CN105266817B - A kind of upper extremity function motion monitoring system and method based on fabric sensor - Google Patents
A kind of upper extremity function motion monitoring system and method based on fabric sensor Download PDFInfo
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- CN105266817B CN105266817B CN201510740511.1A CN201510740511A CN105266817B CN 105266817 B CN105266817 B CN 105266817B CN 201510740511 A CN201510740511 A CN 201510740511A CN 105266817 B CN105266817 B CN 105266817B
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Abstract
The invention provides a kind of upper extremity function motion monitoring system based on fabric sensor, including：Signal generation apparatus, including the conductive fabric with signal transmssion line, conductive fabric are connected with button cell；Conductive fabric is close to human upper limb elbow joint, and upper extremity exercise stretches to conductive fabric, the voltage signal at conductive fabric both ends is changed；Signal acquisition and transmitting device, the voltage signal is gathered, and sent to signal reception and display device；Signal receives and display device, receives the voltage signal, and functional movement sign is carried out to it, while real-time display functional movement state, preserves data in real time and is imaged.Present invention also offers a kind of upper extremity function motion monitoring method based on fabric sensor.Cost of the present invention is cheap, and steadiness is good, has high sensitivity, strong adaptability, while sensing element can be integrated very well on the clothes of everyday general purpose, can provide foundation for the biomechanical analysis of human upper limb locomotion.
Description
Technical field
The present invention relates to it is a kind of based on polypyrrole Conductive woven thing be sensing element upper extremity exercise monitoring system and method,
Belong to wearable intelligent textile technical field.
Background technology
Limb motion state verification suffers from important application in fields such as medical science of recovery therapy, sports.For example, at some
In athletic training, motor message is used to identify deficiency of the sportsman in training, so as to purposefully instruct the later stage to train；
Medical science of recovery therapy field, motor message are used to detect the rehabilitation course of patient.At present, by accelerometer, flexible electrical goniometer, shooting
The motion capture system of machine composition has been used for monitoring human motion.The product succeeded in developing has England Oxford (Oxford) company
A series of VICON motion analysis systems released from the eighties, are widely applied in many developed countries.This set system is
Based on video camera, have at present and cover various models more 700 and operated under lab with various hospitals, recovery centre.The U.S.
PeakPerformance Technologies Inc. were also proposed a series of commercial Peak Motus at past nearly 20 years
Movement measurement system, the system are again based on video camera, also achieve and are widely applied.Although such system can be accurate
The action of true measurement human body, but its portability and disguise are poor, it has not been convenient to use.Meanwhile these components are rigidity or nothing
Elastomeric material, such as it is fixed on the comfortableness that people's dress can be influenceed on clothes.
The sensor monitoring technology of different sensing principles and sensing material has been applied to the exploitation of human motion attitude system.
Have partial monopoly technology both at home and abroad and academic documents are disclosed, such as patent of invention " a kind of gesture recognition method and gesture recognition
Control system " (publication number：CN102799263A), the patent pre-processes to the limb action image that camera device gathers,
Extract the view data for only including limb action region；The limb action feature of view data is extracted, determines that limbs put appearance
Gesture, judge limb motion state.The present invention eliminates the limitation of infrared photosensitive gloves or sensor to user, facilitates user
Operation；But it can only be tested in specific place, it is impossible to which human motion is monitored in real time.Patent " supervise by limb motion
Examining system " (publication number：CN 101522101A) it is middle using tiny motion sensor, photonic textile, the micro pressure for being embedded in fabric
Sensor and muscular activity sensors have built a limb motion monitoring system.The system architecture is complicated, embedded fabric
Sensor can influence the comfortableness of fabric and then influence test result.
In addition,《Sensing technology journal》7th phase in 2008 publishes thesis " the flexible strain sensing based on machine-knitted structure
The design and analysis of device ", the machine-knitted structure that author is combined with conductive yarn with insulative yarn devise parallel and tandem
Strain transducer, it is found through experiments that, if the conductive yarn in woven fabric is parallel, is theoretically utilized in arbitrary dimension thing
The big strain detecting of body, if tandem, then it is only applicable to the big strain detecting of reduced size object.Article simply to two kinds not
Strain sensitivity with structure lower sensor is discussed, and is not applied to limbs and is surveyed.《Synthetic
Metals》The 3rd phase of volume 155 in 2005 publishes thesis " Conducting polymer coated lycra ", to be used poly- in literary
Pyrroles's Lycra fabric forms a circuit as a dynamic circuit element, and strip conductive fabric is covered on knee, with
The bending conductive fabric resistance of knee changes.According to the size of resistance variations, the generator in circuit sends different sound
Sound, the degree of crook of knee is reflected by the different size of sound.Author be to the exercise test of limbs one qualitatively
Evaluation, and the strips of conductive fabric proposed is only capable of reacting degree of crook, it is impossible to the omnibearing movable of reaction limbs comprehensively.
