KR101896590B1 - Apparatus for measuring angle of multi-joint and method for measuring the same - Google Patents

Abstract

The present invention relates to an apparatus and a method for measuring a multi-joint angle. More particularly, the present invention relates to an apparatus and a method for measuring a multi-joint angle to measure a multi-joint angle with a single reading module. According to an embodiment of the present invention, the apparatus for measuring a multi-joint angle comprises: a plurality of flexible resistance members disposed on each joint of a multi-joint; a plurality of connection members connecting the plurality of flexible resistance members in series; and a reading module connected to the connection member. A resistance value of the flexible resistance member is changed by a length change according to an angle change of the joint, and the reading module can calculate an angle of the multi-joint by reading the resistance value of the plurality of flexible resistance members.

Description

Technical Field [0001] The present invention relates to a multi-joint angle measuring apparatus and a multi-

The present invention relates to a multi-joint angle measuring apparatus and method, and more particularly, to a multi-joint angle measuring apparatus and method for measuring the angle of multi-joint with a single read module.

2. Description of the Related Art In recent years, there have been emerged devices capable of generating various information by the motion of the body (particularly, a finger) beyond the appearance of various devices such as robots and wearable devices.

In the case of a finger, there are two joints on the thumb and three joints on each of the other fingers. To measure the angle (or degree of bending) of each joint, the sensor measures the number of joints ~ 3), and the number of readers that can read the sensor must be equal to the number of sensors.

This results in increased size and weight of the device, increased inconvenience, and increased power consumption, thereby minimizing the reader (or reading device) of the sensor.

Korean Patent Registration No. 10-1571314

The present invention provides a multiple joint angle measuring device and a measuring method for simultaneously measuring each joint angle of multiple joints with a single read module.

An apparatus for measuring multiple joint angles according to an embodiment of the present invention includes: a plurality of flexible resistance members disposed on respective joints of multiple joints; A plurality of connecting members for connecting the plurality of flexible resistance members in series; And a reading module connected to the connection member, wherein the resistance value of the flexible resistance member is changed by a length change according to an angle change of the joint, and the reading module changes the resistance value of the plurality of flexible resistance members The angle of the multiple joints can be calculated.

The readout module may receive a resistance value of the plurality of flexible resistance members as a single value.

Each of the flexible resistance members may have different initial resistance values.

The initial resistance value of the flexible resistance member disposed in the joint having the largest movable angle range of the joint may be the largest among the plurality of flexible resistance members.

The readout module may calculate the angle of the multiple joints by dividing resistance values of the plurality of flexible resistance members by digits.

The flexible resistive member may include a carbon nanotube layer formed on the elastic fibers. The flexible elastic member may include a carbon nanotube layer formed on the elastic fibers.

The resistance value of the carbon nanotube layer may be changed by the change of the length of the flexible fiber.

Each of the flexible resistance members may have a different thickness of the carbon nanotube layer.

The flexible resistance member may further include a self-assembled monolayer interposed between the stretchable fiber and the carbon nanotube layer.

And a soft protective layer coated on the flexible resistive member.

According to another aspect of the present invention, there is provided a method for measuring multiple joint angles, comprising the steps of sensing a change in length of a plurality of flexible resistance members according to an angle change of multiple joints; Receiving a resistance value of the plurality of flexible resistance members at one time; And calculating an angle of the multiple joint by reading the input resistance value.

In the process of receiving the resistance value, a resistance value obtained by adding the resistance values of the plurality of flexible resistance members may be inputted.

The step of calculating the angles of the multiple joints may include the steps of: dividing the input resistance value by digits; And calculating each joint angle of the multiple joints by the number of digits.

In the process of calculating the angle of the multiple joints, the angle of the multiple joints can be calculated by comparing the input resistance value with a preset lookup table.

The multiple joint angle measuring apparatus according to the embodiment of the present invention includes a plurality of flexible resistance members arranged on respective joints of multiple joints connected in series to read resistance values of a plurality of flexible resistance members with a single reading module As a single readout module, each joint angle of multiple joints can be measured simultaneously. Accordingly, it is possible to reduce the size and weight of the multi-joint angle measuring device, and to reduce the power consumption and the like of the multi-joint angle measuring device.

Further, it is possible to detect a change in the length of the flexible resistance member by measuring the resistance change of the carbon nanotube layer according to the deformation of the stretchable fibers by forming a carbon nanotube (CNT) layer on the stretchable fiber, The angle of the multiple joints can be measured by reading the change in the resistance due to the deformation of the stretchable fiber which changes according to the body movement of the wearer.

By forming the carbon nanotube layer on the self-assembled monolayer after forming the self-assembled monolayer on the stretchable fiber, the binding force between the stretchable fiber and the carbon nanotube layer can be improved and the sensitivity and durability of the multi- Can be improved. A soft protective layer may be coated on the carbon nanotube layer to prevent peeling of the carbon nanotube layer.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view of a multi-joint angle measuring apparatus according to an embodiment of the present invention; FIG.
FIG. 2 is a conceptual diagram illustrating angle measurement of multiple joints using a multi-joint angle measuring apparatus according to an embodiment of the present invention. FIG.
3 is a flowchart illustrating a method for measuring multiple joint angle according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It will be apparent to those skilled in the art that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, It is provided to let you know. In the description, the same components are denoted by the same reference numerals, and the drawings are partially exaggerated in size to accurately describe the embodiments of the present invention, and the same reference numerals denote the same elements in the drawings.

