Motion detection device

Abstract

A motion detection device (30) for detecting the motion of an operator's finger for remotely operating a multi-fingered robot (10) comprises: a device body (32) configured to receive a finger; a contact portion (40) formed on the device body (32) in a manner imitating the shape of a finger for contact with the finger; and a detection portion (50) for detecting the motion of the finger based on a pressing state of the finger on the contact portion (40).

Description

Technical Field

[0001] The present invention relates to a motion detection device for detecting the motion of fingers of an operator for remotely operating a multi-joint robot. Background Art

[0002] In the past, a remote operation system was used in which a manipulator, which is an example of a multi-joint robot, is remotely operated by an operator. For example, the following patent document 1 discloses the following technology: the operator wears a glove having sensors and optical fibers disposed therein for detecting finger movements, and the manipulator imitates the detected finger movements to perform movements.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 4-210390 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] However, in the above gloves, for example, sensors of the type that are bent to detect finger movements are used, but such sensors are easily damaged and have low detection accuracy. In addition, the operator needs to wear the gloves in a way that avoids damage to the internal sensors, so there is a problem that it is difficult to wear the gloves.

[0008] Therefore, the present invention has been made in view of these points, and an object of the present invention is to provide a motion detection device that can detect the motion of an operator's hand for operating a multi-joint robot with high accuracy and has excellent durability and ease of wearing.

[0009] Solutions for solving problems

[0010] In one embodiment of the present invention, a motion detection device is provided for detecting the movement of a finger of an operator for remotely operating a multi-joint robot, the motion detection device comprising: a device body, which is configured to place the finger; a contact portion, which is formed on the device body in a manner that imitates the shape of the finger for the finger to contact; and a detection portion, which detects the movement of the finger based on the pressing state of the finger on the contact portion.

[0011] Furthermore, a region of the contact portion with which the tip of the finger contacts may be curved in a convex shape toward the finger.

[0012] Furthermore, the contact portion may include a rotating portion that rotates around an axis portion in response to the pressing of the finger, and the detection portion may detect the movement of the finger based on a pressing state of the finger on the rotating portion.

[0013] Furthermore, the contact portion may be elastically deformed according to a pressing state of the finger.

[0014] Furthermore, the contact portion may be a groove portion formed to imitate the shape of the finger.

[0015] Furthermore, the groove may be formed on the outer peripheral surface of the device body.

[0016] Furthermore, the device body may include an insertion hole into which the finger can be inserted, and the contact portion may be provided in the insertion hole.

[0017] Furthermore, the device body may include a spherical body, the spherical body may be formed of a part or the whole of a sphere or an ellipsoid, and the contact portion may be provided on the spherical body.

[0018] Furthermore, the detection unit may include a knuckle detection unit disposed at a position corresponding to at least one knuckle of the base, middle, and distal knuckles of the finger contacting the contact unit to detect a pressed state of the knuckle.

[0019] In addition, it can be set that: the contact part has a rotating part, and the rotating part rotates around the axis part according to the pressure of the finger, and the detection part also has a position detection part, and the position detection part detects the position of the fingertip of the finger, and the detection part detects the movement of the finger based on the rotation amount of the rotating part and the position of the fingertip detected by the position detection part.

[0020] Furthermore, the contact portion may include a rotating portion that rotates around an axis portion in response to a press by the finger, and the knuckle detector and the position detector may be provided on the rotating portion.

[0021] Furthermore, the detection unit may be arranged in a region of the groove portion that is contacted by a side surface of the finger, and may detect movement of the finger in at least one of a left and right direction.

[0022] Furthermore, the detection unit may be arranged in a region of the insertion hole with which the side surface of the finger contacts, and detects movement of the finger in at least one of left and right directions.

[0023] Furthermore, the motion detection device may further include a force sense generating unit configured to generate a force sense corresponding to a reaction force from an object when the multi-joint robot contacts the object.

[0024] In addition, it can be set as follows: the contact portion has a rotating portion, which rotates around an axis portion in a first direction according to the pressure of the finger, and the force sense generating portion has a driving portion, which rotates the rotating portion in a second direction opposite to the first direction, and the force sense generating portion generates the force sense by utilizing the driving portion to rotate the rotating portion in the second direction.

[0025] Effects of the Invention

[0026] According to the present invention, it is possible to provide a motion detection device that can detect the motion of an operator's hand for operating a multi-joint robot with high accuracy and has excellent durability and ease of wearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a block diagram for explaining the structure of a remote operation system S of a robot according to an embodiment of the present invention.

