Patent Description:
Conventionally, a remote control system in which a robot hand, which is an example of a multi-articulated robot, is remotely controlled by an operator has been utilized. For example, Patent Document <NUM> below discloses a technique for operating a robot hand by following a detected operation of a finger of an operator who puts on a glove, in which a sensor and an optical fiber for detecting an operation of a finger is provided.

<CIT> discloses a gripping element for arrangement on an adapter element in order to form a gripper input module for a haptic input system for controlling an object, including a receptacle for holding at least two fingers of a user therein, wherein, at least in one portion, the receptacle has a functional connection to at least one sensor means, and at least one connection element for arranging the gripping element on the adapter element, wherein the receptacle is configured such that movement information of a movement of at least one finger of the user in the receptacle can be detected by the sensor means and hence the movement information can be transmitted for controlling the at least one object. There is also disclosed a corresponding adapter element, a gripper input module consisting of a gripping element and adapter element, and also to a haptic input system and medical instrument system.

<CIT> discloses a force sense presentation device, a body part <NUM> which can be recognized by a palm is provided, a pressure sensor is mounted on each part on which the bellies of fingers corresponding to the space of each joint of each finger including a tip are abutted, the bending angle of each joint of a virtual finger <NUM> for operating the fingers at a remote place or a virtual object <NUM> is controlled based on the detection result of the pressure sensor. By mechanically and asymmetrically vibrating the part on which the pressure sensor is mounted and the whole of the casing part, a reaction force sense is presented. By providing an auxiliary input means, the positional information on a device is inputted. By a mechanism adjusting the size of the casing, the influence by the size of the palm is evaded. By deducting comparatively small force from the detected force, only intension information that fingers are to be bent is extracted from the detection result in which the force information required for clamping a device is incorporated.

<CIT> discloses a ball type touch device <NUM> comprises a touch device body <NUM> and a controller <NUM>. The touch device body <NUM> includes a ball part <NUM> and a touch sensor <NUM>. The ball part <NUM> includes a ball <NUM> formed of an elastic surface cover, a telescoping mechanism <NUM>, and a pressure sensor <NUM>. The telescoping mechanism <NUM> has a plurality of actuators formed to extend radially from the center of the ball <NUM> toward the surface cover. The pressure sensor <NUM> is provided on a portion where the outer ends of the actuators are attached to the surface cover, in such a way as to correspond to a plurality of telescoping mechanisms <NUM>.

<CIT> discloses a haptic input and output device for the teleoperation of virtual objects by a user. Said device comprises a base <NUM> with at least two wings <NUM>, <NUM>, which are connected to the base <NUM> in a displaceable manner in relation to each other, each having a finger-bearing surface <NUM>, <NUM>, at least one drive mechanism <NUM> connected to the wings <NUM>, <NUM> and an electronic interface <NUM> for transferring data between the input and output device <NUM> and a computer. The invention aims to solve the technical problem of improving the virtual gripping action using the haptic input and output device, to such an extent that an extremely realistic teleoperation and gripping of virtual objects is achieved. To this end, the drive mechanism <NUM> controls the relative distance between the wings <NUM>, <NUM> and generates a force which acts in opposition to the approach of the wings <NUM>, <NUM> towards one another.

In the above-mentioned glove, for example, a bending-type sensor is used to detect the motion of the finger, but such a sensor is fragile and has low detection accuracy. Further, since the operator needs to put on the glove in a manner that does not damage the sensor and the like installed inside, there is a problem that it is difficult to put on the glove.

This invention focuses on these points and an object of the present invention is to provide a motion detecting device which is capable of detecting a motion of an operator's hand for operating the multi-articulated robot with higher accuracy, and which has excellent durability and ease of wearing.

The present invention provides a motion detecting device according to claim <NUM>, the motion detecting device includes a device main body that is installed such that the finger is placed thereon, a contact part that is where the finger contacts the device main body and has a shape following shape of the finger, and a detection part that detects the motion of the finger on the basis of a pressing state of the finger against the contact part.

Further, a region of the contact part that is contacted by a pad of the finger may be curved in a convex shape toward the finger side.

