CN104287743A - Flexible fabric based serial multi-joint-angle detection system - Google Patents
Flexible fabric based serial multi-joint-angle detection system Download PDFInfo
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- CN104287743A CN104287743A CN201410570608.8A CN201410570608A CN104287743A CN 104287743 A CN104287743 A CN 104287743A CN 201410570608 A CN201410570608 A CN 201410570608A CN 104287743 A CN104287743 A CN 104287743A
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- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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Abstract
A flexible fabric based serial multi-joint-angle detection system comprises an elastic electrically-insulating substrate layer, microswitches, first sensing electrodes and second sensing electrodes. The first sensing electrodes and the second sensing electrodes are arranged on two sides of joints. Each sensing electrode is provided with a flexible polyimide insulating protective layer. Each sensing electrode is in a sensing unit structure comprising a polypyrrole conducting fabric capacitive electrode and a polypyrrole conducting fabric ground layer facing each other, between which a conducting silicone rubber shielding layer is arranged; space between the polypyrrole conducting fabric capacitive electrode and the polypyrrole conducting fabric ground layer is filled with a first flexible epoxy resin insulating layer; space between the conducting silicone rubber shielding layer and the polypyrrole conducting fabric ground layer is filled with a second flexible epoxy resin insulating layer. The elastic electrically-insulating substrate layer is arranged under the sensing electrodes. One end of each microswitch is connected with the polypyrrole conducting fabric capacitive electrode of the corresponding first sensing electrode through a shielded lead; the other end of each microswitch is connected with the polypyrrole conducting fabric capacitive electrode of each second sensing electrode through another shielded lead.
Description
Technical field
The present invention relates to signal detection, sensing technology and transmission technique field, be specifically related to a kind of multi-joint angle based on flexible fabric integration serial detection system, be applicable to the fields such as intelligent robot, motion monitoring and medical monitoring.
Background technology
Angular surveying is generally obtain angular signal by sensor, through converting circuit parameter amount to, then converts signal of telecommunication output to by change-over circuit.Modern angle measurement technique kind is more, obtains a wide range of applications in many-sides such as motor, automobile, Shipping, traffic, machine-building, oil, metallurgy.
At present, angle detecting sensor huge number, can be divided into inflexibility angle detecting sensor and flexible angle detecting sensor by its sensing material.Inflexibility angle detecting sensor is generally be made up of rigid material, is arranged on treats that angular surveying is carried out on the both sides of angle measurement by machinery.Typical inflexibility angle detecting sensor has: end tooth indexing, magnetic encoder, optoelectronic angle sensor etc.End tooth indexing has that technique is good, reliable operation, structure are simple, long service life, to advantages such as environmental requirement are low, indexing accuracy can reach 4.85 × 10
-7rad, but its volume is large, and weight is high, and the operation strategies of this sensor is subject to certain restrictions; Magnetic encoder has that structure is simple, fast response time, be not subject to the advantage such as dust and structure influence, but it is large by electromagnetic noise interference effect, and its volume is also larger; Optoelectronic angle sensor resolving power is high, and the life-span is long, and response is fast, but needs outside support to be fixed it.These angle detecting sensors are all inflexibilities, and the even weight had is very large, causes obstacle, easily cause the injuries such as scuffing to human body skin when human motion to the proper motion of human body.
Flexible angle detecting sensor is the sensor adopting flexible material to detect angle as detecting unit.At present, a kind of flexible joint angle sensor of people's inventions such as the Quan Wei of Harbin Institute of Technology, using flexible bellow as main structure body, two ends are fixed on examined object both sides, have simple and compact for structure, do not affect the features such as joint motions, but also do not realize the flexibility of whole system, the object that the WD motion of multiple independent joint is detected cannot be reached; PCB sensing plate is sewn on fabric by the sensor in a kind of flexible shoulder joint motion sensor of the people such as the Li Jianqing of Southeast China University invention and measuring method thereof, achieve and only need the mode of dressing can realize to joint angles measurement, testing conditions heavy, complicated, harsh before changing.But the full flexible of the unrealized sensing plate of the method, also can only realize two pieces of traditional pole plates surveys a joint angles simultaneously, and when adopting the method to carry out the detection of multi-joint angle, detecting unit and the corresponding increase of supporting measurement number of leads thereof, cause that detection system volume is large, Heavy Weight, thus cause the motion in joint to hinder sense significantly to increase, and simultaneity factor with high costs, detection system is complicated and reduce its reliability; And adopt traditional earth-shielded mode, the accuracy of the capacitance variations appreciable impact joint angles testing result between holding wire and ground wire.These angle detection devices are all partially flexibles, and detect for multi-joint angle, and along with the increase of joint angles, the signal transmssion line of drawing also and then increases, and causes the extraction wire of the joint the closer to checkout gear more; Meanwhile, multiple capacitance detecting chip occupies very large space, causes obstacle to the proper motion of human body.
The rigidity detection device of inflexibility angle detecting sensor, hardness is high, cannot meet the requirement that WD motion detects; Flexible angle detecting sensor does not realize whole flexibilities of sensor, still there is very large obstacle sense to the motion of human body.Therefore, propose a kind of non-contacting Flexible Multi-joint angle detecting sensor, realize detecting the WD of human body multi-joint angle.
Summary of the invention
The invention provides a kind of multi-joint angle based on flexible fabric integration serial detection system, the obstacle sense of the present invention when reducing joint motions with flexibility, guarantee joint motions can eliminate again the signal disturbing brought by flexibility flexibly simultaneously.
