JPH0412201A - Detecting sensor for bending angle of articulation - Google Patents
Detecting sensor for bending angle of articulationInfo
- Publication number
- JPH0412201A JPH0412201A JP2111804A JP11180490A JPH0412201A JP H0412201 A JPH0412201 A JP H0412201A JP 2111804 A JP2111804 A JP 2111804A JP 11180490 A JP11180490 A JP 11180490A JP H0412201 A JPH0412201 A JP H0412201A
- Authority
- JP
- Japan
- Prior art keywords
- stuck
- articulation
- bending angle
- metallic foil
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005452 bending Methods 0.000 title claims abstract description 19
- 239000011888 foil Substances 0.000 claims abstract description 15
- 239000002184 metal Substances 0.000 claims abstract description 12
- 239000000853 adhesive Substances 0.000 claims abstract description 6
- 230000001070 adhesive effect Effects 0.000 claims abstract description 6
- 239000000463 material Substances 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 abstract description 7
- 239000002390 adhesive tape Substances 0.000 abstract description 4
- 239000011248 coating agent Substances 0.000 abstract description 2
- 238000000576 coating method Methods 0.000 abstract description 2
- 229910001220 stainless steel Inorganic materials 0.000 abstract description 2
- 239000010935 stainless steel Substances 0.000 abstract description 2
- 229920001296 polysiloxane Polymers 0.000 abstract 1
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
Landscapes
- Position Input By Displaying (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、人間の手や腕、脚等における関節の曲げ角度
を検出するためのセンサに関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a sensor for detecting the bending angle of a joint in a human hand, arm, leg, etc.
従来の関節の曲げ角を検知する手段としては、例えば名
指の各関節の曲げ角を検出するための装置として外骨格
型の曲げ角度検出装置が知られている。As a conventional means for detecting the bending angle of a joint, an exoskeleton-type bending angle detection device is known as a device for detecting the bending angle of each joint of a famous finger, for example.
上記外骨格型の曲げ角度検出装置は各関節の外側に、こ
の各関節と一体状に作動する関節部材を装着する構成で
あるため、装置重量が増大し、そのため、被験者に拘束
感を与え、人間本来の動作機能を発揮できないという問
題があった。The exoskeleton-type bending angle detection device has a structure in which a joint member that operates integrally with each joint is attached to the outside of each joint, which increases the weight of the device, which gives the subject a feeling of restraint. There was a problem that humans were unable to perform their natural movement functions.
本発明は上記のことにかんがみなされたもので、関節に
対する装脱が極めて容易であり、また被験者に拘束感を
与えず、人間本来の動作機能を損なうことなく人間の関
節動作を検出することができる関節の曲げ角検出センサ
を提供することを目的とするものである。The present invention was developed in consideration of the above, and is extremely easy to attach and detach from joints, and can detect human joint motions without giving the subject a feeling of restraint and without impairing the human's original motion function. The object of the present invention is to provide a sensor for detecting the bending angle of a joint.
上記目的を達成するために、本発明に係る関節の曲げ角
検出センサは、金属箔の一側面にひずみゲージを貼付し
、他側面に人間の皮膚や衣服等に貼着する粘着材を貼付
し、上記ひずみゲージをブリッジボックス等の処理装置
に接続具た構成となっている。In order to achieve the above object, the joint bending angle detection sensor according to the present invention has a strain gauge attached to one side of a metal foil, and an adhesive material that is attached to human skin, clothing, etc., attached to the other side. , the strain gauge is connected to a processing device such as a bridge box.
関節の曲げ角検出センサは粘着材にて関節部に直接ある
いは衣服の上から貼着される。そして関節を屈曲するこ
とにより金属箔が曲かり、このときの曲げ角がひずみゲ
ージにて検出される。The joint bending angle detection sensor is attached directly to the joint or over clothing using an adhesive. By bending the joint, the metal foil is bent, and the bending angle at this time is detected by a strain gauge.
本発明の実施例を図面に基づいて説明する。 Embodiments of the present invention will be described based on the drawings.
第１図、第２図において、１はテープ状に形成された金
属箔で、この金属箔１はステンレス等の金属にて構成さ
れ、かつ厚さが５０μｍ程度と薄く容易に弯曲するよう
になっている。そしてこの金属箔１の一側面に同じくテ
ープ状にしたひすみゲージ２か接着剤にて接着されてい
ると共に、このひずみケージ２はシリコン等の柔軟なコ
ーティング祠３にて被覆されている。In Figures 1 and 2, 1 is a metal foil formed in the shape of a tape. This metal foil 1 is made of metal such as stainless steel, and has a thickness of about 50 μm, so it can be easily bent. ing. A strain gauge 2, also in the form of a tape, is adhered to one side of the metal foil 1 with an adhesive, and the strain cage 2 is covered with a flexible coating 3 made of silicon or the like.
一方金属箔１の他側面には、人間の関節部の皮膚や衣服
に貼付けるための粘着テープ４が貼付けである。On the other hand, an adhesive tape 4 is attached to the other side of the metal foil 1 to be attached to the skin of human joints or clothing.