FIG. 1 is a schematic view of a multi-joint angle measuring apparatus according to an embodiment of the present invention. FIG. 1 (a) shows a state in which a finger is in a pin state, and FIG. 1 (b) shows a state in which a finger is bent.

1, an apparatus 100 for measuring multiple joint angles according to an embodiment of the present invention includes a plurality of flexible resistance members 111, 112, 113 arranged on respective joints 11, 12, ); A plurality of connecting members (120) connecting the plurality of flexible resistance members (111, 112, 113) in series; And a reading module 130 connected to the connection member 120. [

The plurality of flexible resistance members 111, 112, 113 may be disposed on each joint 11, 12, 13 of the multiple joint 10. Here, the multiple joints 10 refer to joints that can be moved together in succession, and may include finger joints, leg joints, and arm joints. At this time, there are two fingers on the thumb and three on the fingers except for the thumb. The leg joints are the hip joint, the knee joint and the ankle joint, and the arm joints are the shoulder joint, the hoof joint and the wrist joint.

Further, the length of the flexible resistance member 110 may change according to the angle change of the joints 11, 12, and 13, and the resistance value may be changed by such a length change. The flexible resisting member 110 which is in contact with the joint (i.e., the skin of the joint portion) in accordance with the change in angle of each joint 11, 12, 13 when measuring the degree of bending of the multiple joints 10, (In other words, the change in length of the flexible resistance member) can be measured. In this case, the relationship between the length of the flexible resistance member of each of the joints 11, 12, 13 and the reduced length and the joint angle The angles of the respective joints 11, 12, and 13 can be measured, and the degree of bending of the multiple joints 10 can be measured.

Here, the resistance value of the flexible resistance member 110 may be changed by a change in length of the joints 11, 12, 13, and the change in length of the flexible resistance member 110, Can be measured through the change of the resistance value according to the change of the length of the electrode 110. At this time, the length of the flexible resistance member 110 can be measured by measuring the resistance value of the flexible resistance member 110, and the lengths of the joints 11, 12, 13) can be measured. That is, it is possible to measure (or calculate) the angle of the multiple joints 10 by reading the resistance values of the plurality of flexible resistance members 111, 112, and 113.

The plurality of connecting members 120 may connect between the plurality of flexible resistance members 111, 112 and 113 and may connect between the flexible resistance member 110 and the flexible resistance member 110. The connecting member 120 may be a wire, and it is sufficient that the plurality of flexible resistance members 111, 112 and 113 can be electrically connected to each other.

The readout module 130 may be connected to the connection member 120 and may read the resistance values of the plurality of flexible resistance members 111, 112, and 113. The readout module 130 may calculate the angle of the multiple joints 10 by reading the resistance values of the plurality of flexible resistance members 111, 112, and 113. That is, the readout module 130 reads the resistance values of the plurality of flexible resistance members 111, 112, 113 with respect to the length of the flexible resistance member 110 changed in accordance with the angle change of the joints 11, 12, The angle of the light source 10 can be calculated.

The plurality of connecting members 120 can connect the plurality of flexible resistance members 111, 112, and 113 in series.

Conventionally, when it is necessary to measure the degree of bending of the multiple joints 10, a reader (i.e., a readout module of the present invention) is required as many as the number of sensors after attaching the sensors to the joints 11, 12 and 13. In particular, when measuring body movements, many readers must be present, which leads to increased size and weight of the device, increased inconvenience, and increased power consumption, thereby minimizing the number of readers depending on the sensor .

For example, in the case of a finger, the angle at which the hand is grasped when the hand is grasped at maximum is varied between about 0 and 90 degrees, and the change in the joint angle changes at a similar level. , 13) can be roughly estimated. In measuring the degree of bending of each finger, a plurality of flexible resistance members 111, 112, 113 are provided on the respective joints 11, 12, 13 using the fact that the skin in the direction of the back of the user is stretched according to the degree of bending of the finger (or multiple joints) When a change in the length of the plurality of flexible resistance members 111, 112 and 113 is sensed after placement of the flexible resistive members 111, 112 and 113, Can be measured.

That is, assuming that the first joint 11 of the finger is bent by about 60 degrees, the second joint 12 is about 60 degrees under the assumption that the second joint 12 and the third joint 13 do not move abnormally And the third joint 13 and the third joint 13 change in a range of about 0 to 65 degrees in accordance with the joint change of the first joint 11. [ The movable angle change value of the third joint 13 may be limited according to the joint change of the first joint 11 and the second joint 12. [ Here, the first joint 11, the second joint 12, and the third joint 13 may refer to the respective joints of the finger, and the first joint 11 may include metacapals of the hand spine, The second joint 12 may be between the proximal phalanx and the middle phalanx of the resin phalanges and the third joint 12 may be between the proximal phalanx and the middle phalanx, The joint 13 may be between the abutment bone and the distal phalanx.

A plurality of flexible resistance members 111, 112 and 113 are attached to the respective joints 11, 12 and 13 and are connected in series to read a resistance value of the plurality of flexible resistance members 111, 112 and 113 with a single reading module 130 And can simultaneously measure each joint angle of the multiple joints 10 with a single read module 130. Accordingly, in the case of the hand, it is possible to reduce the number of the reading modules 130 required for each of the four joints (that is, two for the thumb and three for the remaining four fingers) to five for each finger. That is, by connecting two or three flexible resistive elements 111, 112 and 113 in the multiple joints 10 in series and reducing the number of the readout modules 130 by connecting only one readout module 130, The size and weight of the multi-joint angle measuring apparatus 100 can be reduced, and the power consumption and the like of the multi-joint angle measuring apparatus 100 can be reduced.

