Measuring device and force feedback device

Abstract

It measures finger movements accurately with a simple configuration. [Solution] A measuring device 1 for measuring the movement of a finger 3, comprising: a base portion 11 attached to the proximal phalanx 26 of the finger 3; a distal phalanx attachment portion 12 attached to the distal phalanx 28 of the finger 3; a connecting link 13 having one end 13a rotatably connected to the base portion 11 around a first rotation axis A1 and the other end 13b rotatably connected to the distal phalanx attachment portion 12 around a second rotation axis A2, connecting the base portion 11 and the distal phalanx attachment portion 12; and a sensor 14 for measuring the relative position of the distal phalanx attachment portion 12 with respect to the base portion 11, wherein the first rotation axis A1 is positioned on the fingertip 28a side of the PIP joint 22 when the finger 3 is extended.

Description

Technical Field

[0001] The present invention relates to a measuring device for measuring finger movement and a force feedback device for presenting a sense of force to a finger.

Background Art

[0002] In recent years, research and development have been carried out to obtain data related to the movement of a user's finger and provide assistance. And there are technologies for measuring finger movement for virtual reality (VR) and remote operation. For example, Patent Document 1 describes a controller having a middle finger tip component attached to the tip of the middle finger and an index finger tip component attached to the tip of the index finger. The middle finger tip component and the index finger tip component present a sense of force to a finger pad attached to the tip of the finger, and are means for measuring any measured value of the force, posture, position, or movement of the finger with the finger pad.

[0003] Patent Document 2 describes a real glove (hand glove) for measuring finger movement. In this real glove, for each finger, four wearing parts, four position and orientation detection parts, four frame holders, six frames, seven link motors, one tactile generation part, a plurality of actuator wires, and one power generation part are provided.

[0004] The wearing part is formed in a ring shape. One wearing part is attached around each of the middle phalanx, proximal phalanx, middle phalanx, and distal phalanx of the finger. A position and orientation detection part and a frame holder are attached to the dorsal side of the finger of each wearing part. Therefore, a position and orientation detection part is attached to each of the middle phalanx, proximal phalanx, middle phalanx, and distal phalanx of the finger. The position and orientation detection part detects the position and orientation of a predetermined part of the finger. The movement of the finger can be measured using the position and orientation detection part.

[0005] Adjacent frame holders are connected via two frames that are hinged to each other. The hinges connecting the adjacent frames are equipped with link motors that rotate the frames. When the link motors rotate the frames, a force acts on the frame holders connected to the frames and on the mounting parts to which the frame holders are attached. This allows force sensation to be presented to the fingers. Actuator wires extend from the base to the tip of the fingers along the six interconnected frames. The ends of the actuator wires are attached to tactile sensory generators that cover the fingertips. A power generator winds up the actuator wires. When the power generator winds up the actuator wires, the tactile sensory generators that cover the fingertips are pulled by the actuator wires. This allows force sensation to be presented to the fingertips. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Special Publication No. 2024-519738 [Patent Document 2] Japanese Patent Publication No. 2003-308141 [Overview of the project] [Problems that the invention aims to solve]

[0007] Incidentally, in the technology for measuring finger movements, a challenge is to simplify the configuration of the device attached to the finger so that finger movements can be measured without restricting finger movement. Patent Document 1 does not describe a specific configuration for measuring finger posture, finger position, and finger movement. In the Real Glove of Patent Document 2, various components such as multiple attachment parts and multiple position and posture detection parts are attached to the finger. Therefore, the configuration of the device attached to the finger in the Real Glove of Patent Document 2 is complex.

[0008] In view of the above background, the present invention aims to appropriately measure finger movements with a simple configuration and to appropriately present force feedback to the fingers with a simple configuration. Furthermore, it aims to contribute to measuring finger movements with less energy and presenting force feedback to the fingers with less energy. [Means for solving the problem]

[0009] To solve the above problems, one aspect of the present invention provides a measuring device (1) for measuring the movement of a finger (3), comprising: a base portion (11) attached to the proximal phalanx (26) of the finger; a distal phalanx attachment portion (12) attached to the distal phalanx (28) of the finger; a connecting link (13) having one end (13A1) rotatably connected to the base portion about a first rotation axis (A1) and the other end (13A2) rotatably connected to the distal phalanx attachment portion about a second rotation axis (A2), and connecting the base portion and the distal phalanx attachment portion; and a sensor (14) for measuring the relative position of the distal phalanx attachment portion with respect to the base portion, wherein the first rotation axis is positioned on the tip (28a) side of the finger than the PIP joint (22) when the finger is extended.

