Glove unit and charging stand

Abstract

To provide a glove unit capable of easily performing initial setting of a data glove, and a charging stand of the data glove.SOLUTION: A glove unit is provided with a bending sensor 4, and is compose of a data glove 1 for outputting data regarding action of fingers, and a charging stand 10 for charging the data glove 1. The charging stand 10 includes holding means 11 which holds the data glove 1 while making the bending sensor 4 in a prescribed loaded state.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a glove unit composed of a data glove and its charging stand, and a charging stand for the data glove.

Background Art

[0002] In recent years, with the development of communication technology, remote operations, operations in virtual spaces, etc. are becoming familiar technologies. In such operations, a data glove that can output data related to a hand movement according to the hand movement in order to enable intuitive operations is known.

[0003] For example, the data glove shown in Patent Document 1 includes a plurality of bending sensors installed along the back side of the thumb or index finger. The bending sensor has flexibility and is configured such that its resistance value changes according to the amount of elastic deformation following the bending movement of the finger.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In a data glove such as Patent Document 1, data based on the amount of change in the resistance value from the resistance value (initial value) at the initial position of this bending sensor is output, enabling the bending movement of the finger to be specified.

[0006] Incidentally, the initial position of the bend sensor is when no external load, such as finger bending motion, is applied to the data glove, and the resistance value of the bend sensor in this state is set as the initial value. However, before the data glove is attached to the hand, the bend sensor is not attached to the thumb or index finger and is in a state where it is easily deformed. Therefore, when the data glove is placed on a stand, the bend sensor will bend, and when the data glove is lifted, the fingertip side of the bend sensor will droop, making it difficult to maintain the same shape as when the fingers are extended, resulting in variability in the initial value setting. Furthermore, while it is possible to perform the initial setup while wearing the data glove and maintaining a posture with fingers extended, there was a problem in that this posture had to be maintained until the initial setup was complete.

[0007] This invention was made in view of these problems, and aims to provide a glove unit and a charging stand for data gloves that enable easy initial setup of the data gloves. [Means for solving the problem]

[0008] To solve the aforementioned problems, the glove unit of the present invention is: A data glove equipped with a bending sensor outputs data related to finger movements, It consists of a charging stand for charging the aforementioned data glove, The charging stand is characterized by having a holding means for holding the data glove with the bending sensor in a predetermined load state. This feature allows the bending sensor to be initially set to a predetermined load state by holding the data globe in the charging stand, thus simplifying the initial setup of the bending sensor.

[0009] The data globe is held in the charging stand such that the predetermined load becomes unloaded. This feature allows for simplified initial setup.

[0010] The data globe includes a soft portion on which the bending sensor is located. The soft portion is held on the charging stand in a cantilevered manner via the charging stand. According to this feature, during initial setup, the flexible section where the bending sensor is located is cantilevered, and the initial settings of the bending sensor are determined based on the amount of deflection of the flexible section in this state. This allows for initial settings to be adjusted according to usage conditions, such as changes over time.

[0011] The data globe is characterized by comprising a soft portion on which the bending sensor is arranged, and a reinforcing portion that reinforces a part of the soft portion, and being able to be held by the holding means of the charging stand via the reinforcing portion. This feature allows for better grip at the strongest points, making it easier to maintain the correct posture of the data glove.

[0012] The data glove is characterized in that the reinforcing portion is positioned to cover the upper surface of the back of the hand. This feature allows for easy movement of the data glove to the charging stand by placing the back of the glove against the hand and lifting or gripping the back of the glove, and also prevents force from being applied to the bending sensor when not in use.

