JP2021056033A - Gripping force measurement device and gripping force instrumentation system - Google Patents

Abstract

To provide a technique for acquiring detailed information about finger forces.SOLUTION: A gripping force measurement device comprises a main body part, a first pressed part, a plurality of second pressed parts, a first detection part, and a plurality of second detection parts. The first pressed part is arranged in a position where a subject can press the first pressed part with a first finger when the subject grips a main body part with one hand. The plurality of second pressed parts are arranged in a position where the subject can press the second pressed parts with fingers other than the first finger when the subject grips the main body part with one hand. When the first pressed part is pressed, the first detection part is configured that correspondence to a force acting on the first pressed part output a known first output value. When the plurality of second pressed parts are pressed, the plurality of second detection parts is configured to output a plurality of second output values from which a ratio of force acting on the plurality of second pressed parts can be calculated.SELECTED DRAWING: Figure 3

Description

The present disclosure relates to a gripping force measuring device and a gripping force measuring system.

Patent Document 1 below discloses a device that measures a force applied in multiple directions by hand as a device that can evaluate the dexterity of a finger and the manipulative ability of an object.

Japanese Patent Application Laid-Open No. 2005-503229

With the device disclosed in Patent Document 1, it is difficult to obtain detailed information on the force of the hand, such as which finger has a weaker force than the other fingers.
One aspect of the disclosure is to provide a technique capable of obtaining detailed information on finger force.

The gripping force measuring device according to one aspect of the present disclosure includes a main body unit, a first pressed unit, a plurality of second pressed units, a first detection unit, and a plurality of second detection units. The main body is configured so that the subject can hold the main body with one hand. The first pressed portion is arranged at a position where the first pressed portion can be pressed by the first finger when the subject grasps the main body portion with one hand. The plurality of second pressed portions are arranged at positions where the second pressed portion can be pressed by a finger other than the first finger when the subject grasps the main body portion with one hand. The first detection unit is configured to output a first output value whose correspondence with the magnitude of the force acting on the first pressed portion is known when the first pressed portion is pressed. The plurality of second detection units are provided so as to have a one-to-one correspondence with the plurality of second pressed portions, and when the plurality of second pressed portions are pressed, the plurality of second pressed portions are subjected to. It is configured to output a plurality of second output values that can calculate the ratio of the acting force.

According to the gripping force measuring device configured in this way, when the subject grips the main body portion with one hand, the correspondence relationship with the magnitude of the force acting on the first pressed portion from the first finger is known. The output value is output from the first detection unit. Further, a plurality of second output values capable of calculating the ratio of the forces acting on the plurality of second pressed portions from fingers other than the first finger are output from the second detection unit. As the plurality of second pressed portions, it is sufficient that two or more and four or less second pressed portions are provided. The fingers other than the first finger may be the same number of fingers as the plurality of second pressed portions selected from the second to fifth fingers.

When a force is applied by sandwiching the first pressed portion and the plurality of second pressed portions between the first finger and fingers other than the first finger, a plurality of second pressed portions are applied from the fingers other than the first finger. The sum of the forces acting on each corresponds to the force acting on the first pressed portion. Therefore, if the magnitude of the force acting on the first pressed surface is obtained based on the first output value and the ratio of the force acting on the plurality of second pressed portions is obtained based on the plurality of second output values, the ratio of the force acting on the plurality of second pressed portions can be obtained. Based on these values, the magnitude of the force acting on each of the plurality of second pressed portions can be calculated.

If the magnitude of the force acting on each of the plurality of second pressed portions can be calculated by such a method, the plurality of second detecting portions can detect the magnitude of the force acting on each of the plurality of second pressed portions. Even if it is not necessary, it suffices if it is configured so that the ratio of the forces acting on the plurality of second pressed portions can be detected. Therefore, the second detection unit can have a simpler configuration than the first detection unit, and the gripping force measuring device has a simpler configuration than the case where the second detection unit has the same configuration as the first detection unit. It is possible to reduce the cost. Further, the second detection unit can be easily miniaturized as compared with the first detection unit, and the gripping force measuring device can be miniaturized.