The readout module 130 can receive the resistance values of the plurality of flexible resistance members 111, 112, and 113 as a single value. For example, the single value may be a resistance value that combines the resistance values of the plurality of flexible resistance members 111, 112, and 113. At this time, the readout module 130 can read the resistance values of the plurality of flexible resistance members 111, 112, 113 by dividing the single received value (i.e., the combined resistance values) by an order of magnitude, Whereby the angle of the multiple joints 10 can be calculated. Here, the first two digits of the resistance value of the plurality of flexible resistance members 111, 112, and 113 may be the resistance value of the first flexible resistance member 111, And the next two digits may be the resistance value of the third flexible resistance member 113. [ Thus, the angle of the multiple joints 10 can be calculated by simply reading the resistance values of the plurality of flexible resistance members 111, 112, and 113.

FIG. 2 is a conceptual view for explaining angle measurement of multiple joints using a multi-joint angle measuring apparatus according to an embodiment of the present invention. FIG. 2 (a) shows a different initial resistance value for each flexible resistance member, (b) shows a carbon nanotube layer having a different thickness for each flexible resistance member.

Referring to FIG. 2, each of the flexible resistance members 111, 112, and 113 may have different initial resistance values. In this case, each of the flexible resistance members 111, 112 and 113 may have a different resistance change amount (or a resistance change amount according to a change in joint angle) depending on a length change, and the resistance change amount according to the length change may be proportional to an initial resistance value , And can be determined according to the initial resistance value. The initial resistance value of each of the flexible resistance members 111, 112, and 113 and the resistance change amount due to the length variation may have a range that does not overlap each other.

For example, the initial resistance value can be determined in the order of the positions of the respective joints 11, 12, and 13, and the initial resistance value of the first flexible resistance member 111 is the largest and the resistance value of the third flexible resistance member 113 ) May be the smallest. The first flexible resistance member 111 of the first joint 11 may have an initial resistance value of 100 k ?, and the joint angle of the first joint 11 may be changed by 1 degree (or 1 degree change of the first joint 11) And the second flexible resistance member 112 of the second joint 12 may have an initial resistance value of 1 k [Omega] And may vary by 1 k? When the joint angle of the second joint 12 changes by 1 占 (or the length of the second flexible resistance member corresponding to the 1 占 change of the second joint changes). Also, the third flexible resistance member 113 of the third joint 13 may have an initial resistance value of 10 OMEGA, and the joint angle of the third joint 13 may be changed by 1 degree (or 1 of the third joint 13) The length of the third flexible resistance member corresponding to the change of the angle of the first flexible arm may change by 10 OMEGA, and the range of each joint angle may be about 0 to 90 degrees (for example, the angle range of the first joint The angle of the second joint may range from 0 to 92 degrees, the angle of the second joint may range from 0 to 84 degrees, and the resolution of each joint angle change may be 1 deg. have.

At this time, the degree of bending (or joint angle) of each joint 11, 12, 13 may not change by 1 DEG or less, and the length of the flexible resistance member 110 changes according to the change of the joint angle, The resistance change amount according to the change in length of the flexible resistance member 110 and the resistance change amount according to the change in the joint angle of each joint 11, 12, 13 may have substantially the same meaning. In the case of the finger joint, the degree of bending of each joint (11, 12, 13) is correlated with the grasping of the hand.

Therefore, a plurality of flexible resistance members 111, 112, and 113 having different initial resistance values and resistance variation amounts depending on the lengths are attached to portions corresponding to the respective joints 11, 12, and 13 of a glove to be worn on the hand, By connecting them in series, only one read module 130 can be used.

On the other hand, the resistance value of the plurality of flexible resistance members 111, 112, and 113 may not be used as a single digit (or a tens digit). This is because, in order to remove the overlapping portion (or the noise portion) so that the resistance changes of the flexible resistance members 111, 112 and 113 due to the minute movements of the respective joints 11, 12 and 13 may not be interfered to be. For example, when the resistance value of the third flexible resistance member 113 is used from one position, due to the fine movement of the first joint 11 or the second joint 12, (Or noise) may be added to the resistance value of the third flexible resistance member 113, so that the resistance value of the second flexible resistance member 112 may change by 1 to 10? 3 resistance value of the flexible resistance member 113 can not be read. In particular, the initial resistance value of the first flexible resistance member 111 or the second flexible resistance member 112 is as high as 1 k [Omega] or more, and the initial resistance value of the first flexible resistance member 111 or the second flexible resistance member 112 1 resistance value of the first flexible resistance member 111 or the second flexible resistance member 112 is within a range of variation of the resistance value with respect to the change of 1 degree of the first joint 11 or the second joint 12, It may change with a small width of?.

When the initial resistance value is '0' (or absent), the resistance value changes according to the length change of the flexible resistance member 110, The initial resistance values of the flexible resistance members 111, 112 and 113 can be set to 100 k ?, 1 k ?, and 10?, Respectively. Here, the resistance change amount may be equal to the initial resistance value when the angle of each joint 11, 12, 13 changes by 1 degree.

