JPH0440333A - Measuring instrument for operating power distribution of finger and palm - Google Patents
Measuring instrument for operating power distribution of finger and palmInfo
- Publication number
- JPH0440333A JPH0440333A JP14684390A JP14684390A JPH0440333A JP H0440333 A JPH0440333 A JP H0440333A JP 14684390 A JP14684390 A JP 14684390A JP 14684390 A JP14684390 A JP 14684390A JP H0440333 A JPH0440333 A JP H0440333A
- Authority
- JP
- Japan
- Prior art keywords
- pressure
- operating force
- matrix
- palm
- sensitive conductive
- 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 239000004020 conductor Substances 0.000 claims abstract description 14
- 239000011159 matrix material Substances 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 abstract description 4
- 239000000463 material Substances 0.000 abstract description 2
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野］
本発明は、人間の手指及び掌の操作力分布測定装置に関
するものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a device for measuring the distribution of operational force in human fingers and palms.
［従来の技術］
従来、人間の手指や掌の操作力の測定装置として、対象
物の特定位置に設けた力測定装置によって予め決められ
た操作における操作力を測定する測定手段、あるいは指
貫のように手指に装置できる薄型荷重センサによって、
当該部分の対象物に対する操作力を測定する測定手段が
知られている。[Prior Art] Conventionally, as a measuring device for measuring the operating force of a human finger or palm, there has been a measurement means that measures the operating force in a predetermined operation using a force measuring device installed at a specific position on an object, or a measuring device such as a thimble. With a thin load sensor that can be attached to your finger,
BACKGROUND OF THE INVENTION Measuring means for measuring the operating force of the part on an object is known.
しかしながら、これらの測定手段は、手指及び掌におけ
る操作力の分布を測定することはできない。However, these measurement means cannot measure the distribution of operating force in the fingers and palm.
［発明が解決しようとする課題］
本発明の目的は、人間の手指や掌における操作力の分布
を測定できる測定装置を提供することにある。[Problems to be Solved by the Invention] An object of the present invention is to provide a measuring device that can measure the distribution of operating force in a human finger or palm.
［課題を解決するための手段］
上記課題を解決するため１本発明の手指及び掌操作力分
布測定装置は、可撓性のあるプリント回路基板を人間の
手に自由に着脱可能に形成した電極保持具、及びこれと
一体的に設けた、マトリクス状に成形した複数の電極と
感圧導電材とを重ねた荷重センサを有し、対象物を操作
する際に上記前止センサの各電極に作用する圧力を感圧
導電材の抵抗値に変換させる操作力分布検出センサと、
該操作力分布検出センサのマトリクス状の各検出点にお
ける感圧導電材の抵抗値を走査方式により順次測定する
走査回路とによって構成されることを特徴としている。[Means for Solving the Problems] In order to solve the above problems, the finger and palm operation force distribution measuring device of the present invention has an electrode formed on a flexible printed circuit board so that it can be freely attached to and detached from the human hand. It has a holder and a load sensor integrally provided with the holder, which is made up of a plurality of electrodes formed in a matrix and a pressure-sensitive conductive material, and when operating an object, each electrode of the stop sensor is an operating force distribution detection sensor that converts the applied pressure into a resistance value of the pressure-sensitive conductive material;
It is characterized by comprising a scanning circuit that sequentially measures the resistance value of the pressure-sensitive conductive material at each detection point in a matrix of the operating force distribution detection sensor using a scanning method.
［作 用］
操作力分布検出センサを人間の手に装着して対象物を操
作すると、荷重センサにおけるマトリクス状に形成した
複数の電極が押圧され、各電極に対応する感圧導電材の
抵抗値が変換するので、各検出点における抵抗値を走査
回路の走査方式により順次測定することにより、人間の
手指及び掌の操作力の分布を測定することができる。[Function] When a human being wears the operating force distribution detection sensor on their hand and operates an object, the plurality of electrodes formed in a matrix in the load sensor are pressed, and the resistance value of the pressure-sensitive conductive material corresponding to each electrode is By sequentially measuring the resistance value at each detection point using the scanning method of the scanning circuit, it is possible to measure the distribution of the operating force of the human finger and palm.
［実施例］ 以下に本発明の実施例を図面を参照しながら詳述する。[Example] Embodiments of the present invention will be described in detail below with reference to the drawings.
第１図は本発明の実施例の構成図を示し、この実施例は
、操作力分布検出センサｌと走査回路２を備え、操作力
分布検出センサｌは、手袋のように人間の手に着脱可能
に構成されている。FIG. 1 shows a configuration diagram of an embodiment of the present invention. This embodiment includes an operating force distribution detection sensor l and a scanning circuit 2, and the operating force distribution detection sensor l can be attached to and removed from a human hand like a glove. configured to be possible.
