WO2016060031A1 - Gant numérique - Google Patents

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Publication number
WO2016060031A1
WO2016060031A1 PCT/JP2015/078414 JP2015078414W WO2016060031A1 WO 2016060031 A1 WO2016060031 A1 WO 2016060031A1 JP 2015078414 W JP2015078414 W JP 2015078414W WO 2016060031 A1 WO2016060031 A1 WO 2016060031A1
Authority
WO
WIPO (PCT)
Prior art keywords
finger
strain sensor
glove
glove body
proximal
Prior art date
Application number
PCT/JP2015/078414
Other languages
English (en)
Japanese (ja)
Inventor
保郎 奥宮
谷高　幸司
鈴木　克典
Original Assignee
ヤマハ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2015000738A external-priority patent/JP6524663B2/ja
Priority claimed from JP2015000739A external-priority patent/JP2016125931A/ja
Application filed by ヤマハ株式会社 filed Critical ヤマハ株式会社
Priority to CN201580056298.0A priority Critical patent/CN107077207B/zh
Priority to EP15850771.5A priority patent/EP3208687B1/fr
Publication of WO2016060031A1 publication Critical patent/WO2016060031A1/fr
Priority to US15/487,669 priority patent/US10455874B2/en

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    • A—HUMAN NECESSITIES
    • A41—WEARING APPAREL
    • A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
    • A41D19/00—Gloves
    • A41D19/015—Protective gloves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/28—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring contours or curvatures
    • G01B7/287—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • 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

