JP3923302B2 - Finger movement tracking detector - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an apparatus that is mounted on the back of a finger and detects the movement while following the bending and stretching movement of the finger.
[0002]
[Background Art and Problems to be Solved by the Invention]
In recent years, there has been a demand for a device that detects the bending and stretching movement of a finger for remote operation and operation teaching of a robot arm, operation input of a game, and the like. The bending / extending movement of the finger can be detected from a change in the angle between the fingertip and each phalanx (the portion between the finger joints).
[0003]
However, the angle change is usually detected by a rotation detection means such as a rotary encoder, and the central axis of the angle change between the fingertip and each phalanx is determined by the joints located at the center of the finger. Since it penetrates in the direction in which the fingers are lined up, if a rotary encoder or a drive shaft for rotational drive is arranged on the central axis, the rotary encoder or drive shaft and the adjacent finger There is a problem that the operability is impaired due to interference, and when these rotary encoders and drive shafts are arranged on a plurality of adjacent fingers, if the fingers are aligned, the lower encoders are arranged. There is also a problem in that the tally encoder and the drive shaft interfere with each other, and it is actually impossible to detect the bending and stretching motion of the fingers with the fingers aligned, such as when operating the keyboard.
[0004]
In order to solve this problem, it is conceivable that the rotary encoder and the drive shaft for rotational driving thereof are shifted to the back side of the finger with respect to each joint. The bending and stretching of the finger centered on the finger is accompanied by expansion and contraction at the position of the rotary encoder and the drive shaft on the back side of the finger, so that these normal rotary encoders fixed to the finger are used. Further, the drive shaft has a problem that it is displaced from the position of the joint as the finger is bent and stretched, so that the detection accuracy is lowered, and conversely, the bending and stretching motion of the finger is hindered.
[0005]
[Means for solving the problems and their functions and effects]
An object of the present invention is to provide a device that advantageously solves the above-mentioned problems, and a finger motion follow-up detection device according to the present invention is attached to the back of a finger to follow the bending and stretching motion of the finger. An apparatus for detecting the movement of the first finger joint attached to the fingertip, the second joint attached to the first finger joint connected to the fingertip, and the second finger joint connected to the first finger joint. A third node to be mounted; a fourth node to be mounted on the back of the hand; and three joint portions that connect the adjacent nodes to each other so that they can be bent. Two arm members each having a base end portion swingably supported via a base end shaft, and both end portions of the two arm members supported by a tip end shaft so as to be swingable. A connecting member for connecting the arm members to each other, and the adjacent member disposed on the same axis as the base end shaft. Two base gears respectively fixed to mating nodes, two intermediate gears rotatably supported by the two arm members and meshing with the base gear, and the same axis as the tip shaft And two tilting gears fixed to both ends of the connecting member and meshing with the intermediate gear, each having a larger pitch circle radius than the base gear, and disposed on the same axis as the tip shaft and the two It has two interlocking gears fixed to the tip portions of the two arm members and meshing with each other, and angle change detecting means for detecting an angle change between the adjacent nodes.
[0006]
In such a device, when one arm member supported at the base end portion of one of the adjacent nodes swings around the base end axis, the one fixed to the one node The base gear rotates one intermediate gear pivotally supported by the one arm member, and the intermediate gear rotates one tilt gear having a larger pitch circle radius than the base gear to tilt the intermediate gear. The connecting member supported by the tip of the one arm member, to which the gear is fixed, is rotated around one tip axis by an angle smaller than the swing angle of the arm member with respect to one node. The arm member is swung with respect to the arm member in a direction opposite to the swinging direction of the arm member. Therefore, when one arm member swings so that the connecting member moves away from one node, the connecting member tilts so as to become lower as the portion is farther from one node.
[0007]
And since the two interlocking gears respectively fixed to the tip portions of the two arm members are meshed with each other, the swing of the connecting member with respect to one arm member is transmitted to the other arm member, The other arm member also swings around the other tip shaft with respect to the connecting member, and the other tilting gear having a larger pitch circle radius than the base gear is supported by the other arm member pivotally supported by the other arm member. The intermediate gear rotates the other base gear, the other base gear is fixed to the other node around the other base shaft, and the other arm to the connecting member. The arm member is swung with respect to the arm member in a direction opposite to the swinging direction of the arm member with respect to the connecting member until an angle larger than the swinging angle of the member. Therefore, when the connecting member is tilted with respect to one node so that the portion farther from one node is lower, the other node is larger than the connecting member so that it is farther from the connecting member while being separated from the connecting member. Tilt.