《Journal of neuroengineering and rehabilitation》The 1st phase of volume 2 in 2005 has delivered paper
“Wearable conductive fiber sensors for multi-axis human joint angle
Measurements ", describes a kind of technology that continuously can chronically monitor human body joint motion, and the technology is exactly by one
Conductive yarn is attached on fabric, can be extended with the bending conductive yarn in joint, so as to cause the increase of its resistance, passes through resistance
Change bring reflection joint motion.《Sensors》The 3rd phase of volume 14 in 2014 has delivered paper " A Textile-Based
Wearable Sensing Device Designed for Monitoring the Flexion Angle of Elbow
And Knee Movements ", elastic conductive band made using elastomeric yarn in text, one is assembled based on elastic conductive band
For detecting the detecting system of human body elbow and knee kinematics angle.It is found through experiments that the system can reflect elbow well
With the movement angle of knee, with the increase of movement angle, the resistance almost linear increase of electrically conductive elastic band.These research institutes
One-dimensional of the detection method due to sensing element is stated, the bending motion of limbs can only be reacted --- this single movement.In addition, this
Study a bit in the method for testing often using the letter between the fixed conductive fabric of such as adhesive type, reed formula and signal collecting device
Number lead-out wire, all exist in the alternating bending campaign of limbs and easily loosen the problem of even coming off.
In summary, from the point of view of the current methods from limb motion detection, patent statement and research report institute extracting method, exist
Two aspect deficiencies：The material stiffness of sensing element and signal transmssion line is unsatisfactory for face considerably beyond conventional garment material
Flexibility, disguise to the real-time monitoring pattern of wearable medical treatment, comfortableness；The motor pattern monitored is single, it is impossible to
Actual response limb motion process, such as bend and rotate.In view of existing limb function motion monitoring technology is wearable when long
Deficiency in medical monitoring application, the present invention will monitor human motion by the use of conductive textile material as sensing element, and solve
Certainly sensing element fix, easy to fall off, the problems such as easily loosening of signal transmssion line.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of based on human motion of the conductive loom thing as sensing element
State verification system and method, monitored suitable for limb function motion state.The fabric sensor has the material as clothes
Matter characteristic, can be ideally integrated integrated so as to realize with clothes.
In order to solve the above-mentioned technical problem, the technical scheme is that providing a kind of upper limbs work(based on fabric sensor
Energy motion monitoring system, it is characterised in that：Including：
Signal generation apparatus, including the conductive fabric with signal transmssion line, conductive fabric are connected with button cell；It is conductive
Fabric is close to human upper limb elbow joint, and upper extremity exercise stretches to conductive fabric, makes the voltage signal at conductive fabric both ends
Change；
Signal acquisition and transmitting device, gather the incoming voltage signal of the signal transmssion line, and by the voltage signal
Send to signal reception and display device；
Signal receives and display device, the voltage signal that reception signal collection is sent with transmitting device, and carries out work(to it
Energy representation of athletic, while real-time display functional movement state, data are preserved in real time and are simultaneously imaged.
Preferably, in the signal generation apparatus, conductive fabric is through original position by polypyrrole monomer and cotton ammonia blend fabric
Polypyrrole conductive fabric made of polymerization, signal transmssion line are conductive yam.
Preferably, the size of the conductive fabric meets whole elbow joint to coat；The elongation of the conductive fabric is not
Less than 30%.
Preferably, to form the yarn of conductive fabric, it is introduced and led the signal transmssion line by way of loop bonding or embroidery
In electric fabric.
Preferably, the signal acquisition and transmitting device are by wirelessly carrying out signal acquisition and transmission.
