WO2006033415A1 - 把持状態判定システム及び方法 - Google Patents
把持状態判定システム及び方法 Download PDFInfo
- Publication number
- WO2006033415A1 WO2006033415A1 PCT/JP2005/017532 JP2005017532W WO2006033415A1 WO 2006033415 A1 WO2006033415 A1 WO 2006033415A1 JP 2005017532 W JP2005017532 W JP 2005017532W WO 2006033415 A1 WO2006033415 A1 WO 2006033415A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- gripping
- state determination
- identification information
- determination system
- state
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
Definitions
- the present invention relates to a gripping state determination system and method, and more particularly to a technique for determining a gripping state of a gripping target by a gripping unit.
- Patent Document 1 it is determined in what state a user's hand (grip means) is gripping a device body (grip target) such as a mobile phone, and the function of the device is determined accordingly.
- a technology for setting the environment is disclosed.
- touch sensors are attached to both sides of the device body, and the gripping state of the device body is determined based on the detection result.
- Patent Document 1 Japanese Patent Laid-Open No. 2000-330946
- the present invention has been made in view of the above problems, and an object of the present invention is to provide a gripping state determination system and method capable of determining in detail the gripping state of a gripping object by gripping means. is there.
- a gripping state determination system is attached to one of gripping objects or gripping means, each of which transmits a plurality of transmission means for transmitting position identification information, and the gripping
- a plurality of receiving means attached to the other of the object or the gripping means and receiving the position identification information; and the position received by each receiving means for each gripping state of the gripping target by the gripping means Article that stores the conditions of identification information Based on the condition storage means, the position identification information received by the plurality of receiving means, and the condition stored in the condition storage means, the gripping state of the gripping target by the gripping means is determined. And determining means for performing.
- a plurality of transmission units that transmit position identification information are attached to one of the gripping target or the gripping unit, and the other of the gripping target or the gripping unit is attached.
- the gripping state of the gripping object by the gripping means is determined based on the position identification information received by a plurality of receiving means and the condition stored in the condition storage means.
- a plurality of transmission means are attached to one of the gripping objects or gripping means, and a plurality of receiving means are attached to the other. Then, the position identification information is transmitted from the transmission means to the reception means.
- the position identification information is information for identifying the attachment position of the transmission means.
- the condition of the position identification information received by each receiving means is stored for each gripping state, and the position identification information actually received by a plurality of receiving means is stored in the condition storage means. Since the gripping state is determined based on the condition to be determined, detailed gripping state determination can be realized.
- the gripping target is an object to be gripped, and the gripping means is, for example, the hand itself or a glove.
- the gripping target or the gripping unit further includes a pressure-sensitive sensor that detects a magnitude or presence of pressure when the gripping means grips the gripping target.
- the attached determination means determines the gripping state of the gripping object by the gripping means based further on the magnitude or presence of the pressure detected by the pressure sensor. In this way, the gripping state can be determined in consideration of the magnitude or presence of pressure when gripping the gripping target by the gripping means.
- the gripping target or the gripping unit further includes a vibration sensor that detects the magnitude or presence of vibration when the gripping target is gripping the gripping target.
- the determination means is attached and the gripping state of the gripping object by the gripping means is further based on the magnitude or presence or absence of vibration detected by the vibration sensor. Determine the state. In this way, the gripping state can be determined in consideration of the magnitude or presence of vibration when the gripping target is gripped by the gripping means.
- each of the transmission means is an RFID tag
- each of the reception means is an RFID antenna.
- FIG. 1 is a front view of a glove used in a gripping state determination system according to an embodiment of the present invention.
- FIG. 2 is a back view of a glove used in the gripping state determination system according to the embodiment of the present invention.
- FIG. 3 is a sectional view taken along line III-III in FIG.
- FIG. 4 is a perspective view showing an appearance of a gripping object used in the gripping state determination system according to the embodiment of the present invention.
- FIG. 5 is a diagram schematically showing data transmitted to the computer for the glove force.
- FIG. 6 is an overall configuration diagram of a gripping state determination system according to an embodiment of the present invention.
- FIG. 7 is a diagram showing stored contents of a gripping pattern storage unit.
