JP7377011B2 - Force sensing elements and sensors - Google Patents

Description

The present invention relates to a force element and a force sensor.

In recent years, lightweight, thin and flexible pressure sensors have become widely used. For example, in the automobile field, pressure sensors are built into seats, and when a passenger gets into the vehicle and sits on the seat, the presence of a person is detected by applying a load (weight) above a certain level to the pressure sensor, and the seatbelt is activated. It is now possible to take controls to encourage people to wear them. In addition, attempts have been made to prevent pressure sores by incorporating pressure sensors into bed mattresses to detect the weight of the person lying on the bed and detect when the person is lying in the same position for a long time. There is. Furthermore, attempts have been made to measure heartbeats by detecting load changes due to heartbeats.

Patent No. 3190314 Japanese Patent Application Publication No. 2016-23389 Special Publication No. 37-16853 Special Publication No. 47-14043 Japanese Patent Application Publication No. 9-119033 WO2013/073673 International Publication Pamphlet Japanese Patent Application Publication No. 2014-108134 WO2016/148249 International Publication Pamphlet WO2016/031872 International Publication Pamphlet

“Easy Basic Knowledge of Industrial Textiles” (written by Tetsuya Kato and Yasushi Mukaiyama, published by Nikkan Kogyo Shimbun: January 28, 2011), p. 11

Under these circumstances, there is a demand for further diversification and deepening of physical movement detection means, and an object of the present invention is to provide this new movement detection means.

The present inventor developed a system that uses ply-twisted yarn as a mechanism for detecting the external force that causes the movement of fibers or yarns to which conductive polymers are attached, based on changes in electrical property values such as electrical resistance caused by the movement of the fibers or yarns to which the conductive polymer is attached. Alternatively, the inventors have discovered that by attaching a conductive polymer to false twisted yarn and using it as a force sensor element, it is possible to accurately capture physical movement as an external force, and have completed the present invention.

That is, the present invention provides (1) a force sensing element whose electrical characteristic values change due to an external force, which comprises one or more ply-twisted yarns to which a conductive polymer is attached (hereinafter also referred to as ply-twisted yarns); or a force sensing element (hereinafter also referred to as the element of the present invention) containing a false twisted yarn; Provided is a force sensor (hereinafter also referred to as the sensor of the present invention) that detects fluctuations in electrical property values in ply-twisted yarn or false-twisted yarn to which a conductive polymer is attached.

A "force sensing element" is an element that is a general concept of a pressure sensing element, and is an element that detects the magnitude and fluctuation of an external force applied to the element as an electrical characteristic value.

The "external force" is typically a pushing force or a pulling force. "Electrical characteristic value" is a voltage value, current value (including both direct current and alternating current), electrical resistance value (including impedance value), or capacitance value, and in the present invention, electrical resistance value or capacitance value Preferably, a value is used.

"Pure twist" is a concept that corresponds to "pre-twist" (twist applied to single yarns) in twisted yarn, and refers to twisting when two or more single yarns are twisted together to make one yarn. means. The number of single yarns to be twisted in the present invention is not particularly limited. Two (double yarn), three (triple yarn), four (quadruple yarn), or even more single yarns can be used. The presence or absence of ply twist in the single yarn is not particularly limited, and it is also possible to use a processed yarn such as a false twisted yarn, pressed yarn, or silk processed single yarn of Patent Document 5 as a single yarn. - Processed yarn by untwisting method'' and the processed silk yarn of Patent Document 4 are also ply-twisted yarns. Further, as the ply-twisted yarn, single-twisted yarn, double-twisted yarn, piece-twisted yarn, wall-twisted yarn, etc. can be selected, and the yarn is not particularly limited. In addition, the number of twists in the ply twist may be a light twist with a twist number of 10 or more and less than 500T/m, a medium twist with a twist of 500 or more and less than 1000T/m, or a hard twist with a twist of 1000 or more and less than 2500T/m. However, it may be a very strong twist of 2500 T/m or more. By combining these conditions regarding the ply-twisted yarn, for example, it is possible to create a ply-twisted yarn imparted with stretchability and elastic recovery (also referred to as stretchability) by using traditional techniques. For example, for chilimen yarn created by subjecting 2 to 3 single yarns to extremely strong first twist, two to several yarns of Z twist and S twist are pulled together, and these are lightly twisted or medium twisted. Can be twisted to create stretchy yarn.

By using a yarn with such stretchability, it is possible not only to make it easier to cause fluctuations in the contact area between single yarns by applying an external force in the element of the present invention, but also to make the measured value It is possible to reduce the hysteresis of

In the present invention, "covering" in which a filament yarn such as polyurethane is used as a core yarn and other single yarns are wrapped in a single or double layer or more is included as ply-twisted yarn, and the covering yarn in which this is done is also referred to as "ply-twisted yarn". include. For example, the processed silk yarn of Patent Document 1 is described as "a processed silk yarn that is formed into a hollow shape by winding multiple layers of silk yarn in a spiral shape, and the winding directions of the overlapping layers are alternately opposite to each other. ” (Patent Document 1: Claim 1), and “the outer winding of the overlapping winding (covering)” is one mode of ply twisting. The processed silk yarn has stretchability and is one of the preferable ply-twisted yarns used in the element of the present invention.

False twisted yarn is also called false twisted processed yarn, false twist, and bulky processed yarn.It is a processed yarn that is created by first twisting it, fixing it, and finally untwisting it. , which has three-dimensional crimp strain. Examples of embodiments of the false twisted silk yarn include processed silk yarns disclosed in Patent Documents 2 and 3. False twisted yarns of chemical fibers are disclosed as a general technique in, for example, Non-Patent Document 1.

As described above, the false twisted yarn may be a single yarn, or may be a ply-twisted yarn in which the single yarn constitutes all or a part of the constituent single yarns.

The material exposed on the surface of the "thread" must be capable of attaching a conductive polymer. "Exposed to the surface" refers to, for example, a yarn that constitutes the inside of the cross section of the yarn and excludes a portion that is not exposed to the surface of the yarn, typically excluding the core yarn. There is no need for conductive polymer to be attached to the core yarn. Examples of such materials include silk fibers, polyamide (nylon) fibers, polyester fibers, and paper fibers. These fibers may constitute the yarn surface alone, or a plurality of types of fibers may be combined to constitute the yarn surface. Examples of the "conductive polymer" include PEDOT-pTS, PEDOT-PSS, PEDOT-PVS, PEDOT/heparin, polypyrrole, etc. Considering conductive performance, PEDOT-pTS or PEDOT-PSS is preferable, but dare to Other conductive polymers may be used as long as high conductivity performance is not desired.

"Contains" in "contains one or more ply-twisted yarns or false-twisted yarns to which a conductive polymer is attached" means that in the substantial part of the force sensing element: (a) one ply-twisted yarn or false-twisted yarn; (b) A fabric, preferably a knitted fabric or a woven fabric, using all or part of ply-twisted yarn or false-twisted yarn.

