TW202138752A - Multicontour sensor - Google Patents

Abstract

A multicontour sensor comprises a plurality of multibend sensors; each multibend sensor comprising a reference strip having a first plurality of electrodes, wherein each of the first plurality of electrodes is adapted to receive a signal; and a sliding strip having a second plurality of electrodes, wherein each of the second plurality of electrodes is adapted to transmit at least one signal, wherein each sliding strip and each reference strip of each of the plurality of multibend sensors is adapted to flexibly move in at least one dimension with respect to a corresponding sliding strip or reference strip and to freely move with respect to at least one other sliding strip or reference strip. The multicontour sensor further comprises measurement circuitry adapted to process signals received by the first plurality of electrodes of at least one of the plurality of multibend sensors, wherein the processed signals provide information regarding the contours of the multicontour sensor.

Description

Multi-contour sensor

The disclosed device and method are related to the field of sensing, and specifically related to the use of multi-bend sensors to provide accurate determination of contour and positioning.

In the past, sensing gloves have been used to detect gestures. An example is the Dataglove described in US Patent No. 5,097,252, which uses an optical bending sensor along the finger to detect the position of the finger. Nintendo's Power Glove uses a similar design, but has a resistive bending sensor. In both cases, the bending sensor is not very sensitive and only provides a single measurement of the overall bending of each bending sensor.

Bending sensors are also used for applications other than finger and hand sensing. They are often used to understand human movement more generally. In recent decades, great progress has been made in the development of high-accuracy sensors and their low-cost mass production. Most of this is driven by smart phones that contain an impressive array of sensors. Despite these advances, there are still many things about the physical world that have surprisingly proven difficult to sense with an inexpensive precision device. We considered the challenging problem of sensing the shape of a dynamically deforming object.

The desire to understand shapes arises in many applications. In robotics, rotating joints are frequently cascades (cascade) to allow dexterous multi-axis motion, which must be monitored for active control. Launching a large rocket has been compared to "pushing on a string", and it requires a detailed understanding of one of dynamic deflection. Bridges, tanks, airplanes, and many other structures are subject to repeated load cycles, and understanding the deformations in these systems can help prevent disasters. More closely related to the Human-Computer Interaction (HCI) community is that our bodies are very flexible. In medical and sports performance, it is often important to understand the scope and type of exercise. Motion capture is vital to both the gaming and film industries. In virtual and augmented reality, real-time understanding of one of the detailed hand poses allows for convincing interaction. For performances, musicians and other artists can intuitively manipulate shapes to provide expressive control over key systems.

To better understand the position of systems with multiple joints, some systems have used a bending sensor at each joint or at each joint point. This approach has challenges that limit its practicality. For example, the bending sensor must be customized for the spacing between joints. Due to changes in human body shape, the need for interval adaptation can be problematic for tracking human motion.

In addition, there is a problem of cascading errors from joint measurement. For example, the angle of each continuous segment of a finger can be determined as the sum of the joint angle of the segment. Therefore, any errors in angle measurements made for each of the previous joints accumulate. Therefore, the robot arm uses an extremely high-precision angle encoder to find a reasonably accurate position. Unfortunately, cheap bending sensors have poor angular accuracy, making them insufficient to understand the effects of cascaded joint errors.

The system has tried to overcome this shortcoming by using cameras and other sensing technologies to directly measure the position of the finger. The camera-based technology has the challenge of finding a good point of view from which to see what is happening. Other position sensor systems can be bulky and/or expensive. Inertial tracking can be used, but it has serious drift problems.

There are also fiber Bragg grating sensors, which allow measurement of the bend along the length of an optical fiber bundle and can restore the detailed shape of a specific geometric shape. These sensors are difficult to manufacture and require a large number of large instruments and complex calibrations. In addition, they are expensive and impractical for most applications.

Most previous work uses sensors that give a single measurement of bending. To sense complex curves, we can use a series of single bending sensors to create a model of one of the connected joints. This works best when the basic things to be sensed are well simulated as a series of linkage groups. However, the placement of the sensor requires a priori understanding of the joint position. For example, when simulating a human joint (such as a finger), there is a significant change in the position between people, thereby excluding general solutions.

A complex curve may require a large number of single-bend sensors to provide a full understanding of one of the shapes. Unfortunately, each additional bending sensor contributes to measurement errors that accumulate to gradually degrade the overall accuracy of the system. This severely limits the maximum number of single bend sensors that can be reasonably used.

Recently, machine learning approaches have been applied to understand the output of systems with many single bending sensors. Although these systems may combine readings from a large number of single bend sensors so that errors will not accumulate in this direct way, they require extensive training. It is also not clear whether any reduction in accumulated error comes from imposing constraints that make the system less versatile.

The most common way to detect deflection is by measuring the changing properties of a material under strain. The Flex sensor of Spectra Symbols is an example. One of the problematic representatives of strain system deflection. Stretching, environmental conditions, and other factors may induce strains that cannot be easily distinguished from strains due to bending. Continuous strain cycles can also cause material fatigue.

The most common strain-based bending sensors are resistive, optical (including fiber Bragg grating (FBG) sensors), piezoelectric or capacitive. We consider each of these and discuss their operations. Resistive bend sensors are similar to resistive strain gauges, but are optimized for much larger bends. A layer of resistive material is placed on a flexible substrate and undergoes strain when the sensor is bent. Bending of the resistive material from the side causes tensile strain, thereby increasing electrical resistance.

Resistive sensors suffer significant drift due to fatigue, material aging, and environmental conditions, and require constant recalibration to achieve uniform and moderate accuracy. Because they only provide a single measurement of bending, they cannot distinguish the shape of complex curves. For example, in the case of monitoring finger bending, the sensor cannot distinguish the bending at different joints from each other. Although resistive bending sensors have many limitations, they are very cheap and easy to interface to allow their use in many applications. The most famous of these is Nintendo's PowerGlove (used in one of the early consumer hand gesture interface devices in the game), which has embedded commercially available deflection sensors into both soft and rigid materials to produce different controls Interaction, like a switch or a slider. Inkjet printing has been used to form customized shapes to produce game controllers and toys in two and three dimensions.

The optical fiber shape sensor (FOSS) includes flexible tubes with reflective inner walls, and the flexible tubes have an optical transmitter and a receiver at opposite ends. FOSS restores the curved shape by measuring the changes in the intensity, phase, polarization, or wavelength of the light when the flexible tube is bent.

A fiber Bragg grating (FBG) sensor uses an optical fiber that has been processed to produce a grating that interacts with light of a specific wavelength. When the fiber is bent, the grating mechanically expands or compresses, which shifts the wavelength of interest. Generally speaking, a tunable laser is used to scan the new wavelength of the deformed grating. Different wavelength grating patterns can be placed at different positions along the fiber, allowing independent measurement of the degree of bending at each position.

FOSS can be extremely thin and lightweight, and there is almost no limit to the length of the sensor. They are relatively accurate and are not affected by electromagnetic interference. Although these sensors can provide impressive performance, they have a very high price. The cost of a tunable laser interrogator can be as much as USD$10,000 (which severely limits the cost of practical applications). Although the optical fiber may be very thin, the interrogator tends to be larger and power hungry. They require complex manufacturing processes and calibrations and complex signal processing. They have a limited curvature measurement range and fall into nonlinearity very quickly. These reasons limit their use cases to very specific applications (like medical devices) rather than being used in daily human life.

Piezoelectric bending sensors are based on the deformation and strain of piezoelectric materials. These deformations change the surface charge density of the material and cause charge transfer between electrodes. The amplitude and frequency of the signal are proportional to the applied mechanical stress. Similar to triboelectric sensors, piezoelectric sensors suffer from drift and only provide a signal when in motion. This limits its applications to dynamic bending rather than static or low-frequency deformation.

Most resistive strain sensors have high latency and cannot measure the absolute bending angle. The hysteresis properties of conductive materials produce changes in conductivity during cyclic loading. Most resistive and FBG (fiber Bragg grating) sensors respond nonlinearly to large strains.

An alternative to strain sensing is what we call geometric sensing. These sensors measure curvature far more directly by sensing geometric changes caused by bending. Examples include measuring the relative displacement of different sensor layers.

Therefore, there is a need for an improved method and device for accurately determining the bend by using a sensor and for improving the accuracy of the bend.

This application is a partial continuation of the U.S. Patent Application No. 17/077,801 filed on October 22, 2020; the case No. 17/077,801 claims the U.S. Provisional Application No. 62/ filed on October 23, 2019 Rights under No. 925,214. This application is a partial continuation application of U.S. Patent Application No. 17/026,252 filed on September 20, 2020; the case No. 17/026,252 claims the U.S. Provisional Application No. 62/ filed on September 20, 2019 Rights under No. 903,272. This application is a partial continuation application of U.S. Patent Application No. 16/995,727 filed on August 17, 2020; the case No. 16/995,727 claims that the U.S. Provisional Application No. 62/ filed on August 15, 2019 Rights under No. 887,324. This application is also a partial continuation application of the U.S. Patent Application No. 16/270,805 filed on February 8, 2019; the case No. 16/270,805 claims that the U.S. Provisional Application No. 62 filed on October 22, 2018 /748,984 rights. This application claims the following rights: U.S. Provisional Application No. 63/091,242 filed on October 13, 2020; U.S. Provisional Application No. 63/091,229 filed on October 13, 2020; April 8, 2020 U.S. Provisional Application No. 63/007,349 filed on March 6, 2020; U.S. Provisional Application No. 62/986,370 filed on March 6, 2020; U.S. Provisional Application No. 62/970,524 filed on February 5, 2020; 2020 U.S. Provisional Application No. 62/970,017 filed on February 4, 2019; U.S. Provisional Application No. 62/947,094 filed on December 12, 2019; U.S. Provisional Application No. 62/ filed on December 11, 2019 No. 946,634; and U.S. Provisional Application No. 62/944,814 filed on December 6, 2019. The contents of all the aforementioned applications are incorporated herein by reference. This application contains materials protected by copyright. The copyright owner does not object to anyone copying the patent disclosure content, because it appears in the files or records of the Patent and Trademark Office, but reserves all copyrights in other respects in any case.

This application describes various embodiments of multi-bend sensors and methods for manufacturing these sensors. The embodiments and techniques described herein allow accurate measurement of complex curves. In one embodiment, a multi-bend sensor detects multiple bends. In one embodiment, a multi-bend sensor measures over many points. In one embodiment, a multi-bend sensor detects multiple bends along the length of the sensor and uses the measurements made to produce an accurate determination of its current shape.

Unlike previous systems that measure angles independently at multiple points, by measuring relative displacement, it can be shown that the measurement error at one point does not affect the understanding of the angle at other points. When the flexible strip is bent into a complex pattern, by measuring the relative displacement between the flexible strips at many points, the shape of the multi-bend sensor can be determined. Unlike previous systems that measure angles independently at multiple points to accumulate errors, by measuring displacement, the measurement error at one point does not affect the understanding of the absolute angle at other points. This makes the embodiments described herein less sensitive to measurement errors.

