KR101271728B1 - Finger flexion force estimation device and method based on thickness change of compressed finger - Google Patents

Abstract

FIELD OF THE INVENTION The present invention relates to devices and methods for measuring finger bending force, wherein a finger thickness change due to a pressed flexor tendon tension of a finger without directly measuring the contact force generated between an object and a finger. Apparatus and methods for measuring the bending force of a finger using In one embodiment of the present invention, the device for measuring the bending of the finger, pressing portion for pressing the finger; A sensing unit provided at one side of the pressing unit and generating a detection signal for the deformation amount of the pressing unit according to a change in thickness of the pressed finger; And a signal processor configured to measure bending of a finger based on the sense signal.

Description

Finger flexion force estimation device and method based on thickness change of compressed finger}

The present invention relates to devices and methods for measuring finger bending force. In particular, the present invention is an apparatus and method for measuring the bending force of the finger by using the change in the thickness of the finger by the pressure of the flexor tendon tendon of the finger without directly measuring the contact force generated between the object and the finger It is about.

Hereinafter, a brief description of techniques generally used in connection with the technical field of the present invention.

Measuring the finger bending force of a person can be controlled by the control of machines and robots that interact with the person, by the control of a robot that mimics the ability of a person to handle an object, by assisting and / or assisting activities and / or forces by recognizing a person's intention to manipulate an object. Is an essential element in the study of object manipulation behavior.

In general, a method for measuring a person's finger bending force is to (1) measure the pressure generated between a finger and an object by wearing a device such as a glove equipped with a sensor that can measure the pressure on the contact surface. A method of measuring finger force, (2) a method of measuring finger force by mounting a sensor capable of measuring contact pressure on an object, and measuring the pressure exerted on the object from the finger, and (3) There is a method of indirectly estimating finger force by acquiring a surface Electromyograph (sEMG) signal from the forearm muscle and measuring muscle activation.

In the case of measuring finger force by measuring a pressure generated between a finger and an object by wearing a device such as a glove equipped with a sensor capable of measuring the pressure on the contact surface, a pressure sensor and Other structures, such as gloves, are located and pressure sensors generate signals that correspond to the pressure exerted by fingers and objects. In addition, the signal generated from the pressure sensor is used to calculate the finger force through the calculation. In this case, the sensory ability of the finger may be disturbed due to the structure existing between the finger and the object. Human finger sensation plays an important role in sensitively accepting the weight of an object to be manipulated, the roughness, shape, slippage, temperature, and the like of the object to be properly adjusted. Therefore, when the finger sensation for the manipulation target object is not transmitted correctly, it may be difficult for a person to appropriately adjust the finger force through the touch. As a result, the operation ability of the object is deteriorated, and in extreme cases, an operation error such as applying an excessive force to the object may damage the object or miss an object by shaking the object with an excessively weak force.

In the case of measuring a finger force by mounting a sensor capable of measuring contact pressure on an object and measuring pressure applied to the object from a finger, a separate structure is not required between the finger and the object. For example, a pressure sensor is installed below or inside the surface layer of the object, and the pressure sensor generates a signal corresponding to the pressure transmitted from the finger. At this time, the signal of the pressure sensor is used to calculate the finger force through the calculation. However, when there is no separate structure between the target object and the finger, the finger's sense of the state and slippage of the object surface can be maintained, but since the sensor must be installed on the target object, it is greatly influenced by the shape and characteristics of the object. It cannot be applied to all objects. In addition, since it is applied only to an object that has a sensor installed specifically for force measurement, it cannot be used for the purpose of assisting human finger force in everyday situations.

The method of measuring finger force indirectly by acquiring a surface EMG signal (sEMG) from the muscle of the forearm and measuring muscle activation is performed by measuring an EMG signal corresponding to the force generated in the muscle. Therefore, a finger force applied by a person can be measured in a situation in which there is no separate pressure sensor between the object and the finger or inside the object. In this method, it is possible to maintain a sense of a finger about the state of the surface of the object and the sliding, etc., and the possibility of use is not limited to a specific target object. However, since the surface EMG signal is a weak electric signal collected through the electrode attached to the skin surface, the surface EMG signal is easily affected by the skin condition such as humidity of the skin surface. There is a problem that varies greatly. In addition, since the preparation process of attaching the electrode to a finger or the like is cumbersome, there is a difficulty in applying the electrode.