First, a case where the electrical characteristic value is an electrical resistance value (including impedance) will be explained. Instead of the electrical resistance value, it can also be detected as a voltage value or a current value.

In the embodiment (a), for example, when the yarn is a ply-twisted yarn, a tensile force is applied to both ends of the yarn to which the conductive polymer is attached, and the yarn is pulled in the length direction. The sides of the yarn come into contact, increasing the substantial cross-sectional area of the ply-twisted yarn. However, when the ply-twisted yarn is the processed silk yarn of Patent Document 1, the tensile force causes the fibers inside the yarn to come into contact with each other, thereby increasing the substantial cross-sectional area. The effect of the embodiment (a) is mainly achieved by imparting stretchability to the ply-twisted yarn. The expansion/contraction rate of the yarn (the elongation of the yarn when it breaks under a tensile load divided by the original length of the yarn, expressed as a percentage) is -5- At a temperature of 100° C. and a humidity of 0-100%, it is preferably 1% or more, more preferably 5% or more, and even more preferably 10% or more.

When the yarn is a single-filament false-twisted yarn, the fibers inside the false-twisted yarn come into contact with each other, increasing the substantial cross-sectional area. When the false twisted yarn is a single yarn constituting the ply-twisted yarn, both the sides of the single yarn mentioned above come into contact with each other and the fibers inside the false-twisted yarn contact each other, and the substantial cross-sectional area of the ply-twisted yarn increases. .

By detecting the decrease in the electrical resistance value of these ply-twisted yarns or false-twisted yarns when electricity is applied using the sensor of the present invention, it is possible to measure the magnitude and change of the tensile force.

In the embodiment (b), for example, by applying a pressing force in the vertical plane (thickness direction) of the fabric or a tensile force in the plane, the ply-twisted yarn to which the conductive polymer, which constitutes the pressed part of the fabric is attached, is first applied. Alternatively, the substantial cross-sectional area of the false twisted yarns themselves may increase as described in (a) above. Furthermore, the apparent cross-sectional area increases as the threads to which the conductive polymer is attached are brought together by the pressing or pulling force. In this case, all of the yarns constituting the increased cross-sectional area do not need to be ply-twisted yarns or false-twisted yarns, as long as changes in movement can be detected at the fabric level by the above mechanism. Examples of the fabric include knitted fabrics, woven fabrics, plaited fabrics, nets, etc., and knitted fabrics or woven fabrics are preferred.

Second, a case where the electrical characteristic value is a capacitance value will be explained. For example, when a pressing force in the thickness direction of the fabric or a tensile force in the plane is applied, the spatial volume formed by the ply-twisted yarns or false-twisted yarns to which the conductive polymer is attached changes in the load area. Therefore, the capacitance value also varies, and it is possible to measure the strength and directionality of the pressing force and tensile force based on the variation in the capacitance value. In this case, the yarns that cause the change in spatial volume do not need to be all ply-twisted yarns or false-twisted yarns, as long as the change in movement can be detected by the above mechanism at the fabric level, and the fabrics include knitted fabrics, Examples include woven fabrics, braided fabrics, nets, etc., but knitted fabrics or woven fabrics are suitable, as in the case of using the above-mentioned electrical resistance value.

In addition, non-substantial parts of the force sense element, such as conductive materials, insulating materials, conductive connectors, covering materials for covering the force sense element, adhesives for attaching the force sense element to another object, and force sense elements, may also be used. Cushioning materials, fillers, and the like for protection are also included in the haptic element of the present invention.

The present invention provides a force sensing element that can derive the magnitude and change of an applied external force as electrical characteristic values such as electrical resistance and capacitance, and a force sensing element that can be used to derive changes in the electrical characteristic value. A force sensor is provided that is capable of detecting an external force. It is possible to grasp the force applied to the force sensor and the change thereof using the force sensor. The element of the present invention is in the form of thread or cloth, and the size and shape can be easily designed depending on its usage.

1 is a drawing showing a test system of Example 1, in which (1) shows a measurement system for an X-direction load, and (2) and (3) show a measurement system for a Z-direction load. 3 is a diagram showing the measurement results of Example 1, in which (1) to (3) show the measurement results of the load in the X direction, and (4) to (6) show the measurement results of the load in the Z direction. 2 is a drawing showing a test system of Example 2, in which (1) is a photographic base, and (2) is a schematic diagram. It is a drawing schematically showing expansion and contraction of stitches due to load. It is a drawing showing the relationship between weight (logarithmic scale) and reduction rate of electrical resistance value using the test results of Example 2 (II). FIG. 3 is a schematic diagram of a four-channel force sensing element used in the weight shift test of Example 3. 2 is a diagram showing an overview of the weight transfer test of Example 3, in which (1) shows the presence of a force sensing element placed on a chair, and (2) schematically shows the movement of various panels on a chair. It is shown in the form of 3 is a drawing showing the results of a weight transfer test in Example 3. 7 is a drawing showing how the device is attached in a measurement test regarding chest body movement in Example 4. FIG. 3 is a drawing showing extraction of a respiratory waveform in a measurement test related to chest body movement in Example 4, in which (1) is a waveform containing body movement noise, and (2) is a waveform containing body movement noise. This is a respiratory waveform extracted with noise removed, and (3) shows the detection screen of the respiratory waveform on the device. FIG. 2 is a schematic diagram of a test system using hands and fingers regarding a separation motion identification element of a reference example. FIG.

<Force sensing element>
The element of the present invention has a knitted fabric or a woven fabric in whole or in part, and a ply-twisted yarn or a false-twisted yarn to which a conductive polymer is attached is used as a yarn constituting all or a part of the knitted fabric or woven fabric. There are ways in which it is used.

The form of the ply-twisted yarn or false-twisted yarn is not particularly limited as long as the conductive polymer can be attached to these twisted yarns. As described above, the ply-twisted yarn can be selected from, for example, single-twisted yarn, plied yarn, piece-twisted yarn, wall-twisted yarn, etc., but single-twisted yarn, plied yarn, or piece-twisted yarn is preferable. In the present invention, the single-twisted yarn is a ply-twisted yarn made by aligning two or more single yarns and twisting them right-handedly or left-handedly. Ply-twisted yarn is a ply-twisted yarn made by aligning two or more single-twisted single yarns and further twisting them in the opposite direction to the single-twisting. Koma-twisted yarn is a ply-twisted yarn made by aligning two or more single-twisted single yarns and then twisting them in the opposite direction to the single-twisting. In these three types of ply-twisted yarns, the side surfaces of the constituent single yarns approach each other due to the tensile force, thereby increasing the desired apparent yarn cross-sectional area. The technology of Patent Document 4, which is an aspect of the twisted yarn in the present invention, is a method for producing twisted silk yarn, which involves ``combining several pieces of raw silk, removing approximately 90% of the sericin through scouring, and then twisting. Then, the yarn is heated and expanded in hot water, cooled, given a shape by high temperature and high pressure, dried naturally, untwisted, and heated with saturated steam.'' This method can be used as the ply-twisted yarn in the present invention.

