Moving body and input device
The moving body uses a belt and sensor system to detect force for intuitive and precise operation, addressing the limitations of manual joystick control and ensuring freedom and accuracy in movement.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- KEIO UNIV
- Filing Date
- 2025-09-09
- Publication Date
- 2026-06-11
Smart Images
Figure JP2025031881_11062026_PF_FP_ABST
Abstract
Description
Moving body and input device 【0001】 The present disclosure relates to a moving body and an input device. 【0002】 It is known to detect the movement of a part of the human body (for example, Patent Document 1 and Non-Patent Document 1). For example, Patent Document 1 describes a moving body that swings a passenger boarding section according to the detection result of the center-of-gravity movement of the human body. 【0003】 International Publication No. 2019 / 244444 【0004】 Yokota Akira et al., "Operation of a Personal Mobility Vehicle Using a Saddle-Type Body Movement Interface Utilizing Human Motion Characteristics", Journal of the Robotics Society of Japan, 2014, Vol. 32 No. 6, pp. 550-557. 【0005】 When operating with a joystick, since one hand is used to hold the joystick, the operator's actions are restricted. For example, when an electric wheelchair is operated with a joystick, it may be difficult to open and close a door or carry an object. In contrast, an operation using the detection result of the center-of-gravity movement of the human body can be considered. However, in an operation based on the center-of-gravity movement, a high level of balance ability and familiarity are required for precise operation and information input. 【0006】 One aspect of the present invention aims to provide a moving body that ensures freedom of movement and enables easy and accurate operation. Another aspect of the present invention aims to provide an input device that ensures freedom of movement and enables easy and accurate information input. 【0007】 The moving body according to one aspect of the present invention includes an operation member, a sensor, a fixing member, a calculation unit, an operation unit, and a seat surface. The operation member includes a belt that restrains a part of the human body. The sensor detects the force applied from the belt. The fixing member fixes the sensor. The calculation unit calculates the movement of the belt with respect to the fixing member based on the detection result of the sensor. The operation unit operates based on the calculation result of the calculation unit. The seat surface moves by the operation of the operation unit. 【0008】One aspect of the present invention provides a mobile body that ensures degrees of freedom and enables easy and accurate operation. Another aspect of the present invention provides an input device that ensures degrees of freedom and enables easy and accurate information input. 【0009】 This is a perspective view showing the mobile body in this embodiment. This is a block diagram of the mobile body. This is a perspective view showing the mobile body. This is a partial plan view showing the mobile body. This is a perspective view showing the mobile body. This is a partial schematic diagram of the mobile body. (a) is a partial schematic diagram of the mobile body in a modified example of this embodiment, and (b) is a partial schematic diagram of the mobile body in yet another modified example of this embodiment. (a) is a partial schematic diagram of the mobile body in yet another modified example of this embodiment, (b) is a partial schematic diagram of the mobile body in yet another modified example of this embodiment, and (c) is a partial schematic diagram of the mobile body in yet another modified example of this embodiment. This is a perspective view showing the sensing system in a modified example of this embodiment. This is a perspective view showing the sensing system in a modified example of this embodiment. This is a perspective view showing the sensing system in yet another modified example of this embodiment. This is a perspective view showing the sensing system in yet another modified example of this embodiment. 【0010】 [Description of Embodiments of the Disclosure] First, embodiments of the disclosure will be listed and described. 【0011】 [1] The movable body in the embodiment of the present disclosure comprises an operating member, a sensor, a fixing member, a calculation unit, an operating unit, and a seating surface. The operating member includes a belt that restrains a part of the human body. The sensor detects the force applied from the belt. The fixing member fixes the sensor. The calculation unit calculates the movement of the belt relative to the fixing member based on the detection result of the sensor. The operating unit performs an action based on the calculation result of the calculation unit. The seating surface moves as a result of the operation of the operating unit. 【0012】The moving body described in [1] above is equipped with a belt that restrains a part of the human body and a sensor that detects the force applied by the belt, and the operating unit operates based on the calculation result of the belt's movement. In this case, since the belt restrains the part of the human body, manual operation is unnecessary, and a degree of freedom can be ensured during operation. The sensor that detects the force applied by the belt allows for intuitive and precise operation using the part of the human body restrained by the belt. Therefore, while a degree of freedom is ensured, operation can be performed easily and accurately. 【0013】 [2] In the mobile body described in [1] above, the fixing member may be fixed to the seat surface. The belt may be connected to the fixing member via a sensor. In this case, the occupant of the mobile body can be safely restrained to the seat surface by the belt. 【0014】 [3] In the moving body described in [1] or [2] above, the operating member includes a connecting member. The connecting member may be joined to a sensor. The connecting member may connect the sensor and the belt. The connecting member may extend horizontally. The rigidity of the connecting member may be greater than that of the belt. In this case, the movement of the above-mentioned part can be detected more precisely. Therefore, accurate operation can be performed with a small amount of manipulation. 【0015】 [4] In the movable body described in [3] above, the connecting member may be curved to conform to the part. In this case, the part is held by the connecting member and the position of the part is stabilized. 【0016】 [5] The moving body described in [3] or [4] above may further include a backrest. The backrest may have a first surface facing the belt and a second surface located on the opposite side of the first surface and facing the sensor. The connecting member may extend in a curve toward the first surface from the portion facing the second surface and joined to the sensor. The connecting portion connecting the connecting member and the belt may face the first surface. In this case, interference between the connecting member and the backrest is prevented, and more precise operation is possible. 