For example, the first detection unit may be configured by a load cell. The second detection unit may be composed of a pressure sensor smaller than the load cell.
Further, for example, the gripping force measuring device may include a first module and a plurality of second modules. The first module includes a first pressed portion and a load cell. Each of the second modules includes a second pressed portion and a pressure sensitive sensor. At least one of the first module and the plurality of second modules may be configured so that the relative position with respect to the main body portion can be changed and the relative position with respect to the main body portion can be fixed at the changed position.

The gripping force measuring system in another aspect of the present disclosure includes the above-mentioned gripping force measuring device and a data processing device. The data processing device includes a processing unit that calculates the magnitude of the force acting on each of the first pressed portion and the plurality of second pressed portions based on the first output value and the plurality of second output values.

According to the gripping force measuring system configured in this way, the magnitude of the force acting on each of the first pressed portion and the plurality of second pressed portions based on the first output value and the plurality of second output values. Can be calculated.

In addition, for example, the processing unit may be configured to execute the first specific processing, the correction processing, and the second specific processing. The first specifying process specifies the magnitude of the force acting on the first pressed portion based on the first output value output from the first detecting portion. In the correction process, a plurality of correction processes are output from a plurality of second detection units according to the first output value output from the first detection unit when a predetermined time has elapsed from the start of pressing of the first pressed unit. The ratio of the second output value of is corrected to obtain the corrected ratio. In the second specific processing, each of the plurality of second pressed portions is subjected to the magnitude of the force acting on the first pressed portion specified by the first specific processing and the corrected ratio obtained by the correction processing. Identify the magnitude of the acting force.

According to the gripping force measuring system configured in this way, even if the pressure sensitive characteristics of the second detection unit vary depending on the pressing speed of the first pressed portion and the plurality of second pressed portions, the variation occurs. Can be corrected to appropriately correct the ratio of the forces acting on the plurality of second pressed portions.

More specifically, as the pressing speed against the first pressed portion increases, the first output value output from the first detecting portion increases rapidly. Therefore, assuming a period in which the first output value increases with the pressing of the first pressed portion (hereinafter, referred to as an output value increasing period), from the start of pressing to the middle of the output value increasing period. If the time is selected as the predetermined time, how much the pressing speed is based on the first output value output from the first detection unit when the predetermined time elapses after the pressing of the first pressed portion is started. You can figure out what it is.

To determine what the pressure-sensitive characteristics of the second detection unit will be when the pressing speed becomes, the pressure-sensitive characteristics of the second detection unit are sampled in advance for a plurality of pressing speeds, and a correspondence table or an approximate expression is used. Can be sought. Therefore, when actually detecting the pressing force, the first is based on the first output value output from the first detecting unit when a predetermined time has elapsed from the start of pressing the first pressed portion. One correspondence table or approximation formula corresponding to the output value can be selected from the correspondence table or approximation formula corresponding to the plurality of pressing speeds. If the ratio of the plurality of second output values is obtained based on one selected correspondence table or an approximate expression, the variation in the pressure sensitive characteristics of the second detection unit due to the pressing speed is corrected, and the plurality of second output values are corrected. The ratio of can be obtained appropriately. Therefore, when the second detection unit having a variation due to the pressing speed as described above is adopted, the above configuration may be adopted.

In addition to the above configurations, for example, the second module may be configured to be removable from the main body.
Further, the gripping force measuring device transmits the measurement data including the first output value output from the first detection unit and the plurality of second output values output from the plurality of second detection units to the data processing device. May include a transmitter, which is configured to transmit. The data processing device may include a receiving unit that receives measurement data transmitted from the gripping force measuring device. The processing unit has the magnitude of the force acting on each of the first pressed unit and the plurality of second pressed units based on the first output value and the plurality of second output values included in the measurement data received by the receiving unit. May be configured to calculate.