The present invention adopts following technical scheme:
A kind of integration of the multi-joint angle based on flexible fabric serial detection system of the present invention, comprise: elasticity electrical insulating substrate layer, the microswitch corresponding one to one with each joint and the first sensing pole plate laying respectively at both sides, each joint, second sensing pole plate, first sensing pole plate and the second sensing pole plate are provided with flexible polyimide insulating protective layer, described first sensing pole plate and the second sensing pole plate adopt sensing unit structures, described sensing unit structures comprises facing polypyrrole conductive fabric capacitor plate and polypyrrole conductive fabric stratum, conductive silicon rubber screen layer is provided with between polypyrrole conductive fabric capacitor plate and polypyrrole conductive fabric stratum, the first flexible-epoxy insulating barrier is filled with between polypyrrole conductive fabric capacitor plate and conductive silicon rubber screen layer, the second flexible-epoxy insulating barrier is provided with between conductive silicon rubber screen layer and polypyrrole conductive fabric stratum, described polypyrrole conductive fabric capacitor plate is located on the lower surface of flexible polyimide insulating protective layer, described polypyrrole conductive fabric stratum is located on the upper surface of elasticity electrical insulating substrate layer, one end of described microswitch is connected with the polypyrrole conductive fabric capacitor plate in the first sensing pole plate by shielded conductor, the other end of described microswitch is connected with the polypyrrole conductive fabric capacitor plate in the second sensing pole plate by shielded conductor, and, using the polypyrrole fabric conductor cable signals layer of the shielded conductor on the first sensing pole plate outside first joint as an output port of sensor-based system, using the polypyrrole fabric conductor cable signals layer of the shielded conductor of the second sensing pole plate outside last joint as another output port of sensor-based system, also voltage follower is provided with in described sensing unit structures, the in-phase end of voltage follower is connected with the polypyrrole fabric conductor cable signals layer of shielded conductor and polypyrrole conductive fabric capacitor plate respectively, the end of oppisite phase of voltage follower is connected with the outfan of voltage follower, the outfan of voltage follower is connected with the polypyrrole conductive fabric screen layer of shielded conductor and conductive silicon rubber screen layer.
A kind of three joint angles based on flexible fabric of the present invention detect sensor-based system, comprise: elasticity electrical insulating substrate layer, respectively with the first joint, second joint, the first microswitch that 3rd joint is answered in pairs, second microswitch, 3rd microswitch and front end sensing pole plate, secondary front end sensing pole plate, secondary rear end sensing pole plate, rear end sensing pole plate, front end sensing pole plate is positioned at the front end in the first joint, secondary front end sensing pole plate is between the first joint and second joint, secondary rear end sensing pole plate is between second joint and the 3rd joint, rear end sensing pole plate is positioned at the rear end in the 3rd joint, at front end sensing pole plate, secondary front end sensing pole plate, secondary rear end sensing pole plate and rear end sensing pole plate are provided with flexible polyimide insulating protective layer, front end sensing pole plate, secondary front end sensing pole plate, secondary rear end sensing pole plate and rear end sensing pole plate adopt sensing unit structures, described sensing unit structures comprises facing polypyrrole conductive fabric capacitor plate and polypyrrole conductive fabric stratum, conductive silicon rubber screen layer is provided with between polypyrrole conductive fabric capacitor plate and polypyrrole conductive fabric stratum, the first flexible-epoxy insulating barrier is filled with between polypyrrole conductive fabric capacitor plate and conductive silicon rubber screen layer, the second flexible-epoxy insulating barrier is provided with between conductive silicon rubber screen layer and polypyrrole conductive fabric stratum, described polypyrrole conductive fabric capacitor plate is located on the lower surface of flexible polyimide insulating protective layer, described polypyrrole conductive fabric stratum is located on the upper surface of elasticity electrical insulating substrate layer, one end of described first microswitch is connected with front end sensing pole plate polypyrrole conductive fabric capacitor plate by the shielded conductor as an outfan of sensor-based system, the other end of the first microswitch is connected with time polypyrrole conductive fabric capacitor plate of front end sensing pole plate by shielded conductor, one end of second microswitch is connected with time polypyrrole conductive fabric capacitor plate of front end sensing pole plate by shielded conductor, the other end of the second microswitch is connected with time polypyrrole conductive fabric capacitor plate of rear end sensing pole plate by shielded conductor, one end of 3rd microswitch is connected with time polypyrrole conductive fabric capacitor plate of rear end sensing pole plate by shielded conductor, the other end of the 3rd microswitch is by being connected with the polypyrrole conductive fabric capacitor plate of rear end sensing pole plate as the shielded conductor of another outfan of sensor-based system, also voltage follower is provided with in described sensing unit structures, the in-phase end of voltage follower is connected with the polypyrrole fabric conductor cable signals layer of shielded conductor and polypyrrole conductive fabric capacitor plate respectively, the end of oppisite phase of voltage follower is connected with the outfan of voltage follower, the outfan of voltage follower is connected with the polypyrrole conductive fabric screen layer of shielded conductor and conductive silicon rubber screen layer.
beneficial effect of the present invention is:
1. the capacitor plate in traditional detection scheme adopts rigid material, joint motions are made to there is certain obstacle sense, and sensing pole plate of the present invention adopts flexible material, make pole plate to bend along with the motion in joint or to stretch, decrease the obstacle sense of joint motions.But the polypyrrole conductive fabric capacitance pole flaggy of the sensing pole plate be made up of flexible material and conductive silicon rubber screen layer, or can stretch and produce small displacement along with the bending of joint angles between conductive silicon rubber screen layer and polypyrrole conductive fabric stratum, thus affect the accuracy of testing result, in order to address this problem, polypyrrole conductive fabric capacitance pole flaggy is connected with the in-phase end of voltage follower by the present invention, the end of oppisite phase of voltage follower is connected with the outfan of voltage follower, conductive silicon rubber screen layer is connected with the outfan of voltage follower, under the effect of voltage follower, conductive silicon rubber screen layer shields the impact of polypyrrole conductive fabric stratum on polypyrrole conductive fabric capacitance pole flaggy, achieve the driven shield to polypyrrole conductive fabric capacitor plate layer signal, when solving flexible sensing plate buckling, cause polypyrrole conductive fabric capacitance pole flaggy and conductive silicon rubber screen layer, electromagnetic field between the electric capacity between conductive silicon rubber screen layer and polypyrrole conductive fabric stratum changes, thus the electromagnetic field change affected between floating type polypyrrole conductive fabric capacitor plate, cause the problem that testing result is made mistakes, and with polypyrrole conductive fabric stratum, whole pole plate is wrapped up, avoid the electromagnetic signal of conductive silicon rubber screen layer to the interference of other all circuit, it also avoid the interference of the fricative electrostatic of human body to polypyrrole conductive fabric capacitor plate layer signal.