Definitions

  • the present invention relates to a data glove.
  • a data glove in which a plurality of sensors are arranged on a glove in order to detect the movement of a finger of a human hand is commercially available.
  • a commercially available data glove usually has a bending sensor disposed in a region corresponding to each joint of the hand, and detects the angle of the joint in real time.
  • Such a data glove not only reproduces hand movements in virtual reality technology used in games and the like, but also moves hand movements during sports such as golf swings or playing musical instruments such as pianos. It is also considered to be used for scientific analysis.
  • an object of the present invention is to provide a data glove that is less discomfort due to wearing and that can detect the movement of the hand relatively accurately.
  • the invention made in order to solve the above-mentioned problems is arranged in a region corresponding to at least one of the first to fifth fingers on the glove body and the back side of the glove body, and detects expansion and contraction of the glove body.
  • a data glove comprising a plurality of strain sensors, wherein two or more strain sensors are provided for each of the at least one finger.
  • the “dorsal side” of the glove body refers to the side covering the back of the hand, and the palm side opposite to it is referred to as the “abdominal side”.
  • the data glove includes a plurality of strain sensors that detect expansion and contraction of the glove body in a region corresponding to at least one of the first to fifth fingers on the back side of the glove body, and at least 2 for each finger.
  • the same finger movement can be detected by a plurality of strain sensors.
  • the data glove can detect the movement of the finger relatively accurately.
  • the strain sensor for detecting the elongation of the glove body is thin and can be in close contact with the hand and can reduce the reaction force. For this reason, even if the data glove is worn, delicate movements in sports, musical instrument performances, and the like can be performed as usual, so that the natural movement of the hand can be converted into data.
  • the plurality of strain sensors are disposed in a region corresponding to a joint between proximal phalanges and a region corresponding to a joint between middle finger phalanges of at least one of second to fifth fingers on the back side of the glove body.
  • the first strain sensor and the second strain sensor that detect expansion and contraction in the proximal and distal directions of the glove body may be included.
  • the proximal interphalangeal joint (PIP joint: second finger joint) and metacarpal joint (MP joint: finger joint) of at least one of the second to fifth fingers on the back side of the glove body By measuring the elongation of the region corresponding to the third joint (ie, the joint at the base), the movement of the finger can be detected relatively accurately.
  • the middle interphalangeal joint is a portion where the second to fifth fingers branch from the palm, the glove is likely to be in close contact with the hand at this portion.
  • the strain sensor is difficult to be displaced, the movement of the interphalangeal joint can be detected relatively accurately.
  • the stretch-proof portion is positioned at a valley-shaped portion to be formed, that is, a portion where the elongation of the skin is relatively small. Accordingly, since the strain sensor can be more reliably disposed on the joint of the metacarpophalangeal joint, bending and stretching of the joint of the intercarpal joint can be detected more accurately.
  • the proximal end of the stretch-proof portion is located closer to the strain sensor than the strain sensor, and is arranged so as to be bridged between the plurality of stretch-proof portions, and has a connection portion that suppresses the extension of the glove body.
  • the stretch-proof parts are connected to each other by the connection part that suppresses the extension of the glove body on the proximal side of the strain sensor, the bending of the wrist to the strain sensor arranged on the joint between the interphalangeal joints is performed. It is possible to reduce the influence of zero stretching.
  • the stretch-proof portion may be disposed so as to overlap with the wiring extending from the strain sensor.
  • the stretch-proof portion so as to overlap the wiring extending from the strain sensor, the wiring is easy and the disconnection can be prevented, and the wiring hardly inhibits the expansion and contraction of the strain sensor.
  • a third strain sensor and a fourth strain sensor disposed in each region corresponding to the joint between the metacarpophalangeal joints of at least one of the first to fifth fingers on the back side of the glove body.
  • the third strain sensor may be configured to detect expansion / contraction in the proximal / distal direction of the region
  • the fourth strain sensor may detect expansion / contraction in the left-right direction of the region.
  • the third strain sensor and the fourth strain sensor may be arranged so as to intersect each other.
  • the strain sensors so as to cross each other, it is possible to detect expansion and contraction in two different directions in substantially the same region of the glove body, and it is possible to more accurately detect the movement of the finger.
  • the crossing angle of the third strain sensor and the fourth strain sensor may be substantially vertical. In this way, by arranging the two sensors substantially vertically, it is possible to detect bending and stretching in the dorso-ventral direction and swinging in the left-right direction with relatively high accuracy.
  • substantially perpendicular means that the angle between the two is 60 ° or more, preferably 80 ° or more.
  • the arrangement position of the third strain sensor and the fourth strain sensor may be the first finger (thumb).
  • the movement of the hand can be grasped more accurately by detecting bending and stretching of the first finger in the dorso-abdominal direction and swinging in the left-right direction, which often swing in the left-right direction.
  • a fifth strain sensor that is disposed in a region along the proximal phalanx of the second finger or the fifth finger on the ventral side of the glove body and detects expansion and contraction in the proximal distal direction of the glove body.
  • the data glove of the present invention is less uncomfortable due to wearing and can detect the movement of the hand relatively accurately.
  • FIG. 5 is a schematic plan view showing a data glove according to an embodiment different from those in FIGS. 1 and 4.
  • FIG. 8 is a schematic plan view illustrating a data glove according to an embodiment different from those of FIGS. 1, 4, and 7.
  • [First embodiment] 1 to 3 includes a glove body 1, four first strain sensors 2 and four second strain sensors 3, a flexible printed circuit board 4, and a strain sensor 2 disposed in the glove body 1. , 3 and a plurality of wirings 5 for connecting the flexible printed circuit board 4.
  • the first strain sensor 2 is provided on the outer surface side of the region corresponding to the proximal interphalangeal joint (PIP joint: second finger joint) of the second to fifth fingers on the back side of the glove body 1.
  • PIP joint proximal interphalangeal joint
  • the second strain sensor 3 is located on the outer surface side of the region corresponding to the interphalangeal joint (MP joint: third joint of the finger, that is, the joint at the base) of the second finger to the fifth finger on the back side of the glove body 1.
  • MP joint third joint of the finger, that is, the joint at the base
  • the flexible printed circuit board 4 is disposed on the outer surface side of the region corresponding to the back of the glove body 1.
  • the wiring 5 is disposed on the outer surface side of the back side of the glove body 1 and connects the strain sensors 2 and 3 and the flexible printed circuit board 4.
