CN103263256B - For sensing the method and apparatus of people's pulse in Traditional Chinese Medicine - Google Patents
For sensing the method and apparatus of people's pulse in Traditional Chinese Medicine Download PDFInfo
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Abstract
The present invention relates to the method and apparatus for sensing people's pulse in Traditional Chinese Medicine, disclosing a kind of pulse sensor device for pulse sensing and method.In one embodiment, this equipment comprises robot finger, and this robot finger comprises humanoid finger structure and actuation force transferring element, and this actuation force transferring element is for passing to this structure it activating some place along direction of actuation by actuation force.One end of this structure pivotable can be installed to fulcrum and the other end has sensing area.This robot finger constructs like this, when sensing area contact human wrist, the first vertical dimension from this fulcrum to first line is greater than the second vertical dimension from this fulcrum to the second circuit substantially, wherein this first line is through the sensing points of sensing area and is basically perpendicular to the straight line of this sensing area, and this second circuit is through this actuating point and the straight line of locating along this direction of actuation.
Description
Technical field
Present invention relates in general in Traditional Chinese Medicine practice based on the sensing of machine to people's pulse.Especially, the present invention relates to this sensing based on machine undertaken by a kind of frame for movement, it has at least one advantage of the interference eliminating actuation force in people's pulse detection process.
Background technology
In the last few years, pulse sensing can be carried out by equipment.People's pulse sensing based on machine has certain advantage relative to the pulse sensing undertaken by CMP.These advantages comprise efficiency and repeatability.In addition, signal processor can be used process the signal sensed by pulse sensor device, thus can realize automatic medical diagnosis system.
In pulse sensor device, actuator is usually adopted to move and locate pulse detection sensor in human wrist.Typically, disclosed in CN101049247, TW20113233 and TW200727865, actuator is straight line motion, is applied directly on sensor like this by actuation force, for carrying out rectilinear motion.When sensor is pressed in wrist, the actuation force of specified level still maintains, to guarantee that sensor senses for pulse in wrist.Generally speaking, actuator produces the actuation force bearing any noise fluctuations.This noise fluctuations is directly added on sensor, and like this, the people's pulse signal sensed is by the noise fluctuations significantly unreliable (corrupt) of actuation force, and wherein this sensor is normally for the pressure transducer of pulse sensing.Although by adopting hydraulic actuator (its can be configured to realize in produced actuation force highly stable), a people can reduce this noise fluctuations in a large portion ground, and this hydraulic actuator volume is large, difficult in maintenance, and expensive.Advantageously, wish that there is lightweight, that cost is low pulse sensor device.
The requirement of this area to pulse sensor device is: do not need to adopt high stable actuator, the pulse signal sensed affects not obvious by the noise jamming of actuation force.
Summary of the invention
In a first aspect of the present invention, provide a kind of pulse sensor device, it has at least one advantage, and this advantage is the cumulative interference that the interference eliminating actuation force in sensing people pulse process obtains.
This pulse sensor device comprises one or more humanoid finger (homanoid finger), and wherein at least one is robot finger (robotic finger).This robot finger comprises humanoid finger structure, and it has finger tip end and rear end.This rear end is pivotally mounted to the fulcrum on this pulse sensor device, and this structure can around this fulcrum like this.Finger tip end has sensing area, and this sensing area is configured to when human wrist contacts with this sensing area for sensing the pulse signal of people.This robot finger also comprises actuation force transferring element, for actuation force being delivered to this humanoid finger structure, being applied to by actuation force like this and being positioned on this structural actuating point, and directing into this structure along direction of actuation.Particularly, this robot finger constructs like this, when human wrist contacts with the sensing area for sensing people's pulse signal, the first vertical dimension from this fulcrum to first line is substantially than long to the second vertical dimension of the second circuit from this fulcrum, wherein first line is through the sensing points of this sensing area and is substantially perpendicular to the straight line of this sensing area, and the second circuit is through this actuating point and along the straight line of location, this actuation force direction.
This humanoid finger structure comprises the first sensor on sensing area, for obtaining and measuring people's pulse signal.This first sensor can be pulse detection sensor array, for detecting people's pulse signal of multiple position on sensing area, wherein this pulse detection sensor array has the predetermined curvature for imitating people's finger tip, and is configured to provide the firmness level (hardness level) close to application on human skin hardness.This pulse detection sensor array can be capacitive based.
