Sensing data correction system and sensing data correction method

Abstract

To provide a technology that corrects sensing data acquired from a wearable sensor in which a film-like pressure sensor is assembled into the fingertip of a thin work glove.SOLUTION: A sensing data correction system for correcting sensing data acquired from a glove-type wearable sensor, with a film-like pressure sensor assembled into the fingertip, comprises: a data correction unit that corrects the sensing data. The pressure sensor is composed of one flexible substrate, one sheet-like pressure-sensitive element, and one protective film that are laminated in a vertical direction, with three coordinate axis directions in a three-dimensional orthogonal coordinate system defined as the vertical direction, a pressure sensor longitudinal direction, and a pressure sensor lateral direction, respectively. The top face of the flexible substrate and the bottom face of the pressure-sensitive element, and the top face of the pressure-sensitive element and the bottom face of the protective film are bonded and fixed together, respectively. The data correction unit corrects the sensing data acquired at the time when the wearable sensor is worn.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a technique for correcting sensing data. [Background technology]

[0002] Even in today's manufacturing industry where production lines are becoming increasingly automated, there are still many work processes that require human labor. These work processes that require human labor face challenges such as a chronic labor shortage due to the decline in the working-age population, as well as the retirement of skilled workers and the resulting lack of successors. As part of efforts to solve these challenges, in recent years, digital data has been created of the movements of skilled workers while they are working, and this data is used as teaching materials in vocational training to develop successors, and as a standard for checking whether work is accurate or not.

[0003] One of the main methods for digitalizing the movements of people working is to have the worker wear various wearable sensors and directly sense the movements of the worker. For example, when digitalizing various manual tasks including the movements of grasping and releasing objects, a method that utilizes a glove-type wearable sensor in which a film- or sheet-type pressure sensor is embedded in the fingertips of a work glove is known as an effective method (e.g., Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-001410 Summary of the Invention [Problem to be solved by the invention]

[0005] In actual manufacturing sites, it is extremely important that glove-type wearable sensors worn by workers have a comfortable fit that fits well around the hands and does not impede work. Therefore, glove-type wearable sensors for such purposes are preferably ones in which a film- or sheet-type (hereinafter simply referred to as "film-type") pressure sensor is built into the fingertips of thin work gloves.

[0006] However, if such a wearable sensor is made using thin work gloves in order to obtain a comfortable fit, there is a problem in that when the wearable sensor is first put on, various stresses act on the pressure-sensitive element inside the pressure sensor, causing the pressure sensor to react and obtaining unnecessary sensor values.

[0007] In view of the above problems, the present invention aims to provide a technology that can correct sensing data obtained from a glove-type wearable sensor in which a film-shaped pressure sensor is incorporated into the fingertips of a thin work glove, so that the sensing data accurately reflects only the pressure that should truly be detected. [Means for solving the problem]

[0008] The sensing data correction system according to the present invention corrects sensing data acquired from a glove-type wearable sensor having a film-like pressure sensor built into the fingertips, and includes a data correction unit that corrects the sensing data. The three coordinate axis directions in a three-dimensional orthogonal coordinate system are defined as the up-down direction, the longitudinal direction of the pressure sensor, and the width direction of the pressure sensor, respectively, and the pressure sensor is formed by stacking one flexible substrate, one sheet-like pressure-sensitive element, and one protective film in the up-down direction. The upper surface of the flexible substrate and the lower surface of the pressure-sensitive element are adhesively fixed, and the upper surface of the pressure-sensitive element and the lower surface of the protective film are adhesively fixed. The data correction unit executes a sensing data correction process that corrects the sensing data acquired from the wearable sensor when the wearable sensor is first worn.