  • the data glove is provided on the inner surface side of the region corresponding to the space between the anti-separation material 6 that strengthens the connection between the strain sensors 2 and 3 and the wiring 5 and the joint between the metacarpal joints on the back side of the glove body 1.
  • a plurality of stretch-proofing portions 7 extending in the proximal-distal direction and the back-side inner surface side of the glove body 1 so as to span between the stretch-proofing portions 7 are connected between the stretch-proofing portions 7.
  • Connecting portion 8 to be provided.
  • the “inner surface” of the glove body 1 refers to the surface that comes into contact with the wearer's hand when the glove body 1 is worn, and the outer surface that is exposed to the outside when worn is referred to as the “outer surface”.
  • the glove body 1 is formed in a bag shape that can be worn on the wearer's hand, and more specifically includes five finger accommodating portions that individually accommodate the wearer's five fingers.
  • the glove body 1 is formed, for example, by stitching together a ventral fabric covering the palm and the ventral portion of five fingers and a dorsal fabric covering the back of the hand and the dorsal portion of the five fingers.
  • Examples of the material of the glove body 1 include knit, woven fabric, non-woven fabric, rubber, leather, etc., but those having elasticity are preferred, and knit is particularly preferably used.
  • Each of the five finger receiving portions of the glove body 1 is opened by exposing the wearer's fingertips, specifically the distal portion of the distal interphalangeal joint.
  • the tension of the back fabric prevents the fingers from being bent and stretched, and prevents the wearer from feeling uncomfortable.
  • by exposing the fingertips it is easy to work with the fingertips, and musical instrument performances can be performed without a sense of incongruity.
  • a portion closer to the second strain sensor 3 in the region corresponding to the interphalangeal joint is left and right (near the extension line of the second strain sensor 3).
  • a slack 1a extending in a direction perpendicular to the distal direction.
  • the glove body 1 is sewn and shrunk so as to form a gather or a tuck so that the portion of the back of the hand closer to the wrist is folded when the dorsal fabric is joined to the ventral fabric.
  • the slack 1a relaxes the proximal and distal tension acting on the cloth on the back side of the glove body 1 by bending and stretching the wrist, and bending and stretching the wrist causes an error in the detection value of the second strain sensor 3. To prevent that.
  • the lower limit of the 10% elongation load per 1 cm width of the fabric forming the glove body 1 is preferably 0.01 N / cm, more preferably 0.02 N / cm, and even more preferably 0.03 N / cm.
  • the upper limit of the 10% elongation load per 1 cm width of the fabric forming the glove body 1 is preferably 0.5 N / cm, more preferably 0.25 N / cm, and even more preferably 0.1 N / cm.
  • the strain sensors 2 and 3 generate resistance to bending and stretching of the fingers, thereby causing the wearer of the data glove to There is a risk of discomfort.
  • 10% elongation load means a load (tension) required to stretch the measurement object to 1.1 times the length.
  • the strain sensors 2 and 3 electrically detect expansion and contraction of the glove body 1.
  • the strain sensors 2 and 3 are preferably laminated on the surface side of the back fabric constituting the glove body 1 so that the wearer does not feel uncomfortable.
  • the first strain sensor 2 is disposed in a region corresponding to the proximal interphalangeal joint (PIP joint) of the second finger to the fifth finger, that is, the distal end is disposed on the dorsal side of the middle phalanx, The end is affixed to the glove body 1 so as to be disposed on the back side of the proximal phalanx.
  • the first strain sensor 2 expands when the corresponding interproximal joint of the corresponding finger is bent, and contracts when the proximate interphalangeal joint of the corresponding finger is extended.
  • the second strain sensor 3 is disposed in a region corresponding to the metacarpophalangeal joint (MP joint) of the second finger to the fifth finger, that is, the distal end is disposed on the dorsal side of the proximal phalanx.
  • the distal end is affixed to the glove body 1 so as to be disposed on the dorsal side of the metacarpal bone.
  • the second strain sensor 3 expands when the corresponding intermetacarpal joint of the corresponding finger is bent, and contracts when the corresponding intercarpal joint of the corresponding finger is extended.
  • strain resistance elements whose resistance values change due to expansion and contraction can be used, and in particular, a CNT strain sensor using carbon nanotubes (hereinafter sometimes referred to as CNT) is preferably used.
  • CNT carbon nanotubes
  • the CNT strain sensor includes, for example, a stretchable sheet-like base material attached to the glove body 1, a CNT film laminated on the surface side of the base material, and a protective film for protecting the CNT film. It can be configured.
  • the average thickness of the substrate of the CNT strain sensor can be, for example, 10 ⁇ m or more and 5 mm or less.
  • the material of the base material is not particularly limited as long as it has flexibility, and examples thereof include synthetic resin, rubber, non-woven fabric, deformable shape or material metal or metal compound, and the like.
  • the synthetic resin examples include phenol resin (PF), epoxy resin (EP), melamine resin (MF), urea resin (urea resin, UF), unsaturated polyester (UP), alkyd resin, polyurethane (PUR), heat Curable polyimide (PI), polyethylene (PE), high density polyethylene (HDPE), medium density polyethylene (MDPE), low density polyethylene (LDPE), polypropylene (PP), polyvinyl chloride (PVC), polyvinylidene chloride, polystyrene (PS), polyvinyl acetate (PVAc), acrylonitrile butadiene styrene resin (ABS), acrylonitrile styrene resin (AS), polymethyl methacrylate (PMMA), polyamide (PA), polyacetal (POM), polycarbonate (PC), modified Polif Niren'eteru (m-PPE), polybutylene terephthalate (PBT), polyethylene terephthalate (PET), and cyclic polyolefin (COP)
  • Examples of the rubber include natural rubber (NR), butyl rubber (IIR), isoprene rubber (IR), ethylene / propylene rubber (EPDM), butadiene rubber (BR), urethane rubber (U), and styrene / butadiene rubber (SBR). , Silicone rubber (Q), chloroprene rubber (CR), chlorosulfonated polyethylene rubber (CSM), acrylonitrile butadiene rubber (NBR), chlorinated polyethylene (CM), acrylic rubber (ACM), epichlorohydrin rubber (CO, ECO), Fluorine rubber (FKM), polydimethylsiloxane (PDMS), and the like can be given.
  • natural rubber is preferable from the viewpoint of strength.
  • the CNT film of the CNT strain sensor has a rectangular shape in front view. Electrodes are formed at both ends of the CNT film in the longitudinal direction, and the wiring 5 is joined to the electrodes by a conductive adhesive.
  • This CNT film is formed of a resin composition containing a large number of CNT fibers.
  • the CNT film has a plurality of CNT fiber bundles composed of a plurality of CNT fibers oriented in one direction, and a resin layer covering the peripheral surface of the plurality of CNT fiber bundles.
  • the lower limit of the average thickness of the CNT film under no load is preferably 1 ⁇ m and more preferably 10 ⁇ m.
  • the upper limit of the average thickness of the CNT film is preferably 1 mm, and more preferably 0.5 mm.
  • the stretchability may be insufficient, the resistance change with respect to expansion or contraction, that is, the detection sensitivity may be insufficient, or the wearer may be uncomfortable. is there.
  • the CNT film may have a single layer structure in which CNT fibers are arranged substantially in parallel in a planar shape, or may have a multilayer structure. However, in order to ensure a certain degree of conductivity, a multilayer structure is preferable.
