Pressure sensor device, method of manufacturing the same, and work management system

Abstract

Provided is a pressure sensor device capable of reducing false detection, a manufacturing method thereof, and a work management system. A pressure sensor device for detecting pressure includes: a flexible substrate base material (11) having flexibility; a comb-tooth electrode (41, 42) formed in a prescribed region on the flexible substrate base material (11) and having a metal surface exposed; and a pressure-sensitive material (21) provided on the comb-tooth electrode (41, 42) and having a resistance value that changes in accordance with a load, the pressure-sensitive material (21) having a curvature in a static state.

Description

Technical Field

[0001] This invention relates to pressure sensor devices, methods for manufacturing pressure sensor devices, and operation management systems. Background Technology

[0002] Patent Document 1 describes a sensor that bends when a load is applied, thereby reading the load using the bending bias load. Patent Document 2 describes a bridge circuit composed of resistors R1 to R4 as a pressure sensing element.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-165874

[0006] Patent Document 2: Japanese Patent Application Publication No. 2007-10383 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] In recent years, there has been a growing demand for the digitization of sensors in factory assembly processes and equipment inspections, enabling applications such as work history recording, error prevention, and skill acquisition. In particular, capturing forces related to pressure applied to the fingertips is crucial in manual operations, necessitating gloves with built-in pressure sensors at the fingertips.

[0009] However, when the piezoelectric sensor described in Patent Document 1 is installed on a glove, bending stress is applied to the pressure-sensitive material when the finger is bent, causing the sensor to misreact.

[0010] The sensor described in Patent Document 2 is a structure in which a flexible substrate with a pressure-sensitive element is attached to a curved surface. However, by attaching the flexible substrate to the curved surface, a bending bias load occurs, which impairs the detection sensitivity.

[0011] The purpose of this invention is to provide a pressure sensor device that can reduce false detections, a method for manufacturing the pressure sensor device, and an operation management system.

[0012] Methods used to solve problems

[0013] The present invention is a pressure sensor device for detecting pressure, characterized in that it comprises: a flexible substrate substrate having flexibility; a comb-shaped electrode formed in a predetermined area on the flexible substrate substrate and exposing a metal surface; and a pressure-sensitive material disposed on the comb-shaped electrode, the resistance value of which changes according to the load, and having curvature in a static state.

[0014] Invention Effects

[0015] According to the present invention, a pressure sensor device capable of reducing false detections, a method for manufacturing the pressure sensor device, and an operation management system can be provided. Attached Figure Description

[0016] Figure 1 This is a perspective view showing the pressure sensor device of this embodiment.

[0017] Figure 2 This is a perspective view of the pressure sensor device of this embodiment installed on a glove.

[0018] Figure 3 This is a top view showing a portion of the flexible substrate used in the pressure sensor device of this embodiment.

[0019] Figure 4 This is a cross-sectional view of the pressure sensor device of this embodiment.

[0020] Figure 5 This is a perspective view showing the pressure sensor device of this embodiment installed on a finger with the finger extended.

[0021] Figure 6 It means from Figure 5 The image shows a three-dimensional representation of the bent state of the fingers.

[0022] Figure 7 yes Figure 5 The S-direction view.

[0023] Figure 8 This is a circuit diagram for reading the resistance value of a pressure-sensitive material using comb-shaped electrodes.

[0024] Figure 9 This is a cross-sectional schematic diagram of a pressure sensor.

[0025] Figure 10 This is the circuit diagram of a pressure sensor.

[0026] Figure 11 This is the R-F characteristic diagram of a pressure sensor.

[0027] Figure 12 This is the V-F characteristic diagram of a pressure sensor.

[0028] Figure 13A This is the F-R characteristic diagram of the pressure-sensitive material under no bending bias.

[0029] Figure 13B This is the F-R characteristic diagram of a pressure-sensitive material under bending bias.

[0030] Figure 14A This is a cross-sectional view of the pressure sensor with the plane mounted.

[0031] Figure 14B This is a schematic diagram illustrating the internal stress when a pressure sensor is bent.

[0032] Figure 15A This is a cross-sectional view of a pressure sensor installed in a bent configuration.

[0033] Figure 15B This is a schematic diagram illustrating the internal stress under conditions where the bending of the pressure sensor is eliminated.

[0034] Figure 16 This is a diagram showing the bending characteristics of a pressure sensor manufactured using both planar and bent mounting methods.

[0035] Figure 17 This is a process diagram illustrating the manufacturing method of a pressure sensor device.

[0036] Figure 18 This is a structural diagram of a job management system that represents the job management of operators.

[0037] Figure 19 This is a flowchart illustrating the actions of the job management system.

[0038] Figure 20 This is a three-dimensional diagram showing an example of connector insertion.

[0039] Figure 21A It is a three-dimensional diagram showing the shape of a hand holding the connector.

[0040] Figure 21B It is a 3D diagram showing the sensor installation location on the finger.

[0041] Figure 22 It is a three-dimensional diagram showing an example of power tool operation.

[0042] Figure 23 This is a three-dimensional diagram illustrating an example of valve opening and closing.

[0043] Figure 24 This is a schematic diagram of a robotic arm application.

[0044] Label Explanation

[0045] 1. Pressure sensor equipment

[0046] 2 gloves

[0047] 2a Fingertips

[0048] 2b pocket

[0049] 3. The worker's hands

[0050] 4. Wireless Transmitter Module (Transmitter Unit)

[0051] 10 Flexible substrate

[0052] 11 Flexible substrate base material

[0053] 11a, 11b connecting parts

[0054] 12. Back of the hand

[0055] 13. Fingertips

[0056] 14 Bridging section

[0057] 15. Final segment

[0058] 16 Middle Section

[0059] 17. Neck retraction (neck shape)

[0060] 20 Pressure Sensor Section

[0061] 20s, 20t pressure sensing zones (specified areas, pressure sensing zones)

[0062] 21 Pressure-sensitive materials

[0063] 31 Connector (Connecting Part)

[0064] 32 Accelerometers

[0065] 33 microphones

[0066] 34 Gyroscope Sensor

[0067] 40 Electrode section

[0068] 41, 42 Comb-shaped electrodes

[0069] 43 Connecting electrodes (connecting wiring)

[0070] 51 Protective Materials

[0071] 60. Cylindrical jig (jaw with curved surface)

[0072] 100 workers

[0073] 110 thumbs

[0074] 111 Index finger

[0075] 111a Side view

[0076] 111b First joint

[0077] 111c Second joint

[0078] 112 Middle finger

[0079] 101 Sensor Built-in Glove (Pressure Sensor Device)

[0080] 102 Sending Department

[0081] 103 Edge Server (Status Management Department)

[0082] 104 Network

[0083] 105 Central Server

[0084] 200 connector

[0085] 201 Insert Object

[0086] 202 The worker's hand

[0087] 203 Pressure Sensing Zone (Pressure Sensing Area)

[0088] 300 Electric Screwdriver

[0089] 301 Grip

[0090] 302 trigger

[0091] 400 gas cylinder

[0092] 401 Valve

[0093] 500 Job Management System

[0094] CL centerline

[0095] r Radius of curvature

[0096] R resistance value Detailed Implementation

[0097] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0098] Figure 1 This is a perspective view showing the pressure sensor device of this embodiment. Additionally, Figure 1 This indicates the state before the glove is installed.

