JPH05126557A - Bend angle detector - Google Patents

Abstract

PURPOSE:To detect the bend angle and twist angle at the joint, etc., of each member, such as the finger, wrist, elbow, etc., of a human body. CONSTITUTION:A base member 2 has a uniform cross-sectional shape in its length direction, flexibility, and resistors 3 and 4 on its surface. The resistor 3 has a U-shape and forms a uniform-width pattern along the length direction of the member 2. The resistor 4 forms a pattern having oblique sections 4a, 4A, 4b, 4B,... against the length direction of the member 2. A computing element 6 finds the bend and twist angles of the member 2 by calculating the resistance variation of the resistors 3 and 4. Therefore, even when the member 2 is simultaneously bent and twisted by deformation, the bend and twist angles can be detected respectively.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bending angle detector capable of detecting a bending angle and a twisting angle of joints in human limbs such as fingers, wrists and elbows.

[0002]

2. Description of the Related Art As is well known, in natural musical instruments, it is common to play musical notes by playing strings or keyboards, or by blowing tubes, and most electronic musical instruments play keyboards. By this, a musical sound is generated.

By the way, when it becomes possible to generate a musical sound based on a natural human motion, the musical operation becomes a performance operation apart from the feeling of playing in a conventional musical instrument, and a new musical enjoyment and a new musical effect are provided. Can play. For example, bending motions of fingers, wrists, elbows, shoulders, etc. are not only daily natural motions but also often used for choreography such as dance. Therefore, if the musical tone can be controlled based on these movements, the musical tone can be controlled according to the dance incorporating this motion or bending motion. From this point of view, therefore, the applicant has proposed an electronic musical instrument that controls the musical sound according to the bending of a human hand or foot, apart from the concept of playing.

In this type of electronic musical instrument, as described above, a bending angle detector for detecting the bending angle of a human hand or foot is used. A conventional bending angle detector uses a potentiometer. When trying to detect bending in two different axis directions at a certain part at the same time, a conventional bending angle detector using a potentiometer is detected by a combination of two potentiometers, one in each axial direction. It is possible.

[0005]

By the way, when the above-mentioned bending angle detector does not have a definite rotation center, for example, when it is used for a joint of a human body, the rotation center of the potentiometer and the rotation of the joint are rotated. There was a problem that the centers did not match and the accurate bending angle could not be detected. Further, the conventional bending angle detector has a problem that it is difficult to mount the bending angle detector as described above.

The present invention has been made in view of the above-mentioned circumstances, has no clear center of rotation, is easily mounted on an object that can be bent in any direction, and can always detect an accurate bending angle and twisting angle. It is an object to provide a bending angle detector.

[0007]

In order to solve the above-mentioned problems, according to the invention of claim 1, a flexible base member and the base member are provided along the longitudinal direction of the base member. A flexible first resistor that is laid and changes its resistance according to bending deformation and twisting deformation of the base member, and is laid on the base member along the longitudinal direction of the base member. A flexible second resistor that changes in resistance different from the resistance change of the first resistor according to the bending deformation and the twisting deformation of the first resistor, and the resistance change of the first resistor and the second resistor. Output means for outputting a bending angle and a twisting angle of the base member based on a resistance change.

According to the second aspect of the present invention, the base is flexible and has different deformation characteristics with respect to bending deformation and twisting deformation by making the central portion and the peripheral portion of the cross-sectional shape different. A member, a flexible first resistor that is laid along the longitudinal direction of the base member in the central portion of the base member, and has a resistance that changes in response to bending deformation and twisting deformation of the base member; A flexible second resistor, which is laid along the longitudinal direction of the base member in the peripheral portion of the member, and whose resistance changes according to bending deformation and torsional deformation of the base member, and the first resistor. Output means for outputting the bending angle and the twisting angle of the base member based on the resistance change and the second resistance change.

[0009]

According to the first aspect of the invention, the resistance values of the first and second resistors laid on the base member change according to the bending deformation and the torsional deformation of the base member. In the first and second resistors, since the ratio of the sensitivity in the bending direction to the sensitivity in the twisting direction is different between the two resistors, both the bending deformation and the twisting deformation are detected by each resistor. ..

According to the second aspect of the invention, the resistance values of the first and second resistors laid on the base member change according to the bending deformation and the torsional deformation of the base member.
A central portion of the base member on which the first resistor is laid;
Since the peripheral part of the base member on which the resistor is laid has different deformation characteristics with respect to the bending deformation and the torsional deformation, the sensitivity ratio between the bending direction and the twisting direction is different between the central part and the peripheral part. A difference occurs and each of the resistors detects both bending deformation and torsional deformation.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a front view showing the configuration of a sensor 1 according to an embodiment of the present invention. In this figure, the base member 2 has a cross-sectional shape symmetrical with respect to the central axis and is flexible, and the resistors 3 and 4 are laid. The resistor 3 has a U-shape, and forms a pattern having a uniform width along the longitudinal direction of the base member 2 near the center line on the upper surface of the base member 2 and symmetrical about the center line. Further, the resistor 4 is provided in the peripheral portion of the base member 2 and is laid portions 4a, 4b, ... Which are oblique to the longitudinal direction of the base member 2 and laid portions 4A, 4B which are parallel to the longitudinal direction. , ... are formed symmetrically with respect to the center line of the upper surface of the base member.