  • the CNT fiber either single-walled single-wall nanotubes (SWNT) or multi-walled multi-wall nanotubes (MWNT) can be used, but MWNT is preferable from the viewpoint of conductivity and heat capacity, and the diameter is 1.5 nm. More preferably, the MWNT is 100 nm or less.
  • SWNT single-walled single-wall nanotubes
  • MWNT multi-walled multi-wall nanotubes
  • the resin layer of the CNT strain sensor is a layer mainly composed of resin and covering the peripheral surface of a plurality of CNT fiber bundles.
  • the main component of the resin layer include the synthetic resins and rubbers exemplified as the material for the base material. Among these, rubber is preferable. By using rubber, a sufficient protection function of the CNT fiber can be exhibited even against a large strain.
  • the lower limit of the average width in the left-right direction of the strain sensors 2 and 3 formed by such a CNT strain sensor in an unloaded state is preferably 0.5 mm and more preferably 1 mm.
  • the upper limit of the average width of the strain sensors 2 and 3 is preferably 10 mm and more preferably 5 mm.
  • the detection sensitivity may be insufficient, or the strain sensors 2 and 3 may be torn due to bending and stretching of fingers.
  • the average width of the strain sensors 2 and 3 exceeds the upper limit, the wearer may feel uncomfortable.
  • the lower limit of the average length in the proximal and distal directions of the strain sensors 2 and 3 under no load is preferably 10 mm, more preferably 15 mm.
  • the upper limit of the average length of the strain sensors 2 and 3 is preferably 30 mm, and more preferably 25 mm.
  • the first strain sensor 2 and the second strain sensor 3 may interfere with each other and cannot be arranged side by side in the proximal distal direction.
  • the average length of the first strain sensor 2 and the average length of the second strain sensor 3 may be different for each finger, and the average length of the first strain sensor 2 and the average of the second strain sensor 3 on the same finger. The length may be different.
  • the lower limit of the 10% elongation load of the strain sensors 2 and 3 is preferably 0.01N, more preferably 0.03N, and even more preferably 0.05N.
  • the upper limit of the 10% elongation load of the strain sensors 2, 3 is preferably 0.5N, more preferably 0.3N, and even more preferably 0.2N.
  • the 10% elongation load of the strain sensors 2 and 3 is less than the lower limit, the detection accuracy may be insufficient due to expansion and contraction due to factors other than bending and stretching of the corresponding finger.
  • the 10% elongation load of the strain sensors 2 and 3 exceeds the upper limit, the reaction force at the time of elongation increases, which may give the wearer a feeling of strangeness.
  • the lower limit of the resistance value of each strain sensor 2 and 3 under no load is preferably 10 ⁇ , for example, and more preferably 100 ⁇ .
  • the upper limit of the resistance value of the strain sensors 2 and 3 under no load is preferably 100 k ⁇ , and more preferably 10 k ⁇ .
  • the rate of change of the resistance value due to the extension of each of the strain sensors 2 and 3 is appropriately selected so as to obtain sufficient detection accuracy, but 10% of the resistance value of the strain sensors 2 and 3 in the unloaded state.
  • the ratio of the resistance values in the stretched state is, for example, 2 times or more and 20 times or less.
  • an adhesive that does not inhibit the expansion and contraction of the glove body 1 and the strain sensors 2 and 3 is used.
  • an adhesive include a moisture curable polyurethane adhesive.
  • the flexible printed circuit board 4 is a printed circuit board having flexibility, and a connector 4a for connecting the wiring 5 to a computer or the like (not shown) is mounted on the proximal end side. Only the distal end of the flexible printed circuit board 4 is fixed to the glove body 1 so that the connector 4a is pressed against the back of the wearer's hand and hardly feels strange.
  • the wiring 5 is disposed on the surface of the glove body 1 and electrically connects the strain sensors 2 and 3 and the flexible printed circuit board 4. Specifically, the wiring 5 is connected to the distal end of the first strain sensor 2 and the flexible printed circuit board 4, and the central portion is arranged to overlap the stretch-proof portion 7 described later.
  • Distal connection portion 5a four proximal connection portions 5b connecting the proximal end of the second strain sensor 3 and the flexible printed circuit board 4, respectively, and the proximal end of the first strain sensor 2 of each finger
  • four intermediate connection portions 5c connecting the distal ends of the second strain sensor 3 and the four intermediate connection portions 5c extending from the four intermediate connection portions 5c and connected to each other on the ventral side of the glove body 1 5d, and a ground connection portion 5e extending from the vicinity of the fifth finger of the interconnection portion 5d so as to overlap with the extension portion 7 described later and reach the flexible printed circuit board 4.
  • These wirings 5 can be formed of conductive thread (filamentous body) having conductivity.
  • a conductive thread made of metal such as iron can be used as the conductive thread constituting the wiring 5, and a stainless steel thread is suitably used as the conductive thread made of metal. According to the stainless steel thread, the electric resistance is small, and even when the data glove is washed, there is an advantage that the change in the electric resistance is relatively small.
  • yarn which comprises this wiring 5 it is also possible to use the thread
  • the yarn constituting the wiring 5 preferably has an electric resistance per 10 cm of less than 100 ⁇ , and more preferably less than 50 ⁇ . Thereby, the electrical resistance of the wiring 5 can be reduced, and the detection signals from the strain sensors 2 and 3 can be accurately transmitted to the flexible printed circuit board 4.
  • the “resistance value per 10 cm” is a resistance value between 10 cm of the yarn when a voltage of 5 V is applied, and can be measured using a general-purpose tester.
  • the wiring 5 has elasticity and is provided to deform following the deformation of the glove body 1. Specifically, the wiring 5 is formed by stretching and sewing a conductive thread. As defined in JIS-B-9003 (1999), “stretchable stretch” means “when a stretchable fabric is sewed, the stitches will not be cut or loosened due to the stretch of the fabric. Means sewing. Specifically, the wiring 5 of this embodiment can be formed by cover stitch (single-sided decorative stitching) or the like.
  • the upper limit of the 10% elongation load of this wiring 5 is preferably 0.1N, more preferably 0.05N.
  • the lower limit of the 10% elongation load of the wiring 5 is not particularly limited.
  • the 10% elongation load of the wiring 5 exceeds the upper limit, the strain sensors 2 and 3 may interfere with the expansion and contraction of the glove body 1 and cause the wearer to feel uncomfortable, and the expansion and contraction of the glove body 1 may be uneven. Misalignment may occur and the detection accuracy may be insufficient.
  • the wiring 5 of the present invention may be formed by sewing the conductive thread directly on the glove body 1, but the glove body can be formed by previously sewing the conductive thread on another stretchable fabric with an adhesive. You may arrange
  • FIG. As an adhesive for adhering the fabric on which the wiring 5 is formed, for example, a hot melt adhesive or the like can be used.
  • the anti-peeling material 6 is disposed so as to cover the electrodes formed at the ends of the strain sensors 2 and 3 and the wiring 5 connected to the electrodes, and prevents the wiring 5 from peeling from the electrodes of the strain sensors 2 and 3. To do.
