CN106943121A - A kind of skin viscoplasticity detection means and method - Google Patents
A kind of skin viscoplasticity detection means and method Download PDFInfo
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- A—HUMAN NECESSITIES
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0048—Detecting, measuring or recording by applying mechanical forces or stimuli
- A61B5/0053—Detecting, measuring or recording by applying mechanical forces or stimuli by applying pressure, e.g. compression, indentation, palpation, grasping, gauging
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- A—HUMAN NECESSITIES
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Abstract
A kind of skin viscoplasticity detection means and method, the present invention relates to skin viscoplasticity detection means and method.The invention aims to low, the problem of measurement cost is high that solve traditional dynamic load coining measuring method measurement accuracy.A kind of skin viscoplasticity detection means includes base plate, pressure sensing probe, U-shaped bearing support, spring, framework, clamping plate, slide bar, motor cabinet, cam and motor；Framework is set, and motor is fixed on framework by motor cabinet, cam is arranged on the output shaft of motor on base plate；Slide bar runs through U-shaped bearing support, U-shaped bearing support is fixed on frame facet, spring in U-shaped bearing support is placed on slide bar, its lower end is fixed on U-shaped bearing support, its upper end is fixed on the clamping plate affixed with slide bar, slide bar upper end is close to cam contour, and the lower surface of clamping plate sets displacement detecting component, slide bar lower end and pressure sensing probe are rigidly connected, and pressure sensing probe is contacted through bottom plate hole with skin surface.The present invention is used for skin detection field.
Description
Technical field
The present invention relates to skin viscoplasticity detection means and method.
Background technology
At present, the skin viscoelasticity measuring method in the detection of clinical or routine health has a variety of.For example, based on traditional material
Expect in vitro compression or the stretched skin viscoelasticity measuring method of mechanical test；Measurement side is extruded in body steel seal based on coining method
Method；Pneumatic suction measuring method based on inhalation；Ultrasonic wave measuring method based on doppler principle etc..Wherein, in body steel
Print extruding measuring method, according to the form of excitation, is divided into static load coining measuring method and dynamic load coining measuring method again.Tradition is dynamic
Tradition print probe quality can not be ignored by carrying coining measuring method, and hypodermis influences big to skin viscoelasticity measurement, causes measurement
Precision is low, and apparatus structure is complicated, many using electronic component, it is impossible to realize miniaturization, causes measurement cost high.
The content of the invention
Low the invention aims to solve traditional dynamic load coining measuring method measurement accuracy, measurement cost is high to ask
Topic, and propose a kind of skin viscoplasticity detection means and method.
A kind of skin viscoplasticity detection means include base plate, pressure sensing probe, U-shaped bearing support, spring, framework, clamping plate,
Slide bar, motor cabinet, cam and motor；
Framework is set, and motor is fixed on framework by motor cabinet, cam is arranged on the output shaft of motor on base plate；
Slide bar runs through U-shaped bearing support, and the spring that U-shaped bearing support is fixed in frame facet, U-shaped bearing support is placed on slide bar
On, its lower end is fixed on U-shaped bearing support, and its upper end is fixed on the clamping plate affixed with slide bar, makes slide bar upper end and cam wheel
Exterior feature is close to, and the lower surface of clamping plate sets displacement detecting component, the voltage signal for detecting slide bar change in displacement, slide bar lower end with
Pressure sensing probe is rigidly connected, and pressure sensing probe is contacted through bottom plate hole with skin surface, for detecting that skin is pressurized
The voltage signal of power.
A kind of method detailed process based on skin viscoplasticity detection means is：
The base plate of skin viscoplasticity detection means is contacted with the skin surface at position to be detected, skin is glued by adhesive tape
Elastomeric check device is fixed on the skin surface at position to be detected, turns on the power switch, and motor presses 720~780r/min rotating speed
Band moving cam rotation, the effect of spring force makes slide bar be contacted with cam edge, and slide bar lower end and pressure sensing probe are rigidly connected,
Pressure sensing probe is contacted through bottom plate hole with skin surface, and by the reciprocating motion of slide bar, the skin to position to be detected
Surface inputs cyclic shift；Detected by displacement detecting component；Meanwhile, the skin surface at position to be detected is by input periodicity
Displacement produces reaction force, and reaction force is popped one's head in by pressure sensing and detected；
Step 1: building the differential equation of motion of the stress model of skin viscoplasticity detecting system；Detailed process is：
Step 2: the quality m in the differential equation of motion of the stress model of cancellation skin viscoplasticity detecting system, solves skin
The viscosity c and coefficient of elasticity k of skin.
