JP2001330526A - Sensor for measuring pressure distribution and frictional force distribution - Google Patents
Sensor for measuring pressure distribution and frictional force distributionInfo
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- JP2001330526A JP2001330526A JP2000148088A JP2000148088A JP2001330526A JP 2001330526 A JP2001330526 A JP 2001330526A JP 2000148088 A JP2000148088 A JP 2000148088A JP 2000148088 A JP2000148088 A JP 2000148088A JP 2001330526 A JP2001330526 A JP 2001330526A
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- Prior art keywords
- pressure
- sensor
- distribution
- frictional force
- force distribution
- Prior art date
- Legal status (The legal status 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 status listed.)
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- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、面状の圧力分布及
び摩擦力分布を測定するためのセンサに関するものであ
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sensor for measuring planar pressure distribution and frictional force distribution.
【０００２】[0002]
【従来の技術】面状の圧力分布計測法としては、従来か
ら、ロードセルを測定面上に必要数配置し、その出力を
増幅器により適宜増幅して計測する方法や、本発明者ら
が既に特許第２０３４８４６号において明らかにしてい
るように、面状の感圧導電性ゴムにより形成した感圧素
子をマトリクス状に配置し、所要の走査回路やスイッチ
ング回路、信号処理回路などと組み合わせることにより
計測する方法が知られている。また、本発明者らが既に
特許第２０５３８１１号において明らかにしたように、
後者の方法における材料の可撓性を利用して、手袋に類
似した形状に検出部を構成することをもって、人間の手
の操作力分布を測定する方法も知られている。2. Description of the Related Art Conventionally, as a method of measuring a planar pressure distribution, a method of arranging a required number of load cells on a measurement surface and appropriately amplifying the output of the load cell by an amplifier and measuring the load cell has been disclosed by the present inventors. As disclosed in Japanese Patent No. 2034846, pressure-sensitive elements formed of planar pressure-sensitive conductive rubber are arranged in a matrix and measured by combining them with required scanning circuits, switching circuits, signal processing circuits, and the like. Methods are known. Also, as the present inventors have already disclosed in Japanese Patent No. 2053811,
There is also known a method of measuring the operating force distribution of a human hand by using the flexibility of a material in the latter method and forming a detection unit in a shape similar to a glove.
【０００３】一方、摩擦力の計測方法としては、ロード
セルによる３分力計などを用いる方法が一般的に普及し
ているほか、本発明者らがすでに特許第１６４６０２８
号において明らかにしたように、弾性体のスペーサを介
して対向させた一対の面圧力センサにより、作用する力
の重心位置のずれを測定することをもって、摩擦係数を
検出し、別途適宜測定した面圧力に該摩擦係数を乗ずる
ことによって摩擦力を計測する方法が知られている。特
に、上記３分力計を多数配列すれば、圧力分布と摩擦力
分布とを同時に計測することも場合によって可能である
が、検出部が堅く寸法も小型化が困難なため、たとえば
人間が物体を操作する場合のように、測定対象となる接
触面の一方乃至両方が柔軟性を有していたり、易損性で
あったりする場合や、人間の手のような狭い範囲での測
定には、対応できなかった。On the other hand, as a method of measuring frictional force, a method using a three-component force meter or the like using a load cell has been widely used, and the present inventors have already disclosed Patent No. 1646028.
As described in the above item, the friction coefficient is detected by measuring the displacement of the center of gravity of the acting force by a pair of surface pressure sensors facing each other via an elastic spacer, and the surface is measured separately as appropriate. There is known a method of measuring a friction force by multiplying a pressure by the friction coefficient. In particular, if a large number of the above three-component force meters are arranged, it is possible in some cases to simultaneously measure the pressure distribution and the frictional force distribution. When one or both of the contact surfaces to be measured have flexibility or are easily damaged as in the case of operating , Could not respond.
【０００４】[0004]
【発明が解決しようとする課題】本発明の解決課題は、
上述の事情に鑑み、構造が比較的簡単で小型化が容易に
可能であり、かつ必要に応じて柔軟性を有する材料で構
成可能な圧力分布及び摩擦力分布測定用センサを提供す
ることにある。The problem to be solved by the present invention is as follows.
In view of the above circumstances, it is an object of the present invention to provide a pressure distribution and frictional force distribution measuring sensor which has a relatively simple structure, can be easily miniaturized, and can be made of a material having flexibility as required. .
【０００５】[0005]
【課題を解決するための手段】上記課題を解決するため
の本発明の圧力分布及び摩擦力分布測定用の第１のセン
サは、相互に嵌合する形状の多数の凹凸を対向面に有す
る一対の圧板と、それらの圧板の対向面間に挟まれたシ
ート状の感圧導電性素材とを有し、かつ上記圧板の対向
面の凹凸の頂面、底面及びそれらの中間平面にそれぞれ
対向する電極を配設して検出部を構成し、上記各検出部
における電極間の導電性を検出する検出手段を設け、検
出した導電性に基づいて、圧板の外側面であるセンサ面
に垂直方向に作用する圧力分布及び該センサ面と平行に
作用する摩擦力分布をそれぞれ測定可能にしたことを特
徴とするものである。A first sensor for measuring a pressure distribution and a frictional force distribution according to the present invention for solving the above-mentioned problems comprises a pair of opposing surfaces having a large number of concaves and convexes having mutually fitted shapes. Pressure plate, and a sheet-shaped pressure-sensitive conductive material sandwiched between the opposing surfaces of the pressure plates, and respectively oppose the top surface, the bottom surface, and the intermediate plane of the unevenness of the opposing surface of the pressure plate. An electrode is provided to constitute a detection unit, and detection means for detecting conductivity between the electrodes in each of the detection units is provided.Based on the detected conductivity, the detection unit is disposed in a direction perpendicular to a sensor surface which is an outer surface of the pressure plate. The present invention is characterized in that a distribution of acting pressure and a distribution of frictional force acting in parallel with the sensor surface can be measured.
