TW201840291A - Sensor system, clothing and clothing system - Google Patents

Abstract

This sensor system 1000 is provided with: a linear piezoelectric element 101 which is arranged in clothing worn on a body being measured and generates an electric signal in response to applied stress, and which includes polylactic acid as the main component; a signal detection unit 102 which detects an electric signal generated by the linear piezoelectric element 101; and a calculation processing unit 103 which determines the deformation state of the clothing on the basis of the electric signal detected by the signal detection unit 102.

Description

Sensing system, clothing and clothing system

The present invention relates to a sensing system, clothing, and a clothing system for judging the deformation of clothing worn by a subject.

With a sensing system assembled into clothing, the use of detecting various dynamics of the living bodies of people or animals wearing the clothing has gradually increased in recent years.

For example, there is an elastically deformable substrate, a resistor composed of a mixture containing a conductive polymer and a binder resin fixed to at least a part of the surface and inside of the substrate, and a resistor electrically connected to the resistor It is known that a pair of terminal extension sensors at the end of the conductive surface are assembled into clothes by this resistor (for example, refer to Patent Document 1).

For example, a known clothing item is characterized by having a clothing member configured to be worn on the body of a user, a sensor connected to the clothing member at the first place, and being electrically conductive according to the first dispersion density The sensor is formed by a polymer material dispersed with a particulate material, and is configured to deform the clothing member in response to the user's dynamics during wearing, is configured as a communication port with the electronic module, and is located away from the first location The second location is connected to the port of the clothing member, and the conductive wire connected to the first clothing member, and is connected between the sensor and the port and between the sensor and the port A wire extending along the clothing member; the sensor is configured to increase resistance when deformed under pressure (for example, refer to Patent Document 2).

For example, a known fitness monitoring system is characterized by having a fitness monitoring system for monitoring physiological parameters of a subject engaged in physical activities, and having a sense of a first sensor and a second sensor Sensor subsystem; the aforementioned first sensor is a multilayer printed circuit provided with a conductive circular coil formed by a printed circuit board; each layer is connected in series with each other; the aforementioned first and second sensors It can respond to changes in parameters; the aforementioned sensor sub-system is configured to generate and send signals representing the aforementioned parameters (for example, refer to Patent Document 3). [Prior Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Application Publication No. 2014-228507 [Patent Document 2] Japanese Patent Application Publication No. 2016-509635 [Patent Document 3] Japanese Patent Application Publication No. 2015-62675

[Problems to be solved by the invention]

In the sensing system assembled into the clothes, it is possible to accurately detect the dynamics of the creature without impairing the comfort of the creature wearing the clothes. In addition, there are really many types of clothing, things worn by humans or animals, and we are seeking to develop a sensing system that can be easily assembled into any clothing. Especially clothing designed for humans is often required to be designed. Furthermore, with the rapid progress of IOT (Internet of Things) technology that exchanges information with various things through the Internet, it is not limited to living things such as humans or animals, but it can also be assumed that it is also worn on machinery such as robots or toys. The chance of sensing the clothing that the system is assembled into. Therefore, it is expected to develop a highly versatile sensing system, clothes, and clothes system that can accurately detect the dynamics of living things without impairing the sense of wearing, and that can be easily incorporated into clothes. [Means for solving the problem]

The present inventors have found that linear piezoelectric elements can be arranged on clothing worn on an object to be measured, and the deformation of the clothing can be identified based on the electrical signals generated by the linear piezoelectric elements, and the present invention can be obtained.

That is, the present invention includes the following inventions. 1. A sensing system characterized by a linear piezoelectric element which is arranged in clothing worn on a body to be measured and generates an electrical signal in response to applied stress, and is a linear component whose main component contains polylactic acid The piezoelectric element detects the electrical signal generated by the linear piezoelectric element, and the calculation processing portion that determines the deformation of the clothing based on the electrical signal detected by the signal detection section. 2. The sensing system according to item 1, wherein the linear piezoelectric element is disposed near a position on the clothing corresponding to a variable portion of the body to be measured wearing the clothing. 3. The sensing system according to 1 or 2 above, further comprising a part of the clothing disposed near the linear piezoelectric element of the clothing, and between the object to be measured wearing the clothing Conductive fibers that generate electrical signals by the interaction of each other; the calculation processing unit recognizes the deformation of the clothes based on the electrical signals detected by the signal detection unit and the electrical signals generated by the conductive fibers. 4. The sensing system according to any one of the above 1 to 3, wherein the linear piezoelectric element outputs electrical signals by extensional deformation. 5. The sensing system according to any one of 1 to 4 above, wherein the linear piezoelectric element has a core formed of conductive fibers, and a tape-like shape to cover the core A ribbon-shaped piezoelectric element of a sheath portion formed of piezoelectric fibers. 6. The sensing system according to the above 5, wherein the piezoelectric fiber includes an absolute value of the piezoelectric constant d14 when the alignment axis is divided into three axes, and the absolute value of the value is 0.1 pC / N or more and 1000 pC / N or less. A piezoelectric polymer whose main component is a molecule; the alignment angle of the piezoelectric polymer with respect to the central axis direction of the core covered with the piezoelectric polymer is 15 ° or more and 75 ° or less; the piezoelectric Polymer, including P body containing crystalline polymer with a positive piezoelectric constant d14 as the main component, and N body containing negative crystalline polymer as the main component; In part, the mass of the P body spirally wound with the alignment axis in the Z twisting direction is ZP, the mass of the P body spirally wound with the alignment axis in the S twisting direction is SP, and the alignment axis The mass of the N body spirally wound in the Z twisting direction is set to ZN, the mass of the N body spirally wound in the S twisting direction is set to SN, and (ZP + SN) and (SP + ZN) When the smaller one is T1 and the larger one is T2, the value of T1 / T2 is 0 or more and 0.8 or less. 7. A piece of clothing characterized by comprising the sensing system described in any one of 1 to 6 above. 8. A clothing system, characterized by comprising the sensing system described in any one of the above 1 to 6, the linear piezoelectric element and the signal detection unit, which are arranged in clothing worn on the object to be measured, and the calculation processing The unit is located in a computing device of a different individual from the aforementioned clothing. [Effect of invention]

According to one aspect of the present disclosure, it is possible to accurately detect the dynamics of living beings without impairing the sense of wearing, and furthermore, it is possible to realize a highly versatile sensing system, clothes, and clothes system that can be easily assembled into clothes. The sensing system of this aspect does not require a special process and can be manufactured in a simple process with good productivity.

In addition, since the linear piezoelectric element constituting the sensing portion of the sensing system is rich in flexibility, it is easy to arrange according to the shape of the clothes. By arranging linear piezoelectric elements in the vicinity of the movable part of the object to be measured, such as creatures such as humans and animals, robots, human models, dolls, stuffed toys, and other machines , You can accurately detect the dynamics of the subject wearing clothing. In addition, since the linear piezoelectric element is rich in flexibility, it does not hinder the dynamics of the object to be measured without impairing the feeling of wearing. Since the linear piezoelectric element is thin and rich in flexibility, even if the linear piezoelectric element is assembled into clothing, the designability will not be impaired. For example, the sensing system of the present invention can be assembled into sportswear worn by humans. In addition, since the linear piezoelectric element is not affected by moisture, if the signal detection portion that detects the electrical signal generated by the linear piezoelectric element assembled into the clothing together with the linear piezoelectric element has a waterproof function, It can be washed in the same way as normal clothes.

According to this aspect of the sensing system, it can be assembled into clothing that is worn on various subjects. As an example of clothing that can be incorporated into the sensing system according to this aspect, there are tops, pants, protective gear, gloves, bodysuits, socks, Japanese socks, thick hair scarves, bibs, scarves, hats, Hair bands, silk bandanas, cuffs or face masks. More specifically, the sensing system according to this aspect can be assembled into sportswear. Examples of applicable sports include golf, tennis, baseball, soccer, rugby, American football, billiards, badminton, cricket, gateball, track and field competitions, gymnastics, dance, swimming (swimsuit), judo, and kendo , Karate, etc. In addition to clothing, other groceries such as bed sheets, towels, covers, bags, etc., can also be assembled with the sensing system according to this aspect.

Hereinafter, the sensing system and the clothes will be described with reference to the drawings. In each drawing, the same reference numeral is attached to the same member. In addition, the same reference figure number is attached to different drawings, which means that the components have the same function. In addition, for ease of understanding, the scale of these figures is changed as appropriate.

(Basic configuration of sensor system) FIG. 1 is a schematic diagram showing the basic configuration of a sensor system according to an embodiment. Here, as the clothes into which the sensing system 1000 is assembled, FIG. 1 shows the top 500-1 and the pants 500-2 as an example, but FIG. 1 does not mean that the clothes 500-1 and the pants 500-2 are often provided as clothes. In the end, it is just an example. As clothing other than top 500-1 and pants 500-2, for example, there are protective gear, gloves, bodysuits, socks, Japanese socks, thick wool scarf, scarf, scarf, hat, hair band, silk Handkerchiefs, wristbands, masks, etc. In addition to clothing, other groceries such as bed sheets, towels, covers, bags, etc., can also be assembled with the sensing system according to this aspect.

In this specification, a subject who wears the clothes into which the sensing system 1000 is assembled and uses the sensing system 1000 to be dynamically detected is referred to as a "subject to be measured" in this specification. Examples of the subject include creatures such as humans and animals, and machines such as robots and toys (dolls, stuffed toys, etc.).

The sensing system 1000 includes a linear piezoelectric element 101, a signal detection unit 102, and an arithmetic processing unit 103. In addition, as an option, the sensing system 1000 includes conductive fibers that are disposed near the linear piezoelectric element 101 disposed on the clothing and generate an electrical signal by interacting with the subject wearing the clothing 104.

The linear piezoelectric element 101 is an element that generates an electrical signal in response to applied stress. As the linear piezoelectric element 101, an electrical signal is preferably generated by extensional deformation, but a linear piezoelectric element that generates a signal for stress other than elongation may be used. A specific example of materials constituting the linear piezoelectric element 101 will be described below. When the body to be measured moves (including when the stress is directly applied to the linear piezoelectric element 101), the linear piezoelectric element 101 deforms due to elongation. By this elongation deformation, the linear piezoelectric element 101 generates an electrical signal. The linear piezoelectric element 101 is placed on clothing worn on the body to be measured (in the example shown in FIG. 1, the top 500-1 and the pants 500-2). The linear piezoelectric element 101 may be arranged in any manner on clothing, but its arrangement generally depends on the dynamic content of the subject to be detected wearing the clothing to be detected. In addition, in this specification, the expression "the linear piezoelectric element 101 is arranged on clothing (or just" clothing ")" includes the expression that "the linear piezoelectric element 101 is arranged on the surface or back of the clothing texture And the concepts of "the linear piezoelectric element 101 is buried in the texture of clothing".

As a method of arranging the linear piezoelectric element 101 on the clothing, as long as the clothing worn by the measurement subject can be deformed while the measurement subject is in motion and the applied piezoelectric stress deforms the linear piezoelectric element, there is no need Specially limited. For example, there are sewing or embroidering to the texture of the clothing, adhesion to the surface or back surface of the clothing with an adhesive, and locking. In addition, there may be fabrics or knitted fabrics into which linear piezoelectric elements are assembled, which can be customized to clothing. In addition, it can also be designed so as to easily deform or partially thin the texture or fold the line. In any case, the length of the linear piezoelectric element 101 can be determined as appropriate.

For example, the linear piezoelectric element 101 is arranged near the position on the clothing corresponding to the variable portion of the body to be measured wearing the clothing. In this specification, the vicinity of the position on the clothing means the range of clothing that will be deformed according to the movement of the measured body when the measured body moves. Hereinafter, in this specification, in order to specify the position on the clothing corresponding to the variable portion of the object to be measured wearing clothing, the name of the portion of the object to be measured is used alone. For example, in the "elbow of the coat" means "when the subject (human, etc.) wears the top, it will be the position on the upper part of the part that corresponds to the elbow", "back of the hand of the glove" means "the subject (Humans, etc.) When wearing gloves, it is the position on the glove that corresponds to the back of the hand. " The names of other places on the clothes are the same. Examples of the variable parts of the subject include humans and animals, such as shoulders, elbows, wrists, ankles, knees, hip joints, fingers, head, mouth, eyelids, cheeks, forehead, nose, Ear, abdomen, chest, thigh, calf, upper arm, back, buttocks, palm, back of hand, arch of foot, instep, etc. The movable part of a machine such as a robot or a toy can also be cited as an example of a variable part of a body to be measured. Or, although not in the vicinity of the position on the clothing corresponding to the variable part of the subject wearing the clothing (that is, away from the variable part), it is also the case that the clothing worn is deformed with the movement of the variable part Position, the linear piezoelectric element 101 is arranged. For example, when wearing clothing, it is placed between the head and shoulders, between the shoulders and elbows, between the elbows and wrists, between the joints of the fingers, between the head and chest, between the chest and the abdomen, the abdomen Between the hip, hip and hip, head and back, back and hip, hip and hip, hip and knee, or between knee and ankle s position. A specific example of the arrangement of the linear piezoelectric element 101 will be described below. Since the linear piezoelectric element 101 constituting the sensing portion of the sensing system is rich in flexibility, it can be easily arranged in accordance with the shape of the object to be measured.