【0017】[6] In any one of the moving bodies described in [1] to [5] above, the operating member and the sensor may be joined to each other. The sensor may be positioned between the joint between the operating member and the sensor and the above-mentioned part. In this case, when the part moves away from the sensor, the sensor is pressed by the operating member. Therefore, when the part moves away from the sensor, the sensor is less likely to be damaged, and the force applied to the sensor can be detected more reliably. 【0018】 [7] In any one of the moving bodies described in [1] to [5] above, the operating member and the sensor may be joined to each other. The operating member may be positioned between the sensor and the part. In this case, when the part moves toward the sensor, the sensor is pressed by the operating member. Therefore, when the part moves toward the sensor, the force applied to the sensor can be detected more easily. 【0019】 [8] Any one of the moving bodies described in [1] to [7] above may further include an adjustment mechanism for adjusting the position of the sensor vertically with respect to the seat surface. In this case, the positions of the belt and the sensor can be adjusted according to individual differences in the human body. 【0020】 [9] In any one of the mobile bodies described in [1] to [8] above, the part may be the torso. The belt may surround the torso. In this case, the passenger's freedom of movement can be ensured, and the passenger can be more securely restrained to the seat. 【0021】
[10] An input device in another embodiment of the present disclosure comprises an operating member, a sensor, a fixing member, and a calculation unit. The operating member includes a belt that restrains a part of the human body. The sensor detects the force applied from the belt. The fixing member fixes the sensor in place. The calculation unit calculates the movement of the belt relative to the fixing member based on the detection result of the sensor. In this case, since the belt restrains a part of the human body, manual operation is not required, and a degree of freedom can be ensured in the operation. The sensor that detects the force applied from the belt allows for easy and precise detection of the movement of a part of the human body. Therefore, easy and accurate operation can be performed while ensuring a degree of freedom. 【0022】
[11] In an input device in another embodiment of the present disclosure, the calculation unit generates a control signal for operating a crawler in a construction machine or for rotating a superstructure, based on the detection result of a sensor. 【0023】
[12] In an input device in another embodiment of the present disclosure, the arithmetic unit generates signals for controlling the performance expression of an electronic musical instrument based on the detection results of a sensor. 【0024】
[13] In an input device in another embodiment of the present disclosure, the calculation unit calculates vital information, including the user's respiratory rate or heart rate, based on the periodic change in force detected by the sensor. [Details of the embodiments of the present disclosure] 【0025】 Hereinafter, an example of an embodiment of the mobile body according to the present invention will be described in detail with reference to the drawings. In the description of the drawings, the same or corresponding parts are denoted by the same reference numerals, and redundant descriptions are omitted. 【0026】 First, the configuration of the mobile body in the embodiment of this disclosure will be described with reference to Figures 1 to 6. Figure 1 is a perspective view of the mobile body 1 in this embodiment. The mobile body 1 corresponds to a sensing system. The mobile body 1 moves in response to user operation. The mobile body 1 moves, for example, in real space. The mobile body 1 assists the movement of a person, for example. The mobile body 1 moves, for example, with a person on board. For example, the passenger of the mobile body 1 is the user who operates the mobile body 1. The mobile body 1 is, for example, an electric wheelchair. In a modified example of this embodiment, the mobile body 1 may assist the movement of something other than a person. The mobile body 1 may be a vehicle. 【0027】 The mobile body 1 includes an input device 10, an operating unit 20, a seat 30, a backrest 40, a fixing member 50, and an adjustment mechanism 60. The mobile body 1 moves by operating the operating unit 20 in response to the output from the input device 10. In the example shown in this embodiment, the mobile body 1 is provided with the input device 10, the operating unit 20, the seat 30, the backrest 40, the fixing member 50, and the adjustment mechanism 60 as an integral part. As a modification of this embodiment, the mobile body 1 may not include the backrest 40. 【0028】The seat portion 30 and the backrest 40 move due to the operation of the operating unit 20. The seat portion 30 and the backrest 40 are fixed to the operating unit 20. The seat portion 30 and the backrest 40 are joined to each other. The passenger of the mobile body 1 sits on the seat portion 30 and leans against the backrest 40. The backrest 40 is positioned between the power sensor 15 and part α. The backrest 40 has a first surface 40a and a second surface 40b located on the opposite side of the first surface 40a. The first surface 40a faces part α of the passenger sitting on the seat portion 30. 【0029】 In this specification, "facing" means that two elements are opposite each other without any other elements shown in this specification in between. For example, "p faces q" means that "p" and "q" are facing each other without any other elements shown in this specification in between. In this specification, "opposing" means that two elements are facing each other, regardless of whether or not there are other elements in between. 【0030】 The input device 10 is operated by the user. The input device 10 outputs information corresponding to the user's operation. The input device 10 includes an operating member 11, a power sensor 15, and a calculation unit 17. 【0031】 The operating member 11 is operated by the user. The operating member 11 includes a belt 12 and a connecting member 13. The movement of the belt 12 is input to the power sensor 15 via the connecting member 13. As shown in Figure 6, the belt 12 restrains a part α of the human body. In other words, the belt 12 surrounds a part α of the human body. The belt 12 is fixed to part α. Part α of the human body is, for example, the user's torso. Part α may be a part other than the torso. For example, part α may be the head, arms, legs, fingers, etc. The belt 12 moves in accordance with the movement of part α. In the example shown in this embodiment, the belt 12 surrounds part α. 