FIG. 1 is a block diagram showing a configuration of a gripping force measurement system. FIG. 2A is a perspective view of the gripping force measuring device as seen from the side of the second pressed portion. FIG. 2B is a perspective view of the gripping force measuring device as seen from the side of the first pressed portion. FIG. 3A is a front view of the gripping force measuring device. FIG. 3B is a cross-sectional view of the cut portion shown by the line IIIB-IIIB in FIG. 3A. FIG. 3C is a cross-sectional view of the cut portion shown by the line IIIC-IIIC in FIG. 3A. FIG. 4A is a perspective view showing the second module in an exploded manner. FIG. 4B is a front view showing the second module in an exploded manner. FIG. 5A is a perspective view of a support or the like as seen from the side of the second pressed portion. FIG. 2B is a perspective view of a support or the like as seen from the side of the first pressed portion. FIG. 6 is a flowchart of the measurement process executed in the gripping force measuring device. FIG. 7A is a flowchart of data reception pressure conversion processing executed in the data processing apparatus. FIG. 7B is a flowchart of the conversion process to the pressure value executed in the data processing device. FIG. 8 is an explanatory diagram showing an example of calculating the load applied to the four pressure-sensitive sensors 12.

Next, the above-mentioned gripping force measuring device and gripping force measuring system will be described with reference to exemplary embodiments.
[Structure of gripping force measuring system and gripping force measuring device]
As shown in FIG. 1, the gripping force measuring system 1 includes a gripping force measuring device 2 and a data processing device 3. The gripping force measuring device 2 includes a control / communication module 10, a load cell 11 (corresponding to an example of the first detection unit referred to in the present disclosure), and four pressure-sensitive sensors 12 (an example of the second detection unit referred to in the present disclosure). It is provided with an amplifier module 13, a display unit 14, and a battery 15. The control / communication module 10 includes a control unit 20, a first acquisition unit 21, a second acquisition unit 22, a communication unit 23, and a power supply unit 24. The control unit 20 includes a CPU 201 and a memory 202. The data processing device 3 includes a personal computer 31 (hereinafter, abbreviated as PC 31), a display 32, and a receiving module 33.

As shown in FIGS. 2A, 2B and 3A, the gripping force measuring device 2 includes a main body 50, a first module 51, four second modules 52, and a switch 53. Further, the gripping force measuring device 2 includes a support 55 as shown in FIGS. 3B and 3C.

As shown in FIGS. 2A, 2B and 3A, the main body 50 includes a tubular body 501, a bottom plate 502, a top plate 503, a first lid portion 505, and a second lid portion 506. As shown in FIGS. 3B and 3C, the first module 51 includes a first pressed portion 511 and the load cell 11 described above. The second module 52 includes a second pressed portion 521. As shown in FIGS. 4A and 4B, the second module 52 includes a pressurizing unit 522, the above-mentioned pressure sensor 12, a first divided case 524, and a second divided case 525.

In the case of this embodiment, the main body portion 50 is formed to have a diameter of about 60 mm and a height of about 120 mm. As a result, the main body 50 is configured so that the subject can hold the main body 50 with one hand. When the first pressed portion 511 is pressed, the magnitude of the force acting on the first pressed portion 511 is configured to be detectable by the load cell 11. As shown in FIG. 2B, the first pressed portion 511 is arranged at a position where the first pressed portion 511 can be pressed with the first finger when the subject holds the main body portion 50 with one hand.

When the four second pressed portions 521 are pressed, the ratio of the forces acting on the four second pressed portions 521 is configured to be detectable by the pressure sensor 12. As shown in FIG. 2A, the four second pressed portions 521 press the second pressed portion 521 with four fingers from the second finger to the fifth finger when the subject grasps the main body portion 50 with one hand. It is placed in a possible position. The four pressure-sensitive sensors 12 are provided so as to have a one-to-one correspondence with the four second pressed portions 521.

