JP2600087B2 - Pressure sensor for curved flexible body mounting - Google Patents
Pressure sensor for curved flexible body mountingInfo
- Publication number
- JP2600087B2 JP2600087B2 JP2145674A JP14567490A JP2600087B2 JP 2600087 B2 JP2600087 B2 JP 2600087B2 JP 2145674 A JP2145674 A JP 2145674A JP 14567490 A JP14567490 A JP 14567490A JP 2600087 B2 JP2600087 B2 JP 2600087B2
- Authority
- JP
- Japan
- Prior art keywords
- pressure
- flexible body
- curved flexible
- pressure sensor
- conductive rubber
- 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.)
- Expired - Lifetime
Links
Description
【発明の詳細な説明】 ［産業上の利用分野］ 本発明は、人体等の変形可能な曲面柔軟体に装着し、
柔軟体または剛体からなる対象物との間に作用する接触
圧を測定するため曲面柔軟体装着用圧力センサに関する
ものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention is mounted on a deformable curved flexible body such as a human body,
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a curved flexible body mounting pressure sensor for measuring a contact pressure acting between a flexible body and a rigid body.
［従来の技術］ 圧力センサに用いられている感圧導電性ゴムは、シリ
コンゴムに炭素粒子を混入したものである。この感圧導
電性ゴムに圧力が加えられると、ゴムの内部に分散して
いる炭素粒子が圧力に応じて相互に接触し、炭素粒子の
連鎖が形成され、圧力に応じた導電性が生ずるが、圧力
が除かれると炭素粒子の連鎖が離ればなれとなり、絶縁
体となる。そのため、間隔をおいて設けた一対の電極間
にこの感圧導電性ゴムの薄い板を配置し、電極間に定電
圧を掛けて、外部からその感圧導電性ゴムに圧力を加え
ると、圧力に応じて電極間の電圧が変化する。そのた
め、この電圧を測定することによって、加えられた圧力
を知ることができる。[Prior Art] A pressure-sensitive conductive rubber used for a pressure sensor is obtained by mixing carbon particles into silicon rubber. When pressure is applied to the pressure-sensitive conductive rubber, the carbon particles dispersed inside the rubber come into contact with each other according to the pressure, and a chain of carbon particles is formed, and conductivity according to the pressure is generated. When the pressure is removed, the chains of the carbon particles are separated and the insulator becomes an insulator. Therefore, when a thin plate of this pressure-sensitive conductive rubber is arranged between a pair of electrodes provided at an interval, a constant voltage is applied between the electrodes, and pressure is applied to the pressure-sensitive conductive rubber from the outside. Changes the voltage between the electrodes. Therefore, by measuring this voltage, the applied pressure can be known.
この感圧導電性ゴムを用いた圧力センサは、従来から
硬い平面上に固定した状態で使用されているが、それを
人体のような曲面柔軟体に装着して使用すると、その曲
面柔軟体への装着に際して感圧導電性ゴムに変形力が作
用すると共に、使用中における曲面柔軟体の変形によっ
てもその感圧導電性ゴムに対し変形力が作用するので、
それらの変形力に伴って感圧導電性ゴムの導電性が変化
し、そのため、圧力センサを装着した曲面柔軟体とそれ
に接触する対象物との間の接触圧を正確に測定すること
ができない、という問題がある。This pressure sensor using pressure-sensitive conductive rubber has been conventionally used while fixed on a hard flat surface, but when it is used by attaching it to a curved flexible body such as the human body, it becomes Since the deformation force acts on the pressure-sensitive conductive rubber at the time of mounting, the deformation force acts on the pressure-sensitive conductive rubber also by the deformation of the curved flexible body during use,
The conductivity of the pressure-sensitive conductive rubber changes with the deformation force, and therefore, it is not possible to accurately measure the contact pressure between the curved flexible body equipped with the pressure sensor and the object that comes into contact with the curved body. There is a problem.