【０００６】また、本発明の第２のセンサは、上記第１
のセンサにおけるシート状の感圧導電性素材及び電極に
代えて、圧板の対向面間における電極の配設位置に薄型
の圧力検出素子を挟設せしめることにより、一対の圧板
の対向面の各部分に作用する圧力を測定可能に構成した
ことを特徴とするものである。すなわち、上記本発明の
第２のセンサは、相互に嵌合する形状の多数の凹凸を対
向面に有する一対の圧板と、それらの圧板の対向面の凹
凸の頂面、底面及びそれらの中間平面の間に挟まれた薄
型の圧力検出素子により構成される検出部とを有し、上
記各検出部における圧力検出素子出力を検出する検出手
段を設け、検出した圧力に基づいて、圧板の外側面であ
るセンサ面に垂直方向に作用する圧力分布、及び該セン
サ面と平行に作用する摩擦力分布をそれぞれ測定可能に
したことを特徴とするものである。Further, the second sensor of the present invention includes the first sensor.
Instead of the sheet-shaped pressure-sensitive conductive material and the electrodes in the sensor of the above, a thin pressure detecting element is interposed between the opposing surfaces of the pressure plate at the positions where the electrodes are disposed, so that each part of the opposing surfaces of the pair of pressure plates Characterized in that it is configured to be able to measure the pressure acting on the pressure. That is, the second sensor of the present invention includes a pair of pressure plates having a large number of projections and depressions of a shape fitted to each other on the opposing surfaces, and a top surface, a bottom surface, and an intermediate plane between the depressions and projections of the opposing surfaces of the pressure plates. A detection unit configured by a thin pressure detection element sandwiched therebetween, and a detection unit for detecting an output of the pressure detection element in each of the detection units, and an outer surface of the pressure plate based on the detected pressure. And a pressure distribution acting in a direction perpendicular to the sensor surface and a distribution of frictional force acting in parallel with the sensor surface can be measured.
【０００７】さらに、本発明の第３のセンサは、前記第
１のセンサにおける感圧導電性素材及び電極に代えて、
対向面に相互に嵌合する形状の多数の凹凸を有する一対
の圧板の間に、圧力分布記録フィルムを挟設し、その圧
力分布記録フィルムの記録に基づいて上述した面状の圧
力分布及び摩擦力分布を測定可能にしたことを特徴とす
るものである。すなわち、上記本発明の第３のセンサ
は、相互に嵌合する形状の多数の凹凸を対向面に有する
一対の圧板と、それらの圧板の対向面間に挟設された圧
力分布記録フィルムにより構成される検出部とを有し、
上記圧力分布記録フィルムの記録に基づいて、圧板の外
側面であるセンサ面に垂直方向に作用する圧力分布、及
び該センサ面と平行に作用する摩擦力分布をそれぞれ測
定可能にしたことを特徴とするものである。Further, a third sensor according to the present invention comprises a pressure-sensitive conductive material and an electrode in the first sensor,
A pressure distribution recording film is interposed between a pair of pressure plates having a large number of irregularities of a shape fitted to each other on the opposing surface, and the above-described planar pressure distribution and frictional force based on the recording of the pressure distribution recording film. It is characterized in that the distribution can be measured. That is, the third sensor of the present invention is constituted by a pair of pressure plates having a large number of irregularities of a shape fitted to each other on the opposing surfaces, and a pressure distribution recording film sandwiched between the opposing surfaces of the pressure plates. And a detection unit,
Based on the recording of the pressure distribution recording film, a pressure distribution acting in a direction perpendicular to the sensor surface, which is an outer surface of the pressure plate, and a frictional force distribution acting in parallel with the sensor surface can be measured. Is what you do.
【０００８】上記第１ないし第３のセンサにおいては、
圧板の対向面の凹凸にセンサ面に平行な底面及び頂面を
設けず、相互に嵌合する傾斜面のみよって該凹凸を形成
することができ、また、圧板の対向面の凹凸の中途にセ
ンサ面に平行な第三面を設けることができる。In the first to third sensors,
The unevenness on the opposing surface of the pressure plate is not provided with a bottom surface and a top surface parallel to the sensor surface, and the unevenness can be formed only by the inclined surfaces that are fitted to each other. A third surface parallel to the surface can be provided.
【０００９】上記の構成を有する面状の圧力分布及び摩
擦力分布測定用のセンサによれば、それを作業機械の作
用面や人間の体表面などに装着し、各電極等の配設様態
に応じた処理回路を接続することにより、当該作用面や
体表面と接触する対象物との間の圧力分布及び摩擦力分
布を同時的に計測することができる。また、前記圧力分
布記録フィルムを用いる場合には、同様にそのセンサを
作業機械の作用面や人間の体表面などに取り付け、作業
後に圧力記録フィルムを取り出して、記録された圧力記
録を適宜解析することにより、当該作用面や体表面と接
触する対象物との間の最大圧力分布及び最大摩擦力分布
を測定することができる。According to the planar pressure distribution and friction force distribution measuring sensor having the above configuration, the sensor is mounted on the working surface of a working machine, the surface of a human body, or the like, and the arrangement of the electrodes and the like is changed. By connecting the corresponding processing circuits, it is possible to simultaneously measure the pressure distribution and the frictional force distribution between the working surface or the body surface and the contact object. When the pressure distribution recording film is used, the sensor is similarly attached to the working surface of a working machine or the surface of a human body, and the pressure recording film is taken out after the operation, and the recorded pressure recording is appropriately analyzed. Thereby, it is possible to measure the maximum pressure distribution and the maximum frictional force distribution between the working surface and the object in contact with the body surface.