The pressure sensor 12 is a resistance type pressure sensor 12 in which the resistance value between the electrodes decreases when pressure is applied. The second pressed portion 521 and the pressurized portion 522 are connected to each other and integrated while being passed through the opening of the first case component. The surface of the pressurizing unit 522 facing the pressure sensor 12 is a convex surface corresponding to a part of a spherical surface. When the subject presses the second pressed portion 521, the pressure sensor 12 is pressed by the convex surface of the pressurizing portion 522. As a result, even if the second pressed portion 521 and the pressurized portion 522 are slightly tilted when the second pressed portion 521 is pressed, the pressurized portion 522 comes into contact with the pressure sensor 12 on a part of the spherical surface. The state can be maintained.

As shown in FIG. 5B, the first module 51 is configured to be slidable along the support 55 in the Z1 direction and the Z2 direction shown in the drawing. Thereby, the position of the first module 51 can be optimized so that the first pressed portion 511 is arranged at the position where the first finger touches when the subject grasps the main body portion 50 with one hand. A groove 551 (see FIG. 5B) extending along the Z1 direction and the Z2 direction is formed in the support 55, and the first module 51 is fitted inside the groove 551. The first lid portion 505 is formed with slits 507 (see FIG. 2B) extending along the Z1 direction and the Z2 direction. The first lid portion 505 regulates the movement of the first module 51 in a direction away from the support 55 by contacting a part of the first module 51 inside the main body portion 50. As a result, the first module 51 is held in a state where it can slide in the Z1 direction and the Z2 direction shown in the drawing along the groove 551 and the slit 507, and cannot move in directions other than the Z1 direction and the Z2 direction. ..

When a frictional force that suppresses the slide of the first module 51 acts between the first module 51, the support 55, and the first lid portion 505, and a force exceeding the frictional force is applied. The first module 51 is configured to slide in the Z1 direction or the Z2 direction. That is, if a force exceeding the frictional force is applied, the relative position of the first module 51 with respect to the main body 50 can be changed. Further, after changing the relative position of the first module 51 with respect to the main body 50, the relative position with respect to the main body 50 can be fixed at the changed position as long as a force exceeding the frictional force is not applied.

As shown in FIG. 5A, the second module 52 is configured to be slidable along the support 55 in the Z1 direction and the Z2 direction shown in the drawing. As a result, the second module 52 is arranged so that the four second pressed portions 521 are arranged at positions where the fingers from the second finger to the fifth finger touch each other when the subject grasps the main body portion 50 with one hand. The position of can be optimized. A groove 552 (see FIG. 5A) extending along the Z1 direction and the Z2 direction is formed in the support 55, and the second module 52 is fitted inside the groove 552. The second lid portion 506 is formed with slits 508 (see FIG. 3A) extending along the Z1 direction and the Z2 direction. The second lid portion 506 regulates the movement of the second module 52 in a direction away from the support 55 by contacting a part of the second module 52 inside the main body portion 50. As a result, the second module 52 is held in a state where it can slide in the Z1 direction and the Z2 direction shown in the drawing along the groove 552 and the slit 508, and cannot move in directions other than the Z1 direction and the Z2 direction. ..

When a frictional force that suppresses the slide of the second module 52 acts between the second module 52, the support 55, and the first lid portion 505, and a force exceeding the frictional force is applied. The second module 52 is configured to slide in the Z1 direction or the Z2 direction. That is, if a force exceeding the frictional force is applied, the relative position of the second module 52 with respect to the main body 50 can be changed. Further, after changing the relative position of the second module 52 with respect to the main body 50, the relative position with respect to the main body 50 can be fixed at the changed position as long as a force exceeding the frictional force is not applied.

As shown in FIGS. 5A and 5B, the support 55 is fixed to the bottom plate 502 and the top plate 503 with screws 56. The first lid portion 505 and the second lid portion 506 are configured to be removable from the tubular body 501. If the second lid portion 506 is removed from the tubular body 501, the second module 52 can be removed from the main body portion 50. Therefore, when a problem occurs in the pressure sensor 12, the second module 52 can be removed from the main body 50 and the pressure sensor 12 can be easily replaced.