[0013] The charging stand of the present invention A charging stand for a data glove equipped with a bending sensor that outputs data related to finger movements, The device is characterized by having a holding means for holding the data globe when the bending sensor is in a predetermined load state. This feature allows the bending sensor to be initially set to a predetermined load state by holding the data globe in the charging stand, thus simplifying the initial setup of the bending sensor. [Brief explanation of the drawing]

[0014] [Figure 1] It is a perspective view of the data glove unit in an embodiment of the present invention. [Figure 2] It is a top view of the data glove. [Figure 3] It is a side view of the data glove. [Figure 4] (a) is a front view of the data glove, and (b) is a rear view of the data glove. [Figure 5] It is a side view showing a partially cut-away state of the data glove being worn. [Figure 6] It is a side view showing a partially cut-away state of the data glove being worn and in a gripping operation. [Figure 7] It is a front view showing the state of gripping the grip of the data glove. [Figure 8] It is a perspective view of the charging stand. [Figure 9] It is a top view of the charging stand. [Figure 10] It is a side view showing a partially cut-away state of the data glove being held by the charging stand. [Figure 11] (a) is a top view showing a partially cut-away state before the data glove is attached to the charging stand, and (b) is a top view showing a partially cut-away state of the data glove attached to the charging stand.

Mode for Carrying Out the Invention

[0015] A mode for carrying out the data glove unit according to the present invention will be described below based on an example.

Example

[0016] The data glove unit according to the example will be described with reference to FIGS. 1 to 11. Hereinafter, the lower left side of the paper surface of FIG. 1 will be described as the front side (frontward side) of the data glove unit. Also, in the data glove, the side where the hand is inserted, that is, the space between the grip and the back cover, will be described as the inner side of the data glove.

[0017] As shown in Figure 1, the data globe unit U consists of a data globe 1, which is an input operation means for remotely controlling a robotic arm used for picking work in a logistics warehouse, and a charging stand 10 for charging the data globe 1.

[0018] Furthermore, the charging stand 10 is positioned near the data globe 1 and also serves as a communication means that receives data output from the data globe 1 via wireless communication and outputs operation command data to a remote robot arm via a public communication network. Note that the communication means may be provided separately from the charging stand.

[0019] First, the data globe 1 will be described with reference to Figures 1 to 4. The data globe 1 mainly consists of a flexible member 2 (flexible part), a reinforcing member 3 (reinforcing part), a bending sensor 4, a control device 5 as a data output means, and a vibration motor 6 (see Figure 4(b)). In order to clearly show that the reinforcing member 3 is a separate component from the flexible member 2, a dot pattern is added to the reinforcing member 3 in each figure.

[0020] The flexible member 2 is integrally formed from silicone (flexible material) and consists of a base portion 20 (base member), an extension portion 21 (extension member) extending forward from the front end of the base portion 20, a grip 22 extending to the left from the left wall of the base portion 20, a connecting portion 23 extending in an arc shape upward from the right wall of the base portion 20, and a top cover 24 extending to the left from the upper end of the connecting portion 23. The flexible member 2 may be formed from a material other than silicone.

[0021] The base portion 20 and the extension portion 21 are continuous in the longitudinal direction and are formed in a U-shape in cross-section when viewed in the longitudinal direction. As a result, a semicircular groove 25 is formed in cross-section, which is open upwards and recessed downwards, extending from the base portion 20 to the extension portion 21 in the longitudinal direction. Note that in Figures 2 and 3, the base portion 20 extends to the point where the grip 22 and connecting portion 23 are continuous, indicated by the dashed line B, and the extension portion 21 extends forward from there.

[0022] Furthermore, the bottom of the base portion 20 is thicker than the bottom of the extension portion 21 (see Figure 5). As a result, the base portion 20 is less prone to deformation than the extension portion 21. The extension portion 21 has approximately the same thickness from front to back; more specifically, the rear end is slightly thicker than the front end.

[0023] The grip 22 extends in the left-right direction and is formed in a roughly cylindrical shape with a constriction in the center in the left-right direction. Furthermore, the grip 22 is formed to an appropriate thickness to provide the necessary rigidity while being easy to grip with the middle finger, etc.

[0024] The connecting portion 23 is formed in an arch shape that curves outward, i.e., to the right, from both ends in the vertical direction towards the center in the vertical direction when viewed from the front. Furthermore, as shown in Figure 3, the connecting portion 23 is formed in a shape that narrows in side view as it approaches the connection portion with the base portion 20 from the connection portion with the upper cover 24.