  • an anti-peeling material 6 for example, a knit material or a woven fabric is used, and is adhered to the glove body 1 so as to cover the fixed portion of the electrode and the wiring with an adhesive.
  • the stretch-proof portion 7 is a region corresponding to a portion between the proximal interphalangeal joints of the second finger to the fifth finger on the dorsal side of the glove body 1, and the first finger side of the proximal interphalangeal joint of the second finger. And a region corresponding to the side opposite to the fourth finger of the proximal interphalangeal joint of the fifth finger, respectively, along the proximal distal direction.
  • the second strain sensors 3 are respectively disposed between the stretch-proof portions 7.
  • the stretch-proof portion 7 partially suppresses the extension of the glove body 1 by being laminated on the glove body 1. For this reason, as shown in FIG. 3, the stretch-proof portion 7 has a trough between the middle interphalangeal joints that reduces the amount of skin expansion and contraction when the wearer of the data glove bends the intercarpal joint. Each part is positioned at a corresponding part between the fingers in the palm. Thereby, the 2nd distortion sensor 3 arrange
  • the 10% elongation load of the stretch preventing part 7 is preferably larger than that of the strain sensors 2 and 3.
  • Each of the stretch-proof portions 7 is located closer to the proximal side than the second strain sensor 3 where the proximal end is adjacent, and more distal than the second strain sensor 3 where the distal end is adjacent. Thereby, the force which acts on the cloth of the glove body 1 in the left-right direction can be prevented from acting on the second strain sensor 3 as the tension in the proximal distal direction.
  • the stretch-proof portion 7 is laminated on the inner surface of the glove body 1.
  • the stretch prevention part 7 functions also as a slip stopper which prevents the glove body 1 from being displaced in the proximal distal direction with respect to the back of the wearer's hand.
  • the stretch-proof portion 7 also has an action of preventing an excessive force from acting on a portion where the wiring 5 is overlapped and being broken.
  • the material for forming the stretch-proof portion 7 may be the same material as the wiring 5, or may be synthetic rubber, natural rubber, or the like.
  • the stretch-proof part 7 may be formed by applying these materials to the glove body 1, or a band-shaped member may be bonded with an adhesive.
  • the lower limit of the average width of the stretch-proof portion 7 in the left-right direction is preferably 0.5 mm, and more preferably 1 mm.
  • the upper limit of the average width of the stretch-proof portion 7 is preferably 10 mm, and more preferably 5 mm.
  • the lower limit of the average thickness of the stretch-proof portion 7 is preferably 0.05 mm, and more preferably 0.1 mm.
  • the upper limit of the average thickness of the stretch-proof portion 7 is preferably 2 mm, and more preferably 1 mm.
  • the lower limit of the 10% elongation load of the stretch-proof portion 7 is preferably 0.2N, and more preferably 0.5N.
  • the upper limit of the 10% elongation load of the stretch-proof portion 7 is preferably 5N, and more preferably 2N.
  • the connecting portion 8 is disposed on the inner surface of the glove body 1 so as to be spanned between the stretch-proofing portions 7, and preferably extended in the left-right direction so as to connect between the proximal end portions of the stretch-proofing portion 7. It is installed.
  • This connection part 8 functions as a non-slip
  • the 10% elongation load of the connecting portion 8 is preferably larger than that of the strain sensors 2 and 3.
  • connection portion 8 can be formed by the same material and the same method as the stretch-proof portion 7.
  • the connecting portion 8 By disposing this connecting portion 8, when any one finger moves, the first strain sensor 2 or the second strain sensor 3 of the adjacent finger is moved by the movement of the cloth of the glove body 1. It is possible to prevent the position from being shifted and improve the detection accuracy of finger movement. Further, the connecting portion 8 keeps the interval between the stretch-proofing portions 7 constant, and the lateral tension acts on the cloth of the glove body 1 between the stretch-proofing portions 7 to affect the expansion and contraction of the second strain sensor 3. Suppress. That is, the connecting unit 8 connects and bundles the vibration isolating unit 7, thereby generating a positional deviation of the strain sensors 2 and 3 due to the movement of each finger and a detection error due to unintended expansion / contraction of the strain sensors 2 and 3 of the finger. Suppress.
  • the lower limit of the average width in the left-right direction of the connecting portion 8 is preferably 0.5 mm, and more preferably 1 mm.
  • the upper limit of the average width of the connecting portion 8 is preferably 10 mm, and more preferably 5 mm.
  • the lower limit of the average thickness of the connecting portion 8 is preferably 0.05 mm, and more preferably 0.1 mm.
  • an upper limit of the average thickness of the connection part 8 2 mm is preferable and 1 mm is more preferable.
  • the average thickness of the connection part 8 is less than the said minimum, there exists a possibility that expansion / contraction of the glove main body 1 cannot fully be suppressed.
  • the average thickness of the connection part 8 exceeds the said upper limit, there exists a possibility of giving a wearer a discomfort.
  • the lower limit of the 10% elongation load of the connecting portion 8 is preferably 0.2N, and more preferably 0.5N.
  • the upper limit of the 10% elongation load of the connecting portion 8 is preferably 5N, and more preferably 2N.
  • the data glove is connected to each proximal interphalangeal joint and metacarpal phalanx by strain sensors 2 and 3 arranged on the dorsal side of the proximal interphalangeal joint and the metacarpophalangeal joint of the second to fifth fingers.
  • strain sensors 2 and 3 arranged on the dorsal side of the proximal interphalangeal joint and the metacarpophalangeal joint of the second to fifth fingers.
  • the strain sensors 2 and 3 for detecting the elongation of the glove body 1 are thin, can be in close contact with the hand, and have a small reaction force, so that it is difficult for the wearer to feel uncomfortable. For this reason, even if the data glove is worn, it is possible to perform delicate operations in sports, musical instrument performances, etc. as usual, and to convert the natural movement of the hand into data.
  • [Second Embodiment] 4 to 6 includes a glove body 1, four first strain sensors 2, four second strain sensors 3, and one third strain sensor 11 disposed on the back side of the glove body 1.
  • the data glove includes an anti-peeling material 6 that strengthens the connection between the strain sensors 2, 3, 11, 12, 13 and the wirings 5, 14, 15 extending from the strain sensors 2, and the proximal phalanx on the inner surface of the glove body 1.
  • a plurality of stretch-proof portions 7 respectively extending proximally and distally in a region corresponding to the space between the joints, and arranged on the back side of the glove body 1 so as to be bridged between the stretch-proof portions 7.
  • a connecting portion 8 that connects between the stretch preventing portions 7.
  • the third strain sensor 11 is disposed along the proximal distal direction on the outer surface side of each corresponding region of the joint between the metacarpophalangeal joints of the first finger on the back side of the glove body 1. That is, the third strain sensor 11 is attached to the glove body 1 such that the distal end is disposed on the dorsal side of the proximal phalanx and the proximal end is disposed on the dorsal side of the metacarpal bone. Specifically, the third strain sensor 11 is disposed in the vicinity of the side edge of the ventral fabric of the glove body 1 and substantially parallel to the seam of the back fabric and the ventral fabric.