In addition, the readout module 130 can calculate the angle of the multiple joints 10 by dividing resistance values of the plurality of flexible resistance members 111, 112, and 113 by digits. For example, the first flexible resistance member 111 may have an initial resistance value of 100 k [Omega], may change by 100 k [Omega] when the joint angle of the first joint 11 changes by 1 [deg.], Resistance resistance member 112 may have an initial resistance value of 1 k? And may change by 1 k? When the joint angle of the second joint 12 changes by 1 占. The third flexible resistance member 113 may have an initial resistance value of 10 OMEGA and may change by 10 OMEGA when the joint angle of the third joint 13 changes by 1 DEG. Can be about 0 to 90 degrees, and the resolution of each joint angle change can be 1 degree. In this case, the first two digits of the resistance values of the plurality of flexible resistance members 111, 112, and 113 may be the resistance value of the first flexible resistance member 111 (or a value obtained by adding 1 to the angle of the first joint) , And the next two digits may be the resistance value of the second flexible resistance member 112 (or a value obtained by adding one at the angle of the second joint) (Or a value obtained by adding 1 to the angle of the third joint). The angles of the multiple joints 10 can be simply calculated by reading the resistance values of the plurality of flexible resistance members 111, 112, and 113 by dividing them by the number of digits.

The initial resistance value of the flexible resistance member 110 disposed in the joint having the largest range of motion angles of the joint is set to be the same as the initial resistance value among the plural flexible resistance members 111, 112, 113 (or among the initial resistance values of the plural flexible resistance members) It can be big. At this time, the amount of resistance change according to the change in length may be largest in the flexible resistance member 110 disposed in the joint having the largest movable range of the joint. On the other hand, the initial resistance value may be the smallest value of the flexible resistance member 110 disposed at the joint having the narrowest movable angle range of the joint. At this time, the amount of resistance change according to the change in length may be smallest in the flexible resistance member 110 disposed in the joint where the movable angle range of the joint is the smallest. The resistance change amount of the flexible resistance member 110 according to the change of the joint angle can be determined according to the initial resistance value and the flexibility resistance member 110 according to the change of the joint angle as the initial resistance value is increased The amount of change in resistance of the electrode 110 may be large (or small).

That is, the resistance value of the flexible resistance member 110 (or the angle of the joint having the widest movable angle range of the joint) disposed in the joint having the largest movable angle range of the joint from the first position among the input resistance values Can be located.

Since the range of variation of the resistance value of the flexible resistance member 110 is wide, the joint of the joint having the widest movable angle range has a larger value than the fixed value of the flexible resistance member 110 disposed at the other joint The value of the position corresponding to the flexible resisting member of the joint).

For example, when the resistance value of the flexible resistance member 110 disposed at the joint having the largest movable angle range of the joint is located at the middle or end of the input resistance value (i.e., The initial resistance value of the flexible resistance member disposed in the joint having the widest range is not the largest), the front end portion beyond the position of the flexible resistance member 110 disposed in the joint having the largest movable angle range of the joint (Or the resistance value) of the flexible resistance member 110 disposed at the joint corresponding to the first resistance value (or the initial resistance value is the largest). In order to prevent this, when the number of digits corresponding to the resistance value of the flexible resistance member 110 disposed in the joint having the largest movable angle range of the joint is increased, the flexible resistance member The initial resistance value of the resistor 110 is increased by an increased number of times, and the amount of resistance change due to the change in length is also increased. Here, if the initial resistance value of the flexible resistance member 110 and the resistance variation amount due to the length change become too large, the configuration of the flexible resistance member 110 having an initial resistance value and a large resistance variation amount according to the length change Or implementation) can be difficult.

When the resistance value of the flexible resistance member 110 disposed at the joint having the largest movable angle range of the joint is located at the end of the input resistance value, The resistance value of the flexible resistance member 110 placed in the joint having the largest movable angle range of the joint can not be read by influencing the seat value of the flexible resistance member 110 disposed at the widest joint And the position of the flexible resistance member 110 disposed in the joint having the largest movable angle range of the joint is larger as the noise is reflected, so that the position of the flexible resistance member 110 disposed in the joint corresponding to the mid- The position of the flexible resistance member 110 can be influenced.

Therefore, the resistance value of the flexible resistance member 110 corresponding to each joint can be positioned in the order of a narrow range from a wide range according to the range of movable angles of the joints, from the first position of the input resistance values.

The joints having the largest range of motion of the joints can move at a predetermined angle even when the other joints of the multiple joints 10 do not move. The flexible resistance member 110) is positioned at the first position among the input resistance values, the noise (or the noise portion) is detected while moving only the joint having the widest movable angle range of the joint among the multiple joints 10 by a predetermined angle So that the noise can be removed from the input resistance value.

In addition, the initial resistance value and the resistance change amount according to the length change can be greatest in the flexible resistance member 110 disposed in the joints where the movement is the greatest (or easily moves). The joints that are moved most frequently change continuously without changing the joint angle stepwise, so that it is difficult to obtain the resolution of the joint angle change. Therefore, the initial resistance value and the resistance change amount according to the length change can be made larger than about 1 k? To make the joint angle change stepwise, and the resolution of the joint angle change can be obtained even in the joint have.