- FIG. 8 is a diagram showing stored contents of a contact state storage unit.
- FIG. 1 is a front view of a glove (gripping means) used in a gripping state determination system according to an embodiment of the present invention.
- Fig. 2 is a back view of the globe.
- FIG. 3 is a cross-sectional view taken along line III-III in FIG.
- the glove 10 used in this gripping state determination system is on the back surface side (the glove 10 is hand-held) on a base material 18 formed in a glove shape from an appropriate material such as synthetic leather.
- a sheet-like pressure sensor 16 is affixed to the entire palm side), and an RFID (Radio Frequency Identification) antenna 14-1 to 14-6 is affixed thereon.
- RFID Radio Frequency Identification
- RFID antenna 14—1 is affixed on the part that wraps the little finger
- RFID antenna 14—2 is the part that wraps the ring finger
- RFID antenna 14-3 is affixed on the part that wraps the middle finger
- RFID antenna 14-4 is affixed on the part that wraps the index finger
- RFID antenna 14-5 is affixed on the part that wraps the thumb
- the RFID antenna 14-6 is affixed on the part covering the palm.
- a control box 12 is attached to the wrist position on the front side of the globe 10 (the back side when the globe 10 is fitted).
- the lines of RFID antennas 14-1 to 14-6 are all installed in the control box 12 and connected to the internal control unit 12a (see Fig. 6).
- the line of the pressure sensor 16 is also introduced into the control box 12 and connected to the internal control unit 12a. Further, a vibration sensor 12b (see FIG. 6) is also built in the control box 12, and the vibration sensor 12b is also connected to the control unit 12a. One end of a communication cable is connected to the control unit 12a, and the other end is connected to a computer not shown (a first computer 30 described later).
- a computer not shown a first computer 30 described later.
- FIG. 4 is an external perspective view showing a gripping object used in the gripping state determination system.
- a gripping object 20 shown in the figure is gripped by a user who puts the globe 10 in his / her hand through the globe 10.
- the gripping object 20 is formed in a cubic shape, and RFID tags 22A to 22F (22D to 22F are not shown) are respectively affixed on the six surfaces which are the surfaces of the cuboid.
- the RFID tag 22 may be embedded inside the force that is attached to the surface of the object 20 to be grasped.
- the gripping target 20 is formed in a cubic shape here, any other shape may be used. Further, the number of RFID tags 22 to be attached and each position are arbitrary.
- Each RFID tag 22 includes a pair of an object ID indicating the type of the gripping target 20 to which the RFID tag 22 is attached and a position ID for identifying the mounting position of the R FID tag 22 in the gripping target 20 on the RFID antenna 14. It is designed to send.
- the control unit 12a built in the control box 12 includes a CPU, and the CPU and each RFID antenna 14 constitute an RFID reader. Then, a microwave method (radio wave energy) is applied from each RFID antenna 14 to the RFID tag 22. Energy ID), electromagnetic coupling method, electromagnetic induction method, etc., and the RFID antenna 14 receives the object ID / position ID pair transmitted from there.
- RU radio wave energy
- FIG. 5 is a schematic diagram showing the contents of data (detection data) periodically transmitted from the control unit 12a to a computer (not shown) via a communication cable. Of these data, (a) in the figure shows the data received by each RFID antenna 14, and (b) in the figure shows the data detected by the vibration sensor 12b. ) Indicates data detected by the pressure sensor 16.
- the RFID antenna 14, the vibration sensor 12b, and the pressure sensor 16 are connected to the control unit 12a, and data received or detected by them is transmitted to the computer in a format schematically shown in the figure. (Transfer). That is, with respect to data received by the RFID antenna 14, a pair of object ID and position ID received within a predetermined time is transmitted to each RFID antenna. As for data detected by the pressure sensor 16, digital data indicating the pressure value is transmitted. As for data detected by the vibration sensor 12b, digital data indicating the presence or absence of vibration is transmitted.
- FIG. 6 is a functional block diagram showing the overall configuration of the gripping state determination system.
- the gripping state determination system includes a globe 10, a first computer 30, and a second computer 31.
- the globe 10 and the first computer 30 are assumed to be wired in this embodiment, but may be wirelessly connected.