  • the dorsal side of the first finger means the outer side in the bending and extending direction (extend side) of the interphalangeal joint and interphalangeal joint, and when wearing the data glove, the second finger to the fifth finger dorsal side.
  • the orientation is different. Therefore, the third strain sensor 11 expands when the first intermetacarpal joint is bent, and contracts when the first intercarpal joint is extended. Thereby, the 3rd distortion sensor 11 detects expansion-contraction of the proximal direction of the glove body 1.
  • the fourth strain sensor 12 is disposed along the left-right direction on the outer surface side of each region corresponding to the joint between the metacarpophalangeal joints of the first finger on the back side of the glove body 1. More specifically, the fourth strain sensor 12 has one end arranged at a position corresponding to the middle finger interphalangeal joint of the first finger and the middle finger bone of the second finger, and the other end of the fourth finger. It is arranged on the opposite side of the internode joint from the second finger. For this reason, the fourth strain sensor 12 mainly extends on the back fabric of the glove body 1, and the other end is on the vent fabric near the joint of the back fabric and the vent fabric of the glove body 1. To be positioned.
  • the fourth strain sensor 12 expands when the metacarpal bone of the first finger swings toward the palm, and contracts when the metacarpal bone of the first finger swings toward the instep side. Thereby, the 4th distortion sensor 12 detects expansion-contraction of the glove body 1 in the left-right direction.
  • the third strain sensor 11 and the fourth strain sensor 12 are arranged so as to cross each other. Further, the crossing angle between the fifth strain sensor and the fourth strain sensor 12 is preferably substantially vertical. Note that “substantially vertical” means that the angle between the two is 60 ° or more, preferably 80 ° or more.
  • the fifth strain sensor 13 is disposed on the outer surface side of the portion along the proximal phalanx on the ventral side of the second finger and the fifth finger, and detects expansion and contraction in the proximal distal direction of the glove body 1. Specifically, the fifth strain sensor 13 expands when the corresponding finger is bent back, and contracts when the corresponding finger is returned to the ventral side. In addition, the fifth strain sensor 13 is disposed so as not to overlap the joint between the metacarpophalangeal joint and the proximal interphalangeal joint so as not to hinder the bending operation of the metacarpophalangeal joint and the proximal interphalangeal joint. .
  • strain sensors 11, 12, and 13 can be the same as the strain sensors 2 and 3.
  • the separation preventing material 6 is disposed in the strain sensors 11, 12, and 13.
  • the second wiring 14 includes two proximal connection portions 14a that connect the proximal ends of the strain sensors 11 and 12 to the flexible printed circuit board 4, respectively, and an intermediate connection that connects the distal ends of the strain sensors 11 and 12 to each other. Part 14b and an interconnecting part 14c for connecting the intermediate connecting part 14b to the interconnecting part 5d of the wiring 5.
  • the material or the like of the second wiring 14 can be the same as that of the wiring 5.
  • the third wire 15 connects the distal end of the fifth strain sensor 13 to the flexible printed circuit board 4, and connects the proximal end of the fifth strain sensor 13 to the interconnect portion 5 d of the wire 5. Interconnecting portion 15b.
  • the material or the like of the third wiring 15 can be the same as that of the wiring 5.
  • the data glove since the data glove includes the third strain sensor 11 and the fourth strain sensor 12 disposed on the back side of the joint between the metacarpophalangeal joints of the first finger, By measuring the extension in the two directions of the region corresponding to the dorsal side of the joint, it is possible to detect the bending and stretching of the first finger and the lateral movement of the first finger. Therefore, the data glove can detect the three-dimensional movement of the first finger relatively accurately.
  • the third strain sensor 11 and the fourth strain sensor 12 are disposed on the first finger, and in addition to bending and extending the joint in the dorsoventral direction, the joint swings in the left-right direction orthogonal to the dorsoventral direction.
  • the movement of the first finger can be detected more accurately, and as a result, the entire movement can be grasped more accurately.
  • the movement of the hand during the performance of the keyboard instrument is detected using the data glove, it is possible to detect the keystroke by the left / right swing of the first finger detected by the fourth strain sensor 12.
  • the change of the position of the keyboard on which the first finger is arranged, for example, the first finger is changed from the second finger to the fifth finger by bending and stretching of the interphalangeal joint of the first finger detected by the third strain sensor 11 It is possible to grasp the finger-pushing operation passing through the lower side. Since the distal interphalangeal joint operates substantially in conjunction with the proximal interphalangeal joint, the movement of the proximal interphalangeal joint detected by the fourth strain sensor 12 can be performed without providing a separate sensor. Can be analogized.
  • the third strain sensor 11 and the fourth strain sensor 12 are arranged so as to intersect, it is possible to detect the expansion and contraction in two different directions of the substantially same region of the glove body 1, Finger movements can be detected more accurately.
  • the crossing angle of the third strain sensor 11 and the fourth strain sensor 12 is substantially vertical, it is possible to detect bending and stretching in the dorsoventral direction and swinging in the left and right direction with relatively high accuracy.
  • the data glove is provided with the fifth strain sensor 13 in a region corresponding to the proximal phalanx of the second finger and the fifth finger to move the second finger and the fifth finger outward, that is, the middle finger. It is possible to detect a movement that warps the internode joint outward.
  • the data glove in FIG. 7 is specialized for detecting the movement of the first finger.
  • the data glove includes a glove body 20 and a third strain sensor 11 and a fourth strain sensor 12 that are disposed in a region corresponding to the vicinity of the joint between the metacarpophalangeal joints of the first finger of the glove body 20.
  • the data glove includes a flexible printed circuit board 4 and wirings 14 connecting the strain sensors 11 and 12 and the flexible printed circuit board 4.
  • the glove body 20 of the data glove accommodates only the first finger like a known thumb supporter, and includes a finger accommodating portion 21 that accommodates the first finger, and a fixing portion 22 that is mounted around the wrist.
  • the third strain sensor 11 and the fourth strain sensor 12 are disposed in the finger accommodating portion 21, and the flexible printed circuit board 4 is disposed on the back side of the fixing portion 22.
  • the wiring 14 includes two proximal connection portions 14a that connect the proximal ends of the strain sensors 11 and 12 to the flexible printed circuit board 4, respectively, and an intermediate connection portion 14b that connects the distal ends of the strain sensors 11 and 12 to each other. And a distal connection portion 14 d for connecting the intermediate connection portion 14 b to the flexible printed circuit board 4.
  • the data glove in FIG. 8 detects the movement of the first finger, the second finger, and the fifth finger.