[0008]
Therefore, according to the finger motion follow-up detection device of the present invention, when the other node tilts with respect to one node, it mechanically interlocks with it, and the tilting while the connecting member separates from one node and its connection The other node is tilted while being separated from the member, and conversely, when the other node returns from the tilted state to the linear alignment state with respect to one node, Since the return rotation while the connecting member approaches and the return rotation of the other node approaching the connection member occur, the shafts of the joints of the device are located on the back side of the finger. In addition, each joint portion expands and contracts with the bending and stretching of the finger and stays at the position of the joint, and does not interfere with the bending and stretching motion of the finger. Therefore, the angle change detection means such as the rotary encoder From each axis of the joint, attach it to the next finger or there Without causing interference with other angle change detecting means is, the angular change between sections adjacent to each other can be detected with high accuracy, and hence, can be performed also detected in a state in which aligned finger.
[0009]
In the present invention, at least one of the first node, the second node, the third node, and the fourth node has the position of the proximal axis in accordance with the length of the finger. Adjustable adjustment means may be provided, and in this way, the operability of the finger movement follow-up detection device can be further improved.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. 1A and 1B are a plan view and a side view showing an embodiment of the finger movement follow-up detection apparatus of the present invention, and FIG. 2 is a joint part of the finger movement follow-up detection apparatus of the embodiment. FIG. 3 is an explanatory diagram illustrating a method for mounting the finger movement follow-up detection device of the embodiment on a finger, and FIG. 4 (a). FIGS. 5A to 5C are explanatory views sequentially showing the operating state of the joint when bent, and FIGS. 5A to 5C are diagrams of the linear guide of the finger movement follow-up detection device of the embodiment. It is explanatory drawing which shows an operation state.
[0011]
As shown in FIG. 3, the finger motion follow-up detection device of this embodiment is a device that is mounted on the back of a finger and detects the motion while following the bending and stretching motion of the finger. As shown in FIG. 1, the first node 1 attached to the fingertip FT, the second node 2 attached to the first finger FP1 connected to the fingertip FT, and the second finger FP2 connected to the first finger FP1. A third joint 3 attached to the back, a fourth joint 4 attached to the back of the hand BH, and three joints for connecting the adjacent joints 1, 2, 2, 3 and 3, 4 to each other in a bendable manner. Part 5.
[0012]
And each joint part 5 in the apparatus of this Example was supported by the adjacent nodes 1, 2, 2, 3 or 3 and 4 so that the base end part could swing through base end shafts 6 and 7, respectively. The two arm members 8 and 9 and the two arm members 8 and 9 are supported by the tip portions of the two arm members 8 and 9 so as to be swingable via the tip shafts 10 and 11, respectively, so that the arm members 8 and 9 are connected to each other. A connecting member 12; two base gears 13 and 14 arranged on the same axis as the base end shafts 6 and 7 and fixed to the adjacent nodes 1, 2, 2, 3 or 3, 4; Two intermediate gears 15 and 16 that are pivotally supported by the two arm members 8 and 9 and mesh with the base gears 13 and 14, respectively, are arranged on the same axis as the tip shafts 10 and 11, and are connected members The base gear 13 is fixed to both ends of the gear 12 and meshes with the intermediate gears 15 and 16, respectively. 14, the pitch circle radius is larger than 14 (for example, in this embodiment, the pitch circle radius is twice the pitch circle radius of the base gears 13, 14), two tilt gears 17, 18 composed of partial gears, and the tip shaft 10 , 11 and two interlocking gears 19, 20 that are fixed to the distal ends of the two arm members 8, 9 and mesh with each other.
[0013]
Further, each joint portion 5 in the finger movement follow-up detection device of this embodiment has one arm member as angle change detection means for detecting an angle change between adjacent nodes 1, 2, 2, 3 or 3, 4 8 and a rotary encoder 21 that supports the intermediate gear 15 and detects the rotation angle of the intermediate gear 15.
[0014]
In addition, in the finger movement follow-up detection device of this embodiment, the first node 1, the second node 2, the third node 3, and the fourth node 4 are respectively adjusted to the length of the finger. It has a slide guide 22 as an adjusting means that can adjust the position of at least one of the proximal shafts 13 and 14 and a slider 23 that slides while being guided by the slide guide 22.