[0010] In this embodiment, the rotation of the base portion and connecting link, which rotate around the first rotation axis in response to finger flexion and extension, and the rotation of the connecting link and distal phalanx attachment portion, which rotate around the second rotation axis in response to finger flexion and extension, allow the distal phalanx attachment portion to move together with the distal phalanx in response to finger flexion and extension. Therefore, the position of the distal phalanx attachment portion can be considered as the position of the fingertip. This allows the relative position of the distal phalanx attachment portion measured by the sensor to be calculated as the position of the fingertip. Then, the movement of the finger can be measured using the calculated fingertip position. Furthermore, since the measuring device does not need to have sensors on both the first and second rotation axes, the configuration of the measuring device is simple. Accordingly, the measuring device enables accurate measurement of finger movement with a simple configuration.

[0011] Furthermore, in the above embodiment, the second axis of rotation is preferably positioned on the tip side of the finger, rather than on the DIP joint (23) of the finger.

[0012] According to this embodiment, since the second rotation axis is positioned on the fingertip side of the DIP joint, it is possible to suppress the distal phalanx attachment portion from coming into contact with the middle phalanx and restricting flexion and extension of the DIP joint.

[0013] Furthermore, in the above embodiment, the measuring device may further include an actuator (15) that generates a rotational force to rotate the base portion and the connecting link around the first rotation axis.

[0014] In this embodiment, the rotational force generated by the actuator causes a force to act on the end node from the end node mounting part connected to the connecting link. As a result, the measuring device can provide force feedback to the finger of the person being measured (hereinafter referred to as the user). Furthermore, the measuring device does not need to have actuators on both the first and second rotation axes. Therefore, the measuring device can provide force feedback to the user's finger with a simple configuration.

[0015] Furthermore, in the above embodiment, the terminal attachment portion may be formed in a cylindrical shape with an open tip and base.

[0016] According to this embodiment, the distal phalanx can easily slide within the distal phalanx attachment portion. Furthermore, by sliding the distal phalanx within the distal phalanx attachment portion, the distal phalanx can be made to protrude from the distal phalanx attachment portion toward the fingertip. This prevents the distal phalanx attachment portion from restricting the flexion and extension of the finger. In addition, the position of the distal phalanx attachment portion relative to the distal phalanx can be adjusted to suit individual differences in finger length among users.

[0017] Furthermore, in the above embodiment, the second rotation axis moves along an arc trajectory (B1) centered on the first rotation axis, with the length between the first rotation axis and the second rotation axis being the radius (r), and the first rotation axis is positioned at a predetermined position between the PIP joint and the DIP joint when the finger is extended, such that the arc trajectory approximates the fingertip trajectory (B2) of the fingertip that is displaced in accordance with the flexion and extension of the PIP joint and DIP joint of the finger.

[0018] According to this aspect, since the arc trajectory becomes an orbit approximating the fingertip trajectory, the position of the second rotation axis can be regarded as the position of the fingertip. And the position of the second rotation axis can be calculated as the position of the fingertip. Thereby, it becomes easy to calculate the position of the fingertip.

[0019] Also, in the above aspect, the sensor may be an encoder (14) that detects the angle (θ) of the connecting link with respect to the base portion on the first rotation axis.

[0020] According to this aspect, it becomes easy to calculate the position of the second rotation axis as the position of the fingertip.

[0021] Also, in the above aspect, a notch (11a) may be formed on the tip side of the base portion and on the ventral side of the middle phalanx (27) of the finger.

[0022] According to this aspect, since it is possible to avoid the ventral side of the middle phalanx and the base portion from contacting when the finger is bent, it is possible to suppress the base portion from restricting the bending of the finger.

[0023] Also, in the above aspect, the second rotation axis may be arranged on the tip side of the distal phalanx.

[0024] According to this aspect, the position of the second rotation axis calculated as the position of the fingertip is located on the tip side of the distal phalanx. Thereby, the position of the fingertip can be appropriately calculated.

[0025] Also, in the above aspect, the connecting link may have a pair of link portions (13A) extending in the length direction of the finger on both sides in the width direction of the finger, and a reinforcing portion (13B) bridged between the pair of link portions on the dorsal side of the finger.

[0026] According to this aspect, since the pair of link portions extend in the length direction of the finger on both sides in the width direction of the finger, when the finger is bent, the back and the belly of the finger do not contact the pair of link portions. Further, the reinforcing portion is bridged between the pair of link portions. And the base portion and the distal end mounting portion are connected to each other by the pair of link portions. Thereby, it is possible to make the distal end mounting portion easily movable according to the bending of the finger.