The technology of Patent Document 5 mentioned above is related to processed silk single yarn, and is based on the technique of "softening raw silk fibers in a controlled manner so that the remaining percentage of sericin contained in them is maintained at 40% or more, and soaking them in hot water of less than 100 degrees Celsius". A latent crimpable raw silk that develops a crimp structure by dipping in water or by ordinary scouring and dyeing processes, and maintains its cohesiveness in an air-drying state until it becomes a stretchable bulky yarn. '', and can be used as a single yarn constituting the ply-twisted yarn in the present invention.

In the processed silk yarn of Patent Document 1, which is one of the ply-twisted yarns of the present invention, the hollow portion formed in the yarn collapses due to tensile force, thereby increasing the apparent yarn cross-sectional area. can be done.

The technique disclosed in Patent Document 2, which is disclosed as one of the methods for producing false twisted yarn, is that ``raw silk is impregnated with a modifier that insolubilizes sericin in silk fibers, then twisted, and then the twist is fixed. After heat treatment at a temperature of 120-140°C for 10-30 minutes, untwisting is performed in the opposite direction to the twisting, and then scouring is performed by immersing in 0.6-3.0 g/l proteolytic enzyme. , a method for producing a silk thread having crimpability, which is characterized by removing sericin contained in the silk thread, and can be used as a method for producing a false twisted thread in the present invention.

In addition, the technology of Patent Document 3 is also a method for producing false twisted yarn, which involves ``kneading raw silk, removing 80-90% of sericin, applying resin processing, lightly twisting the yarn in the S direction or Z direction, and then further After twisting in the same direction, pressure steaming, twisting it back in the opposite direction, twisting it further than the untwisted state, making the yarn into a comb shape to give it irregular stretch properties, and then steaming it with saturated steam. This is a method in which the yarn is heated and set, and then the tangled yarn is twisted back in the opposite direction to the twisting direction in the previous processing step to form the tangled yarn again, and then steamed with saturated steam.'' It can be used as a method for producing twisted yarn.

Furthermore, as mentioned above, ply-twisted yarn in which the false twisted yarn is one of the single yarns can be used in the present invention, and wall-twisted yarn-like forms using core yarns and covering yarns can also be used as the ply-twisted yarn in the present invention. It is possible to use

"Used as a yarn constituting a part of a knitted or woven fabric" refers to a yarn to which no conductive polymer is attached, or a yarn to which a conductive polymer other than ply-twisted yarn or false-twisted yarn is attached. is used in other parts of the knitted or woven fabric.

In the aspect of the knitted fabric or woven fabric in the element of the present invention, in addition to the variation accompanied by shape elastic recovery of the apparent cross-sectional area of the above-mentioned ply-twisted yarn or false-twisted yarn unit, by applying an external force in a predetermined direction to the element, The shape of the knitted or woven fabric changes depending on the magnitude of the external force, and the threads to which conductive polymers are attached come into contact with each other, and when the force is stopped, the shape changes due to the external force. It is preferable to have shape elastic recovery property in which the shape of the field returns to its original state, both when using an electrical resistance value as an index and when using a capacitance value as an index. More specifically, when a pressing force is applied in the thickness direction of the knitted fabric or woven fabric, the plane is pulled approximately in the thickness direction, and at this time, the yarns constituting the knitted fabric or woven fabric are in a new contact state with each other. It is preferable that shape elastic recovery is performed in such a manner that when the contact state is released and the pressing force is released, the contact state is released and returns to the original state. Further, when a tensile force is applied to the edge of a knitted fabric or woven fabric, the plane is pulled in the lateral direction by the force, and at this time, a new state of contact is created between the yarns that make up the knitted fabric or woven fabric, It is preferable that the contact state has shape elastic recovery properties such that when the tensile force is released, the contact state is released and the contact state returns to the original state. If the knitted fabric or woven fabric has excellent shape elastic recovery properties, it is possible to reduce the hysteresis in the element of the present invention, which is preferable.

The knitted fabric or woven fabric may be a single layer or a multilayer. Even in a single layer, it is possible to create overlapping threads in the thickness direction depending on the knitting or weaving method, and by applying an external force to this overlap in the thickness direction, it is possible to change the appearance of the threads. The cross-sectional area above can be increased or the volume of space between the threads can be varied.

A knitted fabric is basically a fabric made of a single thread, and is made up of continuous thread loops (knits) formed by hooking threads one after another onto a thread loop. Unlike textiles, warp and weft threads are not used. In general, in knitted fabrics, there is an "increase in the apparent cross-sectional area inside the yarn" in ply-twisted or false-twisted yarn, and an "increase in the apparent cross-sectional area due to the overlapping of the side surfaces of the yarns" between the yarns. Alternatively, it is possible to easily cause "a change in the spatial volume between the threads" in response to the same external force.

The knitted fabric used in the present invention is not particularly limited, and can be machine knitted (flat knitting machine, warp knitting machine, circular knitting machine, tricot knitting machine, Raschel knitting machine, Milanese knitting machine, rubber knitting machine, interlock knitting machine, etc.) ), needle knitting, crochet knitting, afghan knitting, or any other knitting method. The structure of the knitting is also not limited, and includes, for example, plain knitting, pique knitting, rubber knitting, purl knitting, tuck knitting, transfer knitting, square furrow knitting, double furrow knitting, double-sided knitting, swing knitting, pererin knitting, floating knitting, and pile knitting. , platinum stitch, rope stitch, intarsia, wrap stitch, non-run stitch, chain stitch, single tricot stitch, single cord stitch, single atlas stitch, double stitch stitch, single satin stitch, single velvet stitch, plain tricot stitch, double atlas stitch knitting, double cord knitting, half tricot knitting, reverse half knitting, queen's cord knitting, satin tricot knitting, double tricot knitting, velvet knitting, shell knitting, knop knitting, tapering knitting, warp insertion knitting, marquisette, falling plate structure, net knitting , Milanese knitting, warp/weft insertion knitting, weft thread insertion knitting, etc.

Woven fabrics are fabrics made by combining warp and weft threads. The texture of the fabric used in the present invention is not particularly limited. For example, it can be used as a three-dimensional weave such as plain weave, twill weave, and satin weave. Furthermore, it may be a modified structure in which the Mihara structure is changed or combined, or it may be a single layer special structure or a patterned structure. Furthermore, multiple fabrics such as warp double fabric, weft double fabric, weft and warp double fabric, pile fabric, towel fabric, and rolled fabric may be used. As mentioned above, in a multi-layered fabric, it is possible to create overlapping yarns in the thickness direction, and by applying an external force to this overlapping in the thickness direction, the apparent cross-sectional area of the yarns can be reduced. The volume of space between the threads can be increased or varied.