[0025] The top cover 24 is formed in a rectangular shape when viewed from above, and a recess is formed in its center, extending from the outer side to the inner side. The control device 5 is housed in this recess.

[0026] Furthermore, the base portion 20, the connecting portion 23, and the outer side of the upper cover 24 have outer grooves that are open to the outside and recessed inward. These outer grooves of the soft member 2 are configured to allow the core portion 30 of the reinforcing member 3 to be fitted inside, and are in communication with the recess of the upper cover 24.

[0027] The reinforcing member 3 is made of polyvinyl chloride (hard material), which is harder than the silicone that makes up the soft member 2, and consists of a core portion 30 that is fitted into the outer groove of the soft member 2 and a rectangular cover portion 31 that is fitted onto the upper end of the top cover 24. Note that the hard material is not limited to polyvinyl chloride and may be changed as appropriate as long as it is harder than the soft material.

[0028] The core portion 30 is formed in an arch shape that follows the outer groove of the soft member 2. Furthermore, as shown in Figure 3, the core portion 30 is formed in a shape that narrows in side view as it approaches the base portion 20 from the connection point with the cover portion 31.

[0029] Furthermore, the core portion 30 is formed in a triangular cross-section when viewed in the longitudinal direction (see Figure 1). In particular, it is formed to bulge outward as it approaches the base portion 20 of the soft member 2. As a result, although it is formed to be shorter in the front-to-back direction than the connecting portion 23, it has sufficient rigidity to suppress the elastic deformation of the connecting portion 23. This makes it possible to reduce the size of the base portion 20 by reducing the area in contact between the connecting portion 23 and the base portion 20, while supplementing the strength of the connecting portion 23.

[0030] Furthermore, as shown in Figures 3 and 4, a locking body 32, which is L-shaped in side view and extends downward and further forward and rearward, is formed at the lower end 30a (see Figure 10) of the core portion 30. The locking body 32 is used to hold the data globe 1 in the charging stand 10. As shown in Figure 10, the lower end 30a, in side view, is inclined at approximately 45 degrees upward from rear to front and is slightly curved inward.

[0031] As shown in Figures 1 and 2, an elongated LED confirmation window L is provided at the front end of the cover portion 31. The LED confirmation window L is made of a semi-transparent material and is used to confirm the illumination of the LED (light-emitting diode) of the control device 5. The LED of the control device 5 lights up yellow when power is turned on, lights up blue when the control device 5 is connected to the communication device for communication, and lights up red when the battery V is being charged. The illumination color of the LED in each state may be changed as appropriate. Furthermore, the configuration is not limited to individually setting the illumination color of the LED in each state; the blinking pattern may be changed, and the number and arrangement of the LEDs that light up and blink may also be changed.

[0032] As shown in Figure 4(b), the rear side of the cover portion 31 is provided with a power switch 31a for powering on the control device 5, a home position switch 31b for setting the home position of the data globe 1 (described later), and a hole 31c for exposing the USB (Universal Serial Bus) port 50 provided on the control device 5.

[0033] The bending sensor 4 is elastically deformable, and its resistance value changes according to the elastic deformation. The bending sensor 4 is inserted into the bottom of the extension 21, which is in the center of the short direction (left-right direction) (see Figure 3), along the longitudinal direction (front-back direction) (see Figure 2) from the front end of the base 20 of the soft member 2 to the front end of the extension 21. The bending sensor 4 is prevented from falling off the base 20 by attaching the reinforcing member 3. This ensures the mounting stability of the bending sensor 4 and makes maintenance of the bending sensor 4 easy.

[0034] The control device 5 includes a calculation control unit that performs various settings and calculations, a communication unit that can exchange data with the charging stand 10, a USB port 50 to which the USB connector E1 (see Figure 1) for charging the charging stand 10 can be connected, a battery V connected to the USB port 50 via a wire C3 and the charging control unit, a position sensor for determining the position and angle of the data globe 1 relative to the home position, and an LED electrically connected to the calculation control unit. The position sensor may be just a gyro sensor capable of detecting the angle of the data globe 1, or it may be a motion capture system using a camera separate from the data globe, and its configuration may be changed as appropriate.