[0015]
As shown in FIG. 3, the finger movement follow-up detection device of this embodiment has the first knot 1 attached to the fingertip FT and the first knot FP1 connected to the fingertip FT for all fingers other than the thumb. To attach the second node 2, to attach the third node 3 to the second phalanx FP 2 that is connected to the first phalanx FP 1, and to attach the fourth node 4 to the back BH of each hand, The first section 1, the second section 2 and the third section 3 are fixed by, for example, sewing or adhesive, and the fourth section 4 is fixed to the back of the hand by, for example, sewing or adhesive. Mesh-like gloves 24 are provided.
[0016]
The operation of the finger movement follow-up detection device of this embodiment will be described by taking, for example, the joint portion 5 that connects the third node 3 and the fourth node 4 as an example. One arm member 8 having a base end portion supported by the node 4 of FIG. 4 has a base shaft extending from the state shown in FIG. 4A to the state shown in FIG. 4B and further to the state shown in FIG. When one of the base gears 13 fixed to one of the nodes 4 is pivoted clockwise around the shaft 6 in the drawing, the one intermediate gear 15 pivotally supported by the one arm member 8 is moved with respect to the node 4. The intermediate gear 15 rotates one tilt gear 17 having a pitch circle radius twice that of the base gear 13 and the tip of the one arm member 8 to which the tilt gear 17 is fixed. The connecting member 12 supported by the portion is arranged around one tip shaft 10 more than the swing angle of the arm member 8 with respect to one node 4. Sai angle only, in FIG. A swinging direction opposite to the direction of the arm member 8 with respect to one of clauses 4 to swing with respect to the arm member 8 counterclockwise. Therefore, when one arm member 8 swings so that the connecting member 12 is separated from the one node 4, the connecting member 12 tilts so that the portion farther from the one node 4 becomes lower.
[0017]
Since the two interlocking gears 19 and 20 fixed to the tip portions of the two arm members 8 and 9 mesh with each other, the swing of the connecting member 12 with respect to the one arm member 8 causes the other arm to swing. As a result, the other arm member 9 is also swung counterclockwise around the other end shaft 11 with respect to the connecting member 12, and the swiveling pitch radius is twice that of the base gear 14. The other tilting gear 18 having a rotation rotates the other intermediate gear 16 pivotally supported by the other arm member 9, and the intermediate gear 16 rotates the other base gear 14 so that the other base portion is rotated. The other node 3 to which the gear 14 is fixed is swung around the other base end shaft 7 to an angle larger than the swing angle of the other arm member 9 with respect to the connecting member 12. To the arm member 9 in the clockwise direction opposite to the moving direction It is swung in. Therefore, when the connecting member 12 is tilted with respect to one node 4 so that the portion farther from one node 4 is lower, the other node 3 is separated from the connecting member 12, and the portion farther from the connecting member 12 is lower. Further, it tilts more than the connecting member 12.
[0018]
Therefore, according to the finger motion follow-up detection device of this embodiment, when the other node 3 tilts with respect to one node 4, it mechanically interlocks with it while the connecting member 12 is separated from the one node 4. And the other node 3 with respect to the connecting member 12 while being separated from each other, and conversely, when the other node 3 returns to the linear alignment state from the tilted state with respect to the one node 4, In conjunction with this, a return rotation of the connecting member 12 relative to one of the nodes 4 and a return rotation of the other node 3 approaching the connecting member 12 occur. And the joint part 5 between the other adjacent nodes 3 and 2 and between the nodes 2 and 1 operates similarly. Therefore, even if each axis of each joint portion 5 of the apparatus of the embodiment is located on the back side of the finger, each joint portion 5 expands and contracts as the finger is bent and stretched and stays at the joint position. The rotary encoder 21 does not interfere with the bending and stretching movements of the fingers, so that the rotary encoder 21 can detect the adjacent fingers and other finger movement follow-up detection devices attached thereto from the support shaft of the intermediate gear 15 of each joint 5. Therefore, it is possible to detect the change in the angle between adjacent nodes with high accuracy without causing interference, and consequently, it is possible to perform detection with the fingers aligned.