[0009] In addition, the problems and solutions disclosed in this application will be made clear by the description of the preferred embodiment and the drawings. Effect of the Invention

[0010] According to the present invention, sensing data obtained from a glove-type wearable sensor in which a film-shaped pressure sensor is incorporated into the fingertips of a thin work glove can be corrected to sensing data that accurately reflects only the pressure that is truly to be detected. [Brief description of the drawings]

[0011] [Figure 1] 1 shows the appearance of a wearable sensor according to an embodiment. [Diagram 2] 2 shows a configuration example of a pressure sensor according to an embodiment. [Diagram 3] 3 shows an example of the configuration of a flexible substrate of a pressure sensor according to an embodiment. [Figure 4] 3A and 3B are schematic diagrams illustrating a state in which the pressure sensor according to the embodiment is deformed. [Diagram 5] 1 illustrates an example of the configuration of a sensing data correction system according to an embodiment. [Figure 6] 4 shows an example of a flow of sensing data correction processing performed in the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] In the following description, an "interface unit" may refer to one or more interface devices. The one or more interface devices may be at least one of the following: One or more I / O (Input / Output) interface devices. The I / O (Input / Output) interface devices are interface devices to at least one of the I / O devices and a remote display computer. The I / O interface device to the display computer may be a communications interface device. The at least one I / O device may be a user interface device, e.g., either an input device such as a keyboard and pointing device, or an output device such as a display device. One or more communication interface devices. The one or more communication interface devices may be one or more homogeneous communication interface devices (e.g., one or more NICs (Network Interface Cards)) or two or more heterogeneous communication interface devices (e.g., a NIC and an HBA (Host Bus Adapter)).

[0013] In the following description, a "memory" refers to one or more memory devices, which are an example of one or more storage devices, and may typically be a primary storage device. At least one memory device in the memory may be a volatile memory device or a non-volatile memory device.

[0014] In the following description, a "persistent storage device" may be one or more persistent storage devices, which are an example of one or more persistent storage devices. A persistent storage device may typically be a non-volatile storage device (e.g., an auxiliary storage device), and more specifically, may be, for example, a hard disk drive (HDD), a solid state drive (SSD), a non-volatile memory express (NVME) drive, or a storage class memory (SCM).

[0015] Also, in the following description, "storage device" may be at least memory, including memory and persistent storage device.

[0016] Also, in the following description, a "processor" may be one or more processor devices. The at least one processor device may typically be a microprocessor device such as a CPU (Central Processing Unit), but may also be other types of processor devices such as a GPU (Graphics Processing Unit). The at least one processor device may be a single-core or multi-core. The at least one processor device may be a processor core. The at least one processor device may also be a broader processor device such as a circuit that is a collection of gate arrays written in a hardware description language that performs part or all of the processing (e.g., an FPGA (Field-Programmable Gate Array), a CPLD (Complex Programmable Logic Device), or an ASIC (Application Specific Integrated Circuit)).

[0017] In the following description, functions may be described using the expression "yyy unit", but the functions may be realized by one or more computer programs being executed by a processor, or by one or more hardware circuits (e.g., FPGA or ASIC), or by a combination thereof. When a function is realized by a program being executed by a processor, the function may be at least a part of the processor, since the specified processing is performed using a storage device and / or an interface device as appropriate. Processing described with a function as the subject may be processing performed by a processor or a device having the processor. A program may be installed from a program source. The program source may be, for example, a program distribution computer or a computer-readable recording medium (e.g., a non-transitory recording medium). The description of each function is an example, and multiple functions may be combined into one function, or one function may be divided into multiple functions.

[0018] In the following description, a process may be described with a "program" as the subject, but the process described with a program as the subject may be a process performed by a processor or a device having the processor. Two or more programs may be realized as one program, and one program may be realized as two or more programs.

[0019] In the following description, information that provides an output for an input may be described using expressions such as "xxx table," but the information may be a table of any structure, or may be a neural network that generates an output for an input, or a learning model such as a genetic algorithm or random forest. Therefore, the "xxx table" may be referred to as "xxx information." In the following description, the structure of each table is an example, and one table may be divided into two or more tables, or all or part of two or more tables may be one table.

[0020] In the following description, "UI" is an abbreviation for User Interface, typically a GUI (Graphical User Interface).