2. the wire in traditional detection scheme adopts the common copper cash not having shield technology, in this case, if wire is long, coupling capacitance between wire produces comparatively big error by making the result of capacitance detecting, although and adopt earth-shielded coaxial cable can eliminate the impact of the coupling capacitance between wire, but coaxial wire is too thick, the motion in joint is made to have obvious obstacle sense, so shielded conductor of the present invention adopts flexible material, make that shielded conductor can be random bending or stretch, decreases the obstacle sense of joint motions.But or can stretch and produce small displacement along with the bending of joint angles between the polypyrrole fabric conductor cable signals layer of the shielded conductor be made up of flexible material and polypyrrole conductive fabric screen layer, thus affect the accuracy of testing result, so the present invention adopts in shielded conductor, polypyrrole fabric conductor cable signals layer is connected with the in-phase end of its voltage follower, the end of oppisite phase of voltage follower is connected with the outfan of voltage follower, polypyrrole conductive fabric screen layer is connected with the outfan of its voltage follower, under the effect of voltage follower, polypyrrole conductive fabric screen layer shields the interference of external electromagnetic signal to polypyrrole fabric conductor cable signals layer, achieve the driven shield to polypyrrole fabric conductor cable signals layer signal, make polypyrrole conductive fabric screen layer signal to the accurate tracking of polypyrrole fabric conductor cable signals layer signal in phase place and amplitude, both the impact of the distribution capacity in traditional grounded shield mode between polypyrrole fabric conductor cable signals layer and polypyrrole conductive fabric stratum had been eliminated, turn eliminate long due to wire and between the wire caused, produce the impact of coupling capacitance.
3. the excitation end of capacitance detecting chip is connected with front end sensing pole plate polypyrrole conductive fabric capacitor plate by shielded conductor, this end is connected by shielded conductor one end with the first microswitch simultaneously, the other end of the first microswitch is connected with time polypyrrole conductive fabric capacitor plate of front end sensing pole plate by shielded conductor, one end of second microswitch is connected with time polypyrrole conductive fabric capacitor plate of front end sensing pole plate by shielded conductor, the other end of the second microswitch is connected with time polypyrrole conductive fabric capacitor plate of rear end sensing pole plate by shielded conductor, one end of 3rd microswitch is connected with time polypyrrole conductive fabric capacitor plate of rear end sensing pole plate by shielded conductor, the other end of the 3rd microswitch is connected with the polypyrrole conductive fabric capacitor plate of rear end sensing pole plate by shielded conductor, this end is connected by the signal input part of shielded conductor with capacitance detecting chip simultaneously.Adopt cascaded structure to be connected by shielded conductor and microswitch between each sensing pole plate, at each joint, only have two signal transmssion line processes, can not increase because of the joint detected, and signal transmssion line is increased, thus affect the accessible motion in joint.
4. when detecting, first microswitch disconnects, when second microswitch and the 3rd microswitch close, front end sensing pole plate polypyrrole conductive fabric capacitor plate and time front end sensing pole plate polypyrrole conductive fabric capacitor plate form polypyrrole conductive fabric capacitor plate pair, for detecting the movement angle of the first joint, and secondary rear end sensing pole plate polypyrrole conductive fabric capacitor plate and shielded conductor are used as the signal transmssion line of electric capacity; Second microswitch disconnects, when first microswitch, the 3rd microswitch close, front end sensing pole plate polypyrrole conductive fabric capacitor plate, secondary front end sensing pole plate polypyrrole conductive fabric capacitor plate and secondary rear end sensing pole plate polypyrrole conductive fabric capacitor plate, rear end sensing pole plate polypyrrole conductive fabric capacitor plate form polypyrrole conductive fabric capacitor plate pair, for detecting the movement angle at second joint place; 3rd microswitch disconnects, when first microswitch, the second microswitch close, secondary rear end sensing pole plate polypyrrole conductive fabric capacitor plate and rear end sensing pole plate polypyrrole conductive fabric capacitor plate form polypyrrole conductive fabric capacitor plate pair, for detecting the movement angle of the 3rd joint, and secondary front end sensing pole plate polypyrrole conductive fabric capacitor plate and shielded conductor are used as the signal transmssion line of electric capacity.Cascaded structure is adopted to be connected by shielded conductor and microswitch between each sensing pole plate, and the various combination of microswitch, make part pole plate both can make capacitance sensing pole plate, can signal transmission wire be made again.
5. in traditional detection scheme, one piece of detection chip and two capacitor plates can only detect the movement angle in a joint, under multi-joint angle testing conditions, need multiple detection chip and capacitor plate, thus causing the wire of whole system to increase, supply module increases, and detection system overall volume increases, weight increases, and causes the obstacle sense of joint motions significantly to increase; Simultaneously due to the increase of detection chip, add cost and the complexity of system, cause the reliability of system to reduce.And adopt cascaded structure to be connected by shielded conductor and microswitch between each sensing pole plate of whole detection sensor-based system of the present invention, and the various combination of microswitch, achieve the detection only having used one piece of detection chip namely to realize multiple independent joint movement angle, only needs power module just can realize the power supply to whole system, decrease the number that signal draws wire and weak capacitance detection chip, decrease the volume and weight of system, achieve and " stealth " of joint angles is detected, adopt a small amount of detection chip, reduce the cost of system, ensure that the reliability of system.In addition, the present invention is by controlling the folding of microswitch, realize the folding combination that 3 microswitch are different, and then achieve 4 pieces of polypyrrole conductive fabric capacitor plates and the motion of the WD of 3 independent joint movement angles to be detected and part polypyrrole conductive fabric capacitor plate both can make capacitance sensing plate, the object of capacitance signal transfer wire can be made again.
Accompanying drawing explanation
Fig. 1 is the multi-joint angle based on flexible fabric of the present invention integration serial detection system circuit connection diagram.
Fig. 2 is that three joint angles based on flexible fabric of the present invention detect sensing system circuit connection diagram.
Fig. 3 is the multi-joint angle based on flexible fabric of the present invention integration serial detection system block diagram.
