Sensor system and information processing device

Abstract

To provide a sensor system capable of processing measurement data of a tactile sensor.SOLUTION: A sensor system comprises: a tactile sensor 2 including a plurality of sensor elements 10 respectively capable of measuring pressure and shear stress; and an information processing device 3 configured to be capable of communicating with the tactile sensor 2. The information processing device 3 includes: a measurement processing section 32 for processing measurement data of a plurality of channels respectively corresponding to the plurality of sensor elements 10; and a display section 43 for displaying information on a screen. The measurement processing section 32 generates a radar image in response to each one of the plurality of channels based on the measurement data, and displays the radar image on a maim screen. The radar image includes: pressure information expressing the magnitude of the pressure by color and formed by a circle or an oval; and shear stress information displayed by overlapping with the circle and formed by an arrow. A direction of the arrow expresses a direction of the shear stress and a length of the arrow expresses the magnitude of the shear stress.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a sensor system and an information processing device. [Background technology]

[0002] Conventional pressure sensors have a structure in which, for example, two electrodes, one above the other, are placed facing each other, with a conductive film or insulating layer sandwiched between the two electrodes as a pressure-sensitive layer that detects pressure.In recent years, there has been an increasing demand for stress sensors that can measure not only pressure but also shear stress.

[0003] Pressure sensors are also expected to be applied in fields such as sports, medicine, and nursing care. For example, in the medical field, technology for implanting sensors into living bodies for sensing is being considered. Pressure sensors that can detect shear stress are also being considered for use in applications such as monitoring user movements.

[0004] Furthermore, technologies that utilize sensing and analysis to help users improve their sports skills are being developed, such as automatic analysis of motion by analyzing sensing data acquired by sensors. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-205072 Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention provides a sensor system and an information processing device that can process measurement data from a tactile sensor. [Means for solving the problem]

[0007] According to a first aspect of the present invention, there is provided a sensor system comprising: a tactile sensor including a plurality of sensor elements each capable of measuring pressure and shear stress; and an information processing device configured to be able to communicate with the tactile sensor, wherein the information processing device includes a measurement processing unit that processes measurement data of a plurality of channels corresponding to the plurality of sensor elements, respectively; and a display unit that displays information on a screen, wherein the measurement processing unit generates a radar image corresponding to each of the plurality of channels based on the measurement data and displays the radar image on a main screen, wherein the radar image includes pressure information that represents the magnitude of the pressure with a color and consists of a circle or ellipse, and shear stress information that is displayed superimposed on the circle and consists of an arrow, wherein the direction of the arrow represents the direction of the shear stress and the length of the arrow represents the magnitude of the shear stress.

[0008] According to a second aspect of the present invention, there is provided a sensor system relating to the first aspect, wherein the measurement processing unit simultaneously displays a graph of the pressure, a graph of shear stress in a first direction, and a graph of shear stress in a second direction perpendicular to the first direction in a first area of ​​the main screen, and displays the radar image in a second area of ​​the main screen.

[0009] According to a third aspect of the present invention, there is provided the sensor system according to the second aspect, wherein the measurement processing unit displays a graph with time on the horizontal axis, pressure on the first vertical axis, and shear stress on the second vertical axis.

[0010] According to a fourth aspect of the present invention, there is provided a sensor system according to the first aspect, wherein the information processing device further includes an analysis processing unit that analyzes the measurement data and displays the analysis results on an analysis screen, and the analysis processing unit displays a graph of the measurement data in a first area of ​​the analysis screen, displays a sensor image relating to the plurality of sensor elements in a second area of ​​the analysis screen, and displays the radar image superimposed on the sensor image.

[0011] According to a fifth aspect of the present invention, there is provided the sensor system according to the fourth aspect, wherein the analysis processing unit displays a plurality of radar images adjacent to a plurality of sensor elements included in the sensor image, respectively.

[0012] According to a sixth aspect of the present invention, there is provided a sensor system according to the fourth aspect, wherein the analysis processing unit displays, in a third area of ​​the analysis screen, numerical values ​​of the measurement data corresponding to the measurement time specified by the user.

[0013] According to a seventh aspect of the present invention, there is provided the sensor system according to the fourth aspect, wherein the analysis processing unit captures the analysis screen in response to an input operation by a user.

[0014] According to an eighth aspect of the present invention, there is provided a sensor system according to the first aspect, wherein the information processing device further includes a setting processing unit that sets the angle at which each of the plurality of sensor elements is installed, and the measurement processing unit generates and displays information about the measurement data so as to be shifted by the angle.

[0015] According to a ninth aspect of the present invention, there is provided an information processing device configured to be able to communicate with a tactile sensor including a plurality of sensor elements each capable of measuring pressure and shear stress, the information processing device comprising: a measurement processing unit that processes measurement data of a plurality of channels corresponding to the plurality of sensor elements, and a display unit that displays information on a screen; the measurement processing unit generates a radar image corresponding to each of the plurality of channels based on the measurement data, and displays the radar image on a main screen; the radar image includes pressure information that represents the magnitude of the pressure with a color and consists of a circle or ellipse, and shear stress information that is displayed superimposed on the circle and consists of an arrow, the direction of the arrow representing the direction of the shear stress, and the length of the arrow representing the magnitude of the shear stress. [Effects of the Invention]