Furthermore, the contact part may include a rotating part that rotates around a shaft part in accordance with a pressing of the finger, and the detection part may detect the motion the finger on the basis of the pressing state of the finger against the rotating part.

Moreover, the contact part may elastically deform in accordance with the pressing state of the finger. In addition, the contact part may be a groove part that follows the shape of the finger. Besides, the groove part may be formed on the outer peripheral surface of the device main body.

Further, the device main body may have an insertion hole in which the finger can be inserted, and the contact part may be provided in the insertion hole.

Furthermore, the device body according to the invention includes a spherical part having a spherical shape or a shape which is partially ellipsoid or entirely ellipsoid, and the contact part may be provided on the spherical part.

Moreover, the detection part may be arranged at a position corresponding to at least one of a proximal phalange, a middle phalange, and a distal phalange of the finger contacting the contact part, and may have a phalange detection part for detecting a pressing state of the phalange.

In addition, the contact part includes a rotating part that rotates around a shaft part in accordance with the pressing of the finger, and the detection part includes a position detection part that detects a position of a fingertip of the finger, wherein the detection part detects the motion of the finger on the basis of a rotation amount of the rotating part and the position of the fingertip detected by the position detection part.

Further, the contact part may include a rotating part that rotates around a shaft part in accordance with the pressing of the finger, and the phalange detection part and the position detection part may be provided on the rotating part.

Furthermore, the detection part may be arranged in a region of the groove part where a side surface of the finger contacts and may detect the motion of the finger at least in one of the right and left directions.

Moreover, the detection part may be arranged in a region of the insertion hole where the side surface of the finger contacts and may detect the motion of the finger at least in one of the right and left directions.

In addition, the motion detecting device may further include a force sense generating part that generates a force sense corresponding to a reaction force from an object when the multi-articulated robot touches the object.

Besides, the contact part may include a rotating part that rotates around a shaft part in a first direction in accordance with the pressing of the finger, the force sense generating part may include a driving part that rotates the rotating part in a second direction that is a direction opposite of the first direction, wherein the driving part may cause the rotating part to rotate in the second direction to generate the force sense.

According to the present invention, a motion detecting device which is capable of detecting a motion of an operator's hand for operating a multi-articulated robot with higher accuracy, and which has excellent durability and ease of wearing, is provided.

The configuration of a remote control system for a robot according to an embodiment of the present invention will be described by referring to <FIG>.

<FIG> is a block diagram illustrating a configuration of a remote control system S for a robot according to an embodiment of the present invention. The remote control system S includes a multi-fingered robot <NUM>, a motion detecting device <NUM>, and a control device <NUM>, as shown in <FIG>. The remote control system S detects a motion of a hand (specifically, a finger) of an operator, who performs a remote operation, with the motion detecting device <NUM>, and operates the multi-fingered robot <NUM> in conjunction with the detected motion of the hand.

<FIG> is a schematic diagram illustrating a configuration example of the multi-fingered robot <NUM>. The multi-fingered robot <NUM> is a multi-articulated robot that is remotely controlled by the operator. The multi-fingered robot <NUM> here is a humanoid robot hand which has a shape following a shape of a human hand, as shown in <FIG>. The multi-fingered robot <NUM> touches or grasps an object. <FIG> only shows the robot hand which follows after a human right hand as the multi-fingered robot <NUM>, but a robot hand which follows after a human left hand has a similar configuration. The multi-fingered robot <NUM> has a finger mechanism <NUM> and a driving source <NUM> as shown in <FIG>.

As shown in <FIG>, five finger mechanisms <NUM> are provided corresponding to five fingers (thumb, index finger, middle finger, ring finger, and little finger) of a human hand. Each of the five finger mechanisms <NUM> is an articulation mechanism driven by the driving source <NUM>.

The driving source <NUM> is an actuator such as a motor. The driving source <NUM> operates the finger mechanism <NUM> by, for example, a mechanical tendon wire drive. Upon receiving an operation command from the control device <NUM>, the multi-fingered robot <NUM> operates the corresponding finger mechanisms <NUM> in conjunction with the motion of the five fingers of the remote operator's hand.