[0028] Figure 2 It is a schematic diagram for explaining an example of the structure of the multi-finger robot 10 .

[0029] Figure 3 It is a schematic diagram showing an example of a state in which the operator's right hand is placed on the device main body 32 .

[0030] Figure 4 This is a schematic diagram showing an example of a state in which the operator bends the fingers of his right hand.

[0031] Figure 5 It is a schematic diagram for explaining an example of the structure of the device main body 32.

[0032] Figure 6 Observed from the rear Figure 5 A schematic diagram of the device body 32 is shown.

[0033] Figure 7 It is a schematic diagram for explaining the detection of the position of the fingertip.

[0034] Figure 8 It is a schematic diagram for explaining the left-right movement of a finger.

[0035] Fig. 9 It is a schematic diagram for explaining an example of the arrangement state of the knuckle detection unit 52 .

[0036] Fig.10It is a schematic diagram for explaining an example of the structure of the driving unit 62 .

[0037] Fig.11 It is a schematic diagram for explaining a modified example of the structure of the driving unit 62 .

[0038] Fig.12 It is a schematic diagram for explaining the structure of the device main body 32 according to the modification example. DETAILED DESCRIPTION

[0039] <Structure of the robot's remote control system>

[0040] Reference Figure 1 The structure of a remote control system of a robot according to an embodiment of the present invention will be described.

[0041] Figure 1 1 is a block diagram for explaining the structure of a remote operation system S of a robot according to an embodiment. Figure 1 As shown, the remote operation system S includes a multi-fingered robot 10, a motion detection device 30, and a control device 70. The remote operation system S detects the motion of the hand (specifically, fingers) of the operator performing remote operation through the motion detection device 30, and operates the multi-fingered robot 10 in conjunction with the detected hand motion.

[0042] Figure 2 1 is a schematic diagram for explaining an example of the structure of the multi-finger robot 10. The multi-finger robot 10 is a multi-joint robot that is remotely operated by an operator. Figure 2 As shown, the multi-finger robot 10 is a humanoid manipulator formed in a manner imitating a human hand. The multi-finger robot 10 contacts or grasps an object. Figure 2 Only the robot arm imitating the right hand of a person is shown in the figure, and the robot arm imitating the left hand of a person has the same structure. Figure 1 As shown, the multi-fingered robot 10 has a finger mechanism 12 and a drive source 14 .

[0043] like Figure 2 As shown, five finger mechanisms 12 are provided corresponding to five fingers (thumb, index finger, middle finger, ring finger, and little finger) of a human hand. The five finger mechanisms 12 are joint mechanisms driven by a driving source 14 .

[0044] The driving source 14 is an actuator such as a motor. The driving source 14 drives the finger mechanism 12, for example, by wire driving. The multi-finger robot 10 receives an operation instruction from the control device 70, and operates the corresponding finger mechanism 12 in conjunction with the movement of the five fingers of the remote operator's hand.

[0045] The motion detection device 30 is a detection device for detecting the motion of the hand (specifically, the finger) of the operator for remotely operating the multi-fingered robot 10. Here, the motion detection device 30 includes a left-hand detection device for detecting the motion of the fingers of the left hand of the operator and a right-hand detection device for detecting the motion of the fingers of the right hand of the operator. The structures of the left-hand detection device and the right-hand detection device are the same.

[0046] like Figure 1 As shown, the motion detection device 30 includes a device body 32 , a detection unit 50 , and a force sense generating unit 60 .

[0047] Here, the device body 32 is set so that the operator can easily place his hand. For example, the device body 32 is set in a position where the operator can easily place his hand in a sitting or standing position. The operator moves his fingers while placing his hand on the device body 32. For example, the operator bends or stretches the fingers placed on the device body 32. In addition, the operator widens or narrows the interval between two fingers.

[0048] The device body 32 includes a left-hand body on which the operator's left hand is placed and a right-hand body on which the right hand is placed. The operator places the fingers of the left hand on the left-hand body to move the fingers, and places the fingers of the right hand on the right-hand body to move the fingers. In addition, the left-hand body and the right-hand body have the same structure, so the device body 32 is described below using the right-hand body as an example.