The shape of the pattern is changed as described above in order to increase the sensitivity of the resistance value change of the resistor 4 to the torsional deformation of the base member 2. The connection terminals C1, C2, C3 and C4 are provided at the respective base ends of these resistors.
Are provided, and these connection terminals are connected to the lead wires 5a, 5
It is electrically connected to the computing unit 6 via b, 5c and 5d. The calculator 6 includes two constant current sources (not shown), A
Has a D / D converter and an arithmetic circuit, and has resistors 3, 4
Are connected in series to the respective constant current sources, outputs (voltage values) are taken from the upstream side of the respective constant current sources, supplied to the A / D converter, and A / D converted and output to the arithmetic circuit. ..
In the arithmetic circuit, the resistance value of each resistor is obtained from the standard current of each constant current source and the voltage output from each resistor, and the calculation to be described later is performed to detect the bending angle and the twist angle of the base member.

The above-mentioned sensor 1 has a rubber property and is housed in a housing portion sewn with a cloth which is in close contact with the body surface.
When this storage part is attached to a joint such as a hand or a foot, the base member 2 is deformed according to the bending condition or the twisting condition of the joint,
The resistance values of the resistors 3 and 4 change according to the degree of this deformation. For example, as shown in FIG. 2A, when the base member 2 is bent in the direction of arrow A, the base member 2 largely changes in the direction of arrow B shown. That is, in this case, the resistance value of the resistor 3 laid along the longitudinal direction of the base member 2 changes more greatly according to the bending deformation.

When the base member 2 is twisted in the direction of arrow C, that is, when the base member 2 is twisted as shown in FIG. 2B, the base member 2 changes greatly in the directions of arrows D and E shown in the figure. That is, in this case, the resistance value of the resistor 4 laid obliquely with respect to the longitudinal direction of the base member 2 changes more greatly according to the above-mentioned torsional deformation.

Here, in the resistor 3, a resistance change of aθBR1 (a: a constant determined by the shape of the resistor 3 and the like, R1: a resistance value before deformation of the resistor 3) occurs with respect to bending at an angle θB. , BθTR1 (b: a constant determined by the shape of the resistor) is generated with respect to the twist of the angle θT. In addition, in the resistor 4, a resistance change of cθBR2 (c: a constant determined by the shape of the resistor 4 and the like, R2: a resistance value before deformation of the resistor 4) occurs with respect to the bending of the angle θB, and the angle θT occurs. DθTR2 against twist (d: constant determined by the shape of resistor 4)
Occurs.

As a result, the resistance change amount ΔR1 when the bending of the angle θB and the twisting of the angle θT are simultaneously applied to the resistor 3 is given by the following equation.

[Equation 1] Similarly, the resistance change amount ΔR2 when the bending of the angle θB and the twisting of the angle θT are simultaneously applied to the resistor 4 is given by the following equation.

[Equation 2] By solving the above two equations simultaneously, the following equation is obtained.

[Equation 3]

That is, in the denominator, the respective characteristics of the resistors 3 and 4 are set so that ad ≠ bc, and in advance,
Relationship between bending angle of each resistor and resistance change rate (constants a, c)
If the relationship between the twisting angle and the rate of change in resistance (constants b and d) is calculated independently, the bending angle θB and the twisting angle can be detected even if the bending and twisting occur simultaneously by detecting the change in resistance. θT can be obtained.

In the above-described embodiment, since the deformation of the central portion is smaller than the deformation of the outer peripheral portion with respect to the torsion, the influence of the torsion can be reduced by disposing the resistor 3 mainly for detecting the bending in the central portion. Can be made smaller. Further, the deformation of the outer peripheral portion due to the twist is larger than that of the central portion, and the resistance change of the resistor due to the twist is large. Therefore, by disposing the resistor 4 mainly detecting the twist on the outer peripheral portion, The deformation of the resistor can be accurately detected, and the influence of bending can be reduced.

In the above-described embodiment, the bending angle and the twist angle are obtained by calculating the detected resistance change of each resistor. For example, the resistance change of each resistor and the bending angle and The bending angle and the twist angle may be obtained from the detected resistance change of each resistor by previously storing the relationship with the twist angle and referring to this table. In this case, it is not necessary to make the cross-sectional shape of the base member symmetrical with respect to the central axis, the degree of freedom in the shape of the base member is increased, and the bending angle and twist The angle can be calculated.