The motion detecting device <NUM> is a detecting device for detecting a motion of an operator's hand, specifically a finger, for remotely operating the multi-fingered robot <NUM>. The motion detecting device <NUM> here includes a left hand detecting device for detecting the motion of the fingers of the operator's left hand and a right hand detecting device for detecting the motion of the fingers of the operator's right hand. The left hand detecting device and the right hand detecting device have the same configuration.

As shown in <FIG>, the motion detecting device <NUM> includes a device main body <NUM>, a detection part <NUM>, and a force sense generating part <NUM>. The device main body <NUM> here is installed such that the operator can easily place his/her hand thereon. For example, the device main body <NUM> is installed at a position where the operator with a sitting posture or a standing posture can easily place his/her hand. The operator moves his/her finger with his/her hand placed on the device main body <NUM>. For example, the operator bends or extends his/her finger placed on the device main body <NUM>. Further, the operator spreads or shrinks the space between two fingers.

The device main body <NUM> includes a main body for left hand on which the operator's left hand is placed and a main body for right hand on which the right hand is placed. The operator moves his/her left-hand finger with his/her left hand placed on the main body for left hand, and moves his/her right-hand finger with his/her right hand placed on the main body for right hand. Since the main body for left hand and the main body for right hand have the same configuration, the device main body <NUM> will be described below by taking the main body for right hand as an example.

<FIG> is a schematic diagram showing an example of a state in which the right hand H of the operator is placed on the device main body <NUM>. <FIG> is a schematic diagram showing an example in which the operator bends the fingers of the right hand H. As shown in <FIG> and <FIG>, the operator places a palm side of his/her hand on the device main body <NUM>. As shown in <FIG>, the device main body <NUM> is provided with contact parts <NUM> which the five fingers (a thumb F1, an index finger F2, a middle finger F3, a ring finger F4, and a little finger F5) of the right hand H of the operator contact respectively. The contact part <NUM> here is positioned at substantially the same position as an outer peripheral surface 32a of the device main body <NUM>, and is exposed to the outside. The detailed configuration of the contact part <NUM> will be described later.

The detection part <NUM> detects the motion of the operator's finger. The detection part <NUM> detects the motion of the finger on the basis of the pressing state of the operator's finger against the contact part <NUM>. For example, the detection part <NUM> detects that the finger is bent on the basis of the pressing state of the finger against the contact part <NUM> when the operator presses the contact part <NUM> by bending his/her finger. The pressing state of the finger is a concept that includes both the position where the finger presses the contact part <NUM> and pressing force. The force of pressing by the finger can be detected on the basis of, for example, the pressing amount of the contact part <NUM> by the finger, but the force of the pressing may be detected by another method (for example, a change in capacitance at the pressing position of the finger).

Further, the detection part <NUM> can estimate the motion of the entire hand by detecting the motion (including the posture) of each of the five fingers. For example, the detection part <NUM> detects that the operator bends the five fingers as shown in <FIG> from the state shown in <FIG>. The detection part <NUM> includes a phalange detection part <NUM>, a position detection part <NUM>, and a left-right motion detection part <NUM>, which will be described later in detail, to detect the motion of the finger with higher accuracy.

The force sense generating part <NUM> generates a force sense corresponding to a reaction force from an object when the multi-fingered robot <NUM> touches the object. In addition, the force sense generating part <NUM> may drive the contact part <NUM> such that the finger posture of the operator corresponds with that of the multi-fingered robot <NUM> if the multi-fingered robot <NUM> is moved by an external cause. The force sense generating part <NUM> operates the contact part <NUM> (specifically, the rotating members 45a to 45e shown in <FIG>) via the driving part <NUM>, which will be described later in detail, to transmit the force sense to the operator's finger being in contact with the contact part <NUM>. The force sense is a sense related to touch among five senses (the senses of sight, hearing, touch, taste, and smell) possessed by a human, and mainly means a haptic sense sensed by a human when he/she is in contact with an object.

For example, the force sense generating part <NUM> generates the force sense when the multi-fingered robot <NUM> which is bending the finger mechanism <NUM> to grasp an object cannot further bend the finger mechanism <NUM>. Thus, by receiving the generated force sense with the finger, the operator can recognize that the remotely operated multi-fingered robot <NUM> cannot further bend the finger mechanism <NUM> or the softness of the object being grasped.