[0099] like Figure 1 As shown, the pressure sensor device 1 is constructed by having a pressure sensor section 20 on a flexible substrate 10. In this embodiment, the pressure sensor device 1 corresponds to a right-hand glove and is used by mounting it on the inside of the glove. Alternatively, the pressure sensor device 1 can also be applied to a left-hand glove.

[0100] The flexible substrate 10 has a shape that runs along the three fingers of the thumb, index finger, and middle finger. In addition, the flexible substrate 10 has a back of hand 12 disposed on the back of the hand, a fingertip portion 13 disposed on the fingertips, and a bridging portion 14 disposed between the back of hand 12 and the fingertip portion 13.

[0101] On the back of the hand 12, there is a wireless transmission module 4 (see reference). Figure 2 A connector 31 (connection portion) is provided for connection. Additionally, a connection portion 11a is provided on the back of the hand 12 for connecting the accelerometer 32. Furthermore, a connection portion 11b is provided on the fingertip 13 of the thumb for connecting the microphone (sound detection mechanism) 33 for sound detection. A bridging portion 14 is elongated and configured along the side of the finger.

[0102] A pressure sensor 20 is provided on the fingertip 13 corresponding to the thumb, opposite the distal phalanx 15 of the thumb. A pressure sensor 20 is provided on the fingertip 13 corresponding to the index finger, opposite the distal phalanx 15 and the middle phalanx 16 of the index finger. A pressure sensor 20 is provided on the fingertip 13 corresponding to the middle finger, opposite the distal phalanx 15 and the middle phalanx 16 of the middle finger.

[0103] Furthermore, the pressure sensor section 20 has curvature in a static state. Figure 1 In this configuration, the pressure sensor section 20, corresponding to the distal segment 15 and the middle segment 16, is formed by bending in a manner that protrudes towards the inside of the paper. In other words, the pressure sensor section 20 is configured to be bent in the direction along the fingertips when making a ring cut with the thumb, index finger, and middle finger in a static state. That is, the pressure sensor section 20 has curvature in its original position (without any external force applied). Furthermore, the curvature can be formed by bending with a single circular curvature, or by combining the curvatures of multiple circles.

[0104] Figure 2 This is a perspective view of the pressure sensor device of this embodiment installed on a glove.

[0105] like Figure 2 As shown, the pressure sensor device 1 is fixed to the glove 2 with the glove 2 turned inside out. That is, the pressure sensor device 1 is fixed to the inside of the glove 2 for use.

[0106] A pocket 2b is provided on the back side of the glove 2. The wireless transmission module 4 (transmitter) is housed in this pocket 2b. The wireless transmission module 4 is connected via a connector 31 (see reference). Figure 1 The pressure sensor 20, acceleration sensor 32, and microphone 33 on the flexible substrate 10 are electrically connected. Additionally, the wireless transmission module 4 transmits the detected sensor data wirelessly to the edge server 103 (see reference 103). Figure 18The function of transmitting data is also provided. Furthermore, while wireless communication is illustrated in pressure sensor device 1, wired communication is also possible. Additionally, regarding the operation management system 500 using pressure sensor device 1 (see reference...), Figure 18 The details will be described later.

[0107] Additionally, pocket 2b is a so-called flap pocket, so that even if fingertips 2a are facing upwards, the wireless transmission module 4 housed in pocket 2b (the main body of the pocket) will not fall out through the flap. The flap is not necessary, and it can be omitted, or a fastener can be used instead to close the opening of pocket 2b.

[0108] A pressure sensor 20 is disposed on the inner side of the fingertip 2a of the glove 2, so that the fingertip pressure (load) acting on the fingertip 2a can be detected.

[0109] The microphone 33, mounted on the flexible substrate 10, is arranged to protrude outwards from a hole opened in a portion of the glove 2. This allows sound from outside the glove 2 to be collected. When sound passes through fabric, it deteriorates due to volume attenuation or filtering of high-frequency sounds. In this embodiment, by opening a hole for the microphone 33, sound degradation can be avoided.

[0110] Figure 3 This is a top view showing a portion of the flexible substrate used in the pressure sensor device of this embodiment. Additionally, Figure 3 This indicates the state in which the flexible substrate 10 corresponding to the index or middle finger is flattened. Furthermore, Figure 3 This indicates the state after the pressure-sensitive material 21, which will be described later, has been removed.

[0111] like Figure 3 As shown, the flexible substrate 10 has a flexible substrate base 11 and an electrode portion 40 provided on the flexible substrate base 11. In addition, the electrode portion 40 is provided on the front side in the vertical direction of the paper surface relative to the flexible substrate base 11.

[0112] The flexible substrate 11 is formed into a film from a material such as polyimide or polyester. Furthermore, the flexible substrate 11 is formed into a generally rectangular shape such that its width increases in the left-right direction at the distal phalanx 15 and the middle phalanx 16 of the index finger (or middle finger).

[0113] The electrode section 40 is composed of comb-shaped electrodes 41 and 42, which are patterned using copper or copper foil. The comb-shaped electrodes 41 and 42 are electrode shapes in which two electrodes are patterned with their shapes offset from each other. Furthermore, the comb-shaped electrodes 41 and 42 are bonded and fixed to the flexible substrate base material 11 using an adhesive such as epoxy resin. Additionally, as described later... Figure 8As shown, the opposing teeth of the comb-shaped electrode 41 do not contact each other. The same applies to the comb-shaped electrode 42.

[0114] A comb-shaped electrode 41 is provided at a position corresponding to the distal phalanx 15. The distal phalanx 15 refers to the portion closer to the tip of the finger than the first joint. A comb-shaped electrode 42 is provided at a position corresponding to the middle phalanx 16. The middle phalanx 16 refers to the portion between the first and second joints of the finger. Additionally, although not shown in the figure, a comb-shaped electrode is provided at a position corresponding to the distal phalanx of the thumb.