Fig. 4 is the schematic diagram of traditional detection scheme.
Fig. 5 is the schematic diagram of detection scheme of the present invention.
Fig. 6 is sensing pole plate layering schematic diagram of the present invention.
Fig. 7 is that each lamination of sensing pole plate of the present invention closes stacked schematic diagram.
Fig. 8 is A-A place of the present invention shielded conductor generalized section.
Fig. 9 is voltage follower enlarged diagram of the present invention.
Figure 10 is that each lamination of shielded conductor of the present invention closes stacked schematic diagram.
Figure 11 is traditional earth-shielded schematic diagram.
Figure 12 is the driven shield schematic diagram of shielded conductor of the present invention.
Figure 13 is the earth-shielded wire connection diagram of traditional pole plate.
Figure 14 is the driven shield wire connection diagram of sensing pole plate of the present invention.
Figure 15 is the earth-shielded schematic diagram of traditional pole plate.
Figure 16 is the driven shield schematic diagram of sensing pole plate of the present invention.
Figure 17 is that microswitch of the present invention arranges schematic diagram.
Figure 18 is that joint angles of the present invention detects stereogram.
Detailed description of the invention
Embodiment 1
A kind of integration of the multi-joint angle based on flexible fabric serial detection system, as shown in Figure 1, comprise: elasticity electrical insulating substrate layer 2, the microswitch corresponding one to one with each joint and the first sensing pole plate I-I laying respectively at both sides, each joint, second sensing pole plate II-II, first sensing pole plate I-I and the second sensing pole plate II-II are provided with flexible polyimide insulating protective layer P, described first sensing pole plate I-I and the second sensing pole plate II-II adopt sensing unit structures, described sensing unit structures comprises facing polypyrrole conductive fabric capacitor plate C and polypyrrole conductive fabric stratum G, conductive silicon rubber screen layer B is provided with between polypyrrole conductive fabric capacitor plate C and polypyrrole conductive fabric stratum G, the first flexible-epoxy insulating barrier I is filled with between polypyrrole conductive fabric capacitor plate C and conductive silicon rubber screen layer B
1, between conductive silicon rubber screen layer B and polypyrrole conductive fabric stratum G, be provided with the second flexible-epoxy insulating barrier I
2described polypyrrole conductive fabric capacitor plate C is located on the lower surface of flexible polyimide insulating protective layer P, described polypyrrole conductive fabric stratum G is located on the upper surface of elasticity electrical insulating substrate layer 2, one end of described microswitch is connected with the polypyrrole conductive fabric capacitor plate C in the first sensing pole plate I-I by shielded conductor, the other end of described microswitch is connected with the polypyrrole conductive fabric capacitor plate C in the second sensing pole plate II-II by shielded conductor, and, using the polypyrrole fabric conductor cable signals layer S of the shielded conductor on the first sensing pole plate I-I outside first joint as an output port of sensor-based system, using the polypyrrole fabric conductor cable signals layer S of the shielded conductor of the second sensing pole plate II-II outside last joint as another output port of sensor-based system, voltage follower D is also provided with in described sensing unit structures, the in-phase end of voltage follower D is connected with the polypyrrole fabric conductor cable signals layer S of shielded conductor and polypyrrole conductive fabric capacitor plate C respectively, the end of oppisite phase of voltage follower D is connected with the outfan of voltage follower D, the outfan of voltage follower D is connected with the polypyrrole conductive fabric screen layer M of shielded conductor and conductive silicon rubber screen layer B.
Embodiment 2
A kind of three joint angles based on flexible fabric detect sensor-based system, as shown in Figure 2, comprise: elasticity electrical insulating substrate layer 2, respectively with the first joint, second joint, the first microswitch 7 that 3rd joint is answered in pairs, second microswitch 8, 3rd microswitch 9 and front end sensing pole plate 3, secondary front end sensing pole plate 4, secondary rear end sensing pole plate 5, rear end sensing pole plate 6, front end sensing pole plate 3 is positioned at the front end in the first joint, secondary front end sensing pole plate 4 is between the first joint and second joint, secondary rear end sensing pole plate 5 is between second joint and the 3rd joint, rear end sensing pole plate 6 is positioned at the rear end in the 3rd joint, at front end sensing pole plate 3, secondary front end sensing pole plate 4, secondary rear end sensing pole plate 5 and rear end sensing pole plate 6 are provided with flexible polyimide insulating protective layer P, front end sensing pole plate 3, secondary front end sensing pole plate 4, secondary rear end sensing pole plate 5 and rear end sensing pole plate 6 adopt sensing unit structures, described sensing unit structures comprises facing polypyrrole conductive fabric capacitor plate C and polypyrrole conductive fabric stratum G, conductive silicon rubber screen layer B is provided with between polypyrrole conductive fabric capacitor plate C and polypyrrole conductive fabric stratum G, the first flexible-epoxy insulating barrier I is filled with between polypyrrole conductive fabric capacitor plate C and conductive silicon rubber screen layer B
1, between conductive silicon rubber screen layer B and polypyrrole conductive fabric stratum G, be provided with the second flexible-epoxy insulating barrier I
2described polypyrrole conductive fabric capacitor plate C is located on the lower surface of flexible polyimide insulating protective layer P, described polypyrrole conductive fabric stratum G is located on the upper surface of elasticity electrical insulating substrate layer 2, one end of described first microswitch 7 is connected with front end sensing pole plate 3 polypyrrole conductive fabric capacitor plate C by the shielded conductor as an outfan of sensor-based system, the other end of the first microswitch 7 is connected with time polypyrrole conductive fabric capacitor plate C of front end sensing pole plate 4 by shielded conductor, one end of second microswitch 8 is connected with time polypyrrole conductive fabric capacitor plate C of front end sensing pole plate 4 by shielded conductor, the other end of the second microswitch 8 is connected with time polypyrrole conductive fabric capacitor plate C of rear end sensing pole plate 5 by shielded conductor, one end of 3rd microswitch 9 is connected with time polypyrrole conductive fabric capacitor plate C of rear end sensing pole plate 5 by shielded conductor, the other end of the 3rd microswitch 9 is by being connected with the polypyrrole conductive fabric capacitor plate C of rear end sensing pole plate 6 as the shielded conductor of another outfan of sensor-based system, voltage follower D is also provided with in described sensing unit structures, the in-phase end of voltage follower D is connected with the polypyrrole fabric conductor cable signals layer S of shielded conductor and polypyrrole conductive fabric capacitor plate C respectively, the end of oppisite phase of voltage follower D is connected with the outfan of voltage follower D, the outfan of voltage follower D is connected with the polypyrrole conductive fabric screen layer M of shielded conductor and conductive silicon rubber screen layer B.