ひずみゲージ２には保護チューブ５に被覆されたリード
線６が接続されており、このリード線６はブリッジボッ
クス７、増幅器８等の処理装置に接続されている。A lead wire 6 covered by a protective tube 5 is connected to the strain gauge 2, and this lead wire 6 is connected to a processing device such as a bridge box 7 and an amplifier 8.
第３図は上記構成の曲げ角検出センサの使用状態を示す
もので、被験者の手の指９ａ、９ｂの関節部の皮膚に直
接、あるいは手袋（衣服）の」二から曲げ角検出センサ
Ａを粘着テープ４にて貼付する。このとき、関節が略伸
展した状態で貼（−１する。FIG. 3 shows the usage state of the bending angle detection sensor configured as described above, in which the bending angle detection sensor A is applied directly to the skin of the joints of the fingers 9a and 9b of the subject's hand or from the top of the glove (clothing). Attach with adhesive tape 4. At this time, the joint is pasted (-1) in a state where it is almost extended.
センサを貼付した関節を被験者が屈曲すると、このとき
の屈曲角に従ってセンサの金属箔］か曲かり、金属箔１
の一側面に接着したひずみゲージ２によりこのときの曲
げひずみが検出される。そしてこのひずみ量はブリッジ
ボックス７、増幅器８を介して電気信号に変換されて出
力される。When the subject bends the joint to which the sensor is attached, the metal foil of the sensor bends according to the bending angle, and the metal foil 1
The bending strain at this time is detected by a strain gauge 2 bonded to one side of the. This amount of distortion is then converted into an electrical signal via the bridge box 7 and the amplifier 8 and output.
上記実施例では、センサを指の関節に直接貼付けた例を
示したか、これは手袋の上から貼付けてもよい。In the above embodiment, the sensor is attached directly to the finger joint, but it may also be attached over the glove.
また上記センサの使用方法の他側として、センサの出力
部をロボットの制御装置に接続しこのセンサによる出力
信号にてロボットハンドを指の動きに連動して遠隔操作
するようにしてもよい。As another method of using the sensor, the output section of the sensor may be connected to a control device of the robot, and the output signal from the sensor may be used to remotely control the robot hand in conjunction with finger movements.
そしてこのセンサを用いることにより、人間工学や運動
生理学等における人間の動作解析や、人間の体を直接用
いたロボットの遠隔操作やコンピュータの入力装置を実
現することができる。By using this sensor, it is possible to analyze human motion in fields such as ergonomics and exercise physiology, and to realize remote control of robots and computer input devices that directly use the human body.
本発明によれば、関節に対する装脱が極めて容易であり
、また被験者に拘束感を与えず、人間本来の動作機能を
損なうことなく人間の関節動作を検出することができる
。According to the present invention, it is extremely easy to attach and detach the device to a joint, and the human joint motion can be detected without giving the test subject a feeling of restraint and without impairing the human's original motion function.
図面は本発明の実施例を示すもので、第１図は平面図、
第２図は断面図、第３図は使用状態を示す斜視図である
。
１は金属箔、２はひずみゲージ、４は粘着テプ、７はブ
リッジボックス。The drawings show an embodiment of the present invention, and FIG. 1 is a plan view;
FIG. 2 is a sectional view, and FIG. 3 is a perspective view showing the state of use. 1 is metal foil, 2 is strain gauge, 4 is adhesive tape, and 7 is bridge box.
Claims (1)
に人間の皮膚や衣服等に貼着する粘着材を貼付し、上記
ひずみゲージ２をブリッジボックス７等の処理装置に接
続したことを特徴とする関節の曲げ角検出センサ。A strain gauge 2 is attached to one side of the metal foil 1, an adhesive material that can be attached to human skin or clothing is attached to the other side, and the strain gauge 2 is connected to a processing device such as a bridge box 7. Characteristic joint bending angle detection sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2111804A JPH0412201A (en) | 1990-05-01 | 1990-05-01 | Detecting sensor for bending angle of articulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2111804A JPH0412201A (en) | 1990-05-01 | 1990-05-01 | Detecting sensor for bending angle of articulation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0412201A true JPH0412201A (en) | 1992-01-16 |
Family
ID=14570580
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2111804A Pending JPH0412201A (en) | 1990-05-01 | 1990-05-01 | Detecting sensor for bending angle of articulation |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0412201A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007075234A (en) * | 2005-09-13 | 2007-03-29 | National Institute Of Advanced Industrial & Technology | Electromagnetic measurement type joint angle meter |
| CN102927899A (en) * | 2012-10-08 | 2013-02-13 | 东南大学 | Flexible shoulder joint motion sensor and measurement method thereof |
| WO2014208883A1 (en) * | 2013-06-24 | 2014-12-31 | 서울대학교 산학협력단 | Strain sensor manufacturing method, strain sensor, and motion sensing device using strain sensor |
| CN104296651A (en) * | 2014-10-23 | 2015-01-21 | 东南大学 | Multiple-supporting-arm and multiple-joint angle integration parallel detection system based on flexible fabric |
| JP2015107281A (en) * | 2013-12-06 | 2015-06-11 | 独立行政法人国立高等専門学校機構 | Human body detection device |