As shown in FIG. 1, the output signal from the load cell 11 is amplified by the amplifier module 13 and input to the control unit 20 via the first acquisition unit 21. The output signal from the pressure sensor 12 is input to the control unit 20 via the second acquisition unit 22. The second acquisition unit 22 includes a voltage dividing circuit, and is configured so that the output voltage to the control unit 20 increases as the resistance value of the pressure sensor 12 decreases. The control unit 20 converts the analog signals output from the load cell 11 and the four pressure-sensitive sensors 12 into digital data. In the case of the present embodiment, the load cell 11 and the four pressure-sensitive sensors 12 output a voltage of 0 to 3.3 V as the analog signal. Further, in the case of the present embodiment, the control unit 20 converts the voltage value of 0 to 3.3 V into digital data of 0 to 1023. The control unit 20 wirelessly transmits the digital data to the data processing device 3 via the communication unit 23. From the gripping force measuring device 2, five digital data corresponding to each of the load cell 11 and the four pressure-sensitive sensors 12 are repeatedly transmitted approximately every 0.1 seconds. In the following description, the output value corresponding to the load cell 11 is also referred to as a first output value. Further, the output value corresponding to each of the four pressure-sensitive sensors 12 is also referred to as a second output value.

The data processing device 3 receives information transmitted from the gripping force measuring device 2 via the receiving module 33 (that is, one first output value and four second output values), and the PC 31 performs data processing. Execute. The result of data processing may be displayed on the display 32, for example. Alternatively, the result of data processing may be printed or output to a file.

[Processing executed in the gripping force measuring device 2]
Next, the process executed by the gripping force measuring device 2 will be described with reference to FIG. This process is executed when the switch 53 of the gripping force measuring device 2 is turned on. Further, this process is repeatedly executed in the gripping force measuring device 2 approximately every 0.1 seconds. When this process is started, the gripping force measuring device 2 detects the magnitude of the force applied to the first pressed portion 511 by the load cell 11 (S101). Further, in parallel with S101, the force applied to the second pressed portion 521 is detected by the pressure sensor 12 (S103). The output signal from the load cell 11 is amplified by the amplifier module 13 (S105). The output signal from the load cell 11 amplified by the amplifier module 13 and the output signal from the pressure sensor 12 are A / D converted (S107), and the data (that is, one first output value and four second outputs) are converted. The value.) Is stored in the buffer allocated in the memory 202.

Subsequently, the gripping force measuring device 2 transmits a data transmission request to the data processing device 3 (S111), and determines whether or not the preparation on the receiving side is completed (S113). S113 waits for a response from the data processing device 3, and if there is no response even after waiting for a predetermined time (S113: NO), the process returns to S111. As a result, if there is no response from the data processing device 3, S111-S13 is repeatedly executed. On the other hand, when there is a response from the data processing device 3 in S113 (S113: YES), the data stored in the buffer is divided into a transmittable size (S115), and the divided data is transmitted (S117). ), End the measurement.

[Processing executed in the data processing device 3]
Next, the processing executed by the data processing apparatus 3 will be described with reference to FIGS. 7A and 7B. This process is started when the user starts a predetermined application on the PC 31 and executes a predetermined operation. When this process is started, as shown in FIG. 7A, the data processing device 3 prepares for reception (S201) and determines whether or not the data transmission request from the gripping force measuring device 2 has been received (S203). ).

In S203, the request from the gripping force measuring device 2 is waited, and if there is no request even after waiting for a predetermined time (S203: NO), the process returns to S201. As a result, if there is no request from the gripping force measuring device 2, S201-S203 is repeatedly executed. On the other hand, when there is a data transmission request from the data processing device 3 in S205 (S203: YES), the data is received (S205) and the divided data is combined (S207).