Here, the electrical characteristics of the linear piezoelectric element 101 used to generate an electrical signal by elongation used in the sensing system according to this embodiment will be described with reference to FIGS. 2 and 3. FIG. 2 is an explanatory diagram of the deformation speed of the linear piezoelectric element used in this embodiment. In the present embodiment, as the linear piezoelectric element 101, regardless of its length or the position where the extension occurs, the deformation rate due to the extension is fixed. As shown in FIG. 2, two linear piezoelectric elements 101 used in this embodiment are prepared. For each, a fixed distance is gripped by a chuck, and the signal detection unit 102 is connected via a connector 121 to be applied. An experiment for measuring the extension of the body in the line direction and measuring the signal strength (current value) generated at this time. FIG. 3 is a graph showing the relationship between the deformation and signal strength formed by the extension of the linear piezoelectric element shown in FIG. 2, and FIG. 3 (A) is a graph showing the relationship between the deformation speed and the signal strength (current value). B) shows the relationship between the position of the deformed part and the signal strength (current value). In the linear piezoelectric element 101 used in this embodiment, as shown in FIG. 3 (A), the elongation deformation speed of the linear piezoelectric element 101 is proportional to the signal strength (current value), as shown in FIG. 3 (B). It shows that the signal strength (current value) is almost fixed regardless of the position where the extensional deformation occurs (indicated by the distance from the connector 21). In this way, in the present embodiment, it is preferable to use the linear piezoelectric element 101 regardless of its length or the location where elongation occurs, and the signal strength and the deformation rate due to elongation are all fixed. In addition, the linear piezoelectric element 101 may be implemented with a signal strength for those whose deformation rate due to elongation is not fixed. In this case, the deformation rate and signal corresponding to the elongation of the linear piezoelectric element will be measured in advance According to the measurement results, the deformation speed corresponding to the elongation of each position is converted into a fixed signal strength and output beforehand, and the pre-correction calculation unit may be provided at the front stage of the calculation processing unit 103.

Returning to the description of FIG. 1, the signal detection unit 102 detects the electrical signals generated by the linear piezoelectric elements 101. In FIG. 1, in order to simplify the description, the signal detection unit 102 is described at a position away from the top 500-1 and the pants 500-2, but preferably on each piece of clothing (in the example shown in FIG. 1, on each top 500-1 and pants 500-2), set anywhere on the clothing. The linear piezoelectric element 101 and the signal detection unit 102 may be directly connected, or may be connected via an amplifier or a filter (not shown) that amplifies the signal strength. In addition, as the linear piezoelectric element 101, a spike-shaped piezoelectric element having electromagnetic wave shielding is used as described later, and a filter for removing noise can be omitted. If a waterproof function is used as the signal detection unit 102, the clothes into which the linear piezoelectric element 101 and the signal detection unit 102 are assembled can be washed.

The signal detection unit 102 includes a connector (not shown) that connects a wire pulled from the linear piezoelectric element 101, and converts the analog electrical signal generated by the linear piezoelectric element 101 into a digital electrical signal The AD conversion unit (not shown) and the transmission unit (not shown) that transmits the digital electrical signal output from the AD conversion unit to the calculation processing unit 103 of the next stage. The communication between the signal detection part 102 (the sending part) and the calculation processing part 103 may be wireless or wired. When the signal detection unit 102 and the calculation processing unit 103 are realized by wireless communication, the transmission unit of the signal detection unit 102 is a digital electrical signal output from the AD conversion unit and a corresponding linear piezoelectric element is added After the identification information of 101, it sends a wireless message to the calculation processing section 103. The wireless transmission method itself is not limited to the present invention, and a well-known method may be used. When the signal detection unit 102 and the calculation processing unit 103 are implemented by wired communication, the signal line of each corresponding linear piezoelectric element 101 is connected to each input terminal of the calculation processing unit 103.

The signal detection unit 102 detects, for example, the current value or the voltage value as the magnitude of the electrical signal generated in each linear piezoelectric element. In addition, for example, as the magnitude of the electrical signal generated in each linear piezoelectric element, instead of the signal strength itself such as a current value or a voltage value, a differential value or other calculation value of these values may be used. For example, if it is a differential value, a sharp electrical signal change can be obtained with good accuracy, or if it is an integrated value, it can be analyzed based on the magnitude of the deformation.

The calculation processing unit 103 recognizes the deformation of the clothes 501-1 and 500-2 based on the electrical signal detected by the signal detection unit 102. The linear piezoelectric element 101 generates an electrical signal when the clothing is deformed by the movement of the body to be measured wearing clothing, and by analyzing the electrical signal using the calculation processing section 103 to identify the deformation of the clothing, the wear is identified Activity content of the subject of the clothing.

The calculation processing unit 103 is realized, for example, in a computing device such as a computer leaving clothes. In this case, the linear piezoelectric element 101 and the signal detection unit 102 are arranged in clothing worn on the body to be measured, and the calculation processing unit 103 is provided in a computing device different from the clothing, but the signal detection unit 102 and the calculation The processing units 103 are preferably connected by wireless communication. In addition, or alternatively, the calculation processing unit 103 is realized, for example, in an integrated circuit (IC) wafer arranged at an arbitrary position on the clothing. In this case, the linear piezoelectric element 101, the signal detection unit 102, and the calculation processing unit 103 are arranged in clothing worn on the subject, and the signal detection unit 102 and the calculation processing unit 103 can communicate wirelessly or For wired communication, in addition, in order to make the clothes into which the sensing system 1000 is assembled to be washable, it is preferable that the arithmetic processing unit 103 also has a waterproof function.

The discrimination result of the deformation pattern of the clothes created by the calculation processing unit 103 can be used for various purposes. Several specific examples are listed below.

For example, in the calculation processing unit 103, by connecting a display device (not shown) such as a personal computer, a mobile terminal, or a touch panel, of course, the activity content of the object to be measured can be represented only by numerical values or graphs, or a computer Drawings or animations are displayed on the display device. For example, if a golfer or a tennis player wears a sportswear into which the sensing system 1000 is assembled, he can confirm his playing content on the display device. For example, it can be realized that each player of the amateur and the expert wears the sportswear in which the sensing system 1000 is assembled, and such a practice form can be displayed on the display device in a manner of comparing the contents of each game. In particular, when a sensor is provided at a plurality of locations, the analysis result based on the movement sequence or timing of the non-measured body can be displayed. For example, it can also be used as a dynamic capture device that converts acting performed by actors wearing clothing into which the sensing system 1000 is assembled into computer graphics or animation.

For example, if a vibration generating device (not shown) that converts an input electrical signal into vibration or an electrical generating device (not shown) that generates a tiny electric shock, and then assembled into the sensing system 1000 is assembled into Clothing, and the vibration generation device or the electrical generation device connected to the calculation processing unit 103 can feed back the activity content of the subject and the human or animal wearing the clothing in the form of vibration or electric shock. For example, if a golfer or a tennis player wears a sportswear into which the sensing system 1000 and the vibration generating device or the electrical generating device are assembled, they can perceive their playing contents in the form of vibration or electric shock. For example, a professional player may wear the sportswear, and the discrimination result obtained by the calculation processing unit 103 may be kept in a memory device in advance. Secondly, an amateur player may wear the sportswear and the playing content is different from that of the professional player. The electric shock feedback was given to amateur players wearing sportswear. For example, the clothes into which the sensing system 1000 and the vibration generating device or the electrical generating device are assembled, wearing pets or domestic animals, and training with vibration or electric shock may also be used.

For example, the calculation processing unit 103 may implement a safety system such as an alarm sound in response to the movement of the body to be measured by an audio device that continuously emits sounds such as a horn, a buzzer, and a chime. For example, it is possible to realize a safety system that allows construction workers or factory workers to wear clothes into which the sensing system 1000 is assembled, and when the recognition result obtained by the calculation processing unit 103 shows a dangerous action registered in advance, an alarm sound . For example, it is possible to realize a safety system that causes a car driver or a railroad driver to wear clothes that the sensor system 1000 is assembled into, and displays an alarm sound when the recognition result obtained by the calculation processing unit 103 shows a unique action for dozing.

In addition, for example, it is also possible to provide such a toy that makes clothes such as dolls, stuffed toys, etc. that are assembled in the wear-sensing system 1000 utter a sound in response to the recognition result obtained by the arithmetic processing unit 103.

For example, the sensor system 1000 may be used as an interface to the robot by connecting the robot control device to the calculation processing unit 103. For example, the calculation processing unit 103 may be connected to the robot control device to reproduce the actions of the human wearing the clothes into which the sensing system 1000 is assembled into the robot. If the robot is a toy, it becomes a robot toy that reproduces human movements. Alternatively, the clothes into which the sensing system 1000 is assembled can be worn on the robot, and the movement of the robot can be reproduced on another robot. If the robot is an industrial robot, the teaching burden on the industrial robot can be reduced.

Returning to the description of FIG. 1, the conductive fiber 104 provided as an option is arranged in a linear piezoelectric element disposed on clothing (in the example shown in FIG. 1 is a top 500-1 and a trouser 500-2) The portion of the aforementioned clothing in the vicinity of 101. The conductive fiber 104 is preferably arranged in the vicinity of the linear piezoelectric element 101 corresponding to the conductive fiber 104. Although the conductive fiber 104 is provided in combination with the corresponding linear piezoelectric element 101, it is not necessary to provide the conductive fiber 104 for all the linear piezoelectric elements 101. The conductive fiber 104 uses the interaction with the subject to be dressed to generate electrical signals. The capacitor is formed by the object to be measured, the conductive fiber 104, and a dielectric body such as clothing and air positioned between the object to be measured and the conductive fiber 104. That is, when the clothing is deformed by the movement of the body to be measured wearing clothing, the distance between the conductive fiber 104 provided in the clothing and the body to be measured changes, thus changing between the conductive fiber 104 and the body to be measured Of electrostatic capacitance. This change in electrostatic capacitance generates a weak electrical signal in the conductive fiber 104. The conductive fiber 104 and the signal detection unit 102 are electrically connected, and the weak electrical signal generated by the conductive fiber 104 is detected by the signal detection unit 102 functioning as an electrode. The mechanism by which the conductive fiber 104 generates electrical signals is the same as the electrostatic capacitance type sensor. The signal detection unit 102 includes: a connector (not shown) that connects a wire drawn from the conductive fiber 104, and an AD conversion unit that converts the analog electrical signal generated by the conductive fiber 104 into a digital electrical signal (Not shown), and a transmission unit (not shown) that transmits the digital electrical signal output from the AD conversion unit to the calculation processing unit 103 of the next stage. In addition, since the electrical signal generated by the conductive fiber 104 is weak, the signal detection unit 102 has an amplifier (not shown) that amplifies it. The amplifier may be an analog amplifier or a digital amplifier, but when it is constituted by an analog amplifier, it is provided in the front stage of the AD conversion unit, and when it is constituted by a digital amplifier, it is provided in the rear stage of the AD conversion unit. When the conductive fiber 104 and the linear piezoelectric element 101 are provided in combination, the calculation processing section 103 is based on the electrical signal generated by the linear piezoelectric element 101 detected by the signal detection section 102 and the electrical signal generated by the conductive fiber 104 Electrical signals can more accurately identify the deformation of clothing. That is, when the clothing is deformed by the movement of the body to be measured wearing clothing, both the linear piezoelectric element 101 and the conductive fiber 104 generate electrical signals, which are identified by analyzing the electrical signals by the calculation processing section 103 The deformed appearance of the clothing knows the activity of the subject wearing the clothing. The linear piezoelectric element 101 detects that the clothes are deformed due to the movement of the subject, but it does not detect the deformed state of the clothes. For example, the linear piezoelectric element 101 detects that the joint of the subject is bent or stretched, but does not detect the degree of deformation of the joint of the subject. Therefore, in the sensing system 1000, based on the electrical signal output from the conductive fiber 104, the electrostatic capacitance between the conductive fiber 104 and the subject is detected, and the degree of joint deformation of the subject is detected. From the foregoing point of view, it is preferable that the conductive fiber 104 is a portion of the clothing that is deformed together with the portion of the clothing when the portion of the clothing where the linear piezoelectric element 101 is disposed is deformed. In this specification, the conductive fiber 104 is arranged in the vicinity of the linear piezoelectric element 101 corresponding to the conductive fiber 104, which means that when the conductive fiber 104 is deformed in the part of the clothing on which the linear piezoelectric element 101 is arranged, the The part of the garment that deforms together. In addition, when a plurality of linear piezoelectric elements are arranged on clothing, the conductive fiber 104 is preferably arranged closer to the linear piezoelectric element 101 corresponding to the conductive fiber 104 than other linear piezoelectric elements s position. For example, the conductive fiber 104 is preferably arranged in the range of 30 mm to 100 mm for the corresponding linear piezoelectric element 101.