[0027] In order to solve the above problems, another aspect of the present invention is a force sensation presenting device (8) for presenting a force sensation to a finger, which includes a base portion (11) attached to the proximal phalanx (26) of the finger, a distal end mounting portion (12) attached to the distal phalanx (28) of the finger, a connecting link (13) having one end (13A1) rotatably connected to the base portion around a first rotation axis (A1) and the other end (13A2) rotatably connected to the distal end mounting portion around a second rotation axis (A2), for connecting the base portion and the distal end mounting portion, and an actuator (15) for generating a rotational force for rotating the connecting link around the first rotation axis, wherein the first rotation axis is disposed on the tip (28a) side of the finger rather than the PIP joint (22) in a state where the finger is extended.

[0028] According to this aspect, due to the rotation of the base portion and the connecting link around the first rotation axis according to the bending and extension of the finger, and the rotation of the connecting link and the distal end mounting portion around the second rotation axis according to the bending and extension of the finger, the distal end mounting portion can be moved and rotated together with the distal phalanx according to the bending and extension of the finger. Therefore, by causing the actuator to generate a rotational force for rotating the connecting link around the first rotation axis, a force acts from the distal end mounting portion connected to the connecting link to the distal phalanx. Thereby, the force sensation presenting device can present a force sensation to the user's finger. Further, since it is not necessary to provide actuators on both the first rotation axis and the second rotation axis in the force sensation presenting device, the configuration of the force sensation presenting device is simple. Therefore, the force sensation presenting device enables appropriate presentation of a force sensation to the finger with a simple configuration.

Effect of the Invention

[0029] According to the above embodiment, finger movements can be measured appropriately with a simple configuration, and force sensation can be appropriately presented to the fingers with a simple configuration. Furthermore, this can contribute to measuring finger movements with less energy, and furthermore, to presenting force sensation to the fingers with less energy. [Brief explanation of the drawing]

[0030] [Figure 1] Configuration diagram of a measurement system including a measuring device according to the embodiment. [Figure 2] Side view of a measuring device attached to an extended finger. [Figure 3] Side view of the measuring device with the fingers slightly bent. [Figure 4] Side view of the measuring device in a state where the fingers are greatly flexed. [Figure 5] Diagram showing the circular arc trajectory of the second axis of rotation and the fingertip trajectory of the fingertip. [Figure 6] Perspective view of a force feedback device according to an embodiment. [Modes for carrying out the invention]

[0031] Embodiments of the present invention will now be described in detail with reference to the drawings. The measuring device 1 of the embodiment is part of a measuring system 2 for measuring finger movements and is attached to the finger of the user, who is the subject of measurement, in order to measure finger movements. In the drawings and the following description, the length direction, width direction, tip side, and proximal end side (opposite side of the tip side) are defined with reference to the finger to which the measuring device 1 is attached.

[0032] <Configuration of Measurement System 2> Figure 1 is a diagram of the configuration of the measurement system 2. Figure 1 includes a perspective view of the measurement device 1. In this figure, the measurement device 1 is shown in a bent state. As shown in Figure 1, the measurement system 2 comprises the measurement device 1 and a control device 5 connected to the measurement device 1. The measurement device 1 is connected to the control device 5 by wire or wireless. The control device 5 is connected by wire or wireless to a network NW (e.g., the Internet) connected to the measurement data processing device 6. The measurement data processing device 6 may be a server that generates data in a virtual space in virtual reality (VR), or it may be a server that controls a device operated by remote control. The control device 5 and the measurement data processing device 6 are computers having a processor and memory that is communicably connected to the processor. The memory includes at least one of volatile memory and non-volatile memory. The memory stores programs executed by the processor and various data.

[0033] <Configuration of measuring device 1> As shown in Figure 1, the measuring device 1 comprises a base portion 11 attached to the proximal phalanx 26 (see Figure 2) of the finger 3, a distal phalanx attachment portion 12 attached to the distal phalanx 28 (see Figure 2) of the finger 3, a connecting link 13 connecting the base portion 11 and the distal phalanx attachment portion 12, a sensor 14 for measuring the relative position of the distal phalanx attachment portion 12 with respect to the base portion 11, and an actuator 15 that generates rotational force to rotate the base portion 11 and the connecting link 13. The measuring device 1 has the base portion 11, the distal phalanx attachment portion 12, and the connecting link 13 as an exoskeleton. The base portion 11, the distal phalanx attachment portion 12, and the connecting link 13 are made of resin.

[0034] Figure 2 is a side view of the measuring device 1 attached to finger 3 in an extended state. As schematically shown in Figure 2, fingers 3 other than the thumb have, in order from the base (proximal end) side of finger 3, the MP joint 21, the PIP joint 22, and the DIP joint 23. The part between the MP joint 21 and the PIP joint 22 (where the proximal phalanx is located) is called the proximal phalanx 26. The part between the PIP joint 22 and the DIP joint 23 (where the middle phalanx is located) is called the middle phalanx 27. The part beyond the DIP joint 23 (where the distal phalanx is located) is called the distal phalanx 28. The distal phalanx 28 is sometimes called the fingertip.