In one embodiment, the multi-bend sensor includes two flat flexible strips. In one embodiment, the multi-bend sensor includes three triangular flexible strips. As used herein and throughout the application, "stripe" means a piece of material that is substantially longer in one dimension or axis than in other dimensions or axes. A strip can be rectangular, cylindrical, triangular, or have an amorphous shape in general, as long as one dimension is longer than the other dimension(s). In one embodiment, one of the straps is a reference strap and the other strap is a sliding strap. In an embodiment, one of the strips is both a reference strip and a sliding strip at the same time or changes between the two at different times. In an embodiment, one of the strips includes at least two reference strips. In an embodiment, one of the straps includes at least two sliding straps. Although the strips are called reference strips and sliding strips, it should be understood that the roles of reference strips and sliding strips are interchangeable.

In one embodiment, a reference strip and a sliding strip are separated by a spacer and mechanically connected on one end. The lengths of the reference strip and the sliding strip are substantially the same. The plurality of holders can ensure that the strips remain pressed against the spacer when they are used, so that the distance between the strips remains substantially constant. At the measurement points along the reference strip that can be determined by a variety of different methods, the corresponding position on the sliding strip can be measured. When the multi-bend sensor is tied straight, the strips line up.

In one embodiment, a multi-bend sensor is a capacitive sensor. As those familiar with the art will mention, capacitive bending sensors work by material strain or displacement between sensor layers. Either way, the geometric change changes the effective overlap surface area of the capacitive coupling and/or the spacing between the conductors (varies according to the bending angle). Capacitive sensors can be more linear than other technologies. Its production cost is low and it is more stable than resistive sensors.

In one embodiment, a multi-bend sensor is a low-cost accurate dynamic sensor for sensing bending and reconstructing the detailed shape of the curve. In one embodiment, a multi-bend sensor includes a stack of flexible strips that can be formed as a complex curve in a plane. In one embodiment, a multi-bend sensor measures curvature by noting the relative displacement between the inner and outer layers of the sensor at many points.

Referring now to FIG. 1 and FIG. 2, an embodiment of a multi-bend sensor 10 is shown. FIG. 1 shows a schematic side view of a multi-bend sensor 10. In the illustrated embodiment, the multi-bend sensor 10 has a sliding strip 12 and a reference strip 14. FIG. 2 shows a top view of the reference strip 14 and a bottom view of the sliding strip 12. The sliding strip 12 is fixed to the reference strip 14 at one of the distal ends 16 of the reference strip 14. In the illustrated embodiment, there is a spacer 18 positioned between the sliding strip 12 and the reference strip 14. In one embodiment, a multi-bend sensor 10 has a plurality of spacers 18. The holder 22 that keeps the sliding strip 12 and the reference strip 14 against the spacer 18 is additionally shown.

The circuit 24 is operatively connected to the sliding strip 12 and the reference strip 14, and the circuit 24 is adapted to receive and process the measurements that occur. In the illustrated embodiment, the circuit 24 may include components or be operably connected to components, such as a processor, a signal generator, a receiver, a connector, and the like.

The sliding strip 12 and the reference strip 14 may be formed of flexible printed circuit board strips. Although the sliding strip 12 and the reference strip 14 are shown as having specific electrode patterns, it should be understood that depending on the specific implementation, the role of each of the respective strips can be changed, and the sliding strip 12 can be used as the reference strip 14, and vice versa. The electrode 20 can be placed on the surface of the sliding strip 12 and the reference strip 14. The electrode 20 is adapted to transmit and receive signals. The electrode 20 can be configured in any pattern capable of determining a change in one of the bending periods of the sliding strip 12 and the reference strip 14. In addition, the number, size, and shape of the electrodes 20 implemented on the sliding strip 12 and the reference strip 14 can be changed based on a specific implementation. In an embodiment, the circuit 24 is operatively connected to the electrode 20. The circuit 24 processes the signals received from the electrodes 20 to measure the relative displacement between the electrodes in different strips when the strips are formed as a curve.

Still referring to Figures 1 and 2, the sliding strip 12 and the reference strip 14 are flexible and capable of moving and bending. In addition, the spacer 18 placed between the sliding strip 12 and the reference strip 14 is flexible and can move and bend. In an embodiment, the spacer 18 may have different levels of flexibility relative to the sliding strip 12 and the reference strip 14. In an embodiment, the sliding strip 12, the reference strip 14 and the spacer 18 may each have different levels of flexibility. In an embodiment, there is no spacer 18, and the sliding strip 12 and the reference strip 14 move relative to each other.

The spacer 18 used in the embodiment preferably keeps the strips spaced at a constant distance regardless of the amount of bending, but still allows relative sliding. The spacer 18 preferably has a thickness that can allow a difference between the length of the sliding strip 12 and the reference strip 14 when there is bending. In an embodiment, there may be no spacers, and the sliding strip 12 and the reference strip 14 may be adjacent to each other, however, there should still be a sufficient distance between the outwardly facing sides to allow the sliding strip to be sensed during a bending The relative displacement between 12 and the reference strip 14. In an embodiment, the spacer 18 may have the same flexibility as the sliding strip 12 and the reference strip 14. A thick spacer 18 will provide a good amount of displacement, but the spacer 18 itself can change thickness with a tight bend. A thin spacer 18 will have less of this problem but may not provide sufficient displacement. In one embodiment, the spacer 18 may be composed of a series of thin layers that slide against each other. This allows a thick spacer 18 to have a fairly tight bend without changing the overall thickness.

Having a known interval between the reference layer and the sliding layer helps to obtain accurate data. Ensuring the interval can be accomplished by different methods. As discussed above with respect to FIG. 1, the holder 22 can be attached to one strap and provide compressive force to the other strap that slides against it, as shown. The holder 22 may be a plastic or elastic member that provides a compressive force to the reference strip 14 and the sliding strip 12. The compression force should be such that it maintains the distance but does not inhibit the movement of the reference strip 14 and the sliding strip 12. In one embodiment, an elastic sleeve can be used to accomplish the same task, thereby providing compression.

At the end portion 16, the sliding strip 12 and the reference strip 14 are fixed together. In an embodiment, the sliding strip 12 and the reference strip 14 are mechanically attached together. In one embodiment, the sliding strip 12 and the reference strip 14 are integrally fixed to each other. In one embodiment, the sliding strip 12 and the reference strip 14 are fixed at a position other than the distal end. In one embodiment, the sliding strip 12 and the reference strip 14 are fixed in the middle of the strip. Elsewhere along the length of the sliding strip 12 and the reference strip 14, the sliding strip 12 and the reference strip 14 slide relative to each other. The sliding strip 12 and the reference strip 14 also slide relative to each other against the spacer 18. The holder 22 ensures that the sliding strip 12 and the reference strip 14 remain pressed against the spacer 18 to maintain a constant distance between them. The electrical connection between the circuit 24 and the strip is outside the sensing area where the bending occurs. In the embodiment shown in FIGS. 1 and 2, the circuit 24 is positioned close to the end portion 16 where the sliding strip 12 and the reference strip 14 are connected. The sliding strip 12 and the reference strip 14 contain will allow the electronic device to detect the coupling of the two strips by measuring from the electrode 20 on the sliding strip 12 and the electrode 20 on the reference strip 14 through the spacer 18 The electrode 20 pattern is relatively displaced in many positions.

The embodiments discussed above can be fabricated using materials and techniques implemented to produce flexible circuits. The flexible circuit can start with a flexible insulating substrate such as polyimide. A thin conductive layer (such as copper, silver, gold, carbon or some other suitable conductive material) is adhered to the substrate with an adhesive. In one embodiment, photolithography technology is used to pattern the conductive layer. In one embodiment, the conductive layer is applied by sputtering. In one embodiment, the conductive layer is applied by printing. When applied by printing, the conductive ink can be directly patterned onto the substrate.

Similar to rigid printed circuit boards (PCBs), flexible circuits can be manufactured to include multiple conductive layers separated by insulators. Vias can provide connections between different layers. As with rigid PCBs, soldering and other well-known techniques can be used to attach standard electrical components to flexible circuits. However, because some components are not flexible, flexing their attachments can lead to broken electrical connections. For this reason, the flexible circuit can use reinforcement in the area of the component, so that the area of the circuit will not be significantly flexed. For similar reasons, flex circuits tend not to place vias in areas that are actually bent, because stress in these areas can sometimes cause breakage.

Many electrode patterns of multi-bend sensors can benefit from the use of interlayer connections in the bend area. Dupont ^® has developed special conductive inks specifically designed to withstand repeated deflection. However, other suitable flexible conductive inks can also be used. These inks can be implemented in the multiple bend sensors discussed herein. The flexible ink allows flexible connections between conductive layers, thereby acting as a through hole. It should be noted that these flexible conductive inks are compatible with a wide range of substrates (including fabrics). This allows the structure to be directly integrated into the multi-bend sensor in the garment. In addition, in one embodiment, the garment is made of an optical fiber used as a multi-bend sensor. When implementing a multi-bend sensor fiber, a reinforcement can be added to limit the movement of the multi-bend sensor fiber.

In the following discussion, a multi-bend sensor including a sliding strip and a reference strip can be analogized as having a pair of measuring tapes with a length L, which are separated by a thickness t The pieces are separated, as shown in Figure 3. Similar to the binding of a book, in one embodiment, the strips are joined together at one end. In one embodiment, when the strip is in a flat orientation, the imaginary distance mark of the measuring tape is perfectly aligned. However, if the pair is formed around a cylinder with a radius r, the inner tape measure will form an arc with a radius r, and the outer tape measure will form an arc with a radius r+t (as shown in Figure 5). Shown in and discussed in more detail below). Because they are combined on one end, the zero mark of the two tape measures will still be aligned, but the other marks will gradually be misaligned. This is because on a larger radius, more tapes are needed for the same angle. In one embodiment, when a multi-bend sensor is formed around a circular arc, the radius r can be calculated when only the distance between the tape measures and the relative displacement are known. In one embodiment, the relative displacement can be measured similarly at many points along the sensor, each point allowing us to measure the curvature of the continuous segment. In this way, we can measure a complex curve that is well simulated as a series of arcs.

Referring now to FIGS. 3 to 5, when the multi-bend sensor is wound around an object in a circle, the inside of the two strips conforms to the circle, and the outer strip conforms to the thickness due to the spacer 18 One is slightly larger and round.

Because the two strips have different radii of curvature, the unconstrained ends will not be aligned with each other. By knowing the length of the strips (the sliding strip 12 and the reference strip 14) and the thickness of the spacer 18, the radius can be directly calculated. If the relative displacement between two strips is measured at many positions, a bending model can be constructed as one of a series of arcs. Compared to traditional sensors, this provides a much better understanding of the curved shape.