【0032】The belt 12 includes a contact portion 12a and a connecting portion 12b. The contact portion 12a is in contact with part α. In the example shown in this embodiment, the contact portion 12a surrounds the torso, which is part α. The contact portion 12a is annular when viewed from the vertical direction. The connecting portion 12b connects the contact portion 12a to the tip of the connecting member 13. The contact portion 12a and the connecting portion 12b of the belt 12 and the first surface 40a of the backrest 40 face each other. The belt 12 is flexible. The belt 12 is made of, for example, a fibrous material such as cloth, or leather, or a material having equivalent flexibility. 【0033】 The connecting member 13 is joined to the power sensor 15. The connecting member 13 is connected to the belt 12. The connecting member 13 connects the power sensor 15 and the belt 12. The rigidity of the connecting member 13 is greater than the rigidity of the belt 12. The connecting member 13 amplifies the torque applied from the belt 12 to the power sensor 15. The connecting member 13 is made of, for example, synthetic resin. The connecting member 13 is a hard plastic made of, for example, polycarbonate, acrylic, ABS resin, phenolic resin, etc. 【0034】 For example, the connecting member 13 extends in a curved direction. The connecting member 13 has a curved plate shape. The connecting member 13 is curved to surround the backrest 40, for example. The connecting member 13 is curved to follow part α, for example. The connecting member 13 has a C-shape when viewed from the vertical direction, for example. The connecting member 13 does not come into contact with the backrest 40. The connecting member 13 has main surfaces 13a and 13b that are located on opposite sides of each other. The pair of main surfaces 13a and 13b face each other in the horizontal direction. Main surface 13a faces part α. Main surface 13a faces the backrest 40 and the belt 12. 【0035】 The second surface 40b of the backrest 40 faces the power sensor 15 and the connecting member 13. The connecting member 13 faces the second surface 40b and extends in a curve toward the first surface 40a from the joint portion joined to the power sensor 15. The connection portion between the connecting member 13 and the belt 12 faces the first surface 40a of the backrest 40. 【0036】 The connecting member 13 includes, for example, a first portion 71, a second portion 72, and a third portion 73. The first portion 71 faces the second surface 40b of the backrest 40. The first portion 71 extends linearly in the horizontal direction along the backrest 40. One end of the first portion 71 is connected to the second portion 72, and the other end of the first portion 71 is connected to the third portion 73. In the longitudinal direction of the first portion 71, the length of the connecting member 13 is greater than the length of the backrest 40. In the longitudinal direction of the first portion 71, the length of the connecting member 13 is greater than the length of portion α. The longitudinal direction of the first portion 71 is horizontal and perpendicular to the direction in which the power sensor 15 and portion α face each other. 【0037】 The second portion 72 extends in a direction intersecting the extending direction of the first portion 71 and horizontally. The third portion 73 extends in a direction intersecting the extending direction of the first portion 71 and the extending direction of the second portion 72 and horizontally. The second portion 72 and the third portion 73 each curve and extend from the portion joined to the first portion 71 toward the first surface 40a of the backrest 40. Viewed from the vertical, the connecting member 13 is formed in an L-shape by the first portion 71 and the second portion 72. Viewed from the vertical, the connecting member 13 is formed in an L-shape by the first portion 71 and the third portion 73. One end of the second portion 72 is joined to the first portion 71, and the other end of the second portion 72 is connected to the contact portion 12a by the connecting portion 12b of the belt 12. One end of the third portion 73 is joined to the first portion 71, and the other end of the third portion 73 is connected to the contact portion 12a by the connecting portion 12b of the belt 12. Of the second portion 72 and the third portion 73, the portion connected to the connecting portion 12b faces the first surface 40a of the backrest 40. 【0038】The connecting member 13 has a joining surface 13c that joins with the power sensor 15. The joining surface 13c faces the power sensor 15. The joining surface 13c is included in the main surface 13a of the first part 71. In the example shown in this embodiment, the joining surface 13c faces part α. The joining surface 13c faces the backrest 40 and the belt 12. Between the joining surface 13c and part α, in order from part α, are a part of the contact portion 12a of the belt 12, the backrest 40, the fixing member 50, and the power sensor 15. In other words, between the joining portion of the operating member 11 and the power sensor 15 and part α, in order from part α, are a part of the contact portion 12a of the belt 12, the backrest 40, the fixing member 50, and the power sensor 15. 【0039】 The power sensor 15 detects the force applied from the belt 12. The power sensor 15 detects the magnitude of the tension of the belt 12. The power sensor 15 is joined to the connecting member 13 at the joining surface 13c and detects the force received from the connecting member 13 at the joining surface 13c. The power sensor 15 detects the force applied from the belt 12 via the connecting member 13. In other words, the power sensor 15 detects the force applied to the belt 12 by the user via the connecting member 13. The power sensor 15 is, for example, a 6-axis force sensor. The power sensor 15 detects the force received from the connecting member 13 for each of the 6 axial components. The 6 axial components include, for example, a vertical component and two mutually orthogonal horizontal components. The power sensor 15 detects and outputs the force received from the connecting member 13 for each directional component. 【0040】 The joint between the power sensor 15 and the connecting member 13 is located on the opposite side of the joint between the power sensor 15 and the fixing member 50. Between the joint between the power sensor 15 and the connecting member 13 and part α, in order from the part α side, are a part of the contact portion 12a of the belt 12, the backrest 40, the fixing member 50, and the power sensor 15, but the connecting member 13 is not located. Between the power sensor 15 and part α, in order from the part α side, are a part of the contact portion 12a of the belt 12, the backrest 40, and the fixing member 50, but the connecting member 13 is not located. 【0041】The arithmetic unit 17 calculates the movement of the belt 12 with respect to the fixed member 50 based on the detection result of the power sensor 15. For example, the arithmetic unit 17 calculates the vector of the force applied to the belt 12 from each direction component output from the power sensor 15. In the example shown in the present embodiment, the arithmetic unit 17 is fixed below the seat surface portion 30. 【0042】 The operation unit 20 performs an operation based on the calculation result of the arithmetic unit 17. The moving body 1 moves by the operation of the operation unit 20. The operation unit 20 includes, for example, a motor and wheels. The operation unit 20 controls, for example, the output of the motor and the direction of the wheels so as to move the moving body 1. The operation unit 20 moves the moving body 1, for example, according to the magnitude and direction of the vector calculated by the arithmetic unit 17. The operation unit 20 moves the moving body 1, for example, at a speed corresponding to the magnitude of the vector calculated by the arithmetic unit 17 in the direction corresponding to the direction of the vector calculated by the arithmetic unit 17. 【0043】 The fixed member 50 fixes the power sensor 15. For example, the fixed member 50 fixes the power sensor 15 to the operation unit 20. The fixed member 50 is joined to the power sensor 15. For example, the fixed member 50 is fixed to the backrest 40 via the adjustment mechanism 60. For example, the fixed member 50 is fixed to the seat surface portion 30 via the adjustment mechanism 60 and the backrest 40. The belt 12 is connected to the fixed member 50 via the power sensor 15. 【0044】 The adjustment mechanism 60 adjusts the position of the power sensor 15 in the vertical direction with respect to the seat surface portion 30. The adjustment mechanism 60 is joined to the fixed member 50 and adjusts the position of the fixed member 50 in the vertical direction. For example, the adjustment mechanism 60 includes a rail extending in the vertical direction, and the fixed member 50 is fixed to the rail by screwing. The adjustment mechanism 60 may move the fixed member 50 in the vertical direction in an electric manner. 【0045】 Next, the configuration of a modified example of the moving body 1 will be described using FIGS. 7(a) and 7(b). This modified example is different from the above-described embodiment in the positional relationship among the belt 12, the power sensor 15, and the fixed member 50. Hereinafter, the differences between the above-described embodiment and this modified example will be mainly described. 【0046】 Fig. 7(a) is a schematic view of a moving body according to a modified example of the present embodiment. In the modified example shown in Fig. 7(a), the operation member 11 does not include the connecting member 13. The belt 12 surrounds the backrest 40 together with the portion α. The belt 12 consists only of the corresponding portion of the contact portion 12a. The power sensor 15 is joined to the belt 12. The power sensor 15 is fixed to the fixing member 50. The fixing member 50 is separated from the backrest 40. For example, the fixing member 50 is fixed to the operation unit 20. 【0047】 In this modified example, the joining portion between the power sensor 15 and the belt 12 is located on the opposite side of the joining portion between the power sensor 15 and the fixing member 50. Between the joining portion between the power sensor 15 and the belt 12 and the portion α, the backrest 40 and a part of the belt 12 are located in order from the portion α side, and the power sensor 15 and the fixing member 50 are not located. Between the power sensor 15 and the portion α, the backrest 40 and a part of the belt 12 of the operation member 11 are located in order from the portion α side, and the power sensor 15 and the fixing member 50 are not located. The backrest 40 is located between a part of the belt 12 and the portion α. 【0048】 Fig. 7(b) is a schematic view of a moving body according to another modified example of the present embodiment. In the modified example shown in Fig. 7(b), the input device 10 does not include the connecting member 13 and the backrest 40. The belt 12 surrounds the portion α. The belt 12 consists only of the corresponding portion of the contact portion 12a. The power sensor 15 is joined to the belt 12. The power sensor 15 is fixed to the fixing member 50. The fixing member 50 is separated from the backrest 40. For example, the fixing member 50 is fixed to the operation unit 20. 【0049】 In this modified example, the joining portion between the power sensor 15 and the belt 12 is located on the opposite side of the joining portion between the power sensor 15 and the fixing member 50. Between the joining portion between the power sensor 15 and the belt 12 and the portion α, a part of the belt 12 is located, and the power sensor 15 and the fixing member 50 are not located. Between the power sensor 15 and the portion α, a part of the belt 12 of the operation member 11 is located, and the power sensor 15 and the fixing member 50 are not located. 【0050】 Next, the configuration of a modified version of the mobile body 1 will be described using Figures 8(a), 8(b), and 8(c). This modified version differs from the above-described embodiment in terms of the positional relationship between the belt 12, the connecting member 13, the power sensor 15, and the fixing member 50. The differences between the above-described embodiment and this modified version will be mainly explained below. 【0051】 Figure 8(a) is a schematic diagram of a modified version of the mobile body of this embodiment. In the modified version shown in Figure 8(a), the input device 10 does not include a backrest 40. The operating member 11 includes a connecting member 83 instead of a connecting member 13. 【0052】 The connecting member 83 is joined to the power sensor 15. The connecting member 83 connects the power sensor 15 and the belt 12. The rigidity of the connecting member 83 is greater than the rigidity of the belt 12. The connecting member 83 is made of, for example, synthetic resin. The connecting member 83 is a hard plastic made of, for example, polycarbonate, acrylic, ABS resin, phenolic resin, etc. 【0053】 For example, the connecting member 83 extends linearly in the horizontal direction. The connecting member 83 has a linear plate shape. In the longitudinal direction of the connecting member 83, the length of the connecting member 83 is greater than the length of part α. The longitudinal direction of the connecting member 83 is the horizontal direction and is perpendicular to the direction in which the power sensor 15 and part α face each other. The connecting member 83 has main surfaces 83a and 83b that are located on opposite sides of each other. The pair of main surfaces 83a and 83b face each other in the horizontal direction. Main surface 83a faces part α. 【0054】 In this modified example, the belt 12 and the connecting member 83 are connected to each other and form a ring shape when viewed from the vertical direction. Both ends of the connecting member 83 are connected to the belt 12. The belt 12 and the connecting member 83 surround part α. 【0055】The connecting member 83 has a joining surface 83c that joins with the power sensor 15. The joining surface 83c faces the power sensor 15. The joining surface 83c is included in the main surface 83b of the connecting member 83. The joining surface 83c faces the fixing member 50. The power sensor 15 is fixed to the fixing member 50. For example, the fixing member 50 is fixed to the operating part 20. 【0056】 The joint between the power sensor 15 and the connecting member 83 is located on the opposite side of the joint between the power sensor 15 and the fixing member 50. The connecting member 83 of the operating member 11 is located between the joint between the power sensor 15 and the connecting member 83 and part α, while the power sensor 15 and the fixing member 50 are not located between them. 【0057】 Figure 8(b) is a schematic diagram of another modified version of the mobile body of this embodiment. In the modified version shown in Figure 8(b), the input device 10 does not include a backrest 40. The input device 10 includes a connecting member 93 instead of a connecting member 13. The modified version shown in Figure 8(b) differs from the example shown in Figure 8(a) only in the shape of the connecting members. In other words, the connecting member 83 and the connecting member 93 differ only in their shape. 【0058】 The connecting member 93 is joined to the power sensor 15. The connecting member 93 connects the power sensor 15 and the belt 12. The rigidity of the connecting member 93 is greater than the rigidity of the belt 12. The connecting member 93 is made of, for example, synthetic resin. The connecting member 93 is a hard plastic made of, for example, polycarbonate, acrylic, ABS resin, phenolic resin, etc. 【0059】 For example, the connecting member 93 extends in a curved manner in the horizontal direction. The connecting member 93 has a curved plate shape. The connecting member 93 is curved, for example, to follow part α. In the longitudinal direction of the connecting member 93, the length of the connecting member 93 is greater than the length of part α. The longitudinal direction of the connecting member 93 is the horizontal direction and is perpendicular to the direction in which the power sensor 15 and part α face each other. The connecting member 93 has main surfaces 93a and 93b that are located on opposite sides of each other. The pair of main surfaces 93a and 93b face each other in the horizontal direction. Main surface 93a faces part α. 【0060】 In this modified example, the belt 12 and the connecting member 93 are connected to each other and form an annular shape when viewed from the vertical direction. Both ends of the connecting member 93 are connected to the belt 12. The belt 12 and the connecting member 93 surround part α. 【0061】 The connecting member 93 has a joining surface 93c that joins with the power sensor 15. The joining surface 93c faces the power sensor 15. The joining surface 93c is included in the main surface 93b of the connecting member 93. The joining surface 93c faces the fixing member 50. The joint portion between the power sensor 15 and the connecting member 93 is located on the opposite side of the joint portion between the power sensor 15 and the fixing member 50. 【0062】 Figure 8(c) is a schematic diagram of yet another modification of the moving body of this embodiment. In the modification shown in Figure 8(c), the input device 10 does not include a backrest 40. The input device 10 includes a connecting member 98 instead of a connecting member 13. Similar to the example shown in Figure 6, the belt 12 includes a contact portion 12a and a connecting portion 12b. The contact portion 12a is in contact with portion α. 【0063】 The connecting member 98 is joined to the power sensor 15. The connecting member 98 connects the power sensor 15 and the belt 12. The rigidity of the connecting member 98 is greater than the rigidity of the belt 12. The connecting member 98 is made of, for example, synthetic resin. The connecting member 98 is a hard plastic made of, for example, polycarbonate, acrylic, ABS resin, phenolic resin, etc. 【0064】 For example, the connecting member 98 extends in a curved manner in the horizontal direction. The connecting member 98 has a curved plate shape. The connecting member 98 is curved, for example, to follow part α. In the longitudinal direction of the connecting member 98, the length of the connecting member 98 is greater than the length of part α. The longitudinal direction of the connecting member 98 is the horizontal direction and is perpendicular to the direction in which the power sensor 15 and part α face each other. The connecting member 98 has main surfaces 98a and 98b that are located on opposite sides of each other. The pair of main surfaces 98a and 98b face each other in the horizontal direction. Main surface 98a faces part α and the belt 12. 【0065】In this modified example, one end of the connecting member 98 is connected to the contact portion 12a by the connecting portion 12b of the belt 12, and the other end of the connecting member 98 is connected to the contact portion 12a by the connecting portion 12b of the belt 12. 【0066】 The connecting member 98 has a joining surface 98c that joins with the power sensor 15. The joining surface 98c faces the power sensor 15. The joining surface 98c is included in the main surface 98b of the connecting member 98. The joining surface 98c faces the fixing member 50. The power sensor 15 is fixed to the fixing member 50. For example, the fixing member 50 is fixed to the operating part 20. Between the joining surface 98c and part α, a part of the contact portion 12a of the belt 12 and the connecting member 98 are positioned in order from part α. 【0067】 The joint between the power sensor 15 and the connecting member 98 is located on the opposite side of the joint between the power sensor 15 and the fixing member 50. Between the joint between the power sensor 15 and the connecting member 98 and part α, starting from part α, a part of the contact portion 12a of the operating member 11 and the connecting member 98 are located, but the power sensor 15 and the fixing member 50 are not located there. 【0068】 Next, the effects of the mobile body 1 and input device 10 in the above-described embodiment will be explained. 【0069】 The mobile device 1 is equipped with a belt 12 that restrains a part α of the human body and a power sensor 15 that detects the force applied by the belt 12. The operating unit 20 performs its actions based on the calculation result of the movement of the belt 12. In this case, since the belt 12 restrains the part α of the human body, manual operation is unnecessary, and a degree of freedom can be ensured during operation. Furthermore, the movement of the part α of the human body can be precisely detected via the belt. With the power sensor 15 that detects the force applied by the belt 12, intuitive and accurate operation can be performed using the part α of the human body restrained by the belt. Therefore, easy and accurate operation can be performed while ensuring a degree of freedom. Not only the configurations shown in Figures 1 and 6, but also the configurations shown in Figures 7(a), 7(b), and 8(a) to 8(c) produce similar effects. 【0070】The fixing member 50 may be fixed to the seat portion. The belt 12 may be connected to the fixing member 50 via the power sensor 15. In this case, the occupant of the mobile body 1 can be safely restrained to the seat portion 30 by the belt 12. The configurations shown in Figures 7(a), 7(b), and 8(a) to 8(c) have similar effects, as do the configurations shown in Figures 1 and 6. 【0071】 The operating member 11 includes a connecting member 13. The connecting member 13 may be joined to the power sensor 15. The connecting member 13 may connect the power sensor 15 and the belt 12. The connecting member 13 may extend horizontally. The rigidity of the connecting member 13 may be greater than the rigidity of the belt 12. In this case, the movement of part α can be detected more precisely. Therefore, accurate operation can be performed with a small amount of operation. The configurations shown in Figures 8(a) to 8(c) have similar effects as those shown in Figures 1 and 6. 【0072】 The connecting member 93 is curved to conform to part α. In this case, part α is held by the connecting member 93, and the position of part α is stabilized. 【0073】 The mobile body 1 may be equipped with a backrest 40. The backrest 40 may have a first surface 40a facing the belt 12 and a second surface 40b located on the opposite side of the first surface 40a and facing the power sensor 15. The connecting member 13 may extend in a curve toward the first surface 40a from the portion facing the second surface 40b and joined to the power sensor 15. The connecting portion connecting the connecting member 13 and the belt 12 may face the first surface 40a. In this case, interference between the connecting member 13 and the backrest 40 is prevented, and more precise operation is possible. 【0074】The operating member 11 and the power sensor 15 may be joined to each other. The power sensor 15 may be positioned between the joint between the operating member 11 and the power sensor 15 and part α. In this case, when part α moves away from the power sensor 15, the power sensor 15 is pressed by the operating member 11. Therefore, when part α moves away from the power sensor 15, the power sensor 15 is less likely to be damaged, and the force applied to the power sensor 15 can be detected more reliably. 【0075】 The operating member 11 and the power sensor 15 may be joined to each other. The operating member 11 may be positioned between the power sensor 15 and the part α. In this case, when part α moves toward the power sensor 15, the power sensor 15 is pressed by the operating member 11. Therefore, when part α moves toward the power sensor 15, the force applied to the power sensor 15 can be detected more easily. The same effect is achieved in the configurations shown in Figures 7(a), 7(b), and 8(a) to 8(c). 【0076】 The mobile body 1 may further include an adjustment mechanism 60 for adjusting the position of the power sensor 15 vertically with respect to the seat surface 30. In this case, the positions of the belt 12 and the power sensor 15 can be adjusted according to individual differences in the human body. Not only the configurations shown in Figures 1 and 6, but also the configurations shown in Figures 7(a), 7(b), and 8(a) to 8(c) have similar effects. 【0077】 Part α may be the torso. The belt 12 may surround the torso. In this case, the occupant's freedom of movement can be ensured, and the occupant can be more securely restrained to the seat 30. If the belt 12 is in contact with the torso, the slippage of the belt 12 is also suppressed. Not only the configurations shown in Figures 1 and 6, but also the configurations shown in Figures 7(a), 7(b), and 8(a) to 8(c) produce similar effects. 【0078】 While embodiments and modifications of the present invention have been described above, the present invention is not necessarily limited to the embodiments and modifications described above, and various modifications are possible without departing from the spirit of the invention. 【0079】The present invention may be appropriately combined with the configurations shown in Figures 1 and 6 and the configurations shown in Figures 7(a), 7(b), and 8(a) to 8(c). For example, in the configuration of Figure 7(a), a power sensor 15 may be provided on the backrest 40, as in the configuration shown in Figure 6. In this case, the power sensor 15 is also configured to be surrounded by the belt 12. 【0080】 For example, the input device does not have to be attached to the mobile object. For example, the input device may be used to remotely control the mobile object. The input device may record the movement of a part of the human body. The input device may be used to control a mobile object in a virtual space. For example, the mobile object may be a cursor in a virtual space. 【0081】 In the embodiment described above, the fixing member 50 and the backrest 40 were described as separate components. However, the fixing member 50 and the backrest 40 may be integrally formed. 【0082】 The power sensor 15 may be, for example, a four-axis force sensor. In this case, the power sensor 15 detects components in each direction of the horizontal direction, for example. 【0083】 The sensing system in the embodiments of this disclosure is not limited to a configuration in which the user is seated. A modified example of the sensing system 200 in this embodiment will be described with reference to Figures 9 and 10. Figures 9 and 10 show the sensing system 200 in a configuration in which the user is standing. The sensing system 200 can also be applied to standing work, rehabilitation, and information input based on the user's movements. The sensing system 200 may be fixed to the ground surface, for example, or fixed to another moving object. This modified example is generally similar to or the same as the embodiments described above. The differences between the embodiments and the modified examples described above will be explained below. 【0084】The sensing system 200 includes an input device 10, a backrest 201, a fixing member 50, an adjustment mechanism 60, and a base 202. In a further modification of this modification, the sensing system 200 may not include the backrest 201. 【0085】 In this modified example, the backrest 201 is used by the user to lean their back against while standing. The backrest 201 is supported by a base 202. For example, the backrest 201 is connected to the base 202. The base 202 is placed on a mounting surface. For example, the mounting surface corresponds to the ground surface or the surface of a moving object. The base 202 is placed on the ground surface or on a moving object. For example, the backrest 201 extends from the base 202 in a direction perpendicular to the mounting surface. 【0086】 The backrest 201 is positioned between the power sensor 15 and part α. Like the backrest 40, the backrest 201 has a first surface 40a and a second surface 40b located on the opposite side of the first surface 40a. The first surface 40a faces part α of the user when standing. 【0087】 Next, with reference to Figures 11 to 13, a sensing system 300 in another modified version of this embodiment will be described. Figures 11 to 13 show the sensing system 300 in a configuration used when the user is lying down. The sensing system 300 can be applied to rehabilitation while the user is lying down, information input based on the user's movements, and vital sensing such as respiration and heart rate during sleep. The sensing system 300 may be fixed to the ground surface, for example, or fixed to another moving body. This modified version is generally similar to or the same as the embodiment described above. The differences between the embodiment and the modified version described above will be explained below. 【0088】 The sensing system 300 includes a bed-like support member 301 for the user to lie on, instead of a seat 30 and a backrest 40. The sensing system 300 includes an input device 10, a support member 301, a fixing member 50, and an adjustment mechanism 60. 【0089】Next, further application examples of the sensing system of this disclosure will be described. In these application examples, any of the following forms of sensing systems may be used: a form in which the user is seated, such as the mobile body 1; a form in which the user is standing, such as the sensing system 200; and a form in which the user is lying down, such as the sensing system 300. In these application examples, the input device 10 detects the movement of the user's torso and converts the detection result into control signals for various devices. 【0090】 For example, the sensing system of this disclosure can be applied to the operation of work vehicles such as agricultural machinery, transport machinery, construction machinery, and aerial work platforms. With these vehicles, users have to operate levers and the like with both hands to perform the main task while simultaneously moving or turning the vehicle, making the operation cumbersome. The main tasks include, for example, harvesting, loading cargo, or excavation. 【0091】 In construction machinery, due to the assignment of functions, lever operations can sometimes be counterintuitive, posing a challenge in terms of the time required for mastery. Counterintuitive lever operations include, for example, tilting the lever sideways to move forward. In contrast, the sensing system of this disclosure is used as an operator's seat and is operated by a worker. For example, in the case of a hydraulic excavator, the power sensor 15 of the input device 10 detects the left and right tilt of the torso, and the output from the calculation unit 17 is assigned to the rotation operation of the entire cabin or the operation of the crawler. For example, the calculation unit 17 generates a control signal for the movement operation of the vehicle body or the rotation operation of the superstructure in the construction machinery based on the detection result of the power sensor 15. This reduces the functions assigned to levers operated with both hands. As a result, intuition or complexity may be improved. For example, the calculation unit 17 calculates the force vector applied to the belt 12, and based on the calculation result, the rotation operation of the entire cabin or the operation of the crawler is executed. The user controls the vehicle with intuitive movements of the torso while keeping both hands on the main work such as the arm. This can improve work efficiency. 【0092】The work basket (work platform) of an aerial work platform is operated by a worker on the work platform or by staff on the ground using an operation panel. In this case, it is difficult to balance the worker's work with the movement of the work platform, posing challenges to intuitiveness and work efficiency. In contrast, the sensing system of this disclosure is installed on the work platform and used by the worker. For example, the calculation unit 17 of the input device 10 generates control signals related to the operation of the aerial work platform worker based on the detection results of the power sensor 15. For example, the movement of the torso detected by the power sensor 15 of the input device 10 is assigned to the movement of the basket forward and backward, up and down, left and right, and rotation. As a result, the user can move the work platform while keeping both hands on the worker's work. This improves work efficiency. According to the sensing system of this disclosure, the movement of the torso is detected with six degrees of freedom by the power sensor 15 of the input device 10, so the output from the calculation unit 17 of the input device 10 is assigned to functions related to movement in three-dimensional space. 【0093】 For example, the sensing system disclosed herein can be applied to the operation of mobile equipment used for filming. For instance, the sensing system disclosed herein is installed on a cart on which the cameraman rides during dolly filming. Conventionally, in dolly filming, the cameraman's hands were occupied with operating the camera, so another staff member had to move the cart. This resulted in problems such as increased personnel and a decline in filming quality due to insufficient coordination. In contrast, the sensing system disclosed herein is installed on the cart and used by the cameraman. With the sensing system disclosed herein, the user can operate the cart on which they ride using the input device 10, enabling stable movement and camera operation by one person. In other words, the user can precisely operate the camera with both hands while moving the cart using the movement of their own torso. For example, the power sensor 15 of the input device 10 detects the movement of the torso in six degrees of freedom, and the output from the calculation unit 17 of the input device 10 is assigned to functions related to the movement of the cart. The sensing system disclosed herein can also be applied to vertical movement control and can be used for operating cranes and the like. As a result, it is expected that high-quality filming can be achieved with a smaller number of people. 【0094】For example, the sensing system disclosed herein can be applied to input interfaces such as PCs (Personal Computers) and VR (Virtual Reality). For instance, in the sensing system disclosed herein, the movement of the torso is detected by the power sensor 15 of the input device 10, and the output from the calculation unit 17 of the input device 10 is assigned to commands such as cursor movement on the PC, keyboard shortcuts, or movement of an avatar in the VR space, viewpoint changes, and jumping. This adds a new input channel, torso operation, in addition to hand operation. For example, in a VR shooting game, controlling movement with torso movements while operating a gun-shaped controller with both hands allows for a more immersive and freer control experience. 【0095】 For example, the sensing system of this disclosure can sense the fine, continuous movements of the torso even when both hands are occupied, and may therefore be applied as an interface for an electronic musical instrument. For example, in the sensing system of this disclosure, the movement of the torso is detected by the power sensor 15 of the input device 10, and the output from the calculation unit 17 of the input device 10 is assigned to the expression of the instrument. For example, in the sensing system, the output from the calculation unit 17 of the input device 10 is assigned to the operation of multiple pedals or multiple switches. For example, the user can use both hands and feet for the original performance and execute new means of expression with the movement of the torso. As a result, dynamic expression that was not possible with conventional performance becomes possible. Furthermore, this application is also useful for people with lower limb disabilities and people who have difficulty operating their lower limbs temporarily. 【0096】For example, the arithmetic unit 17 of the input device 10 generates control signals to control musical expression in an electronic musical instrument based on the detection results of the power sensor 15. For example, the outputs from the arithmetic unit 17 regarding the forward, backward, left, and right movements of the torso may be assigned to different devices. For example, the torso movements detected by the power sensor 15 may be assigned to control signals for the effect pedals of a guitar and a synthesizer. For example, the torso movements detected by the power sensor 15 may be assigned to control signals for the pedals of a synthesizer and an electronic piano. In this case, the output from the arithmetic unit 17 may be assigned to damper or sostenuto operation, volume control, or tone switching. 【0097】 For example, the sensing system of this disclosure can be applied to healthcare and health monitoring. When the sensing system of this disclosure is used as an office chair, users can unconsciously monitor their health status simply by sitting without wearing any special equipment. For example, the calculation unit 17 may perform vital sign sensing, such as respiratory rate and heart rate, from the minute periodic changes in force detected by the power sensor 15. For example, in cases where posture is important, such as meditation, the calculation unit 17 can determine deviations in posture from the force distribution detected by the power sensor 15 and issue an alert to the user. This application example has the advantage of protecting privacy in offices or homes because it does not use a camera. In addition, the calculation unit 17 may quantitatively measure movements during training such as abdominal exercises according to the output of the power sensor 15, and the sensing system of this disclosure may support training through gamification. The sensing system of this disclosure may also give instructions to apply an appropriate load to a specific body part. 【0098】 1...Moving body, 12...Belt, 10...Input device, 11...Operating member, 13, 83, 93, 98...Connecting members, 15...Power sensor, 17...Calculation unit, 20...Operating unit, 30...Seat part, 40, 201...Backrest, 40a...First surface, 40b...Second surface, 50...Fixing member, 60...Adjustment mechanism, α...Part.
Claims
1. A mobile body comprising: an operating member including a belt for restraining a part of the human body; a sensor for detecting the force applied by the belt; a fixing member for fixing the sensor; a calculation unit for calculating the movement of the belt relative to the fixing member based on the detection result of the sensor; an operating unit that performs an action based on the calculation result of the calculation unit; and a seating surface that moves as a result of the operation of the operating unit.
2. The movable body according to claim 1, wherein the fixing member is fixed to the seat surface, and the belt is connected to the fixing member via the sensor.
3. The operating member is joined to the sensor and includes a connecting member that connects the sensor and the belt, the connecting member extends in the horizontal direction, and the rigidity of the connecting member is greater than the rigidity of the belt, as described in claim 1.
4. The movable body according to claim 3, wherein the connecting member is curved to conform to the portion.
5. The mobile body according to claim 3, further comprising a backrest having a first surface facing the belt and a second surface located on the opposite side of the first surface and facing the sensor, wherein the connecting member extends in a curve toward the first surface from a portion facing the second surface and joined to the sensor, and the connecting portion connecting the connecting member and the belt faces the first surface.
6. The movable body according to claim 1, wherein the operating member and the sensor are joined to each other, and the sensor is located between the joint portion between the operating member and the sensor and the portion.
7. The movable body according to claim 1, wherein the operating member and the sensor are joined to each other, and the operating member is positioned between the sensor and the part.
8. The mobile body according to claim 1, further comprising an adjustment mechanism for adjusting the position of the sensor in a vertical direction with respect to the seat surface.
9. The mobile body according to any one of claims 1 to 8, wherein the part is the torso, and the belt surrounds the torso.
10. An input device comprising: an operating member including a belt for restraining a part of the human body; a sensor for detecting the force applied by the belt; a fixing member for fixing the sensor; and a calculation unit for calculating the movement of the belt based on the detection result of the sensor.
11. The input device according to claim 10, wherein the calculation unit generates a control signal for operating a crawler in a construction machine or for rotating a superstructure based on the detection result of the sensor.
12. The input device according to claim 10, wherein the calculation unit generates a signal for controlling the performance expression in an electronic musical instrument based on the detection result of the sensor.
13. The input device according to claim 10, wherein the calculation unit calculates vital information including the user's respiratory rate or heart rate based on the periodic change in force detected by the sensor.