- the first computer 30 and the second computer 31 may be connected by wire or may be connected wirelessly. Further, they may be connected via a wide area data communication network such as the Internet. Further, the first computer 30 and the second computer 31 may be integrated. In other words, the function of the second computer 31 may be assigned to the first computer 30. in this case, The second computer 31 is not necessary.
- the first computer 30 receives data periodically transmitted from the control unit 12a, and receives an object ID for identifying the gripping target 20, a gripping pattern ID indicating the gripping state of the gripping target 20 by the globe 10, and a gripping state Outputs ID pairs.
- the first computer 30 includes an adding unit 42, a weighting unit 40, a state storage unit 38, a filter unit 46, a gripping state determination unit 44, a gripping pattern storage unit 48, and a contact state storage unit 54. It is configured.
- the gripping state determination unit 44 includes a gripping pattern determination unit 50 and a contact state determination unit 52. These elements are realized by executing a predetermined program in the first computer 30.
- the program is stored in a computer-readable information storage medium such as a CD-ROM or DVD-ROM, and may be supplied to the first computer 30 by the information storage medium, or via a data communication network such as the Internet.
- the first computer 30 may be supplied.
- the pair of the object ID and the position ID received by each RFID antenna 14 is supplied to the adding unit 42.
- the state storage unit 38 stores a pair of an object ID and a position ID (filtered by the filter unit 46) received by each RFID antenna 14 transmitted to the gripping state determination unit 44 in the past.
- a predetermined weighting coefficient for example, 0.5
- a different weighting factor for example, 0.3
- a pair of the same object ID and position ID is supplied to the filter unit 46 three times before, another weight coefficient (for example, 0.1) is supplied to the object ID. In addition, it is supplied in association with a pair of location IDs.
- the adder 42 adds the weight coefficients for each RFID antenna 14 and each object HD and position ID pair received by the RFID antenna 14. Further, if data indicating that the same pair of object ID and position ID is transmitted from the RFID antenna 14 from the control unit 12a force, 1 is further added. The above processing is performed for each RFID antenna 14 and each pair of object ID and position ID.
- the addition unit 42 supplies the addition result to the filter unit 46.
- the filter unit 46 if there is a pair of object HD and position ID whose added value is equal to or greater than a predetermined value (for example, 1.3), the RFID antenna 14 from which the object ID and position ID have been received for that pair. Evaluated as having been received.
- the addition value supplied from the addition unit 42 is less than the predetermined value, it is evaluated that the object ID and the position ID corresponding to the addition value are not received by the RFID antenna 14. Then, reflecting the evaluation result, a pair (after filtering) of the object ID and the position ID received by each RFID antenna 14 is generated, and the data is supplied to the gripping state determination unit 44 and the state storage unit Remember me in 38.
- the gripping pattern determination unit 50 checks the data stored in the gripping pattern storage unit 48 for data indicating the pair of the object ID and the position ID received for each RFID antenna 14 supplied from the filter unit 46, thereby The grip pattern of the gripping object 20 by the globe 10 is determined, and an ID (grip pattern ID) indicating the pattern is supplied to the contact state determination unit 52. Specifically, as shown in FIG. 7, the grip pattern storage unit 48 outputs the output from the filter unit 46 for each object ID when the grip pattern ID is a grip pattern identified by the grip pattern ID. The conditions to be met are stored in association with each other. Then, when a pair of object ID and position ID for each RFID antenna 14 is supplied from the filter unit 46, a table corresponding to the supplied object ID is read from the gripping pattern storage unit 48.
- the data supplied from the filter unit 46 is applied to each condition stored in the table, and it is determined whether or not the data is satisfied. If any of the conditions is satisfied, the gripping pattern ID stored in association with the condition is supplied to the subsequent contact state determination unit 52.
- Contact state determination unit 52 referring to the stored contents of the contact state storage unit 54, the grip pattern ID supplied from the grip pattern determination unit 50, the detection result of the vibration sensor 12b supplied from the control unit 12a, and the pressure sensor 16 Based on the detection result, the contact state of the globe 10 with the grasped object 20 is determined.