[0035] Finger 3 moves through flexion and extension of its joints. Of the flexion and extension of the MP joint 21, PIP joint 22, and DIP joint 23, the flexion and extension of the PIP joint 22 contributes most to the change in the relative position of the fingertip (distal phalanx 28) relative to the proximal phalanx 26. The relative position of the fingertip (distal phalanx 28) relative to the proximal phalanx 26 changes significantly in response to the flexion and extension of the PIP joint 22. Furthermore, the fingertips are used in many tasks performed by users. Therefore, it can be considered that the change in the relative position of the fingertip relative to the proximal phalanx 26 indicates the movement of finger 3, and that the movement of finger 3 can be measured by measuring the relative position of the distal phalanx 28 (fingertip) relative to the proximal phalanx 26.

[0036] Furthermore, the tip of the fingernail is located near the tip 28a of finger 3. When finger 3 attempts to touch an object such as a button with the tip 28a of finger 3, there is a possibility that the object and the fingernail will come into contact. To avoid contact between the fingernail tip and the object, generally, the part of the fingertip that touches the object is the supinate of the distal phalanx 28. The force transmitted from the distal phalanx bone to the supinate of the distal phalanx 28 then acts on the object. The tip 28b of the distal phalanx bone is located near the supinate of the distal phalanx bone 28 that makes contact with the object. Therefore, the position of the tip 28b of the distal phalanx bone is defined as the position of the fingertip. As will be described in more detail later, the measurement system 2 can use the measurement device 1 to calculate the position of the tip 28b of the distal phalanx bone as the position of the fingertip.

[0037] As shown in Figure 1, the base portion 11 is formed in a cylindrical shape with openings at the tip and base. The base junction 26 of the finger 3 is inserted into the base portion 11 (see Figure 2). A band for fixing the base portion 11 to the base junction 26 may be provided on the base portion 11. At its tip end, the base portion 11 has a notch 11a formed on the ventral side of the middle junction 27 and a notch 11b formed on the dorsal side of the middle junction 27. In other words, the base portion 11 has a pair of projections 11c that protrude toward the tip at both ends in the width direction. The pair of projections 11c extend along the extension of the base junction 26 toward the tip of the finger 3 between the ventral notch 11a and the dorsal notch 11b. The pair of projections 11c are rotatably connected at their tips to one end 13A1 on the base side of a pair of link portions 13A.

[0038] The distal phalanx attachment portion 12 is formed in a cylindrical shape with openings at the tip and base. The distal phalanx 28 of the finger 3 is inserted into the distal phalanx attachment portion 12 (see Figure 2). The distal phalanx attachment portion 12 is connected to the connecting link 13 on the widthwise side of the finger 3. The distal phalanx attachment portion 12 has a flat portion 12a on the dorsal side of the finger 3. The flat portion 12a abuts against the nail. This makes it easier for the flat portion 12a and the nail to make surface contact, thereby reducing the load on the nail.

[0039] The connecting link 13 has a pair of link sections 13A that connect the end portion attachment 12 and the base portion 11, and a reinforcing section 13B that spans between the pair of link sections 13A on the back side of the finger 3. The pair of link sections 13A extend in the longitudinal direction of the finger 3 on both sides in the width direction of the finger 3. The pair of link sections 13A also has one end 13A1 that is rotatably connected to the protruding portion 11c of the base portion 11 around a first rotation axis A1, and the other end 13A2 that is rotatably connected to the end portion attachment 12 around a second rotation axis A2. The first rotation axis A1 and the second rotation axis A2 extend in the width direction of the finger 3. The reinforcing section 13B is provided on the tip side of the pair of link sections 13A and is formed to be spaced apart from the back of the finger 3.

[0040] Sensor 14 is an encoder that detects the angle of the connecting link 13 (a pair of link sections 13A) relative to the base section 11 on the first rotation axis A1. Sensor 14 may be a mechanical encoder, an optical encoder, a magnetic encoder, or an electromagnetic induction encoder. Sensor 14 is connected to the control device 5 and outputs the measurement result (angle) to the control device 5.

[0041] The actuator 15 is attached to one end 13A1 of the connecting link 13 (a pair of link portions 13A) and to a pair of protrusions 11c of the base portion 11. The actuator 15 may be attached to only one of the pair of link portions 13A and the pair of protrusions 11c, or to both of the pair of link portions 13A and the pair of protrusions 11c. The actuator 15 generates a rotational force that rotates the base portion 11 and the connecting link 13 (a pair of link portions 13A) around a first rotation axis A1. The actuator 15 is connected to a control device 5, and the control device 5 controls the rotational force of the actuator 15. The actuator 15 may have a motor.