  • the data glove includes a glove body 1 and a third strain sensor disposed in each region corresponding to the vicinity of the interphalangeal joint in the first finger, the second finger, and the fifth finger on the back side of the glove body 1.
  • the glove body 1, the third strain sensor 11, the fourth strain sensor 12, and the flexible printed circuit board 4 in the data glove are the glove body 1, the third strain sensor 11, the fourth strain sensor 12, and the flexible in the data glove in FIG. Similar to the printed circuit board 4. For this reason, the overlapping description about these structures is abbreviate
  • the third strain sensors 11a and 11b of the second finger and the fifth finger mainly detect expansion and contraction in the proximal / distal direction of the glove body 1 respectively. Thereby, these 3rd distortion sensors 11a and 11b detect bending extension of the joint between interphalanges of the 2nd finger and the 5th finger.
  • the 4th strain sensors 12a and 12b of the 2nd finger and the 5th finger mainly detect the expansion and contraction in the left-right direction orthogonal to the proximal distal direction of the glove body 1 respectively.
  • these 4th distortion sensors 12a and 12b detect the peristalsis of the left-right direction in the joint of the middle finger interphalangeal of the 2nd finger and the 5th finger.
  • the fourth strain sensors 12a and 12b are disposed on the distal side of the center of the interphalangeal joint. .
  • the wiring 14 of the data glove includes a proximal connection portion 14a that connects one end of each of the strain sensors 11, 11a, 11b, 12, 12a, and 12b to the flexible printed circuit board 4, and a third strain sensor 11, 11a, and 11b.
  • An intermediate connection portion 14b that connects the other ends of the fourth strain sensors 12, 12a, and 12b to each other; a distal connection portion 14d that connects the other ends of the fourth strain sensors 12, 12a, and 12b to the flexible printed circuit board 4;
  • the intermediate connection portion 14b and the distal connection portion 14d are flexible starting from the distal ends of the third strain sensors 11, 11a, 11b, respectively, and via the other ends of the fourth strain sensors 12, 12a, 12b of the same finger. It is one wiring that extends to the printed circuit board 4.
  • the opening and closing between the third finger and the fourth finger can be inferred from the movement of the second finger and the fifth finger.
  • the data glove only needs to have at least two strain sensors in a region corresponding to at least one of the first to fifth fingers on the back side of the glove body, and only a region corresponding to any one finger.
  • the first strain sensor and the second strain sensor may be provided, or the third strain sensor and the fourth strain sensor may be provided only in a region corresponding to any one finger.
  • the number given before the strain sensor is merely a convenience.
  • a further strain sensor that mainly detects the horizontal expansion and contraction of the same region is disposed in the vicinity of the second strain sensor of the first embodiment of FIG. It corresponds to the third strain sensor and the fourth strain sensor in the fifth to fifth embodiments.
  • “mainly detected” means that when a detection value is separated into a direction in which the detection value is intended and a component in a direction orthogonal thereto, the component in the intended direction is larger. It means 5 times or more.
  • the data glove is a strain sensor for detecting expansion and contraction in the proximal and distal directions of the glove body in a region corresponding to the interphalangeal joint of at least one of the second to fifth fingers on the back side of the glove body.
  • the present invention is not limited to this.
  • the present invention is not limited to this.
  • the third strain sensor and the fourth strain sensor may be disposed separately so as not to cross each other, and the angle between the two may not be substantially vertical.
  • the other end of the fourth strain sensor (the side far from the second finger) may be disposed on the proximal phalanx distal to the third strain sensor, and the other end of the fourth strain sensor is You may arrange
  • the data glove may include a strain sensor for detecting the expansion and contraction of the glove body in the left-right direction in order to detect the left-right movement of the glove in addition to the region corresponding to the vicinity of the joint between the metacarpophalangeal joints.
  • a strain sensor for detecting the expansion and contraction of the glove body in the left-right direction in order to detect the left-right movement of the glove in addition to the region corresponding to the vicinity of the joint between the metacarpophalangeal joints.
  • the stretch-proof part and the connection part may be changed in position or may be omitted.
  • the stretch-proof part and the wiring need not overlap.
  • the stretch-proof portion and the wiring may be arranged in parallel or may be arranged so as to intersect in plan view.
  • the wiring may be used as a stretch-proof part or a connection part. That is, the stretch-proof part and the connection part may not be formed as independent components, and the extension of the glove body 1 may be suppressed by wiring. For this reason, the width and thickness of the wiring may be partially increased. Further, the stretch-proof portion and the connection portion may be disposed on the outer surface of the glove body 1. Further, the stretch-proof portion and the connection portion may be formed on different surfaces of the glove body 1.
  • the glove body may be one in which the tip of the finger accommodating portion is closed and covers the fingertip of the wearer.
  • the data glove may be configured to connect the wiring to an external processing device without going through the flexible printed circuit board.
  • the data glove is mounted with an arithmetic device, a wireless communication device, etc. for processing a signal on the flexible printed circuit board. Also good.
  • an anti-slip layer may be formed at positions corresponding to both ends of the strain sensor of the proximal interphalangeal joint on the inner surface of the back fabric of the glove body.
  • the data glove may include a strain sensor other than the region corresponding to the proximal interphalangeal joint and the metacarpophalangeal joint.
  • the strain sensor that detects the movement of the first finger (thumb) may be provided in another region that does not correspond to the joint between the metacarpophalangeal joints, and is located at a position that corresponds to between the joints on which the skin acts by the movement of the joint. It may be provided.
  • each strain sensor may be any sensor as long as it can detect the elongation of the glove body, and may have a shape such as a thread shape in addition to the belt shape, and does not have a CNT film. Also good.
  • a CNT fiber bundle in which a plurality of CNT fibers are aligned in one direction and arranged in a thread shape and the outer periphery is coated with an elastic resin can be used.
  • a strain sensor other than the CNT strain sensor it is only necessary to be able to detect the expansion and contraction of the glove body and to have appropriate stretchability and flexibility, and is preferably formed in a band shape or a string shape. .
  • the strain sensor may be formed by applying a material constituting the strain sensor, such as a paint containing CNT, to the cloth constituting the glove body, in addition to being attached to the glove body.
  • a material constituting the strain sensor such as a paint containing CNT
  • the connecting portion spanned between the stretch-proof portions is not limited to the proximal end of the stretch-proof portion, and may be connected at other positions. Moreover, you may connect between adjacent stretch-proof parts by a some connection part.
  • the data glove of the present invention can be suitably used for analyzing the movements of the hands of athletes and instrument players.