Described elasticity electrical insulating substrate layer has elastic electrically insulating material by one deck and forms, and is layered on subject surface to be measured, places sensing pole plate above during measurement.Described four sensing pole plates, every block sensing pole plate is by flexible polyimide insulating protective layer P, polypyrrole conductive fabric capacitance pole flaggy C, the first flexible-epoxy insulating barrier I
1, conductive silicon rubber screen layer B, the second flexible-epoxy insulating barrier I
2, polypyrrole conductive fabric stratum G forms, wherein, polypyrrole conductive fabric capacitance pole flaggy C is one deck electroconductive textile material, forms polypyrrole conductive fabric capacitor plate C
1-C
4.Every block sensing pole plate comprises one piece of polypyrrole conductive fabric capacitor plate, sensing pole plate is placed on elasticity electrical insulating substrate layer surface, polypyrrole conductive fabric capacitor plate in neighboring sensor pole plate forms a polypyrrole conductive fabric capacitor plate pair, its capacitance can be measured by the weak capacitance detection chip in electric capacity angle detection device 1, the angle change in tested joint cause polypyrrole conductive fabric capacitor plate between electric field spacing change, thus change the capacitance size between polypyrrole conductive fabric capacitor plate.
As Fig. 2, elasticity electrical insulating substrate layer 2 has elastic electrically insulating material polytetrafluoroethylene film by one deck and forms, and this layer thickness is 0.1-0.5mm.Elasticity electrical insulating substrate layer is layered on subject surface to be measured, places sensing pole plate above.Microswitch 7-9 adopts conducting resistance to be 8 Ω, and overall dimensions is less than 3mm × 3mm and distribution capacity (6.5pF) the analog switch TS5A4597 much smaller than measured capacitance.
As Fig. 3, electric capacity angle detection device 1 is made up of power subsystem, capacitance detection unit, key circuit, 16 8-digit microcontroller MSP430F1611, wireless module, serial communication circuit, LCD display circuit, LED indicating circuit 8 part.Wherein 16 8-digit microcontroller MSP430F1611 are cores of whole detection system, and it utilizes internal resource, control the operation of whole system, carry out the collection of data, calculation process, display and communication; Capacitance detection unit is made up of weak capacitance detection chip AD7746, and wherein weak capacitance detection chip AD7746 carries out data communication by IIC mode and microcontroller MSP430F1611; Little, the lightweight button cell of power subsystem volume is as system power supply; Wireless module uses Bluetooth chip HM-11 as the wireless transmission chip of node angle signal; The Man Machine Interface of LCD display circuit, LED indicating circuit and key circuit composition system, for showing test data, power supply instruction and debug reset.
The angle electric capacity of joint is less, so the AD7746 weak capacitance detection chip that this patent have employed Analog Devices semiconductor company detects this electric capacity, weak capacitive signal between AD7746 can realize floating type polypyrrole conductive fabric capacitor plate carries out high-precision detection, and the result of detection is directly converted to digital signal, then by iic bus, capacitance data is sent to microcontroller.The present invention adopts the microcontroller of low-power microprocessor MSP430F1611 as native system of TI company, and it is changed the capacitance data that AD7746 sends over electric capacity-angular transition algorithm, and transformation result be presented on LCD.MSP430 microcontroller is selected, by wireless module, angle-data is sent to host computer, for host computer analyzing and processing and storage, and receives the control signal from host computer, and then the various combination of gauge tap, realizes the detection to different joint angles.
As Fig. 4, in traditional detection scheme, one piece of detection chip and two capacitor plates can only detect the movement angle in a joint, under multi-joint angle testing conditions, need multiple detection chip and capacitor plate, thus cause the wire of whole system to increase, supply module increases, detection system overall volume increases, and weight increases, and causes the obstacle sense of joint motions significantly to increase; Simultaneously due to the increase of detection chip, add cost and the complexity of system, cause the reliability of system to reduce.And in Fig. 5, the detection that whole detection sensor-based system of the present invention has only used one piece of detection chip namely to realize multiple independent joint movement angle, only needs power module just can realize the power supply to whole system, and decrease the number of wire, decrease the volume and weight of system, achieve and " stealth " of joint angles is detected, adopt a small amount of detection chip, reduce the cost of system, ensure that the reliability of system.
As Fig. 6, have four sensing pole plate 3-6, every block sensing pole plate is made up of 6 layers of flexible material: flexible polyimide insulating protective layer P, polypyrrole conductive fabric capacitor plate C, the first flexible-epoxy insulating barrier I
1, conductive silicon rubber screen layer B, the second flexible-epoxy insulating barrier I
2, polypyrrole conductive fabric stratum G.Sensing pole plate outermost layer is flexible polyimide insulating protective layer P, and this layer is made up of flexible insulating material polyimides, and thickness is about 26 μm, for avoiding touching and causing testing circuit to occur the phenomenon of short circuit between adjacent plate.Under flexible polyimide insulating protective layer P, one deck is polypyrrole conductive fabric capacitance pole flaggy C, the electroconductive textile material that this layer adopts polypyrrole to form, and forms polypyrrole conductive fabric capacitor plate C
1-C
4, as the positive plate of floating type electric capacity, this layer thickness is about 0.3mm.Under polypyrrole conductive fabric capacitance pole flaggy C, one deck is the first flexible-epoxy insulating barrier I
1, this layer is made up of flexible insulating material flexible-epoxy, and thickness is about 26 μm, for avoiding directly touching between polypyrrole conductive fabric capacitance pole flaggy C and conductive silicon rubber screen layer B.First flexible-epoxy insulating barrier I
1lower one deck is conductive silicon rubber screen layer B, and this layer is made up of conductive silicon rubber, and thickness is about 0.3mm, the electromagnetic field change between the floating type polypyrrole conductive fabric capacitor plate caused when bending for avoiding polypyrrole conductive fabric capacitor plate.Under conductive silicon rubber screen layer B, one deck is the second flexible-epoxy insulating barrier I
2, this layer is made up of flexible insulating material epoxy resin, and thickness is about 26 μm, for avoiding directly touching between conductive silicon rubber screen layer B and polypyrrole conductive fabric stratum G.Sensing pole plate innermost layer is polypyrrole conductive fabric stratum G, the electroconductive textile material that this layer adopts polypyrrole to form, and thickness is about 0.3mm, as the negative plate of floating type electric capacity.As Fig. 7, each of sensing pole plate is folded layer by layer and aligns, and then pressed together by the mode of hot pressing, gross thickness is less than 1mm.Sensing pole plate can bend with the motion of human body or stretch, and achieves and agrees with the perfection of medicated clothing, reaches and detects the WD of joint motions angle.