The resistors 3 and 4 described above may be provided on both surfaces of the base member 2. In this case, if the difference in the change in resistance value on each surface is taken, the accuracy is further improved. Bending angle and twisting angle can be detected. Further, the base member 2 and the resistors 3 and 4 having the above-described configuration are similar to those shown in FIG.
It is not limited to the one shown in FIG.
As shown in FIG. 3, a step may be provided on the base member 7, and U-shaped resistors 8 and 9 may be provided on each step. In this case, since the resistance member 9 has a thinner base member 7 and is located farther from the central axis of twisting, the ratio of the resistance change due to the torsional deformation of the base member 7 to the resistance change due to the bending deformation is smaller. The value is large.

Alternatively, as shown in FIGS. 4 (a) and 4 (b), the base member 8 may have a hexagonal shape, and U is formed on a predetermined surface.
Character-shaped resistor and the laying parts 4a, 4A, 4b shown in FIG.
A structure including a resistor including 4B, ...

[0022]

As described above, according to the present invention, a flexible base member is laid along the base member along the longitudinal direction of the base member, and the base member is bent and deformed. And a flexible first resistor whose resistance changes in accordance with the torsional deformation and the base member, which is laid along the longitudinal direction of the base member, and which is responsive to the bending deformation and the torsional deformation of the base member. , A flexible second resistor that changes a resistance different from a resistance change of the first resistor, and a resistance change of the first resistor and a second resistance change of the base member based on the resistance change of the first resistor and the second resistance change. Since the output means for outputting the bending angle and the twisting angle are provided, it is easy to mount on an object that can be bent in any direction, and it is possible to obtain the advantage that the accurate bending angle and the twisting angle can be always detected. .

Further, according to the second aspect of the present invention, in addition to having flexibility, the central part and the peripheral part of the cross-sectional shape are made different in shape so that each part is deformed differently due to bending deformation and torsional deformation. A base member having characteristics, and a flexible first resistor which is laid along the longitudinal direction of the base member in the central portion of the base member and whose resistance changes according to bending deformation and twisting deformation of the base member. A flexible second resistor that is laid along the longitudinal direction of the base member in the peripheral portion of the base member and that changes in resistance in response to bending deformation and torsional deformation of the base member; Output means for outputting the bending angle and the twisting angle of the base member based on the resistance change of the resistor and the second resistance change. Easily mounted Te has the advantage that at all times possible to detect an accurate bending angle and twist angle.

[Brief description of drawings]

FIG. 1 is a front view showing the structure of an embodiment of the present invention.

FIG. 2A is a perspective view for explaining the deformation of the base member 2 when the sensor 1 in the same embodiment is bent, and FIG. 2B is a case where the sensor 1 in the same embodiment is twisted. FIG. 9 is a perspective view for explaining a modification of the base member 2 of FIG.

FIG. 3 is a perspective view showing an example of different shapes of the base member and the resistor of the embodiment.

FIG. 4 is a perspective view showing an example of different shapes of the base member and the resistor of the embodiment.

[Explanation of symbols]

1 ... Sensor, 2, 7, 10 ... Base member, 3, 4,
8, 9 ... Resistor, 5 ... Lead wire, 6 ... Computing unit.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification number Office reference number FI Technical display location G10G 1/00 7346-5H G10H 1/00 Z 7350-5H 1/053 C 7345-5H 1/32 Z 7345-5H 1/34 7345-5H 8603-2C G09B 19/00 D

Claims (2)

[Claims] 1. A flexible base member, and a flexible member which is laid on the base member along the longitudinal direction of the base member and whose resistance changes in accordance with bending deformation and twisting deformation of the base member. And a resistance different from the resistance change of the first resistor, which is laid on the base member along the longitudinal direction of the base member, and which is different from the resistance change of the first resistor according to the bending deformation and the torsional deformation of the base member. A flexible second resistor that changes, and an output unit that outputs a bending angle and a twist angle of the base member based on the resistance change of the first resistor and the second resistance change. A bending angle detector, comprising: 2. A base member which is flexible and has different deformation characteristics with respect to bending deformation and torsional deformation in each portion by making the central portion and the peripheral portion of the cross-sectional shape different. A flexible first resistor, which is laid along the longitudinal direction of the base member in the central portion of the base member, and whose resistance changes according to bending deformation and twisting deformation of the base member; A flexible second resistor that is laid along the longitudinal direction of the base member and that changes its resistance in response to bending deformation and twisting deformation of the base member; and a resistance change of the first resistor and the second resistance. Output means for outputting a bending angle and a twisting angle of the base member based on a change in resistance of the bending angle detector.