【００１０】[0010]
【発明の実施の形態】以下に本発明の実施例を図面を参
照しながら詳述する。図１は、本発明の検出原理を説明
するための断面図である。本発明に係るセンサは、面状
の圧力分布及び摩擦力分布を測定するためのセンサであ
り、図１ではそのセンサを１次元のものとして表現して
いるが、実際には面状として２次元的に構成されるもの
である。Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a cross-sectional view for explaining the detection principle of the present invention. The sensor according to the present invention is a sensor for measuring a planar pressure distribution and a frictional force distribution. In FIG. 1, the sensor is represented as a one-dimensional sensor. It is configured in a typical manner.
【００１１】図１から分かるように、本発明の第１実施
例のセンサは、対向面に相互に嵌合する形状の多数の凹
凸を有する一対の圧板１，２と、それらの圧板１，２の
ほぼ一定間隔の対向面間に挟まれたシート状の感圧導電
性素材３とを有し、上記圧板１，２の対向面の凹凸の頂
面、底面及びそれらの間の中間平面に、感圧導電性素材
３を挟んで互いに対向する電極電極Ａ１ と電極Ａ２
とにより構成される検出部Ａ、同様に対向する電極Ｂ
１ と電極Ｂ２ により構成される検出部Ｂ、電極Ｃ
１ と電極Ｃ２ により構成される検出部Ｃ、電極Ｄ
１ と電極Ｄ２ により構成される検出部Ｄを配設して
いる。上記頂面と底面との間の中間平面は、図示したよ
うに、圧板１，２の外側面であるセンサ面１ａ，２ａに
対して角度θだけ傾斜する傾斜面とすることもできる
が、上記センサ面１ａ，２ａに垂直な側面とすることも
できる。そして、上記圧板１，２の対向する各電極間に
は、感圧導電性素材３の導電性に基づいて圧力分布及び
摩擦力分布を測定するため、その測定手段として上記各
電極の配設様態に応じた処理回路が接続される。As can be seen from FIG. 1, the sensor according to the first embodiment of the present invention comprises a pair of pressure plates 1 And a sheet-shaped pressure-sensitive conductive material 3 sandwiched between opposed surfaces at substantially constant intervals, and the top and bottom surfaces of the concavities and convexities of the opposed surfaces of the pressure plates 1 and 2 and an intermediate plane therebetween. across the pressure sensitive conductive material 3 facing each other electrode electrode a 1 and the electrode a 2
And the electrode B similarly facing
1 and an electrode B 2 , a detection unit B and an electrode C
1 and electrode C 2 , a detection unit C and an electrode D
It is arranged detection unit D constituted by one electrode D 2. The intermediate plane between the top surface and the bottom surface may be an inclined surface inclined by an angle θ with respect to the sensor surfaces 1a and 2a, which are the outer surfaces of the pressure plates 1 and 2, as shown in the figure. The side surfaces may be perpendicular to the sensor surfaces 1a and 2a. The pressure distribution and the frictional force distribution are measured between the opposing electrodes of the pressure plates 1 and 2 based on the conductivity of the pressure-sensitive conductive material 3. Is connected.
【００１２】上記構成を有するセンサは、感圧導電性素
材３の各部分に配した検出部Ａ〜Ｄによって、圧板１，
２に作用する圧力分布及び摩擦力分布を測定できるよう
にしたものであり、更に具体的には、上記圧板１，２の
対向面における凹凸の頂面、底面及びそれらの間の中間
平面（傾斜面）において、センサ面１ａ，２ａに垂直方
向に作用する圧力ｐの分布を測定し、凹凸の中間平面
（傾斜面または側面）においてセンサ面１ａ，２ａと平
行方向に作用する摩擦力ｔの分布を測定するものであ
る。In the sensor having the above-described configuration, the detection plates A to D provided in each part of the pressure-sensitive conductive material 3 make the pressure plates 1 and
The distribution of the pressure and the frictional force acting on the pressure plates 2 and 2 can be measured. More specifically, the top and bottom surfaces of the concavities and convexities on the opposing surfaces of the pressure plates 1 and 2 and the intermediate plane (inclination) between them Surface), the distribution of the pressure p acting in the vertical direction on the sensor surfaces 1a and 2a is measured, and the distribution of the friction force t acting in the direction parallel to the sensor surfaces 1a and 2a on the intermediate plane (inclined surface or side surface) of the unevenness. Is measured.
【００１３】すなわち、検出部の近傍において単位面積
当たり圧力ｐ及び摩擦力ｔが作用している場合には、セ
ンサ面１ａ，２ａに平行な底面及び頂面に設けられた検
出部Ｂ及び検出部Ｄにおいて、各検出部に垂直に作用す
る力は圧力ｐに由来する力のみであり、かつ両検出部に
おいてその値は等しく、そのため、検出部Ｂ及び検出部
Ｄにおいて圧力を測定すれば、圧力ｐを直接求めること
ができる。That is, when the pressure p and the frictional force t per unit area are acting in the vicinity of the detecting section, the detecting section B and the detecting section provided on the bottom and top surfaces parallel to the sensor surfaces 1a, 2a. In D, the force acting perpendicularly to each detection unit is only the force derived from the pressure p, and its value is equal in both the detection units. Therefore, if the pressure is measured in the detection unit B and the detection unit D, the pressure p can be determined directly.