| WO2018136743A1 (en) * | 2017-01-20 | 2018-07-26 | Figur8, Inc. | Body part deformation analysis using wearable body sensors |
| US10758160B2 (en) | 2017-01-20 | 2020-09-01 | Figur8, Inc. | Body part motion analysis with wearable sensors |
| JP2020174787A (en) * | 2019-04-16 | 2020-10-29 | 国立大学法人東京農工大学 | Finger movement estimation system |
| CN112758348A (en) * | 2020-12-24 | 2021-05-07 | 中国飞行试验研究院 | Pressure distribution measuring device for flight test and pressure measuring belt modification method |
-
1990
- 1990-05-01 JP JP2111804A patent/JPH0412201A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4547536B2 (en) * | 2005-09-13 | 2010-09-22 | 独立行政法人産業技術総合研究所 | Electromagnetic angle measuring joint angle meter |
| JP2007075234A (en) * | 2005-09-13 | 2007-03-29 | National Institute Of Advanced Industrial & Technology | Electromagnetic measurement type joint angle meter |
| CN102927899B (en) * | 2012-10-08 | 2015-03-11 | 东南大学 | Flexible shoulder joint motion sensor and measurement method thereof |
| CN102927899A (en) * | 2012-10-08 | 2013-02-13 | 东南大学 | Flexible shoulder joint motion sensor and measurement method thereof |
| WO2014208883A1 (en) * | 2013-06-24 | 2014-12-31 | 서울대학교 산학협력단 | Strain sensor manufacturing method, strain sensor, and motion sensing device using strain sensor |
| KR101500840B1 (en) * | 2013-06-24 | 2015-03-10 | 서울대학교산학협력단 | Manufacturing Method Of Strain Sensor, Strain Sensor and Motion Sensing Apparatus Using the Strain Sensor |
| US9970832B2 (en) | 2013-06-24 | 2018-05-15 | Snu R&Db Foundation | Manufacturing method of strain sensor, strain sensor and motion sensing apparatus using the strain sensor |
| JP2015107281A (en) * | 2013-12-06 | 2015-06-11 | 独立行政法人国立高等専門学校機構 | Human body detection device |
| WO2015083534A1 (en) * | 2013-12-06 | 2015-06-11 | 独立行政法人国立高等専門学校機構 | Human body detection device |
| CN104296651A (en) * | 2014-10-23 | 2015-01-21 | 东南大学 | Multiple-supporting-arm and multiple-joint angle integration parallel detection system based on flexible fabric |
| WO2018136743A1 (en) * | 2017-01-20 | 2018-07-26 | Figur8, Inc. | Body part deformation analysis using wearable body sensors |
| US10758160B2 (en) | 2017-01-20 | 2020-09-01 | Figur8, Inc. | Body part motion analysis with wearable sensors |
| JP2020174787A (en) * | 2019-04-16 | 2020-10-29 | 国立大学法人東京農工大学 | Finger movement estimation system |
| CN112758348A (en) * | 2020-12-24 | 2021-05-07 | 中国飞行试验研究院 | Pressure distribution measuring device for flight test and pressure measuring belt modification method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP3409160B2 (en) | Grasping data input device | |
| Tarchanidis et al. | Data glove with a force sensor | |
| Li et al. | A wearable detector for simultaneous finger joint motion measurement | |
| US7390157B2 (en) | Force feedback and texture simulating interface device | |
| AU671705B2 (en) | A force feedback and texture simulating interface device | |
| US5978693A (en) | Apparatus and method for reduction of motion artifact | |
| JP2019023941A (en) | Method and device for combining muscle activity sensor signal and inertial sensor signal for control based on gesture | |
| US5911693A (en) | Differential myometer | |
| TW201225920A (en) | Mechanomyographic signal input device, human-machine operating system and identification method thereof | |
| Tognetti et al. | Body segment position reconstruction and posture classification by smart textiles | |
| JPH0412201A (en) | Detecting sensor for bending angle of articulation | |
| CN210776590U (en) | Stretchable flexible attached hand fine motion capture device | |
| KR100907103B1 (en) | Glove-based Human-Computer Interface Device | |
| KR101913618B1 (en) | Device for joint movement measure | |
| Islam et al. | Intention detection for dexterous human arm motion with FSR sensor bands | |
| Melnykowycz et al. | Piezoresistive carbon-based hybrid sensor for body-mounted biomedical applications | |
| Mascaro et al. | Finger posture and shear force measurement using fingernail sensors: Initial experimentation | |
| Saggio et al. | Evaluation of an integrated sensory glove at decreasing joint flexion degree | |
| JP2008276664A (en) | Sensing device | |
| CN110716644A (en) | Tactile feedback glove and VR (virtual reality) equipment assembly with same | |
| CN214409910U (en) | Finger pressure and gesture bimodal flexible sensing system | |
| JP3896533B2 (en) | Biological displacement sensor | |
| CN210776589U (en) | Attached type hand motion capture system | |
| CN209315874U (en) | A kind of joint flexion measuring system | |
| Kyberd et al. | Sensory control of a multifunction hand prosthesis |