Preferably, this robot finger also comprises the second sensor, for measuring the composite force activating some place and occur.When human wrist contacts with sensing area, the reagency that sensing area is produced by human wrist mechanical property and blood pressure pulse is amplified by this humanoid finger structure, is then caught by the second sensor.
This robot finger can construct like this: when human wrist contacts with sensing area, and the pressure that the humanoid finger structure in human wrist produces is controlled.The expected value of this pressure be applied in human wrist is determined according to pulse sensing phase (stage) selected in TCM principle from Fu, Zhong and Chen.In addition, pneumatic actuator can be used in this pulse sensor device, for generation of the actuation force received by actuation force transferring element, and this pressure controllable, thus realize expected value, to produce actuation force according to continuous voltage regulating principle (pressure regulating principle) by being carried out guiding by this pneumatic actuator.
Preferably, this humanoid finger structure comprise multiple be arranged in order and hold-hold can pivotable connect part, humanoid finger structure is configured to folding by it.
In addition, this robot finger also can comprise resetter, for applying a reprocessing moment around this fulcrum, this reprocessing moment with obtain from this actuation force before moment contrary.Like this, make the direction of actuation of actuation force can keep unidirectional when humanoid finger structure is switched to the non-position of engagement from the position of engagement, vice versa, wherein, this position of engagement makes sensing area contact human wrist, and this non-position of engagement makes sensing area be separated with human wrist.This resetter can be the spring that one end is fixed to this humanoid finger structure.
This pulse sensor device can adopt pneumatic actuator, for generation of the actuation force received by this actuation force transferring element.This equipment also comprises the optical positioning device of location human wrist, to be guided by this humanoid finger structure, thus accurately locates this sensing area in human wrist.
This finger tip end can comprise the finger tip that sensing area is located thereon, and wherein this finger tip is separable.Optionally, this one or more humanoid finger can control separately.Finger spacing in this one or more humanoid finger between any adjacent two is adjustable.
In this pulse sensor device, each of preferably this one or more humanoid finger can construct by machine finger like that.
A second aspect of the present invention provides the first method for being sensed people's pulse signal by humanoid finger structure.This humanoid finger structure has finger tip end and rear end.This rear end is pivotally mounted on fulcrum, and this finger tip end has the sensing area being configured to sense this signal.
This first method comprises applying actuation force, is positioned at this structural humanoid finger structure activating some place, so that the humanoid finger structure in such location, sensing area is contacted with human wrist along direction of actuation guiding.This actuating point and this direction of actuation can be selected like this, when human wrist contacts with the sensing area for sensing people's pulse signal, the first vertical dimension from this fulcrum to first line is greater than the second vertical dimension from this fulcrum to the second circuit substantially, wherein, this second circuit is through this actuating point and the straight line of locating along this direction of actuation; And this first line is through the sensing points of this sensing area and is basically perpendicular to the straight line of this sensing area.Next, to essentially eliminate in actuation force the less desirable interference that the interference of signal of sense areas sensing causes, be exaggerated the signal activated on point.
Preferably, this first method also comprises by the first sensor acquisition on sensing area and measures people's pulse signal, and activate making a concerted effort of the upper appearance of point by the second sensor measurement, the reagency produced by human wrist mechanical property and the blood pressure pulse of sense areas is like this amplified by this humanoid finger structure, is then caught by this second sensor.
This first method also comprises by obtain from first sensor first group of measurement data being carried out combining with the second group of measurement data obtained from the second sensor and senses people's pulse signal.Alternatively, after this signal is sensed, this signal can be analyzed according to first and second groups of measurement data.
In a third aspect of the present invention, provide the second method for sensing people's pulse signal.
This second method comprises and senses this signal by frame for movement, this frame for movement has sensing area, when human wrist contacts this sensing area on sensing area for obtaining and measure the first sensor of this signal, and for measuring second sensor of making a concerted effort occurred at the actuating point place of this frame for movement.In the second approach, actuation force is applied at this actuating point place, for the sensing area of aligned contact human wrist.In addition, this frame for movement is constructed by mechanical realization, next can obtain two results expected like this.The first, the interference in actuation force is reduced by the factor I of sense areas is proportional, to make the undesirably interference of the signal obtaining first sensor and measure disappear, wherein, factor I is greater than 1 and is decided by this mechanical realization.The second, the reagency produced by sense areas people pulse by when produce activate point with joint efforts time and the substantially similar proportional increase of factor Ⅱ of factor I.