［発明が解決しようとする課題］ 本発明の技術的課題は、人体のような曲面柔軟体に感
圧導電性ゴムを装着するに際し、曲面柔軟体の曲げ変形
による導電性の変化を防ぎ、曲面柔軟体に装着して対象
物との間の接触圧を正確に測定することが可能な圧力セ
ンサを提供することにある。[Problem to be Solved by the Invention] A technical problem of the present invention is to prevent a change in conductivity due to bending deformation of a curved flexible body when mounting a pressure-sensitive conductive rubber on a curved flexible body such as a human body. It is an object of the present invention to provide a pressure sensor that can be attached to a flexible body and that can accurately measure a contact pressure between the object and an object.
［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曲面柔軟体装着用
圧力センサは、人体等の変形可能な曲面柔軟体に装着し
て、その曲面柔軟体が接触する対象物との間の接触圧を
測定するための圧力センサであって、感圧導電性ゴムの
板で上記曲面柔軟体の曲げ変形によっても導電性が変化
しない程度に小さい細片の多数を、柔軟な電極基板上に
間隔をおいて設けた一対の電極間に配置し、それらを粘
着テープで被覆することにより電極基板上に固定したこ
とを特徴とするものである。[Means for Solving the Problems] A pressure sensor for mounting a curved flexible body according to the present invention for solving the above-mentioned problems is mounted on a deformable curved flexible body such as a human body, and the object to which the curved flexible body contacts. A pressure sensor for measuring a contact pressure between an object and a flexible sheet of a pressure-sensitive conductive rubber. The electrode is disposed between a pair of electrodes provided at an interval on a suitable electrode substrate, and is fixed on the electrode substrate by covering them with an adhesive tape.
［作 用］ 上記構成を有する圧力センサは、手指や足のような人
体の一部、あるいはそれらを模した機器等における変形
可能な曲面柔軟体に装着し、対象物との間の接触圧を測
定するためのものである。感圧導電性ゴム板は、曲面柔
軟体の曲げ変形によっても導電性が変化しない程度に小
さい多数の細片として、柔軟な電極基板上に配設し、粘
着テープで被覆、固定しているので、感圧導電性ゴムの
板を曲面柔軟体に装着するに際してそれに変形力が作用
することは殆どなく、また、使用中における曲面柔軟体
の変形によってもその感圧導電性ゴムに対して変形力が
作用することは殆どない。電極基板上に設けた一対の電
極は、定電圧電源に接続すると共に、その一方が記録器
に接続され、計測した接触圧が感圧導電性ゴムに作用す
る圧力に応じた電圧の変化として記録される。[Operation] The pressure sensor having the above configuration is mounted on a deformable curved body of a part of a human body such as a finger or a foot, or a device simulating the same, and measures a contact pressure with an object. It is for measuring. The pressure-sensitive conductive rubber plate is arranged on a flexible electrode substrate as a large number of small pieces so that the conductivity does not change even by bending deformation of the curved flexible body, covered with an adhesive tape, and fixed. When a pressure-sensitive conductive rubber plate is mounted on a curved flexible body, a deforming force hardly acts on the curved flexible body, and even when the curved flexible body is deformed during use, a deformation force is applied to the pressure-sensitive conductive rubber. Hardly works. A pair of electrodes provided on the electrode substrate are connected to a constant voltage power supply, and one of them is connected to a recorder, and the measured contact pressure is recorded as a change in voltage according to the pressure acting on the pressure-sensitive conductive rubber. Is done.
［実施例］ 図面は、本発明に係る曲面柔軟体装着用圧力センサの
実施例を示している。[Embodiment] The drawings show an embodiment of a pressure sensor for mounting a curved flexible body according to the present invention.