[0042] <Positions of each part of measuring device 1 relative to finger 3> As shown in Figure 2, the ventral notch 11a of the base portion 11 is positioned around the PIP joint 22, and the tip of the projection 11c is positioned on the middle phalanx 27. A pair of link portions 13A extend in the longitudinal direction of the finger 3 on both sides in the width direction of the finger 3. In the pair of link portions 13A (connecting links 13), the base end is positioned on the middle phalanx 27 and the tip is positioned on the distal phalanx 28. The first rotation axis A1 is positioned between the PIP joint 22 and the DIP joint 23 when the finger 3 is extended (the first rotation axis A1 is positioned on the tip 28a side of the finger 3 than the PIP joint 22). The second rotation axis A2 is positioned on the tip 28a side of the finger 3 than the DIP joint 23. The distal phalanx attachment portion 12 is attached to the distal phalanx 28. The base end of the distal phalanx attachment portion 12 is positioned on the tip side of the DIP joint 23. As a result, the distal phalanx attachment portion 12 is positioned spaced apart from the ventral side of the middle phalanx 27 of the finger 3.

[0043] Figure 3 is a side view of the measuring device 1 when finger 3 is slightly bent, and Figure 4 is a side view of the measuring device 1 when finger 3 is significantly bent. As shown in Figures 3 and 4, the measuring device 1 bends in accordance with the flexion of the PIP joint 22 and DIP joint 23. As will be explained below, each part of the measuring device 1 is formed so as not to restrict the movement of finger 3.

[0044] A notch 11a is formed on the tip side of the base portion 11 and on the ventral side of the middle junction 27. This prevents the ventral side of the middle junction 27 from coming into contact with the base portion 11 when the finger 3 is bent, thus preventing the base portion 11 from restricting the bending of the finger 3.

[0045] On both sides of the width direction of the middle section 27 are a pair of protrusions 11c and a pair of link sections 13A of the base section 11. In addition, the reinforcing section 13B that spans between the pair of link sections 13A is spaced apart from the back of the finger 3. As a result, when the finger 3 is bent, the back and belly of the finger 3 do not come into contact with the pair of protrusions 11c, the pair of link sections 13A, and the reinforcing section 13B. Thus, the pair of protrusions 11c, the pair of link sections 13A, and the reinforcing section 13B of the base section 11 do not interfere with the movement of the finger 3.

[0046] The pair of link sections 13A extend in the longitudinal direction of the finger 3 on both sides in the width direction of the finger 3, so that when the finger 3 is bent, the back and belly of the finger 3 do not come into contact with the pair of link sections 13A. In addition, a reinforcing section 13B is spanned between the pair of link sections 13A. The base section 11 and the distal phalanx attachment section 12 are connected to each other by the pair of link sections 13A. This makes it possible to easily move the distal phalanx attachment section 12 in accordance with the bending of the finger 3.

[0047] The distal phalanx attachment portion 12 is positioned at a distance from the antrum of the middle phalanx 27. This prevents the distal phalanx attachment portion 12 from contacting both the middle phalanx 27 and the distal phalanx 28, thus avoiding difficulty in flexing the DIP joint 23. As a result, it is possible to suppress the distal phalanx attachment portion 12 from restricting the flexion and extension of the DIP joint 23.

[0048] The distal phalangeal attachment portion 12 is formed in a cylindrical shape with openings at the tip and base. Therefore, the distal phalangeal attachment portion 28 can easily slide within the distal phalangeal attachment portion 12. Furthermore, by sliding the distal phalangeal attachment portion 12, the distal phalangeal attachment portion 28 can be made to protrude from the distal phalangeal attachment portion 12 toward the tip. This prevents the distal phalangeal attachment portion 12 from restricting the flexion and extension of the finger 3. In addition, the position of the distal phalangeal attachment portion 12 relative to the distal phalangeal attachment portion 28 can be adjusted to suit individual differences in the length of the user's finger 3.

[0049] <Measurement of finger movements using measuring device 1> As described above, the change in the relative position of the fingertip (distal phalanx 28) relative to the proximal phalanx 26 can be considered to represent the movement of finger 3. As shown in Figures 2-4, the relative position and orientation of the distal phalanx 28 relative to the proximal phalanx 26 change with flexion and extension of the PIP joint 22 and DIP joint 23. The base portion 11 is attached to the proximal phalanx 26, and the distal phalanx attachment portion 12 is attached to the distal phalanx 28.