The multi-joint angle measuring apparatus 100 according to the present invention may further include elastic fibers 141 provided on the respective joints 11, 12 and 13, and the flexible resistance member 110 may include elastic fibers 141 may be formed of a carbon nanotube layer 110a. The elastic fibers 141 may be provided on the respective joints 11, 12, 13 and may support the carbon nanotube layer 110a. In addition, the stretchable fibers 141 may be a garment material such as gloves and clothes that can be worn on a human body, and may be synthetic fibers and the like. The stretchable fibers 141 have a unique grain shape, and the amount of change in the resistance relative to the length of the stretchable fibers 141 varies depending on the result, so that the directionality of the carbon nanotube layer 110a can be added when the resistance of the carbon nanotube layer 110a changes. The carbon nanotubes 110a may remain on the surface of the stretchable fibers 141 and the liquid such as a dispersion medium may escape through the stretchable fibers 141 since the stretchable fibers 141 are pierced When the elastic fibers 141 are used, a vacuum adsorption method can be used to form the carbon nanotube layer 110a.

In order to sense the movement of a person's body, the resistance of the carbon nanotube layer 110a must be changed according to the body movements of the wearer. In the case of the stretchable fibers 141, the stretchable fibers 141, The resistance of the carbon nanotube layer 110a may be changed in accordance with the deformation of the stretchable fibers 141. The resistance change of the carbon nanotube layer 110a according to the body movements of the wearer is measured, It is possible to sense the body motion of the user.

On the other hand, the stretchable fiber 141 may be a natural fiber composite material utilizing a hydroxyl group on the surface of the natural fiber, or may be formed by activating the surface of the stretchable fiber 141 to form a hydroxyl group (-OH) on the surface of the stretchable fiber 141 It is possible.

The carbon nanotube layer 110a may be formed of carbon nanotubes (CNT) and may be formed on the stretchable fibers 141. In addition, the resistance of the carbon nanotube layer 110a may be changed by a change in the surface area thereof or a change in the number of contact points of the CNTs. When the carbon nanotube layer 110a is formed on the stretchable fiber 141, the resistance of the carbon nanotube layer 110a may be changed according to the deformation of the stretchable fiber 141, ) May be used to perform the sensing. That is, in the flexible resistance member 110, the resistance value of the carbon nanotube layer 110a may be changed by a change in the length of the elastic fibers 141. [

And a wearable multi-joint angle measuring device 100 using carbon nanotubes (CNT) capable of analyzing the movement of a body (e.g., a finger) through a change in resistance of a high sensitivity when the length of the elastic fibers 141 changes can do. Also, the wearable multi-joint angle measuring apparatus 100 having a carbon nanotube layer 110a formed on the stretchable fibers 141 may be provided, which is excellent in comfort without being clunky and inconvenient.

Each of the flexible resistance members 111, 112 and 113 may have different thicknesses of the carbon nanotube layers 111a, 112a and 113a. The thicknesses of the carbon nanotube layers 111a, 112a and 113a formed on the elastic fibers 141 of the respective joints 11, 12 and 13 are made different from each other so that the initial resistance value of each of the flexible resistance members 111, 112, . The resistance value of the carbon nanotube layer 110a may vary depending on the thickness of the carbon nanotube layer 110a and the initial resistance value of the carbon nanotube layer 110a And the initial thickness of the carbon nanotube layer 110a of each of the joints 11, 12, and 13 may be different from each other, the resistance value may vary depending on the change in length. That is, the initial resistance value of the carbon nanotube layer 110a may be different from the initial resistance value depending on the thickness of the carbon nanotube layer 110a. For example, as the thickness of the carbon nanotube layer 110a increases, the initial resistance value of the carbon nanotube layer 110a may decrease.

Therefore, the initial resistance value of each of the flexible resistance members 111, 112 and 113 can be made to be different simply by changing the thickness of the carbon nanotube layer 110a, and a plurality of flexible resistance members 111, 112, So that it is possible to easily measure each joint angle of the multi-joint 10 with one read module 130 at the same time.

Meanwhile, the lengths of the carbon nanotube layers 111a, 112a, and 113a may be different from each other in the flexible resistance members 111, 112, and 113. Here, the length may be a length in a direction in which an electrical signal (e.g., current) flows. As the length of the carbon nanotube layer 110a increases, the initial resistance value of the carbon nanotube layer 110a may increase, and the lengths of the plurality of carbon nanotube layers 111a, 112a, and 113a may be different The initial resistance values of the resistance resistive members 111, 112, and 113 may be different from each other.

The flexible resistance member 110 may further include a self-assembled monolayer (not shown) interposed between the stretchable fibers 141 and the carbon nanotube layer 110a. A self-assembled monolayer (SAM) may include functional groups and may be formed on at least one side of the stretchable fibers 141. When the self-assembling monolayer (not shown) is formed on the surface of the stretchable fiber 141 to surface-treat the stretchable fiber 141, the bonding force between the stretchable fiber 141 and the carbon nanotube layer 110a is improved, The carbon nanotube layer 110a can be formed well.

Hydroxyl groups (-OH) may be formed on the surfaces of the carbon nanotubes (CNTs). At least a part of the carbon bonding on the surface of the carbon nanotube (CNT) is broken, and a hydroxyl group can be formed in the place where the carbon bonding is broken. When hydroxyl groups are formed on the surfaces of the carbon nanotubes (CNTs), the hydroxyl groups of the carbon nanotubes (CNTs) and the functional groups of the self-assembled monolayer are ion-bonded to form carbon nanotube layers 110a on the stretchable fibers 141 Can be adsorbed well. Here, the hydroxyl group (-OH) of the carbon nanotube (CNT) and the functional group of the self-assembled monolayer may be ion-bonded to each other. The elastic fibers 141 and the carbon nanotube layer 110a are bonded with stronger energy so that the bonding force between the flexible fibers 141 and the carbon nanotube layer 110a can be improved, ) Can be improved in sensitivity and durability.