Subsequently, the data processing device 3 executes a conversion process of the received data into a pressure value (S209). S209 is a process as shown in FIG. 7B in detail. When this process is started, the data processing device 3 acquires the first output value 1 second after the start of pressing on the load cell 11 (S211). More specifically, the gripping force measuring device 2 digitizes the output signals from the load cell 11 and the four pressure-sensitive sensors 12 and transmits them to the data processing device 3 approximately every 0.1 seconds. When no load is applied to the load cell 11 and the four pressure-sensitive sensors 12, one first output value and four second output values are all 0. On the other hand, when a load acts on the load cell 11 and the four pressure-sensitive sensors 12, one first output value and four second output values show values other than 0. Therefore, in S211 it is assumed that the time when the first output value is switched from 0 to a value other than 0 corresponds to the start of pressing, and the first output value at the time one second after the start of pressing is acquired.

Subsequently, the data processing device 3 converts the first output value of the load cell 11 into a load (hereinafter, also referred to as a load cell load) (S213). In the case of the load cell 11, the detected value of the load cell 11 and the magnitude of the load are in a relationship of being accurately proportional to each other, and the relationship is specified in advance. Therefore, the detected value of the load cell 11 can be converted into a load. In the case of the example shown in FIG. 8, if the detected value of the load cell 11 is 0.9V, it can be specified that the load acting on the load cell 11 is 33.2N based on the characteristics of the load cell 11.

Subsequently, the data processing device 3 converts the ratio of the second output value of the pressure sensor 12 into the ratio of the load of the pressure sensor 12 (hereinafter, also referred to as the pressure sensor load) (S215). In S215, first, a conversion table or a conversion formula is selected based on the first output value 1 second after the start of pressing on the load cell 11 acquired in S211. The conversion table shows what kind of output value is output from the four pressure-sensitive sensors 12 when the load applied to the four pressure-sensitive sensors 12 is changed from 0 to the upper limit of measurement in the gripping force measuring device 2. It is array data (look-up table) that is measured in advance and stores the relationship between these loads and output values. The conversion formula is an approximate formula obtained by measuring the load and the output value in advance in the same manner as in the case of the conversion table and using a method such as the least squares method from the relationship between the load and the output value. Either one of these conversion tables or conversion formulas may be used.

However, in the case of the present embodiment, even if the magnitude of the load applied to the pressure sensor 12 is the same, the output of the pressure sensor 12 is output depending on whether the load is applied quickly or slowly. The characteristics change. Therefore, as the conversion table or conversion formula, a plurality of conversion tables or conversion formulas corresponding to the plurality of pressing speeds are prepared in advance by actually measuring the output characteristics of the pressure sensor 12 by changing the pressing speed in a plurality of ways. ing.

The first output value acquired in S211 (that is, the output value 1 second after the start of pressing in the load cell 11) becomes larger as the pressing speed is faster. Therefore, in S215, the conversion table or conversion formula corresponding to the first output value acquired in S211 is selected from the plurality of conversion tables or conversion formulas. As a result, the conversion table or conversion formula corresponding to the pressing speed is selected. In S215, using the selected conversion table or conversion formula, the ratio of the four second output values (voltage value, strictly speaking, digital data corresponding to the voltage value) is determined by the pressure sensor. Convert to load ratio.

In the case of the example shown in FIG. 8, the first output value 1 second after the start of pressing on the load cell 11 is 0.3V. Therefore, in S215, a conversion table or conversion formula corresponding to the first output value of 0.3 V is selected, so that the first output value 1 second after the start of pressing in the load cell 11 becomes 0.3 V. The conversion table or conversion formula corresponding to the pressing speed is selected. Using the conversion table or conversion formula, for example, the ratio of the four second output values is 1.5V: 1.0V: 0.7V: 0.5V, and the ratio of the pressure-sensitive sensor load is 17.64x: 8. It is converted to 89x: 7.71x: 4.77x.

Subsequently, the data processing device 3 calculates the load coefficient x from the ratio of the load cell load and the pressure-sensitive sensor load (S217). In the case of the example shown in FIG. 8, the ratio of the loads of the four pressure sensors is 17.64: 8.89: 7.71: 4.77 as described above. Further, the total sum of the loads of the four pressure sensors 17.64x + 8.89x + 7.71x + 4.77x corresponds to the load sensor load 33.2N. Therefore, the formula 17.64x + 8.89x + 7.71x + 4.77x = 33.2 holds. Solving this formula for x yields x = 0.85. That is, in the case of this embodiment, the load coefficient x = 0.85.