[0115] Between the positions corresponding to the distal segment 15 and the middle segment 16, a narrow neck (neck shape) 17 is formed on the flexible substrate 11, making the flexible substrate 11 thinner. A connecting electrode 43, electrically connecting the comb-shaped electrode 41 and the comb-shaped electrode 42, is provided in a straight line on the neck 17. Furthermore, the neck 17 is narrower than the width of the flexible substrate 11 in the distal segment 15 and the middle segment 16. The comb-shaped electrode 41 is formed to be relatively longer in the direction of finger extension compared to the comb-shaped electrode 42. Furthermore, the length of the comb-shaped electrode 41 in the width direction is approximately the same as that of the comb-shaped electrode 42.

[0116] Furthermore, the flexible substrate 11 is formed asymmetrically from left to right with respect to the connecting electrode (connecting wiring) 43. Additionally, the comb-shaped electrodes 41 and 42 are also formed asymmetrically from left to right with respect to the position of the connecting electrode 43. In this embodiment, the comb-shaped electrode on the left side has a larger electrode area than the comb-shaped electrode on the right side.

[0117] Incidentally, while the connecting electrode 43, like the bridging portion 14, can also be aligned along the side of the finger, it provides less awkwardness when bending the finger along the fingertip. During manual work, the first joint of the finger is repeatedly bent at a high frequency, so the strength of the neck 17 is important. The width D of the neck 17 represents a trade-off between tensile strength and wearing comfort. Based on statistical values ​​of Japanese finger size, the width D of the neck 17 is preferably 6.25mm or more and 8.65mm or less. The method for determining the width D will be explained below.

[0118] Based on "Size data of Japanese people's hands by AIST, https: / / www.airc.aist.go.jp / dhrt / hand / data / list.html", regarding the width d of the first joint of the index finger, it was measured for 327 males and 203 females. The average value μ is 14.9 mm, and the standard deviation σ is 1.2 mm. The width D of the constriction part 17 is set to about half of the finger width according to the trade-off between strength and wearing comfort. In order to make it suitable for the 2σ interval of the Japanese distribution, the width D of the constriction part 17 can be determined by the following conditional formula.

[0119] (μ-2σ) / 2 < D < (μ + 2σ) / 2

[0120] If the above values are substituted into the conditional formula, it becomes 6.25 mm < D < 8.65 mm. In addition, gloves 2 of different size types (S, M, L, XL, etc.) can also be prepared based on this consideration.

[0121] Figure 4 It is a cross-sectional view of the pressure sensor device of this embodiment.

[0122] As Figure 4 shown, a pressure-sensitive material 21 is provided on the comb-shaped electrodes 41 and 42. The pressure-sensitive material 21 has the characteristic that its resistance value changes according to the load and is formed into a rectangular sheet. In addition, the pressure-sensitive material 21 is overlapped in contact with the metal surfaces of the comb-shaped electrodes 41 and 42. In addition, the pressure-sensitive material 21 is a material in which carbon resin is mixed in an insulating elastic material such as rubber.

[0123] In addition, the pressure sensor part 20 is configured such that the flexible substrate base material 11, the comb-shaped electrodes 41 and 42, and the pressure-sensitive material 21 have a curvature in a static state. The radius of curvature r at this time is preferably set to 10 mm to 50 mm.

[0124] In addition, the pressure-sensitive material 21 is set in the pressure-sensitive area (prescribed area, pressure-sensitive area) for detecting pressure. In addition, as long as the area (number) of the pressure sensor part 20 is increased, the amount of information detected becomes larger, resulting in an increase in component cost. Therefore, it is preferable to make the sensor structure the minimum required according to the assumed usage scenario.

[0125] Figure 5 It is a perspective view showing the state in which the pressure sensor device of this embodiment is mounted on a finger and the finger is extended (the state in which the first joint and the second joint are extended). Figure 6 It is shown from Figure 5The diagram shows a three-dimensional representation of the bent finger position. In reality, the flexible substrate 10 of the pressure sensor device 1 is mounted inside the glove, but the glove is omitted for clarity. Alternatively, the flexible substrate 10 of the pressure sensor device 1 can also be used without a glove, simply by wrapping it around the finger.

[0126] like Figure 5 As shown, the pressure sensor 20 is formed at positions corresponding to the distal phalanx 15 and middle phalanx 16 of the index finger 111, and is mounted by wrapping around the pad of the index finger 111 (approximately half a turn around the index finger 111). Furthermore, the neck 17 is positioned overlapping the first joint 111b. Because the neck 17 is narrow and flexible, it causes less discomfort to the operator when bending the index finger 111. Moreover, since the pressure sensor 20 is not located on the neck 17, it will not react even when the index finger 111 is bent, thus preventing false alarms.

[0127] Furthermore, the bridging portion 14 is arranged along the center line CL of the side surface 111a of the index finger 111. This center line CL is a line whose distance remains unchanged when the finger 111 is bent. Figure 4 Let L be the distance from the first joint portion 111b to the base portion of the index finger 111.

[0128] like Figure 6 As shown, when the index finger 111 is bent, the neck 17 bends at the position of the first joint 111b. Furthermore, the bridging portion 14 bends at the position of the second joint 111c. Additionally, even when the index finger 111 is bent at the first joint 111b and the second joint 111c, the center line CL of the side surface 111a of the index finger 111 is a distance L, not from... Figure 4 The state change.

[0129] Incidentally, if the bridging portion 14 is positioned along the outer or back side of the index finger 111, the flexible substrate 10 will be stretched when the index finger 111 is bent. This not only causes discomfort for the wearer but also increases the likelihood of the bridging portion 14 breaking or the wiring of the flexible substrate 10 breaking due to the tensile load applied to the flexible substrate 10. However, as in this embodiment, by positioning the bridging portion 14 along the center line CL, the flexible substrate 10 will not be stretched when the index finger 111 is bent, thus reducing discomfort for the wearer and preventing wire breakage.

[0130] Figure 7 yes Figure 5 The S-direction view. Additionally... Figure 7 This refers to the state of the right index finger as viewed from the fingertip side.

[0131] like Figure 7As shown, the flexible substrate 10 is arranged wrapped around the index finger 111. Furthermore, the pressure sensor section 20 of the index finger 111 is configured as a pressure-sensing area 20t (load detection range) extending to the side 111a of the index finger 111. This pressure-sensing area 20t is configured such that the thumb side is wider than the middle finger side. Moreover, the pressure sensor section 20 is fixed to the glove 2 (see reference 2) in a bent state, wrapped around the finger. Figure 2 (the interior of)

[0132] Therefore, as in Figure 20 As described later, it can detect fingertip pressure that occurs during manual operations such as connector insertion.

