance system S can be improved.

  In addition, the member shown with the code | symbol 41 in FIG. 3 is a projection part of the vibration transmission member 41 mentioned later. In order to avoid complications and indistinctness, not all reference numerals are given in FIG. 3, but members having the same shape as the circular member indicated by reference numeral 41 in FIG. This is a protrusion of the member 41.

  FIGS. 4A and 4B are diagrams schematically showing the arrangement of electronic components on a substrate constituting a group of sensors 3 included in the tactile sensor 3b according to the embodiment. Specifically, FIG. 4A is a diagram showing the arrangement of electronic components on the front side of the substrate, and FIG. 4B is a diagram showing the arrangement of electronic components on the back side of the substrate. A part of the substrate is a flexible substrate, and the positional relationship of each electronic component can be changed by bending. 4A and 4B are diagrams showing the arrangement of main electronic components, and illustration of electronic components such as resistors and capacitors is omitted.

  In FIG. 4, the substrate is roughly divided into 4 from the upper side (the side where the symbol “A” is described in the drawing) to the lower side (the side where the symbol “B” is indicated in the drawing). Divided into two regions (first region, second region, third region, and fourth region).

  The first region is a region including the contact-type temperature sensor 31a group and the opening. As shown in FIG. 4, on the substrate, four different contact temperature sensors 31a are respectively arranged at positions corresponding to the apexes of the bowl-shaped rectangle. In the substrate, two openings 34 (first opening 34a and second opening 34b) are provided inside a rectangle having four contact-type temperature sensors 31a as apexes.

  The second region is a region including the non-contact temperature sensor 31b and the acceleration sensor 32. The acceleration sensor 32 is a three-axis acceleration sensor for acquiring vibration generated between the slave robot R and the contact target O with which the hand H of the slave robot R comes into contact. As shown in FIG. 4A, the acceleration sensor 32 is disposed on the front side of the substrate constituting the second region. A microcontroller 35 for controlling each sensor is also arranged on the front side of the second area. As shown in FIG. 4B, a non-contact temperature sensor 31b is disposed on the back side of the second region. In addition, an AD converter 36 and an oscillator 38 are also arranged on the back side of the second region.

  Although details will be described later, when the substrate is incorporated into the tactile sensor 3b, the substrate is folded so that the back side of the first region and the back side of the second region face each other. At this time, the 1st opening part 34a provided in the 1st area | region is arrange | positioned above the non-contact-type temperature sensor 31b. As a result, the non-contact temperature sensor 31b is exposed to the outside through the first opening 34a without being shielded by the first region. Therefore, since the non-contact temperature sensor 31b can absorb the infrared rays that have passed through the first opening 34a, the temperature of the contact object O can be measured.

  As shown in FIG. 4A, an AD converter 36 and three instrumentation amplifiers 37 are arranged on the front side of the third region. Further, as shown in FIG. 4B, two voltage regulators 39 and a jumper 40 are disposed on the back side of the third region.

  Three pressure sensors 33 are arranged on the front side of the fourth region. The three pressure sensors 33 are pressure sensors for acquiring the pressure applied to the hand portion H of the slave robot R by contacting the contact object O, respectively. More specifically, the three pressure sensors 33 are pressures in respective directions of an orthogonal coordinate system including two axes that define a contact surface between the tactile sensor 3b and the contact object O and an axis perpendicular to the contact surface. To get. In addition, among the board | substrates, between each area | region of a 1st area | region, a 2nd area | region, a 3rd area | region, and a 4th area | region is a flexible substrate.

  FIGS. 5A to 5B are views for explaining a laminated structure of substrates constituting the tactile sensor 3b according to the embodiment. Specifically, FIG. 5A is a diagram illustrating a side surface of the tactile sensor 3b, and FIG. 5B is a diagram illustrating a state in which the shape of the substrate incorporated in the tactile sensor 3b is viewed from the side surface. It is. In FIG.5 (b), the code | symbol A and the code | symbol B respond | correspond to the code | symbol A and the code | symbol B in Fig.4 (a)-(b).

  As shown in FIG. 5B, the substrate is bent so that the back surface of the first region and the back surface of the second region face each other. The substrate is bent so that the surface of the second region and the surface of the third region face each other. Further, the substrate is bent so that the fourth region is sandwiched between regions where the surface of the second region and the surface of the third region are opposed to each other. As a result, the surface of the second region and the back surface of the fourth region of the substrate face each other, and the surface of the third region and the surface of the fourth region face each other.

  As described above, the temperature sensor 31 is disposed on the front surface of the first region and the back surface of the second region. An acceleration sensor 32 is disposed on the back surface of the second region. Further, a pressure sensor 33 is disposed on the surface of the fourth region. Therefore, the tactile sensor 3b according to the embodiment is stacked in the order of the temperature sensor 31, the acceleration sensor 32, and the pressure sensor 33 from the “finger belly” side of the slave robot R.

  Here, the first region exists between the second region where the acceleration sensor 32 is disposed and the contact surface of the touch sensor 3b with the contact object O. Therefore, the tactile sensor 3b includes a vibration transmission member 41 for transmitting vibration generated between the slave robot R and the contact target O with which the hand portion H of the slave robot R comes into contact to the acceleration sensor 32.

  The vibration transmission member 41 also serves as a housing that accommodates the first region and the second region, and is made of a highly rigid material such as reinforced nylon. A protrusion that is a part of the vibration transmitting member 41 passes through the anti-slip portion 30. As shown in FIG. 5B, since the second region in which the acceleration sensor 32 is disposed is in contact with the vibration transmission member 41, the vibration generated when the vibration transmission member 41 is in contact with the contact object O is acceleration. It is transmitted to the sensor 32. Therefore, the acceleration sensor 32 can detect the vibration caused by the vibration transmitting member 41 coming into contact with the contact object O.

  Further, in order for the pressure sensor 33 to detect the pressure generated between the hand H and the contact object O, it is necessary to transmit the force received by the tactile sensor 3 b from the contact object O to the pressure sensor 33. Therefore, the tactile sensor 3b includes a pressure transmission member 42 for transmitting the force received from the vibration transmission member 41 to the third region. As a result, the force received by the touch sensor 3b from the contact object O is transmitted to the third region through the vibration transmission member 41 and the pressure transmission member 42.

  As shown in FIG. 5B, the pressure sensor 33 arranged in the third region is sandwiched between the third region and the housing of the tactile sensor 3b. For this reason, the pressure sensor 33 can detect the pressure which is the force received by the tactile sensor 3b from the contact object O and transmitted to the third region.

  As described above, the tactile sensor 3b according to the embodiment is configured by stacking the temperature sensor 31, the acceleration sensor 32, and the pressure sensor 33 in this order, so that the slave robot R has a small area about the belly of the finger. The sensor 3 can be arrange | positioned and each sensor can be functioned.

  FIG. 6 is a diagram schematically illustrating a positional relationship between the contact-type temperature sensor 31a and the non-contact-type temperature sensor 31b according to the embodiment. Specifically, it is a diagram when the first region of the substrate is viewed from the “finger belly” side of the slave robot R. As shown in FIG. 6, four different contact-type temperature sensors 31a are arranged at positions corresponding to the vertices of the bowl-shaped rectangle. The non-contact type temperature sensor 31b is exposed to the outside through a first opening 34a provided inside a rectangle having four contact type temperature sensors 31a as apexes. In this way, the temperature sensor 31 is arranged so that the plurality of contact-type temperature sensors 31a surround the non-contact-type temperature sensor 31b.

  Although the surface temperature may change depending on the location of the contact object O, the non-contact type temperature sensor 31b and each of the non-contact type temperature sensors 31b are arranged so as to surround the non-contact type temperature sensor 31a. The distance to the contact-type temperature sensor 31a is leveled. Thus, when the temperature gradient of the contact object O is in an equilibrium state, the temperature of the contact object O measured by the non-contact type temperature sensor 31b is approximately the average of the temperatures of the contact objects O measured by the contact type temperature sensors 31a. Expect to be close.

  As described above, the non-contact temperature sensor 31b can start measuring the temperature of the contact object O before the contact temperature sensor 31a contacts the contact object O. The temperature of the contact object O measured by the non-contact temperature sensor 31b is used to drive the temperature presentation device included in the tactile sense presentation device 2b at an early stage.

  Accordingly, the smaller the difference between the temperature measured by the non-contact temperature sensor 31b and the temperature measured by the contact temperature sensor 31a, the greater the effectiveness of driving the temperature presentation device at an earlier stage. By arranging the contactless temperature sensors 31b so as to surround the contactless temperature sensors 31a, the temperature of the contact object O measured by the contactless temperature sensors 31b is measured by the contact temperature sensors 31a. The deviation from the temperature of the contact object O can be reduced. As a result, the effect of driving the temperature presentation device at an early stage can be increased.

  Here, it is known that the temporal resolution for a human temperature change is lower than the temporal resolution for a pressure change. This is because even if the pressure sensor 33 drives the temperature sensor 31 at the same sampling rate as when the pressure sensor 3b detects the pressure received from the contact object O, the change in the temperature information acquired by the temperature sensor 31 is changed. This suggests that the operator U may not be able to perceive. Therefore, in the tactile sensor 3b according to the embodiment, the sampling rate of the temperature sensor 31 is set smaller than the sampling rate of the pressure sensor 33. Thereby, the tactile sensor 3b can reduce physical quantity data acquired by measuring the contact object O.

  In addition, in the tactile sensor 3b according to the embodiment, the acceleration sensor 32 is used to detect vibration generated when the vibration transmitting member 41 contacts the contact object O. In contrast to this method, there is also a technique for acquiring information on vibration generated when the vibration transmission member 41 is in contact with the contact object O using a microphone as sound information generated at that time.