SUMMARY OF THE INVENTION The present invention has been made to solve the problems of the general technique as described above, and an object of the present invention is to provide an apparatus and method for efficiently measuring finger bending force.

It is another object of the present invention to provide an apparatus and method for measuring finger bending force without causing deterioration of the sensory ability of the finger.

It is yet another object of the present invention to provide an apparatus and method for measuring finger bending force without directly measuring contact force at the contact surface of the finger and the object.

Technical objects to be achieved in the present invention are not limited to the above-mentioned matters, and other technical problems which are not mentioned are those skilled in the art from the embodiments of the present invention to be described below. Can be considered.

In order to solve the above technical problem, the present invention provides various devices and methods for measuring the finger bending force.

According to one aspect of the present invention, an apparatus for measuring bending of a finger includes a pressing part for pressing a finger; A sensing unit provided at one side of the pressing unit and generating a detection signal for the deformation amount of the pressing unit according to a change in thickness of the pressed finger; And a signal processor configured to measure bending of a finger based on the sense signal.

In this case, the pressing unit may include an elastic body for pressing the finger, and the elastic body may press the finger by applying an elastic force to the pressing unit. In addition, the compression unit may perform one or more of translational and rotational movements according to the change in the tendon tendon of the finger. The sensing unit may measure the amount of deformation of the compression unit according to one or more of translational and rotational motions. The pressing portion may further include an uneven portion for pressing the finger.

In another aspect of the present invention, an apparatus for measuring bending of a finger includes: a first pressing portion for pressing a finger; A second pressing portion for pressing the finger together with the first pressing portion; An elastic body coupled to the first pressing unit and the second pressing unit to apply an elastic force to the first pressing unit and the second pressing unit to press the finger; A sensing unit provided at one or more sides of the first pressing unit and the second pressing unit and generating a detection signal for a relative displacement of the first pressing unit and the second pressing unit according to a change in the thickness of the pressed finger; And a signal processor that measures and analyzes bending of a finger based on the sense signal.

The first pressing portion and the second pressing portion may perform one or more of translational and rotational movements according to the flexor tendon changes of the fingers. In this case, the sensing unit may measure a relative displacement of the first pressing unit and the second pressing unit according to at least one of translational and rotational movements of the first pressing unit and the second pressing unit. In addition, the first pressing portion and the second pressing portion may further include an uneven portion for pressing the finger. At this time, the elastic body may be composed of a spring, elastic fabric or rubber band.

As another aspect of the present invention, a method for measuring the bending of a finger, the method comprising the steps of applying a predetermined pressure to the finger using the pressing portion of the bending measuring device; Measuring the amount of deformation of the compression unit in accordance with the change in the thickness of the finger in the sensing unit of the bending measuring device; Generating a detection signal according to the deformation amount in the detection unit; Transmitting a detection signal by the detector to a signal processor of the bending measuring device; And measuring bending of the finger based on the detector signal.

At this time, the pressing unit includes an elastic body for pressing the finger, the elastic body may press the finger by applying an elastic force to the pressing unit. In addition, the amount of deformation may be caused by one or more of translational and rotational movements performed in the compression unit according to the flexor tendon tension of the finger.

The measuring of the bending may include converting a sensing signal indicating a nonlinear output according to the deformation amount into a final output value having a linear relationship according to the bending.

In still another aspect of the present invention, a method for measuring bending of a finger includes applying pressure to a finger using a first pressing portion and a second pressing portion of a bending measuring device; Measuring a relative displacement of the first pressing portion and the second pressing portion in accordance with a change in the thickness of the finger in the sensing portion of the bending measuring device; Generating a detection signal according to the relative deformation amount in the detection unit; Transmitting a detection signal by the detector to a signal processor of the bending measuring device; And measuring and analyzing the bending of the finger based on the sense signal.