上記検出センサ１は、可撓性を有する素材で形成したプ
リント回路基板よりなる電極保持具３と、これと一体的
に設けた、マトリクス状に成形した複数の電極５．・・
、及び電極５．５間の感圧導電性ゴム等の感圧導電材６
よりなる荷重センサ４とを有し、各電極５はそれぞれ電
極保持具３のプリント回路の一端に接続され、プリント
回路の他端は、行信号発生部７と列信号測定バッファ８
とを介して外線接続部９に接続されている（第２図参照
）。The detection sensor 1 includes an electrode holder 3 made of a printed circuit board made of a flexible material, and a plurality of electrodes 5 formed into a matrix formed integrally with the electrode holder 3.・・・
, and a pressure-sensitive conductive material 6 such as pressure-sensitive conductive rubber between the electrodes 5.5
Each electrode 5 is connected to one end of the printed circuit of the electrode holder 3, and the other end of the printed circuit is connected to a row signal generator 7 and a column signal measurement buffer 8.
(See FIG. 2).
上記時荷重センサ４は、電極５に可撓性を持た゛ρ手指
及び掌の各部に相当する位置に多数配置されている。The above-mentioned load sensors 4 have flexible electrodes 5 and are arranged in large numbers at positions corresponding to each part of the fingers and palm.
第３図は指１本分に相当する電極保持具３に。Figure 3 shows an electrode holder 3 that corresponds to one finger.
５行３列の電極５．・・を設けた場合の展開図を示し、
各電極５．・・は、電極保持具３を指に装着したとき指
の腹側に位置するようにされている。また、第４図は左
手の掌部分に相当する電極保持具３に、２行６列の電極
５．・・を設けた場合の展開図を示している。5 rows and 3 columns of electrodes; The development diagram is shown when ... is installed,
Each electrode5. ... is positioned on the ventral side of the finger when the electrode holder 3 is attached to the finger. FIG. 4 shows electrodes 5. arranged in 2 rows and 6 columns on an electrode holder 3 corresponding to the palm of the left hand. This shows a development diagram when... is installed.
人間の手で対象物を操作する場合において、手の各部に
おける対象物との接触圧力、即ち操作力を汎用的に測定
する際には、多数の荷重センサとその配線を、人間の手
という柔軟かつ自在に形を変える場所に、安定的にかつ
手指、掌の動きを妨げずに保持すること、及び多数の荷
重センサの各時点での信号を効率よく測定、処理するこ
ととが問題になる。When manipulating an object with a human hand, when measuring the contact pressure with the object at each part of the hand, that is, the operating force, it is necessary to connect a large number of load sensors and their wiring to the flexible body of the human hand. The problem is to hold the device stably in a place that can change its shape without hindering the movements of the fingers and palm, and to efficiently measure and process the signals from the numerous load sensors at each point in time. .
上記実施例においては、電極保持具３を手袋のように人
間の手に自由に着脱できるようにするとともに、電極５
．・・をマトリクス状にし−７、個々の電極対に配線す
る代りに行と列とでそれぞれ配線をまとめて整理したこ
とによって、安定的でかつ手指や掌の動きを妨げない操
作力分布検出センサｌを構成することができる。In the above embodiment, the electrode holder 3 is made to be able to be freely attached to and removed from the human hand like a glove, and the electrode holder 3
．． By making ... into a matrix-7 and arranging the wires together in rows and columns instead of wiring them to individual electrode pairs, we have created a sensor that detects operating force distribution, which is stable and does not interfere with the movement of fingers or palms. l can be constructed.
また、マトリクス状の多数の検出点に加わる荷重を、感
圧導電材６の抵抗値に変換し、これを走査回路２の走査
方式により電圧として順次測定するので、信号を効率よ
（測定、処理することができる。In addition, the load applied to a large number of detection points in a matrix is converted into the resistance value of the pressure-sensitive conductive material 6, and this is sequentially measured as a voltage using the scanning method of the scanning circuit 2. can do.
この場合、走査回路としては、本発明者らが先に提案し
た圧力分布センサ（特願昭６Ｏ−２４３４４１）の走査
部と路間−の装置を使用することができる。In this case, as the scanning circuit, it is possible to use a device between the scanning section and the path of the pressure distribution sensor (Japanese Patent Application No. 6O-243441) previously proposed by the present inventors.
本装置の出力信号は、各検出点の電圧値として得られる
ため、パーソナルコンピュータ等の装置に接続して画像
化することにより、手指及び掌の操作力分布を可視化す
ることも可能である。Since the output signal of this device is obtained as a voltage value at each detection point, it is also possible to visualize the distribution of operating force in the fingers and palm by connecting it to a device such as a personal computer and converting it into an image.