之兩個條帶，藉由具有厚度t 之一間隔件18分離之滑動條帶12及參考條帶14。滑動條帶12及參考條帶14在端點16處連結在一起且在該端處無法相對於彼此移動。當參考條帶14捲繞成具有半徑

之一圓形時(如圖4中展示)，參考條帶14將具有

之一曲率半徑，而滑動條帶12將具有

之一較小半徑。Still referring to Figures 3 to 5, in order to illustrate how the multi-bend sensor works, it has a length

The two strips are separated by a sliding strip 12 and a reference strip 14 by a spacer 18 having a thickness t. The sliding strip 12 and the reference strip 14 are joined together at an end point 16 and cannot move relative to each other at this end. When the reference strip 14 is wound to have a radius

When one is round (as shown in Figure 4), the reference strip 14 will have

One of the radius of curvature, and the sliding strip 12 will have

One of the smaller radius.

。參考條帶14 (其具有長度

)覆蓋圓形之一分率：

Circumference of the circle

. Reference strip 14 (which has a length

) One-part rate of coverage circle:

In order to express in radians, the angle to which the strips oppose is:

之方向上捲曲時，滑動條帶12在內部結束，其具有一較小曲率。較緊密捲繞意謂滑動條帶12之一些延伸超過參考條帶14之端。若此沿著具有相同半徑之一圓形繼續，則滑動條帶12對向一角度：

As shown in the picture, when measuring the thickness

When curled in the direction, the sliding strip 12 ends inside, which has a smaller curvature. Closer winding means that some of the sliding strip 12 extends beyond the end of the reference strip 14. If this continues along a circle with the same radius, the sliding strip 12 faces an angle:

The end of the reference strip 14 is aligned with a corresponding point 30 on the inner sliding strip 12. To give a more precise definition, it is the intersection of the sliding strip 12 and the normal constructed through the end points of the reference strip 14.

且自總長度

減去此而在滑動條帶12上找到此點。

You can find the extension length by finding the difference between the angles of the two arcs

And since the total length

Subtract this and find this point on the sliding strip 12.

以找到圓形之分率且乘以圓周長而找到延伸超過參考條帶14之滑動條帶12之片段

之長度。

You can divide the angular range expressed in radians by

Find the segment of the sliding strip 12 that extends beyond the reference strip 14 by multiplying by the circle length divided by the circle found

The length.

求解此等方程式，給出：

For radius

Solving these equations gives:

By measuring the relative displacement between the strips, this simple equation can be used to calculate the radius of curvature across the length.

Now consider the situation where the bending occurs in a clockwise direction, as shown in Figure 5.

之一曲率半徑。

The analysis proceeds roughly as before, but now the sliding strip 12 is on the outside, which has

One of the radius of curvature.

。

As before, the target system locates the corresponding point 31 on the sliding strip 12 corresponding to the end point of the reference strip 14. However, because the sliding strip 12 is on the outside and therefore subtends a small angle, the arc must continue to find the point of intersection. Calculated by finding the opposite angle and the corresponding length on the sliding strip 12

.

在第一情況中係滑動條帶12延伸超過參考條帶14之量，且在此情況中，其係到達參考條帶14之端將需要之額外量。This is the same result obtained in the counterclockwise case. The difference here is

In the first case, the sliding strip 12 extends beyond the reference strip 14 by an amount, and in this case, it is the additional amount that would be required to reach the end of the reference strip 14.

指示在一逆時針方向上進行之一弧且一負

指示一順時針方向。To combine these two cases, consider the radius of curvature as the number of signs, one of which is positive

Indicates an arc and a negative in a counterclockwise direction

Indicates a clockwise direction.

定義為沿著滑動條帶12之與參考條帶14之端對齊之總長度。帶正負號之曲率半徑係：

A new variable

It is defined as the total length along the end of the sliding strip 12 that is aligned with the end of the reference strip 14. Radius of curvature system with sign:

給出一正曲率半徑。在圖5中，

給出一負曲率半徑。接著，帶正負號之曲率半徑用於找到參考條帶之帶正負號之角範圍。

In Figure 4,

Give a positive radius of curvature. In Figure 5,

Give a negative radius of curvature. Next, the signed radius of curvature is used to find the signed angle range of the reference strip.

In the following, all angles and radii of curvature are signed. Self-displacement measurement reconstruction curve

In one embodiment, the multi-bend sensor simulates the shape as a series of arcs with different radii to allow for complex curves. By measuring the relative displacement at many points along the strip, the curvature of each segment can be quickly determined.

The multi-bend sensor 10 shown in FIG. 6 includes a sliding strip 12 and a reference strip 14. Find the shape of the reference strip 14 to be the target. At fixed intervals along the reference strip, the corresponding displacement position along the sliding strip 12 is measured. By correspondence, it means using points that are at the same angle with respect to the common center of the radius of curvature. Another way of saying that is that if a normal line of the curve of the reference strip 14 is constructed at the measurement point, a measurement will be performed at the point where it intersects the sliding strip 12.

跨越至

(片段

)之一單一圓弧片段作為一實例。片段

在一逆時針方向上塑形為具有半徑

之一圓弧。因此，參考條帶14具有半徑

而滑動條帶在內側且具有

之一較小半徑。起始角

係弧之起點處之切線。終止角係弧在其末端處之切線

。類似於上文計算，

係參考條帶14至量測點

之長度。

係滑動條帶12至量測點

之長度。在參考條帶14之側上，片段在

處開始且在

處結束。類似地，對應滑動條帶12自

延伸至

。可找到參考條帶14片段之帶正負號之曲率半徑及帶正負號之角範圍。Referring now to FIG. 7A, it is provided from both the reference strip 14 and the sliding strip 12

Span to

(Fragment

) A single arc segment as an example. Snippet

Shaped in a counterclockwise direction to have a radius

One of the arcs. Therefore, the reference strip 14 has a radius

And the sliding strip is on the inside and has

One of the smaller radius. Starting angle

The tangent at the starting point of the arc. The end angle is the tangent of the arc at its end

. Similar to the calculation above,

Attach reference strip 14 to the measurement point

The length.

Attach the sliding strip 12 to the measuring point

The length. On the side of the reference strip 14, the fragment is

Start at and at

The end. Similarly, the corresponding sliding strip 12 is from

Extend to

. The signed radius of curvature and the signed angle range of the 14 segments of the reference strip can be found.

中之參考條帶14之長度定義為：

We will fragment

The length of the reference strip 14 is defined as:

And the length of the corresponding sliding strip is defined as:

Similarly, we define the total facing angle of this segment as:

及

)之情況，滑動條帶12塑形為與參考條帶14相比更緊密之一曲線。因此，

，即使其等對向相同角度

。以弧度計算，參考片段之長度係：

For positive curvature (

and

In the case of ), the sliding strip 12 is shaped into a tighter curve than the reference strip 14. therefore,

, Even if they are equally opposed to the same angle

. Calculated in radians, the length of the reference segment is:

And the length of the corresponding sliding strip:

Given two lengths and spacer thickness values, we can find the radius of curvature of this segment:

When the curve runs clockwise, this same equation applies, giving a negative end angle and a negative radius of curvature. We can also find the opposite angle of the arc:

Now we know a series of arcs with a known length, angular range, and radius of curvature. This series can be pieced together to simulate the complete curve of the reference strip 14. It should be noted that in one embodiment, the multi-bend sensor has continuous deflection along its equal length, and therefore, its equal is inherently continuous in its equal first derivative. Therefore, in order to maintain a continuous first derivative between segments, the tangents of adjacent segments match. In other words, the ending angle of each segment matches the starting angle of the next segment.

)一終止角74 (

)。可假定循序片段平滑地連接，即，導數在連接點處係連續的。此係藉由一單一切線角描述連接點之原因。Consider a single arc as shown in Figure 7B. It can be determined that a starting angle 72 (

) A terminating angle 74 (

). It can be assumed that the sequential segments are connected smoothly, that is, the derivative is continuous at the connection point. This is the reason why the connection point is described by a single cut-off angle.

處且以

一初始已知角72開始，且以

一未知終止角74進行至一未知終止點73

。Arc at a known starting point 71

Place and take

An initial known angle 72 starts with

An unknown end angle 74 proceeds to an unknown end point 73

.

之彎折。為找到x、y平移，將弧上之x及y增量加至先前點。為方便起見，弧之曲率半徑之中心被視為在原點處且用於計算端點位置。接著，將此等之差異應用於已知起始點。The angle change from the start point to the end point is exactly the fragment angle

The bending. To find the x and y translation, add the x and y increments on the arc to the previous point. For convenience, the center of the radius of curvature of the arc is considered to be at the origin and used to calculate the end point position. Then, apply these differences to a known starting point.

之法線係

。針對具有正曲率半徑之一弧，此給出之曲率半徑之中心指出之角度。若曲率半徑為負，則其指向相反方向。此導致藉由使用帶正負號之曲率半徑校正之一正負號翻轉。接著，可經由此等方程式迭代地找到端點：

For this calculation, the angle between the arc and the center is known.

Normal system

. For an arc with a positive radius of curvature, this gives the angle indicated by the center of the radius of curvature. If the radius of curvature is negative, it points in the opposite direction. This causes the sign to be reversed by using the sign of the radius of curvature correction. Then, the endpoints can be found iteratively via these equations:

These equations can be simplified slightly using trigonometric identities.

、其曲率半徑76 (

)、一起始角及一角範圍77 (

)描述。These equations describe the series of arcs that simulate bending. A circular arc usually runs through its center 75

, Its radius of curvature 76 (

), a starting angle and a range of angle 77 (

)describe.

處起始且遵循半徑至弧中心

而找到一弧片段之中心。自點

處之法線找到起始角，其係

。則中心係：

Can be accessed by

Starting at and following the radius to the center of the arc

And find the center of an arc segment. Self-point

Find the starting angle at the normal, which is

. The central department:

It should be noted that the use of a radius of curvature with a sign ensures that the normal to the center is followed.

Starting angle system:

，其亦為一帶正負號之值。 對量測誤差之敏感性If the arc goes clockwise, a sign is needed to flip the angle. The range of arc

, Which is also a value with a sign. Sensitivity to measurement error

Any actual displacement measurement will be imperfect, making it important to understand how measurement error affects the accuracy of the simulated curve. In the articulated arm, the noise measurement of the joint angle quickly accumulates, causing a significant error in the final position of the end effector. For example, on a multi-axis robot arm, the position is usually determined via a series of encoders (one encoder on each joint). Because of the accumulation of any errors in the measurement of each joint, a high-precision encoder is usually required. For a plane arm, the angle error at the end of the arm is simply the sum of all measurement errors in each joint. The position error of the end point is also severely affected by all joint errors (especially the joint error at the beginning of the arm).

The measurement error in the multi-bend sensor is more tolerant. In one embodiment, error accumulation is alleviated because the measurement errors of each arc are not independent.