Accompanying drawing explanation
Fig. 1 is the pulse sensor device according to the embodiment of the present invention.
Fig. 2 illustrates how this pulse sensor device carries out pulse sensing in human wrist.
Fig. 3 illustrates the robot finger of the pulse sensor device according to illustrative examples of the present invention.
Fig. 4 illustrates and to be according to the robot finger of the embodiment of the present invention: (1) is configured for locating this robot finger to contact the position of engagement of human wrist; And (2) non-position of engagement.
Detailed description of the invention
A first aspect of the present invention there is provided a kind of pulse sensor device, and it has at least one advantage, and this advantage is a cancellation in actuation force the cumulative interference that the interference that is applied to people's pulse signal causes.
In TCM practice, his or her finger is placed in human wrist to sense people's pulse by CMP.In a similar fashion, a kind of pulse sensing apparatus can be configured to be had multiple " mechanical finger ", senses for pulse.Advantageously, each mechanical finger can adopt humanoid finger structure, to imitate CMP finger in pulse sensing.
The present invention's a kind of pulse sensor device disclosed herein comprises one or more humanoid finger.Fig. 1 shows the pulse sensor device according to the embodiment of the present invention.Pulse sensor device 100 comprises one or more humanoid finger 110, for sensing this people's pulse on the position that each humanoid finger is configured to navigate to human wrist.Shown in the embodiment of use pulse sensor device 100 as shown in Figure 2, the region 215 that this one or more humanoid finger 110 is positioned at the upper limb 210 of people is pressed on this region, wherein region 215 is around human wrist, and such people's pulse can be sensed by this one or more humanoid finger 110.According to TCM practice, CMP adopts three fingers to carry out pulse sensing usually.Therefore, preferably in pulse sensor device 100, three humanoid finger 110a, 110b and 110c are adopted.In order to navigate in this wrist by this one or more humanoid finger 110, adopt actuator 120 to provide the actuation force of mobile each humanoid finger 110, wherein this actuator can be single actuator or can be made up of multiple actuator.In order to realize the low weight low cost of pulse sensor device 100, this actuator 120 preferably pneumatic actuator.In addition, this pulse sensor device 100 can comprise optical alignment element 130, can realize the accurate location of this one or more humanoid finger 110 in wrist like this.This pulse sensor device 100 also can comprise data acquisition and processing unit 140, for analyzing pulse signal that obtained by this one or more humanoid finger 110 and sensed, one or more dimensions.
According to the present invention, this pulse sensor device 100 advantageously have employed the mechanical realization for realizing humanoid finger 110, to eliminate the less desirable interference that in actuation force, the noise jamming be applied on pulse signal causes in fact, wherein this pulse signal is sensed by this one or more humanoid finger 110.Fig. 3 shows the robot finger 300 with aforementioned mechanical structure according to illustrative examples of the present invention.In pulse sensor device 100, at least one in this one or more humanoid finger 110 adopts robot finger 300 to realize.Preferably, this robot finger 300 of each employing in this one or more humanoid finger 110 constructs.
This robot finger 300 comprises the humanoid finger structure 310 with finger tip end 312a and rear end 312b.This finger tip end 312a has sensing area 315, and this sensing area 315 is configured for sensing people's pulse signal when human wrist contacts this sensing area 315.Rear end 312b is pivotally mounted to fulcrum 330, and this structure 310 can be rotated around this fulcrum 330 like this.Note, this fulcrum 330 is positioned in the part except humanoid finger structure 310 of pulse sensor device 100.Robot finger 300 also comprises actuation force transferring element 320, for actuation force being delivered to this humanoid finger structure 310, this actuation force being applied to be positioned on the actuating point 325 in this structure 310, and directing into this structure 310 along direction of actuation 326.This actuation force transferring element 320 can adopt a part for mechanical component to realize, and wherein this mechanical component receives this actuation force from actuator 120, then this actuation force is delivered to the humanoid finger structure 310 activating point 325 places along direction of actuation 326.