[0016] According to the present invention, it is possible to provide a sensor system and an information processing device that can process measurement data from a tactile sensor. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 is a block diagram of a sensor system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a layout diagram of one sensor element. [Figure 3] FIG. 3 is a cross-sectional view of the sensor element taken along line A-A' in FIG. [Figure 4] FIG. 4 is a block diagram of an information processing device. [Figure 5] FIG. 5 is a diagram illustrating the screen configuration of the information processing device. [Figure 6] FIG. 6 is a flowchart illustrating the setting operation by the setting processing unit. [Figure 7] FIG. 7 is a diagram illustrating an example of the setting screen. [Figure 8] FIG. 8 is a flowchart illustrating the measurement operation by the measurement processing unit. [Figure 9] FIG. 9 is a diagram illustrating an example of the main screen. [Figure 10] FIG. 10 is a flowchart illustrating the test mode. [Figure 11] FIG. 11 is a flowchart illustrating the measurement mode. [Figure 12] FIG. 12 is a diagram illustrating the definition of directions in display information. [Figure 13] FIG. 13 is a diagram illustrating an example of a graph displayed in the graph display area of ​​the main screen. [Figure 14] FIG. 14 is a diagram illustrating a radar image. [Figure 15] FIG. 15 is a diagram illustrating an example of a radar image displayed in the radar display area of ​​the main screen. [Figure 16] FIG. 16 is a diagram illustrating an example of a numeric display screen. [Figure 17] FIG. 17 is a flowchart illustrating the calibration operation by the calibration processing unit. [Figure 18] FIG. 18 is a diagram illustrating an example of the calibration screen. [Figure 19] FIG. 19 is a flowchart illustrating the analysis operation by the analysis processing unit. [Figure 20] FIG. 20 is a diagram illustrating an example of the analysis screen. [Figure 21] FIG. 21 is a diagram illustrating an example of a graph displayed in the graph display area of ​​the analysis screen. [Figure 22] FIG. 22 is a diagram illustrating an example of an image displayed in the image display area of ​​the analysis screen. [Figure 23] FIG. 23 is a diagram for explaining an example of a graph for one CH on the analysis screen. [Figure 24] FIG. 24 is a flowchart illustrating the CSV output operation by the output processing unit. [Figure 25] FIG. 25 is a diagram illustrating an example of the CSV output screen. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, embodiments will be described with reference to the drawings. However, the drawings are schematic or conceptual, and the dimensions and proportions of each drawing are not necessarily the same as those of the actual drawing. Furthermore, even when the same parts are shown in different drawings, the dimensional relationships and proportions may be different. In particular, the following embodiments are illustrative of devices and methods for embodying the technical concept of the present invention, and the shape, structure, arrangement, etc. of the components do not specify the technical concept of the present invention. In the following description, elements having the same function and configuration are designated by the same reference numerals, and redundant description will be omitted.

[0019] [1] Configuration of Sensor System 1 1 is a block diagram of a sensor system 1 according to an embodiment of the present invention. The sensor system 1 includes a tactile sensor 2 and an information processing device 3.

[0020] The tactile sensor 2 is a sensor device capable of detecting changes in force in three axes (X, Y, and Z directions), and is configured to simultaneously detect the pushing force (pressure) applied to the sensor surface and the direction and magnitude of the force sliding laterally across the sensor surface (shear stress). The tactile sensor 2 includes multiple sensor elements 10 and a signal processing circuit 11. FIG. 1 shows six sensor elements 10 (sensor elements 10-1 to 10-6) as an example. The number of sensor elements 10 can be set to any number. The detailed configuration of the sensor elements 10 will be described later.

[0021] The multiple sensor elements 10 are each connected to a signal processing circuit 11 via multiple signal lines 12. The signal lines 12 are formed, for example, by a flexible printed circuit (FPC). The FPC is formed by laminating a base film, a metal wiring layer, and a cover film in this order. The base film and the cover film are each made of a thin, soft insulating material. The FPC may have multiple levels of wiring layers interposed between insulating layers.

[0022] The signal processing circuit 11 supplies voltage to the sensor elements 10 and receives detection signals from the sensor elements 10. The detection signals are voltage signals. The signal processing circuit 11 converts the detection signals into digital signals.

[0023] The signal processing circuit 11 is connected to the information processing device 3 via a wired or wireless connection. For example, Bluetooth (registered trademark) or a wireless LAN (Local Area Network) can be used as the wireless connection. The signal processing circuit 11 includes a communication unit (not shown) for communicating with the information processing device 3. The digital signal transmitted from the signal processing circuit 11 to the information processing device 3 is referred to as measurement data.

[0024] The information processing device 3 processes the measurement data measured by the tactile sensor 2 and displays the processed data. The information processing device 3 is configured with a personal computer (PC) or the like. The information processing device 3 receives the measurement data from the signal processing circuit 11 via wired or wireless communication. The information processing device 3 uses the measurement data to control the operation of the sensor system 1. The detailed configuration of the information processing device 3 will be described later.

[0025] [1-1] Configuration of sensor element 10 Fig. 2 is a layout diagram of one sensor element 10. Fig. 3 is a cross-sectional view of the sensor element 10 taken along line A-A' in Fig. 2.

[0026] The sensor element 10 includes a first substrate 24A, a second substrate 24B, a pressure detection section 21, a lateral shear stress detection section 22, a longitudinal shear stress detection section 23, and an adhesive layer 27. The sensor element 10 has a detection area 20 where pressure and shear stress are detected. The detection area 20 is, for example, circular. The pressure detection section 21, the lateral shear stress detection section 22, and the longitudinal shear stress detection section 23 are arranged within the detection area 20.

[0027] The horizontal direction in which the pressure detection unit 21 and the horizontal shear stress detection unit 22 are aligned is called the X direction. The vertical direction in which the pressure detection unit 21 and the vertical shear stress detection unit 23 are aligned is called the Y direction. The Y direction is perpendicular to the X direction. The thickness direction of the sensor element 10 is called the Z direction.

[0028] The pressure detection unit 21 is disposed at the center (specifically, the geometric center) of the detection area 20. The pressure detection unit 21 has a function of detecting the pressure applied to the sensor element 10 (specifically, the pressing force from the Z direction).

[0029] The lateral shear stress detecting section 22 is disposed adjacent in the X direction to the pressure detecting section 21. The lateral shear stress detecting section 22 has a function of detecting shear stress in the lateral direction (X direction).

[0030] The longitudinal shear stress detecting unit 23 is disposed adjacent in the Y direction to the pressure detecting unit 21. The longitudinal shear stress detecting unit 23 has a function of detecting shear stress in the longitudinal direction (Y direction).

[0031] The pressure detection unit 21 includes a first electrode 25A, a second electrode 25B, a first pressure-sensitive layer 26A, and a second pressure-sensitive layer 26B.

[0032] A first electrode 25A is provided on the first substrate 24A. The planar shape of the first electrode 25A is, for example, a rectangle. A first pressure-sensitive layer 26A is provided on the first electrode 25A. It is preferable that the first pressure-sensitive layer 26A completely covers the first electrode 25A.

[0033] A second electrode 25B is provided on the second substrate 24B. The planar shape of the second electrode 25B is, for example, a rectangle. A second pressure-sensitive layer 26B is provided on the second electrode 25B. It is preferable that the second pressure-sensitive layer 26B completely covers the second electrode 25B.

[0034] The first electrode 25A and the second electrode 25B are arranged to overlap in a plan view. It is preferable that one of the first electrode 25A and the second electrode 25B has a larger area than the other. In this embodiment, the first electrode 25A has a larger area than the second electrode 25B.