Next, an example of the arrangement of the linear piezoelectric element 101 will be described.

FIG. 4 is a schematic diagram showing the assembly of the sensing system according to an embodiment into the front (front) of the top and pants, and FIG. 5 is a schematic diagram showing the back of the top and pants of FIG. 4. For example, the linear piezoelectric element 101 is arranged in front of the trousers 500-2 located near the hip joints and knees of the human as shown in FIG. 4, and is located near the shoulders of the human as shown in FIG. 5 The back of the top 500-1 near the elbow is placed on the front of the pants 500-2 located near the human hips as shown in FIG. For example, as shown in FIG. 5, the conductive fiber 104 is provided near the linear piezoelectric element 101 provided on the back of the top 500-1 positioned near the shoulder and the elbow of a human. FIG. 6 is an actual photograph of the sensor system according to an embodiment assembled into the back of the top, corresponding to the arrangement of the linear piezoelectric element 101 and the conductive fiber 104 schematically shown in FIG. 5.

Next, in this embodiment, the experimental results of the case where the human wearing the clothes into which the sensing system is assembled are actually moving will be described with reference to FIGS. 7 to 11. In addition, in the experimental results shown in FIGS. 8 to 11, the method of taking the positive and negative polarities of the electrical signal is an example, and it is a matter that is well known to those skilled in the art (industry) according to the setting of the ground (0 potential).

FIG. 7 is a photograph showing the actual arrangement of linear piezoelectric elements near the shoulders and elbows of the jacket. As shown in FIG. 7, the linear piezoelectric elements 101 are provided on the elbow, forearm, and upper arm of the jacket 500-1, respectively.

Fig. 8 illustrates the electrical signal generated when the elbow is bent after wearing the top shown in Fig. 7, and Fig. 8 (A) shows the electrical property generated by the linear piezoelectric element provided on the elbow of the top The signal, FIG. 8 (B) shows the electrical signal generated by the linear piezoelectric elements provided on the forearm and upper arm of the jacket. Fig. 9 illustrates the electrical signal generated when the elbow is bent after wearing the top shown in Fig. 7 (Fig. 8) and returned to the original occasion. Fig. 9 (A) shows the elbow provided in the top The electrical signal generated by the linear piezoelectric element, FIG. 9 (B) shows the electrical signal generated by the linear piezoelectric element provided on the forearm and upper arm of the jacket.

From the comparison between FIG. 8 (A) and FIG. 9 (A), it can be seen that for the electrical signal generated by the linear piezoelectric element 101 provided on the elbow of the jacket 500-1, the elbow is bent and the elbow is restored from the bent state to There was a change in electrical signals. That is, when the elbow is bent, the linear piezoelectric element 101 provided on the elbow of the jacket 500-1 generates a negative electrical signal (see FIG. 8 (A)). On the other hand, when the elbow is restored from the bent state, the linear piezoelectric element 101 provided on the elbow of the jacket 500-1 generates a positive electrical signal (see FIG. 9 (A)). In this way, for the electrical signal generated by the linear piezoelectric element 101 provided at the elbow of the jacket 500-1, the polarity of the electrical signal is reversed before and after the elbow is bent and restored.

In addition, as can be seen from the comparison between FIG. 8 (B) and FIG. 9 (B), for the electrical signal generated by the linear piezoelectric element 101 provided on the upper arm of the jacket 500-1, the elbow is bent and the elbow is bent from The electrical signal changes when the status returns to the original. That is, when the elbow is bent, the linear piezoelectric element 101 provided on the upper arm portion of the jacket 500-1 generates a positive electrical signal (see FIG. 8 (B)). On the one hand, when the elbow is restored from the bent state, the linear piezoelectric element 101 provided on the upper arm of the jacket 500-1 generates a negative electrical signal (see FIG. 9 (B)). In this way, for the electrical signal generated by the linear piezoelectric element 101 provided on the upper arm of the jacket 500-1, the polarity of the electrical signal is reversed before and after the elbow is bent and restored.

On the other hand, as can be seen from the comparison between FIG. 8 (B) and FIG. 9 (B), for the electrical signal generated by the linear piezoelectric element 101 provided on the forearm of the top 500-1, the elbow is bent and the elbow is bent. When returning from the bent state to the original, the electrical signal changes, but the characteristic is that the degree of change is small and unclear.

Therefore, it can be seen that the elbow flexion and recovery (elongation) can be clearly determined by whether there is a “polarity in the polarity of the electrical signal generated by the linear piezoelectric element 101 provided on the elbow and / or upper arm of the jacket 500-1. It is unclear whether the rotation or the inversion of the polarity of the electrical signal generated by the linear piezoelectric element 101 provided in the forearm is determined ". For example, the calculation processing unit 103 observes the polarities of the electrical signals generated by the linear piezoelectric elements 101 provided on the elbow, forearm, and upper arm of the jacket 500-1, and the elbow and / or the jacket 500-1. The polarity of the electrical signal generated by the linear piezoelectric element 101 in the upper arm portion is clearly reversed as described above, or is the electrical signal generated by the linear piezoelectric element 101 provided in the forearm portion of the jacket 500-1 When the polarity inversion is not clear, distinguish between "elbow is bent" or "elbow bending is restored to the original."

Fig. 10 is a diagram illustrating electrical signals generated when the elbow is twisted after wearing the top shown in Fig. 7, and Fig. 10 (A) is a diagram showing electrical signals generated by a linear piezoelectric element provided on the elbow of the top 10 (B) shows the electrical signals generated by the linear piezoelectric elements provided on the forearm and upper arm of the jacket. Fig. 11 shows the electrical signal generated when the elbow is twisted after wearing the top shown in Fig. 7 (Fig. 10) to return to the original situation, and Fig. 11 (A) is shown on the elbow provided in the top The electrical signal generated by the linear piezoelectric element is shown in FIG. 11 (B) on the electrical signal generated by the linear piezoelectric element provided on the forearm and upper arm of the jacket.

From the comparison between FIG. 10 (A) and FIG. 11 (A), it can be seen that for the electrical signal generated by the linear piezoelectric element 101 provided on the elbow of the jacket 500-1, when the elbow is twisted, the torsion of the elbow is restored to the original There is a change in electrical signals, but the degree of change is small and unclear.

In addition, as can be seen from the comparison between FIG. 10 (B) and FIG. 11 (B), for the electrical signal generated by the linear piezoelectric element 101 provided on the upper arm of the jacket 500-1, the elbow is twisted and the elbow is twisted. When you revert to the original, the electrical signal changes, but the degree of change is small and unclear.

On the other hand, as can be seen from the comparison between FIG. 10 (B) and FIG. 11 (B), for the electrical signal generated by the linear piezoelectric element 101 provided on the forearm of the jacket 500-1, when turning the elbow and turning the elbow The reversal of the signal clearly changes when the electrical signal is restored. That is, when the elbow is twisted, the linear piezoelectric element 101 provided on the forearm of the jacket 500-1 generates a positive electrical signal (see FIG. 10 (B)). On the other hand, when the torsion of the elbow is restored, the linear piezoelectric element 101 provided in the forearm of the jacket 500-1 generates a negative electrical signal (see FIG. 11 (B)). In this way, the electrical signal generated by the linear piezoelectric element 101 provided on the forearm of the jacket 500-1 is clearly reversed when the elbow is twisted and when the elbow is returned to its original state.

Therefore, it can be seen that the torsion and recovery (elongation) of the elbow can be determined based on whether the polarity of the electrical signal generated by the linear piezoelectric element 101 provided on the elbow and / or upper arm of the jacket 500-1 is not clear. It is distinguished whether the polarity of the electrical signal generated by the linear piezoelectric element 101 provided in the forearm is clearly reversed. For example, the calculation processing unit 103 observes the polarities of the electrical signals generated by the linear piezoelectric elements 101 provided on the upper arm of the jacket 500-1, and the linear piezoelectric elements 101 provided on the elbow and / or upper arm. It is not clear whether the polarity of the electrical signal is reversed, or if the polarity of the electrical signal generated by the linear piezoelectric element 101 provided on the forearm is clearly reversed as described above, distinguish "elbow twist" or "The torsion of the elbow was restored to the original."

In addition, comparing the experimental results shown in FIGS. 8 and 9 with the experimental results shown in FIGS. 10 and 11, it can be seen that if the linear piezoelectric elements 101 provided on the elbow, forearm, and upper arm of the top 500-1 are observed , It is unclear which part of the linear piezoelectric element 101 is provided with the polarity of the electrical signal of the linear piezoelectric element 101 is clearly reversed and which part of the linear piezoelectric element 101 is provided with the polarity of the electrical signal Can distinguish the wrist bending or twisting.

As described above, according to the present embodiment, the linear piezoelectric element 101 that generates electrical signals by elongation can distinguish between "elbow is bent", "elbow bending is restored", "elbow is twisted", and "elbow The torsion was restored to the original "actions. In addition, in the foregoing, the activity of the human elbow is taken as an example, and it is aimed at human or animal organisms such as shoulders, wrists, ankles, knees, hips, fingers, head, mouth, eyelids, cheeks, forehead, Nose, ear, abdomen, chest, thigh, calf, upper arm, back, buttocks, palm, back of hand, arch of foot, instep of the foot, and mechanical parts such as robots or toys can apply the same design ideas. In addition, in order to improve the accuracy of detecting the movement of the movable part of the object to be measured, the clothes into which the sensing system 1000 is assembled can be worn on the object to be measured, and the object can be actually moved to observe the linear piezoelectric element 101 And the waveform of the electrical signal generated by the conductive fiber, the observation result is compared with the activity of the measured body to obtain a graph of the relationship between the waveform of the electrical signal and the activity of the measured body, and the graph is stored in the calculation processing unit 103, and The calculation processing unit 103 is made to discriminate the movement of the subject.

12 is a diagram showing actual photos of gloves assembled according to an embodiment of the sensing system, FIG. 12 (A) shows the back of the glove, FIG. 12 (B) shows the palm of the glove, and FIG. 12 (C ) Shows the side of the hand wearing the glove. FIG. 12 shows an arrangement example of the linear piezoelectric element 101 when the sensing system 1000 according to this embodiment is assembled into the glove 500-3.

FIG. 13 is a schematic diagram showing the basic configuration of a sensing system related to an embodiment of a connection robot control device. For example, the calculation processing unit 103 may be connected to the robot control device 201 to reproduce the actions of the human wearing the clothes into which the sensing system 1000 is assembled into the robot 202.

The sensing system 1000 according to the present embodiment having the linear piezoelectric element configured in the clothing worn on the body to be measured and generating an electrical signal in response to the applied stress can also move with the detection body The other methods are combined.

For example, the sensor system 1000 according to this embodiment and a sensor (for example, a pressure sensor) for detecting the movement of the center of gravity may be used to construct the system. In this aspect, for example, an arithmetic processing unit may be provided to simultaneously discriminate between the electrical signal generated by the linear piezoelectric element 101 and the signal from the sensor that detects the movement of the center of gravity while being worn on the body to be measured The deformation of clothes and the movement of the subject itself (the center of gravity moves). According to the combination of the sensing system 1000 and the sensor for detecting the movement of the center of gravity, for example, the detection and compliance of the activity of the upper body of the object to be measured (here, the human body) according to the sensing system 1000 can be simultaneously realized The detection of the movement of the weight of another sensor (for example, a pressure-sensitive sensor) makes it possible to grasp movements such as golf swings and tennis swings in more detail. In addition, as a sensor for detecting the movement of the center of gravity to be measured, any known sensor can be used. However, if a piezoelectric polymer film layer of piezoelectricity is found in the plane direction of, for example, a polylactic acid film ( (E.g. poly-L-lactic acid and poly-D-lactic acid), a piezoelectric laminate in which a plurality of layers are laminated is used for the piezoelectric laminate element, and the piezoelectric laminate is wound into a cylindrical shape and rounded Some sensors with a curved shape such as a long and square shape will generate and decay due to the load-dependent voltage. If the load is continuously applied, the voltage will continue for a certain period of time and the output will be carried out. Detailed measurement.

