Shape information acquisition device, shape information acquisition system, and shape information acquisition method

Abstract

To acquire shape information with good accuracy.SOLUTION: A bending joint part 40 joins two adjacent link modules 10 so as to be capable of rotating relative to each other. A bend angle sensor for detecting the angle formed by two adjacent link modules 10 is disposed to the bending joint part 40. Each link module 10 includes a first link body 11 and a second link body 21, a torsional joint part 30 that coaxially and rotatably joins the adjacent first link body 11 and second link body 21, a torsion angle sensor for detecting a torsion angle formed by the first link body 11 and the second link body 21 and disposed to the torsional joint part 30, and an inertia measurement sensor disposed to the second link body 21. A processing unit acquires shape information which is information related to the position or attitude of the link module 10 on the basis of the detection data of the bend angle sensor and torsion angle sensor and the detection data of the inertia measurement sensor.SELECTED DRAWING: Figure 9

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