As Fig. 8, Figure 10, shielded conductor comprises polypyrrole fabric conductor cable signals layer S, is provided with flexible-epoxy insulating barrier I in the outside of polypyrrole fabric conductor cable signals layer S
3, at flexible-epoxy insulating barrier I
3outside be provided with polypyrrole conductive fabric screen layer M, be provided with flexible polyimide insulating barrier I in the outside of polypyrrole conductive fabric screen layer M
4, wherein, polypyrrole fabric conductor cable signals layer S is connected with the input of its voltage follower, polypyrrole conductive fabric screen layer M is connected with the outfan of its voltage follower, under the effect of its voltage follower (as Fig. 9), polypyrrole conductive fabric screen layer M shields the interference of external electromagnetic signal to polypyrrole fabric conductor cable signals layer S, achieve the driven shield to polypyrrole fabric conductor cable signals layer S signal, make polypyrrole conductive fabric screen layer M signal to the accurate tracking of polypyrrole fabric conductor cable signals layer S signal in phase place and amplitude.Polypyrrole fabric conductor cable signals layer S and polypyrrole conductive fabric screen layer M is the electroconductive textile material that polypyrrole is formed, flexible-epoxy insulating barrier I
3the flexible insulating material that epoxy resin is formed, flexible polyimide insulating barrier I
4be the flexible insulating material that polyimides is formed, wherein polypyrrole fabric conductor cable signals layer S is strip compliant conductive fabric, as the heart yearn of shielded conductor; The flexible-epoxy insulating barrier I that polypyrrole fabric conductor cable signals layer S top and bottom respectively have one deck to be made up of epoxy resin
3, flexible-epoxy insulating barrier I
3polypyrrole fabric conductor cable signals layer S is wrapped up completely; Polypyrrole conductive fabric screen layer M is strip compliant conductive fabric, wraps in flexible-epoxy insulating barrier I
3outward; The flexible polyimide insulating barrier I that polypyrrole conductive fabric screen layer M top and bottom respectively have one deck to be made up of polyimides
4, flexible polyimide insulating barrier I
4fabric conductor cable screen layer is wrapped up completely.As Figure 10, shielded conductor is respectively folded layer by layer and is alignd, and then pressed together by the mode of hot pressing, gross thickness is about 1mm.
As Figure 11, the wire in traditional detection scheme adopts common copper cash or coaxial wire, and common copper cash does not adopt shield technology, if wire is long, the coupling capacitance between wire produces comparatively big error by making the result of capacitance detecting; And coaxial wire is too thick, make the motion in joint have obvious obstacle sense, and the shielding of coaxial cable generally all adopts grounded shield, the distribution capacity between cable signal and shielding stratum affects the accuracy of testing result.And in Figure 12, shielded conductor of the present invention adopts flexible material, make that shielded conductor can be random bending or stretch, decrease the obstacle sense of joint motions, adopt driven shield simultaneously, both eliminated the impact of the distribution capacity in traditional grounded shield mode between polypyrrole fabric conductor cable signals layer S and polypyrrole conductive fabric screen layer M, and turn eliminated long due to wire and between the wire caused, produce the impact of coupling capacitance.
As Figure 13, a pair polypyrrole conductive fabric capacitor plate pair is formed between polypyrrole conductive fabric capacitance pole flaggy C and polypyrrole conductive fabric stratum G, polypyrrole conductive fabric capacitance pole flaggy C is connected with the input of above-mentioned voltage follower (as Fig. 9), conductive silicon rubber screen layer B is connected with the outfan of above-mentioned voltage follower, under the effect of voltage follower, conductive silicon rubber screen layer B shields the impact of polypyrrole conductive fabric stratum G on polypyrrole conductive fabric capacitance pole flaggy C, achieve the driven shield to polypyrrole conductive fabric capacitance pole flaggy C signal, solve in Figure 14, during flexible sensing plate buckling, electromagnetic field between the electric capacity causing polypyrrole conductive fabric capacitance pole flaggy C and polypyrrole conductive fabric stratum G to form changes, thus the electromagnetic field change affected between floating type polypyrrole conductive fabric capacitor plate C, cause the problem that testing result is made mistakes, ensure or improve to affect measurement result accuracy.
As Figure 15, the capacitor plate in traditional detection scheme adopts rigid material, makes joint motions there is certain obstacle sense, and adopts grounded shield, and the distribution capacity between holding wire and shielding stratum affects the accuracy of testing result.And in Figure 16, sensing pole plate of the present invention adopts flexible material, pole plate is made to bend along with the motion in joint or to stretch, decrease the obstacle sense of joint motions, adopt driven shield simultaneously, when eliminating flexible sensing plate buckling or stretch, because of polypyrrole conductive fabric capacitance pole flaggy C and conductive silicon rubber screen layer B, the micro-displacement produced between conductive silicon rubber screen layer B and polypyrrole conductive fabric stratum G and impact on testing result, and with polypyrrole conductive fabric stratum G, whole pole plate is wrapped up, avoid the electromagnetic signal of conductive silicon rubber screen layer B to the interference of other all circuit.