【００１４】一方、中間平面に設けられた検出部Ａ及び
検出部Ｃに作用する力は、次のように表すことができ
る。すなわち、検出部Ａ及び検出部Ｃにおいて圧力ｐに
より作用する力をそれぞれＦｐ１、Ｆｐ２とし、ｌを検
出部ＡないしＤの面積とすると、それらの大きさは、 Ｆｐ１＝Ｆｐ２＝ｐ・ｌ であって、その方向は圧力ｐの方向と同一である。同様
にして、検出部Ａ及び検出部Ｃにおいて摩擦力ｔにより
作用する力をそれぞれＦｔ１、Ｆｔ２とすると、その大
きさは Ｆｔ１＝Ｆｔ２＝ｔ・ｌ であって、その方向は摩擦力ｔの方向と同一である。On the other hand, the forces acting on the detection sections A and C provided on the intermediate plane can be expressed as follows. That is, assuming that the forces acting on the detection unit A and the detection unit C by the pressure p are Fp1 and Fp2, respectively, and l is the area of the detection units A to D, their sizes are as follows: Fp1 = Fp2 = p · l The direction is the same as the direction of the pressure p. Similarly, assuming that the forces acting on the detection unit A and the detection unit C by the friction force t are Ft1 and Ft2, respectively, the magnitude is Ft1 = Ft2 = t · l, and the direction is the direction of the friction force t. Is the same as
【００１５】而して、検出部Ａ及び検出部Ｃにおいて、
圧力ｐに由来してそれらの検出部に垂直の方向に作用す
る力をそれぞれＮｐ１，Ｎｐ２とすると、 Ｎｐ１＝Ｆｐ１ｃｏｓθ＝ｐ・ｌｃｏｓθ Ｎｐ２＝Ｆｐ２ｃｏｓθ＝ｐ・ｌｃｏｓθ であり、一方、検出部Ａ及び検出部Ｃにおいて、摩擦力
ｔに由来してそれらの検出部に垂直方向に作用する力を
それぞれＮｔ１，Ｎｔ２とすると、 Ｎｔ１＝Ｆｔ１ｓｉｎθ＝ｔ・ｌｓｉｎθ、 Ｎｔ２＝−Ｆｔ２ｓｉｎθ＝−ｔ・ｌｓｉｎθ である。Thus, in the detection units A and C,
Assuming that Np1 and Np2 denote the forces acting on the detection units in the direction perpendicular to the pressure p, respectively, Np1 = Fp1cosθ = p · lcosθ Np2 = Fp2cosθ = p · lcosθ, while the detection unit A and the detection In the section C, when the forces acting on the detecting sections in the vertical direction derived from the frictional force t are Nt1 and Nt2, respectively, Nt1 = Ft1sinθ = t · lsinθ, and Nt2 = −Ft2sinθ = −t · lsinθ.
【００１６】そして、検出部Ａ及び検出部Ｃにおいて作
用するそれらの検出部に垂直方向の力は、圧力ｐに由来
して当該部分に垂直に作用する力Ｎｐ１，Ｎｐ２と、摩
擦力ｔに由来して当該部分に垂直に作用する力Ｎｔ１，
Ｎｔ２との和になるから、それぞれをＮ１，Ｎ２とすれ
ば、 Ｎ１＝Ｎｐ１＋Ｎｔ１＝ｐ・ｌｃｏｓθ＋ｔ・ｌｓｉｎ
θ Ｎ２＝Ｎｐ２＋Ｎｔ２＝ｐ・ｌｃｏｓθ−ｔ・ｌｓｉｎ
θ である。The forces acting on the detecting portions A and C in the direction perpendicular to the detecting portions are derived from the pressure p and the forces Np1 and Np2 acting vertically on the portions and the frictional force t. And the force Nt1,
N1 = Np1 + Nt1 = p · lcosθ + t · lsin
θN2 = Np2 + Nt2 = p · lcos θ−t · lsin
θ.
【００１７】したがって、検出部Ａ及び検出部Ｃにおい
て作用する圧力を、それぞれｐ１，ｐ２とすれば、 ｐ１＝Ｎ１／ｌ＝ｐｃｏｓθ＋ｔｓｉｎθ ｐ２＝Ｎ２／ｌ＝ｐｃｏｓθ−ｔｓｉｎθ である。Therefore, assuming that the pressures acting on the detection unit A and the detection unit C are p1 and p2, respectively, p1 = N1 / l = pcosθ + tsinθ p2 = N2 / l = pcosθ−tsinθ
【００１８】そして、検出部Ａ及び検出部Ｃにおいてそ
れぞれ圧力を測定すれば、上記ｐ１，ｐ２を得ることが
でき、ｐ１からｐ２を減じて圧板の対向面の形状によっ
て定まる定数２ｓｉｎθで除すれば、摩擦力ｔを得るこ
とができる。すなわち、 ｔ＝（ｐ１−ｐ２）／２ｓｉｎθ として摩擦力ｔを計測することができる。If the pressures are measured at the detection sections A and C, p1 and p2 can be obtained. By subtracting p2 from p1 and dividing by a constant 2sin θ determined by the shape of the opposing surface of the pressure plate. , A frictional force t can be obtained. That is, the friction force t can be measured as t = (p1−p2) / 2 sin θ.