The control device <NUM> controls the motion of the multi-fingered robot <NUM> according to the operator's hand motion detected by the motion detecting device <NUM>. In other words, the control device <NUM> operates each of the corresponding finger mechanisms <NUM> in conjunction with the motion of each of the operator's fingers. It should be noted that the control device <NUM> may be integrated with the motion detecting device <NUM> to be a single device.

The control device <NUM> operates the finger mechanism <NUM> to correspond with, for example, the detected finger posture. For example, the control device <NUM> causes the multi-fingered robot <NUM> (specifically, the robot hand which follows after the right hand) to bend the finger mechanism <NUM> when the motion detecting device <NUM> detects that the operator bends the right-hand finger as shown in <FIG>. Further, the control device <NUM> may operate the finger mechanism <NUM> by adjusting the angular velocity of the joint of the finger mechanism <NUM> in accordance with the magnitude of the pressing force of the operator's finger pressing. In addition, the control device <NUM> may operate the multi-fingered robot <NUM> at a predetermined magnification of the finger motion (for example, a bending amount).

The detailed configuration of the device main body <NUM> of the motion detecting device <NUM> will be described referring to <FIG> and <FIG>.

<FIG> is a schematic diagram illustrating a configuration example of the device main body <NUM>. <FIG> is a schematic diagram of the device main body <NUM> shown in <FIG>, seen from the rear. In <FIG>, the positions of the phalange detection parts <NUM> and the left-right motion detection parts <NUM> are indicated by circles for convenience of explanation.

The device main body <NUM> has a spherical part <NUM>, as shown in <FIG>. The spherical part <NUM> is a part on which the operator moves his/her finger with his/her hand placed thereon. The spherical part <NUM> here is spherical. However, the present invention is not limited thereto, and the spherical part <NUM> may have a shape including a part of an ellipsoid, or may be an ellipsoid. The spherical part <NUM> formed in this manner facilitates the operator in moving his/her hand placed thereon. Although not shown in <FIG> and <FIG>, a support part for supporting the spherical part <NUM> for installation may be connected to the spherical part <NUM>.

The spherical part <NUM> includes a groove part <NUM> formed on the outer peripheral surface as shown in <FIG>. The groove part <NUM> is shaped to follow the shape of the operator's hand, and the operator places the palm side of his/her hand on the groove part <NUM> (see <FIG>). The groove part <NUM> is provided with the finger contact parts 41a to 41e which the operator's five fingers respectively contact, as the aforementioned contact parts <NUM>.

The finger contact parts 41a to 41e are portions that the operator's fingers contact (specifically, finger pads). Here, the thumb of the operator contacts the finger contact part 41a, the index finger contacts the finger contact part 41b, the middle finger contacts the finger contact part 41c, the ring finger contacts the finger contact part 41d, and the little finger contacts the finger contact part 41e. Further, the finger contact parts 41a to 41e are shaped to follow the shapes of the operator's five fingers. Specifically, the sizes of the finger contact parts 41a to 41e are proportional to the sizes of the corresponding fingers. This makes it easy for the operator to bring the five fingers into contact with the corresponding finger contact parts 41a to 41e, respectively.

The regions of the finger contact parts 41a to 41e where the finger pads contact are curved convexly toward the fingers (see <FIG>). In other words, each of the finger contact parts 41a to 41e is convexly curved so as to follow the shape of the corresponding finger. It should be noted that the finger contact parts 41a to 41e may be curved convexly by connecting a plurality of surfaces. This makes it easy for the operator to move the five fingers while keeping the fingers placed on the finger contact parts 41a to 41e without discomfort.

The finger contact parts 41a to 41e have the rotating members 45a to 45e, as shown in <FIG>, that are rotatable in accordance with the finger motion. The rotating members 45a to 45e rotate around shaft parts 46a to 46e by being pressed by the operator's fingers. For example, when the operator bends the fingers and presses the rotating members 45a to 45e (see <FIG>), the rotating members 45a to 45e rotate toward the inside of the device main body <NUM> around the shaft parts 46a to 46e. On the other hand, when the operator extends the bent fingers, the rotating members 45a to 45e return to the state before the rotation (see <FIG>). Surfaces of the rotating members 45a to 45e are, for example, curved surfaces having a predetermined curvature.

