KR102667746B1 - Deformation sensor and strain sensing method, pain visualization appartus using the same - Google Patents

Abstract

The strain sensing device of the present invention includes an elastic member that forms the exterior, a light source that is disposed inside the elastic portion and emits light, and a light source portion that is disposed inside the elastic portion, and the light emitted from the light source portion detects the light reflected by the elastic portion. It includes a light receiving unit that receives light and obtains an illuminance value, and a control unit that calculates the amount of change in illuminance value due to external force in the elastic unit, based on the illuminance value obtained through the light receiving unit. Accordingly, the present invention can detect strain through a simple grasping or pressing action by obtaining the roughness value according to the external force applied to the elastic portion.

Description

Strain detection device and method, pain expression device using the same {DEFORMATION SENSOR AND STRAIN SENSING METHOD, PAIN VISUALIZATION APPARTUS USING THE SAME}

The present invention relates to a strain detection device and method, and a pain expression device using the same. In particular, the strain can be detected by a simple grasping or pressing action by obtaining the roughness value according to the external force applied to the elastic portion, and is easy to manufacture. It relates to a strain detection device and method, and a pain expression device using the same.

In general, there are various ways to detect deformation of an object. Methods for implementing related functions include a bend sensor that measures the resistance value and amount of change inside the sensor that changes as it bends, and a force sensor that measures the sensor resistance value that changes due to a force applied to the surface. FSR sensor). However, in the case of a bend sensor, it must be designed so that no force is applied to the side to prevent damage, and in the case of a force sensor, a force must be applied in the vertical direction to measure the degree of deformation, so a special structure is needed for this purpose.

Conventional inventions regarding methods for detecting deformation are as follows.

US Patent Publication No. 2017-0199577 relates to a user interface device, and provides a portable unit for a wireless interaction system. The portable unit has a spherically elastic and at least partially transparent outer housing, the housing comprising a light source, a pressure sensor for determining an external pressure applied on the portable unit, an orientation sensor wireless communication device for determining an orientation of the portable unit, a processing unit configured to operate in at least one of two modes, wherein the processing unit operates when the pressure sensor detects that the portable unit is rolling along a surface, wherein a signal from the orientation sensor is A two-dimensional mode in which the light source is transmitted to an external wireless receiver device through a wireless communication unit, and a three-dimensional mode in which the light source emits light to indicate the location of the portable unit to an external light detection device.

In the case of U.S. Patent Publication No. 2017-0199577, a pressure sensor was used to detect grasping, but the pressure sensor requires a special structure or must be held at a specific position.

Ultimately, most conventional technologies have limitations in that they require a special structure depending on the measurement method or must be manufactured in a limited form.

Additionally, restrictions on special structures or shapes for detecting the degree of deformation have the problem of increasing the complexity of product design.

US Patent Publication No. 2017-0199577

The present invention is intended to solve the above problems, and provides a strain sensing device and method that can detect strain through a simple grasping or pressing action by obtaining the roughness value according to the external force applied to the elastic portion and is easy to manufacture, and a method thereof. The purpose is to provide a pain expression device using the pain.

In order to achieve the above object, a strain sensing device according to an embodiment of the present invention includes an elastic portion forming an exterior appearance with an elastic member; a light source unit disposed inside the elastic unit and emitting light; a light receiving unit disposed inside the elastic unit and obtaining an illuminance value by receiving light emitted from the light source unit and reflected by the elastic unit; And, based on the illuminance value obtained through the light receiving unit, a control unit that calculates the amount of change in illuminance value due to external force on the elastic unit.

Here, the elastic member may be an elastic material such as silicone, rubber, or clay.

Additionally, the control unit may perform calibration before use.

Additionally, the light receiving unit can obtain a natural illuminance value in a state where no external force is applied to the elastic unit.

Additionally, when an external force is applied to the elastic unit, the light receiving unit may obtain a first illuminance value with the light source unit turned off and obtain a second illuminance value with the light source unit turned on.

