JP2021154420A - 布型センサ、服型センサおよび服型センサを装着したロボット - Google Patents
布型センサ、服型センサおよび服型センサを装着したロボット Download PDFInfo
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- JP2021154420A JP2021154420A JP2020055753A JP2020055753A JP2021154420A JP 2021154420 A JP2021154420 A JP 2021154420A JP 2020055753 A JP2020055753 A JP 2020055753A JP 2020055753 A JP2020055753 A JP 2020055753A JP 2021154420 A JP2021154420 A JP 2021154420A
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- Prior art keywords
- cloth
- conductive
- type sensor
- robot
- surface side
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- 239000004744 fabric Substances 0.000 title claims abstract description 281
- 238000009940 knitting Methods 0.000 claims description 25
- 239000004020 conductor Substances 0.000 abstract description 11
- 238000001514 detection method Methods 0.000 description 48
- 238000010586 diagram Methods 0.000 description 18
- 210000003128 head Anatomy 0.000 description 11
- 230000006870 function Effects 0.000 description 10
- 210000001508 eye Anatomy 0.000 description 9
- 210000000744 eyelid Anatomy 0.000 description 9
- 238000004891 communication Methods 0.000 description 7
- 238000005259 measurement Methods 0.000 description 7
- 210000000214 mouth Anatomy 0.000 description 7
- 210000005252 bulbus oculi Anatomy 0.000 description 5
- 239000000835 fiber Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 210000003491 skin Anatomy 0.000 description 4
- 210000001015 abdomen Anatomy 0.000 description 3
- 210000004709 eyebrow Anatomy 0.000 description 3
- 210000001061 forehead Anatomy 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 2
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 210000002310 elbow joint Anatomy 0.000 description 2
- 210000002615 epidermis Anatomy 0.000 description 2
- 210000000887 face Anatomy 0.000 description 2
- 229920001778 nylon Polymers 0.000 description 2
- 229920000728 polyester Polymers 0.000 description 2
- 229920002635 polyurethane Polymers 0.000 description 2
- 239000004814 polyurethane Substances 0.000 description 2
- 239000011347 resin Substances 0.000 description 2
- 229920005989 resin Polymers 0.000 description 2
- 229910052709 silver Inorganic materials 0.000 description 2
- 239000004332 silver Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 229930091051 Arenine Natural products 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 241000735495 Erica <angiosperm> Species 0.000 description 1
- 241000282412 Homo Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 229920006311 Urethane elastomer Polymers 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 210000003109 clavicle Anatomy 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 229920000915 polyvinyl chloride Polymers 0.000 description 1
- 239000004800 polyvinyl chloride Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000009958 sewing Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
Images
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- Toys (AREA)
- Manipulator (AREA)
Abstract
Description
rX = rREF * VX / (VREF - Vx)
なお、基準の抵抗RREFは、測定回路30のダイナミックレンジである。
12 …検出部
14 …コントローラ
20 …第1導電性布
20a …非導電面側の布
20b …導電面側の布
20c …中間層
22 …第2導電性布
50 …服型センサ
60 …布
62 …電線
100 …ロボット
126 …頭部
128a …上瞼
128b …下瞼
130 …口角
132 …肩
134 …腰
150 …CPU
154 …RAM
156 …通信モジュール
164 …触角センサ
166 …眼カメラ
168 …スピーカ
170 …マイク
Claims (5)
- 絶縁性の糸を編んで形成された第1布と導電性の糸を編んで形成された第2布を絶縁性の糸で結束した第1導電性布と、
導電性の糸と絶縁性の糸を撚糸した糸を編んで形成され、前記第1導電性布の前記第1布側に重ねられた第2導電性布と、
前記第2布と電気的に接続されたマイクロコントローラを備える、布型センサ。 - 前記第1導電性布および前記第2導電性布は、伸縮性を有する、請求項1記載の布型センサ。
- マイクロコントローラと、
絶縁性の糸を編んで形成された第1布と導電性の糸を編んで形成された第2布を絶縁性の糸で結束した第1導電性布と、
導電性の糸と絶縁性の糸を撚糸した糸を編んで形成された第2導電性布を備え、
複数の前記第1導電性布を、絶縁性の第3布を用いて面状に繋ぎ合わせるとともに服に固定し、当該複数の前記第1導電性布のそれぞれの前記第1布側に複数の前記第2導電性布を個別に重ねて縫い合わせ、当該複数の第1導電性布のそれぞれを構成する前記第2布のそれぞれを前記第3布に縫い付けられた電線を用いて前記マイクロコントローラに個別に接続するとともに、当該複数の第2導電性布をそれぞれ接地した、服型センサ。 - 前記第1導電性布および前記第2導電性布は、伸縮性を有する、請求項3記載の服型センサ。
- 請求項3または4に記載の服型センサを装着した、ロボット。
Priority Applications (1)
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JP2020055753A JP7442363B2 (ja) | 2020-03-26 | 2020-03-26 | 布型センサ、服型センサおよび服型センサを装着したロボット |
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JP2020055753A JP7442363B2 (ja) | 2020-03-26 | 2020-03-26 | 布型センサ、服型センサおよび服型センサを装着したロボット |
Publications (2)
Publication Number | Publication Date |
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JP2021154420A true JP2021154420A (ja) | 2021-10-07 |
JP7442363B2 JP7442363B2 (ja) | 2024-03-04 |
Family
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JP2020055753A Active JP7442363B2 (ja) | 2020-03-26 | 2020-03-26 | 布型センサ、服型センサおよび服型センサを装着したロボット |
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JP (1) | JP7442363B2 (ja) |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2468870B (en) | 2009-03-25 | 2016-08-03 | Peratech Holdco Ltd | Sensor |
JP2012193467A (ja) | 2011-03-16 | 2012-10-11 | Asahi Kasei Fibers Corp | 導電性布帛 |
JP2013019064A (ja) | 2011-07-08 | 2013-01-31 | Asahi Kasei Fibers Corp | 導電性布帛 |
WO2016109744A1 (en) | 2014-12-31 | 2016-07-07 | Sensoria Inc. | Sensors, interfaces and sensor systems for data collection and integrated monitoring of conditions at or near body surfaces |
KR102205578B1 (ko) | 2013-02-08 | 2021-01-20 | 풋폴스 앤드 하트비츠 (유케이) 리미티드 | 전기 전도성 텍스타일에서 접촉 저항을 최적화하는 방법 |
US9322121B2 (en) | 2013-02-28 | 2016-04-26 | Regents Of The University Of Minnesota | Stitched stretch sensor |
US20140296749A1 (en) | 2013-03-26 | 2014-10-02 | Lawrence G. Reid, Jr. | Body Monitoring System and Method |
DE102013207153B4 (de) | 2013-04-19 | 2019-11-07 | Adidas Ag | An die Fußform angepasster Schuh |
WO2016033328A1 (en) | 2014-08-27 | 2016-03-03 | North Carolina State University | Binary encoding of sensors in textile structures |
JP6383919B2 (ja) | 2014-10-31 | 2018-09-05 | 国立大学法人鳥取大学 | 平面状圧力センサー |
JP2018021766A (ja) | 2016-08-01 | 2018-02-08 | 帝人株式会社 | 布帛状センサ |
JP7377011B2 (ja) | 2018-06-14 | 2023-11-09 | 慶一 鳥光 | 力覚素子及びセンサ |
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2020
- 2020-03-26 JP JP2020055753A patent/JP7442363B2/ja active Active
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