この圧力センサは、それを装着する手指や足のような
人体の一部、あるいはそれらを模した機器等における変
形可能な曲面柔軟体に取付けて使用するが、その曲面柔
軟体の曲げ変形によっても導電性が変化しない程度に小
さい感圧導電性ゴムの板からなる短冊状の細片１の多数
を、柔軟な電極基板２上に配設設置している。上記電極
基盤２は、柔軟なポリ・イミドの薄板上に相互に組み合
わせた櫛形の電極パターンをエッチングしたものに金メ
ッキを施し、それによって、リード線４につながる間隔
をおいた一対の電極4a,4bを形成し、それらの一対の電
極4a,4b間に上記感圧導電性ゴム板の細片１の多数を並
列配置し、それらをポリエチレン系粘着テープ３で被覆
することにより、電極基板２上に固定している。This pressure sensor is used by attaching it to a deformable curved body in a part of the human body such as a finger or a foot to which it is attached, or a device that imitates them, but also due to the bending deformation of the curved body. A large number of strip-shaped strips 1 made of a pressure-sensitive conductive rubber plate that is small enough that the conductivity does not change are disposed on a flexible electrode substrate 2. The electrode substrate 2 is made of a flexible poly-imide thin plate, and is formed by etching a comb-shaped electrode pattern combined with each other, and then applying gold plating to thereby form a pair of electrodes 4a, 4b spaced from each other. And a large number of the strips 1 of the pressure-sensitive conductive rubber plate are arranged in parallel between the pair of electrodes 4a and 4b, and are covered with a polyethylene-based adhesive tape 3 so as to be placed on the electrode substrate 2. It is fixed.
上記構成を有する圧力センサは、手指や足のような人
体の一部、あるいはそれらを模した機器等における変形
可能な曲面柔軟体にその任意数を装着し、例えばそれら
を装着した手指とそれらの手指により把持した対象物と
の間の接触圧を測定する場合などに使用され、それによ
って、手指の先端や各関節部間等の把持作用部における
操作力の分布等の測定に有効に利用できるものである。The pressure sensor having the above-described configuration is configured such that an arbitrary number thereof is mounted on a deformable curved flexible body in a part of a human body such as a finger or a foot or a device imitating the same, for example, a finger on which they are mounted and a finger thereof. It is used when measuring the contact pressure between an object gripped by a finger and the like, and thereby can be effectively used for measuring the distribution of an operating force in a gripping action portion such as a tip of a finger or between joints. Things.
そして、この圧力センサは、第４図に示すように、一
対のリード線４のうちの一方を直接的に定電圧電源に接
続し、他方を記録器に接続して使用するもので、計測し
た接触圧が感圧導電性ゴムに作用する圧力に応じた電圧
の変化として、上記記録器に記録される。即ち、感圧導
電性ゴムの細片１が対象物に接触して圧力が加えられる
と、ゴムの内部に分散している炭素粒子が圧力に応じて
相互に接触して、炭素粒子の連鎖が形成され、圧力に応
じた導電性が生じる。また、この圧力が除かれると炭素
粒子の連鎖が解消され、絶縁体となる。そのため、一対
の電極間に定電圧を掛けておき、外部から感圧導電性ゴ
ムに圧力が加えられると、圧力に応じて電極間の電圧が
変化し、この電圧を測定することによって、加えられた
圧力を知ることができる。As shown in FIG. 4, this pressure sensor was used by directly connecting one of a pair of lead wires 4 to a constant voltage power supply and connecting the other to a recorder. The contact pressure is recorded in the recorder as a change in voltage according to the pressure acting on the pressure-sensitive conductive rubber. That is, when the pressure-sensitive conductive rubber strip 1 comes into contact with the object and pressure is applied, the carbon particles dispersed inside the rubber come into contact with each other according to the pressure, and a chain of carbon particles is formed. It is formed and has conductivity depending on the pressure. When the pressure is removed, the chains of the carbon particles are broken and the insulator becomes an insulator. For this reason, a constant voltage is applied between a pair of electrodes, and when pressure is applied to the pressure-sensitive conductive rubber from the outside, the voltage between the electrodes changes according to the pressure, and the voltage is measured by measuring this voltage. Pressure can be known.