Additionally, the control unit may obtain a function f(x) by mapping the natural illuminance value obtained from the light receiving unit.

Additionally, the control unit may correct the illuminance value using the function f(x).

Accordingly, the control unit may substitute the first illuminance value into the mapped natural illuminance value and calculate the difference between the second illuminance value and the substituted first illuminance value to correct the illuminance value.

Additionally, the control unit may calculate the amount of change in the illuminance value as a difference between the illuminance value obtained in a state in which no external force is applied to the elastic part and the illuminance value due to the external force on the elastic part.

A strain sensing method of a strain sensing device according to another embodiment of the present invention includes performing calibration; and, obtaining an illuminance value according to an external force.

Here, the step of performing the calibration includes obtaining natural illuminance values when the light source unit is turned off and on without an external force being applied; And, mapping the natural illuminance value to obtain a function f(x).

Additionally, the method may further include correcting the illuminance value using the function f(x).

Here, the step of correcting the illuminance value includes substituting the first illuminance value into the mapped natural illuminance value, and calculating the difference between the second illuminance value and the substituted first illuminance value to correct the illuminance value. can do.

In addition, the step of calculating the amount of change in the illuminance value as a difference between the illuminance value obtained in a state in which no external force is applied and the illuminance value according to the external force may be further included.

A pain expression device according to another embodiment of the present invention includes the strain sensing device of claim 1; a main body portion in which a control unit is disposed to receive the change in illumination value from the strain detection device and control a bending motor and a twisting motor according to the change in illumination value; And, it may include; a representation unit that expresses bending by rotation of the bending motor and expresses twisting by rotation of the twisting motor.

The strain sensing device and method according to the present invention as described above can detect strain through a simple grasping or pressing action by obtaining the roughness value according to the external force applied to the elastic part.

In addition, the strain sensing device can be easily manufactured in various shapes by using elastic parts. In addition, it can be manufactured at a low cost.

Additionally, a pain expression device using a strain sensing device can easily measure a patient's pain and can easily express and convey the measured pain.

1 is a block diagram schematically showing a strain sensing device according to an embodiment of the present invention.
FIG. 2A is a diagram showing an actual model of a strain sensing device according to various embodiments of the present invention, FIG. 2B is a diagram showing an example of the internal arrangement of the strain sensing device, and FIG. 2C is a diagram showing a module for arranging a light source unit and a light receiving unit. This diagram shows various examples.
Figure 3 is a flowchart for explaining a strain detection method according to an embodiment of the present invention.
FIG. 4 is a flowchart for explaining the illuminance value correction method of FIG. 3 .
Figure 5 is a graph showing the amount of change in illuminance value due to external force according to an embodiment of the present invention.
Figure 6 is a perspective view showing a pain expression device using a strain detection device according to another embodiment of the present invention.
Figure 7 is an exploded perspective view of the pain expression device of Figure 6.
FIG. 8 is a cross-sectional view showing a cross-section taken along line A-A' of the pain expression device of FIG. 6.
Figure 9 is a block diagram for explaining the function of a pain expression device using a strain detection device according to another embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings to clarify the technical idea of the present invention. In describing the present invention, if it is determined that a detailed description of related known functions or components may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. Components having substantially the same functional configuration among the drawings are given the same reference numbers and symbols as much as possible, even if they are shown in different drawings. For convenience of explanation, if necessary, the device and method should be described together.

1 is a block diagram schematically showing a strain sensing device according to an embodiment of the present invention.

Referring to FIG. 1 , the strain sensing device 100 may include an elastic unit 110, a light source unit 120, a light receiving unit 130, and a control unit 140.

The strain detection device 100 deforms the shape of the elastic portion 110 according to the force applied by the external force, and determines the intensity and location of the external force based on the change in the amount of light obtained from the light receiving portion 130 depending on the degree of deformation. It can be measured.