In this case, the first pressing portion and the second pressing portion may perform one or more of translational and rotational movements according to the change in the flexor tendon of the finger. The first pressing portion and the second pressing portion may further include an uneven portion for directly pressing a finger.

The bending measuring apparatus further includes an elastic body for pressing the finger, the elastic body may apply an elastic force to the first pressing portion and the second pressing portion to allow the first pressing portion and the second pressing portion to press the fingers.

In addition, measuring the bending may include converting a sensing signal indicating a nonlinear output according to the deformation amount into a final output value having a linear relationship according to the bending.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, And can be understood and understood.

According to the embodiments of the present invention, the following effects are obtained.

First, the finger bending force can be measured efficiently.

Second, the finger bending force can be measured without causing a deterioration of the sensory ability of the finger.

Third, the finger bending force can be measured without directly measuring the contact force at the contact surface between the finger and the object. That is, since the sensor is not located on the contact surface between the finger and the object, the finger bending force can be estimated without causing a deterioration of the sensory ability of the finger.

The effects obtained in the embodiments of the present invention are not limited to the above-mentioned effects, and other effects not mentioned can be found in the following description of the embodiments of the present invention, Can be clearly derived and understood by those skilled in the art. That is, unintended effects of practicing the present invention may also be derived from those skilled in the art from the embodiments of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings are provided to facilitate understanding of the present invention, and provide embodiments of the present invention with detailed description. However, the technical features of the present invention are not limited to the specific drawings, and the features disclosed in the drawings may be combined with each other to constitute new embodiments.
BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows an example of the bending measuring apparatus for measuring finger bending as an Example of this invention.
2 is a view showing an example of the structure of the pressing unit 10 used in the embodiments of the present invention.
3 is a diagram illustrating an operation of the signal processor 30 that may be used in embodiments of the present invention.
4 is a view showing an embodiment of the bending measuring apparatus disclosed in FIG. 1 as an embodiment of the present invention.
FIG. 5 is a view illustrating an operation of the bending measuring device of FIG. 4. FIG.
6 is a view showing another embodiment of the bending measuring device disclosed in FIG. 1 as an embodiment of the present invention.
FIG. 7 is an exploded view of the bending measuring apparatus described with reference to FIG. 6.
8 is a view showing an example of a state wearing a bending measuring device as an embodiment of the present invention.
9 is a view showing an example of a bending measurement method as an embodiment of the present invention.

Embodiments of the present invention disclose various apparatuses and methods for measuring finger bending forces. In addition, embodiments of the present invention to measure the bending force of the finger using the change in the thickness of the finger by the tension flexor tendon tension of the finger without directly measuring the contact force generated between the object and the finger Disclosed are apparatuses and methods.

The following embodiments combine the components and features of the present invention in a predetermined form. Each component or feature may be considered to be optional unless otherwise stated. Each component or feature may be implemented in a form that is not combined with other components or features.

In addition, some of the elements and / or features may be combined to form an embodiment of the present invention. In addition, the order of coupling positions and operations of the components described in the embodiments of the present invention may be changed. Some configurations or features of certain embodiments may be included in other embodiments, or may be replaced with corresponding configurations or features of other embodiments.

In the description of the drawings, procedures or steps which may obscure the gist of the present invention are not described, and procedures or steps that can be understood by those skilled in the art are not described.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following detailed description, together with the accompanying drawings, is intended to illustrate exemplary embodiments of the invention and is not intended to represent the only embodiments in which the invention may be practiced. The same reference numerals are used for the same parts throughout the drawings and the specification.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, without excluding other components unless specifically stated otherwise. In addition, the terms “… unit”, “… unit”, “module”, and the like described in the specification mean a unit for processing at least one function or operation, which may be implemented by combining hardware and / or software.