(Linear piezoelectric element) As the linear piezoelectric element of the present invention, all known elements that generate electrical signals in response to applied stress can be used. For example, as the linear piezoelectric element, a piezoelectric element having a core-sheath structure with conductive fibers as core yarns and piezoelectric fibers arranged around them can be used. More specifically, as the linear piezoelectric element, a piezoelectric element in which a piezoelectric film or piezoelectric fiber is simply wound around the conductive fiber, or a piezoelectric fiber wound around the conductive fiber into Spike ribbon-shaped piezoelectric element. Among them, the linear piezoelectric element of the present invention is preferably a piezoelectric element capable of outputting a large electrical signal by elongation deformation. From such viewpoints, a spike-shaped piezoelectric element is better. Therefore, the spike-shaped piezoelectric element will be described in detail below.

(Tape-shaped piezoelectric element) FIG. 14 is a schematic diagram showing a configuration example of the tassel-shaped piezoelectric element according to the embodiment. The ribbon-shaped piezoelectric element 1 includes a core portion 3 formed of conductive fibers B, and a sheath portion 2 formed of piezoelectric fibers A formed in the shape of spikes so as to cover the core portion 3.

In the spike-shaped piezoelectric element 1, many piezoelectric fibers A are densely wound on the outer peripheral surface of at least one conductive fiber B. When the spike-shaped piezoelectric element 1 is deformed, a stress is generated due to the deformation of each of the piezoelectric fibers A, thereby generating an electric field (piezoelectric effect) in each of the piezoelectric fibers A. As a result, the coil The voltage change of the electric field overlap of most piezoelectric fibers A around the conductive fiber B occurs at the conductive fiber B. That is, the electrical signal from the conductive fiber B increases compared to the case where the spike-shaped sheath portion 2 is not used for the piezoelectric fiber A. In this way, even if the stress generated by the relatively small deformation is used in the spike-shaped piezoelectric element 1, a large electrical signal can be extracted. Moreover, the conductive fiber B may be plural.

It is preferable that the spike-shaped piezoelectric element 1 selectively outputs a large electrical signal with respect to elongation deformation in the direction of its central axis (CL in FIG. 14).

(Spike ribbon piezoelectric element that selectively outputs a large electrical signal for elongation deformation) As a spike ribbon piezoelectric element 1 that selectively outputs a large electrical signal for elongation deformation in the direction of the central axis, for example, As the piezoelectric fiber A, a uniaxially oriented polymer molded body may be used. The piezoelectric polymer is used, and the absolute value of the piezoelectric constant d14 including the main component when the alignment axis is divided into three axes is 0.1 pC / N or more. A crystalline polymer with a value of 1000 pC / N or less. In the present invention, "including the main component" means 50% by mass or more of the constituent components. In addition, the crystalline polymer of the present invention is a polymer composed of 1% by mass or more of a crystalline portion and an amorphous portion other than the crystalline portion, and the quality of the crystalline polymer is the total of the crystalline portion and the amorphous portion quality. In addition, the value of d14 is a value that varies with different molding conditions or purity and measurement atmosphere, but in the present invention, it is a measurement of the crystallinity and crystallization of the crystalline polymer in the piezoelectric polymer actually used The degree of crystal alignment, using this crystalline polymer to make a uniaxially stretched film with the same degree of crystallinity and crystal alignment, the absolute value of d14 of this film, in actual use temperature shows 0.1pC / N or more 1000pC The value of / N or less may be sufficient, and the crystalline polymer contained in the piezoelectric polymer of the present embodiment is not limited to a specific crystalline polymer such as described later. The d14 of the thin film sample can be measured by various well-known methods. For example, by evaporating metal on both sides of the thin film sample as an electrode sample, a rectangle with four sides inclined from the extending direction to the 45-degree inclined direction can be cut out. When a tensile load is applied in the longitudinal direction, the electric charge generated on the double-sided electrode is measured, and the value of d14 is measured.

In addition, in the spike-shaped piezoelectric element 1 that selectively outputs a large electrical signal for elongation in the direction of the central axis, it is preferable that the angle formed by the direction of the central axis and the alignment direction of the piezoelectric polymer ( The alignment angle θ) is 15 ° or more and 75 ° or less. When this condition is satisfied, by giving elongational deformation (tensile stress and compressive stress) in the direction of the central axis to the spike-shaped piezoelectric element 1, the pressure of the crystalline polymer contained in the piezoelectric polymer can be used efficiently The piezoelectric effect corresponding to the electric constant d14 effectively generates charges of reverse polarity (reverse sign) on the central axis side and the outside of the spike-shaped piezoelectric element 1. From such a viewpoint, the alignment angle θ is preferably 25 ° or more and 65 ° or less, more preferably 35 ° or more and 55 ° or less, and even more preferably 40 ° or more and 50 ° or less. When the piezoelectric polymer is arranged in this way, the alignment direction of the piezoelectric polymer is drawn in a spiral shape.

In addition, by arranging the piezoelectric polymer in this way, it is possible to apply shear deformation such as rubbing across the surface of the spike-shaped piezoelectric element 1 or bending deformation such as a bending central axis, or use the central axis as an axis The torsional deformation is formed so that the spike-shaped piezoelectric element 1 does not generate a large electric charge on the central axis side and the outer side of the spike-shaped piezoelectric element 1, that is, the spike-shaped piezoelectric element 1 that selectively generates a large electric charge with respect to elongation in the direction of the central axis.

The alignment angle θ should be measured by the following method as much as possible. A side photograph of the spike-shaped piezoelectric element 1 was taken, and the helical pitch HP of the piezoelectric polymer A ′ was measured. The spiral pitch HP is shown in Fig. 15, which is mainly a linear distance from the surface of the piezoelectric polymer A 'from the surface to the back and then to the surface. In addition, after fixing the structure with an adhesive as necessary, a vertical cross section is cut out on the central axis of the spike-shaped piezoelectric element 1 and a photograph is taken, and the outer radius Ro and the inner radius Ri of the portion occupied by the sheath 2 are measured. When the outer and inner edges of the cross section are elliptical or flat round, the average value of the long and short diameters is Ro and Ri. The orientation angle θ of the piezoelectric polymer to the direction of the central axis is calculated from the following formula. θ = arctan (2πRm / HP) (0 ° ≦ θ ≦ 90 °) However, Rm = 2 (Ro ³ -Ri ³ ) / 3 (Ro ² -Ri ² ), that is, the average spike zone is increased by the cross-sectional area The radius of the piezoelectric element 1.

In the side photo of the spike-shaped piezoelectric element 1, the piezoelectric polymer has a uniform surface, and when the spiral pitch of the piezoelectric polymer cannot be recognized, the spike-shaped piezoelectric element 1 fixed with an adhesive or the like It is cut in a plane passing through the central axis, and in a direction perpendicular to the cutting plane, a wide-angle X-ray diffraction analysis is performed through X-rays through the central axis in a very narrow range to determine the alignment direction to obtain the angle from the central axis, which is set to θ.

In the spike-shaped piezoelectric element 1 of the present invention, for the spiral shape drawn along the alignment direction of the piezoelectric polymer, the spiral direction (S-twisting direction or Z-twisting direction) or the spiral pitch is also present. In the case of two or more different spiral shapes, the above-mentioned measurement is performed for each piezoelectric polymer of each spiral direction and spiral pitch, and it is necessary for any piezoelectric polymer of any spiral direction and spiral pitch to satisfy the foregoing conditions.

When the polarities of the charges generated on the central axis side and the outside are elongated and deformed in the direction of the central axis, when the alignment direction of the piezoelectric polymer is spirally arranged along S, the same piezoelectric polymer is used. When the alignment direction of is along the spiral shape of Z twisting, it becomes the reversible polarity. Therefore, when the alignment direction of the piezoelectric polymer is arranged along the spiral shape of S twisting and at the same time along the spiral shape of Z twisting, the charge generated due to the elongation deformation will rub with Z in the S twisting direction The twist directions cancel each other and cannot be used efficiently, so it is not good. Therefore, the aforementioned piezoelectric polymer system includes a P body containing a crystalline polymer having a positive piezoelectric constant d14 as a main component and an N body containing a negative crystalline polymer as a main component; The central axis of the spike-shaped piezoelectric element 1 has a length of 1 cm, and the mass of the P body arranged with the alignment axis spirally wound in the Z twisting direction is set to ZP, and the alignment axis is spirally wound in the direction S The mass of the P body is set to SP, the mass of the N body configured by spirally winding the alignment axis in the Z twisting direction is ZN, and the mass of the N body configured by spirally winding the alignment axis in the S twisting direction Set to SN; when the smaller of (ZP + SN) and (SP + ZN) is set to T1 and the larger to T2, the value of T1 / T2 is preferably 0 or more and 0.8 or less, and 0 or more and 0.5 The following is better.

When a fiber containing polylactic acid as a main component is used as the piezoelectric fiber of the present invention, the lactic acid unit in polylactic acid is preferably 90 mol% or more, more preferably 95 mol% or more, and even more preferably 98 mol% or more .

Furthermore, as long as the ribbon-shaped piezoelectric element 1 achieves the purpose of the present invention, it is possible to combine other fibers other than the piezoelectric fiber A in the sheath portion 2 to mix fibers, or to combine the core portion 3 with other than the conductive fiber B And other fibers.

The length of the spike-shaped piezoelectric element composed of the core portion 3 of the conductive fiber B and the sheath portion 2 of the spike-shaped piezoelectric fiber A is not particularly limited, depending on the size or shape of the measurement area on the body to be measured Just make a decision. For example, a spike-shaped piezoelectric element can be manufactured continuously in manufacturing, and then cut to a necessary length and used. The length of the spike-shaped piezoelectric element is 1 mm to 20 m, preferably 1 cm to 10 m, and more preferably 10 cm to 5 m. When the length is too short, there will be the aforementioned effect of the present invention compared with the previous point sensor, that is, the number of sensors per unit area can be reduced, and the number of sensors can be specified When the effect such as the position where the stress is applied cannot be sufficiently achieved, in addition, when the length is too long, it is necessary to consider the resistance value of the conductive fiber B. However, for example, for the resistance value, it is not necessary to consider the resistance value by measuring the current value, and for the noise, the current amplification line can be used to suppress (or remove) the noise by amplifying the signal. Very good amplifier.

Hereinafter, each structure will be described in detail.

(Conductive fiber) As the conductive fiber B, any one that shows conductivity can be used, and any known ones can be used. Examples of the conductive fiber B include metal fibers, fibers composed of conductive polymers, carbon fibers, fibers composed of polymers dispersed in a fibrous or granular conductive filler, or on the surface of fibrous materials Fibers provided with conductive layers. Examples of the method for providing a conductive layer on the surface of the fibrous material include metal coating, conductive polymer coating, and winding conductive fibers. Among them, metal coating is particularly preferred from the viewpoint of conductivity, durability, flexibility, and the like. As a specific method of coating the metal, vapor deposition, sputtering, electrolytic plating, electroless plating, etc. may be mentioned, but from the viewpoint of productivity, electroplating is preferable. The fiber system of the metal that is electroplated can be called metal electroplating fiber.

As the fibers coated with metal on the base layer, known fibers with or without conductivity can be used, for example, polyester fibers, nylon fibers, acrylic fibers, polyethylene fibers, polypropylene fibers, vinyl chloride fibers, aromatic polyamide fibers In addition to synthetic fibers such as polyester fiber, polyether fiber, polyurethane fiber, natural fibers such as cotton, hemp, silk, and semi-synthetic fibers such as acetate, rayon, copper ammonium cupro (cupro) And other recycled fibers. The fibers of the base layer are not limited to these fibers, and any known fibers may be used arbitrarily or in combination.

The metal to which the fibers of the base layer are coated exhibits electrical conductivity, and any metal can be used as long as the effect of the present invention is exerted. For example, gold, silver, platinum, copper, nickel, tin, zinc, palladium, indium tin oxide, copper sulfide, etc., and mixtures or alloys of these can be used.

When an organic fiber coated with a metal having bending resistance is applied to the conductive fiber B, the conductive fiber is rarely broken, and is excellent in durability and safety as a sensor using a piezoelectric element.

For the conductive fiber B system, a multifilament bundled with a plurality of monofilaments may be used, or a single fiber composed of a single filament may be used. The multifilament aspect is preferable from the viewpoint of long-term stability of electrical characteristics. In the case of a single fiber (including spun yarn), the monofilament diameter length is 1 μm to 5000 μm, preferably 2 μm to 100 μm. It is more preferably 3 μm to 50 μm. In the case of multifilament, the number of single filaments is preferably 1 to 100,000, preferably 5 to 500, and more preferably 10 to 100. However, the fineness and number of the conductive fiber B are the fineness and number of the core 3 used in making the tape, and the multifilament formed by a plurality of monofilaments (single fiber) can also be counted as one conductive Sex fiber B. Here, even when a fiber other than conductive fibers is used, the core portion 3 is considered to include the entire amount.

If the diameter of the fiber is small, the strength decreases and the operation becomes difficult. In addition, when the diameter is large, flexibility is sacrificed. The cross-sectional shape of the conductive fiber B is circular or elliptical, which is good from the viewpoint of the design and manufacture of the piezoelectric element, but it is not limited to this.