[0050] As shown in Figure 2, the first rotation axis A1 is positioned on the tip 28a side of the finger 3 beyond the PIP joint 22 when the finger 3 is extended. In response to the flexion and extension of the PIP joint 22 and DIP joint 23, the base portion 11 and the connecting link 13 (a pair of link portions 13A) are rotated around the first rotation axis A1, allowing the distal phalanx attachment portion 12 connected to the connecting link 13 to move together with the distal phalanx 28. The second rotation axis A2 is positioned on the tip 28a side of the finger 3 beyond the DIP joint 23. This allows the connecting link 13 (a pair of link portions 13A) and the distal phalanx attachment portion 12 to rotate around the second rotation axis A2 in response to the flexion and extension of the PIP joint 22 and DIP joint 23, allowing the orientation of the distal phalanx attachment portion 12 to follow the orientation of the distal phalanx 28. Here, because the second rotation axis A2 is positioned on the tip 28a side (distal phalanx 28) of the finger 3 rather than the DIP joint 23, it is possible to suppress the distal phalanx attachment portion 12 from coming into contact with the middle phalanx 27 and restricting the flexion and extension of the DIP joint 23. As described above, the distal phalanx attachment portion 12 can be moved together with the distal phalanx 28, and the orientation of the distal phalanx attachment portion 12 can be made to follow the orientation of the distal phalanx 28. As a result, it is possible to suppress the measurement device 1 from restricting the movement of the finger 3, while making the distal phalanx attachment portion 12 follow the distal phalanx 28.

[0051] Since the distal phalangeal attachment part 12 is attached to the distal phalangeal 28, the position of the distal phalangeal attachment part 12 can be considered as the position of the fingertip (proximal phalangeal 28). As a result, as will be described later, the relative position of the distal phalangeal attachment part 12 with respect to the proximal phalangeal 26 can be calculated as the position of the fingertip based on the measurement results of the sensor 14. Then, the movement of the finger 3 can be measured based on the calculated position of the fingertip. Furthermore, since the measuring device 1 does not need to have sensors on both the first rotation axis A1 and the second rotation axis A2, the configuration of the measuring device 1 is simple. Therefore, the measuring device 1 makes it possible to appropriately measure the movement of the finger 3 with a simple configuration.

[0052] Furthermore, the measuring device 1 has advantages such as being lightweight, low-cost, and easy to maintain due to its simple configuration. In addition, since only one sensor 14 is required, the processing load for calculating the fingertip position can be reduced compared to cases where multiple sensors are used.

[0053] Figure 5 shows the circular arc trajectory B1 of the second rotation axis A2 and the fingertip trajectory B2 of the fingertip. As shown in Figure 5, the distance between the first rotation axis A1 and the second rotation axis A2 is the radius r, and the second rotation axis A2 moves along the circular arc trajectory B1 centered on the first rotation axis A1. The fingertip trajectory B2 is the trajectory of the tip 28b of the distal phalanx, which is displaced in accordance with the flexion and extension of the PIP joint 22 and the DIP joint 23. The flexion and extension of the DIP joint 23 and the PIP joint 22 are linked, and as the PIP joint 22 flexes, the DIP joint 23 also flexes. In addition, the DIP joint 23 flexes at a smaller angle than the PIP joint 22. As a result, as shown in Figure 5, the fingertip trajectory B2 can be approximated by a circular arc.

[0054] The first rotation axis A1 is positioned at a predetermined location (see Figure 1) between the PIP joint 22 and the DIP joint 23 when finger 3 is extended, such that the arc trajectory B1 approximates the fingertip trajectory B2. Because the arc trajectory B1 approximates the fingertip trajectory B2, the position of the second rotation axis A2 can be considered as the fingertip position (the position of the tip 28b of the distal phalanx). Thus, the position of the second rotation axis A2 can be calculated as the fingertip position. This makes it easy to calculate the fingertip position.

[0055] Sensor 14 is an encoder that detects the angle of the connecting link 13 (a pair of link parts 13A) relative to the base part 11 on the first rotation axis A1. This makes it easy to calculate the position of the second rotation axis A2 as the position of the fingertip, as shown below.

[0056] In the extended state of finger 3 shown in Figure 2, the position of the second rotation axis A2 is defined as the initial position of the second rotation axis A2, and the rotation angle of the first rotation axis A1 is defined as an initial angle of 0 [deg]. The position of the second rotation axis A2 can be expressed in polar coordinates using the rotation angle θ of the first rotation axis A1 and the radius r (the length between the first rotation axis A1 and the second rotation axis A2). The control device 5 can obtain the rotation angle θ from the output of the sensor 14. Therefore, the control device 5 can easily calculate the position of the second rotation axis A2 as the position of the fingertip (the position of the tip 28b of the distal phalanx) based on the output of the sensor 14 and the radius r.

[0057] As shown in Figures 2-4, the second axis of rotation A2 is located on the tip 28a side of the distal phalanx 28 of finger 3. Therefore, the position of the second axis of rotation A2, which is calculated as the position of the fingertip (position of the tip 28b of the distal phalanx), is located on the tip 28a side of finger 3. This allows for accurate calculation of the fingertip position.