Beneficial effects of the present invention are：
The present invention proposes a kind of skin viscoplasticity detection method and device.This method is based on dynamic coining method, passes through multifrequency
Rate coupling displacement curve constitutes cam contour, and displacement input is completed with conventional cam and slide bar mode, using two sensors, together
When obtain skin displacement, pressure and the relation curve of time, improve measurement accuracy.Further it is proposed that based on single-degree-of-freedom by
Compel the skin viscoplasticity new detecting method of model of vibration, derive and glued based on the skin for having damping single-mode system Theory of Vibration
Property, elastic calculation formula, determine the amplitude amplitude and its phase therebetween of skin detection position input displacement and pressure-responsive
Potential difference, calculates viscosity, the elasticity number of skin；Design and develop and the measurement apparatus being characterized is inputted with mechanical displacement, overcome
The influences of the movable part quality to measurement result such as print probe, realize the non-invasive measurement in body skin properties；Meanwhile, letter
Apparatus structure is changed, device can be made to realize miniaturization, be easy to domestic. applications, testing cost is reduced.It is dynamic that the present invention solves tradition
Carry coining measuring method measurement accuracy low, the problem of measurement cost is high.
Show that filtered experimental result is ω with reference to Fig. 71=12Hz, ω2=24Hz, ω3=37Hz, ω4=48Hz,
Fitted like a glove with expected incoming frequency result.The data of gained after filtering are substituted into formula (8) and formula (9), you can obtain
Coefficient of elasticity and viscosity.
Brief description of the drawings
Fig. 1 is single-degree-of-freedom Forced Vibration System schematic diagram of the present invention；
Fig. 2 is single-degree-of-freedom Forced Vibration System stress model schematic diagram of the present invention；
Fig. 3 is skin viscoplasticity structure of the detecting device figure, and 1 is base plate, and 2 be pressure sensing probe, and 3 be U-shaped bearing support, 4
It is framework for spring, 5,6 be clamping plate, and 7 be slide bar, and 8 be motor cabinet, and 9 be cam, and 10 be motor；
Fig. 4 is cam contour and geometric locus schematic diagram；
Fig. 5 is detecting system flow chart；
Fig. 6 is test experience figure；
Fig. 7 is measured displacements (pressure)-time waveform figure；
Fig. 8 is coefficient of elasticity k experimental result schematic diagram.
Embodiment
Embodiment one：Illustrate present embodiment, a kind of skin viscoplasticity detection dress of present embodiment with reference to Fig. 3
Put including base plate 1, pressure sensing probe 2, U-shaped bearing support 3, spring 4, framework 5, clamping plate 6, slide bar 7, motor cabinet 8, the and of cam 9
Motor 10；
Framework 5 is set, and motor 10 is fixed on framework 5 by motor cabinet 8, cam 9 is arranged on the defeated of motor 10 on base plate 1
On shaft；
Slide bar 7 runs through U-shaped bearing support 3, and U-shaped bearing support 3 is fixed on the side of framework 5, and clamping plate 6 is located at U-shaped branch with spring 4
Spring 4 in the intraoral portions of bolster 3U, U-shaped bearing support 3 is placed on slide bar 7, and the lower end of spring 4 is fixed on U-shaped bearing support 3, spring 4
Upper end is fixed on the clamping plate 6 affixed with slide bar 7, the upper end of slide bar 7 is close to the profile of cam 9, and the lower surface of clamping plate 6 sets position
Detection components are moved, the voltage signal for detecting slide bar change in displacement, the lower end of slide bar 7 and pressure sensing probe 2 are rigidly connected, pressure
Force sensing probe 2 is contacted through bottom plate hole with skin surface, the voltage signal for detecting skin pressure.
Embodiment two：Present embodiment from unlike embodiment one：The pressure sensing probe 2 is led
To be made up of a pressure sensor and its sensor connecting base, the maximum loading of pressure sensor is 5N.