In the above description, the contact part <NUM> includes the rotating members <NUM> that rotate in accordance with the finger motion, but the present invention is not limited thereto. For example, the contact part <NUM> may include an elastic member (for example, a rubber member) that elastically deforms in accordance with a pressing state of the finger. In this case, a mechanism for rotating the rotating members <NUM> is unnecessary.

Each of the finger contact parts 41a to 41e is provided with the detection part <NUM> described above. The detection part <NUM> detects the motion of each finger on the basis of the pressing state of each of the fingers placed on the finger contact parts 41a to 41e. That is, when the operator presses the rotating members 45a to 45e of the finger contact parts 41a to 41e, the detection part <NUM> detects the motion of the fingers on the basis of the pressing state of the fingers against the rotating members 45a to 45e. For example, the detection part <NUM> detects the finger motion when the operator bends or extends the fingers placed on the rotating members 45a to 45e.

The detection part <NUM> detects the rotation amounts of the rotating members 45a to 45e. Further, the detection part <NUM> also includes the phalange detection part <NUM>, the position detection part <NUM>, and the left-right motion detection part <NUM>, as shown in <FIG>. A plurality of detection parts provided in this way allows detection of the motion of the finger with higher accuracy even if the operator moves his/her finger in various ways to remotely operate the multi-fingered robot <NUM>.

The phalange detection part <NUM> is arranged at a position corresponding to a phalange (at least one of the proximal, middle, and distal phalanges) of the finger and detects the state of the phalange. The phalange detection part <NUM> is, for example, a contact-type sensor that performs detection when the phalange touches the sensor, or a non-contact-type sensor that performs detection from a distant position.

The phalange detection part <NUM> is arranged on each of the rotating members 45a to 45e. Here, the phalange detection part <NUM> is arranged at a position corresponding to the proximal phalange of each finger (see <FIG>). For example, the phalange detection part <NUM> provided on the rotating member 45b is arranged at a position corresponding to the proximal phalange of the operator's index finger.

The position detection part <NUM> detects the position of the fingertip of the finger. For example, when the operator bends the finger, the position detection part <NUM> detects the position of the fingertip of the bent finger. The position detection part <NUM> is also provided on the rotating members 45a to 45e. The position detection part <NUM> includes, for example, a touch sensor (for example, capacitive type) provided on the surfaces of the rotating members 45a to 45e, and detects the position of the fingertip which is in contact with the touch sensor.

<FIG> is a schematic diagram illustrating detection of the position of the fingertip. In <FIG>, the operator bends the index finger, and the fingertip of the index finger is in contact with the rotating member 45b. At this time, the position detection part <NUM> detects the position of the fingertip of the index finger in the bent state or the sliding distance (moving distance) of the index finger on the rotating member 45b.

The detection part <NUM> detects the motion of the finger on the basis of the position of the fingertip detected by the position detection part <NUM> and the rotation amounts of the rotating members 45a to 45e. For example, when the index finger is bent as shown in <FIG>, the detection part <NUM> can estimate the bending state (posture) of the index finger by detecting the rotation amount of the rotating member 45b and the position of the fingertip of the index finger by using the position detection part <NUM>. Detecting the motion in this manner makes it possible to detect the motion of the index finger appropriately without providing the phalange detection part <NUM> for each of the three phalanges of the index finger.

The left-right motion detection part <NUM> detects the motion of the finger at least in one of the right and left directions. The left-right motion detection part <NUM> is arranged, for example, in a region of the groove part <NUM> where side surfaces of the finger make contact. Specifically, the left-right motion detection parts <NUM> are respectively arranged on each of both side walls of the rotating members 45a to 45e in the groove part <NUM>. The left-right motion detection part <NUM> is a contact-type sensor that performs detection when the side surface of the finger is in contact therewith, or a non-contact-type sensor that performs detection even if the side surface of the finger is not in contact therewith (for example, a range sensor). It should be noted that the motion of the finger in the left-right direction may be detected by the touch sensor if the touch sensor is provided on the surfaces of the rotating members 45a to 45e.