[0133] The principle of the pressure sensor unit 20 will be explained below. Figure 8 This is a circuit diagram for reading the resistance value of a pressure-sensitive material formed by comb-shaped electrodes. Figure 9 This is a cross-sectional schematic diagram of a pressure sensor. Figure 10 This is the circuit diagram of a pressure sensor. Figure 11 This is the R-F characteristic diagram of a pressure sensor. Figure 12 This is the V-F characteristic diagram of a pressure sensor.

[0134] like Figure 8 As shown, in the flexible substrate substrate 11 (refer to...) Figure 9 On top of this, comb-shaped electrodes 41 and 42 are formed. Comb-shaped electrodes 41 and 42 are electrode shapes in which two electrodes (electrode A and electrode B) are arranged in a staggered manner. Since the two electrodes are electrically insulated, that is, since the arrangement of the comb teeth is separated from each other in a way that they do not touch each other, the resistance between electrode A and electrode B is very high (for example, more than 1 MΩ).

[0135] like Figure 9 As shown, a pressure-sensitive material 21 is disposed on the comb-shaped electrodes 41 and 42, and covered by a protective material 51. The protective material 51 is not particularly limited as long as it can protect the pressure-sensitive material 21 and the comb-shaped electrodes 41 and 42; for example, a thin sheet material such as polyimide can be used. Furthermore, the pressure-sensitive material 21 has the characteristic of having a very high resistance value R under no load (e.g., 100kΩ or more), and a decrease in resistance value R (around 1 to 50kΩ) when a load is applied. If a load F is applied to the pressure-sensitive material 21 disposed on the comb-shaped electrodes 41 and 42, the resistance value R of the local area where the load F is applied decreases, resulting in a decrease in the resistance value R between electrode A and electrode B.

[0136] like Figure 10 As shown, as an example of a reading circuit, comb-shaped electrodes 41 and 42 are connected in series with the load resistor R0, and the voltage value V acting on the load resistor R0 is measured using a voltmeter. The voltage value V can be... Figure 10 The formula shown represents...

[0137] like Figure 11 As shown, as the load F increases, the resistance value R changes. Therefore, as... Figure 12 As shown, through Figure 10 The formula shown shows that the voltage value V changes according to the load F, so it can function as a pressure sensor.

[0138] The following uses Figure 13A and Figure 13B The effect of bending bias on the sensor output is explained. Figure 13A This is the F-R characteristic diagram of the pressure-sensitive material under no bending bias. Figure 13B This is the F-R characteristic diagram of a pressure-sensitive material under bending bias.

[0139] The relationship between the load F and the resistance R of the pressure-sensitive material (the resistance value of the pressure-sensitive material 21) (F-R characteristic) depends on the composition and manufacturing method of the pressure-sensitive material 21. For example, ... Figure 13A As shown, there is a pressure-sensitive material whose resistance R changes drastically and gradually saturates within a small load F range. The reading circuit reads the resistance value R, and the range of R's variation is the dynamic range of the pressure sensor; a larger range of R's variation is preferred.

[0140] Since the load applied to the fingertips during manual labor is approximately 100g to 5kg, selecting a pressure-sensitive material with a large resistance variation within this range will improve the sensor's detection sensitivity. Here, if the pressure sensor is used in a bent state after being flattened, internal stress occurs within the sensor due to the bending. The F-R characteristics at this time are as follows... Figure 13B As shown, a bending bias load is applied. If a load of 100g to 5kg from manual operation is applied after the bending bias load has been applied, the range of change in resistance R becomes significantly smaller, and the sensor's detection sensitivity decreases. Therefore, it is important to remove the bending bias load to improve the sensor's detection sensitivity.

[0141] The following explains the principle of bending bias load on the pressure sensor and the structure for removing bending bias load. Figure 14A This is a cross-sectional view of the pressure sensor with the plane mounted. Figure 14B It means to make Figure 14A A schematic diagram of the internal stress of a pressure sensor under bending conditions. Figure 15A This is a cross-sectional view showing the pressure sensor being installed in a bent position. Figure 15B This is a schematic diagram illustrating the internal stress under conditions that eliminate the bending of the pressure sensor. Additionally, in Figure 14A , Figure 14B , Figure 15A and Figure 15B The illustration of the comb-shaped electrode is omitted in the text.

[0142] like Figure 14A As shown, the pressure sensor 1000 has a laminated structure in which a flexible substrate 1011, a pressure-sensing material 1021, and a protective material 1051 overlap. Furthermore, the flexible substrate 1011 is the inner surface, and the protective material 1051 is the outer surface. The structure that removes bending bias load will be described below.

[0143] exist Figure 14A In the stacked structure (planar mounting), a pressure-sensing material 1021 and a protective material 1051 are provided when the flexible substrate 1011 is planar. The pressure sensor 1000 is an elastic body that does not have curvature in a static state, but exerts a force to recover towards the plane if bent.

[0144] exist Figure 15A In the laminated structure (bent mounting), a pressure-sensitive material 21 and a protective material 51 are provided when the flexible substrate 11 is bent. At this time, the pressure sensor unit 20, in a static state, generates a force to return to a flat surface and a force to maintain the bent shape. The magnitude of the force to return the shape to a flat surface is affected by the combination of the rigidity of the flexible substrate 11, the pressure-sensitive material 21, and the protective material 51, but through the balance of the two forces, it is stabilized in a state where the shape slightly returns to a flat surface (this state is defined as stable bending). As a result, the pressure sensor unit 20 has a curvature equivalent to stable bending in a static state. This pressure sensor unit 20 is an elastic body that acts on a force to restore stable bending if bent.

[0145] Figure 14B The solid arrow represents the internal stress acting on the pressure sensor 1000 when it is bent to be rolled around a fingertip. Figure 15B The solid arrows represent the internal stresses acting on the pressure sensor 1000 when the pressure sensor 20 is bent to be rolled around a fingertip.

[0146] like Figure 14B As shown, when the pressure sensor 1000 is bent, compressive stress occurs in the flexible substrate 1011 on the inner side, and tensile stress occurs in the protective material 1051 on the outer side. Consequently, compressive stress occurs in the pressure-sensing material 1021 inside in the direction perpendicular to the surface. This stress in the perpendicular direction is called interlaminar stress. The compressive interlaminar stress is the cause of the bending eccentric load.