On the other hand, hydroxyl groups (-OH) can be formed on the surfaces of the carbon nanotubes (CNTs) by subjecting the carbon nanotubes (CNTs) to acid treatment and surface treatment. A hydroxyl group (-OH) may be formed on the surface of the carbon nanotube (CNT) by forming a dangling bond on the surface of the carbon nanotube (CNT) by an acid treatment.

The carbon nanotube layer 110a may be formed on the stretchable fibers 141 by a vacuum adsorption method. Vacuum can be formed on the other surface of the elastic fiber 141. Vacuum is formed in the vacuum container (not shown) connected to the vacuum container through vacuum exhaust means (not shown) to generate vacuum pressure on the other surface of the elastic fiber 141 . The carbon nanotube (CNT) is vacuum-adsorbed on one surface of the stretchable fiber 141. The carbon nanotube (CNT) is filtered in a dispersion solution dispersed in a dispersion medium to form the stretchable fiber 141, The carbon nanotube (CNT) remaining on the stretchable fiber 141 may be vacuum-adsorbed on the stretchable fiber 141 or the self-assembled monolayer so that the carbon nanotube layer 110a may be formed on one surface of the stretchable fiber 141. Here, since the stretchable fibers 141 have different characteristics, and the amount of change in the resistance relative to the length varies depending on the result, directionality can be added when the resistance is deformed.

The carbon nanotube layer 110a is bonded to the stretchable fiber 141 by vacuum adsorption which forms vacuum pressure on the other surface of the stretchable fiber 141 and adsorbs the carbon nanotube CNT on one surface of the stretchable fiber 141 The carbon nanotubes CNT can penetrate into the inside of the stretchable fibers 141 due to the strong adsorption energy by the vacuum pressure and the carbon nanotube layer 110a is stretched by the stretchable fibers 141 ). ≪ / RTI > The carbon nanotube layer 110a can be formed quickly because the dispersion medium can be easily removed from the stretchable fibers 141 by the vacuum pressure so that the dispersion medium does not form a vacuum, And uniform vacuum pressure is formed on the surface of the stretchable fibers 141, so that a uniform carbon nanotube layer 110a can be formed.

That is, the carbon nanotube layer 110a is formed by the vacuum adsorption method, and the carbon nanotube (CNT) can penetrate into the stretchable fiber 141 due to strong adsorption energy by the vacuum pressure, (OH <"> on the surface of the CNT) and the functional group (for example, NH ⁺ ) of the self-assembled monolayer formed on the surface of the stretchable fiber 141 can be ionically bonded, The nanotube layer 110a can be bonded. Accordingly, the wearable multi-joint angle measuring apparatus 100 can be manufactured by the elastic fibers 141 that are adsorbed (or coated) on the carbon nanotubes (CNT) having higher durability through vacuum adsorption.

The multi-joint angle measuring apparatus 100 according to the present invention may further include a soft protective layer (not shown) coated on the flexible resistance member 110. The protective layer (not shown) may be made of a soft material and may be coated on the flexible resistance member 110. At this time, a protective layer (not shown) may be coated on the carbon nanotube layer 110a. The carbon nanotube layer 110a may be peeled off due to excessive deformation (for example, frequent deformation, deformation of the carbon nanotube layer beyond the elastic limit of the carbon nanotube layer) or abrupt deformation of the stretchable fibers 141, It is possible to prevent peeling of the carbon nanotube layer 110a through a flexible protective layer (not shown) that can be stretched according to the deformation of the carbon nanotube layer The stress of the first and second electrodes 110a and 110a can be relieved. In addition, it is possible to suppress or prevent the deviation (or separation) and / or deformation of the flexible resistance member 110 according to the change of the length of the flexible resistance member 110. The protective layer may be made of a resin and is not particularly limited thereto and may be a flexible material having excellent elasticity so that it can be stretched or shrunk as the stretchable fibers 141 are deformed.

Since the length of the flexible resistance member 110 changes frequently according to the movement of the multiple joints 10, the flexible joint member 110 of the multi-joint angle measuring apparatus 100 of the present invention is not deformed and / The multi-joint angle measuring apparatus 100 can be constructed in a wearable manner by making gloves or the like using the elastic fibers 141 so as to be disposed on the respective joints 11, 12, 13 of the multi- The carbon nanotube layer 110a can be stably fixed (or coated) on the stretchable fibers 141 through the self-assembled monolayer and / or the protective layer. Accordingly, it is possible to provide the multi-joint angle measuring apparatus 100 which is stable and improved in durability.

FIG. 3 is a flowchart illustrating a method for measuring multiple joint angles according to another embodiment of the present invention.

Referring to FIG. 3, the multi-joint angle measuring method according to another embodiment of the present invention will be described in detail. The multi-joint angle measuring apparatus according to the embodiment of the present invention, .

According to another aspect of the present invention, there is provided a method for measuring a multiple joint angle, comprising: sensing a change in length of a plurality of flexible resistance members according to an angle change of an articulated joint; A step (S200) of receiving the resistance values of the plurality of flexible resistance members at one time; And a step S300 of calculating the angle of the multiple joint by reading the input resistance value.

First, the read module senses a change in length of a plurality of flexible resistance members according to an angle change of the multiple joints (S100). By measuring the length of the flexible resistance member, the angle of each joint can be measured in relation to the length of the flexible resistance member and the joint angle. At this time, the reading module can sense a change in length of the flexible resistance member through a change in resistance value according to a change in length of the flexible resistance member, and can detect a change in the flexible resistance member The length of the member can be measured.