In addition, in order to efficiently extract the electrical output from the piezoelectric polymer, the electrical resistance is preferably low, and the volume resistivity is preferably 10 ^-1 Ω · cm or less, preferably 10 ^-2 Ω · cm or less It is better to be 10 ^-3 Ω · cm or less. However, as long as sufficient strength can be obtained from the detection of the electrical signal, the resistivity of the conductive fiber B is not limited to this.

For the purpose of the present invention, the conductive fiber B must be resistant to so-called repeated bending or twisting. As its index, the nodule strength is preferably the greater. The nodule strength can be measured in accordance with JIS L1013 8.6. For the present invention, the degree of suitable nodule strength is preferably 0.5 cN / dtex or more, preferably 1.0 cN / dtex or more, more preferably 1.5 cN / dtex or more, and most preferably 2.0 cN / dtex or more. In addition, as another index, the bending rigidity is the smaller. The bending rigidity is generally measured with a measuring device such as a KES-FB2 pure bending tester made by Kato Tech Co., Ltd. The degree of appropriate bending rigidity of the present invention is preferably smaller than carbon fiber "Tenax" (registered trademark) HTS40-3K manufactured by Toho Tenax Corporation. Specifically, the flexural rigidity of the conductive fiber is ^{0.05 × 10 -4 N · m 2} / m or less ^{good, 0.02 × 10 -4 N · m} 2 / m or less preferably, of 0.01 × 10 ^-4 N · m ² Below / m is better.

(Piezoelectric fiber) As a material of piezoelectric fiber A, that is, a piezoelectric polymer system, a polymer exhibiting piezoelectricity such as polyvinylidene fluoride or polylactic acid can be used. In this embodiment, as described above It is preferable that the piezoelectric fiber A as the main component is a crystalline polymer having a high absolute value of the piezoelectric constant d14 when the alignment axis is formed into three axes, and particularly contains polylactic acid. Polylactic acid, for example, is easy to align due to elongation after melt spinning and exhibits piezoelectricity, and is excellent in productivity in that it does not require necessary electric field alignment treatment with polyvinylidene fluoride or the like. However, this situation is not intended to exclude the use of piezoelectric materials other than polyvinylidene fluoride in the practice of the present invention.

As polylactic acid, depending on its crystal structure, there are L-lactic acid, poly-L-lactic acid obtained by polymerizing L-Lactide, D-lactic acid, and poly-D-lactic acid obtained by polymerizing D-Lactide. Furthermore, STEREO COMPLEX POLYLACTIC ACID (SC-PLA), etc. composed of these hybrid structures can be used as long as they exhibit piezoelectricity. From the viewpoint of the piezoelectricity, poly-L-lactic acid and poly-D-lactic acid are preferred. Poly-L-lactic acid and poly-D-lactic acid each reverse their polarization to the same stress, so they can be used in combination according to the purpose.

The optical purity of polylactic acid is preferably 99% or more, more preferably 99.3% or more, and even more preferably 99.5% or more. When the optical purity is less than 99%, there is a case where the piezoelectric ratio is significantly reduced, and there are cases where it is difficult to obtain a sufficient electrical signal due to the shape change of the piezoelectric fiber A. In particular, the piezoelectric fiber A contains the main component poly-L-lactic acid or poly-D-lactic acid, and the optical purity of these is preferably 99% or more.

The piezoelectric fiber A with polylactic acid as the main component is stretched at the time of manufacture, and is aligned one axis in the fiber axis direction. Furthermore, the piezoelectric fiber A is preferably not only uniaxially aligned in the fiber axis direction but also includes crystalline fibers of polylactic acid, and more preferably crystalline fibers including uniaxially aligned polylactic acid. This is because polylactic acid shows greater piezoelectricity due to its high crystallinity and uniaxial alignment and increases the absolute value of d14.

The crystallinity and uniaxial alignment are determined based on the homo PLA crystallinity X _homo (%) and the crystal orientation Ao (%). As the piezoelectric fiber A of the present invention, the homo PLA crystallinity degree X _homo (%) and the crystal orientation degree Ao (%) preferably satisfy the following formula (1). When the foregoing formula (1) is not satisfied, the crystallinity and / or uniaxial alignment is insufficient, and there may be a decrease in the output value of the electrical signal to the action, or a decrease in the signal sensitivity to the action in a specific direction. The numerical value on the left side of the foregoing formula (1) is preferably 0.28 or more, and more preferably 0.3 or more. Here, each numerical value is calculated as follows.

Homo polylactic acid crystallinity degree X _homo : The Homo polylactic acid crystallinity degree X _homo can be calculated from the crystal structure analysis using wide-angle X-ray diffraction analysis (WAXD). For wide-angle X-ray diffraction analysis (WAXD), an ultrax18 X-ray diffraction device manufactured by Rigaku Co., Ltd. was used to record the X-ray diffraction pattern of the sample on an imaging plate using the transmission method according to the following conditions. X light source: Cu-Kα light (confocal mirror: confocal mirror) Output: 45kV × 60mA Slit: 1st: 1mmΦ, 2nd: 0.8mmΦ Camera length: 120mm Total time: 10 minutes Sample: Pull 35mg of polylactic acid fiber Make 3cm fiber bundle together. Obtain the total scattering intensity Itotal from the obtained X-ray diffraction pattern across the azimuth angle, here we obtain the integral of each diffraction peak from the crystal of Homo polylactic acid appearing near 2θ = 16.5 °, 18.5 °, 24.3 ° The sum of the intensity ΣI _HMi . From these numerical values, the Homo polylactic acid crystallinity X _{homo was} determined according to the following formula (2). In addition, ΣI _HMi is calculated by subtracting the diffuse scattering caused by the background or amorphous from the total scattering intensity.

(2) Crystal alignment degree Ao: For the crystal alignment degree Ao, the X-ray diffraction pattern obtained by the aforementioned wide-angle X-ray diffraction analysis (WAXD) is for Homo, which appears near 2θ = 16.5 ° in the dynamic diameter direction. The diffraction peak derived from the crystallization of polylactic acid obtains the intensity distribution with respect to the azimuth (°), and the total ΣW _i (°) of the half-value amplitude from the obtained distribution analysis chart is calculated according to the following equation (3).

In addition, since the polylactic acid-based polyester is relatively rapidly decomposed by water, when a damp heat resistance becomes a problem, a well-known isocyanate compound, oxazoline compound, epoxy compound, carbodiimide compound, etc. may be added to add water Decomposition inhibitor. In addition, if necessary, an oxidation inhibitor such as a phosphoric acid compound, a plasticizer, an optical deterioration inhibitor, etc. may be added to improve the physical properties.

For the piezoelectric fiber A series, a multifilament bundled with a plurality of monofilaments may be used, or a single fiber composed of a single filament may be used. In the case of a single fiber (including spun yarn), the monofilament diameter length is 1 μm to 5 mm, preferably 5 μm to 2 mm, more preferably 10 μm to 1 mm. In the case of multifilament, the diameter of the monofilament is 0.1 μm to 5 mm, preferably 2 μm to 100 μm, more preferably 3 μm to 50 μm. The number of monofilaments of the multifilament is preferably 1 to 100,000, preferably 50 to 50,000, and more preferably 100 to 20,000. However, regarding the fineness or the number of piezoelectric fibers A, the fineness and number of each carrier when making the tape, the multifilament formed from a plurality of monofilaments (single fiber) can also be counted as a single Electrical fiber A. Here, even if a fiber other than piezoelectric fibers is used in one carrier, it is regarded as an amount including the entirety.

In order to make such a piezoelectric polymer into a piezoelectric fiber A, as long as the effect of the present invention is exerted, any known technique for fibrillating from a polymer can be adopted. For example, a method of extruding piezoelectric polymers after fibrillation, a method of melt-spinning piezoelectric polymers after fibrillation, and piezoelectric fibers using dry or wet spinning and fiberization Techniques, methods of spinning piezoelectric polymers by electrospinning to fibrillate them, methods of cutting thin films after forming films, etc. For these spinning conditions, different well-known methods may be applied depending on the piezoelectric polymer used, and generally, a melt spinning method that is easy to produce in industry may be used. Furthermore, after forming the fiber, the formed fiber is extended. Thereby, a piezoelectric fiber A exhibiting large piezoelectricity and having uniaxial extension alignment and containing crystals is formed.

In addition, the piezoelectric fiber A may be subjected to dyeing, twisting, doubling, heat treatment, etc., before the object produced in the above-described manner is made into a tape.

In addition, the piezoelectric fiber A has a strong strength and abrasion resistance of 1.5 cN / dtex because the fibers are broken due to friction between the fibers when forming the ear belt, or when hairiness runs out. The above is preferable, preferably 2.0 cN / dtex or more, more preferably 2.5 cN / dtex or more, and most preferably 3.0 cN / dtex or more. The wear resistance can be evaluated according to JIS L1095 9.10.2 B method, etc. The number of friction cycles is preferably 100 cycles or more, preferably 1000 cycles or more, more preferably 5000 cycles or more, and most preferably 10,000 cycles or more. The method for improving the abrasion resistance is not particularly limited, and all known methods can be used, for example, either to increase the crystallinity, to add fine particles, or to perform surface processing. In addition, it is also possible to apply a lubricant to the fibers during processing of the ear tape to reduce friction.

In addition, the shrinkage rate of the piezoelectric fiber is preferably smaller than the shrinkage rate of the aforementioned conductive fiber. When the difference in shrinkage ratio is large, the post-processing process after the production of the ear belt or the actual use will cause the ear belt to bend when heated or changed over time, which will cause the piezoelectric signal to weaken. When the shrinkage rate is quantified according to the boiling water shrinkage rate described later, it is preferable that the boiling water shrinkage rate S (p) of the piezoelectric fiber and the boiling water shrinkage rate S (c) of the conductive fiber satisfy the following formula (4) . The left side of the aforementioned equation (4) is preferably 5 or less, more preferably 3 or less.

In addition, the shrinkage rate of the piezoelectric fiber is preferably smaller than the shrinkage rate of fibers other than conductive fibers, for example, insulating fibers. When the difference in shrinkage ratio is large, the post-processing process after the production of the ear belt or the actual use will cause the ear belt to bend when heated or changed over time, which will cause the piezoelectric signal to weaken. When the shrinkage ratio is quantified according to the boiling water shrinkage ratio, it is preferable that the boiling water shrinkage ratio S (p) of the piezoelectric fiber and the boiling water shrinkage ratio S (i) of the insulating fiber satisfy the following formula (5). The left side of the aforementioned equation (5) is preferably 5 or less, more preferably 3 or less.

In addition, the shrinkage rate of the piezoelectric fiber is preferably smaller. For example, when the shrinkage rate is quantified according to the boiling water shrinkage rate, the shrinkage rate of the piezoelectric fiber is preferably 15% or less, preferably 10% or less, more preferably 5% or less, and most preferably 3% or less. As a means for reducing the shrinkage rate, all known methods can be applied. For example, heat treatment can be used to ease the alignment of the amorphous portion or to reduce the shrinkage rate by increasing the degree of crystallization. After, after twisting the yarn, or after the ears are tapered, etc. In addition, the aforementioned boiling water shrinkage rate is measured according to the following method. Using a measuring machine with a circumference of 1.125 m, a coil of 20 turns was made, a load of 0.022 cN / dtex was applied, the suspension was hung on the scale plate, and the initial coil length L0 was measured. Thereafter, after the coil was treated in a boiling water bath at 100 ° C. for 30 minutes, the coil was left to cool and the aforementioned load was applied, and then hung on a scale plate to measure the length L of the coil after shrinkage. Using the measured L0 and L, the boiling water shrinkage ratio was calculated using the following equation (6).

(Coating) The conductive fiber B, that is, the core portion 3, is coated with a surface of the piezoelectric fiber A, that is, the spike-shaped sheath portion 2. The thickness of the sheath portion 2 covering the conductive fiber B is preferably 1 μm to 10 mm, preferably 5 μm to 5 mm, more preferably 10 μm to 3 mm, and most preferably 20 μm to 1 mm. If it is too thin, it may be a problem in terms of strength. In addition, if it is too thick, the spike-shaped piezoelectric element 1 may become hard and difficult to deform. In addition, the sheath portion 2 referred to herein refers to the layer adjacent to the core portion 3.