[0147] like Figure 15BAs shown, for the pressure sensor section 20, which has curvature (curvature along the circumferential section (abdominal portion) of the finger) in a static state, when the curvature is eliminated, tensile stress occurs in the flexible substrate 11 on the inner side, and compressive stress occurs in the protective material 51 on the outer side. Consequently, tensile interlaminar stress occurs in the internal pressure-sensitive material 21. This tensile interlaminar stress is equivalent to a load acting on the pressure-sensitive material 21. That is, as... Figure 15A In this way, the bending bias load is removed by eliminating the bending in the pressure sensor section 20 which has curvature in a static state.

[0148] Based on this consideration, imagine a radius of curvature r when it is used wrapped around the fingertip. By installing the pressure-sensitive material 21 in a state that is further bent than this radius of curvature r, not only will bending bias load not be generated, but bending bias load can also be removed.

[0149] Figure 16 This is a bending characteristic diagram of a pressure sensor fabricated using both planar and bent mounting methods. Additionally, in... Figure 16 In the diagram, the curve representing the planar mounting case is represented by connecting white circles, while the curve representing the curved mounting case is represented by connecting black circles. Furthermore, the curved mounting pressure sensor unit 20 uses a cylindrical fixture (a fixture with a curved surface) 60 with a radius of curvature of 20 mm (see reference). Figure 17 The pressure sensor unit 20 is manufactured by winding each pressure sensor unit 20 onto an object having a predetermined radius of curvature and fixing it thereon, and measuring the resistance value R of the pressure-sensitive material 21. At this time, there is no load in the out-of-plane direction. The manufacturing method of the pressure sensor unit 20 will be described later.

[0150] The pressure sensor unit 20 exhibits a dynamic decrease in resistance value R when a load is applied. Therefore, a larger resistance value R and a wider range of resistance value R variation result in higher detection sensitivity, making it a preferred choice. Figure 16 As shown, regardless of whether the pressure sensor is flat-mounted or curved-mounted, if it is wound around an object with a smaller radius of curvature (i.e., thinner), the resistance value R decreases due to the bending bias load, thus narrowing the sensor's operating range. On the other hand, in the curved-mounted pressure sensor section 20, the resistance value R is significantly higher than 500kΩ in areas with a radius of curvature of 20mm or more, indicating that a wider sensor operating range can be maintained. Furthermore, compared to flat-mounted, curved-mounted sensors exhibit a larger resistance value R across the entire radius of curvature. This result is shown in... Figure 14BAs indicated in the text, if the bending state of the pressure sensor section 20, which is bent in a static state, is eliminated (i.e., unfolded), then an applied load is applied, implying that the bending bias is removed. Based on the above considerations, it is conceivable that by employing a cylindrical fixture 60 with a curvature radius of less than that when the pressure sensor section 20 is used (the curvature radius when it is wrapped around a finger), curvature can be imparted in a static state, thereby effectively removing the bending bias.

[0151] Figure 17 This is a process diagram illustrating the manufacturing method of a pressure sensor device.

[0152] like Figure 17 As shown, firstly, in Figure 17 In the first figure above, the flexible substrate 10 (flexible substrate base material 11 + comb-shaped electrodes 41, 42) is fixed to a cylindrical fixture 60 with double-sided tape or the like. Furthermore, the comb-shaped electrodes 41, 42 of the flexible substrate 10 are facing outwards. Thus, the flexible substrate 10 maintains a bent state (a state with curvature). And, as... Figure 17 As shown in the second figure from the top, with the flexible substrate 10 in its original bent state, a pressure-sensitive material 21 (pressure-sensitive sheet) is mounted and bonded onto the comb-shaped electrodes 41 and 42 of the flexible substrate 10. Thus, the pressure-sensitive material 21 also maintains its bent state (a state with curvature). Furthermore, as... Figure 17 As shown in the third figure from the top, a protective material 51 (protective sheet) is attached to the original, bent pressure-sensitive material 21. The protective material 51 is, for example, made of polyimide tape. Next, as... Figure 17 As shown in the fourth figure from the top, the sheet-like structure on which the pressure-sensitive material 21 and the protective material 51 are stacked on the flexible substrate 10 is removed from the cylindrical fixture 60. As a result, a pressure sensor section 20 (pressure sensor device 1) with curvature in a static state can be obtained.

[0153] Furthermore, the manufacturing method of the pressure sensor unit 20 (pressure sensor device) described above is one example and is not limited to this embodiment. For example, as another manufacturing method of the pressure sensor unit 20, for the bent flexible substrate 10, ink containing carbon particles (a fluid elastic resin) is flowed onto the comb-shaped electrodes 41 and 42, and the pressure-sensitive material 21 is formed by heat treatment. As a result, the productivity of the pressure sensor unit 20 can be improved compared with the manual manufacturing described above.

[0154] Figure 18 This is a structural diagram of a job management system that represents the job management of operators.

[0155] like Figure 18As shown, the operation management system 500 includes a sensor-in-glove 101 (pressure sensor device) and an edge server 103 (status management unit, control unit) that performs status management based on a voltage value V transmitted from a transmitter 102 installed in the sensor-in-glove 101. The transmitter 102 also transmits the voltage value V measured by the sensor-in-glove 101.

[0156] The sensor-embedded glove 101 has a flexible substrate 11 (see reference). Figure 9 ), and comb-shaped electrodes 41, 42 (refer to) formed in a designated area on the flexible substrate 11 with exposed metal surfaces. Figure 9 A pressure-sensitive material 21 (refer to) is provided on comb-shaped electrodes 41 and 42, whose resistance value R changes according to the load and has curvature in a static state. Figure 9 ) and sending unit 102.

[0157] Operator 100 performs manual tasks while wearing sensor-embedded gloves 101. These manual tasks include assembly, equipment inspection, tool usage, and verification.

[0158] The sensor-integrated glove 101 includes a pressure sensor 20 for detecting pressure applied to the fingertips, an accelerometer 32 and a gyroscope 34 for detecting hand movements, and a microphone 33 for detecting working sounds generated near the hand.

[0159] Sensor data detected by the sensors (pressure sensor unit 20, accelerometer sensor 32, microphone 33, gyroscope sensor 34) installed in the sensor-embedded glove 101 is transmitted wirelessly to the edge server 103, which serves as the status management unit, via the transmitting unit 102. Furthermore, the transmission path for the sensor data is not limited to wireless; it can also be wired. The edge server 103 is an electronic device with a CPU, such as a personal computer or smartphone.

[0160] Edge server 103 processes sensor data and provides feedback to the operator as needed. For example, when it determines that an operator is performing a dangerous task, it may use an alarm light to draw attention. Furthermore, for instance, if an assembly operation deviates from its normal course, an alarm may be triggered to prompt reassembly in order to improve the quality of the assembled product.