[0035] The first substrate 24A and the second substrate 24B are disposed opposite each other so that the first pressure-sensitive layer 26A and the second pressure-sensitive layer 26B face each other.

[0036] The first substrate 24A and the second substrate 24B are made of, for example, a flexible sheet-like insulating material. The first electrode 25A and the second electrode 25B are made of, for example, a conductive material with low resistivity.

[0037] The first and second pressure-sensitive layers 26A and 26B are made of a material with a higher resistivity than the first and second electrodes 25A and 25B. When the surface shape of the first and second pressure-sensitive layers 26A and 26B is deformed by the applied pressure, the contact area between the first and second pressure-sensitive layers 26A and 26B increases, and the resistance between the first and second electrodes 25A and 25B decreases. The first and second pressure-sensitive layers 26A and 26B are preferably made of a material that is easily formed with surface irregularities and that deforms. The first and second pressure-sensitive layers 26A and 26B may also be made of a material whose thickness changes with the applied pressure, thereby decreasing its own resistance. In this case, it is preferable to use a material with a piezoresistive effect, in which the resistivity changes with deformation. The first and second pressure-sensitive layers 26A and 26B are preferably made of a conductive polymer such as polyethylenedioxythiophene, polyaniline, or polypyrrole, or a carbon paste using graphite or carbon nanotubes.

[0038] The laminated structure of the lateral shear stress detecting section 22 and the longitudinal shear stress detecting section 23 is the same as that of the pressure detecting section 21 .

[0039] The adhesive layer 27 is configured in a circular ring shape so as to surround the detection region 20. The adhesive layer 27 bonds the first substrate 24A and the second substrate 24B to each other. The adhesive layer 27 also seals the electrodes and the pressure-sensitive layer between the first substrate 24A and the second substrate 24B. A rubber-based, acrylic-based, or silicone-based adhesive is preferably used as the adhesive layer 27.

[0040] The sensor element 10 configured as described above is capable of detecting the magnitude of pressure, the direction of shear stress, and the magnitude of shear stress.

[0041] [1-2] Configuration of information processing device 3 4 is a block diagram of the information processing device 3. The information processing device 3 includes a control unit 30, a storage unit 40, a communication unit 41, an input unit 42, and a display unit 43. The control unit 30, the storage unit 40, the communication unit 41, the input unit 42, and the display unit 43 can transmit and receive data to and from each other via a bus 44.

[0042] The control unit 30 comprehensively controls the operation of the information processing device 3. The control unit 30 is configured to include one or more processors such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The control unit 30 executes programs stored in the storage unit 40 to realize various functions.

[0043] The control unit 30 includes a setting processing unit 31, a measurement processing unit 32, a calibration processing unit 33, an analysis processing unit , an output processing unit 35, and an administrator mode processing unit .

[0044] The setting processing unit 31 executes a setting operation. The setting processing unit 31 checks the connection state of the sensor element, associates the sensor element with a channel (CH), and causes the information processing device 3 to recognize the sensor element. The setting processing unit 31 sets the angle of the sensor element with respect to the reference direction.

[0045] The measurement processing unit 32 executes a measurement operation. The measurement processing unit 32 can execute a test mode and a measurement mode. The measurement processing unit 32 displays graphs, radar images, and numerical values ​​on the display unit 43 using the measurement data measured by the tactile sensor 2. The measurement processing unit 32 stores information generated in the measurement process in the memory unit 40.

[0046] The calibration processing unit 33 executes a calibration operation. Calibration is a function for calibrating the output of the sensor element. Calibration is performed using a dedicated calibration jig and a dedicated weight. The calibration processing unit 33 corrects the output of the sensor element based on the measurement values ​​measured using the dedicated calibration jig and the dedicated weight.

[0047] The analysis processing unit 34 executes an analysis operation. The analysis processing unit 34 displays a graph (waveform) of the saved measurement data and the sensor output value at the measurement time on the analysis screen. The analysis processing unit 34 also displays a radar image of the measurement data on the analysis screen. The analysis processing unit 34 captures and saves the analysis screen in response to an input operation by the user.

[0048] The output processing unit 35 executes a CSV output operation. The output processing unit 35 displays a graph of the measurement data on a CSV output screen. The output processing unit 35 outputs the measurement data in the specified output range of the graph corresponding to the CH selected by the user as a CSV file.

[0049] The administrator mode processing unit 36 ​​executes the administrator mode, which includes a mode for changing calibration settings.

[0050] The storage unit 40 includes non-volatile storage devices such as a read-only memory (ROM), a hard disk drive (HDD), and a solid state drive (SSD), as well as volatile storage devices such as a random access memory (RAM) and a register. The storage unit 40 stores programs executed by the control unit 30. The storage unit 40 also stores various data necessary for the control of the control unit 30. The storage unit 40 also functions as a working area for temporarily storing data being processed by the control unit 30.

[0051] The communication unit 41 communicates with an external device wirelessly or via a wired connection. For wireless communication, Bluetooth (registered trademark), wireless LAN, or the like can be used. The communication unit 41 can perform wireless LAN communication conforming to the IEEE802.11 standard series, for example. The communication unit 41 includes a wired interface circuit for wired communication, or a wireless interface circuit for wireless communication.

[0052] The input unit 42 accepts input operations from the user. The input unit 42 is configured using input devices such as a keyboard, a mouse, buttons, and a touch panel. The user can input information to the information processing device 3 using the input unit 42.

[0053] The display unit 43 displays on its own screen various types of data transmitted from the control unit 30. The display unit 43 is configured using a display device such as a liquid crystal display device or an organic EL (Electro Luminescence) display device.

[0054] [2] Operation First, a description will be given of the screen configuration of the information processing device 3. Fig. 5 is a diagram illustrating the screen configuration of the information processing device 3.

[0055] When the software is started, the control unit 30 displays a main screen 45A on the display unit 43. From the main screen 45A, users can move to the screen for each function by selecting a tab. By selecting a tab, users can select one of the following screens: a setting screen 45B, a calibration screen 45C, an analysis screen 45D, a CSV output screen 45E, and an administrator mode screen 45F.

[0056] The main screen 45A is a screen for carrying out an operation test of the tactile sensor, taking measurements with the tactile sensor, and saving data. The user performs input operations using the input unit 42, selects a mode, and executes a desired operation.