<FIG> is a schematic diagram illustrating the motion of the fingers in a left-right direction. <FIG> shows the index finger and middle finger spreading apart from each other. When the index finger and the middle finger are moving in the left-right direction as shown in <FIG>, the left-right motion detection part <NUM> arranged in the finger contact part 41b detects the position of the index finger in the left-right direction, and the left-right motion detection part <NUM> arranged in the finger contact part 41c detects the position of the middle finger in the left-right direction. Thus, the motion of the index finger and the middle finger in the left-right direction can be appropriately detected.

In the above description, the phalange detection part <NUM> is arranged at a position corresponding to the proximal phalange of the finger of the operator, but the present invention is not limited thereto. For example, the phalange detection part <NUM> may be arranged as shown in <FIG>.

<FIG> is a schematic diagram illustrating an example of arrangements of the phalange detection parts <NUM>. The phalange detection part <NUM> may be arranged at a position corresponding to the proximal, middle, and distal phalanges of the finger, respectively. Using three phalange detection parts <NUM> allows detection of the state of each phalange of the finger, thereby detecting the motion of the finger with higher accuracy. Providing the three phalange detection parts <NUM> eliminates the necessity of providing the above-described position detection part <NUM>.

Further, the phalange detection parts <NUM> may be arranged at positions corresponding to two of the proximal, middle, and distal phalanges of the finger. For example, the phalange detection parts <NUM> may be arranged at the positions corresponding to the proximal phalange and the distal phalange of the finger.

The finger contact parts 41a to 41e are provided with the driving part <NUM> (<FIG>) to generate the force sense to be transmitted to the finger as described above. The driving part <NUM> rotates the rotating members 45a to 45e to transmit the force sense to the finger when the multi-fingered robot <NUM> touches the object.

<FIG> is a schematic diagram illustrating a configuration example of the driving part <NUM>. <FIG> shows the driving part <NUM> for rotating the rotating member 45a, but the driving part <NUM> for rotating the rotating members 45b to 45e have the same configuration. The driving part <NUM> here is a motor which is connected to a shaft part 46b of the rotating member 45b. The driving part <NUM> rotates the rotating member 45b in a direction (second direction) opposite to the pressing direction (first direction) in which the index finger F2 presses the rotating member 45b. Specifically, as shown in <FIG>, the driving part <NUM> causes the rotating member 45b to rotate clockwise about the shaft part 46b, thereby transmitting the force sense to the index finger F2 from the rotating member 45b.

It should be noted that the driving part <NUM> rotates the rotating member 45b in the direction opposite to the pressing direction in the above description, but the present invention is not limited thereto. For example, the driving part <NUM> may rotate the rotating member 45b in the direction opposite to the pressing direction, stop the rotating member 45b temporarily, and then further rotate the rotating member 45b in the same direction as the pressing direction. As an illustration, when the multi-fingered robot <NUM> bends the finger mechanism <NUM> to grab an egg, the driving part <NUM> generates the force sense at the time when the finger mechanism <NUM> touches the egg, and so the operator stops the finger. If the operator further presses the finger in the pressing direction thereafter, the multi-fingered robot <NUM> drives the finger mechanism <NUM> and breaks the egg. Then, the finger mechanism <NUM> further moves in the bending direction due to the breaking of the egg. In order to feedback the position to the operator after this motion, the driving part <NUM> rotates the rotating member 45b in the pressing direction.

<FIG> is a schematic diagram illustrating a variation of the configuration of the driving part <NUM>. In the variation shown in <FIG>, the driving part <NUM> is not connected to the shaft part 46b of the rotating member 45b, and moves a rod <NUM> arranged below the rotating member 45b. The rod <NUM> moves in the direction (upward direction) indicated by the arrow in <FIG>, for example, such that the rotating member 45b rotates clockwise about the shaft part 46b. Thus, the driving part <NUM> moves the rod <NUM> upward to rotate the rotating member 45b, thereby transmitting the force sense from the rotating member 45b to the index finger F2.