[0161] Edge server 103 sends data to central server 105 via network 104. Edge server 103 is responsible for storing sensor data and coordinating with other systems. Furthermore, the processing of sensor data can be performed in either edge server 103 or central server 105. Additionally, edge server 103 and central server 105 can be the same device. Alternatively, communication can be direct via wired or wireless means without using network 104.

[0162] Figure 19 This is a flowchart illustrating the actions of the job management system.

[0163] like Figure 19 As shown, in step S200, the measurement is first performed on the sensor-embedded glove 101 (refer to...). Figure 18 The sensor data is collected from the sensor. Furthermore, the sensor data measurements are repeatedly performed at certain sampling intervals (e.g., every 1 second, every 0.01 seconds, etc.). Alternatively, the measurements can be triggered by an external input to the system, using a series of tasks performed by the operator as a trigger event. For example, a camera can detect the movement of operator 100, and sensor data measurements can be performed at the point when the completion of the task is detected based on the video.

[0164] In step S201, the edge server 103 (or the central server 105) performs computational processing on the sensor data. This computational processing includes secondary sampling of the sensor data, digital filtering, noise removal, calculation of statistical values ​​(mean, variance, or standard deviation, etc.), spectral calculation, pattern matching, regression analysis, and classification techniques generalized to machine learning (support vector machine, logistic regression, random forest, k-nearest neighbor method, etc.).

[0165] In step S202, the edge server 103 determines whether the result of the computational processing needs to be fed back to the operator. If it determines that feedback to the operator 100 is required (S202, Yes), it proceeds to step S203 to report to the operator 100. Conversely, if it determines that feedback to the operator 100 is not required (S202, No), it proceeds to step S204 to record the sensor data. Furthermore, after reporting to the operator (S203), the edge server 103 also proceeds to step S204 to record the sensor data. Thus, regardless of whether a report is actually generated, the edge server 103 (or the central server 105) records the sensor data (S204).

[0166] Furthermore, to avoid the data volume of recorded sensor data becoming excessively large, it's advisable to record only a portion of the sensor data. For example, sensor data is often of high importance because the operator is performing hazardous manual tasks or other unconventional actions when feedback is deemed necessary. Recording only the sensor data needed when feedback is required is an effective way to reduce the volume of recorded sensor data.

[0167] The following describes an application example of the job management system 500 with reference to the attached diagram.

[0168] Figure 20 This is a perspective view showing an example of connector insertion. Additionally, in Figure 20 In this context, the word "gloves" is used to indicate the state of having the gloves removed for ease of explanation.

[0169] like Figure 20 As shown, the connector insertion operation is the process of inserting the connector 200 into the insertion object 201. If proper insertion is not achieved, poor electrical contact may occur in the connector 200, or the connector may detach due to vibration. Furthermore, if the insertion object 201 is an automobile, if the connector 200 detaches after the work-in-process product has left the factory, it could lead to accidents. Therefore, ensuring the quality of the insertion state is crucial during the connector insertion operation.

[0170] However, connector insertion operations are difficult to automate using robots, and are often performed manually by assembly workers. This system (Operation Management System) is effectively used to ensure the quality of connector insertion operations performed manually.

[0171] The pressure sensor device 1 used in this system includes a pressure sensor section 20 and a microphone 33, which are configured relative to the operator's hand 202 at the tips of the thumb 110 and index finger 111 when gripping the connector 200. The pressure sensor section 20 detects when the operator grips the connector 200. The microphone 33 detects the engagement sound emitted when the connector 200 is inserted into the insertion object 201. Furthermore, the pressure sensor section 20 is configured to face the distal phalanx 15 of the thumb 110 and to face the distal phalanx 15 and middle phalanx 16 of the index finger 111.

[0172] By analyzing the sensor data obtained from the pressure sensor unit 20 and the microphone 33, it is possible to determine whether the connector insertion operation was performed appropriately. In cases where the connector insertion operation is determined to be inappropriate (in... Figure 19 In S202, it is "Yes"), and feedback is given to the operator using alarm lights, etc. Figure 19 (S203) can indicate for re-insertion. This ensures the quality of connector insertion.

[0173] In addition, Figure 20 The example shown is a pressure sensor device 1 with a single microphone 33, but it is also possible to have a structure in which other microphones are added at a position far from the drive unit in addition to the microphone 33 which is close to the drive unit.

[0174] Figure 21A It is a three-dimensional diagram showing the shape of a hand holding the connector. Additionally, Figure 21A This is an example of the shape of a hand holding the connector 200 of the LAN cable. The way the connector 200 is held varies from person to person. Figure 21A The connector is held using the pad of the thumb 110 and the side 111a of the index finger 111. In this holding method, to detect the force applied when the index finger 111 inserts the connector 200, the pressure-sensitive area of ​​the index finger 111 (the load detection range of the pressure sensor section 20) is as follows: Figure 21B As shown, in addition to the pressure-sensitive area 20s on the pad of the index finger 111, the side 111a of the index finger 111 also needs to be covered (refer to...). Figure 21A The pressure-sensitive area 20t is used as the pressure-sensitive area. Furthermore, by setting both the distal phalanx 15 and the middle phalanx 16 of the index finger as pressure-sensitive areas, it is possible to accommodate individual differences in various holding methods.

[0175] Figure 22 This is a perspective view showing an example of power tool operation. Additionally, Figure 22 This example illustrates the use case of an electric screwdriver.

[0176] like Figure 22 As shown, when holding the electric screwdriver 300, grip the handle 301 with your thumb, middle finger, ring finger, and little finger, and lock your index finger on the trigger 302. By holding the electric screwdriver 300 in this way, the distal phalanx 15 of the thumb (see reference) Figure 1 The pressure sensor part 20 and the distal phalanx part 15 of the middle finger (see reference) Figure 1 ) and middle section 16 (refer to Figure 1 The pressure sensor section 20 is subjected to a load. In addition, since there are individual differences in the way the trigger 302 is pulled, it is preferable to use both the distal phalanx 15 and the middle phalanx 16 corresponding to the index finger as the pressure sensing area.

[0177] In this operation using the electric screwdriver 300, if the trigger 302 is pulled, pressure is applied to the index finger, and the pressure sensor unit 20 of the index finger can detect the pulling action of the trigger 302. Furthermore, since the trigger 302 is pulled, the screwdriver at the front end rotates, producing a driving sound, which is captured by the microphone 33. In this way, by managing the sensor data of the pressure sensor unit 20 and the microphone 33, the operation quality of the electric screwdriver 300 can be ensured.

[0178] Figure 23 This is a perspective view illustrating an example of valve opening and closing. Additionally, Figure 23 The illustration of gloves has been omitted.