[0057] The setting screen 45B is a screen for performing setting operations. The calibration screen 45C is a screen for performing calibration operations. The analysis screen 45D is a screen for performing data analysis. The CSV output screen 45E is a screen for performing data output. The administrator mode screen 45F is a screen for the administrator of the sensor system 1 to set information.

[0058] Various operations of the sensor system 1 will be described below.

[0059] [2-1] Setting operation First, the setting operation will be described. The setting processing unit 31 executes the setting operation. The setting processing unit 31 performs communication settings, pressure and shear stress range settings, sensor selection, and reading of sensor calibration curve data. Fig. 6 is a flowchart explaining the setting operation performed by the setting processing unit 31.

[0060] The setting processing unit 31 opens the setting screen 45B based on the tab selection by the user (step S100). Figure 7 is a diagram illustrating an example of the setting screen 45B.

[0061] Next, the setting processing unit 31 monitors whether the "Pairing" button has been pressed (step S101). If the "Pairing" button has been pressed by the user (step S101 = Yes), the setting processing unit 31 checks the connection status of the sensor element (step S102). The connection status of the sensor element in step S102 includes the connection and communication status between the sensor element 10, the signal line 12, the signal processing circuit 11, and the information processing device 3. If the connection status of the sensor element is normal (step S103 = Yes), the setting processing unit 31 displays a dialog box indicating "Connection OK" on the screen of the display unit 43. If the connection of the sensor element has failed (step S103 = No), the setting processing unit 31 displays a "Pairing NG" dialog box on the screen of the display unit 43 and returns to step S101.

[0062] Next, the setting processing unit 31 monitors whether the "Check connected CH" button has been pressed (step S104). If the "Check connected CH" button has been pressed by the user (step S104 = Yes), the setting processing unit 31 executes check mode (step S105). The check mode is an operation that causes the information processing device 3 to recognize the CH (channel) to which the sensor element is connected. In check mode, the setting processing unit 31 displays "Connection checking. Please press the sensor" on the setting screen 45B. The user sees "Connection checking. Please press the sensor" on the setting screen 45B and presses multiple sensor elements. The setting processing unit 31 recognizes the CH to which the sensor element pressed by the user is connected. The recognized CH becomes available for use.

[0063] Check mode ends when the "Check connected channel" button is pressed again. Any channel that was not recognized during check mode will be grayed out on the screen and will no longer be selectable. Re-entering check mode will enable recognition of the channel. The "Check additional channel" button is used to add a new sensor element to an unrecognized channel. By using the check additional channel function, you can have additional sensor elements recognized after performing a connection channel check.

[0064] Next, the setting processor 31 sets the angle of the sensor element (step S106). The "Sensor Connection Settings" field contains multiple radio buttons for selecting multiple angles for each channel. The "Sensor Connection Settings" field includes radio buttons for, for example, 0 degrees, 90 degrees, 180 degrees, and 270 degrees. The user sets the angle by pressing a radio button. The default is 0 degrees. If the user does not set an angle, all channels are set to 0 degrees. When a user installs multiple sensor elements in a certain location, if the orientation of a second sensor element differs from that of a reference first sensor element, the user sets the angle of the second sensor element to an angle other than 0 degrees. The orientation of the sensor element refers to the X or Y direction of the sensor element in Figure 2. This allows the setting processor 31 to recognize the angle at which the sensor element is installed relative to the reference direction. This function allows the input direction of shear stress to be aligned with the radar output direction of each sensor element, even if the installation orientation of multiple sensor elements cannot be aligned with respect to the measurement target. This eliminates the need for the user to process the direction of the output of each sensor element during analysis, enabling error-free analysis.

[0065] Next, the setting processing unit 31 sets the calibration curve file corresponding to each sensor element in the "Sensor calibration curve file setting" field (step S107). The user presses the "Sensor folder" button and specifies the folder in which the calibration curve file is saved. When the pull-down button next to each CH is pressed, a list of setting files is displayed. The user selects a specific setting file from the list of setting files. When the user presses the "Apply" button next to the pull-down button, the status next to the "Apply" button changes from "Not set" to "Setting complete". The user repeats the above operation for each CH to complete the setting.

[0066] [2-2] Measurement operation Next, the measurement operation will be described. The measurement processing unit 32 executes the measurement operation. FIG. 8 is a flowchart illustrating the measurement operation by the measurement processing unit 32.

[0067] The measurement processing unit 32 opens the main screen 45A when the software is started or based on a tab selection by the user (step S200). Fig. 9 is a diagram illustrating an example of the main screen 45A. The main screen 45A includes a graph display area AR1 for displaying a graph of the measurement data and a radar display area AR2 for displaying a radar image of the measurement data.

[0068] Next, the measurement processing unit 32 monitors whether a sampling frequency has been selected (step S201). The user selects a sampling frequency (or sampling period) from "Sampling Frequency Selection" in the "Sensor Operation" field. The sampling period (the number in parentheses is the sampling frequency) can be selected from, for example, 100 msec (10 Hz), 20 msec (50 Hz), 10 msec (100 Hz), and 5 msec (200 Hz).

[0069] If a sampling frequency is selected (step S201=Yes), the measurement processing unit 32 sets the selected sampling frequency (step S202).

[0070] Next, the measurement processing unit 32 determines the test mode or the measurement mode based on the user's selection (step S203). If the user selects the test mode, the user presses the "Test Start / End" button 50 in the "Test Mode" field. When the "Test Start / End" button 50 is pressed, the measurement processing unit 32 thereafter executes the test mode (step S204).

[0071] On the other hand, if the test mode is not selected, the measurement processing unit 32 executes the measurement mode (step S205). The test mode and the measurement mode will be described below in order.

[0072] (Test mode) 10 is a flowchart illustrating the test mode. The measurement processing unit 32 performs measurement with the tactile sensor 2 (step S300). In the test mode, the measurement data is not saved.

[0073] Next, the measurement processing unit 32 displays display information related to the measurement data on the screen of the display unit 43 (step S301). The display information related to the measurement data includes graphs, radar images, and numerical values. The display operation in the test mode is the same as the display operation in the measurement mode, which will be described later, so a detailed description will be omitted here.

[0074] Next, the measurement processing unit 32 monitors whether the "Test Start / End" button 50 has been pressed (step S302). If the "Test Start / End" button 50 has been pressed (step S302 = Yes), the measurement processing unit 32 ends the test mode.