In the spike-shaped piezoelectric element 1, the total fineness of the piezoelectric fibers A of the sheath portion 2 is preferably 1/2 or more, 20 or less, and 1 or more of the total fineness of the conductive fibers B of the core portion 3 It is preferably 15 times or less, more preferably 2 times or more, and more preferably 10 times or less. If the total fineness of the piezoelectric fiber A is too small relative to the total fineness of the conductive fiber B, the piezoelectric fiber A surrounding the conductive fiber B will be too small, so that the conductive fiber B cannot output enough electrical signals, and There is a concern that the conductive fiber B is in contact with other conductive fibers in proximity. When the total fineness of the piezoelectric fiber A is too large relative to the total fineness of the conductive fiber B, the piezoelectric fiber A surrounding the conductive fiber B is too much, making the spike-shaped piezoelectric element 1 hard and difficult to deform. That is, in any case, the spike-shaped piezoelectric element 1 cannot fully function as a sensor. Here, the total fineness is the total fineness of all the piezoelectric fibers A constituting the sheath portion 2, for example, in the case of a general 8-tapping tape, the total fineness of 8 fibers is added.

In addition, in the tape-shaped piezoelectric element 1, each denier of the piezoelectric fiber A of the sheath portion 2 is 1/20 times or more, preferably 2 times or less, and 1/15 times or more of the total fineness of the conductive fiber B. It is preferably 1.5 times or less, more preferably 1/10 times or more, more preferably 1 times or less. The fineness of each of the piezoelectric fibers A is too small relative to the total fineness of the conductive fibers B. Too few piezoelectric fibers A prevents the conductive fibers B from outputting sufficient electrical signals. Sex fiber A doubts. When the fineness of each of the piezoelectric fibers A is too large relative to the total fineness of the conductive fibers B, the piezoelectric fibers A are too thick, making the spike-shaped piezoelectric element 1 hard and difficult to deform. That is, in any case, the spike-shaped piezoelectric element 1 cannot fully function as a sensor.

In addition, when metal fibers are used as the conductive fibers B, or when the metal fibers are mixed with the conductive fibers B or the piezoelectric fibers A, the ratio of fineness is not limited to the above. In the present invention, the aforementioned ratio is important from the viewpoint of contact area or coverage, that is, area and volume. For example, when the specific gravity of each fiber exceeds 2, it is preferable that the ratio of the average cross-sectional area of the fiber be the ratio of the fineness.

The piezoelectric fiber A and the conductive fiber B are preferably adhered as closely as possible, and in order to improve the adhesion, an anchor layer or an adhesive layer may be provided between the conductive fiber B and the piezoelectric fiber A .

For the coating method, the conductive fiber B is used as the core yarn, and the piezoelectric fiber A is wound around it in the shape of a spike. On the other hand, the shape of the spike tape of the piezoelectric fiber A is not particularly limited as long as it can output electrical signals for the stress generated by the applied load, but it is preferably 8 spike tapes or 16 dozen with the core 3 Spike band.

The shapes of the conductive fiber B and the piezoelectric fiber A are not particularly limited, but they are preferably as close to concentric circles as possible. In addition, when a multifilament is used as the conductive fiber B, the piezoelectric fiber A may be coated so as to contact at least a part of the multifilament surface (fiber peripheral surface) of the conductive fiber B. The surface of the monofilament (the peripheral surface of the fiber) may or may not be covered with piezoelectric fiber A. The coating state of each monofilament of the piezoelectric fiber A to the inside of the multifilament constituting the conductive fiber B may be set as appropriate considering the performance and operability of the piezoelectric element.

In the spike-shaped piezoelectric element 1 of the present invention, since there is no need to have an electrode on its surface, there is no need to further coat the spike-shaped piezoelectric element 1 itself, and there is an advantage that it is less likely to malfunction.

(Insulating fiber) More specifically, in the spike-shaped piezoelectric element 1, the sheath portion 2 may be formed using only the piezoelectric fiber A, or may be formed using a combination of the piezoelectric fiber A and the insulating fiber .

As this type of insulating fiber, for example, polyester fiber, nylon fiber, acrylic fiber, polyethylene fiber, polypropylene fiber, vinyl chloride fiber, aromatic polyamide fiber, polyphenol fiber, polyether fiber, polyurethane In addition to synthetic fibers such as ester fibers, natural fibers such as cotton, hemp, and silk, semi-synthetic fibers such as acetate, regenerated fibers such as rayon, cupro, etc. can be used. It is not limited to these, and a well-known insulating fiber can be used arbitrarily. In addition, these insulating fibers may be used in combination, or they may be combined with fibers without insulation to form fibers having insulation properties as a whole. In addition, all known cross-sectional shapes of fibers can also be used.

(Manufacturing method) In the spike-shaped piezoelectric element 1 of the present invention, the surface of at least one conductive fiber B is covered with spike-shaped piezoelectric fibers A, and examples of the manufacturing method include the following methods. That is to say, the conductive fiber B and the piezoelectric fiber A are produced in separate processes, and the conductive fiber B is wound around the piezoelectric fiber A in a ribbon shape and covered. In this case, it is preferable to coat as close to concentric circles as possible.

In this case, when polylactic acid is used as the piezoelectric polymer forming the piezoelectric fiber A, the best spinning and drawing conditions are as follows. The melt spinning temperature is preferably 150 to 250 ° C, and the drawing temperature is preferably 40 ~ 150 ° C, the stretch ratio is preferably from 1.1 to 5.0 times, and the crystallization temperature is preferably 80 to 170 ° C.

As the piezoelectric fiber A wound around the conductive fiber B, a multifilament bundled with a plurality of monofilaments may be used, or a single fiber (including spun yarn) may be used. In addition, as the conductive fiber B to which the piezoelectric fiber A is wound, a multifilament bundled with a plurality of monofilaments may be used, or a single fiber (including spun yarn) may be used.

As the best form of coating, the conductive fiber B is used as the core yarn, the piezoelectric fiber A button is formed into a ribbon shape around the circumference, and a tubular braid (Tubular Braid) is produced and coated . More specifically, there may be an 8-heading belt or a 16-heading belt having a core 3. However, for example, the piezoelectric fiber A may be used as an image braided tube or the like, and the conductive fiber B may be used as a core and inserted into the braided tube to be coated.

According to the manufacturing method as described above, a spike-shaped piezoelectric element 1 in which the surface of the conductive fiber B is coated with spike-shaped piezoelectric fibers A can be obtained.

In the spike-shaped piezoelectric element 1 of the present invention, since it is not necessary to form electrodes for detecting electrical signals on the surface, it can be manufactured relatively easily.

(Protective layer) A protective layer may be provided on the outermost surface of the spike-shaped piezoelectric element 1 of the present invention. The protective layer is preferably insulating, and is preferably composed of a polymer from the viewpoint of flexibility and the like. In the case where the protective layer is insulating, of course, there may be deformation with the protective layer or friction on the protective layer, but as long as these external forces reach the piezoelectric fiber A, the polarization can be induced. Specially limited. The protective layer is not limited to those formed by coating with a polymer or the like, and may be wound film, fabric, fiber, or the like, or may be a combination of these.

As the thickness of the protective layer is as thin as possible, the shear stress can be easily transmitted to the piezoelectric fiber A, but when it is too thin, problems such as damage to the protective layer itself are likely to occur, so 10 nm to 200 μm is preferable, and 50 nm to 50 μm is preferable , 70nm ~ 30μm is better, 100nm ~ 10μm is the best. The shape of the piezoelectric element may be formed according to this protective layer.

In addition, for the purpose of reducing noise, the electromagnetic wave shielding layer can also be incorporated into the ear belt structure. The electromagnetic wave shielding layer is not particularly limited, and may be a material coated with conductivity, or may be wound with a conductive film, cloth, fiber, or the like. The volume resistivity of the electromagnetic wave shielding layer is preferably 10 ^-1 Ω · cm or less, preferably 10 ^-2 Ω · cm or less, and more preferably 10 ^-3 Ω · cm or less. However, as long as the effect of the electromagnetic wave shielding layer can be obtained, the resistivity is not limited to this. The electromagnetic wave shielding layer may be provided on the surface of the piezoelectric fiber A of the sheath, or may be provided outside the aforementioned protective layer. Of course, the electromagnetic wave shielding layer and the protective layer can be laminated in multiple layers, and the order can also be determined according to different purposes.

Furthermore, a plurality of layers composed of piezoelectric fibers may be further provided, and a plurality of layers composed of conductive fibers for taking out signals may be further provided. Of course, the protective layer, the electromagnetic wave shielding layer, the layer composed of piezoelectric fibers, and the layer composed of conductive fibers can determine the order and number of layers according to their different purposes. In addition, as a method of winding, a method of forming a tape structure on the outer layer of the sheath 2 or covering it may be mentioned.

When the spike-shaped piezoelectric element 1 is deformed, the piezoelectric fiber A is deformed and polarized. Affected by the arrangement of the positive and negative charges due to the polarization of the piezoelectric fiber A, charge movement occurs on the pull-out line from the output terminal of the conductive fiber B forming the core portion 3 of the spike-shaped piezoelectric element 1. The movement of charge on the pull-out line from the conductive fiber B appears as a tiny electrical signal (ie, current or potential difference). In other words, the electrical signal is output from the output terminal in accordance with the charge generated when the spike-shaped piezoelectric element 1 is deformed. Therefore, the spike-shaped piezoelectric element 1 can effectively function in the sensing system of the present invention.

In addition, in the experiments shown in FIGS. 9 to 11 described above, as the linear piezoelectric element of the sensing system of the present invention, the spike-shaped piezoelectric element 1-2 described below is used, which is as follows Method manufacturing.

The characteristics of the piezoelectric fiber used in the spike-shaped piezoelectric element are determined according to the following method. (1) Poly-L-lactic acid crystallinity degree X _homo : The poly-L-lactic acid crystallinity degree X _homo is obtained from crystal structure analysis based on wide-angle X-ray diffraction analysis (WAXD). For wide-angle X-ray diffraction analysis (WAXD), an ultrax18 X-ray diffraction device manufactured by Rigaku Co., Ltd. was used to record the X-ray diffraction pattern of the sample on the image board according to the following conditions using the transmission method. X light source: Cu-Kα light (confocal mirror: confocal mirror) Output: 45kV × 60mA Slit: 1st: 1mmΦ, 2nd: 0.8mmΦ Camera length: 120mm Total time: 10 minutes Sample: Pull 35mg of polylactic acid fiber Make 3cm fiber bundle together. Obtain the total scattering intensity I _total from the obtained X-ray diffraction pattern across the azimuth angle. Here, each diffraction from poly-L-lactic acid crystals appearing near 2θ = 16.5 °, 18.5 °, and 24.3 ° is obtained. The sum of the integrated intensity of the peak value ΣI _HMi . From these numerical values, the degree of poly-L-lactic acid crystallinity X _{homo was} determined according to the following equation (7). In addition, ΣI _HMi is calculated by subtracting the diffuse scattering caused by background or amorphous from the total scattering intensity.

(2) Poly-L-lactic acid crystal orientation degree A: For the poly-L-lactic acid crystal orientation degree A, the X-ray diffraction pattern obtained by the aforementioned wide-angle X-ray diffraction analysis (WAXD) is aimed at the occurrence of The diffraction peak from the poly-L-lactic acid crystal near 2θ = 16.5 ° in the direction obtains the intensity distribution for the azimuth (°). The total half-value amplitude ΣW _i (°) from the obtained distribution analysis chart is in accordance with Calculate the following formula (8).

(3) Optical purity of polylactic acid: Take 0.1 g of polylactic acid fiber (one bundle in the case of multifilament) that constitutes a spike-shaped piezoelectric element, add 1.0 mL of 5 mol / liter sodium hydroxide aqueous solution and Methanol 1.0mL, placed in a water bath shaker set at 65 ℃, until the polylactic acid becomes a homogeneous solution for about 30 minutes of hydrolysis, and then, add 0.25 mol / liter of sulfuric acid to the solution after the hydrolysis is completed and neutralize until Up to pH7, 0.1 mL of this decomposition solution was taken, diluted with 3 mL of mobile phase solution by high performance liquid chromatography (HPLC), and filtered with a membrane filter (0.45 μm). HPLC measurement of this adjusted solution was performed, and the ratio of L-lactic acid monomer and D-lactic acid monomer was quantified. When one polylactic acid fiber is less than 0.1 g, the usage amount of other solutions is adjusted according to the amount that can be taken, and the polylactic acid concentration of the sample solution supplied to the HPLC measurement is made into a range of 1/100 from the same as described above. <HPLC measurement conditions> Column: "SUMICHIRAL (registered trademark)" OA-5000 (4.6mmφ × 150mm) manufactured by SCAS (Japan), mobile phase: 1.0 millimolar / liter of copper sulfate aqueous solution Mobile phase flow rate: 1.0 ml / Min detector: UV detector (wavelength 254nm) Injection volume: 100 microliters When the peak area from L lactic acid monomer is S _LLA and the peak area from D-lactic acid monomer is S _DLA , S _LLA and S _DLA are respectively proportional to the molar concentration of L-lactic acid monomer M _LLA and the molar concentration of D-lactic acid monomer M _DLA , therefore, the larger of S _LLA and S _DLA is set as S _MLA , the optical purity is calculated according to the following formula (9).