[0179] like Figure 23 As shown, valve operation is the operation of opening and closing valve 401, which is installed on gas cylinder 400, etc. The gas flow rate or the gas path is opened or closed depending on the closed state of valve 401. Valve operation is typically performed in factory inspection operations or semiconductor manufacturing plant inspection operations. Furthermore, if valve operation is not performed properly, gas backflow or gas mixing can occur. Valve 401 can be replaced by mechanical devices such as solenoid valves, but valves that are opened and closed manually are also widely used.

[0180] This system (job management system) can be used to record job operations where the operator has performed valve operations appropriately. For the operator's hand 3, this system has pressure sensor units 20 for thumb 110, index finger 111 and middle finger 112 that detect the force of the fingers holding valve 401, and gyroscope sensor 34 that detects the rotational movement of the hand 3.

[0181] The procedure for closing valve 401 is as follows: First, grasp valve 401 by hand and rotate it. If valve 401 is partially closed, it will stop rotating. To confirm that valve 401 is fully closed (confirmation operation), apply further force in the direction that would have closed valve 401.

[0182] Using this system, the rotation of hand 3 can be detected by gyroscope sensor 34, and the concentrated force exerted by fingers during the verification operation can be detected by pressure sensor unit 20. In this way, a record can be kept of the operation of closing valve 401. The intensity of the force applied by the fingers during the verification operation was previously difficult to quantify, but with this system, it can be quantified as sensor data from pressure sensor unit 20. This allows for the visualization of tacit knowledge at the scene.

[0183] As explained above, the pressure sensor device 1 of this embodiment includes a flexible substrate 11, comb-shaped electrodes 41 and 42 formed in a predetermined area on the flexible substrate 11 and exposing a metal surface, and a pressure-sensitive material 21 provided on the comb-shaped electrodes 41 and 42 whose resistance value R changes according to the load and has curvature in a static state. This reduces or eliminates bending bias, improves detection sensitivity, and reduces false detections.

[0184] Furthermore, in this embodiment, the pressure sensor device 1 is mounted on the inside of the glove. This allows the pressure sensor device 1 to be held stably, and makes its assembly and disassembly easy. Moreover, since the pressure sensor device 1 does not directly contact the object, deterioration of the pressure sensor device 1 can be suppressed.

[0185] Furthermore, in this embodiment, the flexible substrate 11 includes a connector 11b for connecting to the microphone 33, a connector 11a for connecting to the accelerometer 32, and a connector 31 for connecting to the wireless transmission module 4. Thus, by including the microphone 33, even subtle sounds from the work can be captured. Furthermore, by including the accelerometer 32, hand movements can be captured. In this way, by using multiple sensors in combination, manual operations can be captured in greater detail. Furthermore, by including the wireless transmission module 4, sensor data (information) such as detected pressure can be easily transmitted to a processing unit such as the edge server 103. Moreover, by making it a wireless transmission module 4, ease of use is improved compared to wired connections.

[0186] Furthermore, in this embodiment, the sides of the distal phalanx 15 and the middle phalanx 16 of the index finger 111 are designated as pressure-sensitive areas 20t (see reference). Figure 7 , Figure 20 , Figure 21A , Figure 21B This allows for proper management of connector insertion operations.

[0187] Furthermore, in this embodiment, the flexible substrate 11 is mounted on the glove 2 (see reference 14) in such a way that the bridging portion 14 from the finger to the back of the hand is disposed on the side of the finger. Figure 7 This reduces the awkwardness the wearer feels when bending and straightening their fingers.

[0188] Furthermore, in this embodiment, the pressure-sensitive area 20s includes the distal phalanx 15 and the middle phalanx 16 of the finger, and the flexible substrate 11 has a neck 17 formed by the narrowing of the flexible substrate 11 at the position overlapping with the first joint portion 111b connecting the distal phalanx 15 and the middle phalanx 16 (see reference). Figure 3This reduces false responses from sensors caused by finger bending and alleviates the discomfort experienced by operators due to finger flexion and extension.

[0189] Furthermore, in this embodiment, comb-shaped electrodes 41 and 42 are formed asymmetrically on the flexible substrate 11 with respect to the connecting electrode 43 that electrically connects the end section 15 and the middle section 16 (see reference). Figure 3 Therefore, the side 111a of the index finger 111 can be set as the pressure-sensitive area 20t, and the connector insertion operation can be performed appropriately.

[0190] Furthermore, in this embodiment, the width D of the neck 17 is 6.25 mm or more and 8.65 mm or less (see reference). Figure 3 Therefore, this can reduce the awkwardness for most workers when bending and straightening their fingers.

[0191] Furthermore, in this embodiment, the radius of curvature r in the static state is 10 mm to 50 mm (refer to...). Figure 4 Therefore, by setting such a range, it can correspond not only to the hands, but also to the curved surfaces of various objects such as feet.

[0192] Furthermore, in this embodiment, the pressure-sensitive material 21 is installed with a curvature radius r in a static state that is more curved than the curvature radius of the fingertip (the surface to be mounted). Therefore, not only is bending bias load not generated, but bending bias load can also be eliminated, resulting in a highly sensitive pressure sensor device 1.

[0193] Furthermore, the work management system 500 of this embodiment includes a pressure sensor device 1 and an edge server 103 (or a central server 105). The pressure sensor device 1 includes: a flexible substrate 11, which is flexible; comb-shaped electrodes 41 and 42, which are formed in a predetermined area on the flexible substrate 11 and expose the metal surface; a pressure-sensitive material 21, which is provided on the comb-shaped electrodes 41 and 42 and whose resistance value R changes according to the load, and has curvature in a static state; and a wireless transmission module 4, which transmits the voltage value V measured by the pressure-sensitive material 21. The edge server 103 performs state management based on the voltage value V transmitted from the wireless transmission module 4. Thus, in factory assembly processes, equipment inspection operations, etc., manual operations can be digitized through sensors, and can be applied to the recording of work history, prevention of work errors, and extraction of skilled skills.

[0194] In addition, the job management system 500, through its edge server 103 (or central server 105), feeds back job status based on status management and performs warning processing based on the feedback (see reference). Figure 19 (S202, S203). This can prevent errors caused by overlooking certain tasks.

[0195] Furthermore, in the manufacturing method of the pressure sensor device of this embodiment, a flexible substrate base material 11 with comb-shaped electrodes 41 and 42 is fixed while being wound onto a cylindrical fixture 60 having a curved surface. A pressure-sensitive material 21, whose resistance changes under load, is formed on the bent comb-shaped electrodes 41 and 42. After attaching a protective material 51 to the pressure-sensitive material 21, the flexible substrate base material 11, including the comb-shaped electrodes 41 and 42, the pressure-sensitive material 21, and the protective material 51, is removed from the cylindrical fixture 60. Thus, a pressure sensor device with excellent detection sensitivity and reduced false alarms can be manufactured using a simple method.