In addition, the specific terms used in the embodiments of the present invention are provided to facilitate understanding of the present invention, and the use of such specific terms can be changed to other forms without departing from the technical idea of the present invention .

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows an example of the bending measuring apparatus for measuring finger bending as an Example of this invention.

Referring to FIG. 1, the bending measuring apparatus 100 is provided at one side of the pressing unit 10 and the pressing unit 10 to apply pressure to a finger node to generate a signal corresponding to a change in the thickness of the pressed finger. It may include a signal processor 30 for measuring the finger bend using the signal generated by the sensor 20 and the sensor 20.

In addition, the bending measuring apparatus 100 controls the operation of the pressing unit 10, the sensing unit 20, and / or the signal processing unit 30, or collects signals and signal processing results generated according to the operation of each unit, It may further include a control unit 40 for storing and managing.

For example, the controller 40 may control the operation of the compression unit 10 by applying a feedback signal to the bend measuring device based on the finger bend measured by the signal processor 30. That is, the controller 40 may change the pressure applied to the finger based on the currently measured finger bending or the pressure to be applied by the user.

In addition, in FIG. 1, the signal processor 30 and the controller 40 may not be directly included in the bending measuring apparatus 100. In this case, the signal processor 30 and the controller 40 may be provided in an external specific device connected to the bend measuring device 100.

The bending measuring apparatus 100 described in FIG. 1 may be worn on a proximal or middle phalanx of a finger, and the compression unit 10 appropriately applies a constant pressure or a variable pressure to a finger. can do.

2 is a view showing an example of the structure of the pressing unit 10 used in the embodiments of the present invention.

In the embodiments of the present invention, the pressing unit 10 may include a first pressing unit 11, a second pressing unit 13, and / or an elastic body 15. That is, in the embodiments of the present invention, the first pressing portion 11 and the second pressing portion of the pressing portion 10 are used to press the finger in direct contact with the finger. In this case, the elastic body 15 may couple or fasten the first pressing part 11 and the second pressing part 13 to allow the first pressing part and the second pressing part to apply an appropriate pressure to the finger.

In the embodiments of the present invention, the "appropriate pressure" means that the long-term wearing of the bending measuring device 100 allows the user to sensitively measure the maximum pressure and the change in the tendon tendon of the finger so as not to cause discomfort to the user. It is desirable to determine the pressure between the minimum pressure enough to sufficiently exclude the influence of soft tissues such as subcutaneous fat of the finger.

In embodiments of the present invention, the elasticity of the elastic body 15 may be fixedly and constantly maintained under optimum conditions. However, since the "appropriate pressure" may be different for each user, the elasticity of the elastic body 15 may vary according to the user.

3 is a diagram illustrating an operation of the signal processor 30 that may be used in embodiments of the present invention.

The signal processor 30 may measure bending of a finger by performing a predetermined calculation process on the signal generated from the detector 20. In order to measure the bending of the finger, the signal processing unit 30 has a linear relationship according to the bending of the generated signal (for example, the detection signal) of the sensing unit 20 indicating the nonlinear output according to the bending. And a signal-bending module 31 for converting to an output value.

The signal-bending module 31 may be implemented as a signal-bending model in which a relationship between a sensing signal generated in the sensing unit 20 and a bending is established. The signal-bending model may be generated based on previously acquired information as a mathematical model for receiving a signal from the sensing unit 20 and outputting a final output value corresponding to the bending.

4 is a view showing an embodiment of the bending measuring apparatus disclosed in FIG. 1 as an embodiment of the present invention.

Referring to FIG. 4, the bending measuring apparatus 100 may include a first pressing part 11, a second pressing part 13, and an elastic body 15. The first pressing portion 11 and the second pressing portion 13 are provided with the uneven portion 17 drawn inward (for example, the surface directly in contact with the finger) to press the finger efficiently.

The bending measurement apparatus 100 may include a coupling portion and an opening. The coupling part refers to a portion in which one side of the first pressing part 11 and one side of the second pressing part 13 are coupled and fastened in the bending measuring device 100, and the opening is formed in the bending measuring device 100. It means a part for measuring the relative displacement (Displacement) of the first pressing portion 11 and the second pressing portion.