Allow D1 become the first vertical dimension from fulcrum 330 to first line L1, wherein this first line L1 is through the sensing points of sensing area 315 and is basically perpendicular to the straight line of this sensing area 315.As used herein, this sensing points be sensing area 315 be taken in human wrist contact sensing district 315 time representative contact point.Because this sensing area 315 can not be flat, such as, owing to imitating the curvature that CMP finger tip causes, so the first line L1 being basically perpendicular to this sensing area 315 is defined as first line L1 and is basically perpendicular to the plane with this sensing points tangent.Allow D2 become the second vertical dimension from fulcrum 330 to the second circuit L2, wherein this second circuit L2 is through and activates point 325 and the straight line of locating along direction of actuation 326.Robot finger 300 constructs like this, and make when human wrist contact sensing district 315 is for sensing people's pulse signal, D1 is greater than D2 substantially.This frame for movement makes actuation force be applied to the less desirable interference that in the signal of sensing area 315 place sensing, the interference that produces causes substantially to eliminate due to ensuing discovery.△ Fa is expressed as the interference in actuation force, △ Fs is expressed as the less desirable cumulative interference of signal of sensing area 315 place sensing.When the network movement around fulcrum 330 is zero under quiescent conditions, its next: △ Fa × D2=△ Fs × D1.Because mechanical realization requires that the ratio of D2/D1 is less than 1 substantially, therefore △ Fs/ △ Fa is also less than 1 substantially, and the less desirable cumulative interference that the interference in such actuation force causes is eliminated substantially.Mainly, less desirable cumulative interference is eliminated by factor D 1/D2.
In robot finger 300, humanoid finger structure 310 comprises the first sensor on sensing area 315, for obtaining and measuring people's pulse signal.Advantageously, this first sensor can be pulse detection sensor array, people's pulse signal is detected for the multiple positions on sensing area 315, wherein this pulse detection sensor array has the predetermined curvature for imitating mankind's finger tip, and be configured to provide the firmness level close to application on human skin hardness, such as, to regenerate by the sensation of mankind's Fingertip touch human wrist.The structure of this firmness level can be provided to be arranged under this sensor array by one deck flexible material, and wherein this soft material layer has the firmness level close to application on human skin hardness.The embodiment that can be used for the material realizing this layer is silicon synthetic rubber.This pulse detection sensor array can adopt piezoelectric-array, pressure drag array or capacitor array to realize.This capacitor array is preferable on other two kinds of arrays due to relatively high sensitivity.
Preferably, this robot finger 300 also comprises for measuring second sensor of making a concerted effort activated on point 325.This second sensor can advantageously use, and the reagency that wherein sensing area 315 place is produced by mechanical property and the blood pressure pulse of human wrist is amplified by humanoid finger structure 310 at actuating point 325, as follows.△ Fsp is expressed as the reagency that sensing area 315 place is produced by human wrist mechanical property and blood pressure pulse, △ Fap is expressed as in the corresponding power activating the generation of point 325 places.Under quiescent conditions, the network movement around fulcrum 330 is zero, like this, and △ Fsp × D1=△ Fap × D2.Because D1/D2 is greater than 1 substantially, so next △ Fap/ △ Fsp is also greater than 1 substantially.Therefore, the reagency that sensing area 315 place is produced by human wrist mechanical property and blood pressure pulse amplifies at actuating point 325.Then this amplifying signal is caught by the second sensor.Notice that amplification ratio is D1/D2.
It should be noted that there is one between the factor of the combined interference that can not expect that the interference eliminated in actuation force produces and the factor of amplifying the reagency produced by human wrist mechanical property and blood pressure pulse connects each other.Interference in actuation force forms scale smaller due to the factor I at sensing area 315 place, and wherein factor I is greater than 1.Previous reaction power produce activate point 325 places make a concerted effort time by the proportional increase of the factor Ⅱ substantially similar with factor I.
Advantageously, this robot finger can construct like this, and the pressure that the humanoid finger structure 31 when human wrist contacts this sensing area in human wrist is produced is controlled.Expected value for being applied to the pressure in human wrist can be determined according to Fu, Zhong and the Chen pulse selected in the TCM principle sensing phase.If adopt pneumatic actuator to be used as actuator 120, for generation of the actuation force received by actuation force transferring element 320, so this pressure can control, to realize expected value by guiding this pneumatic actuator, thus produces actuation force according to continuous voltage regulating principle.