Present invention also offers a kind of upper extremity function motion monitoring method based on fabric sensor, using above-mentioned upper limbs
Functional movement monitoring system, step are：
Step 1：Conductive fabric is sewn on tight, conductive fabric is attached at human upper limb elbow with some tension and closes
Section is above；Conductive fabric is connected with button cell；
Step 2：During human upper limb locomotion, elbow joint and tight drive conductive fabric to be deformed, the change of conductive fabric
Shape can cause its resistance to change, thus the voltage signal respective change at conductive fabric both ends；
Step 3：The incoming voltage signal of signal acquisition and transmitting device collection signal transmssion line, and by the voltage signal
Send to signal reception and display device；
Step 4：Signal receives and display device, and the voltage signal that reception signal collection is sent with transmitting device is simultaneously converted into
Data signal, the motion state of limbs is judged by the variation tendency of the signal with change size, and real-time display fills in display
On the interactive interface put
Preferably, in the step 1, the elasticity of tight is at least over twice of conductive fabric.
Preferably, the motion of different directions causes conductive fabric to be stretched in different directions, so as to the direction of resistance
Property change and size show human upper limb locomotion direction and exercise intensity.
Preferably, in the step 4, the determination methods of limb motion state are as follows：
When the voltage at conductive fabric both ends reduces, upper limbs is doing bending motion；
When the voltage increase at conductive fabric both ends, upper limbs is doing unbending movement；
The waveform number that the motion speed of upper limbs is changed by voltage signal in the unit interval reflects；
The angle of bend size of upper limbs is calculated by the change size of voltage.
Preferably, the angle of bend size circular of the upper limbs is as follows：
Assuming that human elbow is the circle of standard, its radius is r；When then arm bending angle is θ radians, conductive fabric
Elongation along a direction is Δ L=r × θ, then the direction strain stress of conductive fabric=Δ L/L=r θ/L, L is conductive fabric
Initial length；Then conductive fabric is Δ R=G ε R in the resistance variations of the direction0, wherein G is the strain sensitive system of conductive fabric
Number, ε be fabric dependent variable, R0It is the inceptive direction resistance of conductive fabric；Then θ=Δ RL/GrR0。
System provided by the invention overcomes the deficiencies in the prior art, strengthens the steadiness of sensor, while sensitive member
Part can be integrated very well on the clothes of everyday general purpose, so as to realize wearing comfort and disguise.Also, the biography of data
It is defeated to realize wireless penetration, it can ensure that tester is tested in the state of comfortable, can be the Biological Strength of human upper limb locomotion
Credit analysis provides foundation.The present invention utilizes the characteristic of fabric in itself, has high sensitivity using fabric as sensor, adapts to energy by force
Power, the motion state of limbs in human motion, can be monitored in real time, cost of manufacture is cheap, practical and suitable broad masses,
With popularization feasibility.
Brief description of the drawings
Fig. 1 is that upper extremity exercise monitors schematic diagram；
Fig. 2 is that elbow joint bending stretches schematic diagram to surface fabric；
Fig. 3 is that conductive fabric direction stretches change schematic diagram；
Fig. 4 is upper extremity exercise monitoring system schematic diagram；
Fig. 5 is upper limbs angle of bend and fabric sensitivity schematic diagram；
Fig. 6 is the dynamic test schematic diagram of upper limbs bending motion；
Fig. 7 is upper limbs interval bending motion schematic diagram；
Fig. 8 is the dynamic test schematic diagram of upper limbs twist motion.
Embodiment
To become apparent the present invention, hereby with several preferred embodiments, and accompanying drawing is coordinated to be described in detail below.
With reference to Fig. 1, the present invention is signal transmssion line as core sensing device, conductive yam 3 using Conductive woven thing, is passed through
Conductive fabric 2 is sewn to elasticity at least on the tight 1 of twice of conductive fabric, that is, ensures to be attached at people with some tension
Above body upper limbs elbow joint, upper extremity function motion monitoring system is formed, realizes the multi-direction functional movement integration monitoring of upper limbs.
Conductive fabric 2 is that polypyrrole in-situ chemical polymerize to be formed.On material, the present invention from nontoxic pyrrole monomer with
Polypyrrole conductive fabric is made through situ aggregation method in the good cotton ammonia blended fabric of tensile property, as the quick of human motion monitoring
Feel unit.Sensing unit is fabric construction, simple light, it is had good comfortableness in monitoring process.In addition, cotton
Fabric has good snugness of fit, is suitable to and direct skin contact；Spandex is durable and with compared with high resilience so that sensing
Device can keep good elastic and repeatable under different motion frequency.In a word, the present invention by upper extremity exercise to poly- pyrrole
Cough up Conductive woven thing to be stretched, caused electric signal is not influenceing motion prison by changing and then reflecting the motion of upper limbs
While survey, the comfortableness and disguise of sensor are added, makes it possible to monitor in real time for a long time.It is multi-party in order to meet
To motion monitoring, the size of conductive fabric will meet whole elbow joint to coat, and so can just capture joint all directions
Motor message.In the normal motion process of knee joint, the fabric around it has 20%~30% elongation.And for elbow
For joint, the elongation of its surrounding fabric is smaller than knee joint.Therefore, it is selected to ensure wearing comfort and monitoring accuracy
The elongation that is required to meet of conductive fabric up to 30%.