As shown in FIG. 4, the elastic body 15 is added to the coupling portion where the first pressing portion 11 and the second pressing portion 13 are coupled to each other, so that a constant pressure is applied to the pressure portion 10 based on the elastic force of the elastic body 15. Can be applied.

The sensing unit 20 may be added to the opening. For example, the sensing unit 20 is one side of the first pressing unit 11 and / or the second pressing unit 13 between the first pressing unit 11 and the second pressing unit 13 of the opening. It may be provided at the end.

In addition, the signal processing unit 30 is provided on the upper portion of the first pressing unit 11 to measure the signal generated by the sensing unit 20 to measure the bending of the finger 200. Of course, the signal processing unit 30 may be provided under the second pressing unit 13, and in the case of replacing the role of the signal processing unit 30 in the control unit 40 according to a user's requirement, the first pressing unit 30. And it may not be provided directly to the second pressing portion.

When the user wears the bend measuring device disclosed in FIG. 4 on the finger, the first pressing portion 11 may be located on the Dorsal Side of the finger node. In this case, the first pressing part 11 may be referred to as an upper structure. In addition, the second pressing part 13 may be located at the palm side of the finger node. At this time, the second pressing portion 13 may be referred to as a lower structure.

The first pressing portion 11 and the second pressing portion 13 of the bending measuring device may be relatively moved according to the change in the flexor tendon tension of the finger 200. For example, when a user picks up or touches an object while wearing the bending measuring device 100 on the finger 200, the user is deformed according to an operation of touching or touching the flexor tendon of the finger 200. Therefore, the first pressing part 11 and the second pressing part 13 directly contacting the finger 200 perform a relative position movement according to the change in the thickness of the finger.

In this case, the elastic body 15 may be added to the coupling portion of the first pressing part 11 and the second pressing part 13 to apply a pressure for pressing the finger 200. In embodiments of the present invention, the elastic body 15 may be composed of a spring, elastic fabric and / or rubber band and the like. The elasticity of the elastic body 15 is preferably determined in the range in which the pressing portion 10 can press the finger 200 at a suitable pressure.

The sensing unit 20 may detect a relative displacement of the first pressing unit 11 and the second pressing unit 13 of the pressing unit 10. That is, the sensing unit 20 may measure the thickness change of the compressed finger 200 by measuring the deformation amount of the compression unit 10 according to the contraction and relaxation of the flexor tendon of the user's finger 200.

At this time, the relative displacement according to the positional movement of the first pressing unit 11 and the second pressing unit 13 is relative translational motion (Translational Motion) of the first pressing unit 11 and the second pressing unit 13 and / Alternatively, the rotation may be generated by a rotational motion. That is, the detector 20 may generate a detection signal corresponding to a change in the thickness of the finger and transmit the detected signal to the signal processor 30 and / or the controller 40. In this case, the sensing signal may be generated as an electrical signal such as voltage, resistance, or capacitance.

In the embodiments of the present invention, as the detection unit 20, a Hall effect sensor, a variable resistor, a rotary encoder, a linear encoder, and a strain gage are used. One or more of a stretch sensor and a bending sensor may be used.

FIG. 5 is a view illustrating an operation of the bending measuring device of FIG. 4. FIG.

Figure 5 (a) shows the initial state that the bending measuring device is worn on the user's finger. That is, the flexor tendon of the finger 200 is in a relaxed state before the user makes contact with the target object. In this case, it is assumed that the relative position distance between the first pressing unit 11 and the second pressing unit 13 provided with the sensing unit 20 is d1.

FIG. 5 (b) shows a deformation of the bending measuring device when the user performs an operation of grasping or touching a target object with the bending measuring device. For example, when the flexor tendon contracts or relaxes as the finger is bent, and thus the thickness of the finger changes, the finger 200 moves the uneven portion 17 of the first pressing portion 11 and the second pressing portion 13. Since it is pushed out, the relative position distance of the 1st press part 11 and the 2nd press part 13 is transformed into d2.