また、上述した圧力センサにおいては、感圧導電性ゴ
ム板を曲面柔軟体の曲げ変形によっても導電性が変化し
ない程度に小さい多数の細片１として、可撓性を有する
プリント配線された電極基板２上に配設し、それらを粘
着テープ３で被覆、固定しているので、圧力センサを任
意曲率の曲面柔軟体に装着しても、圧力センサがその曲
面に添って曲がるので、感圧導電性ゴム板の細片１に変
形力が作用して感圧導電性ゴムの導電性に影響を与える
ようなことはない。そのため、第４図に示すように、圧
力センサをサイズの異なる各種手指に巻きつけて使用す
ることができ、あるいは手足の任意曲面部分に貼り付け
て使用することができる。また、使用中における曲面柔
軟体の変形によってもその感圧導電性ゴムに対して変形
力が作用することはなく、逆に感圧導電性ゴムとその配
線が、柔軟で自在に形を変える手の動き等を妨げず、対
象物を操作する場合における手指の操作力を確実に検出
することができる。In the above-described pressure sensor, the pressure-sensitive conductive rubber plate is formed into a large number of small pieces 1 small enough that the conductivity does not change even by bending deformation of the curved surface flexible body, and the printed and wired electrode substrate having flexibility is provided. Since the pressure sensor is bent along the curved surface even if the pressure sensor is mounted on a curved flexible body having an arbitrary curvature, the pressure sensor is pressure-sensitive and conductive. The deformation force does not act on the strip 1 of the conductive rubber plate to affect the conductivity of the pressure-sensitive conductive rubber. Therefore, as shown in FIG. 4, the pressure sensor can be used by wrapping it around various fingers of different sizes, or can be used by attaching it to an arbitrary curved surface portion of a limb. In addition, no deformation force acts on the pressure-sensitive conductive rubber due to the deformation of the curved flexible body during use. Conversely, the pressure-sensitive conductive rubber and its wiring are flexible and freely changeable in shape. It is possible to reliably detect the operation force of the finger when operating the target object without hindering the movement of the user.
［発明の効果］ 以上に詳述した本発明の曲面柔軟体装着用圧力センサ
によれば、人体のような曲面柔軟体に感圧導電性ゴムを
装着するのに際し、曲面柔軟体の曲げ変形による導電性
の変化を防ぎ、曲面柔軟体に装着して対象物との間の接
触圧を正確に測定することが可能な圧力センサを提供す
ることができる。[Effects of the Invention] According to the pressure sensor for mounting a curved flexible body of the present invention described in detail above, when the pressure-sensitive conductive rubber is mounted on a curved flexible body such as a human body, it is caused by bending deformation of the curved flexible body. It is possible to provide a pressure sensor capable of preventing a change in conductivity and being mounted on a curved flexible body and capable of accurately measuring a contact pressure with an object.