[0019]
Furthermore, the finger movement follow-up detection device of this embodiment has a slide guide 22 and a slider 23 guided and slid as adjustment means, and when the finger joint is short, as shown in FIG. When the slider 23 enters the back of the slide guide 22 and the phalanx is long, the slider 23 goes out to the end of the slide guide 22 as shown in FIG. As shown in FIG. 5 (b), the slider 23 is positioned at the center of the slide guide 22, so that the first node 1, the second node 2, the third node 3, and the fourth node. 4 and 4 can adjust the position of the base shafts 6 and 7 according to the length of the finger wearing the device or according to the difference in the kind of finger (middle finger and little finger, etc.), Good operability.
[0020]
Although the present invention has been described based on the illustrated example, the present invention is not limited to the above-described example. For example, the rotary encoder 21 may be provided on another shaft or on the connecting member 12. It may be provided and rotationally driven by being coupled to any shaft by a gear train or the like. The angle change detecting means may be other than the rotary encoder 21. In order to attach the first node 1, the second node 2, and the third node 3 to the finger and to attach the fourth node 4 to the back of the hand, other than the gloves 24, for example, a belt or a hook-and-loop fastener. Etc. may be used. Further, when the device of the present invention is produced in accordance with a specific person's hand, the adjusting means may be omitted. The apparatus of the present invention can be used by attaching it to one to three fingers, can be used by attaching all five fingers, or can be attached to both hands.
[0021]
The two gear trains 13, 15, 17 and 14, 16, 18 provided in each joint portion 5 in the above embodiment are respectively connected to a belt-type transmission mechanism using a toothed belt and a pulley, or a chain. It can be replaced with a chain-type transmission mechanism using a chain and a sprocket.
[Brief description of the drawings]
FIGS. 1A and 1B are a plan view and a side view showing an embodiment of a finger movement follow-up detection device of the present invention.
FIG. 2 is an explanatory diagram showing a transmission structure of a joint portion of the finger movement follow-up detection device of the above embodiment in a state where nodes are linearly aligned.
FIG. 3 is an explanatory diagram illustrating a method for mounting the finger movement follow-up detection device of the embodiment on a finger.
FIGS. 4A to 4C are explanatory views sequentially showing the operating state when the joint portion is bent, with time. FIG.
FIGS. 5A to 5C are explanatory views showing an operating state of a linear guide of the finger movement follow-up detection device of the embodiment. FIG.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 1st node 2 2nd node 3 3rd node 4 4th node 5 Joint part 6, 7 Base shaft 8, 9 Arm member 10, 11 Front shaft 12, 13 Base gear 15, 16 Intermediate gear 17 , 18 Tilt gears 19, 20 Interlocking gear 21 Rotary encoder 22 Slide guide 23 Slider 24 Gloves FT Fingertip FP1 First finger joint FP2 Second finger joint BH Back of hand

Claims (2)

A device that is attached to the back of a finger and detects the movement while following the bending and stretching movement of the finger,
A first node (1) attached to the fingertip, a second node (2) attached to the first phalanx connected to the fingertip, and a third attached to the second phalanx connected to the first phalange. A node (3), a fourth node (4) to be attached to the back of the hand, and three joints (5) for connecting the adjacent nodes to each other in a bendable manner (5),
Each joint is
Two arm members (8, 9) supported by the adjacent nodes so that the base end portion is swingable through base end shafts (6, 7), respectively;
A connecting member (12) for connecting the arm members to each other by pivotally supporting both ends of the two arm members via the tip shafts (10, 11);
Two base gears (13, 14) disposed on the same axis as the base end shaft and respectively fixed to the adjacent nodes;
Two intermediate gears (15, 16) rotatably supported by the two arm members and meshing with the base gear,
Two tilting gears (17, 18) arranged on the same axis as the tip shaft and fixed to both ends of the connecting member and meshing with the intermediate gear, and having a larger pitch circle radius than the base gear ,
Two interlocking gears (19, 20) arranged on the same axis as the tip shaft and fixed to the tip portions of the two arm members and meshing with each other;
An angle change detecting means (21) for detecting an angle change between the adjacent nodes;
A finger movement follow-up detection device comprising: At least one of the first knot (1), the second knot (2), the third knot (3), and the fourth knot (4) may be in accordance with the length of a finger. The finger movement follow-up detection device according to claim 1, further comprising an adjusting means (22) capable of adjusting the position of the proximal shaft.

Images