Be connected with microswitch by shielded conductor between sensing pole plate.The excitation end (EXC) of capacitance detecting chip is by shielded conductor and front end sensing pole plate 3 polypyrrole conductive fabric capacitor plate C
1connect, this end is connected by shielded conductor one end with the first microswitch 7 simultaneously, and the other end of the first microswitch 7 is by shielded conductor and time polypyrrole conductive fabric capacitor plate C of front end sensing pole plate 4
2connect, one end of the second microswitch 8 is by shielded conductor and time polypyrrole conductive fabric capacitor plate C of front end sensing pole plate 4
2connect, the other end of the second microswitch 8 is by shielded conductor and time polypyrrole conductive fabric capacitor plate C of rear end sensing pole plate 5
3connect, one end of the 3rd microswitch 9 is by shielded conductor and time polypyrrole conductive fabric capacitor plate C of rear end sensing pole plate 5
3connect, the other end of the 3rd microswitch 9 is by the polypyrrole conductive fabric capacitor plate C of shielded conductor and rear end sensing pole plate 6
4connect, this end is connected with the signal input part (CIN) of capacitance detecting chip by shielded conductor simultaneously; Vice versa.
The sensing pole plate position that joint angles of the present invention detects is as shown in Figure 17, Figure 18, and wherein sensing pole plate 3-6 magnitude range is 20mm × 20mm to 50mm × 250mm.
As Figure 17, Figure 18, consider that forearm lengths is oversize, make polypyrrole conductive fabric capacitor plate C too large, cause the polypyrrole conductive fabric capacitor plate C in time front end sensing pole plate 4
2with the polypyrrole conductive fabric capacitor plate C in secondary rear end sensing pole plate 5
3electric capacity between the polypyrrole conductive fabric capacitor plate pair formed is comparatively large, likely exceedes the range of the weak capacitance detection chip in capacitance detecting device 1, therefore improves this embodiment.Secondary rear end sensing pole plate is made " work " character form structure as shown in the figure, both avoided polypyrrole conductive fabric capacitor plate between capacitance size exceed the range of weak capacitance detection chip, it also avoid when other angles are detected, produce the phenomenon of coupling capacitance because polypyrrole conductive fabric capacitor plate spacing is too near.
The movement angle θ of finger root joint
1magnitude range be about 90 °-180 °, the one-sided movement angle θ at carpal joint place
2magnitude range be about 90 °-180 °, the movement angle θ at elbow joint place
3magnitude range be about 30 °-180 °.Be strapped on each joint support arm outer surface by every block sensing pole plate elastic band during detection, the first microswitch 7 is placed on finger root joint J
1near palm side, utilize shielded conductor respectively with the polypyrrole conductive fabric capacitor plate C in front end sensing pole plate 3
1, polypyrrole conductive fabric capacitor plate C in secondary front end sensing pole plate 4
2be connected; Second microswitch 8 is placed on carpal joint J
2near forearm side, utilize shielded conductor respectively with the polypyrrole conductive fabric capacitor plate C in secondary front end sensing pole plate 4
2, polypyrrole conductive fabric capacitor plate C in secondary rear end sensing pole plate 5
3be connected; 3rd microswitch 9 is placed on elbow joint J
3near large arm side, utilize shielded conductor respectively with the polypyrrole conductive fabric capacitor plate C in secondary rear end sensing pole plate 5
3, polypyrrole conductive fabric capacitor plate C in rear end sensing pole plate 6
4be connected.From the first microswitch 7 near one end of front end sensing pole plate 3, the 3rd microswitch 9 draws a shielded conductor respectively near sensing pole plate 6 one end, rear end and draws wire as signal, be connected with signal input part (CIN) with the excitation end (EXC) of the capacitance detecting chip in capacitance detecting device 1.Capacitance detecting device 1 can be fixed on the position of human body back near shoulder with a pocket-like cloth bag.
As detection finger root joint J
1one-sided movement angle θ
1time, microcontroller MSP430F1611 controls the first microswitch 7 and disconnects, and the second microswitch 8, the 3rd microswitch 9 close, the polypyrrole conductive fabric capacitor plate C that what at this moment AD7746 detected is in front end sensing pole plate 3
1with the polypyrrole conductive fabric capacitor plate C in secondary front end sensing pole plate 4
2electric capacity between the polypyrrole conductive fabric capacitor plate pair formed, and the polypyrrole conductive fabric capacitor plate C in secondary rear end sensing pole plate 5
3as signal transmssion line; As detection carpal joint J
2one-sided movement angle θ
2time, microcontroller MSP430F1611 controls the second microswitch 8 and opens, and the first microswitch 7, the 3rd microswitch 9 close, the polypyrrole conductive fabric capacitor plate C that what at this moment AD7746 detected is in front end sensing pole plate 3
1, polypyrrole conductive fabric capacitor plate C in secondary front end sensing pole plate 4
2with the polypyrrole conductive fabric capacitor plate C in secondary rear end sensing pole plate 5
3, polypyrrole conductive fabric capacitor plate C in rear end sensing pole plate 6
4electric capacity between the polypyrrole conductive fabric capacitor plate pair formed; As detection elbow joint J
3one-sided movement angle θ
3time, microcontroller MSP430F1611 controls the 3rd microswitch 9 and opens, and the first microswitch 7, second microswitch 8 closes, the polypyrrole conductive fabric capacitor plate C that what at this moment AD7746 detected is in time rear end sensing pole plate 5
3with the polypyrrole conductive fabric capacitor plate C in rear end sensing pole plate 6
4electric capacity between the polypyrrole conductive fabric capacitor plate pair formed, and the polypyrrole conductive fabric capacitor plate C in secondary front end sensing pole plate 4
2as signal transmssion line.The capacitance detected is converted into digital quantity by AD7746, and send to microcontroller MSP430F1611 by iic bus, microcontroller is by electric capacity-angle converting algorithm, capacitance is converted into corresponding angle, and shown by LCD module, send to host computer to carry out data storage and analysis by Bluetooth chip HM-11 simultaneously.