[0021] In the following description, a system that corrects sensing data acquired by a glove-type wearable sensor is referred to as a "sensing data correction system." The sensing data correction system may be one or more physical computers, a software-defined system realized by at least one physical computer executing a predetermined software, or a system realized on a cloud platform (typically, multiple types of computing resources including a processor and a storage device). For example, when a computer has a display device and displays information on its own display device, the computer may be the sensing data correction system. Also, for example, when a first computer (e.g., a server) transmits output information to a remote second computer (a display computer (e.g., a user terminal described later)) and the display computer displays the information (when the first computer displays information on the second computer), at least the first computer of the first and second computers may be the sensing data correction system. In other words, when the sensing data correction system "displays the output information," it may mean displaying the output information on a display device possessed by the computer, or it may mean that the computer transmits the output information to a display computer (in the latter case, the output information is displayed by the display computer).

[0022] This embodiment will be described in detail below.

[0023] In the following description, it is assumed that the three coordinate axis directions in the three-dimensional orthogonal coordinate system are the up-down direction, the longitudinal direction of the pressure sensor, and the width direction of the pressure sensor.

[0024] First, an overview of the wearable sensor will be given.

[0025] FIG. 1 shows the appearance of a wearable sensor 1 according to the embodiment.

[0026] As shown in FIG. 1, the wearable sensor 1 is a glove-type wearable sensor in which a film-like pressure sensor 11 is incorporated into the fingertips of a thin work glove, also called a sensor glove or a sensor-embedded glove. The pressure sensor 11 is incorporated in an area centered on the pad side of the fingertips of the wearable sensor 1, and when the wearable sensor 1 is worn on the hand of a wearer, the shape of the wearer's fingertips is deformed to fit the shape of the wearer's fingertips. This allows the wearable sensor 1 to fit well on the wearer's hand. As a result, the wearer of the wearable sensor 1 can obtain a comfortable fit that does not interfere with work even in an actual manufacturing site.

[0027] Furthermore, the wearable sensor 1 can appropriately detect the pressure applied to the fingertip of the wearer of the wearable sensor 1 by having the pressure sensor 11 incorporated in the fingertip having the characteristics described below.

[0028] That is, by virtue of having the above-mentioned characteristics, wearable sensor 1 fits well on the wearer's hand and can accurately detect pressure applied to the wearer's fingertip.

[0029] 1 is illustrated as having pressure sensor 11 incorporated in the tip of the index finger for ease of understanding, but pressure sensor 11 may of course be incorporated in the tips of other fingers or in the tips of multiple fingers. The specific position and orientation of pressure sensor 11 incorporated in the fingertip of wearable sensor 1 may be appropriately determined according to the content of the movement performed by the wearer during work and the physical characteristics of the wearer.

[0030] Next, the pressure sensor incorporated in the wearable sensor 1 will be described.

[0031] FIG. 2 shows an example of the configuration of the pressure sensor 11 according to the embodiment.

[0032] FIG. 3 shows an example of the configuration of a flexible substrate 12 of a pressure sensor 11 according to the embodiment.

[0033] The pressure sensor 11 shown in FIG. 2 includes one flexible substrate 12, one pressure-sensitive element 13, and one protective film 14. As shown in FIG. 3, the flexible substrate 12 is a polymer thick film (PTF) having a sheet-like electrode 15 made of a conductive metal foil such as copper foil provided therein. As shown in FIG. 3, the electrode 15 provided on the flexible substrate 12 is formed in a substantially comb shape when viewed from above and below. On the upper surface side of the flexible substrate 12, a sheet-like pressure-sensitive element 13 is provided substantially parallel to the flexible substrate 12. The pressure-sensitive element 13 is electrically connected to the electrode 15 of the flexible substrate 12. A protective film 14 made of insulating resin is disposed on the upper surface side of the pressure-sensitive element 13, and the upper surface of the flexible substrate 12 and the lower surface of the protective film 14 are adhesively fixed to each other at the periphery of the pressure sensor 11.