Consider the measurement error of a single displacement at the nth point. Compared with the ideal situation, the shifted point will cause an error in the radius of curvature of two adjacent segments. The error on one segment will be in one direction, and the error on the other segment will be in the opposite direction, thus tending to cancel things to a first order. This property of segment error tends to produce a certain degree of compensation error, and this property is generally maintained and is a result of a displacement measurement that gives the total cumulative displacement to that point.

To demonstrate the sensitivity to errors, take an example of two consecutive segments with the following coordinates:

及

之理想量測。然而，

將受

之一量測誤差干擾。接著，找到此誤差如何累積至

。Gives

and

The ideal measurement. However,

Will be affected by

One measurement error interference. Next, find out how this error accumulates to

.

)：

In the undisturbed situation (and it should be noted that

):

It is assumed that the measurement points are equally spaced apart by 1 unit.

處具有量測誤差

之情況之變數。此容許具有及不具有中途點量測誤差之所得角度為。

Use single quotes to indicate

Measurement error

The variables of the situation. This allowable angle is obtained with and without halfway point measurement error.

This shows that the end angle after two arcs is not affected by the misreading of one of the halfway points. The angle error is not accumulated.

Consider the error of the point position.

Using these equations, the endpoint error under different conditions can be plotted. Obviously, the position error at the end of the first segment is compensated to some extent by an error with an opposite sign in the next segment.

Further consider the case of a multi-bend sensor with one of the two measuring points. The curvature of the first segment is found by determining the relative displacement at the first measurement point. In this example, the measurement was corrupted by noise and an erroneous low-shift reading was recorded. Then, the relative displacement of the second segment is found by taking the total displacement at the second measurement point and subtracting the displacement from the first measurement point. The error at the first point will now cause a corresponding error in the second segment, the sign of which is the opposite of the error in the first segment. Therefore, the two segments will end up with curvature errors that tend to cancel each other out. In one embodiment, the error of the final angle is completely unaffected by the error at the first measurement point.

To demonstrate the sensitivity to errors, we return to the example of two consecutive segments. We define the starting point of the curve as:

且

。吾人現在可計算片段0之終止角：

By definition,

and

. We can now calculate the end angle of segment 0:

Then, we find the ending angle of segment 1.

As can be seen, the end angle calculation does not rely on any earlier measurements. This means that any error in the earlier measurement will not contribute to the error in the end angle of each segment.

Although the embodiments and examples discussed above use arcs to perform analysis, other measurement techniques and analysis can be used. In one embodiment, an ellipse is used to approximate the curve. In one embodiment, a parabola can be used to perform the analysis of the curve. In one embodiment, a spline is used to approximate a curve. In one embodiment, a polynomial function is used to approximate the curve. In one embodiment, all the methodology discussed in this article is used to approximate the curve.

As those familiar with this technology will mention, the results mentioned above prove to be superior to traditional solutions that rely on a series of angle encoders, which have a practical limit on the number of encoders that can be stringed together.

Another possible model of a curve is to represent it as a series of linear segments connected by pens.

Referring to FIGS. 8 and 9, for a piecewise linear model, it is assumed that the bending is completely sharp and only occurs at fixed intervals on a reference strip 84. It will be assumed that the sliding strip 82 meets a fixed distance from one of the reference strips 84. This will produce a corresponding sharp bend for each bend of the reference strip 84. Bending towards the reference strip 84 will mean that additional length will be required on the sliding strip 82 to conform to the new shape. Similarly, bending towards the sliding strip 82 will take less length to conform.

。兩個彎曲點對分彎曲角。垂直相對角亦為

。運用直角建構，藉由減去直角而找到

角。最終，將與

相對之角運算為

。此角度之切線等於相對邊長(s)除以相鄰邊長(t)。

Given a bend toward one of the reference strips 84, the calculation is started by calculating the additional length required on the sliding strip 82. Looking at Figure 9, the multi-bend sensor has a bending angle A. The vertical relative angle is also A. The extra length of the sliding strip 82 that meets the bending requirements is shown as

. The two bending points bisect the bending angle. The vertical relative angle is also

. Use right angle construction, find by subtracting right angle

Horn. Eventually, it will be with

The relative angle is calculated as

. The tangent to this angle is equal to the relative side length (s) divided by the adjacent side length (t).

And for the total length added:

This formula is also correct when the bending angle exceeds 180 and it is bent upward toward the sliding strip 82. In this case, the extra length is negative.

For convenience, the bending angle B can be defined relative to zero without bending.

Substitute:

Given a measurement of displacement, the calculation will produce its angle.

Like the circular arc model, this piecewise linear model still has the general behavior that a measurement error in a displacement measurement generates a complementary error in the next displacement measurement, thereby partially offsetting the influence of potential addition errors.

Consider an ideal measurement versus a measurement in which there is a measurement error in the first segment.

The resulting angle of the last segment is simply the sum of the angles relative to the point.

Repeat calculations with measurement errors:

之級數展開，誤差抵消為一階。電容式感測技術 These total bends are not the same, however, it can be shown that by surrounding

The series is expanded, and the error cancellation is a first-order. Capacitive sensing technology

Capacitive sensing can be used with a multi-bend sensor and is the methodology discussed above with respect to FIGS. 1 to 2. For example, looking at FIG. 10, a pattern of interdigitated electrodes 20 allows us to perform a differential measurement by comparing the capacitance of the overlapping electrodes 20 to determine the relative displacement. The differential nature of this measurement makes it highly insensitive to various types of errors. In addition to the electrode patterns shown in FIG. 10, other electrode patterns can also be implemented that will further provide measurements that can help determine the overall movement and shape of the multi-bend sensor.

Still referring to FIG. 10, the plurality of electrodes 20 are adapted to transmit signals and the plurality of electrodes 20 are adapted to receive signals from the electrodes 20 that transmit signals. In one embodiment, depending on the implementation, the electrodes 20 adapted to transmit signals and the electrodes 20 adapted to receive signals can be switched or alternated. In an embodiment, an electrode 20 adapted to transmit a signal may also be adapted to receive a signal at a different time. The received signal is used to determine the movement of one strip relative to another.

In one embodiment, quadrature frequency division multiplexing can be used with a multi-bend sensor that uses a plurality of electrodes 20 that are adapted to receive and transmit quadrature signals. In one embodiment, a unique frequency quadrature signal is used. In one embodiment, a unique frequency quadrature signal is transmitted on each of the electrodes 20 being transmitted. The electrode 20 adapted to receive the signal can receive the transmitted signal and process it to obtain information about the relative displacement of the reference strip with respect to the sliding strip. This can then be used to determine the shape of the curve formed by the multi-bend sensor.

Generally speaking, the curvature of multiple dimensions can be determined by forming a grid of a reference strip and a sliding strip, wherein each multi-bend sensor determines its own respective curve. After determining the curve of each multi-bend sensor, the entire curvature of a plane can be simulated. In one embodiment, a plurality of multi-bend sensors can be placed on a three-dimensional object that undergoes various deformations across its 3D surface. A plurality of multiple bending sensors may be able to accurately determine the bending deformation of a 3D object after reconstructing the curvature obtained from each of the multiple bending sensors.

In another embodiment, an optical fiber that is flexible in 3 dimensions is used instead of the ribbon. Then, these optical fibers are stacked around a central reference optical fiber, so that when bending, the outer sliding optical fiber moves relative to the reference optical fiber. In one embodiment, the spacer maintains a constant interval between all optical fibers. The relative displacement can be measured by a variety of methods, including through patterned electrodes along the fiber.

In one embodiment, the sensor can be produced by a narrow sheet that more closely resembles a flexible wire and can bend out of the plane. If the two of these devices are held together, the sensing in the orthogonal direction, the in-plane and out-of-plane deflection can be measured.

Another embodiment is shown in FIG. 11. This embodiment provides a multi-bend sensor 110 that can determine the curvature in more than one plane direction. There is a sliding plane 112 and a reference plane 114. In FIG. 11, the planes are not shown as being on top of each other. However, it should be understood that this is for the convenience of viewing the plane, and the sliding plane 112 and the reference plane 114 are opposed to each other in a manner similar to the strip positioning discussed above. To locate each other. The electrode 115 is placed on the sliding plane 112 and the reference plane 114. In FIG. 11, the electrodes 115 are formed in columns and rows. In one embodiment, the electrode is formed as a pad. In one embodiment, the electrode is formed as a point antenna. There may additionally be a spacer plane placed between the sliding plane 112 and the reference plane 114 to establish a distance between the sliding plane 112 and the reference plane 114. In one embodiment, the reference plane 114 and the sliding plane 112 are implemented without a spacer layer, wherein the electrode 115 is placed on the outward facing surface, and the flat substrate is used as a spacer layer. In addition, although there may be electrodes 115 placed on two planes, there may be a transmission electrode placed on the sliding plane 112 and the reference plane 114 and a receiving electrode positioned at one of the gaps between the two planes. Furthermore, the electrode 115 may be transmitting or receiving.

Still referring to FIG. 11, the sliding plane 112 and the reference plane 114 are flexible planes that can be bent. The reference plane 114 and the sliding plane 112 are attached at various attachment points. The attachment point can be positioned at any position between the planes, as long as they establish a reference position by which the movement of one plane relative to another plane is determined. In one embodiment, the attachment point may be the center of the plane. In one embodiment, there is more than one attachment point from which the relative movement of the plane is established. In an embodiment, the planes are fixed to each other at an edge. In one embodiment, the plane is fixed at multiple points along the edge. In one embodiment, the plane is fixed at a point along an edge and within the area of the plane.

Turning to FIGS. 12 and 13, another embodiment of a capacitive electrode design for measuring relative displacement is shown. Although multilayer flex circuits are widely available, there are certain restrictions that may be imposed on the design. A common restriction is that through holes on curved sections are not allowed. Therefore, a pattern that does not require interlayer connections in the bending area is sometimes preferable.

FIG. 12 shows two triangular electrodes 120 forming a reference strip 124 and a series of rectangular electrodes 121 formed on the sliding strip 122. By measuring the relative capacitance of the A electrode 120 and the B electrode 120 for each of the rectangular electrodes 121 on the sliding strip 122, the relative positions of the rectangular electrodes 121 can be determined.

The pattern shown in Figures 12 and 13 does not require multiple layer connections. On the reference strip 124, connections can be made directly from either end. The rectangular electrode 121 on the sliding strip 122 can be manufactured via the bus bar 126, as shown in FIG. 13. In an embodiment, a shield can be used around the rectangular electrode 121 and the triangular electrode 120. Shielding can help alleviate interference. The transmitting electrode can be surrounded by ground and the receiving electrode can be driven by an active shield to alleviate interference.

The design shown in FIGS. 12 and 13 is sensitive to slight rotation between the reference strip 124 and the sliding strip 122. For example, if the interval is larger on the top than on the bottom, it can cause a systematic error. This can be corrected by calibration. The sensitivity can also be improved by using a less sensitive pattern.