【００１９】このとき、前記ｐ２の式において、ｔｓｉ
ｎθがｐｃｏｓθよりも大きくなると、この式は成り立
たなくなり、ｐ２＝０になるが、ｔは摩擦力であるた
め、圧力ｐに最大静止摩擦係数μを乗じた値より大きく
なることはないから、測定対象となる面の材質等に応じ
てθを適宜選択して設計することにより、ｔｓｉｎθが
ｐｃｏｓθよりも大きくならないようにすることができ
る。At this time, in the above equation of p2, tsi
When nθ becomes larger than pcosθ, this equation does not hold, and p2 = 0. However, since t is a frictional force, it does not become larger than a value obtained by multiplying the pressure p by the maximum static friction coefficient μ. By appropriately selecting and designing θ according to the material of the target surface and the like, it is possible to prevent tsin θ from becoming larger than pcos θ.
【００２０】この点をさらに詳述すると、最大静止摩擦
係数の定義から、 ｔ≦μｐ であり、これを上記のｐ２の式に適用すると、 ｐ２≧ｐｃｏｓθ−μｐｓｉｎθ＝ｐ（ｃｏｓθ−μｓ
ｉｎθ） である。しかも、本発明は負圧を対象とするものではな
く、ｐ≧０の場合を対象としているので、 ｃｏｓθ−μｓｉｎθ≧０ であれば、常にｐ２≧０が成立することになり、したが
って、０＜θ＜９０°の範囲で、ｔａｎθ＜１／μであ
るようにθを設計すれば、常に上述の方法で摩擦力ｔを
得ることができる。To explain this point in more detail, from the definition of the maximum static friction coefficient, t ≦ μp, and when this is applied to the above equation of p2, p2 ≧ pcosθ−μpsinθ = p (cosθ−μs
inθ). Moreover, since the present invention is not directed to negative pressure but to p ≧ 0, if cos θ−μsin θ ≧ 0, p2 ≧ 0 is always satisfied, and therefore 0 < If θ is designed so that tan θ <1 / μ in the range of θ <90 °, the friction force t can always be obtained by the above-described method.
【００２１】一方、θ＝９０°の場合には、検出部Ａ及
び検出部Ｃは圧板の対向面の凹凸の側面に設置されるこ
ととなり、これらの検出部には圧力ｐの影響は現れず、
摩擦力ｔに対向する方向にある検出部、図１の場合でい
えば検出部Ａのみに摩擦力ｔが直接作用することとなる
から、それを容易に検出することができる。なお、ｐ１
とｐ２とを加えあわせて圧板１，２の対向面の形状によ
って定まる定数２ｃｏｓθで除すれば、圧力ｐを得るこ
とができる。すなわち、 ｐ＝（ｐ１＋ｐ２）／２ｃｏｓθ として圧力ｐを計測することができる。したがって、０
＜θ＜９０°の範囲では検出部Ｂ及び検出部Ｄを省略し
ても圧力ｐを求めることは可能であり、つまり、圧板
１，２の対向面の凹凸に、センサ面１ａ，２ａに平行な
底面及び頂面を設けず、相互に嵌合する傾斜面のみよっ
て圧板対向面の凹凸を形成することができる。この場
合、２次元的な面状センサに構成するに当たり、たとえ
ば圧板対向面の凹凸形状を図２に示すような形状とする
ことにより実現可能である。On the other hand, when θ = 90 °, the detecting section A and the detecting section C are installed on the uneven side surface of the opposing surface of the pressure plate, and the influence of the pressure p does not appear on these detecting sections. ,
In the case of FIG. 1, the frictional force t directly acts only on the detecting portion in the direction opposite to the frictional force t, in the case of FIG. 1, it can be easily detected. Note that p1
And p2 are added together and divided by a constant 2 cos θ determined by the shape of the opposing surfaces of the pressure plates 1 and 2, the pressure p can be obtained. That is, the pressure p can be measured as p = (p1 + p2) / 2 cos θ. Therefore, 0
In the range of <θ <90 °, the pressure p can be obtained even when the detection unit B and the detection unit D are omitted, that is, the pressure p is parallel to the sensor surfaces 1a and 2a due to the unevenness of the opposing surfaces of the pressure plates 1 and 2. The uneven surface of the pressure plate facing surface can be formed only by the inclined surfaces that are fitted to each other without providing a simple bottom surface and a top surface. In this case, when a two-dimensional planar sensor is configured, it can be realized by, for example, making the concavo-convex shape of the surface facing the pressure plate into a shape as shown in FIG.
【００２２】また、２次元的な面状センサに構成するに
当たり、図３に示すように圧板１，２の対向面の凹凸に
おける頂面１１と底面１２の中途に、センサ面に平行な
第三面１３を設けることにより、一対の圧板の対向面の
凹凸形状を有効に利用することができる。すなわち、上
記第三面１３を設けない場合には、図４に示すように圧
板の凹凸の頂面２１と底面２２との間に検出部を設置で
きない無効な空間２５が生じるが、上記第三面１３を設
けることによりこれを廃し、圧板対向面のすべての部分
に検出部を設置することが可能になる。In constructing the two-dimensional planar sensor, as shown in FIG. 3, a third surface parallel to the sensor surface is provided between the top surface 11 and the bottom surface 12 of the unevenness of the opposing surfaces of the pressure plates 1 and 2. By providing the surface 13, the uneven shape of the opposing surfaces of the pair of pressure plates can be effectively used. That is, when the third surface 13 is not provided, an invalid space 25 where a detecting unit cannot be installed between the top surface 21 and the bottom surface 22 of the unevenness of the pressure plate occurs as shown in FIG. By providing the surface 13, this can be eliminated, and it becomes possible to install the detection units in all parts of the surface facing the pressure plate.