(Manufacture of polylactic acid) polylactic acid is manufactured according to the following method. To L-Lactide (manufactured by Japan Musashino Chemical Research Institute Co., Ltd., 100% optical purity) 100 parts, add 0.005 parts of tin octylate, under a nitrogen atmosphere, react at 180 ℃ in a reactor with a stirring blade After 2 hours of addition of 1.2 times the equivalent of phosphoric acid to tin octylate, the lactide remaining at 13.3 Pa was removed under reduced pressure and wafered to obtain poly-L-lactic acid (PLLA1). The obtained PLLA1 had a mass average molecular weight of 152,000, a glass transition point (Tg) of 55 ° C, and a melting point of 175 ° C.

(Piezoelectric fiber) The PLLA1 melted at 240 ° C was discharged from the 24-hole lid at 20 g / min and retrieved at 887 m / min. By stretching this undrawn multifilament yarn at 80 ° C, 2.3 times, and heat-fixed at 100 ° C, 84dTex / 24 monofilament multifilament uniaxially stretched yarn PF1 was obtained. The PLLA1 melted at 240 ° C was discharged from the 12-hole lid at 8 g / min and retrieved at 1050 m / min. By stretching this undrawn multifilament yarn at 80 ° C, 2.3 times, and heat-fixed at 150 ° C, a 33dTex / 12 monofilament multifilament uniaxially stretched yarn PF2 was obtained. These piezoelectric fibers PF1 and PF2 are used as piezoelectric polymers. The poly-L-lactic acid crystallinity, poly-L-lactic acid crystal orientation and optical purity of PF1 and PF2 were measured according to the aforementioned method, as shown in Table 1.

(Conductive fiber) As the conductive fiber B, silver-plated nylon manufactured by Japan Mitsufuji Co., Ltd., trade name "AGposs" 100d34f (CF1) was used. The resistivity of CF1 is 250Ω / m. In addition, as the conductive fiber B, silver-plated nylon manufactured by Japan Mitsufuji Co., Ltd., trade name "AGposs" 30d10f (CF2) was used. The conductivity of CF2 is 950Ω / m.

(Insulating fiber) Insulation of 84dTex / 24 monofilament extension yarn IF1 and 33dTex / 12 monofilament extension yarn IF2 produced by extending polyethylene terephthalate after melt spinning Sex fiber.

(Spike-shaped piezoelectric element) As shown in Fig. 14, by using conductive fiber CF1 as the core yarn, among the 8 carriers of the 8-round round-tape machine, four carriers are woven in the Z twist direction The aforementioned piezoelectric fiber PF1 is installed, and the aforementioned insulating fiber IF1 is installed on the four carriers woven in the S twisting direction and woven to produce the piezoelectric fiber PF1 around the core yarn in the Z twisting direction Spiral ribbon piezoelectric element 1-1 wound into a spiral shape. Here, the winding angle (alignment angle θ) of the piezoelectric fiber to the conductive fiber fiber axis CL is 45 °. Furthermore, by using the spike-shaped piezoelectric element 1-1 as the core yarn, of the eight carriers of the button making machine, four carriers woven in the Z twist direction and four carriers woven in the S twist direction All the aforementioned conductive fibers CF2 were installed and woven, and the surroundings of the spike-shaped piezoelectric element 1-1 were covered with conductive fibers to make the spike-shaped piezoelectric element 1-2. The spike-shaped piezoelectric element 1-2 was used in the experiments shown in FIGS. 11 to 18 as described above.

Secondly, regarding the piezoelectric element used in the sensing system of the present invention, the value of the orientation angle θ and T1 / T2 of the piezoelectric polymer will be investigated to bring the influence of the electrical signal on the elongation deformation.

The characteristics of the piezoelectric element are determined according to the following method. (1) The orientation angle θ of the piezoelectric polymer to the direction of the central axis The orientation angle θ of the piezoelectric polymer to the direction of the central axis is calculated from the following equation. θ = arctan (2πRm / HP) (0 ° ≦ θ ≦ 90 °) However, Rm = 2 (Ro ³ -Ri ³ ) / 3 (Ro ² -Ri ² ), which means that the average spike zone is the cross-sectional area The radius of the piezoelectric element (or other structure). The spiral pitch HP, the outer radius Ro and the inner radius Ri of the portion occupied by the spike-shaped piezoelectric element (or other structure) are measured as follows. (1-1) In the case of a spike-shaped piezoelectric element, (when the spike-shaped piezoelectric element is coated with a coating other than piezoelectric polymers, the coating is removed as necessary and the piezoelectricity can be viewed from the side Because of the state of the polymer) side photographs were taken, and the helical pitch HP (μm) of the piezoelectric polymer was measured at any five locations as shown in FIG. 15 and the average value was taken. In addition, after the spike-shaped piezoelectric element was dyed with a low-viscosity instant adhesive "Aron Alpha EXTRA2000" (manufactured by Japan East Asia Synthetic Co., Ltd.) and cured, a vertical section was cut along the long axis of the spike Take a cross-sectional photo, measure the outer radius Ro (μm) and inner radius Ri (μm) of the portion occupied by the spike-shaped piezoelectric element for one cross-section photo as described later, and measure for any other 5 cross-sections, and take the average value. When the piezoelectric polymer and the insulating polymer are braided at the same time, for example, when the piezoelectric fiber and the insulating fiber are combined, or the 4 fibers of the 8 tacking tape are piezoelectric polymer, the remaining When the four fibers are insulating polymers, when the cross-sections are taken at various positions, the area where the piezoelectric polymer exists and the area where the insulating polymer exists are replaced with each other, so the area where the piezoelectric polymer exists is insulated from The area where the sexual polymer exists is taken together as the portion occupied by the spike-shaped piezoelectric element. However, the portion of the insulating polymer that is not woven with the piezoelectric polymer at the same time is not regarded as a part of the spike-shaped piezoelectric element. The outer radius Ro and the inner radius Ri are measured as follows. As shown in the cross-sectional photograph of FIG. 16 (a), the area occupied by the piezoelectric structure (the sheath portion 2 formed of the piezoelectric fiber A) (hereinafter referred to as PSA) is defined, and is located at the center of the PSA and is not the PSA Field (hereinafter referred to as CA). The average value of the diameter of the smallest true circle on the outside of the PSA that does not overlap the PSA and the diameter of the largest true circle that does not pass through the outside of the PSA (can pass CA) is set to Ro (FIG. 16 (b)). In addition, let the average value of the diameter of the smallest true circle outside the CA that does not overlap the CA and the diameter of the largest true circle that does not pass through the CA be Ri (FIG. 16 (c)). (1-2) When the filament-shaped piezoelectric element is coated, the winding speed when covering the piezoelectric polymer is T / m (the number of rotations of the piezoelectric polymer per length of the coated filament ), Set the spiral pitch HP (μm) = 1000000 / T. In addition, after coating the filament-shaped piezoelectric element with a low viscosity instant adhesive "Aron Alpha EXTRA2000" (manufactured by Japan East Asia Synthetic Co., Ltd.) and curing it, the vertical axis of the ear tape is cut out vertically Take a profile and take a profile photo. For one profile photo, measure the outer radius Ro (μm) and the inner radius Ri (μm) of the portion of the covered filament piezoelectric element in the same way as in the case of a spike-shaped piezoelectric element. Perform the same measurement on any other 5 cross sections and take the average value. When the piezoelectric polymer and the insulating polymer are braided at the same time, for example, when the piezoelectric fiber and the insulating fiber are laid together, or when the piezoelectric fiber and the insulating fiber are not overlapped In this case, when cross-sections are taken at various positions, the area where the piezoelectric polymer exists and the area where the insulating polymer exists are replaced with each other, so the area where the piezoelectric polymer exists and the area where the insulating polymer exists are added together It is regarded as the part covered by the wire-shaped piezoelectric element. However, if the insulating polymer is not covered with the piezoelectric polymer at the same time, that is, which cross section is taken and the insulating polymer is often inside or outside the piezoelectric polymer, it is not regarded as a package. Part of the wire-shaped piezoelectric element.

(2) Measurement of electrical signals When the electric meter (B2987A manufactured by Keysight Technologies Inc.) is connected to the electrical conductor of the piezoelectric element through a coaxial cable (core: Hi pole, shield: Lo pole), the piezoelectric element The current value was measured at intervals of 50 m seconds while performing any of the following operation tests 2-1 to 5. (2-1) Tensile test uses the universal material testing machine "Tensilon RTC-1225A" manufactured by Japan Orientec Co., Ltd., with a gap of 12 cm in the longitudinal direction of the piezoelectric element, and the piezoelectric element chuck (chuck) Grab, set the element to a slack state of 0.0N, set the displacement when stretched to a tension of 0.5N to 0mm, and stretch at an operating speed of 100mm / min to 1.2mm, then to 0mm The action of -100mm / min action speed recovery is repeated 10 times. (2-2) The twist test is made of two chucks designed to hold the piezoelectric element, and one of the chucks is installed on a track such as the piezoelectric element that can move freely in the long axis direction without twisting. It also forms a state where a tension of 0.5N is often applied to the piezoelectric element, and the other chuck does not move in the direction of the long axis of the piezoelectric element and twists. Hold the piezoelectric element with these chucks at intervals, and rotate it at a speed of 100 ° / s from 0 ° to 45 ° in a manner that the chuck is viewed from the center of the element and rotates and twists clockwise. The reciprocating twisting action of -100 ° / s rotating from 45 ° to 0 ° is repeated 10 times. (2-3) The bending test uses two chucks with an upper part and a lower part, the lower chuck is fixed, the upper chuck is positioned 72 mm above the lower chuck, and the upper chuck is moved through the line segment connecting the two chucks as The test device on the imaginary circumference of the diameter holds the piezoelectric element on the chuck and fixes it. When the upper chuck is at 12 o'clock and the lower chuck is at 6 o'clock, the pressure After the electrical component protrudes slightly in the direction of 9 o'clock, the upper chuck moves from the 1 o'clock position through the 1 o'clock, 2 o'clock position to 3 o'clock position on the circumference at a fixed speed for 0.9 seconds. The reciprocating bending motion that moves 0.9 seconds up to the 12 o'clock position is repeated 10 times. (2-4) For the shear test, two straight metal plates with plain woven cloth woven with No. 50 cotton yarn stuck to the surface are used to hold the central portion of the piezoelectric element at a length of 64 mm horizontally from above and below (the lower part The metal plate is fixed on the table), applying a vertical load of 3.2N from the top, directly sliding between the cotton cloth forming the surface of the metal plate and the piezoelectric element, the upper metal plate is loaded from 0N to 1N for 1 second After stretching in the longitudinal direction of the piezoelectric element, the shearing action until the tensile load returns to 0 N for 1 second is repeated 10 times. (2-5) For the pushing test, the universal material testing machine "Tensilon RTC-1225A" made by Japan Orientec Co., Ltd. was used, and the length of the central part of the piezoelectric element that was placed horizontally on a rigid metal table was 64mm. The rigid metal plate placed on the upper part of the crosshead (crosshead) is used to hold the piezoelectric element horizontally. The reaction force from the piezoelectric element to the upper metal plate is applied from 0.01N to 20N for 0.6 seconds. The crosshead is lowered and pressed, and the reaction force is applied for 0.6 seconds until it becomes 0.01 N. The pressure-removing operation is repeated 10 times.

(Example A) As the sample of Example A, as shown in FIG. 14, by using the conductive fiber CF1 as the core yarn, 8 carriers of the 8-round round-belt binding machine were knitted in the direction of Z twist The root carrier is equipped with the aforementioned piezoelectric fiber PF1, and the four carriers braided in the S twisting direction are fitted with the aforementioned insulating fiber IF1 and woven, so that the piezoelectric fiber is twisted in the Z twisting direction around the core yarn PF1 is wound into a spiral spike-shaped piezoelectric element 1-A.

(Example B) By using the ribbon-shaped piezoelectric element 1-A as the core yarn, of the eight carriers of the button making machine, four carriers woven in the Z twist direction and four woven in the S twist direction All the carriers were loaded with the aforementioned conductive fibers CF2 and woven, and the surroundings of the spike-shaped piezoelectric elements 1-A were covered with conductive fibers to make the spike-shaped piezoelectric elements 1-B.

(Examples C and D) Except that the winding speed of PF1 was changed, two spike-shaped piezoelectric elements were prepared in the same manner as the spike-shaped piezoelectric elements 1-A, and these spike-shaped piezoelectric elements were used as core yarns. In the same manner as the spike-shaped piezoelectric element 1-B, an object covered with conductive fibers was fabricated to make spike-shaped piezoelectric elements 1-C and 1-D.