An example of a pattern with reduced sensitivity is shown in FIG. 14. The pattern shown in FIG. 14 uses additional triangular electrodes 140 placed on the reference strip 144. The rectangular electrode 141 is placed on the sliding strip 142. The electrode pattern shown in FIG. 14 is symmetrical about the center line of the reference strip 144. Compared to the pattern shown in Figure 12, this reduces sensitivity. The reduced sensitivity occurs because the triangular electrode 140 is farther on one side and closer on the other side. This distance roughly balances the effects of any tilt that may exist.

Figure 15 shows another embodiment of the sensor electrode. FIG. 15 shows a configuration of a reference strip 154 and a sliding strip 152. The reference strip 154 has a plurality of triangular electrodes 150. The sliding strip 152 has a plurality of rectangular electrodes 151. Compared with the electrode pattern shown in FIG. 12, the pattern in FIG. 15 replicates the configuration of the triangular electrode 150. Reproduce the angular pattern at a smaller scale near each measurement to improve the resolution. The sensor pattern shown in Figure 15 can also be combined with shielding and symmetry techniques.

Figure 16 shows another embodiment of the sensor electrode. FIG. 16 shows a configuration of a reference strip 164 and a sliding strip 162. The reference strip 164 has a plurality of triangular electrodes 160. The sliding strip 162 has a plurality of rectangular electrodes 161. Compared with the electrode pattern shown in FIG. 12, the pattern in FIG. 16 replicates the configuration of the triangular electrode 160. Reproduce the angular pattern at a smaller scale near each measurement to improve the resolution. The sensor pattern shown in Figure 16 can also be combined with shielding and symmetry techniques. When the displacement causes a rectangular electrode 161 to approach the end of a triangular electrode 160, some nonlinearity will result. One way to solve this is to use multiple sets of triangular electrodes 160. The groups are shifted so that when one rectangular electrode 161 is near an edge on one triangular electrode 160, it is not at an edge on the other triangular electrode 160. Optics

In addition to capacitance-based sensing, optical technology instead of capacitive technology can also be used to produce multi-bend sensors. Instead of interdigitated electrodes, optical transmitters and receivers can be used. The signal can be transmitted through an optically transmissive spacer positioned between a reference strip and the sliding strip. Waveguide technology allows electronics to be placed at one end instead of distributing them along the sensor.

Using standard flex circuit technology, standard electro-optical components (such as LEDs and photodiodes) can be placed on a flexible strip. However, because these components themselves are not flexible, they may need to be locally reinforced at the measurement point. Certain techniques can be used to solve the problem of partial reinforcement. Generally speaking, flexible electronic devices can be used to manufacture multiple bending sensors (for example, to perform local electric field sensing and report data back through a common bus). In particular, the availability of OLEDs and other optical devices in a flexible form makes it possible to build distributed optical encoders along a flexible strip.

A flexible waveguide can also be used to make the optical signal go back and forth between measurement points distributed along the strip. In this way, optoelectronic devices can be gathered at one location. For example, optoelectronic devices can be placed at the ends of the connecting strips. At this position, a rigid PCB can hold the electro-optical components.

In addition, in order to reduce the required number of optical connections, multiplexing techniques can be used. For example, optical filters can be used for each sensing position, so that light of different colors, different polarizations, or a certain combination of these are active at different positions along the multi-bend sensor, and can be used with optoelectronic devices. Be distinguished at the end.

These systems have a path for light to travel from one strip to another. This can be adapted in several different ways. In an embodiment, the spacer may be made of a transparent material. In an embodiment, a slot may be provided near the measurement point. In one embodiment, the spacer can maintain an air gap between the strips. In one embodiment, the optical fiber may have a nick that allows light to penetrate from one cable to another cable. In one embodiment, there may be an optical fiber bundle bound in the middle, wherein the relative displacement of the two ends of the optical fiber bundle can be determined.

Referring to FIG. 17, inexpensive camera chips can also be used to manufacture multi-bend sensors. These wafers can be used at various points along the strip to measure displacement. Still referring to FIG. 17, multiple parallel sliding strips 172 attached to a reference strip 174 at staggered attachment points 176 are used. Then, the ends of these sliding strips 172 can be extended to be observed by a camera chip 175. Therefore, a single camera can track the movement of multiple sliding strips 172 with high accuracy, thereby effectively giving the same result as measuring displacement at different positions.

Although flexible electronic devices are an option, there are other options for distributing optoelectronic devices along a flexible strip. In an embodiment, a rigid PCB may be attached to a flexible strip via elastic components. In this way, the strip can still bend freely, and the floating electro-optical module faces the encoder mark on the other flexible strip. To help maintain alignment, the electro-optical module can be designed to have a larger optical area viewed through a smaller aperture in the flexible strip. Even if the rigid PCB is slightly swayed relative to the strip, the measurement will always be completed relative to the pores in the strip.

When sensing displacement, there is a problem of how much displacement we must sense before going out of range. Looking at the configuration of the receiving electrode 182 and the transmitting electrode 184 shown in FIG. 18, an example of the displacement range can be illustrated. In this case, there are a small number of receiving electrodes 182 placed on a sliding strip and a large number of transmitting electrodes 184 placed on a reference strip. Instead of providing a unique signal on each transmission electrode 184, the signal is reused periodically. Each of the numbered transmission electrodes 184 represents a different signal. If the displacement is limited to the area of a group of transmission electrodes 184, the position can be determined uniquely. If the displacement is greater than this, the displacement reading cannot be uniquely determined by the closest transmission electrode 184. In this example, it may have been shifted a lot so that it has been wound into the next set of transfer electrodes 184. Because a sequence of measurements is taken along the strip, combined shifts from earlier segments are visible and may indicate that a wrap has occurred. Because upwrapping can occur, the constraint is not on any particular receiving electrode 182 that stays within the range of a set of transmitting electrodes 184. It is only limited by the ability to expand. If it is known that the number of transmission electrodes 184 between consecutive receiving electrodes 182 is limited to +/- half of the number of receiving electrodes 182 between the transmission electrodes 184 nominally, we can uniquely determine the position of the next segment. This is because it is known which transmission electrodes 184 can be within the range of the previous segment. More complex techniques can extend this even further, for example by making assumptions about higher order derivatives. Although this technique is described in the context of a capacitive sensor, the same technique can be applied to other embodiments. Using an optical multi-strip setting instead of just detecting one end, the strips can have repeated changes that are detected and analyzed to find a precise position. A calibration target with many edges can be used to allow the position to be determined by combining all of its data. Other methods

In the above, capacitive and optical technologies are discussed, however, other mechanisms can be used. For example, similar to a potentiometer, one strip can be used as a distributed resistor, and another strip can have wipers that make contact at many points along the resistive strip. The voltage at each wiper can be configured to indicate the relative position along the resistive strip. A resistive strip is positioned on one strip and a voltage is placed across it. This generates a position-dependent voltage gradient along the strip. The wiper along the top strip makes sliding contact with the strip to sense the voltage at the same position. The winding detection discussed above can be achieved by having a separate potentiometer formed in the area of each wiper to allow more accurate measurement. Mechanically, the wiper can also play a role in maintaining the interval between the layers, because it is a spacer itself.

An improvement to the above design is to place a separate resistance stripe near each wiper instead of having a single resistance stripe along the strip. Then, each smaller resistance stripe can have the entire voltage gradient within a much smaller displacement, thereby greatly increasing the resolution of the measurement. It should be noted that the number of connections to the strips with resistance stripes is still only two.

Other methods than mechanical wipers can be used to produce shift-dependent resistivity changes. For example, magnetoresistive materials change resistance in the presence of a magnetic field. It can effectively bridge a resistance trace (including the magnetoresistive material between these traces) parallel to a conductor at different positions, and can be selectively made by a magnet on another strip More conductive.

Another embodiment uses a series of magnets on one strip and a Hall effect sensor on the other strip to measure displacement. Time domain technology can also be used to measure length. Time-domain reflectometry techniques in electrical, optical or acoustic domains can be used to measure displacement at multiple points. In order to use this, the measurement point is generated as a path for the signal to return. The magnetostrictive position transducer method can also be used to measure displacement.

In one embodiment, inductive proximity sensing can be used. The inductance of a coil will change in response to some material approaching it. For example, in one embodiment, one strip carries a series of coils, while the other strip has sections with different magnetic permeability detected by the coils. The detection can be done in several ways, including independently noting the change in the inductance of each coil or looking for the change in coupling between different coils. It is also possible to have coils on two strips and measure the coupling between them. Linear variable differential transformer (LVDT) can be directly applied to this type of measurement.

In one embodiment, radio frequency (RF) coupling between strips can be used to take advantage of electromagnetic coupling.

In one embodiment, the multi-bend sensor is designed for remote interrogation via RF. A simple tank circuit (LC) is used, where either L or C depends on the relative displacement between the strips. This type of circuit can be produced on the strip using only patterning of conductive materials. The resonance frequency of the tank circuit depends on the relative displacement and can be read remotely using standard RFID technology. The strip can be designed to contain multiple resonances each dependent on the local relative displacement. If the resonances are reasonably separated in frequency, a remote frequency sweep can independently reveal the changes in each resonance. In the case of adding active components, other techniques (such as time domain multiplexing) can be used to read the shifts above multiple points.

Magnetic sensors (Hall effect, huge magnetoresistance, etc.) can be used to measure local magnetic fields. The magnetization pattern of one strip can be detected on another strip to determine the relative displacement at many points. A magnetic circuit can be used to bring the flux measurement to a convenient physical location. High-permeability materials are used to guide flux, similar to a conductive wire carrying current. Using these techniques, a number of magnetic sensors can be positioned on the joint ends of the strip, so that measurements can be taken at various points along the strip.

Magnetostrictive transducers have been used to measure position in harsh industrial environments. The position of a moving magnet is determined by pulsing current in a magnetostrictive element, which causes a mechanical pulse to be generated in the element in the area of the magnet. The time for this pulse to accumulate back to a measuring point varies according to the position of the magnet. In one embodiment, the magnet is placed on one strip, and the magnetostrictive material is placed on the other strip.

Similar techniques using photoconductive materials can be used. A light on the sliding strip can shift the position of the bridge. This can be an LED or other light source mounted on the strip or a simple aperture that allows a single light source to selectively pass through.

Some measurement error accumulation properties of multi-bend sensors can be obtained by mechanical means on more traditional arm/encoder systems. Parallel linkage groups are usually used to maintain the parallelism of the two components.

Figure 19 shows three sets of parallel links to ensure that the horizontal lines remain parallel to each other. Point 1901 represents the encoder. The angle measured at each encoder is always relative to the top line. In this way, when the absolute exit angle is measured at each encoder, the measurement error at each encoder is not accumulated. Various combinations of gears, belts and other linkage groups can be used to obtain similar effects.

The multiple bending sensors discussed above provide curvature data along its length. This information can be used in more complex ways to give a more detailed model. For example, one can interpolate or fit a higher order function to simulate the change in curvature along the sensor, and thus generate a model that effectively has more segments. We can also change the basic model of a segment from a circular arc to a different functional form.

The above-mentioned embodiment of the multi-bend sensor can accurately determine the shape of a curve or curved surface. Some applications of this technology can be in determining the positioning of a robotic system. In one embodiment, a multi-bend sensor is used for a flexible interface. In one embodiment, the multi-bend sensor is used for human joint movement rehabilitation. In one embodiment, the multi-bend sensor is used for human joint movement in virtual reality. In one embodiment, the multi-bend sensor is used to determine the curvature of a back, the movement of a head, or the bending of a leg. In one embodiment, a multi-bend sensor is used to measure the complex curve. In one embodiment, multiple bending sensors are used for complex vibration understanding and active control. In one embodiment, multiple bending sensors are used for automobile, tire and seat deformation. In one embodiment, multiple bending sensors are used for attitude monitoring. In one embodiment, multi-bend sensors are used for expressive instrument interfaces. In an embodiment, the multi-bend sensor is used to monitor the trough/pressure bladder for deformation such as bubbling out (for example, to monitor airplanes, submarines, etc.).

Multi-bend sensors can also be used to understand the shape of a pressurized system. For example, airplanes with pressurized cabins experience significant stress and deformation when they are repeatedly pressurized and decompressed. If a particular area becomes weakened by repeated stress, it will begin to bubble (or bubble in) relative to other areas, depending on which side we look at. Multi-bend sensors are used to detect this in order to understand the fatigue rate of the system and the location of the impending failure. Submarines, storage tanks, and all kinds of pressurized vessels have similar problems that can benefit from the application of multi-bend sensors. In one embodiment, when determining the curvature of the drill bit, the multi-bend sensor is used to assist oil and gas exploration.

Other mechanical systems that deform under load can also benefit from multiple bending sensors. Another advantage of the multi-bend sensor described above is that the accuracy is derived from geometrical relationships rather than electrical properties (which are easily affected by changes in environmental conditions and are subject to aging and wear), which makes the disclosed multi-bending sense The detector is suitable for monitoring bridges, supporting beams, etc. during the life of the structure.

Another advantage of the multi-bend sensor described above is that the accuracy is derived from geometric relationships rather than electrical properties (which are susceptible to changes due to environmental conditions and are subject to aging and wear). The implementation of this application can adopt the principles used in implementing the orthogonal frequency division multiplexing sensor and other interfaces disclosed in the following cases: US Patent No. 9,933,880; No. 9,019,224; No. 9,811,214; No. 9,804,721; No. 9,710,113; and No. 9,158,411. It is assumed that they are familiar with the disclosures, concepts and nomenclature in these patents. The entire disclosures of these patents and applications incorporated by reference are incorporated herein by reference. This application can also adopt the principles used in the fast multi-touch sensor and other interfaces disclosed in the following cases: US Patent Application 15/162,240; 15/690,234; 15/195,675; 15/200,642; 15/ 821,677; 15/904,953; 15/905,465; 15/943,221; 62/540,458; 62/575,005; 62/621,117; 62/619,656 and PCT publication PCT/US2017/050547, assuming familiarity with the disclosure, concepts and nomenclature . The entire disclosures of these applications and applications incorporated by reference are incorporated herein by reference. Entity implementation plan

Referring now to FIGS. 20A and 20B, a reference strip and a sliding strip of a multi-bend sensor are provided. The plurality of transmission electrodes move along a pattern corresponding to one of the reception electrodes. In one embodiment, the position is determined by checking the change of the coupling capacitance between the transmitting electrode and the receiving electrode. In one embodiment, a pattern of interdigitated electrodes allows us to perform a differential measurement by comparing the capacitance of the overlapping electrodes to determine the relative displacement. The differential nature of this measurement makes it highly insensitive to various types of errors. As mentioned above, in addition to the electrode patterns shown in FIG. 20, other electrode patterns can also be implemented that will further provide measurements that can help determine the overall movement and shape of the multi-bend sensor.

In one embodiment, the plurality of electrodes are adapted to transmit signals and the plurality of electrodes are adapted to receive signals from the signal-transmitting electrodes. In one embodiment, depending on the implementation, the electrodes adapted to transmit signals and the electrodes adapted to receive signals can be switched or alternated. In one embodiment, an electrode adapted to transmit a signal may also be adapted to receive a signal at a different time. The received signal is used to determine the movement of one strip relative to another. In one embodiment, when the reference strip and the sliding strip are generated, the electrodes can be patterned on a standard flexible printed circuit board (PCB). The capacitance through the spacer can be measured, and the relative position can be determined.

In one embodiment, the transmission strip has a plurality of equal-spaced electrodes aligned with an equal number of differential electrode pairs on the receiving strip. When the strip is flat, each transmission electrode will be centered above a receiving pair, so that the differential capacitance is zero. When the two strips are displaced relative to each other, the transmission pad will move out of alignment with the receiving pad, thereby unbalanced differential capacitance. In one embodiment, the electrodes are configured to have significant overlap while minimizing the effects of skew and fringing fields, thereby giving a linear change in differential capacitance with respect to displacement.

In one embodiment, the transmission pad and the receiving pad are kept at a fixed interval by inserting a plurality of polyimide strips. In one embodiment, the amount of displacement is proportional to the thickness of the gap. In one embodiment, the thickness is 0.5 mm. In one embodiment, a single spacer is used. In one embodiment, a plurality of spacers are used to maintain accurate spacing while allowing the device to be flexible.

In one embodiment, the straps are kept pressed together via an elastic sleeve while still allowing them to shift against each other along the length. In one embodiment, a clamp passes through an alignment hole in the strap to restrict movement on the end. In one embodiment, gold finger contacts allow the strip to be inserted into the connector on the opposite side of a controller board. In one embodiment, the strip is manufactured integrally with a controller board.

21A and 21B respectively show a perspective view and a side view of a multi-bend sensor 2100. In one embodiment, the sliding strip and the reference strip are part of a single continuous component, which is then folded onto itself. In an embodiment, at least one spacer is positioned between the sliding strip portion and the reference strip portion.

In one embodiment, the electrical connections for the electrodes (not shown) placed in the sliding part and the reference part can be routed back to the circuit through one or both ends of the continuous component. In one embodiment, the electrodes belonging to the sliding part and the electrodes belonging to the reference part are attached to a piece of continuous material, in which all electrical connections are wired to one or both ends. The piece of continuous material will then be folded and the ends fixed to each other. In one embodiment, at least one spacer is placed between the sliding part and the reference part and fixed to the end of the material.

22A and 22B show a multi-bend sensor in a flat position and a bent position, respectively. In one embodiment, the electrode is displaced when the sensor is flexed. FIG. 22C shows the relationship between the relative displacement and the differential capacitance when the multi-bend sensor is in a flat position and a bent position. In one embodiment, when the multi-bend sensor is in a flat position, the transmitting electrode is centered between the two receiving electrodes (ie, there is no shift) and the differential capacitance is zero. In one embodiment, when the multi-bend sensor is bent in at least a part of the sensor, at least one transmission electrode overlaps with one receiving electrode from the set of receiving electrodes more than (several) other receiving electrodes (ie, shifting) Bit), resulting in a non-zero differential capacitance.

In one embodiment, a single-channel 24-bit differential capacitance-to-digital converter is used to perform capacitance measurement. In one embodiment, a series of ultra-low capacitance multiplexers are used to continuously measure the displacement at 8 points along the strip. In one embodiment, the measured capacitance is sub picofarad.

In one embodiment, a calibration procedure can be used when noting the substantial parasitic capacitance due to the proximity of various traces. First, when the sensor is placed flat, the static effect of parasitic capacitance is measured. Then, subtract this value from the later reading to find the differential capacitance attributed to the electrode. In one embodiment, the circuit can perform a full scan of the multi-bend sensor about 10 times per second while drawing less than 100 mW. Precision single bending sensor

Turning to FIG. 23, it shows a version of the single bend sensor 2300 with a different geometry than one of the multiple bend sensors shown in, for example, FIGS. 1 and 2. In the embodiments discussed above, the multi-bend sensor has circuits on the controller part and the sensor strips (such as the sliding strip and the reference strip). The reference strip and the sliding strip are held or fixed at the location of the circuit (ie, the controller board end, also called the proximal end). The other distal end is unconstrained so that the sliding strip moves relative to the reference strip. In one embodiment, measurements are made at several points along the sliding strip and the reference strip to detect relative movement relative to each other. By using capacitive elements to perform multiple measurements along the strip, problems can be attributed to the distance from the measurement point to the electronic component. In addition, the unconstrained distal end can also create some mechanical problems with holding the strips together when they are separated laterally.

It will be noted that there are bending sensors that only return a single measurement of one of the bending ranges. However, existing bending sensors have problems related to calibration, drift, fatigue, and so on. Although sensors elsewhere in this article have focused on multi-bend applications, the techniques described can also be applied to single-bend sensors.

FIG. 23 shows a single bending sensor 2300, which uses a single measurement point to solve some of the problems found in the prior art when using other multiple bending sensors. By weighing multiple bending capabilities, a very inexpensive precision single bending sensor can be produced, which has excellent noise immunity and uses a simpler mechanical design.

In the embodiment shown in FIG. 23, the electrode 2312 is positioned close to the measurement circuit 2310 at the proximal end 2301 of the single bend sensor 2300. The single bending sensor 2300 is used to measure the displacement at the proximal end 2301, and the fold at the distal end 2302 is used as the restraining end of the single bending sensor 2300. By measuring the displacement at the proximal end, the measurement circuit can be placed at that point with the restraining end far away from the circuit. It will be noted that the folded over design of the single bend sensor 2300 is similar to the design of the embodiment shown in FIGS. 21A and 21B. The embodiments of the sensor described herein (including but not limited to a single bend, multiple bends or contours) can be implemented with the external dimensions described in FIGS. 21A and 21B and other external dimensions.

In one embodiment, a single flex printed circuit board is used to form the single flex sensor 2300, with the measurement circuit 2310 on one of the sensor portions and the electrode pattern 2312 on the other. Then, the single bending sensor 2300 is folded along the midway point 2314 of the printed circuit board to form a top portion 2315 and a bottom portion 2316, so that the electrode pattern having at least one of the transmission electrode and the receiving electrode 2312 can be located On the top of the measurement circuit 2310. With this configuration, the folding at the halfway point 2314 produces a constrained end, where the electrode 2312 is laterally displaced above the measurement circuit 2310. In an embodiment, the transmitting electrode and the receiving electrode are on top of each other. In one embodiment, one of the transmitting electrode and the receiving electrode is located on the top of the measurement circuit and the other is located on the same part of the measurement circuit. In one embodiment, an electrode can be a transmission electrode and a receiving electrode during different time intervals. Since there is no electronic component at the fold and there is no relative displacement at this position, the distal end 2302 can use a mechanical housing to keep the fold. A distal housing 2320 can also provide a point for simple mechanical attachment to other components of the object.

Still referring to FIG. 23, in one embodiment, a spacer 2317 may be used to maintain a known gap between the top portion 2315 and the bottom portion 2316. The measurement circuit 2310 is positioned at the proximal end 2301 and the electrode pattern 2312 is freely displaced relative to the measurement circuit 2310.

The proximal end 2301 may have a proximal housing 2330 for the measurement circuit 2310. The proximal housing 2330 for receiving the proximal end 2301 may be designed to enclose the proximal end 2301 so as to mechanically protect the lateral separation layer. In addition, this end can provide electrical shielding for the components contained therein.

Because the movement of the measuring circuit 2310 is limited and is preferably not flexed, the free end that will move in this area above the measuring circuit 2310 is preferably flat in this area to avoid interfering with electrodes of different geometric shapes. Any potential problems. This avoids problems that can be attributed to complex geometric shapes and can provide better measurements.

In addition, the displacement measurement can be performed over a length of the single bending sensor 2300, and the position measurement technology used in devices such as digital calipers can be used. This effectively uses space to provide a higher signal-to-noise ratio. Because of the area where the measurement circuit 2310 is flat, the system can be mechanically configured such that the electrode 2312 positioned at the distal end 2302 is directly on top of the measurement circuit 2310 (ie, they do not need to be spaced apart in this area). In one embodiment, the flexible circuit boards are formed closely together in this area without a spacer. In one embodiment, the rigid PCB in this area is used to extend the electrodes upward to span the gap.

In one embodiment, the sensing electrode may extend along the length of the single bend sensor, and movement in the longitudinal direction may be used to determine a specific measurement related to the length. In one embodiment, the sensing electrode may extend along the length of the single bend sensor, and a biasing member such as a spring may be positioned at the proximal end to return the respective length of the sensor to the starting position. In one embodiment, portions of the single bend sensor can be frayed and stepped to provide different measurements at different points along the length.

In one embodiment, a single bend sensor can be used instead of an encoder in industrial and commercial applications. In one embodiment, a single bend sensor is used in a robot arm. Multi-contour sensor

Turning to FIGS. 24 to 26, a multi-contour sensor 2400 including a plurality of multi-bend sensors 2410 (described in the embodiments disclosed herein) fixed to a housing 2405 is shown. Those familiar with the art can understand that the configuration and positioning of the plurality of multi-bend sensors 2410 are non-limiting and can be selected to accurately describe or measure at least one of a surface, a profile, and a cross-section. In some embodiments, the configuration and positioning of a plurality of multi-bend sensors 2410 can be selected to describe or measure a non-developable surface. As used herein, the term "developable" surface can mean at least one of the following: a smooth surface with zero Gaussian curvature, which can be undistorted (ie, "stretched" or "compressed") In this case, it is flattened to a surface on a plane, and can be wound on a surface by a piece of paper, where the piece of paper does not cause folds or creases. In addition, as used herein, the term "non-developable surface" can mean at least one of the following: a surface that can have a non-zero Gaussian curvature and a surface that cannot be flattened onto a plane without distortion .

Returning to FIG. 24, in one embodiment, a plurality of multi-bend sensors 2410 may be arranged parallel to each other, wherein the reference strips and corresponding sliding strips of each of the plurality of multi-bend sensors 2410 are relative to each other and opposite to each other The adjacent reference strip and the sliding strip in the adjacent multi-bend sensor 2410 move.

FIG. 25 illustrates an embodiment of a multi-contour sensor 2500 including a plurality of multi-bend sensors 2510 configured to have an interlaced pattern of columns and rows. FIG. 26 shows an embodiment of a multi-contour sensor 2600 including a plurality of multi-bend sensors 2610, which are configured such that all rows are above all columns or vice versa Overlay.

In one embodiment, a multi-contour sensor includes a plurality of multi-bend sensors in different configurations. In an embodiment, a plurality of multi-bend sensors are arranged at different angles relative to each other and are interleaved. In one embodiment, a plurality of multi-bend sensors are arranged in layers, whereby the layers are angled with respect to each other. In an embodiment, the plurality of multi-bend sensors are configured to be asymmetrically interwoven, layered, or angled with respect to at least one other multi-bend sensor.

As those familiar with the art can mention, compared with the embodiment of the multi-bend sensor 110 shown in FIG. 11, the multi-contour sensor described in this section borrows from the sliding plane 112 and the reference plane 114. It is formed by arranging several multi-bend sensors to achieve a specific pattern. Multi-contour actuator

Turning to FIG. 27, which shows a drawing of one of a multi-contour actuator 2700. In one embodiment, a multi-profile actuator 2700 includes at least one multi-bend sensor and at least one actuation portion described elsewhere herein. In one embodiment, the multi-bend sensor includes a sliding strip and a reference strip. In one embodiment, a multi-contour actuator 2700 includes at least one multi-bend sensor 2710, and the multi-bend sensor 2710 further includes a sliding strip 2712 and a reference strip 2714.

The multi-bend sensor 2710 provides information about the movement achieved by the actuating portion 2716 to achieve a specific shape of the multi-profile actuator 2700. In one embodiment, the multi-contour actuator includes a control circuit operably connected to the multi-bend sensor and the actuation part to generate a control loop.

Those who are familiar with this technology can mention that the actuation part 2716 can be achieved by a plurality of mechanisms and technologies. In one embodiment, at least one actuation portion 2716 includes an electroactive polymer. As used herein, the term "electroactive polymer" refers to a polymer that exhibits a change in size or shape when stimulated by an electric field; however, it can also refer to a change in size or shape when stimulated by an electric field. Any type of material in shape. In one embodiment, the actuating portion 2716 includes a plurality of addressable electroactive polymers, wherein each addressable electroactive polymer can be excited independently of the others to produce a specific shape. In an embodiment, the at least one multi-bend sensor 2710 is mechanically fixed to the at least one actuation portion 2716. In an embodiment, the at least one multi-bend sensor 2710 is mechanically fixed to the at least one actuation portion 2716 by at least one of the following: bonding, gluing, welding, welding, and fastening. In one embodiment, the actuation part includes an electric motor.

In other embodiments, the actuation portion 2716 is a thermally activated actuator. As used herein, the term "thermal actuator" or "thermally activated actuator" refers to any material or device capable of generating motion when it undergoes a thermal change. In one embodiment, a thermal actuator is a bimetallic material that changes its mechanical properties when exposed to a thermal change.

In one embodiment, the actuating portion 2716 is a hydraulic or pneumatic actuator. In one embodiment, the multi-contour actuator includes a plurality of cavities that can be independently inflated or deflated to a selected volume to produce a specific shape. It may be noted that the configuration of the cavity is non-limiting and the cavity configuration can be selected to achieve any desired shape.

In one embodiment, the actuating portion 2716 of the multi-profile actuator 2700 and the multi-bend sensor 2710 are the same physical element, thereby, by using at least one of a capacitive force, a resistive force, and an inductive force The movement is achieved by causing relative movement between the elements of the multi-bend sensor 2710 (described in several embodiments throughout this specification).

Turning now to FIG. 28, in one embodiment, in addition to at least one multi-bend sensor 2810 and at least one actuation portion 2816, a multi-profile actuator 2800 also includes additional components, such as touch sensors and Other sensors. In one embodiment, the multi-contour actuator 2800 includes a sensor 2818. In one embodiment, the multi-contour actuator 2800 includes at least one measurement device to provide information about the interaction from the user, other systems, or physical phenomena to dynamically change the shape of the multi-contour actuator 2800. For example, the multi-contour actuator 2800 and other embodiments described herein can be used to generate input sensors used in automobiles, such as pedals, infotainment systems, and steering wheels. However, those who are familiar with the technology may mention that the techniques and embodiments described herein can be implemented at any place where a person interacts with a device or machine.

In cases where a dynamic surface is required, the multi-contour actuator described above can be scaled to any necessary size. For example, a multi-profile actuator can be integrated into an aircraft's lift surface to generate a dynamic shape that changes its size and profile to match required parameters, modify lift, or modify drag at different altitudes and flight attitudes. As another example, multi-profile actuators can be used in automobiles to generate panels and surfaces to achieve a desired downforce or manage airflow elsewhere in the automobile. Force sensor

In some embodiments, the elements of the multi-contour actuator can be used to detect a force associated with an input. By measuring the deflection of at least one multi-bend sensor and combining it with the physical properties of the implementation or the actuation part, it is possible to characterize one input of the multi-profile actuator. In one embodiment, the multi-contour actuator can determine the force applied to it by an external input. Battery sensor

One of a number of bending sensors may be attached to or integrated with lithium batteries. Lithium batteries are used in various electronic devices, such as a laptop computer. As time goes by and the battery undergoes repeated charging and discharging cycles, the chemical composition of the battery changes, resulting in the accumulation of chemicals, which swells and deforms the surface of the battery. Lithium batteries can also experience heat dissipation, where a lithium battery undergoes a rapid discharge of stored energy due to an internal or external short circuit, an overcharge or a rapid charge. Then, the battery experiences a very high temperature and the chemicals in it become gaseous and expand, which eventually ruptures the casing and generates a fire. Therefore, the swelling of the surface of the battery may indicate when a battery is about to fail or when the health of the battery has deteriorated. By implementing a multi-bend sensor in the area of physical change, information about the state of the battery can be determined.

Turning to FIG. 29, it shows a battery 2900 having a bending sensor 2910 integrally formed on the surface of the battery. In one embodiment, the bending sensor is operatively attached to the surface of the battery. In one embodiment, the bending sensor is on the inner surface of the battery.

The bend sensor 2910 can be manufactured according to any of the embodiments discussed above. The bending sensor 2910 moves together with the surface of the battery 2900 and determines the movement of the surface of the battery. The bending sensor 2910 can be bent so as to conform to the surface of the battery 2900. This movement indicates the status of the battery. This status information can be used to determine the charge held by the battery and the health of the battery.

The bending sensor can be used to determine the state of other systems, where the measurable movement can be attributed to a state of the system. For example, a bending sensor can be incorporated into the system, where the change in the weight of the system affects the amount of bending of the lever. In a gas grill, the changed weight of the storage tank can indicate whether the storage tank is full or empty. In one embodiment, the bending sensor is incorporated into a lever, and as the tank is emptied, the weight of the tank decreases, which is reflected in the measurement performed by the bending sensor.

One aspect of the present invention is a multi-contour sensor including a plurality of multi-bend sensors. Each multi-bend sensor includes: a reference strip having a first plurality of electrodes, wherein each of the first plurality of electrodes is adapted to receive a signal; and a sliding strip having a second plurality of electrodes Electrodes, wherein each of the second plurality of electrodes is adapted to transmit at least one signal. Each sliding strip and each reference strip of each of the plurality of multiple bending sensors are adapted to move elastically in at least one dimension relative to a corresponding sliding strip or reference strip, and relative to at least one other The sliding strip or reference strip moves freely. The multi-contour sensor further includes a measurement circuit adapted to process signals received by the first plurality of electrodes of at least one of the plurality of multi-bend sensors, wherein the processed signals Provide information about the contour of the multi-contour sensor.