Next, the readout module receives the resistance values of the plurality of flexible resistance members (S200). Here, the resistance values of the plurality of flexible resistance members may be received at one time (or simultaneously), and each of the flexible resistance members may have different initial resistance values and resistance variation amounts according to length changes. The initial resistance value of each of the flexible resistance members and the resistance variation amount according to the length change may have a range that does not overlap each other.

Next, the readout module reads the input resistance value to calculate the angle of the multiple joints (S300). The readout module may calculate the angle of the multiple joints by reading the resistance values of the plurality of flexible resistance members. That is, the reading module may calculate the angle of the multiple joints by reading the resistance value of the plurality of flexible resistance members with respect to the length of the flexible resistance member changed in accordance with the angle change of the joint.

At this time, the plurality of flexible resistance members may be connected in series, thereby attaching the plurality of flexible resistance members to the respective joints and connecting them in series so that the plurality of flexible resistance members The resistance value can be read, and each joint angle of the multiple joints can be simultaneously measured with a single readout module. In the case of a hand, the number of the reading modules required for each of the joints can be reduced to five for each finger, and two to three flexible resistance members may be connected in series in the multiple joints, By reducing the number of reading modules, it is possible to reduce the size and weight of the multi-joint angle measuring device and reduce the power consumption of the multi-joint angle measuring device.

In the step of receiving the resistance value (S200), a resistance value obtained by adding the resistance values of the plurality of flexible resistance members may be inputted. The read module may receive a resistance value obtained by adding together the resistance values of the plurality of flexible resistance members, and may divide the input resistance value (i.e., the combined resistance value) by the number of digits, So that the angle of the multiple joints can be calculated. In this case, the initial resistance value of each of the flexible resistance members and the resistance variation amount according to the length change may have a range that does not overlap with each other, and the resistance value of each of the flexible resistance members may be divided Can be read.

The step S300 of calculating the angles of the multiple joints may include: S310 dividing the input resistance value by digits; And calculating the joint angles of the multiple joints according to the number of digits (S320).

The readout module may divide the input resistance value by the number of digits (S310). For example, in the resistance values of the plurality of flexible resistance members, the first two digits may be the resistance value of the first flexible resistance member (or a value obtained by adding 1 to the angle of the first joint) The position may be the resistance value of the second flexible resistance member (or a value obtained by adding one at the angle of the second joint), and the next two digits may be the resistance value of the third flexible resistance member A value obtained by adding 1 to the angle). At this time, the first flexible resistance member may have an initial resistance value of 100 k ?, and may change by 100 k? When the joint angle of the first joint changes by 1 degree, and the second flexible resistance member may have an initial resistance The value may be 1 k [Omega], and when the joint angle of the second joint changes by 1 [deg.], It may change by 1 k [Omega]. In addition, the third flexible resistance member may have an initial resistance value of 10 OMEGA, and may change by 10 OMEGA when the joint angle of the third joint changes by 1 DEG, and the range of each joint angle is about 0 to 90 °, and the resolution of each joint angle change can be 1 °.

The read module may calculate the joint angles of the multiple joints according to the number of digits (S320). The resistance value of each digit (or number of digits) of the input resistance value is a resistance value of each of the flexible resistance members changed in accordance with the angle change of each joint, so that the relationship between the resistance value of the flexible resistance member and the joint angle The angles of the respective joints can be calculated. Here, the value of each digit of the input resistance value may be an angle of each joint in the multiple joints (or a value obtained by adding 1 to the angle of each joint). The joint angles of the multiple joints may be calculated only by reading the input resistance value in units of digits.

Therefore, by attaching the plurality of flexible resistance members having different initial resistance values and resistance variation amounts according to the length changes to portions corresponding to the respective joints, such as a glove to be worn by a hand, and connecting them in series, Can only be used.

Table 1 is a table of ten steps divided from hand opening to gripping, and the unit of each value is °.

Step 10 First joint Second joint Third joint When I opened my hand 0 0 0

Between hand opening and grasping 8 steps 0 26 0 22 40 0 42 55 0 53 66 0 62 80 19 63 90 24 65 90 43 66 90 65 When you hold your hand 66 92 84

Referring to Table 1, in step S300 of calculating the angle of the multiple joints, the angle of the multiple joints may be calculated by comparing the input resistance value with a preset look-up table (LUT) . When the first joint of the finger is bent by about 60 degrees, the second joint changes between about 60 and 90 degrees under the assumption that the second joint and the third joint do not move abnormally, and the third joint The change of the movable angle of the second joint and the third joint is limited according to the change of the joint of the first joint and the change of the joint angle of the first joint and the joint of the second joint is limited, The movement angle change value of the third joint may be limited. Here, the first joint, the second joint, and the third joint may refer to the respective joints of the finger, and the first joint may be between the stiff bone of the resin bone, which is the spine of the hand and the finger bone, The second joint may be between the stunning bone and the abutment bone, and the third joint may be between the abutment bone and the horse abutment.

As described above, in the case of the finger joint, there is a correlation between degrees of bending of the respective joints when grasping the hand, and in the case of the multiple joints, the degree of bending of the joints may have a correlation. (LUT) can be set (or created) by grasping the correlation of each joint angle of the multiple joints, and the input resistance value is checked against a preset lookup table (LUT) Can be calculated.