The sensing unit 20 may generate a sensing signal by measuring displacements of d1 and d2, and may transmit the generated sensing signal to the signal processor 30.

6 is a view showing another embodiment of the bending measuring device disclosed in FIG. 1 as an embodiment of the present invention.

The bending measuring device of FIG. 6 is the same as the bending measuring device of FIG. 4 in that the bending measuring device includes the first pressing part 11, the second pressing part 13, the elastic body 15, and the sensing part 20. Do. However, in the case of the bending measuring device of FIG. 6, the position of the elastic body 15 is different from that of FIG. 4.

Referring to FIG. 6, the elastic body 15 may apply an elastic force to the bending measuring device 100 at the first pressing portion 11 and the second pressing portion 13 at an opening portion other than the engaging portion. In FIG. 6, a spring is used as an example of the elastic body 15, but may be replaced with a band made of rubber or a fiber having elastic properties.

FIG. 7 is an exploded view of the bending measuring apparatus described with reference to FIG. 6.

Referring to FIG. 7, the first pressing unit 11 and the second pressing unit 13 may be fastened by a coupling pin 19 to perform a translational movement and / or a rotational movement. In addition, the elastic body 15 is provided in the opening of the bending measuring device to enable the first pressing portion 11 and the second pressing portion 13 to apply an appropriate pressure to the finger 200. That is, the elastic body 15 applies pressure according to the elastic force to the pressing portion 10 at one end side of the opening side end of the first pressing part 11 and one end side of the opening side of the second pressing part 13. In addition, two or more elastic bodies 15 may be provided in the bending measuring device according to the user's requirements.

8 is a view showing an example of a state wearing a bending measuring device as an embodiment of the present invention.

Referring to FIG. 8, the user may confirm that the bending measuring device 100 is worn on the index finger proximal limb. When the user touches, grabs, or grabs an object while wearing the bending measuring device 100, the finger may be deformed and a displacement relative to the compression unit 10 may be generated (see FIG. 5). . At this time, the sensing unit 20 may generate a sensing signal by measuring the displacement of the pressing unit, and transmit the generated sensing signal to the signal processing unit 30. In addition, the signal processor 30 may measure the bending generated in the finger by processing and analyzing the detection signal. The signal processor 30 may transmit the information about the measured bending to the controller 40 so that the user can check it.

9 is a view showing an example of a bending measurement method as an embodiment of the present invention.

Referring to FIG. 9, a user may measure a bend of a finger by wearing a bend measuring device as shown in FIG. 8. When the user wears the bending measuring device, a predetermined pressure is applied to the finger by the elastic body 15 of the bending measuring device (S901).

In this case, when the user performs an operation such as holding or grasping an object using a finger wearing a bending measuring device, deformation of a finger (for example, a longitudinal displacement of a flexor tendon) is performed. This happens. That is, the first pressing portion and the second pressing portion of the pressing portion 10 perform relative translational or rotational movements according to the change in the thickness of the finger, and the detector measures the relative displacement of the first pressing portion and the second pressing portion. (S902).

In addition, the sensing unit generates a sensing signal based on the measured relative displacement, and transmits the generated sensing signal to the signal processor 30 (S903).

In operation S904, the signal processor 30 may measure bending based on the received detection signal.

The present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Accordingly, the above detailed description should not be construed as limiting in all aspects and should be considered as illustrative. The scope of the invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the invention are included in the scope of the invention. In addition, claims that do not have an explicit citation in the claims can be combined to form an embodiment or included as a new claim by amendment after the application.

Embodiments of the present invention may be applied to various control / measurement fields, medical fields, robot fields, and the like.

