Tactile sensing device

Abstract

To provide a tactile sense detector that is designed for fingers of various thicknesses and can reduce cost.SOLUTION: A tactile sense detector comprises: a base 2 that is attached to the tip of a finger of a person and includes an opening 20 opening in a downward U-shape; a first detection piece 3 that rotates around rotation parts 22 provided on both sides of the base 2; a second detection piece 4 that is provided opposite to the first detection piece 3 and rotates around the rotation parts 22; an elastic plate 5 that is provided at a gap between the first detection piece 3 and the second detection piece 4; and a sensor 6 that detects a change amount based on distortion of the elastic plate 5. When a user with a small finger width uses the detector, a spacer 7 is removably attached to the first detection piece 3 and the second detection piece 4.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a tactile sensing device that is capable of sensing the tactile sensation caused by a human finger. [Background technology]

[0002] Conventionally, devices such as those described in the following patent documents have been proposed as devices for detecting the feel when a human finger touches an object.

[0003] For example, the following patent document proposes a device that is worn to pinch the tip of a human finger on both sides, and as shown in FIG. 6, is configured with a base 81 having an opening that opens in a downward U-shape, first detection piece 82 and second detection piece 83 that extend downward from the opening of base 81 and elastically deform when a human finger is pinched on both sides, and strain sensors 84 attached to each of first detection piece 82 and second detection piece 83.

[0004] When such a device is used to detect the tactile sensation of a human finger, the increase in the left and right width of the finger when the finger touches an object is detected as the amount of strain due to elastic deformation of the first detection piece 82 and the second detection piece 83, and this is converted into a load value so that it can be detected as the tactile sensation when the object is touched. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2011-232165 A [Patent Document 2] JP 2011-133395 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, such an apparatus has the following problems.

[0007] That is, in the device shown in the above patent document, the first detection piece 82 and the second detection piece 83 made of elastic material are extended from the opening that opens in a downward U-shape, but since finger thickness varies from person to person, when a thick finger is pinched in the opening, the first detection piece 82 and the second detection piece 83 spread widely to the left and right, and are plastically deformed. For this reason, it is necessary to prepare multiple devices with opening widths corresponding to the thickness of people's fingers in advance, which causes a problem of high cost.

[0008] In addition, in the device described in the above patent document, a strain center 84 is attached to each of the first detection piece 82 and the second detection piece 83. However, if strain sensors 84 are attached to the first detection piece 82 and the second detection piece 83 on both the left and right sides, not only will the number of manufacturing steps increase, but costs will also increase.

[0009] SUMMARY OF THE PRESENT DISCLOSURE In order to solve the above problems, an object of the present invention is to provide a tactile sensing device that can accommodate fingers of various thicknesses and can reduce costs. [Means for solving the problem]

[0010] That is, in order to solve the above problems, the finger touch detection device of the present invention is attached to the upper part of the tip of a human finger. , having a U-shaped opening A base and The device is configured in an L-shape and includes a clamping piece that rotates around a rotating part provided inside the opening and clamps a human finger below the rotating part, and a rotating piece that is provided horizontally from the rotating part. A first detection piece and a second detection piece, A strain sensor attached to an elastic plate provided in the gap between the rotating pieces of the first and second detection pieces detects the width of the gap between the rotating pieces based on the spread of the clamping pieces of the first and second detection pieces when an object is pressed against the elastic plate by a human finger. A sensor for detecting the amount of change is provided.

[0011] With this configuration, the first detection piece and the second detection piece are rotated to detect the amount of change, so that even when worn on a thick finger, the first detection piece and the second detection piece will not undergo plastic deformation, and it will be possible to detect the tactile sensation of the finger.

[0012] In addition, in such an invention, A spacer for adjusting the gap between the first detection piece and the second detection piece is removably attached to the first detection piece and / or the second detection piece.

[0013] With this configuration, even when the device is worn on a thin finger, the touch sensation can be detected simply by attaching the spacer. Effect of the Invention

[0014] According to the present invention B, thick Even when the sensor is worn on a thin finger, the first detection piece and the second detection piece are not plastically deformed, and the sensor can detect the tactile sensation of the finger. [Brief description of the drawings]

[0015] [Figure 1] 1 is a schematic diagram of a tactile sensation detection device according to an embodiment of the present invention; [Diagram 2] FIG. 13 shows the tactile sensation detection device in the same embodiment with the fingers spread apart. [Diagram 3] FIG. 13 shows the state in which the spacer is attached in the same embodiment. [Figure 4] FIG. 13 shows the state in which the spacer is attached in the same embodiment. [Diagram 5] FIG. 13 shows a tactile sensing device according to another embodiment. [Figure 6] A diagram showing a conventional example DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0017] As shown in Fig. 1, the tactile sensing device 1 in this embodiment is worn on the fingertips of a human hand and is configured with a base 2 that is worn so as to cover the finger, an L-shaped first detection piece 3 and a second detection piece 4 that rotate around a rotation part 22 provided on both the left and right sides of the base 2, an elastic plate 5 that is provided so as to bridge between the first detection piece 3 and the second detection piece 4, and a sensor 6 that detects deformation due to distortion of the elastic plate 5. With this configuration, the sensor 6 detects the increase in the left and right width of the finger that occurs when the human finger touches an object, and this can be output as the load of the finger. The finger tactile sensing device 1 in this embodiment will be described in detail below.