[0049] Figure 3 1 is a schematic diagram showing an example of a state in which the operator's right hand H is placed on the device main body 32 . Figure 4 is a schematic diagram showing an example of a state in which the operator bends the fingers of the right hand H. Figure 3 and Figure 4 As shown, the operator places the palm side of the hand on the device body 32. Figure 3 As shown in FIG. 1 , the device body 32 is provided with contact portions 40 for contacting the five fingers (thumb F1, index finger F2, middle finger F3, ring finger F4, and little finger F5) of the operator's right hand H. Here, the contact portion 40 is located at substantially the same position as the outer peripheral surface 32a of the device body 32 and is exposed to the outside. In addition, the detailed structure of the contact portion 40 will be described later.

[0050] The detection unit 50 detects the movement of the operator's finger. The detection unit 50 detects the movement of the finger based on the pressing state of the operator's finger on the contact portion 40. For example, when the operator bends the finger to press the contact portion 40, the detection unit 50 detects the bending posture of the finger based on the pressing state of the finger pressing the contact portion 40. The pressing state of the finger is a concept that includes both the position where the finger presses the contact portion 40 and the strength of the pressing. For example, the pressing strength of the finger is detected based on the amount of the finger pressing the contact portion 40, but the pressing strength can also be detected by other methods (for example, changes in electrostatic capacitance at the pressing position of the finger).

[0051] In addition, the detection unit 50 can estimate the movement of the entire hand by detecting the movement (including posture) of each of the five fingers. Figure 3 The state is bent into Figure 4 The detection unit 50 has a knuckle detection unit 52, a position detection unit 54, and a left-right movement detection unit 56 to detect the movement of the finger with high accuracy. The details of these detection units will be described later.

[0052] The force sense generating unit 60 generates a force sense corresponding to the reaction force from the object when the multi-fingered robot 10 contacts the object. In addition, when the multi-fingered robot 10 moves passively, the force sense generating unit 60 can drive the contact unit 40 so that the operator's finger takes the corresponding finger posture. The force sense generating unit 60 will be described in detail later. The force sense generating unit 60 drives the contact unit 40 (specifically, Figure 5 The rotating members 45a to 45f shown in the figure are moved to transmit force sense to the operator's finger in contact with the contact part 40. Force sense is a sense related to the sense of touch among the five senses (sight, hearing, touch, taste, smell) possessed by humans, and mainly refers to the sense of force felt by humans when contacting an object.

[0053] For example, when the multi-fingered robot 10 that bends the finger mechanism 12 to grasp an object does not bend the finger mechanism 12 any further, the force sense generating unit 60 generates a force sense. Thus, the operator can recognize that the multi-fingered robot 10 being remotely operated has not been further bent or the softness of the object being grasped, etc., by receiving the generated force sense through the fingers.

[0054] The control device 70 controls the motion of the multi-fingered robot 10 based on the motion of the operator's hand detected by the motion detection device 30. That is, the control device 70 operates the corresponding finger mechanisms 12 in conjunction with the motion of each finger of the operator. In addition, the control device 70 and the motion detection device 30 may be a single device.

[0055] The control device 70 causes the finger mechanism 12 to operate in accordance with the detected finger posture. Figure 3 When the fingers of the right hand are bent as shown in FIG. 1 , the control device 70 causes the multi-fingered robot 10 (specifically, a manipulator imitating the right hand) to bend. In addition, the control device 70 can adjust the angular velocity of the joints of the finger mechanism 12 to cause the finger mechanism 12 to move so as to match the pressing amount of the operator's fingers. Furthermore, the control device 70 can also cause the multi-fingered robot 10 to move at a predetermined magnification of the movement of the finger (e.g., the bending amount).

[0056] <Detailed Structure of Device Main Body 32>

[0057] Reference Figure 5 and Figure 6 The detailed structure of the device body 32 of the motion detection device 30 will be described.

[0058] Figure 5 It is a schematic diagram for explaining an example of the structure of the device main body 32. Figure 6 Observed from the rear Figure 5 Schematic diagram of the device body 32 shown. In addition, Figure 5 In FIG. 1 , for convenience of explanation, the positions of the knuckle detection unit 52 and the left-right motion detection unit 56 are indicated by circles (○).

[0059] like Figure 5 As shown, the device body 32 has a spherical portion 35. The spherical portion 35 is the part where the operator places his hand and moves his fingers. Here, the spherical portion 35 is spherical. However, this is not limited to this, and the spherical portion 35 can also be formed by a shape including a part of an ellipsoid, or can also be composed of the entire ellipsoid. By setting the spherical portion 35 in such a shape, it is easy for the operator to place his hand and make it move. In addition, Figure 5 and Figure 6 Although not shown, a support portion that supports the spherical portion 35 in order to install the spherical portion 35 may be connected to the spherical portion 35 .