Involved skin viscoplasticity Cleaning Principle and detection means in the present invention：Fig. 3 is the composition figure of detection means.Should
Device is mainly made up of supporting part, force-transmitting part and detection part.Dress has been collectively constituted by base plate, U-shaped bearing support and framework
The supporting part put, wherein base plate are used to directly contact skin surface；Force-transmitting part is main by motor, cam, slide bar and spring
Deng composition, wherein motor is fixed on bearing support by motor cabinet, and spring plays supporting, return action to slide bar, its rigidity
So that slide bar is close to cam contour and is advisable all the time in motion process；Detection part includes pressure sensing probe and displacement detecting group
Part is constituted, and is respectively used to detect the voltage signal of skin pressure and the voltage signal of slide bar change in displacement.The device belongs to
Can mounted type instrument.During detection, base plate is contacted with skin, detection position is secured the appliance to by adhesive tape.Turn on the power out
Close, motor is rotated by the rotating speed band moving cam determined, because the effect of spring force makes guide rod be in close contact all the time with cam edge,
So the reciprocating motion track of slide bar is determined by cam profile curve.Slide bar lower end and rigidly connected, the pressure of pressure sensing probe
Sensing element is contacted through bottom plate hole with skin surface, and by the reciprocating motion of guide rod, the skin to detection position inputs week
The displacement of phase property.Meanwhile, the skin reaction force produced by input displacement is also popped one's head in by pressure sensing to be detected.The detection of slide bar displacement
It is to use non-contact method.Displacement detecting is fixed together with reflecting plate with slide bar, when slide bar is moved, and the displacement of litter is led to
Cross photoelectric displacement sensor detection.
Other steps and parameter are identical with embodiment one.
Embodiment three：Present embodiment from unlike embodiment one or two：The framework 5 and base plate
1 is fixedly connected by screw.
Other steps and parameter are identical with embodiment one or two.
Embodiment four：Unlike one of present embodiment and embodiment one to three：The motor cabinet 8
It is fixedly connected with framework 5 by screw.
Other steps and parameter are identical with one of embodiment one to three.
Embodiment five：Unlike one of present embodiment and embodiment one to four：The U-shaped supporting
Frame 3 is fixedly connected with framework 5 by screw.
Other steps and parameter are identical with one of embodiment one to four.
Embodiment six：Unlike one of present embodiment and embodiment one to five：The pressure is passed
Sense probe 2 can be moved by being set on base plate 1 by hole, and in by hole；The motor 10 is fixed by screws in
On motor cabinet 8；The cam 9 is arranged on the output shaft of motor 10；The slide bar 7 is through U-shaped bearing support 3 and by being installed on
Sliding bearing in U-shaped supporting frame aperture is supported.
Other steps and parameter are identical with one of embodiment one to five.
Embodiment seven：A kind of method detailed process based on skin viscoplasticity detection means of present embodiment
For：
Premise：Although skin is made up of the three-layer weave of different mechanical characteristics, in the overall mechanics of research skin histology
During characteristic, skin is generally collectively regarded as isotropism, cellular viscoelastic material.
Skin constitutes the list of toughness damping when popping one's head in and movable part is contacted with skin certainly as viscoelastic material
By degree Forced Vibration System, model is as shown in Figure 1.When by mechanical device to probe input displacement and pressurize skin when, be located at
The pressure sensor of probe distal end can measure the reaction force that skin is produced to probe, that is to say effect of the probe to skin
Power.Because musculature is incompressible, i.e., its thickness does not change in pressure process, is firm it can be considered to musculature
Property material.And skin fiber solid configurations and capillary etc. constantly reduce in probe effect lower volume, elasticity is thus brought
With the mechanical characteristic of viscosity.First, skin fiber solid configurations change for dynamic pressure, are swift in response, and make by probe
Used time, deform and based on elastic behavior；Meanwhile, capillary is gradually pressed, so that pipe inner volume is tapered into, so that
Prevent capillary inner tissue liquid from quickly moving freely, the viscous behavior of skin will be displayed.By probe pressurization
During active force, displacement change with time and record, it can be found that there is phase difference between the two, this phase difference is main
Caused by the viscous behavior of skin.
Step 1: building the differential equation of motion of the stress model of skin viscoplasticity detecting system；Detailed process is：
Step 2: the quality m in the differential equation of motion of the stress model of cancellation skin viscoplasticity detecting system, solves skin
The viscosity c and coefficient of elasticity k of skin.