[0035] When the power switch 31a is turned on, the control device 5 sets the resistance value of the bending sensor 4 at that time (i.e., the shape of the bending sensor 4 at that time) as the initial position. Subsequently, when the data glove 1 is used, data corresponding to the bending amount is calculated based on the change in resistance value from the resistance value at the initial position (initial value). This data corresponding to the bending amount of the finger corresponds to the data related to finger movement in this invention.

[0036] Furthermore, when the home position switch 31b is turned on, the control device 5 sets the home position of the data globe 1. Known techniques can be used for setting the home position. In this embodiment, the position and angle when the data globe 1 is in a horizontal state are set as the home position. Subsequently, when the data globe 1 is used, the calculation control unit of the control device 5 calculates data corresponding to the changes in movement and angle in the x, y, and z axes, with respect to the home position of the data globe 1.

[0037] Furthermore, the control device 5 is connected to the bending sensor 4 and the vibration motor 6 by conductors C1 and C2. The conductors C1 and C2 are arranged along the outer groove of the flexible member 2 and are covered by the core portion 30 of the reinforcing member 3. This allows access to the conductors by removing the reinforcing member 3 from the flexible member 2. Therefore, maintenance of the conductors C1 and C2 is easy.

[0038] The vibration motor 6 is capable of varying its vibration intensity according to the power value. Specifically, when the operator, wearing the data glove 1, performs a bending motion by bending their index finger, the calculation control unit outputs a current to the vibration motor 6 corresponding to the change in the resistance value of the bending sensor 4. As a result, the vibration motor 6 vibrates with an intensity corresponding to the input current value. Alternatively, the vibration motor 6 may be supplied with a current corresponding to data that matches the gripping position and angle of the robot arm's finger.

[0039] Furthermore, as shown in Figure 4(b), the vibration motor 6 is embedded in the left wall of the base 20 of the soft member 2. Compared to a configuration where it is located in the extended portion 21, this makes it less likely for vibrations from the vibration motor 6 to be directly transmitted to the index finger performing the bending motion, thus reducing the impact on the bending motion. In addition, since vibrations are less likely to be transmitted to the control device 5 through the connecting portion 23 and the upper cover 24, the control device 5 is less likely to malfunction.

[0040] Next, we will explain how to use the data glove 1. First, we will explain how to attach the data glove 1. First, referring to Figure 1, operate the power switch 31a while the data glove 1 is held in the charging stand 10 to set the initial position of the bending sensor 4. After the setting is complete, remove the data glove 1 from the charging stand 10. Details on setting the initial position will be described later.

[0041] Next, referring to Figure 5, the thumb T is extended slightly downward relative to the nearly horizontal index finger F. In this position, the index finger F, middle finger M, ring finger R, and little finger P (see Figure 7) are inserted between the base 20 and the back cover 24, from the rear to the front. Then, the index finger F is inserted into the semicircular groove 25, and the pad of the index finger F is placed along the inner surface of the semicircular groove 25, i.e., the extended portion 21.

[0042] On the other hand, a portion of the interdigital webbing W in the first interdigital space between the thumb T and the index finger F is aligned with the base portion 20.

[0043] Furthermore, since the semicircular groove 25 is open not only on the upper side but also on the front side, the fingertip of the index finger F can extend forward beyond the semicircular groove 25. For example, compared to a configuration in which the fingertip is covered in a pouch-like shape, the length of the index finger F is less restricted, and a part of the interdigital webbing W can always be brought into contact with the base 20. As a result, the base 20 can function stably as a fulcrum, making it easier to bend the index finger F.

[0044] Next, as shown in Figure 7, grasp the grip 22 with your middle finger M, ring finger R, and little finger P. Finally, with your upper arm along your side and your elbow bent at approximately 90 degrees, extend your hand forward to position the control device 5 horizontally, turn on the home position switch 31b to set the home position of the data glove 1 (position sensor).

[0045] As described above, the procedure for putting on the data glove 1 has been explained, but the procedure for putting on the data glove 1 may be modified as appropriate. For example, after grasping the grip 22 with the middle finger M, ring finger R, and little finger P, the index finger F may be placed along the semicircular groove 25.

[0046] Next, we will describe the data glove 1 before gripping, after putting it on the hand. In the state shown in Figure 5, the index finger F is extended, and as with Figures 1-4, the extended portion 21 of the soft member 2 is in its natural state, i.e., not bending. At this time, the bending sensor 4 is in an initial position with almost zero deformation. Thus, in this invention, the load acting on the bending sensor 4 when the deformation amount relative to the initial position is almost zero is considered to be no load. Therefore, loads acting on the bending sensor 4 due to gravity, the weight of the extended portion 21, elasticity, etc. are permitted.

[0047] In this initial position, the cantilevered extension 21 is slightly curved due to gravity, and the bending sensor 4, like the base 20 and the extension 21, is slightly curved, that is, slightly elastically deformed from a straight line.

[0048] In this embodiment, in the initial position, the extension portion 21 is slightly curved in an arc shape, and the index finger F is positioned above the extension portion 21. Therefore, even if the index finger F is straightened or bent backward, the extension portion 21 and the bending sensor 4 do not deform. In this way, the bending sensor 4 does not detect hand movements unrelated to bending, thus reducing the amount of data that needs to be processed.

[0049] Next, we will describe the data glove 1 during the grasping operation. This grasping operation is performed by the user of the data glove 1 while looking at a monitor that displays the robot arm and the target object.

[0050] As shown in Figure 6, when the user bends their index finger F while wearing the data glove 1, a part of the base 20 and the extension 21 elastically deform accordingly.

[0051] In this embodiment, the calculation control unit of the control device 5 processes the bending amount as zero from the initial position shown in Figure 5 until the elastic deformation of the bending sensor 4 reaches a predetermined level. As a result, a so-called dead zone is provided at the initial position, preventing data from being output from the data glove 1 due to unintentional slight movements of the index finger F. Therefore, unintended movements of the robot arm can be prevented.

[0052] Furthermore, if the calculation control unit of the control device 5 determines that the bending amount has exceeded a predetermined amount based on the change in the resistance value of the bending sensor 4, it calculates data corresponding to the bending and outputs it to the communication device via the communication unit. At the same time, the calculation control unit vibrates the vibration motor 6, so that the amount of bending, or in other words, the gripping state, can be grasped by the user of the data glove 1. Note that a dead zone is not required.

[0053] On the other hand, the base portion 20 and the extension portion 21 are configured to be elastically return to their original position within the range of bending motion of the index finger F. This allows them to follow the action of loosening or releasing the bending motion by the index finger F, resulting in good responsiveness.

[0054] Next, the charging stand 10 will be described. As shown in Figure 8, the charging stand 10 mainly consists of a main body 11 as a holding means, a USB connector E1 for charging extending from the main body 11, a power plug E2 extending from the main body 11 for connecting to a commercial power source, and a power supply device A to which the USB connector E1 and power plug E2 are connected.

[0055] The main body 11 is formed in an arch shape that curves upward from both ends in the front-to-back direction toward the center in the front-to-back direction when viewed from the side.

[0056] As shown in Figures 9 and 10, a rectangular front-side elongated hole 12 is formed on the front side of the central part of the main body 11, extending vertically and elongated in the front-to-back direction. The front-side elongated hole 12 is formed so that the extended portion 21 of the data glove 1 can be inserted into it.

[0057] A rectangular rear elongated hole 13 is formed on the rear side of the central part of the main body 11, extending vertically and elongated in the front-to-back direction. The rear elongated hole 13 is formed to be movable in the front-to-back direction when the base 20 and the lower end of the core 30 of the data globe 1 are inserted into it (see Figure 10).

[0058] A wall-like partition 14 is formed between the front elongated hole 12 and the rear elongated hole 13, separating them. The upper end 14a of the partition 14 is located below the upper end surface of the main body 11 and is shaped to conform to the lower end 30a of the core portion 30 that covers the base portion 20 of the data globe 1 from below.

[0059] Furthermore, a slit groove 14b is formed at the rear end of the partition portion 14, which is open to the rear and recessed toward the front. As shown in Figure 11, the slit groove 14b is formed in a U-shape in which rectangles are connected in a semicircle that curves toward the front from both ends in the left-right direction toward the center in the left-right direction when viewed from above, and is formed so that the U-shaped protrusion 32a of the locking body 32 of the data glove 1 can be inserted into it.

[0060] Furthermore, a land 15 is formed on the left side of the rear elongated hole 13. The upper end surface 15a of the land 15 is located below the upper end surface of the main body 11 and is formed so that the grip 22 of the data glove 1 can be placed on it.

[0061] A power supply device A is embedded within Land 15. Power supply device A includes an AC adapter and converts the AC 100V electricity supplied from power plug E2 into DC 5V electricity, which is then supplied to USB connector E1. As a result, the DC 5V electricity supplied from USB port 50 is used to charge battery V according to the charging control unit (not shown).

[0062] Next, the procedure for attaching the data glove 1 to the charging stand 10 will be described. First, referring to Figure 11(a), the data glove 1 is moved from top to bottom so that the base 20 and the lower end 30a of the core 30 of the data glove 1 are inserted into the rear elongated hole 13, and the front end of the extension 21 of the data glove 1 is inserted into the front elongated hole 12.

[0063] Next, the data glove 1 is moved forward until the protruding piece 32a is inserted into the slit groove 14b and the extended portion 21 contacts the partition portion 14. In this state, the lower end portion 30a of the data glove 1 is placed on the upper end portion 14a of the partition portion 14, and the grip 22 of the data glove 1 is placed on the upper end surface 15a of the land 15, resulting in the state shown in Figure 11(b). In this way, the data glove 1 can be attached to and held in the charging stand 10. The data glove 1 can be removed from the charging stand 10 by reversing the procedure described above.

[0064] At this time, by moving the data glove 1 forward while gripping the back cover 24, the fingers are less likely to come into contact with the main body 11, making it easier to move the data glove 1. In addition, since contact between the fingers and the extended portion 21 is prevented, force is prevented from being applied to the bending sensor 4 even when it is not in use.

[0065] Furthermore, since the strength of the upper cover 24 is reinforced by the cover portion 31 of the reinforcing member 3, it can be gripped stably.

[0066] Furthermore, when moving the data globe 1, the extension portion 21 is guided by contacting the wall surface defining the front elongated hole 12, and the lower ends of the base portion 20 and core portion 30 are guided by contacting the wall surface defining the rear elongated hole 13, making alignment easy.

[0067] Furthermore, when inserting the protruding piece 32a of the data globe 1 into the slit groove 14b of the partition 14, the front end of the protruding piece 32a is formed in a semicircular shape that curves forward from both ends in the left-right direction toward the center in the left-right direction when viewed from above, making it easy to align when inserting it into the slit groove 14b. Also, the rear end of the protruding piece 32a is formed in a rectangular shape when viewed from above, so when inserted into the slit groove 14b, it prevents rotation in the left-right direction and guides insertion in the front-back direction.

[0068] When the data glove 1 is attached to the charging stand 10, the base 20 is supported by the partition 14, and this state is maintained by the locking body 32 of the data glove 1 inserted into the slit groove 14b, while the extension 21 of the data glove 1 is cantilevered through the base 20. In addition, the control device 5 of the data glove 1 is also in a nearly horizontal position. In other words, it is in approximately the same state as before the data glove 1 is attached and gripping is performed.

[0069] As a result, when the power switch 31a is turned on, the data glove 1 can be attached to the hand, and the initial setup can be performed with approximately the same load condition as before gripping. Therefore, the initial setup of the bending sensor 4 is easy.

[0070] Furthermore, if the load state of the bending sensor differs between the state when the data glove is attached and before gripping, and the state when the data glove is held in the charging stand, then when performing the initial setup while the data glove is held in the charging stand, it is necessary to perform a correction that takes into account the difference in load states. In contrast, in this embodiment, the load state of the bending sensor 4 is the same unloaded state when the data glove 1 is attached and before gripping, and when the data glove 1 is held in the charging stand 10, so there is no need to perform a correction, and the initial setup can be simplified.

[0071] Furthermore, the bottom of the base 20 is thicker than the extension 21, and its rigidity is further enhanced by the integrally formed grip 22 and connecting portion 23. In addition, the strength of the base 20 is reinforced by the core portion 30 of the reinforcing member 3. As a result, the base 20 can stably cantilever support the extension 21.

[0072] Furthermore, since the extension 21 is positioned within the front elongated hole 12, even if the amount of deflection (exaggerated in the figure 10) increases due to aging or other factors, as shown by the dashed line, it remains in a cantilevered state. Therefore, the initial settings of the bending sensor 4 are made based on the amount of deflection of the extension 21. Since such deflection occurs even before the data glove 1 is put on the hand and gripped, the data glove unit U can be used to make initial settings according to usage conditions such as aging.

[0073] Furthermore, since the data glove 1 can be supported by gripping the grip 22, compared to a configuration in which the data glove 1 is supported by directly gripping the base 20 and extension 21, for example, the load state of the bending sensor 4 tends to be the same whether the data glove 1 is on the hand before gripping or whether the data glove 1 is held in the charging stand 10, making initial setup easier.

[0074] Furthermore, since the base 20 of the data globe 1 is supported by the partition 14 over the lower end 30a, deformation of the base 20 due to aging and other factors can be suppressed.

[0075] Furthermore, since the grip 22 of the data glove 1 is supported on the upper end surface 15a of the land 15, deformation of the grip 22 due to aging or other factors can be suppressed.

[0076] These base portion 20 and grip 22 are essential parts for cantilevering the extension portion 21 when the data glove 1 is worn on the hand. By suppressing their deformation, stable initial setup of the bending sensor 4 can be performed over a long period of time.

[0077] Furthermore, since the base 20 and extension 21 of this embodiment are integrally molded from the same material, the design can be simplified. For example, if the base and extension are made of different materials, it becomes difficult to design the strength of the connection point.

[0078] Furthermore, since the connecting portion 23 that connects the base portion 20 and the upper cover 24 is reinforced by the core portion 30 of the reinforcing member 3, swinging is less likely to occur when gripping and handling the upper cover 24, and the extended portion 21 can come into contact with the main body 11, preventing force from being applied to the bending sensor 4 even when not in use.

[0079] Although embodiments of the present invention have been described above with reference to the drawings, the specific configurations are not limited to these embodiments, and additions and modifications that do not depart from the spirit of the present invention are also included.

[0080] For example, in the above embodiment, the data globe 1 was described as being used to remotely control picking operations in a logistics warehouse, but it is not limited to this. It may also be used for remote control of assembly, inspection, etc. in a manufacturing plant, or for operations in a virtual space such as the so-called metaverse. It can be used for any operation involving finger movements, and is not limited to picking operations.

[0081] Furthermore, although the data glove 1 was described in the above embodiment as having a base 20, an extension 21, and a bending sensor 4 for detecting the movement of the index finger F, it is not limited to this configuration. It may also be used to detect the movement of other fingers, and may be increased to the desired number of fingers. The configuration may be modified as appropriate.

[0082] Furthermore, although the above embodiment was described as a configuration in which the extension portion 21 is cantilevered by the charging stand 10, the invention is not limited to this, and at least a part of the extension portion 21 may be placed on or suspended from a part of the charging stand.

[0083] Furthermore, although the above embodiment described a configuration in which the bending sensor 4 is in an unloaded state when the data globe 1 is supported by the charging stand 10, the configuration is not limited to this, and it may be configured to be in a predetermined load state different from the unloaded state. Even with such a configuration, the correction value can be predetermined as a value corresponding to a predetermined load, so initial setup is easier compared to a configuration in which the correction value is calculated from the load acting on the bending sensor each time initial setup is performed.

[0084] Furthermore, although the above embodiment described the bending sensor 4 as being embedded in the extended portion 21, it is not limited to this configuration. It may also be mounted by attaching a ring to the finger, as in Patent Document 1, or it may be positioned along the finger portion of the glove. In such a configuration, the charging stand only needs to be equipped with a holding means that locks the ring to mount the bending sensor in order to bring it into a predetermined load state, a holding means that can be inserted into the finger of the glove, etc.

[0085] Furthermore, although the above embodiment described the data globe 1 as being held by the locking body 32 of the reinforcing member 3 being inserted into the slit groove 14b of the charging stand 10, the configuration is not limited to this, and it may also be held using, for example, hook-and-loop fasteners, snap buttons, magnets, etc. From the viewpoint of support strength, it is preferable that these be provided on the reinforcing member 3 when provided on the data globe 1 side.

[0086] Furthermore, if the structure of the charging stand and the gloves is such that the gloves are stable when placed on the charging stand and there is no or only small load on the extended portion, then it is not necessary to provide locking parts such as the locking body 32 and the slit groove 14b.

[0087] Furthermore, although the charging stand 10 was described in the above embodiment as having a wired USB connector E1, it is not limited to this configuration, and may be contact-type or non-contact-type, and the charging method may be changed as appropriate.

[0088] Furthermore, although the soft member 2 was described in the above embodiment as having a connecting portion 23 and a front cover 24, it is not limited to this configuration, and the connecting portion 23 and the front cover 24 may be omitted. In such a configuration, the data output means may be provided on the base member, grip, etc.

[0089] Furthermore, in the above embodiment, the calculation control unit of the control device 5 was described as being configured to vibrate the vibration motor 6 with an intensity corresponding to the bending amount of the bending sensor 4, but it is not limited to this, and it may also be configured to vibrate with an intensity corresponding to the output from the robot arm. With such a configuration, for example, by increasing the vibration of the vibration motor 6 as the reaction force generated in the robot arm by gripping an object increases, it is possible to recognize that the object has been gripped reliably, and it is possible to prevent damage to the object by gripping it with excessive force. Moreover, when the vibration corresponding to the bending amount of the bending sensor 4 and the vibration corresponding to the output from the robot arm are shared, it is preferable from the viewpoint of understanding the situation to configure the rhythm and duration / number of vibrations of each to be different.

[0090] Furthermore, although the charging stand 10 was described in the above embodiment as having a configuration comprising a front elongated hole 12, a rear elongated hole 13, a partition portion 14, and a land 15, it is not limited to this configuration. It may also be a groove that functions similarly to the front elongated hole 12 and the rear elongated hole 13, or it may have a shape in which the front or rear side is open, or only the partition portion 14 may be formed, and these configurations may be changed as appropriate. [Explanation of symbols]

[0091] 1 Data Glove 2. Soft material (soft part) 3. Reinforcement members (reinforcement parts) 4. Bending sensor 10 Charging Stands 11 Main body (holding means) E1 USB connector E2 Power Plug F Index finger M middle finger P little finger R (Ring finger) T thumb U Data Globe Unit

Claims

1. A data glove equipped with a bending sensor outputs data related to finger movements, It consists of a charging stand for charging the aforementioned data glove, The data globe includes a soft portion on which the bending sensor is located. The glove unit is characterized in that the charging stand has a holding means for holding the data glove in a cantilevered position supporting the soft portion.

2. The data glove unit according to claim 1, comprising a soft portion on which the bending sensor is arranged, and a reinforcing portion that reinforces a part of the soft portion, and being able to be held by the holding means of the charging stand via the reinforcing portion.

3. The glove unit according to claim 2, characterized in that the data glove is positioned so that the reinforcing portion covers the upper surface of the back of the hand.

4. A charging stand for a data glove equipped with a bending sensor that outputs data related to finger movements, The data globe includes a soft portion on which the bending sensor is located. A charging stand characterized by having a holding means for holding the data glove while supporting the soft part in a cantilevered manner.

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