[0060] like Figure 5 As shown, the ball portion 35 has a groove portion 37 formed on the outer peripheral surface. The groove portion 37 is formed in a manner that imitates the shape of the operator's hand, and the operator places the palm side of the hand on the groove portion 37 (refer to Figure 3 The groove portion 37 is provided with finger contact portions 41 a to 41 f for the operator's five fingers to contact, respectively, as the contact portion 40 described above.

[0061] Finger contact parts 41a to 41f are parts for the operator's fingers (specifically, the pulps of the fingers) to contact. Here, the operator's thumb contacts the finger contact part 41a, the index finger contacts the finger contact part 41b, the middle finger contacts the finger contact part 41c, the ring finger contacts the finger contact part 41d, and the little finger contacts the finger contact part 41e. In addition, the finger contact parts 41a to 41f are formed in a manner that imitates the shape of the operator's five fingers. Specifically, the size of the finger contact parts 41a to 41f is proportional to the size of the corresponding fingers. As a result, it is easy for the operator's five fingers to contact the corresponding finger contact parts 41a to 41f, respectively.

[0062] The areas of the finger contact parts 41a to 41f that are contacted by the fingertips are curved in a convex shape toward the finger side (see Figure 6 ). In other words, the finger contact parts 41a to 41f are each curved into a convex shape along the shape of the corresponding finger. In addition, the finger contact parts 41a to 41f can be curved into a convex shape by connecting a plurality of surfaces. Thus, the operator can easily move the five fingers while placing the five fingers on the finger contact parts 41a to 41f without feeling uncomfortable.

[0063] like Figure 5 As shown in FIG. 1 , the finger contact parts 41a to 41f have rotating members 45a to 45f that can rotate according to the movement of the finger. The rotating members 45a to 45f are pressed by the operator's fingers and rotate around the shafts 46a to 46f. For example, when the operator bends his fingers to press the rotating members 45a to 45f (see FIG. 1 ), the rotating members 45a to 45f rotate around the shafts 46a to 46f. Figure 4 ), the rotating members 45a to 45f rotate toward the inside of the device body 32 around the shafts 46a to 46f. On the other hand, when the operator extends the bent fingers, the rotating members 45a to 45f return to the state before the rotation (see Figure 3 ) The surfaces of the rotating members 45a to 45f are, for example, curved surfaces with a predetermined curvature.

[0064] In the above, the contact part 40 has a rotating member 45 that rotates according to the movement of the finger, but it is not limited to this. For example, the contact part 40 can have an elastic member (such as a rubber member) that elastically deforms according to the pressing state of the finger. In this case, there is no need for a mechanism for rotating the rotating member 45.

[0065] The aforementioned detection unit 50 is provided on each of the finger contact parts 41a to 41f. The detection unit 50 detects the movement of each finger based on the pressing state of each finger placed on the finger contact parts 41a to 41f. That is, when the operator presses the rotating members 45a to 45f of the finger contact parts 41a to 41f, the detection unit 50 detects the movement of the finger based on the pressing state of the finger pressing the rotating members 45a to 45f. For example, the detection unit 50 detects the movement of the finger when the operator bends or stretches the finger placed on the rotating members 45a to 45f.

[0066] The detection unit 50 detects the rotation amount of the rotating members 45a to 45f. Figure 1 As shown, the detector 50 includes a knuckle detector 52, a position detector 54, and a left-right motion detector 56. By providing a plurality of detectors in this manner, even if the operator moves the fingers in various ways to remotely operate the multi-fingered robot 10, the finger movements can be detected with high accuracy.

[0067] The knuckle detection unit 52 is arranged at a position corresponding to a knuckle of a finger (at least one of the base, middle and distal knuckles) to detect the state of the knuckle. The knuckle detection unit 52 is, for example, a contact sensor that detects when the knuckle is in contact, or a non-contact sensor that detects from a distant position.

[0068] The knuckle detection units 52 are disposed on the rotating members 45a to 45f, respectively. Here, the knuckle detection units 52 are disposed at positions corresponding to the bases of the respective fingers. (See Figure 5 ) For example, the knuckle detection unit 52 provided on the rotating member 45b is arranged at a position corresponding to the base knuckle of the operator's index finger.