- the contact state storage unit 54 as shown in FIG.
- each gripping state ID and detection of the vibration sensor 12b and the pressure sensor 16 corresponding to the gripping state ID are performed. Memorize the conditions that must be met.
- the contact state determination unit 52 first receives the grip pattern ID and the object ID from the grip pattern determination unit 50, the contact state determination unit 52 reads the corresponding table from the contact state storage unit 54. Then, each condition stored in the table is checked in order as to whether the detection result of the vibration sensor 12b and the detection result of the pressure sensor 16 supplied from the control unit 12a are satisfied. If any of the conditions is satisfied, the contact state ID corresponding to the condition is transmitted to the content determination unit 32 together with the object ID and grip pattern ID pair supplied from the grip pattern determination unit 50. .
- the second computer 31 includes a content determination unit 32, a user DB 36, and an output unit 34. These elements are realized by the second computer 31 executing a predetermined program.
- the program is stored in a computer-readable information storage medium such as a CD-ROM or DVD-ROM, and may be supplied to the second computer 31 by the information storage medium, or via a data communication network such as the Internet. It may be supplied to the second computer 31.
- the user DB 36 stores attributes such as contents previously presented to each user and the learning level of each user.
- the content determination unit 32 one or more selected from the contents corresponding to the contact state ID, object ID, and gripping pattern ID supplied from the contact state determination unit 52 according to the stored contents of the user DB 36 are output to the output unit 3 4 To supply.
- the output unit 34 outputs the content supplied from the content determination unit 32 by transmission, display, printing, or other methods, and informs the user of the content.
- the plurality of RFID antennas 14 provided in the globe 10 receives the position ID transmitted from the RFID tag 22 provided in the grasped object 20, and the pattern ID is used. Since the grip state is judged, the grip state is judged in more detail. Can do. Further, when the gripping object 20 is gripped with the glove 10, the content corresponding to the gripping state can be output, and can be used as, for example, a teaching material or a toy.
- the present invention is not limited to the above embodiment.
- the RFID tag 22 is provided on the gripping object 20 and the RFID antenna 14 is provided on the globe 10, but the reverse is also possible. Further, instead of providing the RFID antennas 14 on the globe 10, each RFID antenna 14 may be separately attached to the user's hand by a ring-shaped attachment member, for example.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Near-Field Transmission Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/575,971 US7805214B2 (en) | 2004-09-24 | 2005-09-22 | Grasp state judging system and method |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004278516A JP3773943B2 (ja) | 2004-09-24 | 2004-09-24 | 把持状態判定システム及び方法 |
JP2004-278516 | 2004-09-24 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006033415A1 true WO2006033415A1 (ja) | 2006-03-30 |
Family
ID=36090169
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/017532 WO2006033415A1 (ja) | 2004-09-24 | 2005-09-22 | 把持状態判定システム及び方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7805214B2 (ja) |
JP (1) | JP3773943B2 (ja) |
CN (1) | CN101019091A (ja) |
WO (1) | WO2006033415A1 (ja) |
Cited By (8)
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WO2007144167A2 (en) * | 2006-06-16 | 2007-12-21 | Siemens Aktiengesellschaft | System and method for handling objects using sensors to trigger processing of rfid response signals |
EP1903688A1 (en) | 2006-09-19 | 2008-03-26 | Saab Ab | Connector device |
US9290738B2 (en) | 2012-06-13 | 2016-03-22 | Miromatrix Medical Inc. | Methods of decellularizing bone |