Preferably, humanoid finger structure 310 comprises being arranged in order and the assembly of multiple parts of end-to-end pivotable connection, and this humanoid finger structure 310 is configured to folding like this.The plurality of part can carry out the Reference numeral 310a be labeled as in the Fig. 3 for showing, 310b and 310c, but the quantity of the plurality of part is not limited only to 3 in the present invention.Fig. 4 illustrates that this humanoid finger structure 310 is if folding, and so it has two structures: (a) wherein sensing area 315 contacts the position of engagement of human wrist and (b) wherein this humanoid finger structure 310 non-position of engagement of not launching.At position of engagement place, this humanoid finger structure 310 is configured to basic all stretching, extensions.In the non-position of engagement, this humanoid finger structure 310 folds.
Preferably, this robot finger 300 also comprises resetter 340, this resetter 340 is for activating reprocessing moment (rotating on direction 341) around fulcrum 330, this reprocessing moment is contrary with the front moment obtained from actuation force (rotating in direction of actuation 326).When there is resetter 340, the direction of actuation 326 of this actuation force can keep unidirectional when this humanoid finger structure 310 is switched to the non-position of engagement from the position of engagement, and vice versa.Keep that direction of actuation 326 is unidirectional and not to be switched to another direction at simple realization actuator 120 and actuation force transferring element 320 from a direction be very favorable.This resetter 340 can be spring, and its one end is fixed to this humanoid finger structure 310, and the other end is bonded to any other place, to obtain the reprocessing moment of rotating on direction 341.
In one embodiment, the finger tip end 312a of this humanoid finger structure 310 comprises the finger tip 314 that sensing area 315 is located thereon.Alternatively, this finger tip 314 is separable, and its benefit is the convenience in such as sensor maintenance, the different finger tip curvature different patients easily being provided to imitation application on human skin hardness and degree.
What can also select is that this one or more humanoid finger 110 can control separately.The independent control of multiple humanoid finger 110 makes to carry out customization separately according to the practice before in TCM by the plurality of humanoid finger 110 applied pressure, and the more information allelopathic that can obtain people's pulse is like this surveyed.
Advantageously, refer to that spacing can be adjustable.This refers to that spacing is the distance between arbitrary neighborhood two in this one or more humanoid finger 110.Because people may be different on age, build etc., therefore refer to that adjustable this one or more humanoid finger 110 that can make of spacing can carry out arbitrarily pulse sensing location according to the single consideration of different crowd.
A second aspect of the present invention is to be provided for the first method by humanoid finger structure sensing people pulse signal.This humanoid finger structure has finger tip end and rear end.This rear end is pivotally mounted to fulcrum.This finger tip end has the sensing area being configured to sense this signal.This first method disclosed herein directly obtains from above-mentioned about the disclosure of first aspect present invention.
In the illustrative examples of the first method, the actuation force along direction of actuation is applied on humanoid finger structure, makes sensing area contact with human wrist like this.Such selection activates point and direction of actuation: when human wrist contacts with the sensing area for sensing people's pulse signal, the first vertical dimension from this fulcrum to first line is greater than the second vertical dimension from this fulcrum to the second circuit substantially.This first line is through the sensing points of sensing area and the basic straight line vertical with this sensing area.This second circuit is through this actuating point and the straight line of locating along this direction of actuation.As mentioned above, by actuation force, the less desirable interference that the interference of the signal that sense areas senses causes is eliminated substantially.
Preferably, this first method also comprises and to be obtained by the first sensor on sensing area and to measure people's pulse signal, and activate making a concerted effort of some appearance by the second sensor measurement, the reagency that on such sensing area, people's pulse produces is amplified by this humanoid finger structure, is then caught by this second sensor.Produce the first group of measurement data obtained from first sensor and the second group of measurement data obtained from the second sensor.In an arrangement, sense people's pulse signal can pass through first and second groups of incompatible realizations of measurement data set.In another arrangement, this signal can be analyzed according to first and second groups of measurement data.
A third aspect of the present invention is to provide a kind of the second method for sensing people's pulse signal.This second method directly obtains from about the above-mentioned disclosure of first aspect present invention.