In general, in woven fabrics, compared to knitted fabrics, the warp and weft threads are caught on each other, and the threads are pulled together to maintain the plane balance of the cloth, and there are originally many points of contact between the threads. Therefore, new contact between the yarns due to the application of external force is mostly due to deformation of the fabric itself, and tends to be suppressed compared to knitted fabrics where new contact occurs due to deformation of the constituent yarns. The increase in the apparent yarn cross-sectional area and the fluctuation in the space volume between yarns due to external forces tend to be suppressed more than in knitted fabrics.

It is preferable that the stitches or textures are uniform in the part used as the force sensing element in order to obtain equal sensitivity to external forces on the entire surface. ) can also be provided on the outer edge of knitted or woven fabrics. Also, the frequency and size of the stitches can be adjusted to obtain appropriate sensitivity to external forces. Increasing the size of the stitches or weaves, which are the gaps between knitting or weaving, tends to suppress the increase in the apparent cross-sectional area per unit area due to the overlapping of constituent yarns and the fluctuation in the spatial volume between the yarns, but the force It is possible to reduce the amount of information regarding electrical characteristic values per unit area output as a sensory element, which can lead to data compression. On the other hand, if the stitches are made smaller, the apparent cross-sectional area increases due to the overlapping of the constituent yarns, and the spatial volume between the yarns tends to fluctuate, which increases the sensitivity but reduces the amount of information about the electrical property values. There is also the possibility that there will be too much noise and a lot of noise will be taken in.

The size of the stitches is not particularly limited, but is usually about 100-5 stitches and 100-5 rows (knit size: 1 mm ² -4 cm ² ) with a width of 10 cm.

The size of the weave is not particularly limited, but it is usually about 100-15 stitches in a width of 10 cm (the size of the weave is 1 mm ² -2.25 cm ² ).

As described above, the "ply-twisted yarn or false-twisted yarn to which a conductive polymer is attached" itself can also be an essential part of the element of the present invention.

The conductive polymer to be attached to the ply-twisted yarn or false-twisted yarn may be either known or will be provided in the future. Examples of known conductive polymers include PEDOT-pTS, PEDOT-PSS, PEDOT-PVS, PEDOT/heparin, and polypyrrole. As mentioned above, among these conductive polymers, PEDOT-pTS or PEDOT-PSS is preferable in consideration of conductive performance.

[PEDOT-pTS]
PEDOT-pTS (poly(3,4-ethylene-dioxythiophene)-p-toluenesulfonate) is a conductive polymer formed by polymerizing pTS (p-toluenesulfonate) and EDOT (3,4-ethylenedioxythiophene). For example, as a first attachment method, a mixture of an organic solvent solution containing an oxidizing component and pTS and EDOT is attached by contact with the substrate by dipping or printing, and then a polymerization acceleration treatment is performed. PEDOT-pTS can be attached by applying it to the contact location (the method disclosed in Patent Document 8 or a modified method thereof). The second attachment method includes (a) an attachment step in which a pTS solution containing an oxidizing component and pTS is attached to a substrate; (b) an attachment step on the substrate to which the oxidizing component and pTS have been attached in (a); , PEDOT-pTS can be attached by further attaching EDOT and allowing the polymerization reaction to produce PEDOT-pTS to proceed (second attachment method: method disclosed in Patent Document 9) .

<First attachment method of PEDOT-pTS>
In the first attachment method, by mixing the pTS solution and EDOT, a polymerization reaction of EDOT proceeds in the pTS-EDOT mixture, and PEDOT-pTS, which is a high molecular weight polymer, is formed. In this polymerization reaction, according to the following formula, the polymerization rate increases as the temperature rises, and if stored at a low temperature at the refrigerator level, the polymerization rate can be reduced and the time for the adhesion process can be secured. Although Fe ³⁺ is exemplified as an oxidizing component, it is not limited thereto.

In the first attachment method, "later" means that the polymerization promotion treatment is performed at a timing "simultaneously or after" relative to the timing at which the pTS-EDOT mixture contacts the substrate. Specifically, both timings may be virtually simultaneous, or a time lag may be provided from the timing at which the pTS-EDOT mixture contacts the base material to perform the polymerization promotion treatment. Furthermore, for example, the first adhesion method also includes a mode in which the pTS-EDOT mixture is brought into contact with the substrate surface while continuously maintaining a state in which the polymerization promotion treatment is performed, and the time lag is not substantially provided. included in "after". The mixing ratio of pTS solution and EDOT in the first attachment method is pTS solution:EDOT=10:1-100:1, preferably 20:1-40:1.

pTS is known as a para-toluenesulfonic acid compound (salt or ester with para-toluenesulfonic acid (tosylic acid)), and is also commercially available. The organic solvent that can serve as a solvent for the pTS solution is one that can dissolve pTS, oxidized components, etc., and preferably has good compatibility with the aqueous solvent. Specifically, monovalent lower alcohols having 1 to 6 carbon atoms, such as methanol, ethanol, propyl alcohol, isopropyl alcohol, butanol, pentanol, or hexanol, can be mentioned. The carbon atom skeleton constituting these monovalent lower alcohols may be linear, branched, or cyclic, and may be used not only alone but also in combination of two or more. Further, it may be used after being diluted with water as appropriate. Among these, monovalent lower alcohols having 1 to 4 carbon atoms, specifically methanol, ethanol, propyl alcohol, isopropyl alcohol, or butanol, are suitable as the organic solvent for the pTS solution.

The oxidizing component contained in the pTS solution is not particularly limited as long as it is capable of activating the polymerization reaction of the pTS-EDOT mixture into PEDOT-pTS, and examples thereof include transition elements, halogens, and the like.

Examples of transition elements include first transition elements such as iron, titanium, chromium, manganese, cobalt, nickel, and zinc; second transition elements such as molybdenum, silver, zirconium, and cadmium; and third transition elements such as cerium, platinum, and gold. is exemplified. These transition elements may be used as simple metals or as metal salts. Among these, it is preferable to use first transition elements such as iron and zinc.

The content of the oxidizing component in the pTS solution varies depending on the type of oxidizing component used, and is not particularly limited as long as it can activate the above polymerization reaction. For example, in the case of ferric ion (Fe ³⁺ ), it is preferably 1-10% by mass, particularly preferably 3-7% by mass, based on the solution as ferric chloride. . If this content is too large, the polymerization reaction will proceed quickly, but it will be difficult to remove iron in the subsequent process, and if the content is too low, the polymerization reaction will proceed slowly.

The content of pTS acting as a dopant in the pTS solution is preferably 0.1-10% by mass, more preferably 0.15-7% by mass, particularly preferably 1-6% by mass. %, most preferably 2-5% by weight.

EDOT is known as 3,4-ethylenedioxythiophene and is also commercially available. EDOT is liquid at room temperature and water-soluble, and can be appropriately diluted with an aqueous solvent such as water.