The strain detection device 100 can check the degree of central strain using a pair of sensor modules. That is, the strain sensing device 100 can measure the degree of strain in various directions by disposing one or more light source units 120 and one or more light receiving units 130 inside the elastic unit 110.

The elastic portion 110 forms the exterior of the strain sensing device 100 and may be made of a translucent elastic member. Here, the elastic member may refer to an elastic material such as silicon, rubber, clay, etc. As a result, various sensor modules can be manufactured or applied to various types of products.

Additionally, sensor sensitivity can be adjusted by adjusting the hardness of the elastic member of the elastic portion 110.

The light source unit 120 may emit light depending on whether power is supplied. This light source unit 120 may include one or more light emitting diodes, LEDs, organic LEDs, or OLEDs.

When an external force is applied to the elastic portion 110, the light receiving portion 130 may detect proximity by receiving light reflected by the elastic portion 110 and obtain an illuminance value.

In this way, the light receiving unit 130 can obtain the first illuminance value A1 with the light source unit 120 turned off. And, the light receiving unit 130 can obtain the second illuminance value A2 while the light source unit 120 is turned on.

Meanwhile, the light receiving unit 130 can obtain a natural illuminance value in a state where no external force is applied. In this case as well, natural illuminance values can be obtained when the light source unit 120 is turned off and turned on. When the external environment is dark or brightly lit, natural illuminance values can be obtained with the light source unit 120 turned off and on.

The control unit 140 may calculate the amount of change in the illuminance value based on the illuminance value obtained through the light receiving unit 130. That is, the control unit 140 can calculate the amount of change in the illuminance value as the difference between the illuminance value obtained in a state where no external force is applied to the elastic portion 110 and the illuminance value due to the external force on the elastic portion 110.

The control unit 140 may perform calibration before using the strain sensing device 100. At this time, the function f(x) can be obtained.

The control unit 140 may map the natural illuminance value of the light receiving unit 130 obtained in a state in which no external force is applied to the elastic unit 110. That is, the control unit 140 may obtain the function f(x) by mapping the natural illuminance values obtained when the light source unit 120 is turned off and turned on.

The control unit 140 may correct the illuminance value using the function f(x) to detect strain. Here, the reason why correction of the illuminance value is necessary is to measure only the illuminance value (i.e., the illuminance value to be measured) according to the degree of deformation of the elastic portion 110 due to external force, but even when the surrounding brightness or external environment changes, the illuminance value ( In other words, values that should not be measured may be measured. At this time, the illuminance value must be corrected when the surrounding brightness or external environment changes. Accordingly, the control unit 140 can calculate the corrected deformation level.

The control unit 140 substitutes the first illuminance value A1 into the mapped natural illuminance value in the absence of an external force.

The control unit 140 may calculate a deformation level by calculating the difference between the second illuminance value A2 and the substituted first illuminance value f(A1).

Expressed in arithmetic terms, it is as follows:

Deformation Level = A2 - f(A1)

The control unit 140 can calculate the deformation level by continuously measuring the degree of deformation at a preset cycle.

As a result, the present invention can detect strain through a simple grasping or pressing action by obtaining the roughness value according to the external force applied to the elastic portion, and is easy to manufacture in various forms. In addition, it can be manufactured at a low cost.

Additionally, the present invention can detect strain rates more accurately by correcting errors in illuminance values, that is, illuminance values when the surrounding brightness or external environment changes.

FIG. 2A is a diagram showing an actual model of a strain sensing device according to various embodiments of the present invention, FIG. 2B is a diagram showing an example of the internal arrangement of the strain sensing device, and FIG. 2C is a diagram showing a module for arranging a light source unit and a light receiving unit. This is a drawing showing various examples.

Referring to FIGS. 1 and 2A , as an actual model of the strain sensing device 100, the shape of the elastic portion 110 may be implemented as an elongated cylindrical shape, a square shape, a round triangular prism shape, etc. In addition, it can be implemented in various forms that are easy to squeegee, so it is not limited to this.