[0069] The position detection unit 54 detects the position of the fingertip of the finger. For example, when the operator bends the finger, the position detection unit 54 detects the position of the fingertip of the bent finger. The position detection unit 54 is also provided on the rotating members 45a to 45f. The position detection unit 54 includes, for example, a touch sensor (e.g., electrostatic capacitance type) provided on the surface of the rotating members 45a to 45f, and detects the position of the fingertip in contact with the touch sensor.

[0070] Figure 7 is a schematic diagram for explaining the detection of the position of the fingertip. Figure 7 In the embodiment, the operator bends the index finger to make the tip of the index finger contact the rotating member 45b. At this time, the position detection unit 54 detects the position of the tip of the index finger in the bent state or the sliding distance (movement distance) of the index finger on the rotating member 45b.

[0071] The detection unit 50 detects the movement of the finger based on the position of the fingertip detected by the position detection unit 54 and the rotation amount of the rotation members 45a to 45f. Figure 7 As shown, when the index finger is bent, the detection unit 50 detects the rotation amount of the rotating member 45b, and the position of the fingertip of the index finger is detected by the position detection unit 54, so that the bending state (posture) of the index finger can be estimated. In the case of such detection, even if the finger joint detection unit 52 is not provided for each of the three joints of the index finger, the movement of the index finger can be appropriately detected.

[0072] The left-right motion detection unit 56 detects the movement of at least one of the left and right directions of the finger. The left-right motion detection unit 56 is, for example, arranged in the area in the groove 37 where the side surface of the finger contacts. Specifically, the left-right motion detection unit 56 is respectively arranged on the side walls on both sides of each of the rotating members 45a to 45f in the groove 37. The left-right motion detection unit 56 is a contact sensor that detects by contact with the side surface of the finger, or a non-contact sensor (for example, a distance measurement sensor) that detects even if the side surface of the finger does not contact. In addition, when a touch sensor is provided on the surface of the rotating members 45a to 45f, the left-right direction movement of the finger can be detected by the touch sensor.

[0073] Figure 8 is a schematic diagram for explaining the left-right movement of a finger. Figure 8 The figure shows the state where the index finger and the middle finger are spread out in the direction away from each other (left and right direction). Figure 8 As shown, when the index finger and the middle finger move in the left-right direction, the left-right motion detection unit 56 disposed on the finger contact portion 41b detects the position of the index finger in the left-right direction, and the left-right motion detection unit 56 disposed on the finger contact portion 41c detects the position of the middle finger in the left-right direction. Thus, the left-right motion of the index finger and the middle finger can be appropriately detected.

[0074] In the above description, the knuckle detection unit 52 is arranged at a position corresponding to the base of the operator's finger, but the present invention is not limited thereto. Fig. 9 Configure as shown.

[0075] Fig. 9 : is a schematic diagram for explaining an example of the configuration state of the knuckle detection unit 52. The knuckle detection unit 52 can be configured at a position corresponding to each knuckle of the base, middle and distal knuckles of the finger. Thus, the state of each knuckle of the finger can be detected by the three knuckle detection units 52, so the movement of the finger can be detected with good accuracy. In addition, when the three knuckle detection units 52 are provided, the above-mentioned position detection unit 54 may not be provided.

[0076] In addition, the phalanx detection unit 52 may be arranged at positions corresponding to two phalanxes of the base, middle and distal phalanx of the finger. For example, the phalanx detection unit 52 may be arranged at positions corresponding to the base and distal phalanx of the finger.

[0077] The finger contacting parts 41a to 41f are provided with a driving part 62 ( Figure 1 ) to generate the aforementioned force sense transmitted to the fingers. When the multi-fingered robot 10 contacts an object, the driving unit 62 rotates the rotating members 45a to 45f to transmit the force sense to the fingers.

[0078] Fig.10 Schematic diagram for explaining an example of the structure of the driving unit 62. Fig.10 , the driving unit 62 for rotating the rotating member 45a is shown to have the same structure as the driving unit 62 for rotating the rotating members 45b to 45f. Here, the driving unit 62 is a motor connected to the shaft 46b of the rotating member 45b. The driving unit 62 rotates the rotating member 45b in a direction (second direction) opposite to the pressing direction (first direction) of the rotating member 45b by the index finger F2. Specifically, as Fig.10 As shown, the driving unit 62 rotates the rotating member 45b in the clockwise direction around the shaft portion 46b, thereby transmitting the force sense from the rotating member 45b to the index finger F2.