[0058] Furthermore, the measuring device 1 includes an actuator 15 that generates a rotational force to rotate the base portion 11 and the connecting link 13 around the first rotation axis A1. The control device 5 can output a control signal to the actuator 15, causing the actuator 15 to generate a rotational force corresponding to the control signal. The rotational force generated by the actuator 15 acts on the end portion 28 from the end portion attachment portion 12 connected to the connecting link 13 (a pair of link portions 13A). As a result, the measuring device 1 can provide force feedback to the user's finger 3. Moreover, the measuring device 1 does not need to have actuators on both the first rotation axis A1 and the second rotation axis A2. Therefore, the measuring device 1 can provide force feedback to the user's finger 3 with a simple configuration.

[0059] For example, if the measurement data processing device 6 is a server that generates data for a virtual space in virtual reality (VR), the server sends a command to the control device 5 via the network NW to generate force feedback from the user's finger 3 in the virtual space on the measurement device 1. Based on the command received from the network NW, the control device 5 drives the actuator 15 to present force feedback to the finger 3. In this way, the control device 5 can generate rotational force in the actuator 15 so that the user can feel the force feedback from their finger 3 in the virtual space. Also, if the measurement data processing device 6 is a server that controls a device operated remotely, the server sends a command to the control device 5 via the network NW to generate force feedback from the finger 3 caused by the operation of the device on the measurement device 1. Based on the command received from the network NW, the control device 5 drives the actuator 15 to present force feedback to the finger 3. In this way, the control device 5 can generate rotational force in the actuator 15 so that the user can feel the force feedback from their finger 3 caused by the operation of the device.

[0060] <Regarding the installation method of measuring device 1> The measuring device 1 should be attached as follows. First, the user inserts their finger 3 through the base portion 11 and the distal phalanx attachment portion 12. Next, the user flexes and extends their finger 3 multiple times. As the user flexes and extends their finger 3, the base portion 11, the first rotation axis A1, the second rotation axis A2, and the distal phalanx attachment portion 12 move to an appropriate position. An appropriate position is one in which the base portion 11, the first rotation axis A1, the second rotation axis A2, and the distal phalanx attachment portion 12 are arranged to allow the user to easily flex and extend their finger 3. Furthermore, if the arc trajectory B1 of the second rotation axis A2 can approximate the fingertip trajectory B2, the user can easily flex and extend their finger 3. In an appropriate position, it is considered that the arc trajectory B1 of the second rotation axis A2 can approximate the fingertip trajectory B2. In this way, by arranging it appropriately, the first rotation axis A1 is positioned at a predetermined location between the PIP joint 22 and the DIP joint 23 when the finger 3 is extended, so that the arc trajectory B1 approximates the fingertip trajectory B2. Finally, the base portion 11 is fixed to the proximal phalanx 26.

[0061] <About the force feedback device 8> Figure 6 is a perspective view of the force feedback device 8. The force feedback device 8 is the same as the measurement device 1, but without the sensor 14. The configuration of the force feedback device 8, excluding the sensor 14, is the same as that of the measurement device 1.

[0062] The rotation of the base 11 and connecting link 13 around the first rotation axis A1 in response to the flexion and extension of finger 3, and the rotation of the connecting link 13 and distal phalangeal attachment part 12 around the second rotation axis A2 in response to the flexion and extension of finger 3, allow the distal phalangeal attachment part 12 to move and rotate together with the distal phalangeal attachment part 28 in response to the flexion and extension of finger 3. Therefore, by generating a rotational force in the actuator 15 to rotate the connecting link 13 around the first rotation axis A1, a force is applied from the distal phalangeal attachment part 12 connected to the connecting link 13 to the distal phalangeal attachment part 28. As a result, the force feedback device 8 can present force feedback to the user's finger 3. Furthermore, since the force feedback device 8 does not require actuators on both the first rotation axis A1 and the second rotation axis A2, the configuration of the force feedback device 8 is simple. Thus, the force feedback device 8 makes it possible to appropriately present force feedback to finger 3 with a simple configuration.

[0063] This concludes the description of specific embodiments. However, the present invention is not limited to the configuration of the above embodiments and can be broadly modified and implemented. For example, although the measuring device 1 shown in Figure 1 is connected to a control device 5 connected to a network NW, the measuring device 1 may be connected to a control device that is not connected to a network NW. The measuring device 1 may also be connected to a microcontroller unit provided in a device to be controlled (e.g., a robot hand), and the measuring device 1 may be used to control the device to be controlled.