Other additives may be added to the pTS solution as long as they do not impair the effects of the present invention quantitatively or qualitatively, such as not substantially impairing the adhesion of the pTS-EDOT mixture to the substrate and the conductive performance of the finished conductive material. Components can be blended as necessary.

The other components include, for example, glycerol, polyethylene glycol-polyprene glycol polymer, ethylene glycol, sorbitol, sphingosine, and phosphatidylcholine, preferably glycerol, polyethylene glycol-polyprene glycol polymer, and sorbitol. One or more types may be mentioned.

In addition, cationic surfactants such as quaternary alkylammonium salts and alkylpyridinium halides; anionic surfactants such as alkyl sulfates, alkylbenzene sulfonates, alkyl sulfosuccinates, and fatty acid salts; polyoxyethylene, Examples include nonionic surfactants such as oxyethylene alkyl ether; natural polysaccharides such as chitosan, chitin, glucose, and aminoglycan; sugar alcohols, dimethyl sulfoxide, and the like.

At room temperature, gelation of the pTS-EDOT mixture proceeds due to the polymerization reaction described above. For this reason, it is preferable to perform a step of removing excess gelatinized polymer adhering to the substrate after contact with the mixed liquid. For example, the base material separated from the liquid mixture can be removed by physical means such as vibration, blowing air, and contact with a roller. If this extra gelled polymer removal step is not performed after the polymerization reaction, the mixture should be brought into contact with the base material for a short time after the preparation of the mixed liquid, and the mixed liquid must be prepared. A constraint arises that the contact must be made within a short period of time. Specifically, the attachment by contact should be completed within 5 minutes, more preferably within 1 minute, after the preparation of the pTS-EDOT mixture. When performing the above-mentioned step of removing excess gelled polymer, there is virtually no time restriction on the adhesion step due to contact even at room temperature, and it can be carried out suitably after the preparation of the pTS-EDOT mixture. It is possible to ensure sufficient adhesion of PEDOT-pTS to the substrate by taking an adhesion process time of 10 minutes or more, more preferably 15 minutes or more. Furthermore, as mentioned above, by cooling the pTS-EDOT mixture in advance at refrigerator level (0-10°C, preferably around 0-5°C), the rate of gelation polymer formation can be suppressed. . Note that even if the adhesion process takes 40 minutes or more, the adhesion promoting effect commensurate with the long process is not observed due to the progress of gelation.

The contact attachment in the first attachment method is preferably performed by dropping, spraying, dipping, transferring, or coating.

The polymerization promotion treatment in the first attachment method includes heat treatment. The heat treatment includes (α) contact with a heat sink at 50-90°C in the polymerization promoting part, (β) contact with hot air set so that the temperature in the polymerization promoting part is 50-90°C, (γ) Examples include contact with a heated atmosphere at 50-90°C in a constant temperature bath or the like.

For the above (α) contact with a heat sink at 50-90° C., the heating time is preferably 3-10 minutes, particularly preferably 3-6 minutes, and most preferably 4-6 minutes.

When the polymerization promoting portion (β) mentioned above is contact with hot air set at a temperature of 50-90°C, the time is preferably 3-10 minutes, and particularly preferably 4-6 minutes.

When the heating atmosphere is set to 50-90°C as described in (γ) above, the heating time is preferably 3-10 minutes, and particularly preferably 4-6 minutes.

After the above heat treatment, the substrate is taken out of the solution, washed preferably with water, more preferably distilled water or deionized water, and then dried in a thermostatic bath, hot or warm air, sunlight, etc.

<Second attachment method of PEDOT-pTS>
In the second attachment method, first, an oxidizing component and pTS as a dopant are dissolved in an organic solvent solution, and the organic solvent solution (pTS solution) is added to the target substrate, "ply twisted yarn or temporary A base material containing all or part of the twisted yarn is immersed.

The organic solvent that can serve as a solvent for pTS and the oxidizing component contained therein are the same as "the organic solvent and oxidizing component of the pTS solution in the first attachment method" described above. Further, "other components" that can be contained in the pTS solution are also the same as "other components in the pTS solution of the first attachment method" described above.

The content of the oxidizing component in the pTS solution varies depending on the type of oxidizing component used, and is not particularly limited as long as it is an amount that can activate the above polymerization reaction. For example, in the case of ferric ions (Fe ³⁺ ), the amount of ferric chloride is preferably 1-10% by mass based on the pTS solution, and more preferably 3-7% by mass. If this content is too high, the polymerization reaction will proceed quickly, but it will be difficult to remove iron in the subsequent process, and if this content is too low, the polymerization reaction will proceed slowly.

The content of pTS acting as a dopant in the pTS solution is preferably 0.1-10% by mass, more preferably 0.15-7% by mass, particularly preferably 1-6% by mass. %, most preferably 2-5% by weight.

In the second attachment method, the monomer EDOT is then added to the PTS solution in which the above-described substrate is immersed, and then at 50-100°C, preferably for 10-60 minutes, more preferably for 50-60 minutes. Heating is carried out at 80° C. for 10-40 minutes, most preferably at 60-80° C. for 10-30 minutes. After heating, the substrate is taken out from the solution, washed preferably with water, more preferably distilled water or deionized water, and then dried in a constant temperature bath, hot or hot air, the sun, or the like.

The ratio of pTS solution to EDOT used in this step is pTS solution:EDOT=10:1-100:1, preferably 20:1-40:1.

[PEDOT-PSS]
PEDOT-PSS (Poly(3,4-ethylenedioxythiophene)-polystyrenesulfonate) is produced by immersing a base material containing ply-twisted yarn or false-twisted yarn in a conductive solution containing PEDOT-PSS, and removing the base material from the conductive solution. PEDOT-PSS adhered to the base material can be electrochemically polymerized and fixed by electrochemically polymerizing and fixing the PEDOT-PSS by running it between electrodes and applying electricity while vertically pulling it up (Patent Document 6). Further, it is possible to attach a resin composition in which PEDOT-PSS and a binder resin are mixed to a thread that has been given stretchability, and to solidify or polymerize it by drying, warming, heating, etc. (Patent Document 7) ). Alternatively, by adsorbing a water-soluble/solvent dispersion in which finely divided PEDOT-PSS (average particle size is about 10 microns) in a solution/solvent to the base material, the base material can be made conductive. is possible (method of Example 4).

[Thread material]
Furthermore, the ply-twisted yarn or false-twisted yarn to which the conductive polymer is attached needs to be a material to which the selected conductive polymer can be appropriately attached.

For example, when PEDOT-pTS is selected as the conductive polymer, the surface materials of the ply-twisted yarn or false-twisted yarn include silk, polyester fibers such as PET (polyethylene terephthalate) fibers, polyamide (nylon) fibers, polyurethane fibers, and paper. Examples include fibers. Furthermore, it may be coated with sericin, which is a component of silk (Japanese Patent Application Laid-open No. 2003-171874).