In the illustrative examples of the second method, this signal is sensed by frame for movement.This frame for movement has sensing area, for obtaining when human wrist contacts with this sensing area and the first sensor of measuring-signal on this sensing area, and for measuring second sensor of making a concerted effort activating the appearance of some place in frame for movement.Actuation force is applied to the actuating point for locating this sensing area, to contact human wrist.According to the illustrative examples of this second method, this frame for movement is constructed by mechanical realization, the factor I that interference in (a) actuation force is gone out by sensing area is proportional to be reduced, so that make to disappear, less desirable interference is applied to first sensor and obtains and on the signal measured, this factor I is greater than 1, and determined by this mechanical realization, and (b) reagency of being produced by people's pulse of sense areas by produce activate that some place bears make a concerted effort time and the substantially similar proportional increase of factor Ⅱ of factor I.
Similar with the first method, first group of measurement data obtains from first sensor, and second group of measurement data obtains from the second sensor.In an arrangement, the signal sensing people's pulse realizes by combining these first and second groups of measurement data.In another arrangement, this signal is analyzed according to first and second groups of measurement data.
The present invention can not depart from its spirit and key property and implementing in other particular forms.Present example is because contemplated that whole aspects that are shown and that do not limit.Scope of the present invention is shown by claims instead of aforementioned specification, and be positioned at the claim equivalent meaning and scope change and be therefore intended to be included in wherein.
Claims (18)
1. a pulse sensor device, comprise one or more activatable humanoid finger, in its humanoid finger, at least one is robot finger, and this robot finger comprises:
Robot finger's structure, this robot finger's structure has finger tip end and rear end, this rear end is pivotally mounted to the fulcrum on pulse sensor device, this structure can around this fulcrum like this, this finger tip end has sensing area, this sensing area is configured to sense people's pulse signal when human wrist contacts this sensing area, and this robot finger's structure is also included in the first sensor for obtaining and measure people's pulse signal on sensing area
For measuring second sensor of making a concerted effort activating some place and occur, when human wrist contacts with sensing area, the reagency that sense areas human wrist mechanical property and blood pressure pulse produce is amplified by robot finger's structure, and is then caught by the second sensor; And
Actuation force transferring element, for transmitting actuation force to this robot finger's structure, this actuation force is applied to and is positioned at this structural actuating point like this, and directs into this structure along direction of actuation;
Wherein this robot finger constructs like this: when human wrist contacts with the sensing area for sensing people's pulse signal, the first vertical dimension from this fulcrum to first line is greater than the second vertical dimension from this fulcrum to the second circuit substantially, wherein this second circuit is through this actuating point and the straight line of locating along direction of actuation, this first line is through the sensing points of this sensing area and is basically perpendicular to the straight line of this sensing area, the interference that can not expect caused by the interference being applied to the signal that sense areas senses in actuation force is eliminated substantially, and be exaggerated the signal activating some place and occur.
2. pulse sensor device according to claim 1, it is characterized in that this first sensor is pulse detection sensor array, for detecting people's pulse signal of multiple position on sensing area, and wherein this pulse detection sensor array has the predetermined curvature for simulating people's finger tip and is configured to provide the firmness level close to application on human skin hardness.
3. pulse sensor device according to claim 1, it is characterized in that this robot finger constructs like this: the pressure controllable that the robot finger's structure when human wrist contacts with this sensing area in human wrist produces, the expected value being applied to the pressure in human wrist is determined according to from floating, the neutralization heavy pulse sensing phase selected.
4. pulse sensor device according to claim 3, it is characterized in that, also comprise pneumatic actuator, for generation of the actuation force received by this actuation force transferring element, wherein this pressure is controlled, for realizing expected value by guiding this pneumatic actuator, thus produce actuation force according to continuous voltage regulating principle.
5. pulse sensor device according to claim 1, it is characterized in that this robot finger's structure comprise multiple continuous arrangement and end-to-end can pivotable connect part, it is configured so that robot finger's structure is collapsible.
6. pulse sensor device according to claim 1, it is characterized in that this robot finger also comprises resetter, for performing the reprocessing moment around this fulcrum, this reprocessing moment with obtain from actuation force before moment contrary, the direction of actuation of actuation force is remained unidirectional when robot finger's structure is switched to the non-position of engagement from the position of engagement, vice versa, and wherein this position of engagement makes sensing area contact human wrist, and the non-position of engagement makes sensing area leave human wrist.