In the above description, the force sense is transmitted to the finger contact parts 41a to 41e of the contact part <NUM> as the sensory feedback to the operator's finger, but the invention is not limited thereto. For example, the contact part <NUM> may give vibration or electrical stimulation to the fingertip to give the finger a rough or slimy feel. In addition, the contact part <NUM> may include a device that transmits a sensation to the finger in accordance with temperature.

It should be noted that, in the above description, the rotating members 45a to 45e are arranged on the outer peripheral surface of the device main body <NUM> such that the operator moves the finger with the palm side of his/her hand placed on the device main body <NUM> as shown in <FIG>, For example, as shown in <FIG>, the rotating members 45a to 45e may be arranged inside of the device main body <NUM>.

<FIG> is a schematic diagram illustrating a configuration of the device main body <NUM> according to the variation not forming part of the invention.

The device main body <NUM> according to the variation has an insertion hole <NUM> into which the operator can insert his/her finger. The insertion hole <NUM> here may have a shape that allows a hand to be inserted easily and has, for example, a rectangular shape. Then, the rotating members 45a to 45e are each rotatably arranged in the insertion hole <NUM>. Therefore, in this variation, the operator moves his/her fingers relative to the rotating members 45a to 45e inside of the device main body <NUM> by inserting his/her hand from the insertion hole <NUM>.

Even in the variation not forming part of the invention shown in <FIG>, the detection part <NUM> (<FIG>) detects the motion of the finger in the device main body <NUM> (the motion in which the fingers press the rotating members 45a to 45e). The detection part <NUM> includes the phalange detection part <NUM>, the position detection part <NUM>, and the left-right motion detection part <NUM> as described above. As a result, the motion of the finger inside of the device main body <NUM> can be detected with higher accuracy.

In the above description, the rotating members 45a to 45e pressed by the fingers are used, but the present invention is not limited thereto. For example, a pointing stick that can be operated by a finger may be used. In this case, the pressing force of the finger on the pointing stick is assigned to the acceleration, velocity, and displacement of the joint of the corresponding multi-finger robot <NUM> (multi-articulated robot).

In the above description, the multi-fingered robot <NUM> is a robot hand which has a shape following a shape of a human hand, but the present invention is not limited thereto. For example, the multi-fingered robot <NUM> may be a robot which has a shape following a shape of a human leg. In this case, the control device <NUM> may operate one leg (here, the left leg) of the multi-fingered robot <NUM> when the detection part <NUM> detects the motion of the index finger of the hand, and may operate the other leg (the right leg) of the multi-fingered robot <NUM> when the detection part <NUM> detects the motion of the middle finger.

The motion detecting device <NUM> of the present embodiment described above includes the device main body <NUM> on which the finger of the operator is placed, the contact part <NUM> formed in the device main body <NUM> following the shape of the finger and which the finger contacts, and the detection part <NUM> that detects the motion of the finger on the basis of the pressing state of the finger against the contact part <NUM>.

With the above configuration, the operator can remotely control the multi-fingered robot <NUM> by moving the finger placed on the device main body <NUM>. Therefore, compared to the conventional method of putting the glove on the hand, placing the hand is easier and the durability of the device main body <NUM> is also excellent. Further, the detection part <NUM> detects the motion of the finger on the basis of the pressing state of the finger against the contact part <NUM> following the shape of the finger, thereby detecting the fine motion or the like of the finger with higher accuracy. This enables a fine operation of the multi-fingered robot <NUM>.

Claim 1:
A motion detecting device (<NUM>) for detecting a motion of an operator's finger for remotely operating a multi-articulated robot, the motion detecting device (<NUM>) comprising:
a device main body (<NUM>) that is installed such that the finger is placed thereon;
a contact part (<NUM>) that is where the finger contacts the device main body and has a shape following shape of the finger; and
a detection part (<NUM>) that detects the motion of the finger on the basis of a pressing state of the finger against the contact part,
characterized in that
the device main body has a spherical part (<NUM>) having a spherical shape or a shape which is partially ellipsoid or entirely ellipsoid; and
the contact part is formed on the outer peripheral surface of the device main body and includes a rotating part (45a to 45e) that rotates around a shaft part in accordance with a pressing of the finger and the detection part detects the motion of the finger on the basis of the rotation amount of the rotating part.