The silk may be raw silk or may be one that has been subjected to "scouring", which is a process to remove sericin and other impurities. Examples of scouring include soap scouring, alkali scouring, soap/alkali scouring, enzyme scouring, high temperature/high pressure scouring, acid scouring, and any scouring method can be used. Furthermore, it is also possible to use blended yarns of silk and other fibers, such as silk-acetate blended yarns, silk-nylon blended yarns, silk-polyester blended yarns, and silk-polyurethane blended fibers, and the combination of these but not limited to. In addition to regular domestic silk thread, wild silk thread, natural silk derived from spiders and bees, silk obtained using genetic recombination technology, such as silk produced from silkworms with a gene encoding a fluorescent protein inserted. It is also possible to use "silk" or the like.

Materials that can be coated with sericin for sericin-coated yarn include polyamide fibers such as nylon, polyester fibers such as PET, synthetic fibers such as acrylic fibers, aramid fibers, polyurethane fibers, and carbon fibers; cotton, linen, jute, etc. Vegetable fibers; animal fibers such as wool and collagen fibers in addition to the above-mentioned silk; or mixed fibers thereof can be used.

As the polyester fiber, in addition to PET (polyethylene terephthalate) fiber, PEN (polyethylene naphthalate) fiber, PTT (polytrimethylene terephthalate) fiber, PBT (polybutylene terephthalate) fiber, etc. can also be used. The form of the stretchable polyester yarn may be a filament yarn (long fiber) or a yarn that has undergone a spinning process. As mentioned above, it can also be used as a blended yarn in combination with other fibers. Polyamide fibers can be made into yarns with stretch properties using nylon 6, nylon 6,6, nylon 11, nylon 12, etc., and can be used as blended yarns in combination with other fibers as described above. You can also do that.

When PEDOT-PSS is selected, the material of the fiber or thread is not particularly limited as long as it is made of a polymer, and for example, synthetic fibers, vegetable fibers, animal fibers, etc. are used. It may be made of a single material, or it may be a mixture.

Examples of the synthetic fibers include nylon fibers, polyester fibers, acrylic fibers, aramid fibers, polyurethane fibers, and carbon fibers. Examples of the vegetable fiber include cotton, hemp, jute, paper fiber, and the like. Examples of the animal fibers include silk, wool, collagen, and elastic fibers constituting animal tissue.

The thickness of the ply-twisted yarn or false-twisted yarn, as well as the thickness of other types of yarn constituting the woven or knitted fabric, is not particularly limited, and can be selected as necessary from a range of usually about 1 μm to 3 mm. Usually it is about 10 μm-1 mm.

If the planar size of the substantial part of the element of the present invention, that is, the part that detects external force, is the knitted or woven fabric, if it is too narrow, it will be difficult to distinguish it from noise. It is preferably ² or more. In the case of an element that detects external force only in a predetermined direction, as long as the length in the predetermined direction is 1 cm or more, the length in other directions may be narrower. The most extreme form of this predetermined direction limited type element is the form of "only ply-twisted yarn or false-twisted yarn". On the other hand, if it is made extremely wide, if the local movement change is small, it will be masked by noise and detection will become difficult. However, by reducing the size of the individual elements and distributing them over the entire area in which the movement of the target object is detected, ``multi-channel elements'' can be used to detect changes in the movement obtained from the individual elements. By fitting and plotting on the time axis, it is possible to detect changes in the movement of the entire object over time. In this case, the size (planar size) of each element is preferably 1 cm ² or more, as described above. The number of elements in the case of multiple channels is not particularly limited, and can be selected depending on the size of the object and the like.

In this way, the device of the present invention can be a one-channel type in which one device is electrically connected to the detection section of a force sensor described later, or a multiple channel type in which two or more devices are electrically connected. It may be a channel type. In the device of the present invention, even for weight fluctuations over a wide area, which conventionally required an excessive number of channels, for example, by increasing the area of the fabric to a certain extent, it is possible to make a single channel or It has become easier to reduce the number.

<Force sensor>
The sensor of the present invention comprises the above-mentioned element of the present invention and a detection section electrically connected to the element, and the detection section is configured to detect an electric field containing a fiber or thread to which a conductive polymer is attached. This is a force sensor characterized by detecting fluctuations in characteristic values.

Since the sensor of the present invention detects changes in electrical characteristic values (electrical resistance value, current value, voltage value, or capacitance value), it is equipped with a voltage applying section or is connectable. This is normal. The voltage applying section is a DC power source such as a battery, or an AC power source such as a commercial power source or a household power source. Furthermore, if necessary, equipment commonly used in electric circuits, electronic circuits, digital circuits, etc., such as rectifiers, coils, transistors, diodes, capacitors, and resistance terminals, may be provided.

Fluctuations in the electrical property value, preferably the electrical resistance value or the capacitance value, in the element of the present invention occur in correlation with the force applied to the element as described above. By quantitatively detecting changes in the electrical resistance value, capacitance value, etc. in the element, it is possible to quantify the force applied from the outside to the element of the present invention. The detection unit may appropriately include a calculation processing unit for calculating this quantitative value. In addition, by further providing a learning section and performing machine learning, learned data about the movement of the detection target and fluctuations in electrical resistance and capacitance, etc. is created, and new movement of the detection target is generated. It is possible to determine based on learned data. Furthermore, this learned data may be updated as appropriate.

The force sensing element of the present invention, the detection section, and the learning section are electrically connected by wire or wirelessly.

Note that the hysteresis can be corrected by resetting every measurement, that is, by applying zero point correction every measurement.

Examples of the present invention will be described below.

[material]
As a base material for the conductive material of the present invention, a silk thread was prepared by winding a covering thread around two sets of crepe threads each consisting of two sets of 21 denier silk threads twisted at 2800 T/m each on the left and right sides. Tohoku Co., Ltd. produced a plain-knitted fabric (60cm x 60cm) (100 stitches, 100 rows, 10cm width, thread thickness about 0.5mm) (stretch rate of 50% or more at temperature 22℃ and humidity 50%). Obtained from twisted yarn (material cloth 1).

On the other hand, a pique knit (50 stitches in 10 cm width, 50 rows) was made using Japanese paper yarn (240 denier (22nd count)) (double yarn with a slightly twisted twist: 16% expansion and contraction at a temperature of 22°C and 50% humidity). ) A commercially available stretchable fabric (30 cm x 30 cm) was obtained (Material Fabric 2).

For the above-mentioned material cloths 1 and 2, the pTS solution was a butanol solution containing transition metal iron (III) ions and pTS (CLEVIOS C-B 40 V2 manufactured by Heraeus: p-toluenesulfonate iron (III), approximately 4% by mass ("CLEVIOS" is a registered trademark) was used. As EDOT, an aqueous solution of EDOT (CLEVIOS MV2 manufactured by Heraeus, approximately 98.5% by mass of EDOT; "CLEVIOS" is a registered trademark) was used.