US10220056B2 (en) | 2005-08-26 | 2019-03-05 | Miromatrix Medical, Inc. | Decellularization and recellularization of solid organs |
US10233420B2 (en) | 2010-09-01 | 2019-03-19 | Regents Of The University Of Minnesota | Methods of recellularizing a tissue or organ for improved transplantability |
CN109533458A (zh) * | 2018-12-21 | 2019-03-29 | 广东赛德英斯智能装备有限公司 | 一种种类自适应式物品柔触抓取方法及实现该方法的装置 |
US11278643B2 (en) | 2016-09-06 | 2022-03-22 | Mayo Foundation For Medical Education And Research | Use of resected liver serum for whole liver-engineering |
US11452797B2 (en) | 2013-03-15 | 2022-09-27 | Miromatrix Medical Inc. | Use of perfusion decellularized liver for islet cell recellularization |
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US8279039B2 (en) | 2007-10-12 | 2012-10-02 | Sony Mobile Communications Ab | Using touches to transfer information to a device |
GB2474060A (en) * | 2009-10-05 | 2011-04-06 | Sero Solutions Ltd | An antenna suitable for use with the Near Field Communication standard is fitted to a human finger |
JP5374473B2 (ja) * | 2010-10-14 | 2013-12-25 | 日立Geニュークリア・エナジー株式会社 | グローブ型認識装置 |
JP5879649B2 (ja) * | 2011-09-09 | 2016-03-08 | 福井県 | 磁界延長型アンテナおよび磁界延長型アンテナ搭載rfid認識用手袋 |
US10321725B2 (en) | 2011-10-26 | 2019-06-18 | Allen B. Kantrowitz | Infection control glove with sensory contamination indicator |
US9305252B1 (en) * | 2012-07-13 | 2016-04-05 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Systems and methods for RFID-enabled pressure sensing apparatus |
FR3006477B1 (fr) * | 2013-05-29 | 2016-09-30 | Blinksight | Dispositif et procede de detection de la manipulation d'au moins un objet |
JP6393996B2 (ja) * | 2014-02-04 | 2018-09-26 | 富士通株式会社 | 情報読取システム、読取制御方法及び読取制御プログラム |
CN105136191B (zh) * | 2015-08-17 | 2017-06-20 | 广东欧珀移动通信有限公司 | 一种手持设备握持方向识别方法及系统 |
US20170106273A1 (en) * | 2015-10-16 | 2017-04-20 | Daniel M. Doptis | Interactive videogame using a physical object with multiple machine-readable components |
DE112016005611T5 (de) | 2015-12-08 | 2018-09-06 | Sony Corporation | Informationsverarbeitungssystem, Informationsverarbeitungseinheit und Informationsverarbeitungsverfahren |
US9721129B1 (en) * | 2016-01-28 | 2017-08-01 | Symbol Technologies, Llc | Methods and systems for smart handling of warehouse items |
US10845876B2 (en) | 2017-09-27 | 2020-11-24 | Contact Control Interfaces, LLC | Hand interface device utilizing haptic force gradient generation via the alignment of fingertip haptic units |
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Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10220056B2 (en) | 2005-08-26 | 2019-03-05 | Miromatrix Medical, Inc. | Decellularization and recellularization of solid organs |
US10441609B2 (en) | 2005-08-26 | 2019-10-15 | Miromatrix Medical Inc. | Decellularization and recellularization of solid organs |
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EP1903688A1 (en) | 2006-09-19 | 2008-03-26 | Saab Ab | Connector device |
US10233420B2 (en) | 2010-09-01 | 2019-03-19 | Regents Of The University Of Minnesota | Methods of recellularizing a tissue or organ for improved transplantability |
US11414644B2 (en) | 2010-09-01 | 2022-08-16 | Regents Of The University Of Minnesota | Methods of recellularizing a tissue or organ for improved transplantability |
US9290738B2 (en) | 2012-06-13 | 2016-03-22 | Miromatrix Medical Inc. | Methods of decellularizing bone |
US11452797B2 (en) | 2013-03-15 | 2022-09-27 | Miromatrix Medical Inc. | Use of perfusion decellularized liver for islet cell recellularization |
US11278643B2 (en) | 2016-09-06 | 2022-03-22 | Mayo Foundation For Medical Education And Research | Use of resected liver serum for whole liver-engineering |
CN109533458A (zh) * | 2018-12-21 | 2019-03-29 | 广东赛德英斯智能装备有限公司 | 一种种类自适应式物品柔触抓取方法及实现该方法的装置 |
Also Published As
Publication number | Publication date |
---|---|
CN101019091A (zh) | 2007-08-15 |
JP3773943B2 (ja) | 2006-05-10 |
US20070288104A1 (en) | 2007-12-13 |
JP2006092376A (ja) | 2006-04-06 |
US7805214B2 (en) | 2010-09-28 |
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