Another aspect of the present invention is a multi-contour actuator, the multi-contour actuator includes: a multi-bend sensor, the multi-bend sensor includes: a reference strip, which has a first plurality of electrodes , Wherein each of the first plurality of electrodes is adapted to receive a signal; and a sliding strip having a second plurality of electrodes, wherein each of the second plurality of electrodes is adapted to transmit at least one signal, And wherein the sliding strip moves relative to the reference strip. The multi-contour actuator further includes: an actuating portion configured to achieve at least one bend on the multi-bend sensor; and a control circuit adapted to control the actuating portion and processing by the first Signals received by a plurality of electrodes, wherein the processed signals provide information about the at least one bend of the multi-bend sensor and the actuation part.

Another aspect of the present invention is a sensor. The sensor includes: a sensor strip including a plurality of electrodes positioned on one of its surfaces, wherein the sensor strip has a first One end and a second end, wherein the sensor strip is folded at a point along the longitudinal direction of the sensor strip, wherein the sensor strip is folded in which the sensor strip is folded The point forms a distal end of the sensor, wherein due to the folding at the point along the longitudinal direction, the first end becomes close to the second end, wherein the first end is close to the The second end is fixed; and a measurement circuit positioned close to the first end and the second end, wherein the measurement circuit is adapted to detect the movement of the first end relative to the second end.

As used herein and especially within the scope of patent applications, ordinal terms such as first and second are not intended to imply sequence, time, or uniqueness, but are used to distinguish one claimed structure from another. structure. In some usages specified in the context of the content, these terms may imply that the first and second series are unique. For example, when an event occurs at a first time and another event occurs at a second time, it is not intended to imply that the first time occurs before, after, or at the same time as the second time. However, in the case that the second time is further restricted after the first time in the scope of the invention application, the content background will require the first time and the second time to be understood as the only time. Similarly, where the content context is so specified or permitted, it is intended to interpret ordinal terms broadly so that the two identified request constructions may have the same characteristics or have different characteristics. Therefore, for example, in the absence of further restrictions, a first frequency and a second frequency may be the same frequency, for example, the first frequency is 10 Mhz and the second frequency is 10 Mhz; or they may be different frequencies, for example, The first frequency is 10 Mhz and the second frequency is 11 Mhz. The content background can be specified in other ways, for example, where a first frequency and a second frequency are further restricted to be frequency orthogonal to each other. In this case, they may not be the same frequency.

Although the present invention has been specifically shown and described with reference to a preferred embodiment of the present invention, those skilled in the art will understand that various forms and details can be made therein without departing from the spirit and scope of the present invention. Change.

10: Multi-bend sensor 12: Sliding strip 14: Reference strip 16: far end/end part/end point 18: Spacer 20: Electrode / finger electrode 22: retainer 24: Circuit 30: Corresponding point 31: Corresponding point 71: starting point 72: starting angle/initial known angle 73: End point 74: End Angle 75: Center 76: radius of curvature 77: Angle range 82: Sliding Strip 84: reference strip 110: Multi-bend sensor 112: Sliding plane 114: Reference plane 115: Electrode 120: Triangular electrode 121: rectangular electrode 122: Sliding Strip 124: reference strip 126: Bus 140: Triangular electrode 141: rectangular electrode 142: Sliding Strip 144: reference strip 150: Triangular electrode 151: rectangular electrode 152: Sliding Strip 154: Reference Strip 160: Triangular electrode 161: Rectangular electrode 162: Sliding Strip 164: Reference Strip 172: Sliding Strip 174: Reference Strip 175: camera chip 176: attachment point 182: Receiving electrode 184: Transmission electrode 1901: point 2100: Multi-bend sensor 2300: Single bending sensor 2301: near end 2302: remote 2310: measurement circuit 2312: Electrode/electrode pattern 2314: halfway point 2315: top part 2316: bottom part 2317: spacer 2320: remote housing 2330: Proximal shell 2400: Multi-contour sensor 2405: shell 2410: Multi-bend sensor 2500: Multi-contour sensor 2510: Multi-bend sensor 2600: Multi-contour sensor 2610: Multi-bend sensor 2700: Multi-contour actuator 2710: Multi-bend sensor 2712: Sliding Strip 2714: reference strip 2716: Actuation part 2800: Multi-contour actuator 2810: Multi-bend sensor 2816: Actuation part 2818: Sensor 2900: battery 2910: Bend Sensor L: length r: radius t: thickness

The foregoing and other objects, features, and advantages of the present invention will be understood from the following more specific description of the embodiments as illustrated in the accompanying drawings, where the reference numerals refer to the same parts throughout the various views. The drawings are not necessarily to scale, but instead focus on illustrating the principles of the disclosed embodiments.

Figure 1 shows a side view of a multi-bend sensor.

Figure 2 shows a bottom view of one of the different sensor strips.

Figure 3 is a schematic diagram of a sliding sensor strip and a reference sensor strip.

Figure 4 is a drawing showing a reference strip wrapped around a spacer.

Figure 5 is a drawing showing a sliding strip wrapped around a spacer.

Figure 6 is another view of a sensor strip formed by a sliding strip and a reference strip.

FIG. 7A is a diagram showing the calculation of a segment.

Fig. 7B is a diagram showing the calculation of a segment.

Figure 8 is a diagram showing the use of a linear segment analysis on the curve.

Figure 9 is a diagram showing the angle determination in linear segment analysis.

Figure 10 shows a diagram of the spaced electrodes.

Fig. 11 is a diagram showing a multi-plane and multi-bend sensor.

Figure 12 is a diagram of a multi-bend sensor using triangular electrodes and rectangular electrodes.

FIG. 13 is another diagram of a multi-bend sensor using a triangular electrode and a rectangular electrode, which further illustrates the connection.

Figure 14 is a diagram of a multi-bend sensor using triangular electrodes and rectangular electrodes.

Figure 15 is another diagram of a multi-bend sensor using triangular electrodes and rectangular electrodes.

Figure 16 is another diagram of a multi-bend sensor using triangular electrodes and rectangular electrodes.

Figure 17 is a diagram showing the use of parallel strips and a camera chip.

FIG. 18 is a diagram showing an electrode pattern of a sensor capable of determining warpage.

Figure 19 is a diagram of a mechanical multi-bend sensor.

Figure 20A shows a top view of a sliding strip of a multi-bend sensor, a reference strip and a spacer strip.

Fig. 20B shows a side view of the multi-bend sensor of Fig. 20A.

Figure 21A shows an isometric view of a multi-bend sensor.

Fig. 21B is a side view of the multi-bend sensor of Fig. 21A.

Figure 22A shows a multi-bend sensor in a flat position.

Figure 22B illustrates one of the multiple bending sensors in a bending position.

FIG. 22C shows representative electrode positions when a multi-bend sensor is in a flat position and a bent position.

Figure 23 is a schematic cross-sectional side view of a single bending sensor.

Figure 24 is a diagram of a multi-contour sensor.

Figure 25 is a diagram of a multi-contour sensor.

Figure 26 is a diagram of a multi-contour sensor.

Figure 27 is a diagram of a multi-contour actuator.

Figure 28 is a diagram of a multi-contour actuator.

Figure 29 is a diagram of a battery with a multi-bend sensor.

12: Sliding strip

14: Reference strip

20: Electrode / finger electrode

24: Circuit

Claims (14)

A multi-contour sensor, which includes: A plurality of multi-bend sensors; each multi-bend sensor includes: a reference strip having a first plurality of electrodes, wherein each of the first plurality of electrodes is adapted to receive a signal; and a sliding bar A strip having a second plurality of electrodes, wherein each of the second plurality of electrodes is adapted to transmit at least one signal, wherein each sliding strip and each reference strip of each of the plurality of multiple bending sensors It is adapted to move elastically in at least one dimension relative to a corresponding sliding strip or reference strip, and to move freely relative to at least one other sliding strip or reference strip; A measurement circuit adapted to process signals received by the first plurality of electrodes of at least one of the plurality of multi-bend sensors, wherein the processed signals provide information about the contour of the multi-contour sensor News. Such as the multi-contour sensor of claim 1, wherein the plurality of multi-bend sensors are arranged in parallel. Such as the multi-contour sensor of claim 1, wherein the plurality of multi-bend sensors are arranged in an interlaced pattern. Such as the multi-contour sensor of claim 1, wherein a group of the plurality of multi-bend sensors is arranged perpendicular to a second group of the plurality of multi-bend sensors; and wherein the first group of the The multi-bend sensor is placed on the top of the second group of the multi-bend sensor. Such as the multi-contour sensor of claim 1, wherein the contours of the multi-contour form a developable surface. A multi-contour actuator includes: A multi-bend sensor, comprising: a reference strip having a first plurality of electrodes, wherein each of the first plurality of electrodes is adapted to receive a signal; and a sliding strip having a second A plurality of electrodes, wherein each of the second plurality of electrodes is adapted to transmit at least one signal, and wherein the sliding strip moves relative to the reference strip; The actuating part, which is configured to realize at least one bend on the multi-bend sensor; and A control circuit adapted to control the actuation part and process the signals received by the first plurality of electrodes, wherein the processed signals provide information about the at least one bending of the multi-bend sensor and the actuation part News. The multi-contour actuator according to claim 6, wherein the actuating part includes an electroactive polymer. The multi-contour actuator of claim 6, wherein the actuating part includes a bimetal material. Such as the multi-contour actuator of claim 6, wherein the actuation part includes at least one of a hydraulic actuator and a pneumatic actuator. The multi-contour actuator of claim 9, wherein at least one of the hydraulic actuator and the pneumatic actuator is operatively connected to at least one bladder. The multi-contour actuator of claim 6, wherein the actuating part realizes the at least one bending after being excited by at least one of a capacitive force, a resistive force, and an inductive force. A sensor including: A sensor strip including a plurality of electrodes positioned on one surface thereof, wherein the sensor strip has a first end and a second end, wherein the sensor strip is positioned along the The sensor strip is folded at a point in the longitudinal direction, wherein folding the sensor strip forms a distal end of the sensor at the point where the sensor strip is folded, wherein the With the folding at the point in the longitudinal direction, the first end becomes close to the second end, wherein the first end is fixed close to the second end; and The measurement circuit is positioned close to the first end and the second end, wherein the measurement circuit is adapted to detect the movement of the first end relative to the second end. Such as the sensor of claim 1, which further includes a proximal housing positioned close to the first end and the second end. Such as the sensor of claim 1, which further includes a spacer positioned between a top part of the sensor strip and a lower part of the sensor strip.

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