10: pressure part
11: first pressing part
13: second compression
15: elastomer
17: uneven part
19: coupling pin
20: detector
30: signal processing unit
40:
100: bending measuring device
200: user finger

Claims (19)

In the device for measuring the bending of the finger,
A pressing unit for pressing the finger;
A sensing unit provided at one side of the pressing unit and generating a detection signal for a deformation amount of the pressing unit according to a change in thickness of the pressed finger; And
And a signal processor for measuring bending of the finger based on the detection signal. The method of claim 1,
The pressing unit includes an elastic body for pressing the finger,
The elastic body is a bending measuring device for pressing the finger by applying an elastic force to the pressing portion. The method of claim 2,
The compression unit is a bending measuring device that performs one or more of relative translation and rotational movement in accordance with the flexor tendon tension change of the finger. The method of claim 3,
And the sensing unit measures the amount of deformation of the pressing unit according to at least one of the relative translational and rotational movements. 5. The method of claim 4,
The pressing unit further comprises a concave-convex portion for pressing the finger, the bending measuring device. In the device for measuring the bending of the finger,
A first pressing part for pressing the finger;
A second pressing portion for pressing the finger together with the first pressing portion;
An elastic body coupled to the first pressing part and the second pressing part to apply an elastic force to the first pressing part and the second pressing part to press the finger;
A sensing unit provided at one or more sides of the first pressing unit and the second pressing unit and generating a detection signal for a relative displacement of the first pressing unit and the second pressing unit according to a change in thickness of the pressed finger; ; And
And a signal processor configured to measure and analyze the bending of the finger based on the detection signal. The method according to claim 6,
And the first compression unit and the second compression unit perform one or more of translational and rotational movements according to the change in the flexor tendon tension of the finger. The method of claim 7, wherein
And the sensing unit measures the relative displacement of the first pressing unit and the second pressing unit according to at least one of the translational and rotational movements of the first pressing unit and the second pressing unit. The method of claim 7, wherein
The first pressing portion and the second pressing portion further comprises a concave-convex portion for pressing the finger, bending measuring apparatus. The method of claim 7, wherein
The elastic body is a bending measuring device, spring, elastic fabric or rubber band. In the method for measuring the bending of the finger,
Applying a predetermined pressure to the finger by using the pressing portion of the bending measuring device;
Measuring a deformation amount of the compression unit in accordance with a change in the thickness of the finger in the sensing unit of the bending measuring device;
Generating a detection signal according to the deformation amount in the detection unit;
Transmitting the detection signal by the detection unit to a signal processing unit of the bending measuring device; And
And measuring the bend of the finger based on the detector signal. The method of claim 11,
The pressing unit includes an elastic body for pressing the finger,
The elastic body is a bending measurement method for pressing the finger by applying an elastic force to the pressing portion. The method of claim 12,
The deformation amount is caused by one or more of the translational and rotational movements performed in the pressing portion in accordance with the flexor tendon change of the finger, bending measurement method. The method of claim 12,
Measuring the bending;
And converting the sensing signal indicative of the nonlinear output according to the deformation amount into a final output value having a linear relationship with the bending. In the method for measuring the bending of the finger,
Applying pressure to the finger using a first pressing portion and a second pressing portion of the bending measuring device;
Measuring a relative displacement of the first pressing portion and the second pressing portion in accordance with a change in the thickness of the finger in the sensing unit of the bending measuring device;
Generating a detection signal according to the relative displacement in the detection unit;
Transmitting the detection signal by the detection unit to a signal processing unit of the bending measuring device; And
Measuring and analyzing the bend of the finger based on the detection signal. 16. The method of claim 15,
And the first pressing portion and the second pressing portion perform one or more of translational and rotational movements according to flexural tendon changes of the fingers. 17. The method of claim 16,
And the first pressing portion and the second pressing portion further include an uneven portion for pressing the finger. 17. The method of claim 16,
The bending measuring device further includes an elastic body for pressing the finger,
The elastic body is a bending measurement method for applying pressure to the finger by applying an elastic force to the first pressing portion and the second pressing portion. 19. The method of claim 18,
Measuring the bending;
And converting the sensing signal indicative of the nonlinear output according to the displacement into a final output value having a linear relationship with the bending.

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