Referring to FIGS. 1 and 2B, the light source unit 120 and the light receiver 130 are disposed inside the elastic unit 110. Example 1 in which the light source unit 120 and the light receiver 130 are arranged 1:1: An example of placement at 4 is shown. The light source unit 120 and the light receiving unit 130 may be combined and arranged by a module.

Referring to FIGS. 1 and 2C, various examples of modules for arranging the light source unit 120 and the light receiving unit 130 are shown. The module can combine and arrange one or more light source units 120 and one or more light receiving units 130. there is. At this time, the module may be in the form of a frame for fixing one or more light source units 120 and one or more light receiving units 130, so that it can be easily inserted into the elastic unit 110. Accordingly, the module may be implemented in a triangular, long cylindrical, rectangular, circular, etc. shape.

Figure 3 is a flowchart for explaining a strain detection method according to an embodiment of the present invention.

Referring to Figures 1 and 3, the strain sensing device 100 performs system initialization and calibration (S210). Here, the process of performing initialization may include setting the initial value of each variable and initializing the system for controlling the light source unit 120 and the light receiving unit 130.

In the process of performing calibration, the light receiving unit 130 acquires a natural illuminance value in a state in which no external force is applied. At this time, natural illuminance values can be obtained when the light source unit 120 is turned off and turned on. Additionally, the control unit 140 may obtain a function f(x) by mapping the natural illuminance value of the light receiving unit 130 obtained in a state in which no external force is applied.

After initialization is performed, the light source unit 120 may be turned on.

After performing calibration, the control unit 140 obtains the amount of change in illuminance value according to the external force (S220).

The control unit 140 can obtain the change in illuminance value by converting it into a digital value through an analog-to-digital converter.

If the light source unit 120 is turned on, the light receiving unit 130 obtains the second illuminance value when the light source unit 120 is turned off.

Additionally, the control unit 140 may control the output of the first illuminance value obtained when the light source unit 120 is turned on and the second illuminance value obtained when the light source unit 120 is turned off.

The control unit 140 may correct the illuminance value using the function f(x) to detect strain. Accordingly, the control unit 140 can calculate the corrected deformation level.

Meanwhile, the illuminance value correction method is described in detail in FIG. 4.

For example, a method of obtaining the amount of change in illuminance value according to an external force will be described.

The amount of change in illuminance value obtained by an external force may have a value between 0.000 and 1.000.

The control unit 140 assumes that the first illuminance value obtained from the light receiving unit 130 when the light source unit 120 is turned on is 0.500, and when deformation occurs due to a 10N force acting in the vertical direction, the first illuminance value obtained from the light receiving unit 130 is 0.500. Assuming that the illuminance value is 0.490, a difference of 0.01 can be calculated as the change in illuminance value obtained by external force.

FIG. 4 is a flowchart for explaining a method of correcting the illuminance value of FIG. 3.

Referring to FIGS. 1 and 4 , as a method of correcting the illuminance value, the light source unit 120 is turned off and the light receiver 130 waits for a response time of 10 ms (S310).

Then, the light receiving unit 130 acquires the first illuminance value A1 (S320).

With the light source unit 120 turned on, the reaction time of the light receiver 130 waits for 10 ms (S330).

Then, the light receiving unit 130 acquires the second illuminance value A2 (S330).

At this time, if there is more than one light receiving unit 130, steps S310 to S330 are repeated for each light receiving unit.

The control unit 140 substitutes the first illuminance value (A1) into the existing mapped natural illuminance value (t) in the absence of an external force (S350).

The control unit 140 corrects the illuminance value by calculating the difference between the second illuminance value A2 and the substituted first illuminance value f(A1) (S360).

Accordingly, the control unit 140 can calculate the deformation level.

The control unit 140 can calculate the deformation level by continuously measuring the degree of deformation at a preset cycle.

On the other hand, when one or more light source units 120 or light receivers 130 are arranged, the control unit 140 may output the difference values by calculating each difference value obtained in steps S350 and S360 using vector calculation or average. there is.