[0034] That is, the pressure-sensitive element 13 is sealed in the internal space of the pressure sensor 11 formed by the upper surface of the flexible substrate 12 and the lower surface of the protective film 14, with its lower surface facing the upper surface of the flexible substrate 12 and its upper surface facing the lower surface of the protective film 14. The lower surface of the pressure-sensitive element 13 and the upper surface of the flexible substrate 12, and the upper surface of the pressure-sensitive element 13 and the lower surface of the protective film 14 are adhesively fixed to each other.

[0035] When various pressures are applied to the fingertip of the wearable sensor 1 incorporating the pressure sensor 11, the pressure sensor 11 deforms, and the pressure-sensitive element 13 inside the pressure sensor 11 also deforms accordingly. When the wearable sensor 1 is not yet worn, i.e., in the initial state, conductive particles are present uniformly at approximately equal intervals inside the pressure-sensitive element 13. However, when the pressure-sensitive element 13 deforms, the distance between the particles present inside expands or contracts partially. Therefore, the electrical resistance value inside the pressure-sensitive element 13 changes when electricity is applied. This allows the wearable sensor 1 to detect various pressures applied to the fingertip.

[0036] As described above, the pressure sensor 11 is fixed by bonding the lower surface of the pressure-sensitive element 13 to the upper surface of the flexible substrate 12, and the upper surface of the pressure-sensitive element 13 to the lower surface of the protective film 14. Therefore, when the pressure sensor 11 is deformed so that both ends in the longitudinal direction are bent downward as illustrated in FIG. 4, due to differences in the physical properties and mechanical characteristics of the flexible substrate 12, the pressure-sensitive element 13, and the protective film 14, in addition to (1) the stress acting on the pressure-sensitive element 13 itself during deformation, (2) the stress applied from the protective film 14, and (3) the stress applied from the flexible substrate 12 act on the pressure-sensitive element 13. As a result, the pressure detected by the pressure sensor 11 in a raw state without correction processing is one of the above (1) to (3) or a combination of the above (1) to (3). Due to the existence of such problems, the pressure sensor 11 cannot emit a sensor signal that accurately reflects only the pressure that should truly be detected when the wearable sensor 1 is worn or immediately after it is worn.

[0037] Therefore, the sensing data correction system 100 of this embodiment executes a correction process on data (hereinafter referred to as "sensing data") representing the sensor value acquired by the pressure sensor 11. This process executed by the sensing data correction system 100 is referred to as the sensing data correction process. This makes it possible to remove the effects of unnecessary stress acting on the pressure-sensitive element 13 in the pressure sensor 11 due to its relationship with the flexible substrate 12 and the protective film 14 when the wearable sensor 1 is attached.

[0038] FIG. 5 shows an example of the configuration of a sensing data correction system 100 according to the embodiment.

[0039] Each component of system 100 shown in FIG. 5 is realized by hardware including processor devices such as a CPU (Central Processing Unit) and various co-processors (hereinafter simply referred to as "processors"), storage devices such as memory and storage, wired or wireless communication lines and interface devices that connect them, and software that is stored in the storage devices and supplies processing instructions to the arithmetic unit.

[0040] The storage device stores at least a sensing data correction program. The sensing data correction program is a computer program for correcting the sensing data. The sensing data correction program is executed by the processor to perform various processes for correcting the sensing data, which will be described later.

[0041] The sensing data correction program may be configured by a device driver, an operating system, various application programs located at higher layers thereof, and a library that provides common functions to these programs. Each block described below does not represent a hardware-based configuration, but represents a functional block.

[0042] The sensing data correction system 100 has the following functional blocks: a data processing unit 110, a data recording unit 120, a user interface unit 130, and a communication unit (not shown).

[0043] The data processing unit 110 executes various data processing based on the user's operation input detected by the user interface unit 130, the data acquired by the communication unit, and the programs and data stored in the data recording unit 120. The data processing unit 110 also functions as an interface between the user interface unit 130, the communication unit, and the data recording unit 120.