Abstract

La présente invention a pour objet de réaliser un gant numérique qui cause peu d'inconfort lorsqu'il est porté et qui est capable de détecter de façon relativement précise le mouvement d'une main. Le présent gant numérique comporte un corps principal de gant, et une pluralité de capteurs de déformation qui sont disposés dans le côté de dos du corps principal de gant dans des régions correspondant à au moins un doigt parmi des premier à cinquième doigts, et qui détectent un étirement du corps principal de gant. Au moins deux des capteurs de déformation sont disposés sur chacun des doigts. Il est préférable que la pluralité de capteurs de déformation comprenne un premier capteur de déformation et un deuxième capteur de déformation qui sont respectivement disposés dans le côté de dos du corps principal de gant dans une région correspondant à une articulation interphalangienne proximale et une région correspondant à une articulation métacarpophalangienne d'au moins un doigt parmi des deuxième à cinquième doigts, et qui détectent un étirement du corps principal de gant dans une direction proximale-distale. Il est préférable que le gant numérique comporte en outre une pluralité de parties anti-étirement qui sont disposées dans le côté de dos du corps principal de gant dans des régions correspondant à des zones situées entre les articulations métacarpophalangiennes suivant la direction proximale-distale, et qui limitent l'allongement du corps principal de gant.
PCT/JP2015/078414 2014-10-17 2015-10-06 Gant numérique WO2016060031A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201580056298.0A CN107077207B (zh) 2014-10-17 2015-10-06 数据手套
EP15850771.5A EP3208687B1 (fr) 2014-10-17 2015-10-06 Gant numérique
US15/487,669 US10455874B2 (en) 2014-10-17 2017-04-14 Data glove

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2014-212352 2014-10-17
JP2014212352 2014-10-17
JP2015000738A JP6524663B2 (ja) 2014-10-17 2015-01-06 データグローブ
JP2015-000739 2015-01-06
JP2015000739A JP2016125931A (ja) 2015-01-06 2015-01-06 データグローブ
JP2015-000738 2015-01-06

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US15/487,669 Continuation US10455874B2 (en) 2014-10-17 2017-04-14 Data glove

Publications (1)

Publication Number Publication Date
WO2016060031A1 true WO2016060031A1 (fr) 2016-04-21

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PCT/JP2015/078414 WO2016060031A1 (fr) 2014-10-17 2015-10-06 Gant numérique

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WO (1) WO2016060031A1 (fr)

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CN106617411A (zh) * 2016-12-03 2017-05-10 歌尔科技有限公司 一种智能手套fpc组件的组装工装及工艺
WO2017195683A1 (fr) * 2016-05-10 2017-11-16 ヤマハ株式会社 Unité capteur de contrainte
CN109710082A (zh) * 2019-02-26 2019-05-03 浙江工贸职业技术学院 一种数据手套
CN109710082B (zh) * 2019-02-26 2024-04-16 浙江工贸职业技术学院 一种数据手套

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JPH04233443A (ja) * 1990-12-28 1992-08-21 Yamaha Corp 曲げ検出器
JPH10286338A (ja) * 1997-04-11 1998-10-27 C Cozza Frank 電子式ゴルフ用グローブのゴルフ練習用器具
US6452584B1 (en) * 1997-04-23 2002-09-17 Modern Cartoon, Ltd. System for data management based on hand gestures
JP2011047702A (ja) * 2009-08-25 2011-03-10 National Institute Of Advanced Industrial Science & Technology カーボンナノチューブを用いた伸縮装置とその製造方法
WO2013149181A1 (fr) * 2012-03-30 2013-10-03 The Board Of Trustees Of The University Of Illinois Dispositifs électroniques montables sur des appendices et conformables à des surfaces

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JPH04233443A (ja) * 1990-12-28 1992-08-21 Yamaha Corp 曲げ検出器
JPH10286338A (ja) * 1997-04-11 1998-10-27 C Cozza Frank 電子式ゴルフ用グローブのゴルフ練習用器具
US6452584B1 (en) * 1997-04-23 2002-09-17 Modern Cartoon, Ltd. System for data management based on hand gestures
JP2011047702A (ja) * 2009-08-25 2011-03-10 National Institute Of Advanced Industrial Science & Technology カーボンナノチューブを用いた伸縮装置とその製造方法
WO2013149181A1 (fr) * 2012-03-30 2013-10-03 The Board Of Trustees Of The University Of Illinois Dispositifs électroniques montables sur des appendices et conformables à des surfaces

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Publication number Priority date Publication date Assignee Title
WO2017195683A1 (fr) * 2016-05-10 2017-11-16 ヤマハ株式会社 Unité capteur de contrainte
JP2017203656A (ja) * 2016-05-10 2017-11-16 ヤマハ株式会社 歪みセンサユニット
CN109073353A (zh) * 2016-05-10 2018-12-21 雅马哈株式会社 应变传感器单元
US11175124B2 (en) 2016-05-10 2021-11-16 Yamaha Corporation Strain sensor unit
CN109073353B (zh) * 2016-05-10 2022-03-18 雅马哈株式会社 应变传感器单元
CN106617411A (zh) * 2016-12-03 2017-05-10 歌尔科技有限公司 一种智能手套fpc组件的组装工装及工艺
CN109710082A (zh) * 2019-02-26 2019-05-03 浙江工贸职业技术学院 一种数据手套
CN109710082B (zh) * 2019-02-26 2024-04-16 浙江工贸职业技术学院 一种数据手套

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