Figure 5 is a graph showing the amount of change in illuminance value due to external force according to an embodiment of the present invention.

Figure 5 is a graph showing the amount of change in illuminance value due to external force, where the X-axis represents time (Second) and the Y-axis represents the deformation level.

(a) represents the deformation level obtained from the two light receivers, and the deformation level is the difference between the illuminance value obtained in advance in the absence of external force and the currently measured illuminance value [“Illuminance in the absence of external force] Value” - “Currently measured illuminance value”] is calculated to indicate the amount of change in illuminance value due to external force.

The blue line represents the deformation level of the value measured in light detector 1 (LDR1), and the orange line represents the deformation level of the value measured in light detector 2 (LDR2).

(b) is a graph showing the total amount of change that combines the two deformation levels obtained from the two light receivers.

At this time, if the deformation level of light receiver 1 (LDR1) is x and the deformation level of light receiver 2 (LDR2) is y, By calculating , you can obtain the amount of change called the total deformation level (Deformation level in total).

Figure 6 is a perspective view showing a pain expression device using a strain detection device according to another embodiment of the present invention, Figure 7 is an exploded perspective view of the pain expression device of Figure 6, and Figure 8 is A of the pain expression device of Figure 6. This is a cross-sectional view showing the cross-section of -A'.

Referring to FIGS. 6 and 8, the strain sensing device 100 performs the same function as the strain sensing device 100 of FIG. 1, so description thereof will be omitted.

When the change in illuminance value output from the strain detection device 100 is input, the pain expression device 200 can express pain according to the deformation level.

This pain expression device 200 may include a main body portion 201, an expression portion 205, and a head portion 207.

The main body 201 may have an exterior appearance of an upper housing 201-3 and a lower housing 201-1. Inside the main body 201, the control unit 210, the bending motors 251 and 253, and the twisting motor 255 may be separately supported and disposed by the support plate 203.

When the amount of change in roughness value is input from the strain detection device 100, the control unit 210 may control the bending motors 251 and 253 and the twisting motor 255 according to the amount of change in roughness value.

The bending motors 251 and 253 may be connected to the winding unit 252 on which the wire W is wound under the control of the control unit 210 and operate to express bending. The bending motors 251 and 253 may be implemented as a first motor 251 and a second motor 253.

The twisting motor 255 may be connected to the coupler C under the control of the control unit 210 and operate to express twisting. The torsion motor 255 may be implemented as a third motor 255.

One end of the expression unit 205 may be inserted and coupled to the lower holder 205-1. At this time, the lower holder 205-1 may be positioned and fixed on the coupler C in the upper part of the main body 201.

The other end of the expression unit 205 may be inserted and fixedly connected to the head unit 207-1.

The expression unit 205 may be implemented with a flexible material such as silicon to express bending and twisting.

The interior of the expression unit 205 may be empty. Accordingly, a through hole is formed in the expression unit 205 so that the flexible bit (F) can be inserted through it. At this time, the flexible bit (F) may be inserted into the expression unit 205, one end may be fixed to the coupler (C), and the other end may be fixed to the head part (207-3). The flexible bit (F) can be twisted by rotating the coupler (C) by the twisting motor (255). Accordingly, the expression unit 205 can be twisted together with the flexible bit (F) while one end and the other end are fixed.

Additionally, a wire W may be inserted through the expression portion 205. At this time, the wire (W) is inserted into the expression unit 205, one end is wound and fixed to the winding part 252 of the bending motors 251 and 253, and the other end can be fixed to the head part 207-5. . The wire W may be wound around the winding unit 252 as the bending motors 251 and 253 rotate. At this time, the expression unit 205 may be bent by the wire (W). That is, as the wire W is wound around the winding part 252, its length becomes shorter, and the expression part 205 can be bent in the direction in which the wire W is shortened.

The head portion 207 may include a first fixed head portion 207-1, a second fixed head portion 207-3, a third fixed head portion 207-5, and a cover housing 207-7. there is.