7. pulse sensor device according to claim 6, is characterized in that this resetter is the spring that one end is fixed to robot finger's structure.
8. pulse sensor device according to claim 7, is characterized in that, also comprise pneumatic actuator, for generation of the actuation force received by this actuation force transferring element.
9. pulse sensor device according to claim 8, is characterized in that, also comprises the optical positioning device for locating human wrist, robot finger's structure to be carried out guiding and accurately to be navigated in human wrist by sensing area.
10. pulse sensor device according to claim 1, it is characterized in that the finger tip that this finger tip end comprises sensing unit and is located thereon, and wherein this finger tip is separable.
11. pulse sensor devices according to claim 1, is characterized in that this one or more humanoid finger is controlled separately.
12. pulse sensor devices according to claim 1, is characterized in that the finger spacing of the arbitrary neighborhood two of multiple humanoid finger is adjustable.
13. 1 kinds sense the method for people's pulse signal by humanoid finger structure, and this humanoid finger structure has finger tip end and rear end, and this rear end is pivotally mounted on fulcrum, and this finger tip end has the sensing area being configured to sense this signal,
The method comprises:
The actuation force applied along direction of actuation transmission puts to being positioned at this structural actuating the humanoid finger structure located, to locate this humanoid finger structure like this, this sensing area is contacted with human wrist, wherein this actuating point is selected like this with this direction of actuation: when human wrist contacts with the sensing area for sensing people's pulse signal, the first vertical dimension from this fulcrum to first line is greater than the second vertical dimension from this fulcrum to the second circuit substantially, wherein this second circuit is through this actuating point and the straight line of locating along direction of actuation, this first line is through the sensing points of this sensing area and is basically perpendicular to the straight line of this sensing area, to essentially eliminate the less desirable interference produced by the interference of actuation force to the signal that sense areas senses, and be exaggerated the signal activating some place and occur,
Wherein obtained by the first sensor on sensing area and measure people's pulse signal; And activating making a concerted effort of some appearance by the second sensor measurement, the reagency produced by sense areas people pulse is like this amplified by this humanoid finger structure, and is then caught by this second sensor.
14. methods according to claim 13, is characterized in that, also comprise:
By by obtain from first sensor first group of measurement data and carry out combining from second group of measurement data that the second sensor obtains and sense people's pulse signal.
15. 1 kinds, for the method for analyst's pulse signal, comprising:
Method sensing signal according to claim 13, and
This signal is analyzed according to the first group of measurement data obtained from first sensor and from second group of measurement data that the second sensor obtains.
16. for the method sensing people's pulse signal, comprising:
By frame for movement sensing signal, this frame for movement can around fulcrum, this frame for movement has sensing area, for obtaining when human wrist contacts with this sensing area and measuring the first sensor of this signal on this sensing area, and for measuring second sensor of making a concerted effort occurred at the actuating point place of this frame for movement, wherein actuation force being applied to and activating some place, contacting human wrist for being positioned to by sensing area, and this frame for movement is constructed like this by mechanical realization, makes:
A the interference in () actuation force is reduced by the factor I of sense areas is proportional, the interference that can not expect caused by the interference being applied to the signal that sense areas senses in actuation force is eliminated substantially, this factor I D2/D1 is less than 1, and determined by this mechanical realization, wherein D1 is the first vertical dimension from fulcrum to first line L1, this first line L1 is through the sensing points of sensing area and is basically perpendicular to the straight line of this sensing area, D2 is the second vertical dimension from fulcrum to the second circuit L2, wherein this second circuit L2 is through and activates point and the straight line of locating along direction of actuation, and
B reagency that () is produced by people's pulse of sense areas by produce activate that point occurs with joint efforts time and the substantially similar proportional increase of factor Ⅱ D1/D2 of factor I.
17. methods according to claim 16, is characterized in that sensing signal comprises and obtain from first sensor first group of measurement data and the second group of measurement data obtained from the second sensor are combined.
18. 1 kinds, for the method for analyst's pulse signal, comprising:
Method sensing signal according to claim 16; And
This signal is analyzed according to the first group of measurement data obtained from first sensor and from second group of measurement data that the second sensor obtains.
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