[0044] The data processing unit 110 has a data correction unit 140 as a functional block. The data correction unit 140 executes various processes for correcting the sensing data. The process executed by the data correction unit 140 is referred to as a sensing data correction process. Details of the sensing data correction process will be described later with reference to FIG. 6.

[0045] Furthermore, the data processing unit 110 may have, as a functional block, an operator characteristic extraction unit 150 that executes various processes for extracting characteristics of the wearer of the wearable sensor 1, i.e., the operator. In this way, the sensing data correction system 100 may extract motion characteristics, physical characteristics, and the like (hereinafter referred to as "operator characteristics") of each operator who is the wearer of the wearable sensor 1. The data recording unit 120 may record data (hereinafter referred to as "operator characteristic data") representing the operator characteristics of each operator extracted by the operator characteristic extraction unit 150 in a storage device.

[0046] The data processing unit 110 can realize these functional blocks by executing a predetermined program.

[0047] The data recording unit 120 is configured using a storage device such as a RAM or a flash memory, and stores in the storage device a program that supplies various processing commands to the data processing unit 110, and data representing various information used in the processing executed by the data processing unit 110. The data processing unit 110 can realize each of the functional blocks of the data correction unit 140 and the worker characteristic extraction unit 150 described above by reading and writing this information in the storage device.

[0048] The user interface unit 130 accepts input operations from the user and is responsible for user interface-related processing such as image display and audio output. The user interface unit 130 has functional blocks of an input unit (not shown) and an output unit (not shown). The input unit detects various operations from the user. The input unit is configured using, for example, a keyboard, a pointing device, a touch panel, etc. The output unit displays the sensor values ​​represented by the sensor data on the display device, and also displays various screens on the display device and outputs audio. The display device is configured using, for example, a liquid crystal display, a touch screen, etc.

[0049] The communication unit (not shown) receives sensor data from the receiver 4 connected by wire or wirelessly, and transmits the sensor data to the data processing unit 110 and the data recording unit 120. The communication unit also handles communication processing with user terminals owned by users of the sensing data correction system 100 and other devices such as server devices, performed via the Internet (an example of a communication network). The communication unit is configured using, for example, a NIC (Network Interface Card) or an HBA (Host Bus Adapter).

[0050] In this embodiment, the sensing data correction system 100 has been described as being realized as a single integrated computer device. However, these functions may be realized by a plurality of computers or server devices connected to each other. The sensing data correction system 100 may be configured to include a general-purpose computer device such as a laptop PC and a web browser installed thereon, or may be configured to include a web server and various portable devices.

[0051] The wearable sensor 1 is connected to the transmitter 3, and the wearable sensor 1 transmits a sensor signal representing an acquired sensor value to the transmitter 3. When the transmitter 3 receives the sensor signal, it transmits the sensor signal to the receiver 4. When the receiver 4 receives the sensor signal, it extracts sensor data from the sensor signal and transmits the sensor data to the communication unit of the sensing data correction system 100 as described above. Note that the sensor signal may be an analog signal or a digital signal. When the sensor signal is an analog signal, the receiver 4 may be provided with a D / A converter (Digital-Analog Converter; DAC) to appropriately convert the analog signal into a digital signal.

[0052] In addition to the wearable sensor 1, a mounted camera 2 that captures the actions of a worker during work, such as grasping and releasing a work target 50, may be connected to the transmitter 3 as a sensor. In this case, the sensing data correction system 100 may be able to handle the video data acquired by the mounted camera 2.

[0053] Next, the flow of the sensing data correction process executed by the sensing data correction system 100 will be described.

[0054] FIG. 6 is a flowchart showing an example of the flow of the sensing data correction process.

[0055] The sensing data correction process performed in this embodiment is composed of processes (steps S601 to S605) performed when setting up the wearable sensor 1 and processes (steps S606 to S610) performed when actually using the wearable sensor 1. First, the flow of processes when setting up the wearable sensor 1 is as follows.