Limb function motion monitoring principle of the present invention is：In human upper limb locomotion, elbow joint and close-fitting elastic garment
Conductive fabric is driven to be deformed, and the deformation of conductive fabric will cause its resistance to change, it is anti-by the change of resistance
Answer upper extremity function athletic posture.Conductive fabric comes from clothes fabric, the comfortableness dressed when meeting long and with its accole one
Bodyization requirement.
Limbs multidirectional functional movement synchronous integrated monitoring principle of the present invention is：Based on the conductive fabric
Electric anisotropy, the motion of different directions cause conductive fabric to be stretched in different directions, so as to the directionality of resistance
Change and size show the direction of motion and exercise intensity.This functional movement monitoring principle and the specific direction of motion and intensity can
Formulation, it forms the core algorithm of Signal Analysis System, is specifically expressed as follows：
As illustrated in fig. 2, it is assumed that human elbow is the circle of standard, its radius is r.So, its arm bending angle is θ
When (radian), elongation of the fabric along a direction is Δ L=r × θ, then the direction strain stress of fabric=Δ L/L=r θ/L, L is to lead
The initial length of electric fabric.Then conductive fabric is Δ R=G ε R in the resistance variations of the direction0, wherein G is answering for conductive fabric
Become sensitivity coefficient, can be calculated by experiment test, its strain sensitive coefficient of conductive fabric selected in text is left for 2.7
It is right；ε is the dependent variable of fabric；R0It is the inceptive direction resistance of conductive fabric.So, upper extremity exercise angle and size can pass through
The direction resistance variations size of conductive fabric infers that specific formula for calculation is θ=Δ RL/GrR0Wherein, Δ R is that conduction is knitted
The changing value of thing resistance.Then, because different forms of motion is different to the stretcher strain in fabric all directions, so that
Resistance variations in all directions are different, as shown in figure 3, when under tension F is stretched on fabric direction 2, in direction 2 and direction
Different deformations, and deformation Δ L can be produced on 11＞ Δs L2a+ΔL2b.The present invention can be by the resistance variations in one direction come anti-
The angle of bend of upper limbs is reflected, for different forms of motion, can be reflected by the difference of the resistance variations on multi-direction.
Conductive yam signal transmssion line of the present invention is the silver-plated conductive yam of elastic force, it is desirable to elastic ratio is less than conductive fabric, and one
As using form conductive fabric yarn, it is introduced into by way of loop bonding or embroidery in polypyrrole Conductive woven thing, as signal
Output lead, solves the problem that signal lead consolidates and easily loosens, comes off in existing test.
With reference to Fig. 4, upper extremity function motion monitoring system of the present invention is except above-mentioned sensing device and signal transmssion line group
Into signal generation apparatus A beyond, mainly also have signal acquisition and transmitting device B, signal to receive and display device C.Signal is sent out
Generating apparatus A is made up of one piece of polypyrrole Conductive woven thing with signal transmssion line, polypyrrole Conductive woven thing and button
Battery connects；Signal acquisition and transmitting device B are a blue-teeth data acquisition module, and it gathers the incoming signal of signal lead,
And sent to signal and received and display device C by bluetooth.It is the PC with Signal Analysis System that signal, which is received with display device C,
Machine, the voltage signal that PC receives carry out functional movement sign, and real-time display functional movement state through Signal Analysis System,
Data are preserved in real time and are imaged.
Voltage signal is converted into data signal by PC ends by Signal Analysis System, is shown in the interactive interface of display device
On.The motion state of limbs can be judged by the variation tendency of signal and change size, such as when the voltage of fabric ends subtracts
Hour, upper limbs is doing bending motion；Conversely, when fabric ends voltage increases, upper limbs is doing unbending movement；And the bending of upper limbs
Angular dimension can be then calculated by the change size and above-mentioned formula of voltage；The motion speed of upper limbs can then lead to
The waveform number that voltage signal changes in the unit interval is crossed to reflect., can be by not if differentiating different forms of motion
The difference of equidirectional upper resistance variations and the variation tendency synthesis of electric signal are judged.