[0079] In addition, in the above, it is assumed that the drive unit 62 rotates the rotating member 45b in the direction opposite to the pressing direction, but it is not limited to this. For example, it is also possible that the drive unit 62 rotates the rotating member 45b in the direction opposite to the pressing direction and temporarily stops it, and then rotates the rotating member 45b in the same direction as the pressing direction. As an example, when the multi-finger robot 10 bends the finger mechanism 12 to hold the egg, if the finger mechanism 12 contacts the egg, the drive unit 62 generates a force sense, so that the operator stops the finger. Afterwards, when the operator further presses the finger in the pressing direction, the multi-finger robot 10 drives the finger mechanism 12 to break the egg. Then, due to the breaking of the egg, the finger mechanism 12 moves further in the bending direction, but in order to feedback the position after the movement to the operator, the drive unit 62 rotates the rotating member 45b in the pressing direction.

[0080] Fig.11 Schematic diagram for explaining a modified example of the structure of the driving unit 62. Fig.11 In the modified example shown, the driving unit 62 is not connected to the shaft 46b of the rotating member 45b, and moves the rod 64 disposed below the rotating member 45b. Fig.11The driving unit 62 moves the rod 64 upward to rotate the rotating member 45b, thereby transmitting the force sense from the rotating member 45b to the index finger F2.

[0081] In the above, the finger contact parts 41a to 41f of the contact part 40 transmit force sensation to the operator's fingers as sensory feedback, but the present invention is not limited to this. For example, the contact part 40 may provide vibration or electrical stimulation to the fingertips to provide a rough feeling or a sticky feeling to the fingers. In addition, the contact part 40 may include a device that transmits a feeling to the fingers through temperature.

[0082] In addition, in the above, Figure 3 As shown in FIG. 1 , the rotating members 45a to 45f are arranged on the outer peripheral surface of the device body 32 so that the operator can place the palm side of the hand on the device body 32 and move the fingers, but the present invention is not limited to this. Fig.12 As shown, the rotating members 45 a to 45 f are arranged inside the device body 32 .

[0083] Fig.12 Schematic diagram for explaining the structure of the device body 32 involved in the modification. The device body 32 involved in the modification has an insertion hole 38 into which the operator can insert a finger. Here, the insertion hole 38 can be a shape that is easy to insert a hand, for example, a rectangular shape. Moreover, the rotating members 45a to 45f are respectively arranged in the insertion hole 38 in a rotatable manner. Therefore, in the modification, the operator inserts a hand from the insertion hole 38 to move the finger relative to the rotating members 45a to 45f in the device body 32.

[0084] exist Fig.12 In the modified example shown, the detection unit 50 ( Figure 1 ) also detects the movement of the finger in the device body 32 (the movement of the finger pressing the rotating members 45a to 45f). The detection unit 50 includes the aforementioned knuckle detection unit 52, the position detection unit 54, and the left-right movement detection unit 56. Thus, the movement of the finger in the device body 32 can be detected with high accuracy.

[0085] In the above description, the rotating members 45a to 45f pressed by fingers are used, but the present invention is not limited thereto. For example, a pointing device joystick that can be operated by fingers may be used. In this case, the pressing force of the fingers on the pointing device joystick is distributed as the acceleration, velocity, and displacement of the corresponding joints of the multi-finger robot 10 (multi-joint robot).

[0086] In addition, in the above description, the multi-fingered robot 10 is assumed to be a manipulator formed in a manner imitating a human hand, but it is not limited to this. For example, the multi-fingered robot 10 may be a robot formed in a manner imitating both feet of a human. In this case, it is also possible that when the detection unit 50 detects the movement of the index finger of the hand, the control device 70 causes one foot (here, the left foot) of the multi-fingered robot 10 to move, and when the detection unit 50 detects the movement of the middle finger, the control device 70 causes the other foot (right foot) of the multi-fingered robot 10 to move.

[0087] <Effects of the present embodiment>

[0088] The motion detection device 30 of the above-mentioned embodiment includes: a device body 32, on which the operator's finger is placed; a contact portion 40, which is formed on the device body 32 in a manner imitating the shape of a finger for the finger to contact; and a detection portion 50, which detects the movement of the finger based on the pressing state of the finger on the contact portion 40.