第１図は本発明に係る圧力センサの構成を例示した正面
図、第２図は第１図のＡ−Ａ線に沿う断面図、第３図は
部分拡大断面図、第４図は使用状態を説明するためのブ
ロック図である。 １……感圧導電性ゴム板の細片、２……電極基盤 ３……粘着テープ、４……リード線 4a,4b……電極1 is a front view illustrating the configuration of a pressure sensor according to the present invention, FIG. 2 is a cross-sectional view taken along line AA of FIG. 1, FIG. 3 is a partially enlarged cross-sectional view, and FIG. It is a block diagram for explaining. 1 .... Small piece of pressure-sensitive conductive rubber plate 2 .... Electrode substrate 3 .... Adhesive tape 4 .... Lead wire 4a, 4b ... Electrode
───────────────────────────────────────────────────── フロントページの続き (72)発明者 斉藤 一朗 茨城県つくば市東１丁目１番４号 工業 技術院製品科学研究所内 (72)発明者 佐藤 滋 茨城県つくば市東１丁目１番４号 工業 技術院製品科学研究所内 (72)発明者 下条 誠 茨城県つくば市東１丁目１番４号 工業 技術院製品科学研究所内 (56)参考文献 特開 昭62−179104（ＪＰ，Ａ) 実開 平１−152611（ＪＰ，Ｕ) ────────────────────────────────────────────────── ─── Continuing from the front page (72) Inventor Ichiro Saito 1-4-1 Higashi, Tsukuba City, Ibaraki Prefecture Inside the Research Institute of Product Science, Industrial Technology Institute (72) Inventor Shigeru Sato 1-4-1 Higashi 1 Tsukuba City, Ibaraki Industrial Technology Inside the Research Institute for Product Science (72) Inventor Makoto Shimojo 1-4-1 Higashi, Tsukuba-shi, Ibaraki Pref. Inside the Research Institute for Product Science, Industrial Technology Institute (56) References JP-A-62-179104 (JP, A) -152611 (JP, U)
Claims (1)
て、その曲面柔軟体が接触する対象物との間の接触圧を
測定するための圧力センサであって、 感圧導電性ゴムの板で上記曲面柔軟体の曲げ変形によっ
ても導電性が変化しない程度に小さい細片の多数を、柔
軟な電極基板上に間隔をおいて設けた一対の電極曲間に
配置し、それらを粘着テープで被覆することにより電極
基板上に固定した、 ことを特徴とする曲面柔軟体装着用圧力センサ。1. A pressure sensor mounted on a deformable curved flexible body such as a human body for measuring a contact pressure between the curved flexible body and an object with which the curved flexible body comes into contact. A large number of strips small enough that the conductivity does not change even when the curved flexible body is bent by the bending of the above-mentioned curved flexible body are arranged between a pair of electrode curves provided on a flexible electrode substrate at an interval, and they are adhered. A pressure sensor for mounting on a curved flexible body, wherein the pressure sensor is fixed on an electrode substrate by coating with a tape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2145674A JP2600087B2 (en) | 1990-06-04 | 1990-06-04 | Pressure sensor for curved flexible body mounting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2145674A JP2600087B2 (en) | 1990-06-04 | 1990-06-04 | Pressure sensor for curved flexible body mounting |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0438432A JPH0438432A (en) | 1992-02-07 |
| JP2600087B2 true JP2600087B2 (en) | 1997-04-16 |
Family
ID=15390465
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2145674A Expired - Lifetime JP2600087B2 (en) | 1990-06-04 | 1990-06-04 | Pressure sensor for curved flexible body mounting |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2600087B2 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008140490A2 (en) * | 2006-11-21 | 2008-11-20 | Cornell Research Foundation, Inc. | Flexible substrate sensor system for environmental and infrastructure monitoring |
| JP2012107924A (en) * | 2010-11-16 | 2012-06-07 | Tokai Rubber Ind Ltd | Variable resistance type sensor |
| JP2012159463A (en) * | 2011-02-02 | 2012-08-23 | Canon Chemicals Inc | Pressure-sensitive sensor body |
| JP2016130736A (en) * | 2015-01-13 | 2016-07-21 | ニッタ株式会社 | Method for manufacturing pressure-sensitive sensor |
| GB2550411B (en) * | 2016-05-20 | 2019-04-03 | Hp1 Tech Ltd | Device for detecting a force |
| CN112924059B (en) * | 2021-01-26 | 2022-09-23 | 上海同岩土木工程科技股份有限公司 | Strip-type surrounding rock pressure monitoring device, monitoring method and installation method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62179104A (en) * | 1986-01-31 | 1987-08-06 | 東京プロセスサ−ビス株式会社 | Manufacture of pressure sensitive sensor and the pressure sensitive sensor |
| JPH01152611U (en) * | 1988-04-11 | 1989-10-20 |
-
1990
- 1990-06-04 JP JP2145674A patent/JP2600087B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0438432A (en) | 1992-02-07 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |