Pressure sensor device, method for manufacturing pressure sensor device, work management system, and method for manufacturing glove

Abstract

To provide a pressure sensor device, a method for manufacturing the pressure sensor device and a work management system which can reduce erroneous detection.SOLUTION: A pressure sensor device which detects pressure comprises: a flexible substrate base material 11 having flexibility; interdigital electrodes 41, 42, whose metal surfaces are exposed formed in a predetermined area on the flexible substrate base material 11; and a pressure-sensitive material 21, placed on the interdigital electrodes 41, 42, in which a resistance value changes by a load and having curvature in a static state.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a pressure sensor device and a method for manufacturing the pressure sensor device. , written by Business Management System and a method for manufacturing gloves Regarding. [Background technology]

[0002] Patent Document 1 describes a sensor that uses a bending bias load to read a load when a load is applied by bending a piezoelectric sensor. Patent Document 2 describes a bridge circuit consisting of resistors R1 to R4 as a pressure-sensitive element. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-165874 [Patent Document 2] Japanese Patent Application Laid-Open No. 2007-10383 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, there are expectations that manual work in factory assembly processes and equipment inspection work will be digitized using sensors and applied to recording work history, preventing work errors, and extracting skilled techniques. In particular, in manual work, it is important to capture the pressure applied to the fingertips, and there is a demand for gloves with built-in pressure sensors in the fingertips.

[0005] However, when the piezoelectric sensor described in Patent Document 1 is attached to a glove, bending the finger applies bending stress to the pressure-sensitive material, causing the sensor to react incorrectly.

[0006] The sensor described in Patent Document 2 has a flexible board on which a pressure-sensitive element is mounted attached to a curved surface, but attaching the flexible board to a curved surface generates a bending bias load, which impairs detection sensitivity.

[0007] The present invention relates to a pressure sensor device capable of reducing false detection, and a method for manufacturing the pressure sensor device. , written by Business Management System and a method for manufacturing gloves The purpose is to provide. [Means for solving the problem]

[0008] The present invention provides a pressure sensor device for detecting pressure, comprising: a flexible substrate base material having flexibility; a comb-shaped electrode having an exposed metal surface formed in a predetermined region on the flexible substrate base material; and a pressure-sensitive material provided on the comb-shaped electrode, the resistance value of which changes depending on a load and which has a curvature in a static state. The flexible substrate base material has a bridge portion that extends from the finger to the back of the hand and is disposed on the side of the finger. It is characterized by: [Effects of the Invention]

[0009] According to the present invention, a pressure sensor device capable of reducing false detection and a method for manufacturing the pressure sensor device , written by Business Management System and a method for manufacturing gloves can provide. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a perspective view showing a pressure sensor device according to an embodiment of the present invention. [Figure 2] FIG. 1 is a perspective view showing the appearance of the pressure sensor device of the present embodiment when attached to a glove. [Figure 3] FIG. 2 is a plan view showing a part of a flexible substrate used in the pressure sensor device of the present embodiment. [Figure 4] FIG. 2 is a cross-sectional view of the pressure sensor device of the present embodiment. [Figure 5] 1 is a perspective view showing a state in which the pressure sensor device of the present embodiment is attached to a finger and the finger is extended. FIG. [Figure 6] FIG. 6 is a perspective view showing a state in which the finger is bent from the state shown in FIG. 5. [Figure 7] FIG. 6 is a view taken in the direction of the arrow S in FIG. 5. [Figure 8] FIG. 10 is a circuit diagram for reading the resistance value of a pressure-sensitive material using interdigital electrodes. [Figure 9] FIG. 2 is a cross-sectional view of a pressure sensor. [Figure 10] FIG. 2 is a circuit diagram of a pressure sensor. [Figure 11] FIG. 10 is an RF characteristic diagram of a pressure sensor. [Figure 12] FIG. 1 is a VF characteristic diagram of a pressure sensor. [Figure 13A] FIG. 10 is a graph showing the FR characteristics of a pressure-sensitive material without bending bias. [Figure 13B] FIG. 10 is a graph showing the FR characteristics of a pressure-sensitive material when a bending bias is applied. [Figure 14A] FIG. 10 is a cross-sectional view of the pressure sensor when it is mounted on a flat surface. [Figure 14B] 10A and 10B are schematic diagrams showing internal stresses when a pressure sensor is bent. [Figure 15A] FIG. 10 is a cross-sectional view of the pressure sensor when it is curved and attached. [Figure 15B] 10A and 10B are schematic diagrams showing internal stresses when the curvature of the pressure sensor is eliminated. [Figure 16] 10A and 10B are diagrams showing the bending characteristics of pressure sensors fabricated by flat mounting and curved mounting. [Figure 17] 5A to 5C are process diagrams showing a method for manufacturing a pressure sensor device. [Figure 18] FIG. 1 is a configuration diagram of a work management system showing work management by workers. [Figure 19] 10 is a flowchart showing the operation of the work management system. [Figure 20] FIG. 10 is a perspective view showing an example of a connector insertion operation. [Figure 21A] FIG. 10 is a perspective view showing the shape of a hand holding a connector. [Figure 21B] FIG. 2 is a perspective view showing the sensor attachment position on the finger. [Figure 22] FIG. 1 is a perspective view showing an example of a work performed by a power tool. [Figure 23] FIG. 10 is a perspective view showing an example of valve opening and closing operations. [Figure 24] FIG. 10 is a schematic diagram illustrating an application to a robot arm. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a perspective view showing the pressure sensor device of this embodiment, showing the state before it is attached to a glove. As shown in Fig. 1, pressure sensor device 1 is configured with a pressure sensor section 20 on a flexible substrate 10. Pressure sensor device 1 in this embodiment corresponds to a glove for a right hand, and is attached to the inside of the glove when used. Note that pressure sensor device 1 may also be applied to a glove for a left hand.

[0012] The flexible substrate 10 has a shape that fits the thumb, index finger, and middle finger. The flexible substrate 10 also includes a back portion 12 that is placed on the back of the hand, a fingertip portion 13 that is placed on the fingertip, and a bridge portion 14 that is placed between the back portion 12 and the fingertip portion 13.

[0013] The back of the hand 12 has a connector 31 (connection part) that connects to the wireless transmission module 4 (see FIG. 2). The back of the hand 12 also has a connection part 11a that connects an acceleration sensor 32. The fingertip 13 of the thumb also has a connection part 11b that connects a microphone (sound detection means) 33 that detects sound. The bridge part 14 is formed long and thin so that it can be placed along the side of the finger.

[0014] The fingertip 13 corresponding to the thumb is provided with a pressure sensor unit 20 so as to face the distal knuckle 15 of the thumb. The fingertip 13 corresponding to the index finger is provided with a pressure sensor unit 20 so as to face the distal knuckle 15 and middle knuckle 16 of the index finger. The fingertip 13 corresponding to the middle finger is provided with a pressure sensor unit 20 so as to face the distal knuckle 15 and middle knuckle 16 of the middle finger.

[0015] Furthermore, the pressure sensor unit 20 has a curvature in a static state. In FIG. 1, the pressure sensor unit 20 corresponding to the distal joint portion 15 and the middle joint portion 16 is curved so as to be convex toward the depth of the page. In other words, the pressure sensor unit 20 is configured to be curved in a static state in a direction along the pads of the thumb, index finger, and middle finger when cut into a circular cross section. In other words, the pressure sensor unit 20 has a curvature in an undisturbed state (when no external force is applied). The curvature may be configured to be a curve having the curvature of a single circle, or may be a curve having a combination of the curvatures of multiple circles.

[0016] FIG. 2 is a perspective view showing the appearance of the pressure sensor device of this embodiment when attached to a glove. 2, the pressure sensor device 1 is fixed to the glove 2 with the glove 2 turned inside out. That is, the pressure sensor device 1 is fixed to the inside of the glove 2 and used.

[0017] A pocket 2b is provided on the back side of the glove 2. This pocket 2b houses a wireless transmission module 4 (transmitter). The wireless transmission module 4 is electrically connected to the pressure sensor unit 20, acceleration sensor 32, and microphone 33 on the flexible substrate 10 via a connector 31 (see FIG. 1). The wireless transmission module 4 has the function of transmitting detected sensor data wirelessly to an edge server 103 (see FIG. 18). Although the pressure sensor device 1 illustrates an example of wireless communication, wired communication may also be used. Details of a work management system 500 (see FIG. 18) using the pressure sensor device 1 will be described later.

[0018] The pocket 2b is a so-called pocket with a lid, and the lid prevents the wireless transmission module 4 stored in the pocket 2b (pocket body) from falling out even when the fingertip 2a is facing upward. The lid is not essential, and the pocket 2b may be rid of the lid, or a fastener may be attached to close the opening of the pocket 2b instead of the lid.

[0019] A pressure sensor unit 20 is disposed inside the fingertip 2a of the glove 2, and is capable of detecting the fingertip pressure (load) applied to the fingertip 2a.

[0020] The microphone 33 mounted on the flexible substrate 10 is positioned so that it is exposed to the outside through a hole drilled in part of the glove 2. This allows it to collect sounds outside the glove 2. When sound passes through the fabric, the volume is attenuated and high frequency sounds are filtered, resulting in sound degradation. In this embodiment, by drilling a hole for the microphone 33, sound degradation can be avoided.

[0021] Fig. 3 is a plan view showing a part of the flexible substrate used in the pressure sensor device of this embodiment. Fig. 3 shows the flexible substrate 10 corresponding to the index finger or middle finger in a flattened state. Fig. 3 also shows the state without the pressure-sensitive material 21 described below. 3, flexible substrate 10 has flexible substrate base material 11 having flexibility, and electrode portion 40 provided on flexible substrate base material 11. Electrode portion 40 is provided on the front side of flexible substrate base material 11 in the direction perpendicular to the plane of the drawing.

[0022] The flexible substrate base material 11 is formed into a film shape using a material such as polyimide or polyester. The flexible substrate base material 11 is formed into a substantially rectangular shape so that it is wider in the left-right direction at the distal joint 15 and the middle joint 16 of the index finger (or middle finger).

[0023] The electrode section 40 is composed of comb-tooth electrodes 41, 42, which are pattern-printed using copper or copper foil. The comb-tooth electrodes 41, 42 are shaped as two electrodes patterned in a staggered pattern. The comb-tooth electrodes 41, 42 are attached and fixed to the flexible substrate base material 11 using an adhesive such as an epoxy resin. As shown in FIG. 8 (described later), the teeth of opposing comb-tooth electrodes 41 are configured not to come into contact with each other. This is also true for the comb-tooth electrode 42.

[0024] The comb-tooth electrode 41 is provided at a position corresponding to the distal knuckle 15. The distal knuckle 15 refers to the area beyond the first joint of the finger. The comb-tooth electrode 42 is provided at a position corresponding to the middle knuckle 16. The middle knuckle 16 refers to the area between the first and second joints of the finger. Although not shown, a comb-tooth electrode is provided at a position corresponding to the distal knuckle of the thumb.

[0025] The flexible substrate base material 11 has a narrowed constricted portion (constricted shape) 17 formed between the distal joint 15 and the middle joint 16. A connection electrode 43 that electrically connects the comb-tooth electrode 41 and the comb-tooth electrode 42 is linearly provided in the constricted portion 17. The constricted portion 17 is also formed to be narrower than the flexible substrate base material 11 at the distal joint 15 and the middle joint 16. The comb-tooth electrode 41 is longer than the comb-tooth electrode 42 in the direction in which the fingers extend. The comb-tooth electrode 41 and the comb-tooth electrode 42 have approximately the same width.

[0026] Moreover, the flexible substrate base material 11 is formed asymmetrically with respect to the connection electrode (connection wiring) 43. The comb-tooth electrodes 41 and 42 are also formed asymmetrically with respect to the position of the connection electrode 43. In this embodiment, the comb-tooth electrode on the left side is configured to have a larger electrode area than the comb-tooth electrode on the right side.

[0027] Incidentally, the connection electrode 43 can be placed along the side of the finger, similar to the bridge portion 14, but placing it along the pad of the finger reduces discomfort when bending the finger. Because the first joint of the finger is bent repeatedly and frequently during manual work, the strength of the waist portion 17 is important. The width D of the waist portion 17 represents a trade-off between tensile strength and wearing comfort. Based on statistical values ​​for the finger sizes of Japanese people, it is desirable that the width D of the waist portion 17 be 6.25 mm or more and 8.65 mm or less. Below, we will explain how to determine the width D.

[0028] According to "AIST Japanese Hand Dimension Data https: / / www.airc.aist.go.jp / dhrt / hand / data / list.html", when measuring the width d of the first joint of the index finger for 327 males and 203 females, the average value μ is 14.9 mm and the standard deviation σ is 1.2 mm. The width D of the constriction part 17 is set to about half of the finger width in consideration of the trade-off between strength and wearing comfort. In order to conform to the 2σ interval of the Japanese distribution, the width D of the constriction part 17 may be determined by the following conditional expression. (μ - 2σ) / 2 < D < (μ + 2σ) / 2 Substituting the above values into the conditional expression, we get 6.25 mm < D < 8.65 mm. Based on this concept, gloves 2 of different sizes (such as S, M, L, XL, etc.) may be prepared.

[0029] Figure 4 is a cross-sectional view of the pressure sensor device of this embodiment. As shown in Figure 4, a pressure-sensitive material 21 is provided on the comb-shaped electrodes 41 and 42. This pressure-sensitive material 21 has the property that its resistance value changes with the load and is formed in a rectangular sheet shape. Also, the pressure-sensitive material 21 is overlapped so as to contact the metal surfaces of the comb-shaped electrodes 41 and 42. The pressure-sensitive material 21 is, for example, a material in which carbon resin is mixed with an insulating elastic material such as rubber.

[0030] Also, the pressure sensor unit 20 is configured such that the flexible substrate base material 11, the comb-shaped electrodes 41 and 42, and the pressure-sensitive material 21 have a curvature in a static state. The radius of curvature r at this time is preferably set to 10 mm to 50 mm.

[0031] Also, the pressure-sensitive material 21 is provided in a pressure-sensitive region (predetermined region, pressure-sensitive area) for detecting pressure. Note that increasing the area (number) of the pressure sensor unit 20 will increase the amount of information detected, which will lead to an increase in component costs. Therefore, it is desirable to adopt the minimum necessary sensor configuration based on the assumed use case.

[0032] FIG. 5 is a perspective view showing a state in which the pressure sensor device of this embodiment is attached to a finger and the finger is extended (the first and second joints are extended). FIG. 6 is a perspective view showing a state in which the finger is bent from the state shown in FIG. 5. In reality, the flexible substrate 10 of the pressure sensor device 1 is attached to the inside of a glove, but for the sake of convenience, the glove is omitted from the illustration. On the other hand, the flexible substrate 10 of the pressure sensor device 1 may also be used by wrapping it directly around the finger without using a glove.

[0033] As shown in FIG. 5, the pressure sensor unit 20 is formed at a position corresponding to the distal joint 15 and middle joint 16 of the index finger 111, and is attached so as to wrap around the pad of the index finger 111 (approximately halfway around the index finger 111). The constricted portion 17 is positioned so as to overlap with the first joint 111b. The constricted portion 17 is narrow and flexible, so that the operator experiences less discomfort when bending the index finger 111. Furthermore, because the pressure sensor unit 20 is not located at the constricted portion 17, the pressure sensor unit 20 does not react even when the index finger 111 is bent, and therefore there is no risk of a false reaction.

[0034] The bridge portion 14 is disposed along the center line CL of the side surface 111a of the index finger 111. The center line CL is a line whose distance does not change when the finger 111 is bent. Figure 5 Let L be the distance from the first joint 111b to the proximal joint at the base of the index finger 111.

[0035] As shown in Figure 6, when the index finger 111 is bent, the constricted portion 17 bends at the position of the first joint 111b. The bridge portion 14 bends at the position of the second joint 111c. Even if the index finger 111 is bent at the first joint 111b and the second joint 111c, the center line CL of the side surface 111a of the index finger 111 is a distance L, Figure 5 does not change from its original state.

[0036] However, if bridge portion 14 is aligned along the front or back side of index finger 111, flexible substrate 10 is pulled when index finger 111 is bent, which not only causes discomfort to the wearer but also increases the possibility of bridge portion 14 breaking or wiring on flexible substrate 10 being disconnected due to the application of a tensile load to flexible substrate 10. However, by aligning bridge portion 14 along center line CL as in this embodiment, flexible substrate 10 is not pulled when index finger 111 is bent, which reduces the discomfort felt by the wearer and prevents wiring disconnection.

[0037] Fig. 7 is a view seen in the direction of the arrow S in Fig. 5. Fig. 7 shows the index finger of the right hand as seen from the fingertip side. As shown in Fig. 7, the flexible substrate 10 is arranged so as to wrap around the index finger 111. The pressure sensor unit 20 of the index finger 111 is configured as a pressure-sensitive area 20t (load detection range) that extends to the side surface 111a of the index finger 111. This pressure-sensitive area 20t is configured so that the thumb side is wider than the middle finger side. The pressure sensor unit 20 is fixed inside the glove 2 (see Fig. 2) in a curved state so as to wrap around the finger.

[0038] This makes it possible to detect fingertip pressure that occurs during manual work such as plugging in a connector, as will be described later with reference to FIG.

[0039] The principle of the pressure sensor unit 20 will be explained below. Fig. 8 is a circuit diagram for reading the resistance value of a pressure-sensitive material using an interdigital electrode. Fig. 9 is a cross-sectional schematic diagram of the pressure sensor. Fig. 10 is a circuit diagram of the pressure sensor. Fig. 11 is an RF characteristic diagram of the pressure sensor. Fig. 12 is a VF characteristic diagram of the pressure sensor.

[0040] As shown in Fig. 8, comb-shaped electrodes 41 and 42 are formed on a flexible substrate base material 11 (see Fig. 9). The comb-shaped electrodes 41 and 42 have an electrode shape in which two electrodes (electrode A and electrode B) are patterned in an alternating manner. Since the two electrodes are electrically insulated, that is, the patterning is such that the teeth of the comb are spaced apart so as not to come into contact with each other, the resistance between electrode A and electrode B is very large (for example, 1 MΩ or more).

[0041] As shown in FIG. 9, pressure-sensitive material 21 is placed on comb-tooth electrodes 41 and 42, and is then covered with protective material 51. Protective material 51 is not particularly limited as long as it can protect pressure-sensitive material 21 and comb-tooth electrodes 41 and 42, but a thin sheet-like material such as polyimide can be used. Pressure-sensitive material 21 has a very high resistance R (e.g., 100 kΩ or more) when no load is applied, and when a load is applied, resistance R decreases (approximately 1 to 50 kΩ). When a load F is applied to pressure-sensitive material 21 placed on comb-tooth electrodes 41 and 42, resistance R decreases in the localized area where load F is applied, resulting in a decrease in resistance R between electrode A and electrode B.

[0042] 10, in one example of a reading circuit, comb-tooth electrodes 41 and 42 and a load resistor R0 are connected in series, and the voltage value V applied to the load resistor R0 is measured with a voltmeter. The voltage value V can be expressed by the equation shown in FIG.

[0043] As shown in Fig. 11, the resistance value R changes as the load F increases. Therefore, as shown in Fig. 12, the voltage value V changes depending on the load F according to the equation shown in Fig. 10, so it can function as a pressure sensor.

[0044] The following describes the effect of bending bias on sensor output using Figures 13A and 13B. Figure 13A is an FR characteristic diagram of the pressure-sensitive material without bending bias. Figure 13B is an FR characteristic diagram of the pressure-sensitive material with bending bias. The relationship (FR characteristics) between the load F and the pressure-sensitive material resistance R (resistance value of the pressure-sensitive material 21) depends on the composition and production method of the pressure-sensitive material 21. As an example, as shown in Figure 13A, there is a pressure-sensitive material in which the pressure-sensitive material resistance R changes rapidly when the load F is small and then gradually saturates. Since the reading circuit reads the resistance R, the range of change in the resistance R is the dynamic range of the pressure sensor, and the larger the range of change in the resistance R, the more desirable it is.

[0045] Since the load applied to a worker's fingertips during manual work is approximately 100 g to 5 kg, selecting a pressure-sensitive material with a large resistance change within this range improves the sensor's detection sensitivity. When a pressure sensor is used in a bent state from a flat state, the bending generates internal stress in the pressure sensor. The FR characteristics at this time are affected by a bending bias load, as shown in Figure 13B. When a manual load of 100 g to 5 kg is applied after the bending bias load is applied, the range of change in resistance R becomes significantly smaller, reducing the sensor's detection sensitivity. Therefore, to improve the sensor's detection sensitivity, it is important to eliminate the bending bias load.

[0046] The following describes the principle behind the generation of a bending bias load in a pressure sensor and a structure for removing the bending bias load. Fig. 14A is a cross-sectional view of a pressure sensor mounted flat. Fig. 14B is a schematic diagram showing internal stress when the pressure sensor of Fig. 14A is bent. Fig. 15A is a cross-sectional view of a pressure sensor mounted in a bent state. Fig. 15B is a schematic diagram showing internal stress when the pressure sensor is unbent. Note that comb-shaped electrodes are not shown in Figs. 14A, 14B, 15A, and 15B.

[0047] 14A, pressure sensor 1000 has a layered structure in which flexible substrate base material 1011, pressure-sensitive material 1021, and protective material 1051 are stacked one on top of the other. Flexible substrate base material 1011 is the inner surface, and protective material 1051 is the outer surface. The structure for removing bending bias load will be described below.

[0048] 14A, pressure-sensitive material 1021 and protective material 1051 are provided on flexible substrate base material 1011 in a flat state. This pressure sensor 1000 is an elastic body that has no curvature in a static state, but when bent, a force acts to return it to a flat state.

[0049] In the laminated structure (curved mounting) of FIG. 15A, the pressure-sensitive material 21 and protective material 51 are provided in a curved state of the flexible substrate base material 11. In this state, the pressure sensor unit 20 generates, in a static state, a force that tries to return it to a flat state and a force that tries to maintain the curved shape. The magnitude of the force that tries to return the shape to a flat state depends on the combination of the rigidity of the flexible substrate base material 11, the pressure-sensitive material 21, and the protective material 51, but the balance between the two forces results in the shape stabilizing in a state where it has slightly returned to a flat state (this state is called a stable curve). As a result, the pressure sensor unit 20 has a curvature that corresponds to a stable curve in a static state. This pressure sensor unit 20 is an elastic body that, when bent, exerts a force that returns it to a stable curve.

[0050] 14B shows with solid arrows the internal stress acting on the pressure sensor 1000 when the pressure sensor 1000 is bent so as to wrap around a fingertip. FIG 15B shows with solid arrows the internal stress acting on the pressure sensor unit 20 when the pressure sensor unit 20 is bent so as to wrap around a fingertip. As shown in Figure 14B, when pressure sensor 1000 is bent, compressive stress occurs in flexible substrate base material 1011 on the inner surface, and tensile stress occurs in protective material 1051 on the outer surface. This causes compressive stress in the internal pressure-sensitive material 1021 in a direction perpendicular to the surface. This perpendicular stress is called interlayer stress. Compressive interlayer stress is the cause of the bending bias load.

[0051] As shown in FIG. 15B, when the pressure sensor unit 20, which has a curvature in a static state (a curvature that follows the cross section (belly portion) of the finger), is uncurved, tensile stress occurs in the flexible substrate base material 11 on the inner surface, and compressive stress occurs in the protective material 51 on the outer surface. This generates a tensile interlayer stress in the pressure-sensitive material 21 inside. This tensile interlayer stress is equivalent to a negative load being applied to the pressure-sensitive material 21. In other words, when the pressure sensor unit 20, which has a curvature in a static state as shown in FIG. 15A, is uncurved, the bending bias load is removed.

[0052] Based on this idea, by assuming the radius of curvature r when wrapped around the fingertip and attaching the pressure-sensitive material 21 in a state where it is curved further than the radius of curvature r, not only is a bending bias load not generated, but the bending bias load can be eliminated.

[0053] Figure 16 is a diagram showing the bending characteristics of pressure sensors fabricated using flat mounting and curved mounting. In Figure 16, the graph shown by connecting white circles represents the case of flat mounting, and the graph shown by connecting black circles represents the case of curved mounting. The curved mounting pressure sensor unit 20 was fabricated using a cylindrical jig (a jig with a curved surface) 60 (see Figure 17) with a curvature radius of 20 mm. Each pressure sensor unit 20 was wrapped around and fixed to an object with a predetermined curvature radius, and the resistance value R of the pressure-sensitive material 21 was measured. No load was applied in the out-of-plane direction at this time. The method for manufacturing the pressure sensor unit 20 will be described later.

[0054] The pressure sensor unit 20 exhibits a behavior in which the resistance value R decreases when a load is applied, and therefore a larger resistance value R is desirable because the change range of the resistance value R increases and the detection sensitivity improves. As shown in Figure 16, it can be seen that for both flat-mounted and curved-mounted pressure sensors, when the radius of curvature is small, that is, when wrapped around a thinner object, the resistance value R decreases due to the bending bias load, narrowing the sensor operating range. On the other hand, for the curved-mounted pressure sensor unit 20, the resistance value R is large, at 500 kΩ or more, in areas where the radius of curvature is 20 mm or more, and it can be seen that a wide sensor operating range is maintained. Furthermore, curved-mounted pressure sensors exhibit larger resistance values ​​R across all radii of curvature than flat-mounted pressure sensors. This result can be seen in Figure 15 As shown in B, when the curved state of the pressure sensor unit 20 in a static state is released (i.e., widened), a negative load is applied, suggesting that the bending bias is removed. From the above considerations, it is thought that the bending bias can be effectively removed by using a cylindrical jig 60 with a curvature radius equal to or smaller than the curvature radius when the pressure sensor unit 20 is used (i.e., the curvature radius when wrapped around a finger) and by imparting a curvature in a static state.

[0055] FIG. 17 is a process chart showing a method for manufacturing a pressure sensor device. As shown in FIG. 17, first, in the first diagram from the top of FIG. 17, the flexible substrate 10 (flexible substrate base material 11 + comb-tooth electrodes 41, 42) is fixed to a cylindrical jig 60 with double-sided tape or the like. The comb-tooth electrodes 41, 42 of the flexible substrate 10 face outward. This allows the flexible substrate 10 to maintain a curved state (a state having a curvature). Then, as shown in the second diagram from the top of FIG. 17, a pressure-sensitive material 21 (pressure-sensitive sheet) is placed and attached on the comb-tooth electrodes 41, 42 of the flexible substrate 10 while the flexible substrate 10 remains in the curved state. This allows the pressure-sensitive material 21 to also maintain a curved state (a state having a curvature). Then, as shown in the third diagram from the top of FIG. 17, a protective material 51 (protective sheet) is attached on top of the pressure-sensitive material 21 while it remains in the curved state. The protective material 51 is made of, for example, polyimide tape or the like. 17, the sheet-like product in which the pressure-sensitive material 21 and the protective material 51 are laminated on the flexible substrate 10 is removed from the cylindrical jig 60. This makes it possible to obtain the pressure sensor part 20 (pressure sensor device 1) that has a curvature in a static state.

[0056] The above-described manufacturing method of the pressure sensor unit 20 (pressure sensor device) is one example and is not limited to this embodiment. For example, another manufacturing method of the pressure sensor unit 20 is to pour ink (elastic resin with fluidity) containing carbon particles onto the comb-tooth electrodes 41, 42 of the curved flexible substrate 10, and then mold the pressure-sensitive material 21 by heat treatment. This allows for higher productivity of the pressure sensor unit 20 compared to the manual manufacturing method described above.

[0057] FIG. 18 is a configuration diagram of a work management system showing work management by workers. 18, the work management system 500 includes a sensor-embedded glove 101 (pressure sensor device) and an edge server 103 (status management unit, control unit) that manages the status based on a voltage value V transmitted from a transmission unit 102 provided in the sensor-embedded glove 101. The transmission unit 102 transmits the voltage value V measured by the sensor-embedded glove 101.

[0058] The sensor-embedded glove 101 comprises a flexible substrate base material 11 (see FIG. 9), comb-shaped electrodes 41, 42 (see FIG. 9) with exposed metal surfaces formed in predetermined regions on the flexible substrate base material 11, a pressure-sensitive material 21 (see FIG. 9) provided on the comb-shaped electrodes 41, 42, whose resistance value R changes depending on the load and has curvature in a static state, and a transmitting unit 102.

[0059] A worker 100 wears a sensor-embedded glove 101 and performs manual work. The manual work includes assembly work, equipment inspection work, work using tools, inspection work, and the like.

[0060] The sensor-embedded glove 101 includes a pressure sensor unit 20 that detects pressure on the fingertips, an acceleration sensor 32 and a gyro sensor 34 that detect hand movements, a microphone 33 that detects working sounds generated by the hands, and the like.

[0061] Sensor data detected by sensors (pressure sensor unit 20, acceleration sensor 32, microphone 33, gyro sensor 34) built into the sensor-embedded glove 101 is transmitted to the edge server 103, which is a status management unit, via a wireless path of the transmission unit 102. Note that the path for transmitting the sensor data is not limited to wireless and may be wired. The edge server 103 is an electronic device equipped with a CPU, such as a personal computer or smartphone.

[0062] The edge server 103 performs calculations on the sensor data and provides feedback to the worker as necessary. For example, if it determines that the worker is performing dangerous work, it may issue a warning with a patrol lamp or the like. In addition, if the assembly work operation deviates from normal operation, an alert may be issued to request the worker to redo the assembly in order to improve the quality of the assembled product.

[0063] The edge server 103 transmits data to the central server 105 via the network 104. The edge server 103 is responsible for storing sensor data and linking with other systems. Note that the calculation processing for the sensor data may be performed by either the edge server 103 or the central server 105. Furthermore, the edge server 103 and the central server 105 may be the same device. Furthermore, they may communicate directly via wired or wireless connection without going through the network 104.

[0064] FIG. 19 is a flowchart showing the operation of the work management system. As shown in FIG. 19, in step S200, first, sensor data from a sensor mounted on the sensor-embedded glove 101 (see FIG. 18) is measured. The measurement of the sensor data is repeated at regular sampling intervals (for example, every 1 second, every 0.01 seconds, etc.). Alternatively, the measurement may be triggered by an external input to the system that the worker has performed a series of tasks. For example, the movement of the worker 100 is detected by a camera, and the sensor data is measured when the completion of the task is detected from the video.

[0065] In step S201, the edge server 103 (or the central server 105) performs arithmetic processing on the sensor data. The arithmetic processing includes resampling of the sensor data, digital filtering, noise removal, calculation of statistical values ​​(such as the mean, variance, and standard deviation), spectrum calculation, pattern matching, regression analysis, and classification methods generalized as machine learning (such as support vector machines, logistic regression, random forests, and k-nearest neighbor methods).

[0066] In step S202, the edge server 103 determines whether feedback is required for the worker based on the results of the calculation process. If it is determined that feedback is required for the worker 100 (YES in S202), the process proceeds to step S203, where an alert is issued to the worker 100. If the edge server 103 determines that feedback is not required for the worker 100 (No in S202), the process proceeds to step S204, where the sensor data is recorded. Even after issuing an alert to the worker (S203), the edge server 103 also proceeds to step S204, where the sensor data is recorded. In this way, the sensor data is recorded by the edge server 103 (or the central server 105) (S204), regardless of whether an alert is issued.

[0067] In order to prevent the volume of recorded sensor data from becoming too large, it is also possible to record only a portion of the sensor data. For example, when feedback is determined to be necessary, the worker is performing unsteady actions such as dangerous manual work, so the importance of the sensor data is high. Recording only the sensor data when feedback is determined to be necessary is an effective method for reducing the volume of recorded sensor data.

[0068] Hereinafter, examples of how the work management system 500 can be used will be described with reference to the drawings. Fig. 20 is a perspective view showing an example of the connector insertion work, in which the gloves are removed for the sake of convenience. As shown in FIG. 20, the connector insertion work is the work of inserting connector 200 into insertion target 201. If the insertion is not performed properly, poor electrical contact may occur in connector 200, or the connector may come loose due to vibration. Furthermore, if insertion target 201 is an automobile, if connector 200 comes loose after the product has been shipped, it could lead to an accident. As such, in the connector insertion work, it is important to ensure the quality of the insertion state.

[0069] However, connector insertion work is difficult to automate using robots, and is often performed manually by assembly workers. This system (work management system) can be effectively used to ensure the quality of connector insertion work performed manually.

[0070] The pressure sensor device 1 used in this system includes a pressure sensor unit 20 placed on the tips of the thumb 110 and index finger 111 that grip the connector 200 on the worker's hand 202, and a microphone 33. The pressure sensor unit 20 detects that the worker has pinched the connector 200. The microphone 33 detects the mating sound emitted when the connector 200 is inserted into the insertion target 201. The pressure sensor unit 20 is also placed at a position facing the distal knuckle 15 of the thumb 110 and at a position facing the distal knuckle 15 and middle knuckle 16 of the index finger 111.

[0071] By analyzing the sensor data obtained from the pressure sensor unit 20 and the microphone 33, it can be determined whether the connector insertion work has been performed appropriately. If it is determined that the connector insertion work is inappropriate (YES in S202 in FIG. 19), feedback can be given to the worker using a patrol lamp or the like (S203 in FIG. 19), and an instruction can be given to try again. In this way, the quality of the connector insertion work can be guaranteed.

[0072] In the example work shown in Figure 20, a pressure sensor device 1 equipped with a single microphone 33 is used as an example, but it may also be configured so that in addition to the microphone 33 close to the driving unit, another microphone is added at a position farther from the driving unit.

[0073] FIG. 21A is a perspective view showing the shape of a hand holding a connector. Note that FIG. 21A is an example of the shape of a hand holding LAN cable connector 200. The way connector 200 is held varies from person to person. In the holding style shown in FIG. 21A, the connector is grasped using the pad of thumb 110 and the side surface 111a of index finger 111. In this holding style, in order to detect the force applied when index finger 111 inserts connector 200, the pressure-sensitive area of ​​index finger 111 (load detection range of pressure sensor unit 20) needs to cover side surface 111a of index finger 111 (see FIG. 21A) as pressure-sensitive area 20t, in addition to pressure-sensitive area 20s of the pad of index finger 111, as shown in FIG. 21B. Furthermore, by making both distal joint 15 and middle joint 16 of index finger 111 pressure-sensitive areas, various individual differences in holding styles can be accommodated.

[0074] Fig. 22 is a perspective view showing an example of work using a power tool, in which an example of work using an electric screwdriver is shown as a use case. As shown in Figure 22, when holding the electric screwdriver 300, the grip 301 is grasped with the thumb, middle finger, ring finger, and little finger, and the index finger is hooked on the trigger 302. By holding the electric screwdriver 300 in this manner, a load is applied to the pressure sensor unit 20 at the distal joint 15 of the thumb (see Figure 1) and the pressure sensor units 20 at the distal joint 15 (see Figure 1) and middle joint 16 (see Figure 1) of the middle finger. Note that, since there are individual differences in how the trigger 302 is pulled, it is desirable to make both the distal joint 15 and middle joint 16 corresponding to the index finger pressure-sensitive areas.

[0075] When working with such an electric screwdriver 300, pulling the trigger 302 applies pressure to the index finger, and the action of pulling the trigger 302 is detected by the pressure sensor unit 20 of the index finger. Furthermore, when the trigger 302 is pulled, the screwdriver at the tip rotates and generates a driving sound, which is detected by the microphone 33. In this way, by managing the sensor data of the pressure sensor unit 20 and the microphone 33, the work quality of the electric screwdriver 300 can be guaranteed.

[0076] Fig. 23 is a perspective view showing an example of valve opening and closing operations, in which gloves are not shown. As shown in Figure 23, valve work is the work of opening and closing a valve 401 attached to a cylinder 400 or the like. The flow rate of gas is adjusted and the gas path is opened and closed depending on how tightly the valve 401 is closed. Valve work is typically performed during plant inspection work and semiconductor manufacturing equipment inspection work. Note that if valve work is not performed appropriately, backflow of gas or mixed flow of gases occurs. Valve 401 can be replaced with a mechanical device such as a solenoid valve, but valves that are opened and closed manually are also widely used.

[0077] This system (work management system) can be used to keep a work record of whether a worker has properly performed valve work. This system is equipped with pressure sensor units 20 for the thumb 110, index finger 111, and middle finger 112 of the worker's hand 3, which detect the force of the fingers gripping the valve 401, and a gyro sensor 34 that detects the rotational movement of the hand 3.

[0078] The sequence of steps for closing valve 401 is as follows: First, grasp valve 401 with your hand and rotate it. Once valve 401 is closed to a certain extent, it will no longer rotate. To confirm that valve 401 is completely closed (confirmation task), apply force in the direction of further rotation (to close valve 401).

[0079] Using this system, the rotation of the hand 3 can be detected by the gyro sensor 34, and the gesture of applying force with the fingers during the confirmation work can be detected by the pressure sensor unit 20. In this way, it is possible to keep a record of the work of closing the valve 401. While it was previously difficult to quantify the strength of the finger force applied during the confirmation work, using this system makes it possible to quantify it as sensor data from the pressure sensor unit 20. In this way, it is possible to visualize the tacit knowledge in the field.

[0080] As described above, the pressure sensor device 1 of this embodiment includes the flexible substrate base material 11 having flexibility, the comb-tooth electrodes 41, 42 with exposed metal surfaces formed in predetermined regions on the flexible substrate base material 11, and the pressure-sensitive material 21, which is provided on the comb-tooth electrodes 41, 42 and whose resistance value R changes depending on the load and which has curvature in a static state. This can reduce or eliminate bending bias, improve detection sensitivity, and mitigate false detection.

[0081] In this embodiment, the pressure sensor device 1 is attached to the inside of the glove. This allows the pressure sensor device 1 to be held stably and makes it easy to put on and take off the pressure sensor device 1. Furthermore, since the pressure sensor device 1 does not come into direct contact with the object, deterioration of the pressure sensor device 1 can be suppressed.

[0082] In this embodiment, the flexible substrate base material 11 includes a connection portion 11b for connecting a microphone 33, a connection portion 11a for connecting an acceleration sensor 32, and a connector 31 for connecting a wireless transmission module 4. The microphone 33 allows for capturing minute working sounds at hand. The acceleration sensor 32 allows for capturing hand and other movements. In this way, by using multiple types of sensors in combination, manual work can be captured in more detail. The wireless transmission module 4 allows for easy transmission of sensor data (information) such as detected pressure to a processing unit such as the edge server 103. The wireless transmission module 4 also improves usability compared to wired systems.

[0083] In this embodiment, the side surfaces of the distal joint 15 and the middle joint 16 of the index finger 111 are pressure-sensitive areas 20t as predetermined regions (see FIGS. 7, 20, 21A, and 21B). This allows for proper management of the connector insertion work.

[0084] In this embodiment, the flexible substrate base material 11 is attached to the glove 2 so that the bridge portion 14 that spans from the finger to the back of the hand is positioned on the side of the finger (see FIG. 7). This can alleviate any discomfort felt when the wearer bends or straightens the finger.

[0085] In this embodiment, the pressure-sensitive area 20s includes the distal knuckle 15 and middle knuckle 16 of the finger, and the flexible substrate base material 11 has a narrowed portion 17 formed by narrowing the width of the flexible substrate base material 11 at a position overlapping with the first joint 111b connecting the distal knuckle 15 and middle knuckle 16 (see FIG. 3). This can mitigate erroneous reactions of the sensor caused by bending the finger, and can also reduce the discomfort felt by the operator when bending and straightening the finger.

[0086] In this embodiment, the flexible substrate base material 11 has comb-shaped electrodes 41 and 42 formed asymmetrically with respect to the connection electrode 43 that electrically connects the distal joint 15 and the middle joint 16 (see FIG. 3). This allows the side surface 111a of the index finger 111 to be the pressure-sensitive area 20t, making it possible to perform tasks such as inserting a connector more easily.

[0087] In this embodiment, the width D of the constricted portion 17 is not less than 6.25 mm and not more than 8.65 mm (see FIG. 3), which can alleviate the discomfort felt by the majority of workers when bending and straightening their fingers.

[0088] In this embodiment, the radius of curvature (radius of curvature) r in a static state is 10 mm to 50 mm (see FIG. 4). By setting it in this range, it can be adapted to the curved surfaces of various objects, including not only hands but also feet.

[0089] In this embodiment, the pressure-sensitive material 21 is attached in a state where its radius of curvature r in a static state is curved further than the radius of curvature of the fingertip (the curved surface to which it is attached). This not only prevents the generation of a bending bias load, but also eliminates the bending bias load, resulting in a highly sensitive pressure sensor device 1.

[0090] The work management system 500 of this embodiment also includes a pressure sensor device 1 having a flexible substrate base material 11, comb-tooth electrodes 41, 42 with exposed metal surfaces formed in predetermined regions on the flexible substrate base material 11, a pressure-sensitive material 21 provided on the comb-tooth electrodes 41, 42 and having a curvature in a static state and a resistance value R that changes with load, and a wireless transmission module 4 that transmits a voltage value V measured by the pressure-sensitive material 21, and an edge server 103 (or central server 105) that manages the status based on the voltage value V transmitted from the wireless transmission module 4. This allows manual work to be digitized using sensors in factory assembly processes, equipment inspection work, and the like, making it possible to record work history, prevent work errors, and extract skilled techniques.

[0091] Furthermore, in the work management system 500, the edge server 103 (or the central server 105) feeds back the work status according to the status management and performs warning processing based on the feedback (see S202 and S203 in FIG. 19). This makes it possible to prevent work errors from being overlooked.

[0092] In addition, in the manufacturing method of the pressure sensor device of this embodiment, a flexible substrate base material 11 having flexibility and on which comb-tooth electrodes 41, 42 are formed is fixed in a state in which it is wrapped around a cylindrical jig 60 having a curved surface. A pressure-sensitive material 21 whose resistance value changes depending on the load is formed on the curved comb-tooth electrodes 41, 42. After a protective material 51 is attached from above the pressure-sensitive material 21, the flexible substrate base material 11 including the comb-tooth electrodes 41, 42, the pressure-sensitive material 21, and the protective material 51 is removed from the cylindrical jig 60. This makes it possible to manufacture a pressure sensor device that is excellent in improving detection sensitivity and reducing false reactions by a simple method.

[0093] The present invention is not limited to the above-described embodiment, but may include various modifications. For example, in the present embodiment, the pressure sensor device 1 is mounted on a glove 2, but the pressure sensor device may also be applied to socks. Specifically, the pressure sensor device may be applied to brake tests in the automobile manufacturing process, and may be configured so that the base of the toes is the pressure-sensitive area.

[0094] Furthermore, the pressure sensor device may be applied to a robot arm 700 instead of a human hand. As shown in FIG. 24, a pressure sensor device equipped with a pressure sensor unit 20 is fixed to two fingers of the robot arm 700. By applying the pressure sensor device to a robot in this way, it can be applied to various lots and work management can be performed. Furthermore, it can be configured more cheaply than mounting a pressure sensor on the robot itself.

[0095] Another embodiment includes a flexible substrate base material 11 shaped to fit the hand, comb-shaped electrodes 41 and 42 with exposed metal surfaces formed in a pressure-sensitive region on the flexible substrate base material 11, and a pressure-sensitive material 21 provided on the comb-shaped electrodes 41 and 42, whose resistance value R changes depending on the load. The pressure-sensitive region includes a distal knuckle 15 and a middle knuckle 16 of the finger. The flexible substrate base material 11 has a first joint 111b connecting the distal knuckle 15 and the middle knuckle 16, which has a narrowed portion (constricted shape) 17 with a narrow width D of the flexible substrate base material 11. This eliminates any discomfort felt by the user when bending the finger.

[0096] Furthermore, in this embodiment, the pressure sensor unit 20 is provided on the thumb 110, the index finger 111, and the middle finger 112 as an example, but the pressure sensor unit 20 may be provided on two fingers, the thumb 110 and the index finger 111, or on four or more fingers.

[0097] In addition, in this embodiment, the pressure sensor device 1 has been described as having a curvature that follows the cross section of a finger when it is cut into a cross section, but the present invention is not limited to this configuration. For example, since a finger is curved so as to taper from the first joint 111b to the fingertip, the pressure sensor device may be configured to have a curvature in a static state that follows this curvature. This can reduce or eliminate bending bias, improve detection sensitivity, and mitigate false detection.

[0098] Furthermore, in this embodiment, the pressure sensor device 1 is attached to a glove, but the pressure sensor device 1 may be attached directly to the hand of the worker. [Explanation of symbols]

[0099] 1. Pressure sensor device 2 gloves 2a fingertips 2b pocket 3 Worker's hands 4. Wireless transmission module (transmitter) 10 Flexible PCB 11 Flexible substrate base material 11a, 11b connection part 12 Instep 13 Fingertips 14 Bridge section 15 Distal segment 16 Middle segment 17 Neck (neck shape) 20 Pressure sensor section 20s, 20t Pressure-sensitive area (predetermined area, pressure-sensitive area) 21 Pressure-sensitive materials 31 Connector (connection part) 32 Acceleration sensor 33 Mike 34 Gyro sensor 40 Electrode section 41,42 Comb-shaped electrode 43 Connection electrode (connection wiring) 51 Protective Materials 60 Cylindrical jig (jig with curved surface) 100 workers 110 Thumb 111 index finger 111a side 111b First joint 111c Second joint 112 Middle finger 101 Sensor-embedded gloves (pressure sensor device) 102 Transmitter 103 Edge Server (Status Management Unit) 104 Network 105 Central Server 200 Connectors 201 Insertion target 202 Worker's Hands 203 Pressure-sensitive area (pressure-sensitive region) 300 Electric screwdriver 301 Grip 302 Trigger 400 cylinders 401 Valve 500 Work Management System CL center line r radius of curvature R resistance value

Claims

1. A pressure sensor device for detecting pressure, a flexible substrate base material having flexibility; a comb-shaped electrode having an exposed metal surface formed in a predetermined region on the flexible substrate base material; a pressure-sensitive material provided on the comb-tooth electrode, the resistance value of which changes depending on the load, and which has a curvature in a static state; A pressure sensor device characterized in that the flexible substrate base material has a bridge portion that spans from the finger to the back of the hand and is positioned on the side of the finger.

2. A pressure sensor device for detecting pressure, a flexible substrate base material having flexibility; a comb-shaped electrode having an exposed metal surface formed in a predetermined region on the flexible substrate base material; a pressure-sensitive material provided on the comb-tooth electrode, the resistance value of which changes depending on the load, and which has a curvature in a static state; The side surfaces of the distal and middle joints of the index finger are pressure-sensitive areas as the predetermined areas, the pressure-sensitive area includes a distal joint and a middle joint of the finger; A pressure sensor device characterized in that the flexible substrate base material has a narrowed portion formed in the width of the flexible substrate base material at a position overlapping with a first joint portion connecting the distal joint portion and the middle joint portion.

3. A pressure sensor device for detecting pressure, a flexible substrate base material having flexibility; a comb-shaped electrode having an exposed metal surface formed in a predetermined region on the flexible substrate base material; a pressure-sensitive material provided on the comb-tooth electrode, the resistance value of which changes depending on the load, and which has a curvature in a static state; The side surfaces of the distal and middle joints of the index finger are pressure-sensitive areas as the predetermined areas, A pressure sensor device characterized in that the flexible substrate base material has the comb-tooth electrodes formed asymmetrically with respect to the connection wiring that electrically connects the distal node portion and the middle node portion.

4. A pressure sensor device for detecting pressure, a flexible substrate base material having flexibility; a comb-shaped electrode having an exposed metal surface formed in a predetermined region on the flexible substrate base material; a pressure-sensitive material provided on the comb-tooth electrode and having a curved shape whose resistance value changes depending on a load; the pressure sensor unit including the flexible substrate base material, the comb-tooth electrode, and the pressure-sensitive material is an elastic body that, when bent, exerts a force that returns it to a stable curved state, that is, a stable curved shape; A pressure sensor device characterized in that the radius of curvature of the pressure-sensitive material is 10 mm to 50 mm.

5. A pressure sensor device according to claim 4, A pressure sensor device characterized in that the resistance value of the pressure-sensitive material is 500 kΩ or more.

6. A pressure sensor device according to claim 4, A pressure sensor device, wherein the normal stress in the pressure-sensitive material is a tensile interlayer stress.

7. The pressure sensor device according to any one of claims 1 to 4, A pressure sensor device attached to the inside of a glove.

8. The pressure sensor device according to any one of claims 1 to 4, The flexible substrate base material is provided with a connection portion for connecting at least one of a microphone, an acceleration sensor, and a transmitter.

9. The pressure sensor device according to any one of claims 1 to 4, A pressure sensor device characterized in that the side surfaces of the distal and middle joints of the index finger are pressure-sensitive areas as the predetermined areas.

10. 3. The pressure sensor device according to claim 2, A pressure sensor device characterized in that the width of the constricted portion is 6.25 mm or more and 8.65 mm or less.

11. The pressure sensor device according to any one of claims 1 to 4, A pressure sensor device characterized in that the radius of curvature of the pressure-sensitive material in a static state is smaller than the radius of curvature of the curved surface to which it is attached.

12. A pressure sensor device for detecting pressure on a finger, A flexible substrate base material shaped to fit the hand, a comb-shaped electrode having an exposed metal surface formed in a pressure-sensitive region on the flexible substrate base material; a pressure-sensitive material provided on the comb-tooth electrode, the resistance value of which changes depending on the load; the pressure-sensitive area includes a distal joint and a middle joint of the finger; A pressure sensor device characterized in that the flexible substrate base material has a first joint portion connecting the distal joint portion and the middle joint portion, which has a narrow, constricted shape.

13. a pressure sensor device comprising: a flexible substrate base material having flexibility; a comb-shaped electrode with an exposed metal surface formed in a predetermined region on the flexible substrate base material; a pressure-sensitive material provided on the comb-shaped electrode, the resistance value of which changes with load and which has curvature in a static state; and a transmitter that transmits at least a voltage value measured by the pressure-sensitive material, wherein the predetermined region is the pressure-sensitive region on the side of the distal and middle knuckles of the finger, and the flexible substrate base material has a narrowed portion formed at a position overlapping a first joint portion connecting the distal and middle knuckles; a status management unit that performs status management based on the voltage value transmitted from the transmission unit.

14. A work management system according to claim 13, the status management unit feeds back a work status in accordance with the status management; A work management system that performs warning processing based on the feedback.

15. A method for manufacturing a pressure sensor device, characterized by: wrapping a flexible substrate base material having flexibility and having a comb-tooth electrode formed thereon around a jig having a curved surface and fixing it in that state; forming a pressure-sensitive material whose resistance value changes depending on the load on the curved comb-tooth electrode; attaching a protective material on top of the pressure-sensitive material; and then removing the flexible substrate base material including the comb-tooth electrode, the pressure-sensitive material, and the protective material from the jig.

16. A method for manufacturing a glove equipped with a pressure sensor device for detecting pressure on a finger, comprising: The pressure sensor device a flexible substrate base material having flexibility; a comb-shaped electrode having an exposed metal surface formed in a predetermined region on the flexible substrate base material; a pressure sensor unit including a pressure-sensitive material provided on the comb-tooth electrode, the resistance value of which changes depending on the load, and the pressure-sensitive material having a radius of curvature of 10 mm to 50 mm; A method for manufacturing a glove, characterized in that the pressure sensor unit is bent and attached to the glove so that the radius of curvature of the pressure-sensitive material after attachment to the glove is larger than the radius of curvature of the pressure-sensitive material before attachment to the glove.

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