Subsequently, the data processing device 3 calculates the load applied to each pressure-sensitive sensor from the load sensor load and the load coefficient x (S219). In the case of the example shown in FIG. 8, the loads applied to the four pressure sensors 12 are 17.64 × 0.85≈15N, 8.89 × 0.85≈7.6N, 7.71 × 0.85≈6. It becomes .5N, 4.77 × 0.85≈4.1N. Thereby, the load applied to the four pressure-sensitive sensors 12 can be obtained. When S217 is completed, the processes shown in FIGS. 7A and 7B are completed.

[effect]
As described above, according to the gripping force measuring device 2, when the subject grips the main body 50 with one hand, the load cell 11 detects the magnitude of the force acting on the first pressed portion 511 from the first finger. be able to. Further, the pressure sensor 12 can detect the ratio of the forces acting on the plurality of second pressed portions 521 from the fingers other than the first finger.

When the first pressed portion 511 and the plurality of second pressed portions 521 are sandwiched between the first finger and the fingers other than the first finger and a force is applied, the plurality of second pressed portions from the fingers other than the first finger are applied. The sum of the forces acting on each of the pressing portions 521 corresponds to the forces acting on the first pressed portion 511. Therefore, if the ratio of the force acting on the first pressed surface and the force acting on the plurality of second pressed portions 521 is detected, each of the plurality of second pressed portions 521 will be subjected to the detection results. The magnitude of the applied force can be calculated.

Since the magnitude of the force acting on each of the plurality of second pressed portions 521 is calculated by such a method, the plurality of pressure sensors 12 have the force acting on each of the plurality of second pressed portions 521. Even if the magnitude cannot be detected, it is sufficient if the ratio of the forces acting on the plurality of second pressed portions 521 can be detected. Therefore, the pressure-sensitive sensor 12 can have a simpler configuration than the load cell 11, and the gripping force measuring device 2 can be made cheaper than the case where the pressure-sensitive sensor 12 has the same configuration as the load cell 11. Can be planned. Further, the pressure-sensitive sensor 12 can be made smaller than the load cell 11, and the gripping force measuring device 2 can be made smaller.

[Other Embodiments]
Although the present disclosure has been described with reference to exemplary embodiments, the above-described embodiments are merely exemplified as one aspect of the present disclosure. That is, the present disclosure is not limited to the above-described exemplary embodiments, and can be implemented in various forms without departing from the technical ideas of the present disclosure.

For example, in the above embodiment, the data is divided and transmitted by S115 and S117, and the data divided by S205 and S207 is synthesized, but when the amount of data is small or a large amount of data is transmitted and received. If it is possible, transmission / reception may be performed without dividing the data.

Further, in the above embodiment, the gripping force measuring device 2 and the data processing device 3 are configured as separate devices, but when the data processing device 3 can be miniaturized, the data processing device 3 is used. May be incorporated into the gripping force measuring device 2. That is, the gripping force measuring system of the present disclosure may have a structure incorporated in a single housing.

Further, in the above embodiment, the gripping force measuring device 2 and the data processing device 3 are configured to perform wireless communication, but may be configured to perform wired communication. In particular, when the data processing device 3 is incorporated into the gripping force measuring device 2 as described above, it is sufficient that the gripping force measuring device 2 and the data processing device 3 are configured to perform wired communication.

Further, in the above embodiment, the data processing device 3 is configured by using the PC 31, but if the device has the same processing capacity as the PC 31, a device other than the PC 31 (for example, a smartphone) is used. The data processing device 3 may be configured.