Embodiment eight：Present embodiment from unlike embodiment seven：Skin is built in the step one
The differential equation of motion of the stress model of skin viscoplasticity detecting system；Detailed process is：
The base plate 1 of skin viscoplasticity detection means is contacted with the skin surface at position to be detected, by adhesive tape by skin
Viscoplasticity detection means is fixed on the skin surface at position to be detected, turns on the power switch, and motor 10 is by 720~780r/min's
Rotating speed band moving cam 9 rotates, and the effect of spring force makes slide bar be in close contact with the edge of cam 9, the reciprocating motion track of slide bar by
Cam profile curve determines that the lower end of slide bar 7 and pressure sensing probe 2 are rigidly connected, pressure sensing probe 2 through the hole of base plate 1 and
Skin surface is contacted, and by the reciprocating motion of slide bar, the skin surface to position to be detected inputs cyclic shift；Pass through position
Move detection components detection；Meanwhile, the skin surface at position to be detected produces reaction force, reaction force by input cyclic shift
Popped one's head in and detected by pressure sensing；
Skin viscoplasticity detecting system constitutes the single-degree-of-freedom forced vibration system of toughness damping with detection object-skin
System；
The detection of slide bar displacement is to use non-contact method.Displacement detecting reflecting plate exists with the Boards wall on slide bar
Together, when slide bar is moved, the photoelectric displacement sensor that is displaced through of litter is detected；
It is theoretical according to the single-degree-of-freedom Forced Vibration System that toughness is damped, when the skin surface at position to be detected is by vertical
Nogata to input cyclic shift be x (t), then the skin surface at position to be detected produced by input cyclic shift x (t)
The stable state output simple harmonic quantity power of reaction force is f (t), as shown in Figure 2；Draw the fortune of the stress model of skin viscoplasticity detecting system
The dynamic differential equation：
I.e.
In formula, m is that skin viscoplasticity detecting system is popped one's head in and heavy moving parts, and k is the coefficient of elasticity of skin, and c is skin
The viscosity of skin；T is the time；X is input cyclic shift of the skin surface by vertical direction；For x first derivative；For x second dervative.
Other steps and parameter are identical with embodiment seven.
Embodiment nine：Present embodiment from unlike embodiment seven or eight：Disappear in the step 2
Go skin viscoplasticity detecting system stress model differential equation of motion in quality m, solve skin viscosity c and bullet
Property coefficient k；Detailed process is：
However, during device adds and shaken, probe and movable part have with supporting member and contacted, i.e., in formula (1)
Quality m is not independent, the quality m in the formula that to disappear, and must just input the harmonic excitation displacement of two frequencies, and obtain two
Response under frequency.
When the skin surface at position to be detected by the input cyclic shift of vertical direction is respectively x1(t)=A1sin
ω1T and x2(t)=A2sinω2T, then the reaction force that the skin surface at position to be detected is produced by input cyclic shift is
Output simple harmonic quantity power after steady-state vibration, be respectivelyWith
In formula, B1、ω1、Respectively correspond to input cyclic shift x1(t)=A1sinω1T output simple harmonic quantity power is shaken
Width, frequency and phase angle；B2、ω2、Respectively correspond to input cyclic shift x2(t)=A2sinω2T output simple harmonic quantity power
Amplitude, frequency and phase angle；A1、A2To input the amplitude of cyclic shift；
By x1And f (t)1(t) substituting into formula (2) can obtain
Or
The coefficient for comparing (4) formula equal sign both sides is obtained
Similarly, by x2And f (t)2(t) substituting into formula (2) can obtain
Equation simultaneous comprising m in (5) formula, (6) formula is obtained into (7) formula, and eliminates quality m,
And then try to achieve coefficient of elasticity k
Viscosity c is by inputting cyclic shift x1(t)=A1sinω1T and its corresponding output simple harmonic quantity powerAmplitude, frequency and phase angle try to achieve；That is,
Wherein, viscosity is after inputting skin detection position input displacement in the x-direction and measuring steady-state vibration
Output simple harmonic quantity power after draw, and coefficient of elasticity then needs to input two skin detection positions input displacement in the x-direction and measurement
Drawn after output simple harmonic quantity power after steady-state vibration；Obviously, the frequency of the input displacement of two skin detection positions in the x-direction is being selected
During rate, the interval not changed in c and k with the frequency of the input displacement at skin detection position should ensure that；In fact, this interval is
Exist.
After determining amplitude A to skin one and determining the harmonic excitation displacement of frequencies omega, if measuring skin response power
Amplitude B and phase angleViscosity c with regard to skin can be calculated.
Based on the principle of above-mentioned single-degree-of-freedom Forced Vibration System, skin and plus vibrating device constitute one and there is viscosity
The single-degree-of-freedom Forced Vibration System of damping, the skin that the depth (displacement) and probe for being pressed into skin by measuring probe are measured
The change of power is responded, the coefficient of elasticity of skin and the measurement of viscosity are realized by above-mentioned formula.