[0064] Figure 1 shows one measuring device 1 attached to a finger 3, but there is no limit to the number of measuring devices 1. For example, multiple measuring devices 1 may be attached to all fingers (four fingers) of the right hand except the thumb, or to multiple fingers of the right hand except the thumb. Alternatively, the measuring device 1 may be attached to the fingers of the left hand. Or, multiple measuring devices 1 may be attached to the fingers of both the right and left hands. Furthermore, the measuring device 1 may be used as part of a measuring device unit in which multiple measuring devices 1 are provided on a glove. In addition, in the measuring device 1 and the force feedback device 8, the base portion 11 is attached to the proximal phalanx 26 located between the MP joint 21 and the PIP joint 22 of the finger 3. A device for measuring flexion and extension of the MP joint 21, or a device for providing force feedback related to flexion and extension of the MP joint 21, may be attached to the user together with the measuring device 1.

[0065] The measuring device 1 shown in Figure 1 is equipped with an actuator 15, but it does not have to be equipped with an actuator 15. Also, the connecting link 13 does not have to be equipped with a reinforcing portion 13B. In this case, the connecting link 13 may be composed of a pair of link portions 13A extending in the longitudinal direction of the finger 3 on both sides in the width direction of the finger 3, or it may be composed of a single link portion 13A extending in the longitudinal direction of the finger 3 on one side in the width direction of the finger 3.

[0066] In addition, the specific configuration, arrangement, quantity, and materials of each component and part can be modified as appropriate, as long as they do not depart from the spirit of the present invention. Furthermore, not all of the components shown in the above embodiments are necessarily essential, and can be selected as appropriate. [Explanation of Symbols]

[0067] 1: Measuring device 3:Finger 8: Force sense presentation device 11: Base part 11a: Notch 12: End section attachment 13: Linking links 13A: Link section 13A1 :One end 13A2: Other end 13B: Reinforcement section 14: Sensor 15: Actuator 22: PIP joint 23: DIP joint 26: base clause 27: middle section 28: End of the season 28a: Fingertip 28b: The tip of the distal phalanx A1: First axis of rotation A2: 2nd rotation axis B1: Circular arc orbit B2: Fingertip trajectory r: radius

Claims

1. A measuring device for measuring finger movements, The base portion is attached to the proximal phalanx of the finger, A distal phalanx attachment portion that is attached to the distal phalanx of the aforementioned finger, A connecting link having one end rotatably connected to the base portion around a first rotation axis and the other end rotatably connected to the end section mounting portion around a second rotation axis, connects the base portion and the end section mounting portion. The system includes a sensor for measuring the relative position of the end section attachment portion with respect to the base portion, The measuring device wherein the first axis of rotation is positioned on the fingertip side of the PIP joint when the finger is extended.

2. The measuring device according to claim 1, wherein the second rotation axis is positioned on the tip side of the finger than the DIP joint of the finger.

3. The measuring device according to claim 1, further comprising an actuator that generates a rotational force to rotate the connecting link around the first rotation axis.

4. The measuring device according to any one of claims 1 to 3, wherein the end portion is formed in a cylindrical shape with an open tip and base.

5. The second rotation axis moves along a circular arc trajectory centered on the first rotation axis, with a radius equal to the distance between the first rotation axis and the second rotation axis. The measuring device according to any one of claims 1 to 3, wherein the first rotation axis is positioned at a predetermined position between the PIP joint and the DIP joint in an extended state of the finger, such that the arc trajectory approximates the fingertip trajectory of the fingertip that is displaced in accordance with the flexion and extension of the PIP joint and DIP joint of the finger.

6. The measuring device according to any one of claims 1 to 3, wherein the sensor is an encoder that detects the angle of the connecting link with respect to the base portion on the first rotation axis.

7. The measuring device according to any one of claims 1 to 3, wherein a notch is formed on the tip side of the base portion and on the ventral side of the middle phalanx of the finger.

8. The measuring device according to any one of claims 1 to 3, wherein the second rotating shaft is located on the tip side of the end section.

9. The aforementioned connecting link is On both sides of the finger in the width direction, a pair of link portions extending in the length direction of the finger, A measuring device according to any one of claims 1 to 3, comprising a reinforcing portion stretched between a pair of link portions on the dorsal side of the finger.

10. A force feedback device for providing force feedback to the fingers, The base portion is attached to the proximal phalanx of the finger, A distal phalanx attachment portion that is attached to the distal phalanx of the aforementioned finger, A connecting link having one end rotatably connected to the base portion around a first rotation axis and the other end rotatably connected to the end section mounting portion around a second rotation axis, connects the base portion and the end section mounting portion. The system includes an actuator that generates a rotational force to rotate the connecting link around the first rotation axis, The first axis of rotation is positioned on the fingertip side of the PIP joint when the finger is extended, in a force feedback device.

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