A mixture of the pTS solution and EDOT was prepared and cooled to about 4° C., and the substrate was immersed in the mixture at room temperature for 20 minutes. After that, the immersed substrate was taken out of the mixed solution, suspended by clipping two points on one side, and exposed to the wind of a fan (strong wind) for 5 to 10 minutes to vibrate the substrate and dry it. , and further rubbing with a roller to remove excess gelled polymer that adhered to the substrate from these steps.

Next, the base material from which the gelled polymer had been removed was placed in a constant temperature bath at 70° C., and heated for 5 minutes to polymerize into PEDOT-pTS. Next, the polymerized base material was repeatedly washed with water twice, and then dried at 90°C to produce two types of "knitted fabrics with PEDOT-pTS attached" (in this example, 1 piece of material cloth had 1 coat of attached base material). , a material cloth 2 (also referred to as an adhesion substrate 2) was obtained.

[Example 1] Examination of changes in electrical resistance value due to loading in the planar direction using a force sensing element of the adhesive base material 1 After the above-mentioned adhesive base material 1 cut to 7 cm x 7 cm was placed in the horizontal direction, the fabric was fixed with a clip. Both ends were pinched. One side of the clip is fixed, and the displacement in the horizontal direction (X direction) is measured with a caliper by applying a weight within the range of 0-30g to the unfixed side of the clip, and then The resistance value between the two electrodes (“A-B” in Example 2 (I) below) was measured (FIG. 1 (1)). In addition, regarding the Z direction (vertical direction), fix both ends of the clip, and with the fabric stretched in the horizontal direction (X-Y direction), place it in the center (position "Y" in Example 2 (I) below). By applying a weight within the range of 0 to 20 g, displacement in the vertical direction was measured using a caliper, and the electrical resistance value was also measured (Fig. 1 (2) (3)).

As shown in Figure 2 ((1)-(6)), as it expands and contracts in response to the load, the electrical resistance value of the adhesion base material 1 increases in proportion to the magnitude of the load and the degree of expansion and contraction compared to when it is at rest. There was a reduction change.

[Example 2] Load test using the adhesive base material 2 as a force sensing element (I) The following load test was conducted using the above adhesive base material 2 as a force sensing element.

A cylindrical plastic (diameter 3 cm) with a load of 300 g was placed at three locations (X , Y, Z). Furthermore, AH indicates the locations where the terminals are installed. The stitches of the fabric used in this example have directionality, and the horizontal direction (left and right arrows in Figure 3 (2)) in Figure 3 (1) and (2) is better than the vertical direction (Figure 3 (2)). ) has greater extensibility than the middle, upper and lower arrows). When no load is applied, the electrical resistance value in the horizontal direction (from the left end to the right end), which has high extensibility, is about 11 kΩ, and the electrical resistance value in the vertical direction (from the upper end to the lower end), which has low extensibility, is 8 kΩ. It was found that even if the distance between the terminals for measuring the electrical resistance value was the same, the electrical resistance value differed depending on the directionality of the stitches. The stitch deforms depending on the direction of extension (Figure 4). FIG. 4 is an enlarged schematic view of the stitches aligned with the direction in which the adhesion base material in FIG. 3 is placed, and the lower part of FIG. It shows.

Table 1 shows the resistance values for the sets A-B, E-G, A-C, F-H, and A-D when the terminals are installed and the above weight is placed on either X, Y, or Z. The results of the measurements are shown.

From the results shown in Table 1, it was found that the rate of change (rate of decrease) in the electrical resistance value showed some trends depending on the combination of the positions of the electrodes to be measured and the positions of the weights. For example, it has become clear that it is possible to detect where the weight is placed in X, Y, or Z from the difference in the rate of change in resistance value between AB.

(II) Using the adhesion base material 2 as a force sensing element, the amount of decrease in electrical resistance value with respect to changes in vertical direction (Z direction) load was investigated.

This test was conducted using a test system in which the adhesion base material 1 was replaced with the adhesion base material 2 in Example 1 above.

That is, after installing the adhesion base material 2 cut into 7 cm x 7 cm in the horizontal direction, both ends of the fabric were pinched with clips. With the fabric stretched in the horizontal direction (X-Y direction), by loading weights of 10 g, 20 g, and 50 g in the center (position "Y" in (I) above), the fabric can be stretched in the vertical direction (X-Y direction). The resistance value between the clips at both ends ("A-B" in (I) above) with respect to the amount of load applied by a weight that gives a displacement in the (Z direction) was measured, including the case of a 0g load. As a result, the 0g load was 32.7kΩ, the 10g load was 20.0kΩ, the 20g load was 18.5kΩ, and the 30g load was 16.1kΩ.

In the electrical resistance values of these four points, the absolute value of the difference obtained by subtracting the electrical resistance value of each weight from "32.7 kΩ", which is the electrical resistance value of 0g weight, is divided by the above "32.7 kΩ". FIG. 5 is a graph showing the relationship between the percentage (%) reduction rate of the electrical resistance value (vertical axis) and the logarithm (log10) of the weighted load (horizontal axis).

FIG. 5 reveals that both values have a positive correlation.

[Example 3] Real-time measurement of load movement By using the correlation between load and variation shown in Example 2, four force sensing elements (adhered base material cut into 10 cm x 10 cm) were arranged. We created a force sensor that can individually measure the difference in the load in the thickness direction and measure the change in real time (the dark square part in Figure 6 is the channel (element), and each The two wires derived from the element are conductive wires made of the same material as the element.) Thereby, it is possible to measure the load distribution and its load changes from the load measurement values applied to each channel (element).

These four elements are ribbon-shaped conductive fiber electrodes made of PEDOT-pTS attached to silk or Japanese paper fibers, and are wired to an electrical resistance measuring device. The measuring instrument is capable of expressing and recording the change in electrical resistance value over time as a waveform.

The four electrodes are wired to the meter with conductive fiber electrodes such as silk or Japanese paper fibers.

As shown in Figure 7 (1), place the force sensor on top of a chair with a cushion on it, have the panel sit on top of it, and take various postures as shown in Figure 7 (2). I received it.

FIG. 8 shows the change over time in the electrical resistance value as the weight shifts. The upper part of the vertical axis in FIG. 8 indicates that the weight is small. The arrow indicates the point at which a large weight shift occurs, and it can be seen that a large weight is applied immediately after that point.

[Example 4] Detection of respiration waveform from chest body movement measurement using force sensing element In this example, respiration detection is attempted. The above-mentioned adhesive base material 2 is fixedly placed on a rubber band that can be wrapped around the chest, and the device is capable of presenting and storing changes in electrical resistance as a waveform through two terminals. The change in electrical resistance value was measured (Fig. 9). As a result, as shown in Figure 10 (1), although noise due to body movements etc. was observed, waveforms recognized as the wearer's breathing movements appeared in the area surrounded by an oval (Figure 10 (2) )(3)). It is also possible to obtain a clear respiratory waveform by removing noise through filtering or the like.