  In general, the sampling rate of a microphone is set based on a human audible range. Since the human audible range is said to be 20 Hz to 20000 Hz, the sampling rate of the microphone is often set to 44100 Hz in consideration of the Nyquist frequency. In this case, when information on vibration generated by the vibration transmission member 41 coming into contact with the contact object O is acquired using a microphone, the sampling rate is 44100 Hz.

  On the other hand, the sampling rate of the acceleration sensor 32 provided in the tactile sensor 3b according to the embodiment is set lower than the sampling rate of a general microphone. As a result, the tactile sensor 3b according to the embodiment reduces the vibration information as compared to the case where the vibration information generated by the vibration transmission member 41 coming into contact with the contact object O is acquired using a general microphone. can do.

  FIG. 7 is a diagram illustrating an example of the relationship between the sampling rates of the sensor groups included in the tactile sensor 3b according to the embodiment in a table format. As shown in FIG. 7, in the tactile sensor 3 b according to the embodiment, the sampling rate of the pressure sensor 33 is larger than the sampling rate of the temperature sensor 31. In addition, the sampling rate of the pressure sensor 33 is smaller than the sampling rate of the acceleration sensor 32.

  Thus, the tactile sensor 3b according to the embodiment measures the contact object O by making the sampling rate of the temperature sensor 31 that acquires a temperature change with low human time resolution smaller than the sampling rate of other sensors. Thus, the physical quantity data acquired can be reduced. In addition, by making the sampling rate of the acceleration sensor 32 smaller than the sampling rate of a general microphone, the tactile sensor 3b according to the embodiment has information on vibration generated when the vibration transmitting member 41 contacts the contact object O. The tactile sensor 3b according to the embodiment can reduce the vibration information as compared with the case of acquiring using a microphone.

<Effects of the control device 1 according to the embodiment>
As described above, the control device 1 according to the embodiment can provide the tactile sensor 3b for the slave robot R of the tele-distance system S that can measure a plurality of physical quantities while suppressing the data amount. .

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment, A various deformation | transformation and change are possible within the range of the summary. is there. For example, the specific embodiments of device distribution / integration are not limited to the above-described embodiments, and all or a part of them may be configured to be functionally or physically distributed / integrated in arbitrary units. Can do. In addition, new embodiments generated by any combination of a plurality of embodiments are also included in the embodiments of the present invention. The effect of the new embodiment produced by the combination has the effect of the original embodiment.

DESCRIPTION OF SYMBOLS 1 ... Control apparatus 2 ... Presentation apparatus 2a ... Head mounted display 2b ... Tactile sense presentation apparatus 2c ... Headphone 2d ... Image sensor 3 ... Sensor 3a ... Image sensor 3b .... Tactile sensor 3c ... Microphone 30 ... Anti-slip part 31 ... Temperature sensor 31a ... Contact type temperature sensor 31b ... Non-contact type temperature sensor 32 ... Acceleration sensor 33 ... Pressure Sensor 35 ... Microcontroller 36 ... AD converter 37 ... Instrumentation amplifier 38 ... Oscillator 39 ... Voltage regulator 40 ... Jumper 41 ... Vibration transmission member 42 ... Pressure transmission Member C ... Flexible substrate H ... Hand N ... Communication network R ... Slave robot S ... Tele-existence system

Claims (6)

A tactile sensor for attaching to a hand part of a slave robot that operates in conjunction with a change in the posture of the operator and includes a sensor group that acquires a signal for operating a presentation device worn by the operator,
A temperature sensor for obtaining the temperature of the contact object of the hand part;
An acceleration sensor for acquiring vibration generated between the touched portion and the contact target;
A pressure sensor for obtaining pressure applied to the hand part by contacting the contact object;
With
The tactile sensor is stacked in the order of the temperature sensor, the acceleration sensor, and the pressure sensor,
Tactile sensor. A vibration transmission member that transmits vibration generated between the hand part and the contact target to the acceleration sensor;
The tactile sensor according to claim 1. The temperature sensor is
A contact-type temperature sensor capable of measuring the temperature of the contact object by contacting the hand part with the contact object;
A non-contact temperature sensor capable of measuring the temperature of the contact object before the hand part contacts the contact object to be contacted;
The tactile sensor according to claim 1, further comprising: The temperature sensor is arranged so that a plurality of the contact temperature sensors surround the non-contact temperature sensor.
The tactile sensor according to claim 3. The sampling rate of the pressure sensor is greater than the sampling rate of the temperature sensor and smaller than the sampling rate of the acceleration sensor;
The tactile sensor according to any one of claims 1 to 4. Further comprising a non-slip portion that becomes a contact surface of the hand portion,
The tactile sensor according to any one of claims 1 to 5.

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