Illustrate the performance of this test system with reference to several specific testing example.
Embodiment 1
The response of limbs fabric resistance under the differently curved angle of quasistatic.
When arm naturally droops, angle of bend is 0 °, and upper limbs angle of bend, for increment or decrement, is first increased with 20 ° from 0 °
To 120 °, 5 circulations are tested, calculate the average value that each angle under 5 circulations corresponds to resistance.Angle of departure is obtained by linear fit
Degree --- resistance equation, as shown in figure 5, being wherein fitted squared difference and (R2) it is equal to 0.95, fabric under this explanation different angle
The linearity of electrical response is good.
Embodiment 2
Upper limbs does reversed bending motion, the voltage at blue-teeth data capture card continuous acquisition conductive fabric both ends with friction speed
Change.The motion of upper limbs is reflected by the change of voltage.As shown in fig. 6, arm bends fortune with three kinds of different speed respectively
It is dynamic, increase successively from Fig. 6 (a)~Fig. 6 (c) rate of bending.From fig. 6 it can be seen that with arm bending fabric ends voltage
Reduce, arm stretches voltage increase.Meanwhile when speed increase, the waveform number increase in same time.This explanation, passes through this
One test system of sample, the trend of upper limbs bending motion can not only be reflected, can also be reflected by the waveform number in the unit interval
The speed degree of motion.
Embodiment 3
Upper limbs does the bending motion of interval, and upper limbs does the bending motion of several circulations first, and then arm is into naturally drooping
State for a period of time, then continues to do reversed bending motion.It can be seen from figure 7 that voltage is believed when arm does bending motion
Number produce waveform；Represented in Fig. 7 at P when arm is static, voltage signal, which is almost in line, does not produce any change.This explanation should
Method of testing can reflect the motion state of limbs.
Embodiment 4
All it is for characterizing the simple bending motion of limbs during before with flexible fabric sensor testing limb motion.
And for upper limbs, in addition to bending motion, the rotary motion of common motion also limbs in daily life.Fig. 8 is to adopt
With above-mentioned test device, conductive fabric twice during the upper limbs rotary motion of monitoring voltage signal.Relative to bending motion, it has
Different variation tendencies and amplitude of variation.
As can be seen that the bending and rotation of upper limbs can be tested out by method provided by the invention from above-described embodiment
Transhipment is dynamic.For human upper limb, the compound motion of two such motion also be present, existing method is all with conductive fabric one
Electric signal on individual direction reflects the motion of limbs, and conductive fabric also has the electric signal on a direction not utilize.Such as
Fruit will test such a compound motion, can utilize electric signal of the above-mentioned test device simultaneously in test fabric both direction,
Such a increasingly complex compound motion can be reflected by the change and its otherness algorithm of both direction power on signal.
Claims (7)
1. a kind of upper extremity function motion monitoring method based on fabric sensor, it is characterised in that use and be based on fabric sensor
Upper extremity function motion monitoring system, the upper extremity function motion monitoring system based on fabric sensor includes：
Signal generation apparatus (A), including the conductive fabric (2) with signal transmssion line (3), conductive fabric (2) and button cell
Connection；Conductive fabric (2) is close to human upper limb elbow joint, and upper extremity exercise stretches to conductive fabric (2), makes conductive fabric
(2) voltage signal at both ends changes；
Signal acquisition and transmitting device (B), the incoming voltage signal of the signal transmssion line (3) is gathered, and the voltage is believed
Number send to signal receive with display device (C)；
Signal receives the voltage signal sent with display device (C), reception signal collection with transmitting device (B), and it is carried out
Functional movement characterizes, while real-time display functional movement state, preserves data in real time and is imaged；
The step of upper extremity function motion monitoring method based on fabric sensor is：
Step 1：Conductive fabric (2) is sewn on tight (1), conductive fabric (2) is attached at some tension on human body
Above limb elbow joint；Conductive fabric (2) is connected with button cell；
Step 2：During human upper limb locomotion, elbow joint and tight (1) drive conductive fabric (2) to be deformed, conductive fabric (2)