[0089] With the above-described structure, the operator can remotely operate the multi-fingered robot 10 by moving the fingers placed on the device body 32. Therefore, compared with the conventional method of wearing gloves on the hands, it is easier to wear, and the durability of the device body 32 is also excellent. In addition, the detection unit 50 detects the movement of the finger based on the pressing state of the finger on the contact portion 40 formed in a manner that imitates the shape of the finger, so that the fine movement of the finger can be detected with high accuracy. As a result, the fine movement of the multi-fingered robot 10 can be realized.

[0090] The present invention has been described above using embodiments, but the protection scope of the present invention is not limited to the scope described in the above embodiments, and various deformations and changes can be made within the scope of its purpose. For example, the specific implementation of the splitting and merging of the device is not limited to the above embodiments, and all or part of it can be functionally or physically split and merged in any unit. In addition, new embodiments generated by any combination of multiple embodiments are also included in the embodiments of the present invention. The effects of the new embodiments generated by the combination have the effects of the original embodiments.

[0091] Description of Reference Numerals

[0092] 10: multi-finger robot; 12: finger mechanism; 30: motion detection device; 32: device body; 35: spherical part; 37: groove part; 38: insertion hole part; 40: contact part; 41a~41f: finger contact part; 45a~45f: rotating member; 46a~46f: shaft part; 50: detection part; 52: finger joint detection part; 54: position detection part; 56: left and right motion detection part; 60: force generating part; 62: driving part.

Claims

1. A motion detection device for detecting the movement of a finger of an operator for remotely operating a multi-joint robot, the motion detection device comprising: a device body configured to be placed with the finger; a contact portion formed on the device body in a manner imitating the shape of the finger for contact by the finger; and a detection unit that detects movement of the finger based on a pressing state of the finger on the contact portion, in, The contact portion has a rotating portion, and the rotating portion rotates around an axis portion perpendicular to the length direction of the finger according to the pressing of the finger. The detection unit includes a position detection unit that detects the position of the fingertip of the finger on the rotating unit. The detection unit detects the movement of the finger based on the rotation amount of the rotation unit and the position of the fingertip detected by the position detection unit to estimate the posture of the finger.

2. The motion detection device according to claim 1, wherein: A region of the contact portion with which the tip of the finger contacts is curved with a predetermined curvature.

3. The motion detection device according to claim 1, wherein: The contact portion is elastically deformed according to a pressing state of the finger.

4. The motion detection device according to claim 1, wherein: The contact portion is a groove portion formed in a manner imitating the shape of the finger, The groove is formed on the outer peripheral surface of the device body.

5. The motion detection device according to claim 1, wherein: The device body has an insertion hole into which the finger can be inserted. The contact portion is provided in the insertion hole portion.

6. The motion detection device according to claim 1, wherein: The device body has a spherical body, which is composed of a part or the whole of a sphere or an ellipsoid. The contact portion is provided on the outer peripheral surface of the spherical portion.

7. The motion detection device according to claim 1, wherein: The detection unit includes a knuckle detection unit, which is arranged at a position corresponding to at least one knuckle of the base, middle and distal knuckles of the finger contacting the contact unit, and detects a pressed state of the knuckle.

8. The motion detection device according to claim 1, wherein: The detection unit includes a knuckle detection unit, which is arranged at a position corresponding to at least one knuckle of the base knuckle, the middle knuckle, and the distal knuckle of the finger contacting the contact unit, and detects a pressing state of the knuckle. The knuckle detection unit and the position detection unit are provided on the rotating unit.

9. The motion detection device according to claim 4, wherein: The detection unit is disposed in a region of the groove portion that is contacted by a side surface of the finger, and detects movement of the finger in at least one of a left and right direction.

10. The motion detection device according to claim 5, wherein: The detection unit is disposed in a region of the insertion hole that is contacted by a side surface of the finger, and detects movement of the finger in at least one of a left and right direction.

11. The motion detection device according to claim 1, wherein: The multi-joint robot further includes a force sense generating unit that generates a force sense corresponding to a reaction force from an object when the multi-joint robot contacts the object.

12. The motion detection device according to claim 11, wherein: The rotating part rotates in a first direction around the shaft part according to the pressing of the finger, The force sense generating unit includes a driving unit, and the driving unit rotates the rotating unit in a second direction opposite to the first direction. The force sense generating unit generates the force sense by rotating the rotating unit in the second direction using the driving unit.

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