[0056] In step S601, when the user interface unit 130 detects an input operation for starting the sensing data correction system 100, the data processing unit 110 starts the sensing data correction system 100. The relationship between the sensor signal and the passage of time at this stage is as shown in graph X in FIG. 6. In the graphs X to Z shown in FIG. 6, the vertical axis indicates the pressure value represented by the sensor signal, and the horizontal axis indicates time. When the data processing unit 110 completes the process in step S601, it proceeds to step S602.

[0057] In step S602, when the wearable sensor 1 is worn by the worker, the pressure sensor 11 incorporated in the fingertip of the wearable sensor 1 is bent in response to pressure, and the sensor signal emitted by the wearable sensor 1 further rises as shown by graph Y in Fig. 6, and the data processing unit 110 acquires sensing data representing this raised sensor signal. Upon completing the process in step S602, the data processing unit 110 proceeds to step S603.

[0058] In step S603, when data processing unit 110 acquires sensing data representing a sensor signal that rises as shown by graph Y in Fig. 6, data correction unit 140 turns on the initial state setting. This turns on the initial state setting of wearable sensor 1. Note that data correction unit 140 may turn on the initial state setting of wearable sensor 1 when user interface unit 130 detects an input operation to turn on the initial state setting of wearable sensor 1, rather than automatically turning on the initial state setting of wearable sensor 1. When data processing unit 110 completes the process in step S603, it proceeds to step S604.

[0059] In step S604, the data processing unit 110 executes a process of canceling the offset by the data correction unit 140. As a result, the offset is canceled for the sensing data representing the sensor signal that has risen as shown in graph Y in Fig. 6, and the pressure value represented by the sensing data is corrected to 0 as shown in graph Z in Fig. 6. As a result, the sensing data representing unnecessary pressure response caused by bending of the pressure sensor 11 incorporated in the wearable sensor 1 when the wearable sensor 1 is attached is appropriately corrected. When the process in step S604 is completed, the data processing unit 110 proceeds to step S605.

[0060] In step S605, when the input offset when the wearable sensor 1 is attached is canceled in step S604, the data processing unit 110 causes the data correction unit 140 to turn off the initial state setting. This turns off the initial state setting of the wearable sensor 1. Note that, instead of automatically turning off the initial state setting of the wearable sensor 1, the data correction unit 140 may turn off the initial state setting of the wearable sensor 1 when the user interface unit 130 detects an input operation to turn off the initial state setting of the wearable sensor 1. When the processing in step S605 is completed, the data processing unit 110 ends the processing related to the setting.

[0061] After completing the process in step S605, the data processing unit 110 proceeds to step S606 to perform processes related to actual use.

[0062] In step S606, data processing unit 110 transitions to processing related to actual use when user interface unit 130 detects the start of use of wearable sensor 1. When data processing unit 110 completes the processing in step S606, it proceeds to step S607.

[0063] In step S607, data processing unit 110 executes a process in which data correction unit 140 determines whether or not the pressure value acquired by wearable sensor 1 is smaller than 0. If it is determined that the pressure value is smaller than 0 (step S607: Y), the process proceeds to step S608 to correct the sensing data representing the pressure value, and if it is determined that the pressure value is 0 or greater (step S607: N), the process proceeds to step S609.

[0064] In step S608, the data processing unit 110 causes the data correction unit 140 to correct the sensing data representing the pressure value determined to be smaller than 0 in step S607. The data correction unit 140 corrects the pressure value represented by the sensing data to 0. This makes it possible to remove the influence of a decrease in signal level due to temporary stress relaxation caused by the worker who wears the wearable sensor 1 pressing the pressure sensor 11 with his / her finger when the wearable sensor 1 is first worn. When the data processing unit 110 completes the process in step S608, it proceeds to step S610. When the data processing unit 110 completes the process in step S608, it proceeds to step S610.

[0065] In step S609, the data processing unit 110 does not perform correction processing by the data correction unit 140 on the sensing data indicating the pressure value determined to be equal to or greater than 0 in step S607, and proceeds directly to step S610.