The first fixed head portion 207-1 may be formed with an insertion hole and a fixing hole. The first fixed head part 207-1 can fix and support the expression part 205 inserted into the insertion hole.

The second fixed head portion 207-3 may form a coupling protrusion for coupling with the flexible bit (F). The second fixed head portion 207-2 can fix the combined flexible bit (F). Meanwhile, the engaging protrusion may be inserted into and fixed to the fixing hole of the first fixing head portion 207-1.

The third fixing head portion 207-5 may form one or more protrusions for coupling and fixing the wire (W). The third fixing head part 207-5 can fix the wire (W).

The cover housing 207-7 can cover the third fixed head portion 207-5 to protect it from the outside and create an appearance.

Figure 9 is a block diagram for explaining the function of a pain expression device using a strain detection device according to another embodiment of the present invention.

Referring to FIGS. 6 and 9 , the pain expression device 200 receives the amount of change in the illuminance value due to the external force input as the user in pain performs the action of holding the strain detection device 100, and the received illuminance value Pain can be expressed depending on the amount of change.

The strain sensing device 100 may include an elastic unit 110, a light source unit 120, a light receiving unit 130, a control unit 140, and a first communication unit 150.

The elastic portion 110 forms the exterior of the strain sensing device 100 and may be made of a translucent elastic member. Here, the elastic member may refer to an elastic material such as silicon, rubber, clay, etc.

The light source unit 120 may emit light depending on whether power is supplied.

The light receiving unit 130 may detect proximity by receiving light reflected by the elastic unit 110 and obtain an illuminance value.

In this way, the light receiving unit 130 can obtain the first illuminance value A1 with the light source unit 120 turned off.

Additionally, the light receiving unit 130 may obtain the second illuminance value A2 while the light source unit 120 is turned on.

Meanwhile, the light receiving unit 130 can obtain a natural illuminance value in a state where no external force is applied. In this case as well, natural illuminance values can be obtained when the light source unit 120 is turned off and turned on. When the external environment is dark or brightly lit, natural illuminance values can be obtained with the light source unit 120 turned off and on.

The control unit 140 may calculate the amount of change in the illuminance value based on the illuminance value obtained through the light receiving unit 130.

The control unit 140 may perform calibration before using the strain sensing device 100. At this time, the function f(x) can be obtained.

The control unit 140 may map the natural illuminance value of the light receiving unit 130 obtained in a state in which no external force is applied.

Meanwhile, the control unit 140 may correct the illuminance value using the function f(x) to detect the strain rate.

Here, to describe the illuminance value correction method, the control unit 140 substitutes the first illuminance value A1 to the mapped natural illuminance value in the absence of external force. Additionally, the control unit 140 may calculate a deformation level by calculating the difference between the second illuminance value A2 and the substituted first illuminance value f(A1).

The control unit 140 may control the first communication unit 150 to output the calculated change in illuminance value.

The first communication unit 150 may output the amount of change in illuminance value under the control of the control unit 140. At this time, the first communication unit 150 may transmit and receive pain signals with the pain expression device 200 through universal asynchronous receiver/transmitter (UART) communication. The first communication unit 150 reads the pain signal bit by bit in order and serializes it for communication according to the communication protocol, and can transmit and receive up to 8 bits.

In an embodiment, the strain detection device 100 may output three types of change in illuminance value.

Firstly, the amount of change in the illuminance value obtained by an external force (e.g. 0.01), secondly, the minimum value of the amount of change in the illuminance value obtained by an external force (e.g. 0.000), thirdly, the amount of change in the illuminance value obtained by an external force It can be distinguished by the maximum value (for example, 1.000).

Accordingly, the output value may be, for example, “0.01,0.000,1.000”.

The pain expression device 200 may include a control unit 210, a first motor 251, a second motor 253, and a torsion motor 255.

The control unit 210 may include a second communication unit 211, a valid command determination unit 220, a signal processing unit 230, a pain expression unit 240, and a motor control unit 250.