【００２３】以上においては、各々の検出部が対向する
一対の電極とシート状の感圧導電性素材とによって構成
されている実施例について説明したが、検出部において
一対の電極を対向させることに代えて、図５に示すよう
なくし形の電極を同一面状に並置させることも可能であ
る。これを図１の検出部Ａの場合に即して説明すると、
電極Ａ１を廃し、電極Ａ２に代えて同じ場所にくし形の
電極Ｅ１，Ｅ２を並置することにより、電極Ｅ１，Ｅ２
と感圧導電性素材３とによって検出部Ａを構成すること
ができる。In the above, the description has been given of the embodiment in which each detecting section is constituted by a pair of electrodes facing each other and a sheet-shaped pressure-sensitive conductive material. Alternatively, comb-shaped electrodes can be juxtaposed on the same plane as shown in FIG. This will be described in the case of the detection unit A in FIG.
By disposing the electrode A1 and arranging the comb-shaped electrodes E1 and E2 in the same place in place of the electrode A2, the electrodes E1 and E2
And the pressure-sensitive conductive material 3 can constitute the detection unit A.
【００２４】また、上記センサにおける圧板１，２及び
感圧導電性素材３には柔軟性を持たせることができる
が、センサに柔軟性を持たせる必要のない場合には、上
記第１実施例において用いている各検出部の一対の電極
とシート状の感圧導電性素材に代えて、薄型の圧力検出
素子を使用することもできる（第２実施例）。The pressure plates 1 and 2 and the pressure-sensitive conductive material 3 in the sensor can be made flexible. However, if it is not necessary to make the sensor flexible, the first embodiment can be used. In place of the pair of electrodes and the sheet-shaped pressure-sensitive conductive material used in (1) and (2), a thin pressure detecting element can be used (second embodiment).
【００２５】上記第１実施例及び第２実施例において
は、刻一刻の圧力分布及び摩擦力分布を検出することが
できるが、任意の期間における圧力分布及び摩擦力分布
のそれぞれの最大値を記録する場合には、圧板１，２を
含むセンサ全体を分解組立可能に構成し、かつ第１実施
例の一対の電極とシート状の感圧導電性素材を用いるこ
とに代えて、圧力記録フィルムを使用することができる
（第３実施例）。この第３実施例によって、面状の圧力
分布及び摩擦力分布測定用センサを記録器としても使用
することが可能になる。この場合には、測定の都度圧力
記録フィルムを交換する必要があるが、電極及び配線を
要しないため、時間的な変化を無視して最大値のみの測
定が必要な用途には、簡便に利用可能である。In the first and second embodiments, the pressure distribution and the frictional force distribution can be detected every moment, but the maximum values of the pressure distribution and the frictional force distribution in an arbitrary period are recorded. In this case, instead of using the pair of electrodes and the sheet-shaped pressure-sensitive conductive material of the first embodiment, a pressure recording film is used instead of using the pair of electrodes and the sheet-like pressure-sensitive conductive material of the first embodiment. Can be used (third embodiment). According to the third embodiment, it is possible to use a sensor for measuring a pressure distribution and a frictional force distribution in a planar form also as a recorder. In this case, it is necessary to change the pressure recording film every time measurement is performed, but since it does not require electrodes and wiring, it is easily used for applications where only the maximum value needs to be measured ignoring temporal changes. It is possible.
【００２６】[0026]
【発明の効果】以上説明したように、本発明の圧力分布
及び摩擦力分布測定用センサは、構造が比較的簡単で小
型化が容易であり、かつ必要に応じて柔軟性を有する材
料で構成可能である。したがって、たとえば人間が物体
を操作する場合のように、測定対象となる接触面の一方
乃至両方が柔軟性を有していたり、易損性であったりす
る場合にも適用でき、人間の手のような狭い範囲におけ
る圧力分布及び摩擦力分布を測定することも容易に可能
になる。As described above, the sensor for measuring pressure distribution and frictional force distribution according to the present invention has a relatively simple structure, is easily miniaturized, and is made of a material having flexibility as required. It is possible. Therefore, for example, when one or both of the contact surfaces to be measured have flexibility or are easily damaged, such as when a human is operating an object, the present invention can be applied to human hands. It is also possible to easily measure the pressure distribution and the frictional force distribution in such a narrow range.
【図１】本発明の測定原理を説明するための断面図であ
る。FIG. 1 is a cross-sectional view for explaining a measurement principle of the present invention.
【図２】圧板の対向面の形状の他の形状例を示す斜視図
である。FIG. 2 is a perspective view showing another example of the shape of the opposing surface of the pressure plate.
【図３】圧板の対向面の凹凸に第三面を設けた形状例を
示す斜視図である。FIG. 3 is a perspective view showing an example of a shape in which a third surface is provided on unevenness of an opposing surface of a pressure plate.
【図４】圧板の対向面の凹凸の中途に第三面を設けない
場合に検出部を設置できない無効な空間が生じる状態を
示す部分斜視図である。FIG. 4 is a partial perspective view showing a state in which an invalid space where a detection unit cannot be installed occurs when a third surface is not provided in the middle of the unevenness of the opposing surface of the pressure plate.
【図５】同一面状にくし形電極を並置させて構成した検
出部の構成を示す斜視図である。FIG. 5 is a perspective view illustrating a configuration of a detection unit configured by arranging comb-shaped electrodes in the same plane.