[0075] (Measurement mode) 11 is a flowchart illustrating the measurement mode. The measurement processing unit 32 monitors whether a save file has been selected (step S400). The user presses the "Open" button in the "Measurement Mode" column to select a save file. When the user enters a save file name, the measurement processing unit 32 creates a save file in a specified folder.

[0076] Next, the measurement processing unit 32 sets the selected save file (step S401). Thereafter, the measurement data is saved in the save file.

[0077] Next, the measurement processing unit 32 monitors whether the "measurement start / end" button 51 has been pressed (step S402). If the "measurement start / end" button 51 has been pressed (step S402 = Yes), the measurement processing unit 32 performs measurement with the tactile sensor 2 (step S403).

[0078] Next, the measurement processing unit 32 displays display information related to the measurement data in the graph display area AR1 and radar display area AR2 of the main screen 45A (step S404). The display information related to the measurement data includes graphs, radar images, and numerical values.

[0079] Next, the measurement processing unit 32 monitors whether or not the "measurement start / end" button 51 has been pressed (step S405). If the "measurement start / end" button 51 has been pressed (step S405=Yes), the measurement processing unit 32 ends the measurement mode.

[0080] During the measurement mode, the sensor output values ​​are stored in a buffer at the set sampling period. When the measurement mode ends, the measurement processing unit 32 stores the measurement data in the storage file set in step S401 (step S406).

[0081] Next, the display operation of the display information by the measurement processing unit 32 (step S404) will be described. In this embodiment, it is possible to display a graph, a radar image, and numerical values ​​as display information related to the measurement data. The graph display is a method of displaying a graph of the measurement data. The graph means the waveform of the measurement data. The radar display is a method of displaying a radar image of the measurement data. The numerical value display is a method of displaying the numerical values ​​of the measurement data.

[0082] FIG. 12 is a diagram for explaining the definition of directions in the display information. FIG. 12(a) is a plan view of the sensor element 10, and FIG. 12(b) is a diagram for explaining the shear stress direction corresponding to the plan view of the sensor element 10. The installation state in FIG. 12(a) is defined as an installation angle of 0 degrees. The relationship between the plan view of the sensor element 10 and the X and Y directions is as described above. The Y direction corresponds to the direction in which the wiring connected to the sensor element 10 extends. The shear stress direction is the direction in which shear stress is applied.

[0083] The center of the sensor element 10 (specifically, the center of the detection area 20) is denoted as O. The right direction from the center O is the X+ direction, the left direction is the X- direction, the upward direction is the Y+ direction, and the downward direction is the Y- direction. If 0 degrees is selected as the angle in the setting process described above, display information is generated in the direction shown in FIG. 12.

[0084] 13 is a diagram illustrating an example of a graph displayed in the graph display area AR1 of the main screen 45A. In the graph, the horizontal axis represents time, and the first vertical axis (left axis) represents pressure (N / cm 2 ), the second vertical axis (right axis) is shear stress (N / cm 2 ) Figure 13 shows an example graph of 9 channels.

[0085] Each CH graph includes graphs of pressure, shear stress X (shear X in the figure), and shear stress Y (shear Y in the figure). Shear stress X means shear stress in the X direction, and shear stress Y means shear stress in the Y direction. The range center means shear stress is zero. Stress, shear stress X, and shear stress Y are displayed in different colors to make them distinguishable from one another. For example, pressure is displayed as a black line, shear stress X as a red line, shear stress Y as a blue line, the time line during measurement is displayed as a red vertical line, and the range center is displayed as a black horizontal line.

[0086] The graph display range can be changed by entering a value in the "Display Range" field on the main screen 45A. "Pressure Upper Limit" is the maximum pressure to be displayed, "Pressure Lower Limit" is the minimum pressure to be displayed, "Shear Upper Limit" is the maximum shear stress to be displayed, and "Shear Lower Limit" is the minimum shear stress to be displayed.

[0087] The number buttons (1 to 9) in the "Graph Display ON / OFF" field on the main screen 45A correspond to CHs, and each time you press a number button, you can switch between displaying and hiding the CH graph.

[0088] FIG. 14 is a diagram illustrating a radar image. FIG. 14 shows a configuration when the installation angle of the sensor element 10 is 0 degrees. FIG. 14(a) shows the Y+ direction, FIG. 14(b) shows the X- direction, FIG. 14(c) shows the Y- direction, and FIG. 14(d) shows the X+ direction. The thick arrow in FIG. 14 shows the shear stress direction. A radar image is an image that simultaneously displays pressure, shear stress direction, and shear stress magnitude. A radar image is configured so that a circle (or ellipse) and an arrow are displayed superimposed on each other.

[0089] The circles on the radar image are pressure information that show the magnitude of pressure with color. For example, the circles on the radar image change color from blue for low pressure to red for high pressure. The color change of pressure is expressed by a gradation. The arrows on the radar image are shear stress information, with the tip pointing in the direction of shear stress and the length indicating the magnitude of shear stress. The radar image allows users to simultaneously recognize pressure, shear stress direction, and shear stress magnitude.

[0090] Fig. 15 is a diagram illustrating an example of a radar image displayed in the radar display area AR2 of the main screen 45A. Fig. 15 shows a radar image of channel 9 as an example. The number buttons (1 to 9) in the "Radar Display ON / OFF" field on the main screen 45A correspond to the channels, and each time you press a number button, you can switch between displaying and hiding the radar image of that channel.

[0091] The radar image also displays the pressure value (shown as F), shear stress X (shown as dx), and shear stress Y (shown as dy). The display range of the radar image can be changed by entering a value in the "Display Range" field.

[0092] 16 is a diagram illustrating an example of a numerical value display screen. The numerical values ​​are displayed in N / cm. 2 Figure 16 shows an example of a 9-channel radar.

[0093] The numerical display screen is displayed by pressing the "Display sensor output value" button 52 on the main screen 45A, and is displayed on a screen separate from the main screen 45A. The numerical display screen includes numerical values ​​for pressure, shear stress X (shear X in the diagram), and shear stress Y (shear Y in the diagram). The number buttons (1 to 9) in the "Each window display ON / OFF" field on the numerical display screen correspond to CH, and each time you press a number button, you can switch between displaying and hiding the CH numerical value.

[0094] For each of the graph display, radar display, and numerical display, the measurement processing unit 32 performs a process of rotating the display counterclockwise from the reference angle by the angle set on the setting screen 45B, and then performs a display operation. For example, if CH1 is set to 90 degrees on the setting screen 45B, the measurement processing unit 32 performs a process of rotating the X and Y directions 90 degrees counterclockwise from 0 degrees as the reference, and displays the graph of CH1. The same applies to the radar display and numerical display. This allows graphs and the like to be displayed with the same reference direction when multiple sensor elements are viewed in a planar view.