When the plurality of flexible resistance members are connected in series, resistance changes of the flexible resistance members due to the fine movement of the respective joints may interfere with each other and act as noise. In this case, it is impossible to accurately measure (or calculate) the angle of the multiple joints.

Wherein the resistance values of the plurality of flexible resistance members are input to each of the plurality of flexible resistance members in a manner that the degrees of bending of the respective joints move in correlation with each other, The angle of the multiple joints can be calculated at each step (or at each angle of the multiple joints) by creating the resistance value of the multi-joints with a look-up table (LUT) and checking the input resistance value against a lookup table (LUT) And output the resistance values of the plurality of flexible resistance members from which noise has been removed. Accordingly, it is possible to accurately measure the angle of the multiple joints without affecting the noise.

Meanwhile, the angle of the multiple joints may be measured by restricting the multiple joints to be moved in stages and measuring the angle of each joint in each step.

As described above, in the present invention, a plurality of flexible resistance members disposed on each joint of the multiple joints are connected in series to read the resistance values of a plurality of flexible resistance members by a single readout module, Each joint angle of the joint can be measured simultaneously. Accordingly, the size and weight of the multi-joint angle measuring device can be reduced, and the power consumption and the like of the multi-joint angle measuring device can be reduced. Further, by measuring the resistance change of the carbon nanotube layer according to the deformation of the stretchable fibers by forming the carbon nanotube layer on the stretchable fibers, the change in the length of the flexible resistance member can be detected, The angle of the multiple joints can be measured by reading the resistance change due to the deformation of the stretchable fibers. By forming the carbon nanotube layer on the self-assembled monolayer after forming the self-assembled monolayer on the stretchable fiber, the binding force between the stretchable fiber and the carbon nanotube layer can be improved and the sensitivity and durability of the multi- Can be improved. A soft protective layer may be coated on the carbon nanotube layer to prevent peeling of the carbon nanotube layer. On the other hand, the carbon nanotube layer is formed by the vacuum adsorption method, so that the carbon nanotube layer can be adsorbed well on the stretchable fibers, and the process time for forming the carbon nanotube layer can be shortened.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limited to the embodiments set forth herein. Those skilled in the art will appreciate that various modifications and equivalent embodiments may be possible. Accordingly, the technical scope of the present invention should be defined by the following claims.

10: multiple joints 11: first joint
12: 2nd joint 13: 3rd joint
100: Multi-joint angle measuring device 110: Flexible resistance member
110a: carbon nanotube layer 111: first flexible resistance member
112: second flexible resistance member 113: third flexible resistance member
120: connecting member 130: reading module
141: stretchable fiber

Claims (13)

A plurality of flexible resistance members disposed on each joint of the multiple joints;
A plurality of connecting members for connecting the plurality of flexible resistance members in series;
A reading module connected to the connecting member; And
And elastic fibers provided on the respective joints, wherein the plurality of flexible resistance members are formed on a surface thereof,
Wherein the resistance values of the plurality of flexible resistance members are changed by a length change according to a change in angle of a joint,
Wherein the reading module reads the resistance value of the plurality of flexible resistance members to calculate an angle of the multiple joints,
Wherein each of the plurality of flexible resistance members comprises:
A carbon nanotube layer formed on the stretchable fiber, the carbon nanotube layer comprising a carbon nanotube having a hydroxyl group formed on its surface; And
And a self-assembled monolayer interposed between the stretchable fiber and the carbon nanotube layer to adsorb and fix the carbon nanotube layer on the stretchable fiber through ionic bonding of the functional group and the hydroxyl group, Angle measuring device. The method according to claim 1,
Wherein the readout module receives a resistance value of the plurality of flexible resistance members as a single value. The method according to claim 1,
Wherein each of the plurality of flexible resistance members has a different initial resistance value. The method according to claim 1,
Wherein the initial resistance value of the flexible resistance member disposed in the joint having the largest movable angle range of the joint is the largest among the plurality of flexible resistance members. The method according to claim 1,
Wherein the readout module calculates the angle of the multiple joints by dividing resistance values of the plurality of flexible resistance members by digits. delete The method according to claim 1,
Wherein each of the plurality of flexible resistance members has a different thickness of the carbon nanotube layer. delete The method according to claim 1,
And a soft protective layer coated on the flexible resistance member. Providing a flexible fiber having a plurality of flexible resistance members on its surface on each joint of the multiple joints;
Sensing a change in length of the plurality of flexible resistance members according to an angle change of the multiple joints;
Receiving a resistance value of the plurality of flexible resistance members at one time; And
And calculating an angle of the multiple joint by reading the input resistance value,
Wherein each of the plurality of flexible resistance members comprises:
A carbon nanotube layer formed on the stretchable fiber, the carbon nanotube layer comprising a carbon nanotube having a hydroxyl group formed on its surface; And
And a self-assembled monolayer interposed between the stretchable fiber and the carbon nanotube layer to adsorb and fix the carbon nanotube layer on the stretchable fiber through ionic bonding of the functional group and the hydroxyl group, Angle measurement method. The method of claim 10,
And a resistance value of resistance values of the plurality of flexible resistance members is input in the step of receiving the resistance value. The method of claim 11,
Wherein the step of calculating the angle of the multi-
Dividing the input resistance value by the number of digits; And
And calculating each joint angle of the multiple joints by the number of digits. The method according to claim 10 or 11,
Wherein the step of calculating the angle of the multiple joints calculates the angle of the multiple joints by comparing the input resistance value with a preset lookup table.

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