[0018] First, the base 2 is designed to be worn on a human finger, and is provided with a U-shaped opening 20. A groove 21 for attaching the L-shaped first detection piece 3 and second detection piece 4 described later is formed inside this opening 20, and a pin 22p and a hole 22a for rotatably attaching the first detection piece 3 and second detection piece 4 are provided in the opposing grooves 21 of the part divided in half to have a front surface and a rear surface.

[0019] On the other hand, the first detection piece 3 and the second detection piece 4 attached to the base 2 are attached symmetrically on the left and right, and are made of a hard material having a substantially L-shape. The hard material is made of, for example, ceramic, hard resin, metal, or the like, and is made of a material that does not bend when worn on a finger. Among the first detection piece 3 and the second detection piece 4, the clamping pieces 31 and 41 provided below the rotating part 22 are provided with abutment parts 31a and 41a for abutting against the side of a finger, and these abutment parts 31a and 41a are exposed to the inside from the opening 20 of the base 2 so that the finger can be pinched. In addition, the abutment parts 31a and 41a are provided with holes 32 and 42 for adjusting the left and right width when the finger is pinched, and the hole 32 is made to allow spacers 7 of various sizes to be attached thereto. When attaching the spacer 7, as shown in Fig. 5, the projections 71 on the spacer 7 are fitted into the holes 32 so that the spacer 7 can be detachably attached. In the initial state where the spacer 7 is not attached, the gap between the left and right contact portions 31a, 41a is made slightly wider than the average finger thickness (gap width w) so that a thick finger can be sandwiched therebetween.

[0020] On the other hand, the rotating pieces 34, 44 provided horizontally from the rotating portion 22 of the first detection piece 3 and the second detection piece 4 are adapted to be able to swing vertically by pinching a finger between the abutment portions 31a, 41a, and are provided with a predetermined gap at the tips of the opposing rotating pieces 34, 44. At this time, in the initial state in which no finger is pinched, the upper surfaces of the tips of the rotating pieces 34, 44 are inclined upward, and the elastic plate 5 is attached in a curved state to the upper surfaces of the rotating pieces 34, 44.

[0021] The pin 22p which constitutes the rotating part 22 which rotatably supports the first detection piece 3 and the second detection piece 4 is provided between the hole portions 33, 43 provided near the corners of the first detection piece 3 and the second detection piece 4 and the hole portion 22a provided in the base 2, so that the first detection piece 3 and the second detection piece 4 can be rotated while the center of rotation is fixed.

[0022] In Figures 1 to 3, the center of rotation is fixed by pin 22p that forms the hinge, but as shown in Figure 4, the outer corner portion and inner corner portion of the first detection piece 3 and the second detection piece 4, which are bent into an L shape, may be abutted against corner portion 24 of groove 21 in base 2, and the first detection piece 3 and the second detection piece 4 may be rotated around this corner portion 24.

[0023] A thin elastic plate 5 is attached to the gap between the rotating pieces 34, 44 of the first detection piece 3 and the second detection piece 4 attached to the base 2 in this manner. This elastic plate 5 is affixed to the upper surfaces of the inclined rotating pieces 34, 44 so as to ensure a large amount of deflection due to the rotation of the first detection piece 3 and the second detection piece 4, and is attached so as to curve in an arc from the inclined rotating pieces 34, 44. This increases the rotation radius from the rotation center of the rotating part 22 to the elastic plate 5, and ensures a large amount of deflection of the elastic plate 5 when the rotating pieces 34, 44 are rotated.

[0024] The elastic plate 5 thus attached is provided with a sensor 6 for detecting the amount of bending of the elastic plate 5. Any sensor 6 may be used as long as it can detect the amount of bending, but in this embodiment, a strain gauge (strain sensor) is used as a sensor that is large enough to fit within the left-right width of a fingertip and can detect the amount of deformation of the elastic plate 5. The sensor 6 made of this strain gauge is capable of detecting a change in voltage based on the bending of the elastic plate 5, and changes the resistance value based on the strain, which can be detected as a change in voltage by a bridge circuit. The sensor 6 is attached to both the upper and lower surfaces of the elastic plate 5, and this makes it possible to output a small amount of strain as a large voltage value.

[0025] The voltage value based on this amount of distortion is converted into a load value and output. When converting this voltage value into a load, the load meter is pressed with the finger wearing the tactile detection device 1, and the load generated by the pressure and the voltage value are stored in correspondence with each other. Then, assuming that these values ​​change linearly, the load is detected from the amount of change in voltage and output.

[0026] Next, a method of using the finger tactile sensation detection device 1 configured as above will be described.