[0095] [2-3] Calibration operation Next, the calibration operation will be described. When the tactile sensor 2 is used for the first time or after the number of times the tactile sensor 2 has been used increases, a discrepancy may occur between the load input and the sensor output. Calibration is a function for correcting this discrepancy. The calibration processing unit 33 executes the calibration operation. FIG. 17 is a flowchart illustrating the calibration operation by the calibration processing unit 33.

[0096] The calibration processing unit 33 opens a calibration screen 45C based on the tab selection by the user (step S500). Fig. 18 is a diagram illustrating an example of the calibration screen 45C. The user fixes one sensor element 10 to a dedicated calibration jig.

[0097] Next, the calibration processing unit 33 monitors whether or not the sensor element 10 has been selected (step S501). The user selects a CH in the "sensor selection" field on the calibration screen 45C.

[0098] Next, the calibration processing unit 33 monitors whether or not a weight to be measured has been selected (step S502). The user selects one of weights 1 to 5 in the "Calibration" field on the calibration screen 45C. For example, five types of weights with different weights are prepared. The user also sets a dedicated weight on the calibration jig.

[0099] When a weight to be measured is selected (step S502=Yes), the calibration processing unit 33 monitors whether or not the "measurement / stop" button has been pressed (step S503).

[0100] If the "Measure / Stop" button is pressed (step S503 = Yes), the calibration processing unit 33 performs measurement of the sensor element (step S504). Then, the calibration processing unit 33 displays the measurement value (step S505). The values ​​of pressure, shear stress X, and shear stress Y are respectively expressed as sensor output values ​​[N / cm 2 ]" column for pressure P, shear X, and shear Y.

[0101] Next, the calibration processing unit 33 determines whether or not two or more weights have been used (step S506). The user repeats the measurement using a plurality of weights with different weights.

[0102] If two or more weights have been added (step S506=Yes), the calibration processing unit 33 enables the "calibrate" button 53 (step S507). Specifically, the calibration processing unit 33 enables the "calibrate" button 53 when two or more weights have been added and a measurement value other than 0 has been obtained. The "calibrate" button 53 is a button for calculating a correction value using the weight measurement value and the target load value.

[0103] Next, the calibration processing unit 33 monitors whether the "calibrate" button 53 has been pressed (step S508). If the "calibrate" button 53 has been pressed (step S508=Yes), the calibration processing unit 33 calculates and stores a correction value using the weight measurement value and the target load value output by the sensor element 10 (step S509).

[0104] Next, the calibration processing unit 33 changes the status of the CH for which the calculation of the correction value has been completed from "not performed" to "completed" (step S510). After that, the correction of the output of the sensor element is enabled in the test mode and the measurement mode.

[0105] [2-4] Analysis operation Next, the analysis operation will be described. The analysis processing unit 34 executes the analysis operation. Fig. 19 is a flowchart illustrating the analysis operation by the analysis processing unit 34.

[0106] The analysis processing unit 34 opens the analysis screen 45D based on the tab selection by the user (step S600). Fig. 20 is a diagram illustrating an example of the analysis screen 45D. The analysis screen 45D has a graph display area AR3 for displaying a graph of the measurement data and an image display area AR4 for displaying an image file.

[0107] Next, the analysis processing unit 34 reads the measurement data saved in the measurement process (step S601). The user presses the "Read Measurement Data" button on the analysis screen 45D and selects a measurement data file from the file selection screen. The measurement data is data measured in the measurement process described above. The analysis processing unit 34 then displays a graph of the read measurement data in the graph display area AR3 of the analysis screen 45D.

[0108] FIG. 21 is a diagram illustrating an example of a graph displayed in the graph display area AR3 of the analysis screen 45D. FIG. 21 shows graphs for nine channels as an example. The graphs for each CH include a pressure graph, a shear stress X graph, and a shear stress Y graph. For example, pressure is displayed as a black line, shear stress X as a red line, shear stress Y as a blue line, and the range center is displayed as a black horizontal line. The graph also displays, for example, the maximum pressure, the maximum shear stress X, and the maximum shear stress Y. In FIG. 21, "P" is the maximum pressure, "X" is the maximum shear stress X, and "Y" is the maximum shear stress Y.

[0109] Next, the analysis processing unit 34 reads an image related to the tactile sensor 2 (step S602). The user presses the "Read image of sensor installation section" button on the analysis screen 45D and selects an image file from the file selection screen. The analysis processing unit 34 then displays the read image file in the image display area AR4 of the analysis screen 45D.

[0110] 22 is a diagram illustrating an example of an image IM displayed in the image display area AR4 of the analysis screen 45D. The image IM includes images of multiple sensor elements (also called sensor images). The order of the channels in the image IM is, for example, CH1 to CH9 from left to right.

[0111] The analysis screen 45D displays the radar image of each CH superimposed on the image IM. The radar image information corresponds to the measurement data read in step S601. Details of the radar image are as explained in the measurement process. The multiple radar images are each arranged adjacent to multiple sensor elements in the image IM.

[0112] The analysis screen 45D includes a "Radar Display" field, which includes a check box for each channel to select whether or not to display radar. The user individually selects CH1 to CH9 in the "Radar Display" field. The color bar 54 on the analysis screen 45D indicates the magnitude of pressure. In the radar image, the color changes in a gradation so that blue indicates the lower limit of the pressure entered in the "Display Range" field on the analysis screen 45D and red indicates the upper limit of the pressure. By looking at the image IM displayed in the image display area AR4, the user can visually recognize the arrangement of the multiple sensor elements 10 as well as the radar image of each channel.

[0113] In each of the graph display, radar display, and numerical display, the analysis processing unit 34 performs display operations to reflect the angle set on the setting screen 45B. For example, if CH1 is set to 90 degrees on the setting screen 45B, the analysis processing unit 34 displays the graph of CH1 so that the X and Y directions are shifted by 90 degrees from 0 degrees as the reference. The same applies to the radar display and numerical display. This makes it possible to display graphs and the like based on the same direction when multiple sensor elements are viewed in a planar view.

[0114] Next, the analysis processing unit 34 performs analysis processing in response to the user's screen operation (step S603). The analysis processing will be described below.