［発明の効果］
本発明の操作力分布測定装置は、操作力分布検出センサ
を、可撓性を有するプリント回路基板を人間の手に着脱
可能に形成した電極保持具と、これに一体的に設けた、
マトリクス状に成形した複数の電極と感圧導電材とを重
ねた荷重センサで構成したことにより、多数の荷重セン
サとその配線が柔軟で自在に形を変える手の動きを妨げ
ないので、対象物を操作する場合における手指及び掌の
操作力を、確実に検出することができる。[Effects of the Invention] The operating force distribution measuring device of the present invention integrates an operating force distribution detection sensor into an electrode holder formed of a flexible printed circuit board that is removably attached to a human hand. established,
By constructing a load sensor consisting of multiple electrodes molded into a matrix and a pressure-sensitive conductive material, the multiple load sensors and their wiring are flexible and do not interfere with the movement of the hand, which can freely change the shape of the object. It is possible to reliably detect the operating force of the fingers and palm when operating the .
また、マトリクス状の各検出点における感圧導電材の抵
抗値を、走査方式により順次測定するので、多数の荷重
センサの各時点における操作力の分布を効率よく測定す
ることができる。Furthermore, since the resistance value of the pressure-sensitive conductive material at each detection point in a matrix is sequentially measured by a scanning method, it is possible to efficiently measure the distribution of the operating force of a large number of load sensors at each point in time.
図面は本発明の実施例を示し、第１図はその構成図、第
２図は走査回路の一例を示す構成図、第３図は指１本分
に相当する５行３列の電極形状例の展開図、第４図は左
手の掌部分に相当する２行６列の電極形状例の展開図で
ある。
ｌ ・操作力分布検出センサ。
２・・走査回路、 ３・・電極保持具、４ ・荷
重センサ、 ５・・電極。
指定代理人
第１図
第２図The drawings show an embodiment of the present invention; FIG. 1 is a configuration diagram thereof, FIG. 2 is a configuration diagram showing an example of a scanning circuit, and FIG. 3 is an example of the shape of electrodes in 5 rows and 3 columns corresponding to one finger. FIG. 4 is a developed view of an example of the shape of electrodes arranged in 2 rows and 6 columns corresponding to the palm of the left hand.・Operation force distribution detection sensor. 2. Scanning circuit, 3. Electrode holder, 4. Load sensor, 5. Electrode. Designated Agent Figure 1 Figure 2
Claims (1)
着脱可能に形成した電極保持具、及びこれと一体的に設
けた、マトリクス状に成形した複数の電極と感圧導電材
とを重ねた荷重センサを有し、対象物を操作する際に上
記荷重センサの各電極に作用する圧力を感圧導電材の抵
抗値に変換させる操作力分布検出センサと、該操作力分
布検出センサのマトリクス状の各検出点における感圧導
電材の抵抗値を走査方式により順次測定する走査回路、
によって構成される手指及び掌の操作力分布測定装置。1. An electrode holder made of a flexible printed circuit board that can be freely attached and detached by a human hand, and a plurality of electrodes formed in a matrix shape and a pressure-sensitive conductive material integrally provided with the electrode holder. An operating force distribution detection sensor having stacked load sensors and converting the pressure acting on each electrode of the load sensor into a resistance value of a pressure-sensitive conductive material when operating an object; A scanning circuit that sequentially measures the resistance value of the pressure-sensitive conductive material at each detection point in a matrix using a scanning method;
A device for measuring the distribution of operating force in the fingers and palm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2146843A JPH0786439B2 (en) | 1990-06-05 | 1990-06-05 | Hand operation force distribution measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2146843A JPH0786439B2 (en) | 1990-06-05 | 1990-06-05 | Hand operation force distribution measuring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0440333A true JPH0440333A (en) | 1992-02-10 |
| JPH0786439B2 JPH0786439B2 (en) | 1995-09-20 |
Family
ID=15416790
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2146843A Expired - Lifetime JPH0786439B2 (en) | 1990-06-05 | 1990-06-05 | Hand operation force distribution measuring device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0786439B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0731028A1 (en) * | 1993-09-24 | 1996-09-11 | Tetra Laval Holdings & Finance Sa | Sealing condition monitoring device |
| US6622575B1 (en) | 1999-07-07 | 2003-09-23 | Agency Of Industrial Science And Technology | Fingertip-mounted six-axis force sensor |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55131707U (en) * | 1979-03-12 | 1980-09-18 |
-
1990
- 1990-06-05 JP JP2146843A patent/JPH0786439B2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55131707U (en) * | 1979-03-12 | 1980-09-18 |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0731028A1 (en) * | 1993-09-24 | 1996-09-11 | Tetra Laval Holdings & Finance Sa | Sealing condition monitoring device |
| EP0731028A4 (en) * | 1993-09-24 | 1997-07-09 | Tetra Laval Holdings & Finance | Sealing condition monitoring device |
| US6622575B1 (en) | 1999-07-07 | 2003-09-23 | Agency Of Industrial Science And Technology | Fingertip-mounted six-axis force sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0786439B2 (en) | 1995-09-20 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |