JPH04161802A - Bending amount detector - Google Patents

Abstract

PURPOSE:To learn a total bending amount of a plurality of bent parts accurately by detecting bending values corresponding to parts of a base member based on outputs of sensors provided on the base member. CONSTITUTION:U-shaped resistors 9a and 9b are provided on upper and lower surface of an insulating and flexible long-sized sheet base member 8. The resistors vary in resistance value according to the extension thereof. As it extends, the resistance value thereof increases. A bridge circuit is built as specified containing the resistors 9a and 9b and a differential amplification is performed to obtain a voltage DELTAV corresponding to a bending value. A detector 7 is mounted on a finger 6 entirely covering the rear thereof. Sensitivity thereof is set the maximum at a detecting part 7a corresponding to the first joint 6a thereof and made lower down to the minimum at the detecting part 7c corresponding to the third joint 6c. This enables accurate detection of a total bending value of a plurality of bent parts with each of the bent parts affecting the total bending value in a varied degree accurately with a simple construction.

Description

Detailed Description of the Invention "Industrial Application Field" This invention provides a simple structure for calculating the total amount of bending even though the bending portions have a plurality of bending portions and each bending portion has a different degree of influence on the total amount of bending. This invention relates to a bending amount detector that accurately detects bending amount.

"Prior Art" FIG. 11 is a diagram showing a schematic configuration of a conventional bending angle detector used in an electronic musical instrument previously proposed by the applicant. In this figure, the casings 1 and 2 are fixed so as to sandwich the joints of the fingers of the hand, and resistance plates 3 and 4 are arranged in these casings 1 and 2, respectively, and further,
A sliding plate 5 is movably provided with respect to each of these resistance plates 3 and 4 so that the brushes at both ends are in contact with each of the resistance plates 3 and 4, respectively.

In such a configuration, when the fingers are stretched out as shown in Figure 11 (A) and bent as shown in Figure 11 (B), the distance between casings 1 and 2 (along the back of the fingers) is As a result, the brushes at both ends of the sliding plate 5 move on the resistance plates 3 and 4, and the resistance value changes on the same operating principle as a so-called linear sliding variable resistor.

Then, bending of the finger is detected based on this change in resistance value.

For details of the above-mentioned technology, please refer to Japanese Patent Application Laid-open No. 1-187.
Please refer to Publication No. 891.

"Problem to be Solved by the Invention" By the way, the amount of bending of something that has multiple joints (bending parts), such as the entire finger of one hand, and the influence of each bending part on the overall bending amount is different. cannot be detected accurately by detecting only changes in the overall length.

This is because, although there is no difference in the overall length between a finger with only the fingertip bent and a finger with only the fingertip bent, the latter may be detected as a larger value in terms of the amount of finger bending. Because it is desirable.

Therefore, in order to accurately detect the amount of bending using a conventional bending angle detector, it is conceivable to attach this bending angle detector to each bending part one by one, but the overall configuration is complicated. In addition, there is a drawback that the configuration of the circuit that processes the signals output from the plurality of bending angle detectors becomes complicated.

This invention was made in view of the above-mentioned circumstances, and it is possible to accurately detect the total amount of bending with a simple configuration even though the invention has a plurality of bent portions, and each bending portion has a different degree of influence on the total amount of bending. It is an object of the present invention to provide a bending amount detector that can be used in a bending amount detector, and the configuration of a circuit for processing its output signal can also be simplified.

"Means for Solving the Problems" The present invention includes a flexible base member, and a flexible member provided on one or both sides of the base member that outputs a signal in accordance with bending of the base member. In a bending amount detector comprising a sensor and a detection circuit that detects the entire bending amount of the base member based on an output signal of the sensor, the sensitivity of the sensor is determined by determining the sensitivity of the sensor with respect to the entire bending amount of the base member. It is characterized by being different depending on the degree of bending influence.

"Operation J" According to the present invention, the amount of bending depending on the part of the base member is detected based on the output signal of the sensor provided on the base member.

"Embodiment" Before describing an embodiment of the present invention, the basic idea for solving the above-mentioned problem will be explained.

Here, a case will be considered in which the amount of bending of the entire finger 6 of the hand shown in FIG. 8 is detected. The amount of bending of the entire finger 6 is determined by the position of the fingertip 6d in the space when the finger 6 is bent. The degree of influence of the bending angles θ1 to θ0 of the first to third functions a8a to 6c, which determine the position of the fingertip 6d in this space, on the bending amount of the entire finger is the ninth
As shown in Figures (a) to (C), the first joint 6a is the largest, followed by the second joint 6b, and then the third joint 6c the smallest.

Therefore, as shown in FIG. 10, a bending amount detection element 7 that covers the back metal body of the finger 6 is attached to the finger 6, and a detection area 7a corresponding to the first joint 6a and a detection area 7 corresponding to the second joint 6b are attached to the finger 6.
By setting the respective sensitivities of the detection parts 7c corresponding to b and the third joint 6c to the highest, the detection part 7a is the highest, then the detection part 7b, and the detection part 7c is the lowest.
Although it has multiple bending parts, and each bending part has a different effect on the overall bending amount, the overall bending amount can be detected accurately with a simple configuration, and the circuit that processes the output signal is also easy to configure. It can be done.

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a diagram showing the configuration of a bending amount detector according to an embodiment of the present invention. In this figure, reference numeral 8 denotes a long thin plate-like base member having sufficient insulation and flexibility, and a U-shaped resistor having an outward path and a backward path is formed on the upper and lower surfaces of the base member 8. A body 9a and a body 9b are respectively provided.

A resistor 9a provided at the proximal end of the base member 8
Lead wires 10a to 1 are connected to connection terminals at each end of and 9b.
0d are connected to each other. The resistors 9a and 9b are made of an element material (for example, carphone powder) that is flexible and whose resistance value changes according to expansion and contraction.

As a result, when the base member 8 bends from a flat state as shown in FIG. 2(A) to as shown in FIG. The resistor 9b on the side contracts and its resistance value decreases.

That is, assuming that the resistance values of the resistors 9a and 9b before bending are R1 and the bending angle is θ (>0), the resistance value Ra of the resistor 9a and the resistance value Rh of the resistor 9b are respectively expressed by the following equations.

Ra=　R(1+θK)...■ Rb=R(1-θK)...■ Here, K (>O) is a constant.

Next, FIG. 3 shows a detection circuit that detects a change in the resistance value of the resistors 9a and 9b that occurs depending on the amount of bending of the base member 8.

In FIG. 3, 12 is a signal converter that converts the resistance change of the resistors 9a and 9b into a voltage value, and the two resistors R
A bridge in which one end of each of the two resistors R3 is connected to the power supply voltage V, the other ends of the two resistors R3 are connected to one end of each of the resistors 9a and 9b, and the other ends of the resistors 9a and 9b are grounded. It is a connection circuit.

Then, the voltage between the connection point Pa between one resistor R3 and the resistor 9a and the connection point Pb between the other resistor R3 and the resistor 9b is determined by the difference formed by the operational amplifier 12, the resistor R8, and Rt. It is detected by the dynamic amplifier 13, and the output voltage of the differential amplifier 13 is outputted from the output terminal 14 as a detection voltage ΔV (see equation (2)) corresponding to the amount of bending of the base member 8.

ΔV yo R, R,, y 1 1 . 0. ■R
+ Rh + R3Ra TR3Here, in order to change the sensitivity of the resistors 9a and 9b depending on the part, the resistance values before bending for each part 9a, ~9a3 and 9b, ~9b, respectively, are set as shown in Fig. 4. r, , rb and r, and each part 9a, ~9a3 and 9b, ~9b
, respectively, the bending angles are θa.

˜θa3 and θb1˜θb3 Then, the detected voltage ΔV is expressed by the following equation from equations 1 to 2.

△V=R1R3・V ↓-1...■ R+ p Q However, p=r, (1-θ,,K,) 10r b(1-θ,,,)+r c(1-θcI K c) + R3...
■q=rJ1+θaxK a) + r b(1+θ,
, Kb)+re(1+θe2K c)+R3...■
When the 0-0 formula is rearranged, it becomes the 0-0 formula.

However, V = (ra + r b + r c + R3) r a
θ6. K.

−rbθb+Kb reθcl K e・・・■w=
= (ra0rb+rc1Rs)10raθ,, 1+r
bθbtK b+ r eθC2K c...■ From this 0 to 0 formula, it can be seen that the larger the resistance, the greater the influence of the bending angle θ on the whole.

Therefore, increase the resistance value of the part where you want to increase the sensitivity. As shown in FIG. 9, the resistors 9a and 9b in FIG.
When the parts 9a and 9b are attached to the fingertip 6d side, each part 9a+ to 9a3 and 9b to
9b, the relationship between the resistance values r1, rb, and rc before bending at each time may be expressed by the following equation.

rll>rb>re" j - [stock] Next, the resistance values r, , r, and re of each part 9a, ~9a3 and 9b, ~9bs of the resistors 9a and 9b are expressed in the [phase] formula. Specific examples of the relationships shown are shown in Figures 5 to 7.
As shown in the figure.

FIG. 5 shows an example in which a resistance paste whose resistance value is proportional to the area is printed on the base member 8 by changing it depending on the area.

FIG. 6 shows an example in which a resistance paste whose resistance value is proportional to the thickness is printed on the base member 8 by changing it depending on the location. This is done by changing the number of times the resistive paste is printed depending on the location.

FIG. 7 shows an example in which resistance pastes having different reference resistance values are printed on the base member 8 by changing them depending on the location. A resistance paste having the highest reference resistance value is printed on the portion 9a, a resistance paste having an intermediate reference resistance value is printed on the portion 9at, and a resistance paste having the lowest reference resistance value is printed on the portion 9as.

In such a configuration, when a person wearing this bending amount detector on his/her finger bends his or her finger, the detection circuit obtains an accurate detection voltage ΔV depending on the amount of bending of the finger metal body.

In the above-mentioned embodiment, an example was shown in which the total amount of bending of one finger is detected, but the present invention is not limited to this. Any type of material may be used as long as the degree of influence of the bent portion is different.

Furthermore, in the embodiment described above, an example was shown in which the width, thickness, or material of the resistor paste was changed to change the sensitivity of the resistors 9a and 9b depending on the location, but the present invention is not limited to this. Any method may be used as long as the sensitivity can be changed. In other words, lowering the resistance value does not necessarily increase sensitivity.

Furthermore, in the above-mentioned embodiment, an example was shown in which a detector whose resistance value rises and falls according to the bending angle is used, but the detector is not limited to this, and any device that can detect the bending angle can be used. But that's fine.

"Effect of the Invention J According to this invention, the total amount of bending can be accurately detected with a simple configuration even though there are a plurality of bent portions, and each bending portion has a different degree of influence on the total amount of bending. effective.

Further, there is an effect that the configuration of the circuit that processes the output signal of this bending amount detector can be simplified.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing the configuration of a bending amount detector according to an embodiment of the present invention, FIGS. 2A and 2B are partial sectional views for explaining the detection principle of the embodiment, and FIG. The figure is a circuit diagram showing the configuration of the detection circuit of the same embodiment, FIG. 4 is a diagram for explaining that the resistance values of the resistors 9a and 9b of the same embodiment differ depending on the location, and FIGS. 5 to 7 11A and 11C are diagrams each showing a specific example of the configuration of the resistor 9a, FIGS. 8 to 10 are diagrams for explaining the basic idea of the present invention, and FIGS. FIG. 2 is a diagram showing a schematic configuration of a bending amount detector. 8... Base member, 9 a, 9 b...
...Resistor, 11...Signal converter, 13...
...Differential amplifier.

Claims (1)

[Scope of Claims] A flexible base member; a flexible sensor provided on one or both sides of the base member that outputs a signal in accordance with the bending of the base member; and an output of the sensor. A bending amount detector comprising: a detection circuit that detects the entire bending amount of the base member based on a signal; A bending amount detector characterized by different features.