The second communication unit 211 may receive pain signals from the outside. That is, the second communication unit 211 may receive the change in illuminance value, which is a pain signal, from the strain detection device 100. The second communication unit 211, like the first communication unit 150, transmits and receives pain signals with the strain detection device 100 through universal asynchronous receiver/transmitter (UART) communication, and transmits and receives data according to communication protocols. It communicates by reading one bit at a time and serializing it, and up to 8 bits can be transmitted and received.

When the change in illuminance value is received, the communication unit 211 may render based on the pain expression value. That is, the communication unit 210 may render the amount of change in illumination value based on the pain expression value of twisting and bending. Afterwards, a pain command can be generated based on the rendered pain expression value and input as a pain signal. Here, the pain command may include a defined command and a command input value.

The valid command determination unit 220 may determine whether the input pain signal is a valid command. The valid command determination unit 220 may determine the command to be invalid if the command is not defined as a result of the signal processing and command interpretation of the signal processing unit 230 and if the command argument value is a false value. When the valid command determination unit 220 determines that the received pain signal is a valid command, it may transmit a “YES” signal, which is a valid command, to the signal processing unit 230.

The signal processing unit 230 may process the input pain signal and interpret the command. The signal processing unit 230 can check the character length of the pain signal according to the communication protocol and interpret the defined command and command argument values.

Additionally, when a valid command is confirmed, the signal processing unit 230 can recheck the signal processing and command interpretation results.

If the valid command is confirmed as “YES,” the signal processing unit 230 may transmit the signal processing and command interpretation results to the pain expression unit 240. That is, the signal processing unit 230 transmits the function and command argument value corresponding to the defined command.

The pain expression unit 240 may calculate the pain expression value based on the function corresponding to the defined command and the command argument value. That is, the pain expression unit 240 can calculate the twisting and bending expression values based on the function and command argument values.

The pain expression unit 240 may compare the “command argument value of the previous command” and the “command argument value of the current command” and calculate the degree of difference as the current torsion expression value.

Additionally, the pain expression unit 240 may calculate the “command argument value of the current command” as the current bending expression value.

The motor control unit 250 may control the bending motors 251 and 253 and the twisting motor 255 based on the calculated twist expression value and bending expression value. That is, when the bending expression value is obtained, the motor control unit 250 performs a PID operation so that the first motor 251 and the second motor 253 are located at the angle corresponding to the bending expression value, and sends the result of the calculation to the first motor 250. It can be output to the motor 251 and the second motor 253. In addition, when the twist expression value is obtained, the motor control unit 250 performs a PID operation so that the third motor 255 is positioned at an angle corresponding to the twist expression value, and converts the calculation result into a PWM signal for the third motor ( 255).

Accordingly, the bending motors 251 and 253 rotate so that the wire W can be wound around the winding portion 252. At this time, the expression unit 205 may be bent by the wire (W). That is, as the wire W is wound around the winding part 252, its length becomes shorter, and the expression part 205 can be bent in the direction in which the wire W is shortened.

Additionally, the flexible bit (F) may be twisted as the coupler (C) rotates by the twisting motor (255). At this time, the expression unit 205 can be twisted together with the flexible bit (F) while one end and the other end are fixed.

As a result, the pain expression device using the strain sensing device can easily measure the patient's pain and can easily express and convey the measured pain.

So far, the present invention has been examined in detail, focusing on the preferred embodiments shown in the drawings. These embodiments are not intended to limit the invention but are merely illustrative and should be considered from an illustrative rather than a limiting perspective. The true scope of technical protection of the present invention should be determined by the technical spirit of the appended claims rather than the foregoing description. Although specific terms are used in this specification, they are used only for the purpose of explaining the concept of the present invention and are not used to limit the meaning or scope of the present invention described in the claims. Each step of the present invention does not necessarily have to be performed in the order described, but may be performed in parallel, selectively, or individually. Those skilled in the art to which the present invention pertains will understand that various modifications and other equivalent embodiments are possible without departing from the essential technical spirit of the present invention as claimed in the patent claims. Equivalents should be understood to include not only currently known equivalents but also equivalents developed in the future, that is, all components invented to perform the same function regardless of structure.