１，２ 圧板 １ａ，２ａ センサ面 ３ 感圧導電性素材 １１，２１ 頂面 １２，２２ 底面 １３ 第三面 ２５ 無効な空間 Ａ１ 〜Ｄ１ ，Ａ２ 〜Ｄ２ 電極 Ａ〜Ｄ 検出部 ｐ 圧力 ｔ 摩擦力1,2 plate 1a, 2a sensor surface 3 pressure-sensitive conductive material 11 and 21 the top surface 12, 22 bottom surface 13 third surface 25 invalid space A 1 ~D 1, A 2 ~D 2 electrode A~D detector p Pressure t Friction force
Claims (7)
ためのセンサであって、 相互に嵌合する形状の多数の凹凸を対向面に有する一対
の圧板と、それらの圧板の対向面間に挟まれたシート状
の感圧導電性素材とを有し、かつ上記圧板の対向面の凹
凸の頂面、底面及びそれらの中間平面にそれぞれ対向す
る電極を配設して検出部を構成し、 上記各検出部における電極間の導電性を検出する検出手
段を設け、 検出した導電性に基づいて、圧板の外側面であるセンサ
面に垂直方向に作用する圧力分布及び該センサ面と平行
に作用する摩擦力分布をそれぞれ測定可能にした、こと
を特徴とする圧力分布及び摩擦力分布測定用センサ。1. A sensor for measuring a planar pressure distribution and a frictional force distribution, comprising: a pair of pressure plates having a large number of concave / convex portions on an opposing surface, the opposing surfaces of the pressure plates; A detection unit comprising a sheet-shaped pressure-sensitive conductive material sandwiched between the electrodes, and disposing electrodes facing each other on the top surface, the bottom surface, and the intermediate plane of the unevenness of the opposing surface of the pressure plate. Detecting means for detecting conductivity between the electrodes in each of the detection units; and a pressure distribution acting in a direction perpendicular to a sensor surface, which is an outer surface of the pressure plate, based on the detected conductivity, and a pressure distribution parallel to the sensor surface. A pressure distribution and a frictional force distribution measuring sensor, wherein the frictional force distribution acting on the pressure sensor can be measured.
平行な第三面を設け、この第三面にも感圧導電性素材を
挟んで対向する電極を配設して検出部を構成したことを
特徴とする請求項１に記載の圧力分布及び摩擦力分布測
定用センサ。2. A detecting section comprising: a third surface parallel to the sensor surface provided in the middle of the unevenness of the opposing surface of the pressure plate; and an opposing electrode disposed on the third surface with a pressure-sensitive conductive material interposed therebetween. The sensor for measuring pressure distribution and frictional force distribution according to claim 1, wherein:
ためのセンサであって、 相互に嵌合する形状の多数の凹凸を対向面に有する一対
の圧板と、それらの圧板の対向面間に挟まれたシート状
の感圧導電性素材とを有し、かつ上記圧板の対向面の凹
凸の傾斜面にそれぞれ対向する電極を配設して検出部を
構成し、 上記各検出部における電極間の導電性を検出する検出手
段を設け、 検出した導電性に基づいて、圧板の外側面であるセンサ
面に垂直方向に作用する圧力分布及び該センサ面と平行
に作用する摩擦力分布をそれぞれ測定可能にした、こと
を特徴とする圧力分布及び摩擦力分布測定用センサ。3. A sensor for measuring a planar pressure distribution and a frictional force distribution, comprising: a pair of pressure plates having a large number of irregularities having a shape fitted to each other on an opposing surface; and an opposing surface of the pressure plates. Having a sheet-shaped pressure-sensitive conductive material interposed therebetween, and arranging electrodes facing each other on an inclined surface of the unevenness of the opposing surface of the pressure plate to constitute a detection unit; Detecting means for detecting conductivity between the electrodes, based on the detected conductivity, a pressure distribution acting in a direction perpendicular to a sensor surface, which is an outer surface of the pressure plate, and a frictional force distribution acting in parallel with the sensor surface. A sensor for measuring pressure distribution and frictional force distribution, each of which can be measured.
ためのセンサであって、 相互に嵌合する形状の多数の凹凸を対向面に有する一対
の圧板と、それらの圧板の対向面の凹凸の頂面、底面及
びそれらの中間平面の間に挟まれた薄型の圧力検出素子
により構成される検出部とを有し、 上記各検出部における圧力を検出する検出手段を設け、 検出した圧力に基づいて、圧板の外側面であるセンサ面
に垂直方向に作用する圧力分布、及び該センサ面と平行
に作用する摩擦力分布をそれぞれ測定可能にした、こと
を特徴とする圧力分布及び摩擦力分布測定用センサ。4. A sensor for measuring a planar pressure distribution and a frictional force distribution, comprising: a pair of pressure plates having a large number of projections and depressions having a shape fitted to each other on an opposing surface; and an opposing surface of the pressure plates. A detecting unit configured by a thin pressure detecting element sandwiched between a top surface, a bottom surface, and an intermediate plane between the top and bottom surfaces of the unevenness, and a detecting unit for detecting a pressure in each of the detecting units is provided. A pressure distribution acting in a direction perpendicular to a sensor surface, which is an outer surface of the pressure plate, and a friction force distribution acting in parallel with the sensor surface, based on the pressure; Sensor for force distribution measurement.