(Examples E to H) Put PF1 or IF1 on the eight carriers of the button making machine, as shown in Table 2, in the Z-twisting direction and S-twisting direction, and weave them separately. The surroundings are made into spike ribbon-shaped piezoelectric elements in which the piezoelectric fiber PF1 is spirally wound in the Z twisting direction and the S twisting direction at a specified ratio, and these spike ribbon-shaped piezoelectric elements are used as core yarns and the spike ribbons The piezoelectric element 1-B is similarly produced by covering it with conductive fibers, and made into spike-shaped piezoelectric elements 1-E to 1-H.

(Example I) Except for using PF2 instead of PF1, using IF2 instead of IF1, and adjusting the winding speed, the ribbon-shaped piezoelectric element was made in the same way as the spike-shaped piezoelectric element 1-A. The element was used as a core yarn, and similarly to the spike-shaped piezoelectric element 1-B, an object covered with conductive fibers was produced to make the spike-shaped piezoelectric element 1-I.

(Example J) Except that PF2 is used instead of PF2, and PF2 is used instead of IF2, a spiked piezoelectric element is made in the same way as the spiked piezoelectric element 1-A, and this spiked piezoelectric element is used as the core yarn In the same manner as the spike-shaped piezoelectric element 1-B, an object covered with conductive fibers was produced to make the spike-shaped piezoelectric element 1-J.

(Example K) Made CF1 as the core yarn, wrap PF1 around the core yarn in the direction of S twisting with a covering number of 3000 times / m, and then wrap IF1 on the outside in the direction of Z twisting with 3000 times / m Wrap the CF2 back, and then wrap CF2 in the S twisting direction with a wrap count of 3000 rounds / m on the outside, and then wrap CF2 in the Z twist direction with a wrap count of 3000 rounds / m on the outside, The piezoelectric fiber PF1 is spirally wound in the S twisting direction around the core yarn, and the outer side is coated with the conductive fiber to cover the yarn-shaped piezoelectric element 1-K.

(Example L) Except for using IF1 instead of PF1, a spike-shaped piezoelectric element was made in the same way as the spike-shaped piezoelectric element 1-A, using this spike-shaped element as a core yarn, and a spike-shaped piezoelectric element 1-B Similarly, an object covered with conductive fibers was prepared to make a spike-shaped element 1-L.

(Example M) Except for using IF1 instead of PF1, the coated wire-shaped element was prepared in the same manner as the coated wire-shaped piezoelectric element 1-K, and the coated wire-shaped element 1-M.

(Example N) Except that PF1 was used instead of IF1, the spike-shaped piezoelectric element 1-N was prepared in the same manner as the spike-shaped piezoelectric element 1-B.

(Example O) Except for using PF2 instead of IF2, the same method was used as the spike-shaped piezoelectric element 1-I, and the spike-shaped piezoelectric element 1-O was prepared.

(Example P) With the conductive fiber CF1 as the core yarn, the above-mentioned piezoelectric fibers PF1 were mounted on the eight carriers woven in the Z twisting direction among the 16 carriers of the 16-round tape-making machine. The eight insulating carriers woven in the direction of S twisting are loaded with the aforementioned insulating fiber IF1 and woven, and a piezoelectric ribbon PF1 is spirally wound around the core yarn in the direction of Z twisting. For the element, using this spike-shaped piezoelectric element as a core yarn, an object covered with conductive fibers was produced in the same manner as the spike-shaped piezoelectric element 1-B, to make a spike-shaped piezoelectric element 1-P.

(Example Q) Make CF1 as the core yarn, wrap PF1 around the core yarn in the direction of S twisting with a covering number of 6000 cycles / m, and then wrap IF1 on the outside in the direction of Z twisting with 6000 cycles / m Wrap the CF2 back, and then wrap CF2 in the S twisting direction with a wrap count of 3000 rounds / m on the outside, and then wrap CF2 in the Z twist direction with a wrap count of 3000 rounds / m on the outside, The piezoelectric fiber PF1 is spirally wound in the S twisting direction around the core yarn, and the outer side is coated with the conductive fiber to cover the yarn-shaped piezoelectric element 1-Q.

The Ri, Ro, and HP of each piezoelectric element were measured, and the calculated value of the orientation angle θ of the piezoelectric polymer to the direction of the central axis and the value of T1 / T2 are shown in Table 2. For spike-shaped piezoelectric elements, Ri and Ro, the areas where piezoelectric fibers and insulating fibers exist are combined in a cross section to measure the areas occupied by piezoelectric elements. For the covered wire-shaped piezoelectric element, Ri and Ro, the areas where the piezoelectric fiber and the insulating fiber exist are merged in the cross section to measure the area occupied by the piezoelectric element. In addition, each piezoelectric element was cut to a length of 15 cm, and the conductive fiber of the core was used as the Hi pole, and the conductive fiber shielding the surrounding gold mesh or sheath was used as the Lo pole and connected to an electric meter (B2987A manufactured by Keysight Technologies Inc.) To monitor the current value. The current values at the time of tensile test, torsion test, bending test, shear test and pushing test are shown in Table 2. In addition, since Examples L and M do not contain piezoelectric polymers, the values of θ and T1 / T2 cannot be measured.

From the results in Table 2, when the orientation angle θ of the piezoelectric polymer to the direction of the central axis is 15 ° or more and 75 ° or less, and the T1 / T2 value is 0 or more and 0.8 or less, the stretching action (elongation deformation) occurs A large signal does not generate a large signal for actions other than stretching. It can be seen that it is an element that selectively responds to stretching actions. In addition, when Example I is compared with J, when more piezoelectric fibers are wound in the Z twisting direction, compared with when more piezoelectric fibers are wound in the S direction, the signal during the tensile test The polarity becomes reversed, and the winding direction will correspond to the polarity of the signal.

Furthermore, the table does not show that the signal when the tensile load is applied to the elements of Examples A to K is compared with the signal when the tensile load is released, because the polarity reversal occurs and the absolute values are approximately the same Signal, it can be seen that these components are suitable for quantifying tensile load or displacement. On the other hand, when the tensile load is applied to the elements of Examples N and O, compared with the signal when the tensile load is released, there are also cases where the polarity is reversed, so these are known. The element is not suitable for the quantification of tensile load or displacement. In addition, the table does not show, but it can be seen that the noise level during the tensile test of Example B is lower than that during the tensile test of Example A, and the conductivity is arranged outside the spike-shaped piezoelectric element Fiber as a shielding element can reduce noise.

1‧‧‧ Spike piezoelectric element

2‧‧‧Sheath

3‧‧‧Core

5‧‧‧Fabric piezoelectric element

6‧‧‧ cloth

6a‧‧‧Fabric central surface

7‧‧‧Insulating fiber

8‧‧‧ conductive fiber

10‧‧‧ installation

11‧‧‧ Piezoelectric element

12‧‧‧Amplification

13‧‧‧Output means

14‧‧‧Communication

15‧‧‧Comparative calculation method

101‧‧‧Linear piezoelectric element

102‧‧‧Signal Detection Department

103‧‧‧Calculation Processing Department

104‧‧‧ conductive fiber

201‧‧‧manipulator controller

202‧‧‧Robot

500-1‧‧‧Top

500-2‧‧‧ pants

500-3‧‧‧ gloves

1000‧‧‧sensing system

A‧‧‧Piezoelectric fiber

A’‧‧‧ Piezoelectric polymer

B‧‧‧conductive fiber

CL‧‧‧ fiber shaft

α‧‧‧Winding angle

FIG. 1 is a schematic diagram showing the basic configuration of a sensing system according to an embodiment. FIG. 2 is an explanatory diagram of the deformation speed of the linear piezoelectric element used in this embodiment. FIG. 3 is a graph showing the relationship between the deformation and the signal strength formed by the extension of the linear piezoelectric element shown in FIG. 2, (A) shows the relationship between the deformation speed and the signal strength (current value), and (B) shows The relationship between the position of the deformed part and the signal strength (current value). FIG. 4 is a schematic diagram showing the assembly of the sensing system according to an embodiment into the front (front) of the top and trousers. FIG. 5 is a schematic diagram showing the back of the top and pants of FIG. 4. FIG. 6 is an actual photo showing the assembly of the sensing system according to an embodiment into the back of the top. FIG. 7 is a photo showing the actual arrangement of the linear piezoelectric elements near the shoulders and elbows of the jacket. 8 is a diagram showing electrical signals generated when the elbow is bent after wearing the top shown in FIG. 7, (A) is an electrical signal generated by a linear piezoelectric element provided on the elbow of the top, (B) is an electrical signal generated by linear piezoelectric elements provided on the forearm and upper arm of the jacket. 9 is a diagram showing the electrical signal generated when the elbow is bent after wearing the top shown in FIG. 7 (FIG. 8) to the original situation, (A) is shown in the line shape of the elbow provided in the top The electrical signal generated by the piezoelectric element, (B), is displayed on the electrical signal generated by the linear piezoelectric elements provided on the forearm and upper arm of the jacket. 10 is a diagram showing the electrical signal generated when the elbow is twisted after wearing the top shown in FIG. 7, (A) is an electrical signal generated by a linear piezoelectric element provided on the elbow of the top, (B) is an electrical signal generated by linear piezoelectric elements provided on the forearm and upper arm of the jacket. Fig. 11 shows the electrical signal generated when the elbow is twisted after wearing the top shown in Fig. 7 (Fig. 10) and returned to the original occasion, (A) is shown in the line shape of the elbow provided in the top The electrical signal generated by the piezoelectric element, (B), is displayed on the electrical signal generated by the linear piezoelectric elements provided on the forearm and upper arm of the jacket. 12 is a diagram showing actual photos of gloves assembled according to an embodiment of the sensing system, (A) shows the back of the glove, (B) shows the palm of the glove, (C) shows the glove One side of the hand. FIG. 13 is a schematic diagram showing the basic configuration of a sensing system related to an embodiment of a connection robot control device. FIG. 14 is a schematic diagram showing a configuration example of the spike-shaped piezoelectric element according to the embodiment. FIG. 15 is a schematic diagram illustrating the calculation method of the alignment angle θ. FIG. 16 (A) to (C) are cross-sectional photographs of spike-shaped piezoelectric elements according to the embodiment.

Claims (8)

A sensing system characterized by: is a linear piezoelectric element that is arranged in clothing worn on the object to be measured, generates an electrical signal in response to applied stress, and is a linear piezoelectric element whose main component contains polylactic acid An element, a signal detection unit that detects the electrical signal generated by the linear piezoelectric element, and an arithmetic processing unit that determines the deformation of the clothing based on the electrical signal detected by the signal detection unit. A sensing system as claimed in item 1 of the patent application, wherein the linear piezoelectric element is arranged near a position on the clothing corresponding to a variable portion of the body to be measured wearing the clothing. A sensing system as claimed in item 1 or 2 of the patent application, which further includes a part of the clothing disposed near the linear piezoelectric element of the clothing, and the measurement object wearing the clothing Conductive fibers that generate electrical signals through interaction between them; The calculation processing section determines the deformation of the clothes based on the electrical signals detected by the signal detection section and the electrical signals generated by the conductive fibers. The sensing system according to any one of the items 1 to 3 of the patent application scope, wherein the linear piezoelectric element outputs an electrical signal by extension and deformation. The sensing system according to any one of the items 1 to 4 of the patent application range, wherein the linear piezoelectric element has a core formed of conductive fibers, and is formed in the shape of a spike tape so as to cover the core The piezoelectric fiber is formed of a ribbon-shaped piezoelectric element in the sheath of the spike. A sensing system as claimed in item 5 of the patent application, wherein the piezoelectric fiber includes crystals in which the absolute value of the piezoelectric constant d14 when the alignment axis is divided into three axes has a value of 0.1 pC / N or more and 1000 pC / N or less The piezoelectric polymer is a piezoelectric polymer whose main component is, the alignment angle of the piezoelectric polymer with respect to the central axis direction of the core portion coated with the piezoelectric polymer is 15 ° or more and 75 ° or less, The piezoelectric polymer includes a P body containing a crystalline polymer having a positive piezoelectric constant d14 as a main component, and an N body containing a negative crystalline polymer as a main component; 1cm long part, the mass of the P body stretched and curled in the Z twist direction on the alignment axis is ZP, and the mass of the P body stretched and curled in the S twist direction on the alignment axis is SP, in the alignment axis The mass of the N body stretched and crimped in the Z twisting direction is ZN, the mass of the N body stretched and crimped in the S twisting direction on the alignment axis is SN, and (ZP + SN) and (SP + ZN ) The smaller of T1 and the larger of T2, the value of T1 / T2 is 0 or more and 0.8 or less. A piece of clothing characterized by having a sensing system according to any of items 1 to 6 of the patent application. A clothing system characterized by having a sensing system according to any one of claims 1 to 6, the linear piezoelectric element and the signal detection unit are arranged in clothing worn on the body to be measured, and the calculation The processing unit is provided in a computing device of an individual different from the aforementioned clothes.