[0196] Furthermore, the present invention is not limited to the embodiments described above and may include various modifications. For example, in this embodiment, the case where the pressure sensor device 1 is mounted on the glove 2 is described as an example, but the pressure sensor device may also be applied to socks. Specifically, for braking tests in automobile manufacturing processes, the pressure sensor device may be configured to use the base of the toes as the pressure-sensing area.

[0197] Furthermore, the pressure sensor device can also be applied to a robotic arm 700, rather than a human hand. For example... Figure 24 As shown, pressure sensor devices equipped with pressure sensor units 20 are fixed to the two fingers of the robotic arm 700. By applying pressure sensor devices to the robot in this way, operation management can be performed for various robot applications. Furthermore, it is cheaper to construct this system compared to mounting pressure sensors on the robot itself.

[0198] In another embodiment, the system includes: a flexible substrate 11 shaped to fit the shape of a hand; comb-shaped electrodes 41 and 42 formed in pressure-sensitive areas on the flexible substrate 11 and exposing their metal surfaces; and a pressure-sensitive material 21 disposed on the comb-shaped electrodes 41 and 42, whose resistance value R changes under load. The pressure-sensitive areas include the distal phalanx 15 and the middle phalanx 16 of the finger. The flexible substrate 11 has a narrowed neck (neck shape) 17 at the first joint 111b connecting the distal phalanx 15 and the middle phalanx 16, where the width D of the flexible substrate 11 narrows. This reduces the awkwardness experienced by the operator when bending the finger.

[0199] Furthermore, in this embodiment, the pressure sensor unit 20 is described as being provided on the thumb 110, index finger 111, and middle finger 112, but the pressure sensor unit 20 may also be provided on the thumb 110 and index finger 111, or on four or more fingers.

[0200] Furthermore, in this embodiment, a pressure sensor device 1 having curvature along the cross-section when the finger is cut in a circle has been described as an example, but the structure is not limited to this. For example, since the finger bends from the first joint 111b toward the fingertip, the pressure sensor device can also be configured to have curvature along this bend in a static state. As a result, bending bias can be reduced or eliminated, detection sensitivity can be improved, and false detections can be reduced.

[0201] Furthermore, in this embodiment, the case where the pressure sensor device 1 is installed on the glove is used as an example, but the pressure sensor device 1 can also be installed directly on the worker's hand.

Claims

1. A pressure sensor device that detects pressure, characterized by comprising: a flexible substrate base material that has flexibility; a comb-tooth electrode that is formed in a prescribed region on the flexible substrate base material and exposes a metal surface; and a pressure-sensitive material that is provided on the comb-tooth electrode, changes in resistance value in accordance with a load, and has a curvature in a static state, wherein the curvature in the static state of the pressure-sensitive material has a smaller radius than a radius of curvature of an object surface to which the pressure sensor device is attached, the curvature of the pressure sensor device increases the resistance value of the pressure-sensitive material, and at least one of a bending bias load of the pressure sensor device is reduced, sensitivity of the pressure sensor device is improved, or false detection is reduced.

2. The pressure sensor device according to claim 1, characterized in that the radius of the curvature in the static state is 10 mm to 50 mm.

3. The pressure sensor device according to claim 1, characterized in that the pressure sensor device is attached to an inner side of a glove.

4. The pressure sensor device according to claim 1, characterized in that the flexible substrate base material has a connection portion that connects at least one of a microphone, an acceleration sensor, and a transmission portion.

5. The pressure sensor device according to claim 1, characterized in that a side surface of a distal segment portion and a middle segment portion of an index finger is a pressure-sensitive region as the prescribed region.

6. The pressure sensor device according to claim 3, characterized in that the flexible substrate base material is attached to the glove in a manner that a bridge portion is disposed on a side surface of a finger, the bridge portion being disposed from a finger frame to a back of a hand.

7. The pressure sensor device according to claim 5, characterized in that the pressure-sensitive region includes a distal segment portion and a middle segment portion of a finger, the flexible substrate base material has a neck portion in which a width of the flexible substrate base material is narrowed at a position overlapping a first joint portion that connects the distal segment portion and the middle segment portion.

8. The pressure sensor device according to claim 7, characterized in that the comb-tooth electrode is formed on the flexible substrate base material in a manner that the comb-tooth electrode is asymmetrically formed with respect to a connection wiring that electrically connects the distal segment portion and the middle segment portion.

9. The pressure sensor device according to claim 7, characterized in that the width of the neck portion is 6.25 mm or more and 8.65 mm or less.

10. A work management system, characterized by comprising: a pressure sensor device that has a flexible substrate base material that has flexibility, a comb-tooth electrode that is formed in a prescribed region on the flexible substrate base material and exposes a metal surface, a pressure-sensitive material that is provided on the comb-tooth electrode, changes in resistance value in accordance with a load, and has a curvature in a static state, the radius of the curvature being smaller than a radius of curvature of an object surface to which the pressure sensor device is attached, and a transmission portion that transmits at least a voltage value measured by the pressure-sensitive material; and a state management portion that manages a state based on the voltage value transmitted from the transmission portion. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The curvature of the pressure sensor device increases the resistance value of the pressure sensing material to at least one of reduce a bending bias load of the pressure sensor device, improve sensitivity of the pressure sensor device, or reduce false detection.

11. The job management system according to claim 10, wherein The radius of the curvature in the static state is 10 mm to 50 mm.

12. The job management system according to claim 10 or 11, wherein The state management unit feeds back a job state based on the state management; Warning processing is performed based on the feedback.

13. A method of manufacturing a pressure sensor device, comprising: fixing a flexible base material substrate having a comb-tooth electrode formed thereon in a state of being wound on a jig having a curved surface; forming a pressure sensing material having a resistance value that changes according to a load on the comb-tooth electrode in a bent state; and detaching the flexible base material substrate including the comb-tooth electrode, the pressure sensing material, and a protective material from the jig after the protective material is attached on the pressure sensing material, forming the pressure sensing material to have a curvature in a static state, the curvature having a radius smaller than a radius of a curvature of an object surface, the curvature of the pressure sensor device increases the resistance value of the pressure sensing material to at least one of reduce a bending bias load of the pressure sensor device, improve sensitivity of the pressure sensor device, or reduce false detection.

14. The method of manufacturing a pressure sensor device according to claim 13, wherein The radius of the curvature in the static state is 10 mm to 50 mm.

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