As it was previously stated, the coefficient of elasticity k in order to detect skin, displacement input needs the frequency of more than 2 simultaneously
Input.So, cam profile curve should by the simple harmonic quantity displacement of 2 or more than 2 superposition.Fig. 4 is shown according to r=r0+a0
(sin ω t+sin2 ω t+sin3 ω t+sin4 ω t) 4 simple harmonic quantities displacement superposed cam contours and displacement curve, wherein, r0It is
The radius of cam base circle, a0It is the coefficient of the probe compression distance determined according to skin thickness；
Wherein A1、A2、B1、B2、ω1、ω2、Solution procedure be：
Displacement detecting component detection input cyclic shift x1(t),x2(t) and after pressure sensing probe detection steady-state vibration
Output simple harmonic quantity power f1(t),f2(t), by x1(t),x2(t)、f1(t),f2(t) input skin viscoplasticity detection means, such as Fig. 5,
Electronic detection system as shown in Figure 5 is sent to, input cyclic shift and output simple harmonic quantity power are passed through into high-pass filtering
Separated with LPF, try to achieve A1、A2、B1、B2、ω1、ω2、And substitute into formula (8) and formula formula (9), you can
The coefficient of elasticity k and viscosity c at skin detection position are obtained, the detection at any time and monitoring of skin health situation is realized.
Other steps and parameter are identical with embodiment seven or eight.
Beneficial effects of the present invention are verified using following examples：
Embodiment one：
A kind of skin viscoplasticity detection means of the present embodiment and method are specifically what is prepared according to following steps：
Step one, skin viscoplasticity detecting system is fixed on inboard arm axis, at the 10cm of wrist border, used
Medical adhesive tape is tied to arm, it is desirable to which two bandage exposed section skins are not tight, i.e., device is close with skin essentially by self gravitation
Contact, as shown in Figure 6
Step 2, is turned on the power, and motor is rotated by 720r/min rotating speed, by the cam on motor output shaft to skin
The detection position of skin is respectively ω in the direction input displacement perpendicular to skin surface, frequency1=12Hz, ω2=24Hz, ω3=
36Hz, ω4=48Hz.
The skin that step 3, the input cyclic shift x (t) that displacement detecting component is obtained and pressure sensing probe are obtained
Output f (t) the feeding electrographic recording instrument of the steady-state vibration of skin reaction force is detected and shown, records, as shown in Figure 7.
Step 4, processing is filtered to the displacement versus time waveform and pressure versus time waveform shown in Fig. 7, obtain two it is defeated
Enter amplitude, frequency and the phase angle A of displacement and its power output1、A2、B1、B2、ω1、ω2、By taking frequency as an example, filtering
Experimental result afterwards is ω1=12Hz, ω2=24Hz, ω3=37Hz, ω4=48Hz, is kiss with expected incoming frequency result
Close.
The data of gained after filtering are substituted into (8) and (9) formula, you can obtain coefficient of elasticity and viscosity by step 5.Figure
8 be the coefficient of elasticity k of 7 experimenters experimental result.There is certain area in view of sensing probe, so being converted into list
Power in plane product, unit is MPa.Viscosity c very littles, have ignored.
The present invention can also have other various embodiments, in the case of without departing substantially from spirit of the invention and its essence, this area
Technical staff works as can make various corresponding changes and deformation according to the present invention, but these corresponding changes and deformation should all belong to
The protection domain of appended claims of the invention.
Claims (9)
1. a kind of skin viscoplasticity detection means, it is characterised in that：A kind of skin viscoplasticity detection means includes base plate (1), pressure
Force sensing probe (2), U-shaped bearing support (3), spring (4), framework (5), clamping plate (6), slide bar (7), motor cabinet (8), cam (9)
With motor (10)；
Framework (5) is set, and motor (10) is fixed on framework (5) by motor cabinet (8), cam (9) is arranged on electricity on base plate (1)
On the output shaft of machine (10)；
Slide bar (7) runs through U-shaped bearing support (3), and U-shaped bearing support (3) is fixed on the side of framework (5), clamping plate (6) and spring (4)
Positioned at U-shaped bearing support (3) the intraoral portions of U, the spring (4) in U-shaped bearing support (3) is placed on slide bar (7), and spring (4) lower end is fixed
On U-shaped support frame (3), spring (4) upper end be fixed on the affixed clamping plate (6) of slide bar (7) on, make slide bar (7) upper end with it is convex
Wheel (9) profile is close to, and the lower surface of clamping plate (6) sets displacement detecting component, and slide bar (7) lower end is firm with pressure sensing probe (2)
Property be connected, pressure sensing probe (2) contacted through bottom plate hole with skin surface, for detect skin pressure voltage letter
Number.