Claims (2)
1. the integration of the multi-joint angle based on a flexible fabric serial detection system, it is characterized in that, comprise: elasticity electrical insulating substrate layer (2), the microswitch corresponding one to one with each joint and the first sensing pole plate assembly (I-I) laying respectively at both sides, each joint, second sensing pole plate assembly (II-II), first sensing pole plate assembly (I-I) and the second sensing pole plate assembly (II-II) are provided with flexible polyimide insulating protective layer (P), described first sensing pole plate assembly (I-I) and the second sensing pole plate assembly (II-II) adopt sensing unit structures, described sensing unit structures comprises facing polypyrrole conductive fabric capacitor plate (C) and polypyrrole conductive fabric stratum (G), conductive silicon rubber screen layer (B) is provided with between polypyrrole conductive fabric capacitor plate (C) and polypyrrole conductive fabric stratum (G), the first flexible-epoxy insulating barrier (I is filled with between polypyrrole conductive fabric capacitor plate (C) and conductive silicon rubber screen layer (B)
1), between conductive silicon rubber screen layer (B) and polypyrrole conductive fabric stratum (G), be provided with the second flexible-epoxy insulating barrier (I
2), described polypyrrole conductive fabric capacitor plate (C) is located on the lower surface of flexible polyimide insulating protective layer (P), described polypyrrole conductive fabric stratum (G) is located on the upper surface of elasticity electrical insulating substrate layer (2), one end of described microswitch is connected with the polypyrrole conductive fabric capacitor plate (C) in the first sensing pole plate assembly (I-I) by shielded conductor, the other end of described microswitch is connected with the polypyrrole conductive fabric capacitor plate (C) in the second sensing pole plate assembly (II-II) by shielded conductor, and, using polypyrrole fabric conductor cable signals layer (S) of the shielded conductor on the first sensing pole plate assembly (I-I) being connected to front end, first joint as an output port of detection system, using polypyrrole fabric conductor cable signals layer (S) of the shielded conductor on the second sensing pole plate assembly (II-II) of last rear end, joint as another output port of detection system, voltage follower (D) is also provided with in described sensing unit structures, the in-phase end of voltage follower (D) is connected with polypyrrole fabric conductor cable signals layer (S) of shielded conductor and polypyrrole conductive fabric capacitor plate (C) respectively, the end of oppisite phase of voltage follower (D) is connected with the outfan of voltage follower (D), the outfan of voltage follower (D) is connected with the polypyrrole conductive fabric screen layer (M) of shielded conductor and conductive silicon rubber screen layer (B).
2. one kind is detected sensor-based system based on three joint angles of flexible fabric, it is characterized in that, comprise: elasticity electrical insulating substrate layer (2), respectively with the first joint, second joint, the first microswitch (7) that 3rd joint is answered in pairs, second microswitch (8), 3rd microswitch (9) and front end sensing pole plate assembly (3), secondary front end sensing pole plate assembly (4), secondary rear end sensing pole plate assembly (5), rear end sensing pole plate assembly (6), front end sensing pole plate assembly (3) is positioned at the front end in the first joint, secondary front end sensing pole plate assembly (4) is between the first joint and second joint, secondary rear end sensing pole plate assembly (5) is between second joint and the 3rd joint, rear end sensing pole plate assembly (6) is positioned at the rear end in the 3rd joint, in front end sensing pole plate assembly (3), secondary front end sensing pole plate assembly (4), secondary rear end sensing pole plate assembly (5) and rear end sensing pole plate assembly (6) are provided with flexible polyimide insulating protective layer (P), front end sensing pole plate assembly (3), secondary front end sensing pole plate assembly (4), secondary rear end sensing pole plate assembly (5) and rear end sensing pole plate assembly (6) adopt sensing unit structures, described sensing unit structures comprises facing polypyrrole conductive fabric capacitor plate (C) and polypyrrole conductive fabric stratum (G), conductive silicon rubber screen layer (B) is provided with between polypyrrole conductive fabric capacitor plate (C) and polypyrrole conductive fabric stratum (G), the first flexible-epoxy insulating barrier (I is filled with between polypyrrole conductive fabric capacitor plate (C) and conductive silicon rubber screen layer (B)
1), between conductive silicon rubber screen layer (B) and polypyrrole conductive fabric stratum (G), be provided with the second flexible-epoxy insulating barrier (I
2), described polypyrrole conductive fabric capacitor plate (C) is located on the lower surface of flexible polyimide insulating protective layer (P), described polypyrrole conductive fabric stratum (G) is located on the upper surface of elasticity electrical insulating substrate layer (2), one end of described first microswitch (7) is by being connected with the polypyrrole conductive fabric capacitor plate (C) of front end sensing pole plate assembly (3) as the shielded conductor of an outfan of sensor-based system, the other end of the first microswitch (7) is connected by the polypyrrole conductive fabric capacitor plate (C) of shielded conductor with time front end sensing pole plate assembly (4), one end of second microswitch (8) is connected by the polypyrrole conductive fabric capacitor plate (C) of shielded conductor with time front end sensing pole plate assembly (4), the other end of the second microswitch (8) is connected by the polypyrrole conductive fabric capacitor plate (C) of shielded conductor with time rear end sensing pole plate assembly (5), one end of 3rd microswitch (9) is connected by the polypyrrole conductive fabric capacitor plate (C) of shielded conductor with time rear end sensing pole plate assembly (5), the other end of the 3rd microswitch (9) is by being connected with the polypyrrole conductive fabric capacitor plate (C) of rear end sensing pole plate assembly (6) as the shielded conductor of another outfan of sensor-based system, voltage follower (D) is also provided with in described sensing unit structures, the in-phase end of voltage follower (D) is connected with polypyrrole fabric conductor cable signals layer (S) of shielded conductor and polypyrrole conductive fabric capacitor plate (C) respectively, the end of oppisite phase of voltage follower (D) is connected with the outfan of voltage follower (D), the outfan of voltage follower (D) is connected with the polypyrrole conductive fabric screen layer (M) of shielded conductor and conductive silicon rubber screen layer (B).
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