[Example 5] Study on PEDOT-PSS 50 ml of PEDOT-PSS water-soluble dispersion [low resistance paint of Sepulgida (registered trademark: Shin-Etsu Polymer Co., Ltd.)] was applied to the above material cloth 2 (size 10 cm x 10 cm). OC series] was impregnated for about 2 hours and air-dried, the resistance value and resistance value change with respect to the degree of expansion and contraction of this PEDOT-PSS adhesion base material (indicated as "PSS" in Tables 2 and 3 below) were measured. I measured it. For comparison, the adhesion base material (size 10 x 10 cm) to which PEDOT-pTS used in Example 3 was attached was used (shown as "pTS" in Tables 2 and 3 below). The base material was stretched by the method shown in FIG. 1 in Example 1, and the resistance value was measured at a position corresponding to AB in Example 3.

The resistance values are shown in Table 2, and the resistance change rates are shown in Table 3.

This result revealed that PEDOT-PSS can also be used as a force sensing element like PEDOT-pTS.

[Reference Example] Separation Movement Identification Element A “separation movement identification element” is an element that identifies movement in a non-contact state based on fluctuations in electrical characteristic values of the element. As the electrical characteristic value, an electrical resistance value or a capacitance value is suitable, and a capacitance value is most suitable.

"Non-contact state" means that there is some distance between the element and the subject of movement. While other devices according to the present invention are designed to bring the device into contact with a living body and detect its biological reactions and movements using electrical characteristic values, the remote motion identification device, on the contrary, For example, if a single element is placed far away from the subject of movement (object), and the distance is space, a new electric field will be generated between the element and the object as the object approaches. The capacitance value of the element fluctuates due to the change in response to the movement of the object. In addition, if the separation is between human skin and muscle (for example, when the device is placed on the skin and changes in blood flow are to be detected), an insulator should be placed between the device and the skin. By intervening, it is possible to understand changes in blood flow by detecting changes in capacitance in the element in response to changes in blood flow due to pulsation.

As the separation motion identification element, the conductive material of the present invention is preferably made of fabric (knitted fabric or woven fabric) similarly to the above-mentioned force sensing element, and furthermore, it is preferable that the material is fabric with multiple layers rather than a single layer. suitable. In addition, as for the material, a material containing paper can be typically used, but other than that, silk fibers, polyamide (nylon) fibers, polyester fibers, etc., especially silk fibers can also be used. In many cases, a material containing paper, which has a larger capacitance, is more suitable as a remote motion identification element.

Non-substantial parts of the remote motion identification element, such as conductive materials, insulating materials, conductive connectors, covering materials for covering the element, adhesives for attaching the element to another object, cushioning materials for protecting the element, etc. Fillers and the like are also included in the electrical element of the present invention.

Since the remote motion identification sensor detects an electrical characteristic value, preferably an electrical resistance value or a capacitance value, and more preferably a change in the capacitance value, it is equipped with a voltage applying section or is connectable thereto. It has become. The voltage applying section is a DC power source such as a battery, or an AC power source such as a commercial power source or a household power source. Furthermore, if necessary, equipment commonly used in electric circuits, electronic circuits, digital circuits, etc., such as rectifiers, capacitors, resistance terminals, coils, transistors, and diodes, may be provided.

The above-mentioned fluctuations in the electrical resistance value, capacitance value, etc. in the remote motion identification element occur in correlation with the movement of the object, and the above-mentioned detection unit is configured to By quantitatively detecting changes in capacitance, etc., it is possible to quantify the movement of an external object. The detection unit may appropriately include a calculation processing unit for calculating this quantitative value. In addition, by further providing a learning section and performing machine learning, learned data about the movement of the detection target and changes in electrical resistance and capacitance, etc. is created, and new movement of the detection target is generated. It is possible to determine based on learned data. Furthermore, this learned data may be updated as appropriate.

The force sensing element of the present invention, the detection section, and the learning section are electrically connected by wire or wirelessly.

Note that the hysteresis can be corrected by resetting every measurement, that is, by applying zero point correction every measurement.

The separation motion identification means described above is defined as follows, for example.
(1) The element is equipped with a conductive material to which PEDOT-pTS (poly(3,4-ethylene-dioxythiophene)-p-toluenesulfonate) is attached on the surface of the base material, and the element is moved in a non-contact state. A remote motion identification element that identifies based on fluctuations in electrical characteristic values.
(2) All or part of the separation motion identification element is made of knitted or woven fabric, and is made of ply-twisted yarn or woven fabric to which PEDOT-pTS (poly(3,4-ethylene-dioxythiophene)-p-toluenesulfonate) is attached. The separation motion identification element according to (1) above, wherein the false twisted yarn is used as the yarn constituting all or a part of the knitted fabric or woven fabric.
(3) The separation motion identification element according to (1) or (2), wherein the electrical characteristic value is a capacitance value or an electrical resistance value.
(4) The separation motion identification element according to any one of (1) to (3) above, and a detection section electrically connected to the element, wherein the detection section detects the electrical characteristic value of the element. A remote motion identification sensor that detects.

Here is a reference example. Fold the adhesion base material 2 (30cm x 30cm) in four, on which the above PEDOT-pTS has been adhered, and connect an LED (6000 millicandela (mcd) in the case of 20mA) to it via the terminal and conductive wire. connected. In this state, when a finger was brought close to the adhesion base material 2, the LED turned on at a distance of about 15 cm, and as the finger got closer, the light became stronger and the capacitance of the system also increased. This result shows that the attached substrate can be used as a separation motion identification element. A schematic diagram of this test system is shown in FIG. In this example, as a preferred embodiment, pique knitted cloth made of Japanese paper yarn is used as the base material, but it is also possible to use the attachment base material 1 made of other materials, for example, silk. When the adhesion base material 1 is used in place of the adhesion base material 2 described above, the brightness gradually increases from the time when the hand and fingers are brought closest (approximately 5 cm) to the adhesion base material 1 folded in four, and the brightness increases until the point at which the hand and fingers are touched. It was observed that the LED was lit.

Claims (5)

A haptic element whose electrical property values change due to an external force, the haptic element comprising one or more ply-twisted threads to which a conductive polymer is attached; A haptic element that is a processed silk thread formed into a hollow shape by winding multiple layers of silk thread in a spiral shape, and in which the winding directions of the stacked winding layers are alternately opposite to each other. All or part of the force sensing element is a knitted fabric or woven fabric, and ply-twisted yarn to which a conductive polymer is attached is used as the yarn constituting all or part of the knitted fabric or woven fabric. , The haptic element according to claim 1. The force sensing element according to claim 1 or 2 , wherein the conductive polymer is PEDOT-pTS or PEDOT-PSS. The force sensing element according to claim 1 , wherein the electrical characteristic value is an electrical resistance value or a capacitance value. The device comprises the force sensing element according to any one of claims 1 to 4 , and a sensing portion electrically connected to the sensing portion, wherein the sensing portion is made of a ply-stranded material to which a conductive polymer is attached. A force sensor that detects changes in the electrical property values of yarn .

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