[0115] 23 is a diagram illustrating an example of a graph for one CH on the analysis screen 45D. In the graph, the horizontal axis represents time, and the first vertical axis (left axis) represents pressure (N / cm 2 ), the second vertical axis (right axis) is shear stress (N / cm 2 )

[0116] The graph displays all the data acquired during measurement. Stress, shear stress X (shear X in the figure), and shear stress Y (shear Y in the figure) are displayed in different colors, making them easy to distinguish from one another. For example, pressure is displayed as a black line, shear stress X as a red line, shear stress Y as a blue line, the time line during measurement as a red vertical line, and the range center as a black horizontal line. The time line can be moved to that position by clicking on the graph with the mouse, and can also be moved continuously by dragging the mouse.

[0117] The graph display range can be changed by entering a value in "Display Range." "Pressure Upper Limit" is the maximum pressure to be displayed, "Pressure Lower Limit" is the minimum pressure to be displayed, "Shear Upper Limit" is the maximum shear stress to be displayed, and "Shear Lower Limit" is the minimum shear stress to be displayed.

[0118] The analysis processing unit 34 displays the measurement data at the position of the time line in the "sensor output value" column. The "sensor output value" column includes CH1 to CH9. The "sensor output value" column displays the numerical values ​​of the pressure (pressure P in the figure), shear stress X (shear X in the figure), and shear stress Y (shear Y in the figure) corresponding to each CH. When the user moves the time axis of the graph, the sensor output value also changes in accordance with the measurement data.

[0119] The analysis screen 45D includes an "Analysis Screen Capture" button 55. The "Analysis Screen Capture" button 55 is a button for capturing the current analysis screen 45D and saving the sensor output values. When the "Analysis Screen Capture" button 55 is pressed at any measurement time of the measurement data, the analysis processing unit 34 acquires (1) the measurement time, (2) the numerical data for nine channels of sensor output values ​​at the measurement time, and (3) a captured image of the analysis screen at the measurement time. At the same time, the analysis processing unit 34 creates a new spreadsheet file with the same name as the measurement data file loaded on the analysis screen 45D in the same folder as the measurement data file. A sheet for the acquired measurement time is created in the new file, the captured image is displayed on the left side of the sheet, and the measurement time and the sensor output values ​​for the nine channels are pasted on the right side of the sheet. Furthermore, when the time line is moved and the "Analysis Screen Capture" button 55 is pressed, a sheet for the elapsed time indicated by the time line at that time is added to the same file, and the captured image and sensor output values ​​are pasted.

[0120] When the user presses the "Open File" button, a file selection screen will open, allowing the user to open the saved analysis screen capture file and check its contents.

[0121] [2-5] CSV output operation Next, the CSV output operation will be described. The output processing unit 35 executes the CSV output operation. The output processing unit 35 saves data in CSV (Comma Separated Values) format and outputs a CSV file. A CSV file is a type of text data.

[0122] Fig. 24 is a flowchart illustrating the CSV output operation by the output processing unit 35. The output processing unit 35 opens a CSV output screen 45E based on a tab selection by the user (step S700). Fig. 25 is a diagram illustrating an example of the CSV output screen 45E. The CSV output screen 45E has a graph display area AR5 for displaying a graph of measurement data.

[0123] Next, the output processing unit 35 reads the measurement data (step S701). The user presses the "Read measurement data" button on the CSV output screen 45E and selects a measurement data file from the file selection screen. The measurement data is data measured in the measurement process described above. The output processing unit 35 displays a graph of the read measurement data in the graph display area AR5 of the CSV output screen 45E. The graph display area AR5 displays graphs of, for example, nine channels. The user can set the ranges of pressure and shear stress in the "Display range" field.

[0124] Next, the output processing unit 35 determines the channel to be output (step S702). The user selects a channel in the "CSV output CH selection" field. The output processing unit 35 determines the selected channel.

[0125] Next, the output processing unit 35 determines the output range (step S703). In this embodiment, three types of output range designation methods are prepared. Output range designation methods 1 to 3 will be explained below in this order.

[0126] (Output range specification method 1) Output range specification method 1 is a method in which two points, the start and end points of the data range you want to output, are specified directly on the graph.

[0127] The user checks the radio button for "Directly specify two points on the graph." When the user presses the "Start" button, the start line on the graph can be moved, and when the user presses the "End" button, the end line can be moved. The area between the start and end lines on the graph becomes the output range.

[0128] (Output range specification method 2) Output range specification method 2 is a method for specifying the range by inputting two time points.

[0129] The user checks the radio button for "Specify by entering two time points on the graph." The user moves the time line in the graph to obtain the start and end times of the range they want to output. Then, the user enters the start and end times. The range of start and end times entered by the user becomes the output range.

[0130] (Output range specification method 3) Output range specification method 3 is to specify the range by dragging on the graph.

[0131] The user checks the radio button for "Specify by dragging on the graph." When the user drags the graph, the dragged range is surrounded by a dotted line. In this state, when the user presses the "Decide Range" button, the dragged range becomes the output range.

[0132] Next, the output processing unit 35 determines the time axis to be output (step S704). In this embodiment, three types of time axis output methods are prepared. Time axis output methods 1 to 3 will be explained below in this order.

[0133] (Time axis output method 1) The user checks the radio button for "Output range time starting from 0." The output processing unit 35 recalculates the time in the output range. That is, the output processing unit 35 outputs the time, setting the start of the output range to 0 seconds. For example, if the CSV output range is from 20 seconds to 30 seconds out of a total of 40 seconds of measurement data, the output time will start from 0 seconds and end at 10 seconds.

[0134] (Time axis output method 2) The user checks the radio button for "Output using the time of the original data." The output processing unit 35 uses the time in the measurement data. In other words, the output processing unit 35 outputs the time acquired during measurement in the output range as is. For example, if the CSV output range is from 20 to 30 seconds out of a total of 40 seconds of measurement data, the output time will start from 20 seconds and end at 30 seconds.

[0135] (Time axis output method 3) The user checks the radio button for "output both." The output processing unit 35 outputs the times of both the time axis output method 1 and the time axis output method 2 described above.

[0136] Next, the output processing unit 35 outputs the CSV file (step S705). When the user presses the "CSV output" button, a folder specification screen opens, and when the user enters a folder to save in and a file name, the CSV file is output in the specified CH, range, and time axis output method.

[0137] When the user presses the "Open File" button, a file selection screen opens. When the user selects the CSV file they want to view, a spreadsheet program will be launched in a separate process from the software, allowing them to view the contents.