Deformation its resistance can be caused to change, thus the voltage signal respective change at conductive fabric (2) both ends；
Step 3：The signal acquisition voltage signal incoming with transmitting device (B) collection signal transmssion line (3), and the voltage is believed
Number send to signal receive with display device (C)；
Step 4：Signal receives the voltage signal sent with display device (C), reception signal collection with transmitting device (B) and conversion
Into data signal, the motion state of limbs is judged by the variation tendency and change size of the signal, real-time display is being shown
On the interactive interface of device；
In step 4, the determination methods of limb motion state are as follows：
When the voltage at conductive fabric (2) both ends reduces, upper limbs is doing bending motion；
When the voltage increase at conductive fabric (2) both ends, upper limbs is doing unbending movement；
The waveform number that the motion speed of upper limbs is changed by voltage signal in the unit interval reflects；
The angle of bend size of upper limbs is calculated by the change size of voltage；
The angle of bend size circular of the upper limbs is as follows：
Assuming that human elbow is the circle of standard, its radius is r；When then arm bending angle is θ radians, conductive fabric (2)
Elongation along a direction is Δ L=r × θ, then the direction strain stress of conductive fabric (2)=Δ L/L=r θ/L, L is conductive fabric
Initial length；Then conductive fabric (2) is Δ R=G ε R in the resistance variations of the direction0, wherein G is that the strain of conductive fabric is quick
Feel coefficient, ε be fabric dependent variable, R0It is the inceptive direction resistance of conductive fabric；Then θ=Δ RL/GrR0。
A kind of 2. upper extremity function motion monitoring method based on fabric sensor as claimed in claim 1, it is characterised in that：Institute
State in signal generation apparatus (A), conductive fabric (2) is made of polypyrrole monomer and cotton ammonia blend fabric are through situ aggregation method
Polypyrrole conductive fabric, signal transmssion line (3) are conductive yam.
A kind of 3. upper extremity function motion monitoring method based on fabric sensor as claimed in claim 1, it is characterised in that：Institute
The size for stating conductive fabric (2) meets whole elbow joint to coat；The elongation of the conductive fabric (2) is not less than 30%.
4. a kind of upper extremity function motion monitoring method based on fabric sensor as described in claim 1 or 3, its feature exist
In：For the signal transmssion line (3) to form the yarn of conductive fabric (2), it introduces conductive fabric by way of loop bonding or embroidery
(2) in.
A kind of 5. upper extremity function motion monitoring method based on fabric sensor as claimed in claim 2, it is characterised in that：Institute
Signal acquisition is stated with transmitting device (B) by wirelessly carrying out signal acquisition and transmission.
A kind of 6. upper extremity function motion monitoring method based on fabric sensor as claimed in claim 1, it is characterised in that：Institute
State in step 1, the elasticity of tight (1) is at least over twice of conductive fabric (2).
A kind of 7. upper extremity function motion monitoring method based on fabric sensor as claimed in claim 1, it is characterised in that：No
Equidirectional motion causes conductive fabric (2) to be stretched in different directions, shows so as to the directional change and size of resistance
Human upper limb locomotion direction and exercise intensity are shown.
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| CN105928980B (en) * | 2016-04-19 | 2018-06-26 | 东华大学 | The preparation method of fabric stretch sensor |
| CN105803624B (en) * | 2016-04-19 | 2017-12-12 | 东华大学 | The preparation method of bending strain sensing fabric with transmission of wireless signals function |
| EP3272281A3 (en) * | 2016-07-21 | 2018-05-30 | Sanko Tekstil Isletmeleri San. Ve Tic. A.S. | Motion capturing garments and system and method for motion capture using jeans and other garments |
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| CN106894133A (en) * | 2017-03-03 | 2017-06-27 | 东华大学 | A kind of stretchable multi-dimensional force sensing yarn of resistance-type |
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| CN107467727A (en) * | 2017-10-10 | 2017-12-15 | 东华大学 | A kind of intelligent clothing of integrated weaving base TEMP network |
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| CN109171743A (en) * | 2018-08-15 | 2019-01-11 | 广东工业大学 | A kind of muscle deformation signal acquisition device and its processing method |
| CN109452943B (en) * | 2018-09-17 | 2021-03-23 | 周建菊 | Multifunctional rehabilitation clothes for severe hemiplegia patients |
| CN111941945A (en) * | 2019-04-29 | 2020-11-17 | 臻鼎科技股份有限公司 | Elastic conductive composite fabric |
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