[0066] In step S610, the data processing unit 110 executes a process of determining whether or not to terminate the sensing data correction system 100. If it is determined that the sensing data correction system 100 is to be terminated (step S610: Y), the sensing data correction process shown in the flowchart of Fig. 6 is terminated. On the other hand, if it is determined that the sensing data correction system 100 is not to be terminated yet (step S610: N), the process returns to step S607 again, and the sensing data correction process continues.

[0067] By executing the above-mentioned sensing data correction process, the sensing data correction system 100 of this embodiment can remove from the sensing data: (1) the influence of pressure reaction caused by bending of the pressure sensor 11 incorporated in the fingertips of the wearable sensor 1 when the wearable sensor 1 is worn by a worker, and (2) the influence of a decrease in signal level caused by temporary stress relaxation that occurs when the worker who is wearing the wearable sensor 1 presses the pressure sensor 11 with his / her fingers when the wearer of the wearable sensor 1 is first wearing the wearable sensor 1. As a result, the sensing data correction system 100 can correct the sensing data acquired from a glove-type wearable sensor in which a film-like pressure sensor is incorporated in the fingertips of a thin work glove to sensing data that accurately reflects only the pressure that should truly be detected.

[0068] The present invention is not limited to the above-described embodiment, and can be implemented using any components without departing from the spirit of the present invention.

[0069] The above-mentioned embodiments and modifications are merely examples, and the present invention is not limited to these contents as long as the characteristics of the invention are not impaired. In addition, although various embodiments and modifications have been described above, the present invention is not limited to these contents. Other aspects that are conceivable within the scope of the technical idea of ​​the present invention are also included in the scope of the present invention. [Explanation of symbols]

[0070] 1: Wearable sensors 11: Pressure sensor 12: Flexible board 13: Pressure-sensitive material 14: Protective film 15: Electrode (wiring pattern) 50:Work object 100: Sensing data correction system 110: Data Processing Department 120: Data recording section 130: User interface section 140: Data correction section 150: Worker feature extraction unit 2: Mounted camera 3: Transmitter 4: Receiver

Claims

1. A sensing data correction system that corrects sensing data acquired from a glove-type wearable sensor having a film-type pressure sensor built into a fingertip, comprising: a data correction unit that corrects the sensing data; The three coordinate axis directions in the three-dimensional orthogonal coordinate system are defined as the up-down direction, the longitudinal direction of the pressure sensor, and the width direction of the pressure sensor, respectively. The pressure sensor A flexible substrate, a sheet-like pressure-sensitive element, and a protective film are stacked in the vertical direction. an upper surface of the flexible substrate and a lower surface of the pressure-sensitive element are adhesively fixed to each other, and an upper surface of the pressure-sensitive element and a lower surface of the protective film are adhesively fixed to each other, The data correction unit executes a sensing data correction process to correct sensing data acquired from the wearable sensor when the wearable sensor is first attached. Sensing data correction system.

2. 2. The sensing data correction system according to claim 1, The sensing data correction process includes a process of canceling an offset of sensing data acquired from the wearable sensor when the wearable sensor is worn. Sensing data correction system.

3. 2. The sensing data correction system according to claim 1, The sensing data correction process includes: If the pressure value represented by the sensing data is smaller than 0, the pressure value represented by the sensing data is corrected to 0. Sensing data correction system.

4. A sensing data correction method for correcting sensing data acquired from a glove-type wearable sensor having a film-type pressure sensor embedded in a fingertip by a computer, comprising: the computer includes a data correction unit that corrects the sensing data; The three coordinate axis directions in the three-dimensional orthogonal coordinate system are defined as the up-down direction, the longitudinal direction of the pressure sensor, and the width direction of the pressure sensor, respectively. The pressure sensor A flexible substrate, a sheet-like pressure-sensitive element, and a protective film are stacked in the vertical direction. an upper surface of the flexible substrate and a lower surface of the pressure-sensitive element are adhesively fixed to each other, and an upper surface of the pressure-sensitive element and a lower surface of the protective film are adhesively fixed to each other, The data correction unit executes a sensing data correction process to correct sensing data acquired from the wearable sensor when the wearable sensor is first attached. Sensing data correction method.

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