100: Strain detection device
110: elastic part 120: light source part
130: light receiving unit 140: control unit
150: 1st Communications Department
200: Pain expression device
201: main body 201-1: lower housing
201-3: upper housing 210: control unit
211: 2nd communication department 220: Valid command judgment department
230: signal processing unit 240: pain expression unit
250: motor control unit 251: bending motor, first motor
253: bending motor, second motor 255: twisting motor, third motor
205: Expression part 205-1: Lower holder
207: Head portion 207-1: First fixed head portion
207-3: second fixed head part 207-5: third fixed head part
207-7: Cover housing

Claims (15)

An elastic part that forms an appearance with an elastic member, a light source part disposed inside the elastic part and emitting light, and a light source part disposed inside the elastic part, where the light emitted from the light source part receives the light reflected by the elastic part and increases the illuminance level. A strain sensing device including a light receiving unit that acquires a value and a control unit that calculates a change in the illuminance value due to an external force on the elastic unit, based on the illuminance value obtained through the light receiving unit;
a main body portion in which a control unit is disposed to receive the change in illumination value from the strain detection device and control a bending motor and a twisting motor according to the change in illumination value; and,
A pain expression device comprising: a representation unit that expresses bending by rotation of the bending motor and expresses twisting by rotation of the torsion motor. According to paragraph 1,
The elastic member is,
A pain expression device characterized by being made of an elastic material such as silicone, rubber, or clay. According to paragraph 1,
The control unit,
A pain expression device characterized in that calibration is performed before use. According to paragraph 3,
The light receiving unit,
A pain expression device characterized in that a natural illumination value is obtained in a state where no external force is applied to the elastic portion. According to clause 4,
When an external force is applied to the light receiving unit and the elastic unit,
Obtaining a first illuminance value with the light source unit turned off,
A pain expression device characterized in that the second illuminance value is obtained while the light source unit is turned on. According to clause 5,
The control unit,
A pain expression device characterized in that a function f(x) is obtained by mapping the natural illuminance value obtained from the light receiving unit. According to clause 6,
The control unit,
A pain expression device characterized in that the illuminance value is corrected using the function f(x). In clause 7,
The control unit,
Substituting the first illuminance value into the mapped natural illuminance value,
A pain expression device characterized in that the illuminance value is corrected by calculating the difference between the second illuminance value and the substituted first illuminance value. According to clause 8,
The control unit,
A pain expression device characterized in that the amount of change in the illuminance value is calculated as a difference between the illuminance value obtained in a state in which no external force is applied to the elastic part and the illuminance value due to the external force on the elastic part. In a method of expressing pain using a strain sensing device,
performing calibration;
Obtaining an illuminance value according to an external force;
Receiving a change in illumination value from the strain detection device and controlling a bending motor and a twisting motor according to the change in illumination value; and
Expressing bending by rotating the bending motor and expressing twisting by rotating the torsion motor. According to clause 10,
The step of performing the calibration is,
Obtaining natural illuminance values in a state in which the light source unit is turned off and in a state in which no external force is applied; and,
A method of expressing pain comprising: acquiring a function f(x) by mapping the natural illuminance value. According to clause 11,
A method of expressing pain further comprising: correcting the illuminance value using the function f(x). According to clause 12,
The step of correcting the illuminance value is,
Substituting the first illuminance value into the mapped natural illuminance value,
A pain expression method characterized by calculating the difference between a second illuminance value and the substituted first illuminance value and correcting the illuminance value. According to clause 13,
A method of expressing pain further comprising calculating the amount of change in the illuminance value as a difference between the illuminance value obtained in a state in which no external force is applied and the illuminance value due to the external force. delete

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