平行な第三面を設け、この第三面にも薄型の圧力検出素
子を挟んで検出部を構成したことを特徴とする請求項４
に記載の圧力分布及び摩擦力分布測定用センサ。5. A sensor according to claim 1, wherein a third surface parallel to the sensor surface is provided in the middle of the unevenness of the opposing surface of the pressure plate, and a detection unit is formed on the third surface with a thin pressure detecting element interposed therebetween. Claim 4
The sensor for measuring pressure distribution and frictional force distribution described in 1.
ためのセンサであって、 相互に嵌合する形状の多数の凹凸を対向面に有する一対
の圧板と、それらの圧板の対向面の凹凸の傾斜面間に挟
まれた薄型の圧力検出素子シートにより構成される検出
部とを有し、 上記各検出部における圧力を検出する検出手段を設け、 検出した圧力に基づいて、圧板の外側面であるセンサ面
に垂直方向に作用する圧力分布、及び該センサ面と平行
に作用する摩擦力分布をそれぞれ測定可能にした、こと
を特徴とする圧力分布及び摩擦力分布測定用センサ。6. A sensor for measuring a planar pressure distribution and a frictional force distribution, comprising: a pair of pressure plates having a large number of projections and depressions of mutually fitting shapes on opposing surfaces; and an opposing surface of the pressure plates. A detecting section comprising a thin pressure detecting element sheet sandwiched between the inclined surfaces of the irregularities, and a detecting means for detecting the pressure in each of the detecting sections. A pressure distribution and frictional force distribution measuring sensor, wherein a pressure distribution acting in a direction perpendicular to a sensor surface as an outer surface and a frictional force distribution acting in parallel with the sensor surface can be measured.
ためのセンサであって、 相互に嵌合する形状の多数の凹凸を対向面に有する一対
の圧板と、それらの圧板の対向面間に挟設された圧力分
布記録フィルムにより構成される検出部とを有し、 上記圧力分布記録フィルムの記録に基づいて、圧板の外
側面であるセンサ面に垂直方向に作用する圧力分布、及
び該センサ面と平行に作用する摩擦力分布をそれぞれ測
定可能にした、ことを特徴とする圧力分布及び摩擦力分
布測定用センサ。7. A sensor for measuring a planar pressure distribution and a frictional force distribution, comprising: a pair of pressure plates having a large number of projections and depressions of mutually fitting shapes on opposing surfaces, and opposing surfaces of the pressure plates. A detection unit configured by a pressure distribution recording film interposed between the pressure distribution recording film, based on the recording of the pressure distribution recording film, a pressure distribution acting in a direction perpendicular to the sensor surface that is the outer surface of the pressure plate, and A sensor for measuring pressure distribution and frictional force distribution, wherein a frictional force distribution acting in parallel with the sensor surface can be measured.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000148088A JP3374179B2 (en) | 2000-05-19 | 2000-05-19 | Sensor for measuring pressure distribution and frictional force distribution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000148088A JP3374179B2 (en) | 2000-05-19 | 2000-05-19 | Sensor for measuring pressure distribution and frictional force distribution |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2002269741A Division JP3731051B2 (en) | 2002-09-17 | 2002-09-17 | Sensor for measuring pressure distribution and frictional force distribution |
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| Publication Number | Publication Date |
|---|---|
| JP2001330526A true JP2001330526A (en) | 2001-11-30 |
| JP3374179B2 JP3374179B2 (en) | 2003-02-04 |
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Cited By (3)
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| JP2011007654A (en) * | 2009-06-26 | 2011-01-13 | Toyota Motor Corp | Contact detector and robot |
| WO2011045837A1 (en) * | 2009-10-14 | 2011-04-21 | 国立大学法人東北大学 | Sheet-like tactile sensor system |
| EP3355778A4 (en) * | 2015-09-30 | 2019-05-08 | 3M Innovative Properties Company | System and method for optimizing body and object interactions |
-
2000
- 2000-05-19 JP JP2000148088A patent/JP3374179B2/en not_active Expired - Lifetime
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011007654A (en) * | 2009-06-26 | 2011-01-13 | Toyota Motor Corp | Contact detector and robot |
| WO2011045837A1 (en) * | 2009-10-14 | 2011-04-21 | 国立大学法人東北大学 | Sheet-like tactile sensor system |
| EP2490004A1 (en) * | 2009-10-14 | 2012-08-22 | Tohoku University | Sheet-like tactile sensor system |
| CN102713546A (en) * | 2009-10-14 | 2012-10-03 | 国立大学法人东北大学 | Sheet-like tactile sensor system |
| TWI408036B (en) * | 2009-10-14 | 2013-09-11 | Univ Tohoku | Sheet-like touch sensor system |
| US8613231B2 (en) | 2009-10-14 | 2013-12-24 | Tohoku University | Sheet-like tactile sensor system |
| KR101353013B1 (en) | 2009-10-14 | 2014-01-22 | 도요타 지도샤（주） | Sheet-like tactile sensor system |
| JP5417454B2 (en) * | 2009-10-14 | 2014-02-12 | 国立大学法人東北大学 | Sheet-like tactile sensor system |
| EP2490004A4 (en) * | 2009-10-14 | 2014-08-06 | Univ Tohoku | Sheet-like tactile sensor system |
| EP3355778A4 (en) * | 2015-09-30 | 2019-05-08 | 3M Innovative Properties Company | System and method for optimizing body and object interactions |
| US10687753B2 (en) | 2015-09-30 | 2020-06-23 | 3M Innovative Properties Company | System and method for optimizing body and object interactions |
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| Publication number | Publication date |
|---|---|
| JP3374179B2 (en) | 2003-02-04 |
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