[0027] First, when using this tactile detection device 1, the approximate thickness of the finger is measured and it is checked whether the opening width corresponds to that thickness. At this time, if the finger is too thin for the opening width, a spacer 7 of a size corresponding to the holes 31a, 41a of the first detection piece 3 and the second detection piece 4 is attached to narrow the left and right opening widths (see Figure 3). On the other hand, if the finger thickness is appropriate for the opening width, the finger is worn as is on the fingertip without attaching the spacer 7 (see Figure 2).

[0028] When the tactile detection device 1 is worn in this manner, the upper surface of the opening 20 of the base 2 comes into contact with the upper part of the nail, and the left and right clamping pieces come into contact with the sides of the finger.

[0029] When a finger strikes in this manner, the clamping pieces 31, 41 of the first detection piece 3 and the second detection piece 4 spread out to the left and right, and the first detection piece 3 and the second detection piece 4 move downward around the rotating part 22.

[0030] When the rotating pieces 34, 44 of the first detection piece 3 and the second detection piece 4 move downward in this manner, the elastic plate 5 provided as a bridge between the first detection piece 3 and the second detection piece 4 bends downward.

[0031] This causes a change in the resistance value of the sensor 6 attached to both sides of the elastic plate 5, which causes an initial voltage value to be output. At this time, this initial voltage value is stored as the initial value.

[0032] Next, with the initial values ​​set in this way, if you press your finger against an object, the contact will increase the left-right width of your fingertip, as shown in Figure 2, and as a result, the clamping pieces 31, 41 of the first detection piece 3 and the second detection piece 4 will spread out to the left and right.

[0033] Then, the tip portions of the rotating pieces 34, 44 move downward around the rotating portion 22, and the elastic plate 5 is greatly curved downward.

[0034] When the elastic plate 5 is bent in this manner, the voltage value from the sensor 6 attached to the elastic plate 5 changes, and by taking the difference between this voltage value and the initial state voltage value, the voltage difference is converted into a load and output.

[0035] In this way, according to the above embodiment, the device is attached to the upper part of the tip of a human finger. , having a U-shaped opening 20 A base 2; The finger grip is configured in an L-shape and includes a gripping piece 31 that grips a human finger on the lower side of the gripping piece 22 and a pivot piece 34 that is provided horizontally from the gripping piece 22. A first detection piece 3 and a second detection piece 3, A strain sensor attached to an elastic plate 5 provided in the gap between the rotating pieces 34 of the first detection piece 3 and the second detection piece 4 detects the width of the gap between the rotating pieces based on the spread of the clamping pieces of the first detection piece and the second detection piece when an object is pressed against the elastic plate 5 by a human finger. Since the device is configured to include a sensor 6 that detects the amount of change, even when the device is worn on a thick finger, the first detection piece 3 and the second detection piece 4 are not plastically deformed, and the touch sensation caused by the finger can be detected.

[0036] The present invention is not limited to the above-described embodiment, but can be embodied in various forms.

[0037] For example, in the above embodiment, the device is attached to a fingertip to detect the displacement of the left-right width of the fingertip, but the position where the displacement of the left-right width occurs is very small near the fingertip or the first joint, making it impossible to detect the displacement accurately. For this reason, in order to position the clamping pieces 31, 41 at a position where the displacement width of the fingertip is large, for example, a positioning portion that abuts against the fingertip (or the toe of the nail) may be provided, and with the position of the fingertip determined by this positioning portion, the clamping pieces 31, 41 may be positioned at the position where they are most likely to be displaced.

[0038] MaIn addition, in the above embodiment, the tactile sensation value is output as a load, but it may be output as other parameters such as voltage or amount of distortion. [Explanation of symbols]

[0039] 1. Touch detection device 2...Base 20...Opening 21...Groove 22 Rotating part 22a...Hole 22p···pin 23 Corner 3. First detection piece 31...Pinch piece 31a...Contact part 32...Hole 33...Hole 34... Rotating piece 4 Second detection piece 41...Pinch piece 41a...Contact part 42...Hole 43...Hole 44... Rotating piece 5. Elastic plate 6. Sensors 7. Spacer 71...protrusion

Claims

1. A base portion that is attached to the upper portion of the tip of a human finger and has a U-shaped opening; a first detection piece and a second detection piece that are configured in an L-shape and that rotate around a rotation part provided inside the opening and that has a clamping piece that clamps a human finger below the rotation part and a rotating piece that is provided horizontally from the rotation part; a sensor that detects a change in the width of the gap between the rotating pieces based on the expansion of the clamping pieces of the first detection piece and the second detection piece when an object is pressed against the gap by a human finger, using a strain sensor attached to an elastic plate provided in the gap between the rotating pieces of the first detection piece and the second detection piece; A tactile sensation detection device comprising:

2. 2. The tactile detection device according to claim 1, wherein a spacer for adjusting a gap between the first detection piece and the second detection piece is removably attached to the first detection piece and / or the second detection piece.

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