[0138] [2-6] Administrator mode Next, the administrator mode will be described. The administrator mode processing unit 36 ​​executes the administrator mode. The administrator mode processing unit 36 ​​opens the administrator mode screen 45F based on the tab selection by the user or administrator. The administrator mode includes a mode for changing calibration settings.

[0139] Calibration setting changes include changing the weight load and setting the measurement stop condition. The weight load change allows you to change the weight load value. The measurement stop condition setting allows you to set the condition for determining whether to stop measurement when a certain amount of time has passed while the pressure change amount is within a threshold.

[0140] [3] Effects of the embodiment According to this embodiment, a sensor system 1 capable of detecting changes in force along three axes (pressure, shear stress X, and shear stress Y) can be realized. It also provides an information processing device 3 capable of processing measurement data from a tactile sensor 2. The information processing device 3 communicates with a tactile sensor 2 equipped with multiple sensor elements 10, and can process and display measurement data received from the tactile sensor 2. The information processing device 3 can also execute (1) a setting operation for setting the state of the multiple sensor elements 10, (2) a measurement operation for displaying multiple pieces of information related to the measurement data on a screen, (3) a calibration operation for the multiple sensor elements 10, (4) an analysis operation for saved measurement data, (5) a CSV output operation, and (6) an administrator mode.

[0141] Furthermore, during measurement operation, graphs (waveforms), radar images, and numerical values ​​can be displayed individually on the main screen 45A. In the graph display, a pressure graph, a shear stress X graph, and a shear stress Y graph can be displayed overlapping each other. In the radar image, circles and arrows can be used to visually display the magnitude of pressure, the direction of shear stress, and the magnitude of shear stress simultaneously.

[0142] Furthermore, during the analysis operation, an image IM of the tactile sensor 2 can be displayed on the analysis screen 45D. Furthermore, a plurality of radar images, each associated with a plurality of sensor elements, can be displayed superimposed on the image IM of the tactile sensor 2.

[0143] Furthermore, in the setting operation, the angle at which the sensor elements are arranged can be set, and information reflecting the set angle can be displayed on the screen for each channel.

[0144] The present invention is not limited to the above-described embodiments, and various modifications can be made in the implementation stage without departing from the spirit of the invention. Furthermore, the embodiments may be implemented in appropriate combinations, in which case the combined effects can be obtained. Furthermore, the above-described embodiments include various inventions, and various inventions can be extracted by combining selected elements from the disclosed elements. For example, if the problem can be solved and the desired effect can be obtained even if some elements are deleted from all elements shown in the embodiments, the configuration from which these elements are deleted can be extracted as an invention. [Explanation of symbols]

[0145] 1...sensor system, 2...tactile sensor, 3...information processing device, 10...sensor element, 11...signal processing circuit, 12...signal line, 20...detection area, 21...pressure detection section, 22...lateral shear stress detection section, 23...longitudinal shear stress detection section, 24A...first substrate, 24B...second substrate, 25A...first electrode, 25B...second electrode, 26A...first pressure-sensitive layer, 26B...second pressure-sensitive layer, 27...adhesive layer, 30...control section, 31...setting processing section, 32...measurement processing section, 33...calibration processing section, 34...analysis processing section, 35...output processing section, 36...administrator mode processing section, 40...memory section, 41...communication section, 42...input section, 43...display section, 44...bus, 45A...main screen, 45B...setting screen, 45C...calibration screen, 45D...analysis screen, 45E...CSV output screen, 45F...administrator mode screen.

Claims

1. a tactile sensor including a plurality of sensor elements each capable of measuring pressure and shear stress; an information processing device configured to be able to communicate with the tactile sensor; Equipped with the information processing device includes a measurement processing unit that processes measurement data of a plurality of channels corresponding to the plurality of sensor elements, respectively, and a display unit that displays information on a screen; the measurement processing unit generates a radar image corresponding to each of the plurality of channels based on the measurement data, and displays the radar image on a main screen; The radar image includes pressure information that represents the magnitude of the pressure with a color and is made up of a circle or an ellipse, and shear stress information that is displayed superimposed on the circle and is made up of an arrow, the direction of the arrow representing the direction of the shear stress, and the length of the arrow representing the magnitude of the shear stress. Sensor system.

2. The measurement processing unit simultaneously displays a graph of the pressure, a graph of the shear stress in a first direction, and a graph of the shear stress in a second direction orthogonal to the first direction in a first area of ​​the main screen, and displays the radar image in a second area of ​​the main screen. The sensor system of claim 1 .

3. The measurement processing unit displays a graph with the horizontal axis representing time, the first vertical axis representing pressure, and the second vertical axis representing shear stress. The sensor system of claim 2 .

4. the information processing device further includes an analysis processing unit that analyzes the measurement data and displays the analysis results on an analysis screen; The analysis processing unit displaying a graph of the measurement data in a first area of ​​the analysis screen; displaying a sensor image relating to the plurality of sensor elements in a second area of ​​the analysis screen; The radar image is superimposed on the sensor image. The sensor system of claim 1 .

5. The analysis processing unit displays a plurality of radar images adjacent to a plurality of sensor elements included in the sensor image. The sensor system of claim 4 .

6. The analysis processing unit displays, in a third area of ​​the analysis screen, the numerical values ​​of the measurement data corresponding to the measurement time designated by the user. The sensor system of claim 4 .

7. The analysis processing unit captures the analysis screen in response to an input operation by a user. The sensor system of claim 4 .

8. the information processing device further includes a setting processing unit that sets an angle at which each of the plurality of sensor elements is installed; The measurement processing unit generates and displays information about the measurement data so as to shift by the angle. The sensor system of claim 1 .

9. An information processing device configured to be able to communicate with a tactile sensor including a plurality of sensor elements each capable of measuring pressure and shear stress, a measurement processing unit that processes measurement data of a plurality of channels corresponding to the plurality of sensor elements; a display unit that displays information on a screen; Equipped with the measurement processing unit generates a radar image corresponding to each of the plurality of channels based on the measurement data, and displays the radar image on a main screen; The radar image includes pressure information that represents the magnitude of the pressure with a color and is made up of a circle or an ellipse, and shear stress information that is displayed superimposed on the circle and is made up of an arrow, the direction of the arrow representing the direction of the shear stress, and the length of the arrow representing the magnitude of the shear stress. Information processing device.

Images