Further, in the above embodiment, by providing the four second pressed portions 521 and the four pressure sensitive sensors 12, it is configured so that the measurement corresponding to the second finger to the fifth finger can be performed. Not limited to. For example, if it is sufficient to measure the fingers from the second finger to the third finger, only two second pressed portions 521 and two pressure sensitive sensors 12 may be provided. Further, for example, when it is sufficient to measure the fingers from the second finger to the fourth finger, only three second pressed portions 521 and three pressure sensitive sensors 12 may be provided. Even in these cases, the load acting on the two or three second pressed portions 521 can be calculated by the same method as in the above embodiment.

Further, in the above embodiment, all of the first module 51 and the four second modules 52 are configured to be slidable, but some of the first module 51 and the four second modules 52 are non-slideable. It may be configured, or the first module 51 and all four second modules 52 may be configured to be non-sliding.

1 ... Gripping force measuring system, 2 ... Gripping force measuring device, 3 ... Data processing device, 10 ... Control / communication module, 11 ... Load cell, 12 ... Pressure sensor, 13 ... Amplifier module, 14 ... Display unit, 15 ... Battery , 20 ... Control unit, 21 ... 1st acquisition unit, 22 ... 2nd acquisition unit, 23 ... Communication unit, 24 ... Power supply unit, 31 ... Personal computer (PC), 32 ... Display, 33 ... Reception module, 50 ... Main unit Part, 51 ... 1st module, 52 ... 2nd module, 53 ... Switch, 55 ... Support, 56 ... Screw, 201 ... CPU, 202 ... Memory, 501 ... Cylindrical body, 502 ... Bottom plate, 503 ... Top plate, 505 ... 1st lid, 506 ... 2nd lid, 507, 508 ... Slit, 511 ... 1st pressed part 521 ... 2nd pressed part 522 ... Pressurized part 524 ... 1st split case 525 … Second split case, 551,552… groove.

Claims (5)

A main body unit, a first pressed unit, a plurality of second pressed units, a first detection unit, and a plurality of second detection units are provided.
The main body is configured so that the subject can hold the main body with one hand.
The first pressed portion is arranged at a position where the first pressed portion can be pressed by the first finger when the subject grasps the main body portion with one hand.
The plurality of second pressed portions are arranged at positions where the second pressed portion can be pressed by a finger other than the first finger when the subject grasps the main body portion with one hand.
The first detection unit is configured to output a first output value whose correspondence with the magnitude of the force acting on the first pressed portion is known when the first pressed portion is pressed. ,
The plurality of second detection units are provided so as to have a one-to-one correspondence with the plurality of second pressed portions, and when the plurality of second pressed portions are pressed, the plurality of second detection units are provided. It is configured to output a plurality of second output values that can calculate the ratio of the force acting on the pressed portion.
Gripping force measuring device. The gripping force measuring device according to claim 1.
The first detection unit is composed of a load cell.
The second detection unit is composed of a pressure sensor smaller than the load cell.
Gripping force measuring device. The gripping force measuring device according to claim 2.
A first module including the first pressed portion and the load cell,
A plurality of second modules, each provided with the second pressed portion and the pressure sensor,
With
At least one of the first module and the plurality of second modules is configured so that the relative position with respect to the main body portion can be changed and the relative position with respect to the main body portion can be fixed at the changed position. ,
Gripping force measuring device. The gripping force measuring device according to any one of claims 1 to 3,
Data processing device and
With
The data processing device is
A processing unit that calculates the magnitude of the force acting on each of the first pressed portion and the plurality of second pressed portions based on the first output value and the plurality of second output values.
To prepare
Gripping force measurement system. The gripping force measuring system according to claim 4.
The processing unit
The first specifying process for specifying the magnitude of the force acting on the first pressed portion based on the first output value output from the first detecting portion, and
The output from the plurality of second detection units according to the first output value output from the first detection unit when a predetermined time elapses after the pressing of the first pressed unit is started. Correction processing that corrects the ratio of multiple second output values to obtain the corrected ratio,
Based on the magnitude of the force acting on the first pressed portion specified by the first specific process and the corrected ratio obtained by the correction process, it acts on each of the plurality of second pressed portions. The second specific process that specifies the magnitude of the force to be applied, and
Is configured to run,
Gripping force measurement system.

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