2. a kind of skin viscoplasticity detection means according to claim 1, it is characterised in that：The pressure sensing pops one's head in (2)
It is made up of a pressure sensor and its sensor connecting base, the maximum loading of pressure sensor is 5N.
3. a kind of skin viscoplasticity detection means according to claim 2, it is characterised in that：The framework (5) and base plate (1)
It is fixedly connected by screw.
4. a kind of skin viscoplasticity detection means according to claim 3, it is characterised in that：The motor cabinet (8) and framework
(5) it is fixedly connected by screw.
5. a kind of skin viscoplasticity detection means according to claim 4, it is characterised in that：The U-shaped bearing support (3) and frame
Frame (5) is fixedly connected by screw.
6. a kind of skin viscoplasticity detection means according to claim 5, it is characterised in that：Pressure sensing probe (2) can
Moved by what is set on base plate (1) by hole, and in by hole；The motor (10) is fixed by screws in motor cabinet
(8) on；The cam (9) is arranged on the output shaft of motor (10)；The slide bar (7) runs through U-shaped bearing support (3) and passes through peace
Supported loaded on the sliding bearing in U-shaped supporting frame aperture.
7. a kind of method of the skin viscoplasticity detection means based on claim 1, it is characterised in that：A kind of skin viscoplasticity inspection
Survey method detailed process is：
The base plate (1) of skin viscoplasticity detection means is contacted with the skin surface at position to be detected, skin is glued by adhesive tape
Elastomeric check device is fixed on the skin surface at position to be detected, turns on the power switch, and motor (10) is by 720~780r/min's
Rotating speed band moving cam (9) rotation, the effect of spring force makes slide bar and cam (9) EDGE CONTACT, slide bar (7) lower end and pressure sensing
Popping one's head in, (2) are rigidly connected, and pressure sensing probe (2) is contacted through base plate (1) hole with skin surface, and the reciprocal fortune for passing through slide bar
Dynamic, the skin surface to position to be detected inputs cyclic shift；Detected by displacement detecting component；Meanwhile, position to be detected
Skin surface by input cyclic shift produce reaction force, reaction force by pressure sensing pop one's head in detect；
Step 1: building the differential equation of motion of the stress model of skin viscoplasticity detecting system；
Step 2: the quality m in the differential equation of motion of the stress model of cancellation skin viscoplasticity detecting system, solves skin
Viscosity c and coefficient of elasticity k.
8. a kind of skin viscoplasticity detection method according to claim 7, it is characterised in that：Skin is built in the step one
The differential equation of motion of the stress model of viscoplasticity detecting system；Detailed process is：
It is theoretical according to the single-degree-of-freedom Forced Vibration System that toughness is damped, when the skin surface at position to be detected is by Vertical Square
To input cyclic shift be x (t), then the anti-work that the skin surface at position to be detected is produced by input cyclic shift x (t)
Stable state output simple harmonic quantity power firmly is f (t), draws the differential equation of motion of the stress model of skin viscoplasticity detecting system：
I.e.
In formula, m is that skin viscoplasticity detecting system is popped one's head in and heavy moving parts, and k is the coefficient of elasticity of skin, and c is skin
Viscosity；T is the time；X is input cyclic shift of the skin surface by vertical direction；For x first derivative；For x
Second dervative.
9. a kind of skin viscoplasticity detection method according to right wants 8, it is characterised in that：Skin is eliminated in the step 2 to glue
Quality m in the differential equation of motion of the stress model of elastomeric check system, solves the viscosity c and coefficient of elasticity k of skin；
Detailed process is：
When the skin surface at position to be detected by the input cyclic shift of vertical direction is respectively x1(t)=A1sinω1T and
x2(t)=A2sinω2T, the then reaction force that the skin surface at position to be detected is produced by input cyclic shift shakes for stable state
Output simple harmonic quantity power after dynamic, be respectivelyWith
In formula, B1、ω1、Respectively correspond to input cyclic shift x1(t)=A1sinω1The amplitude of t output simple harmonic quantity power, frequency
Rate and phase angle；B2、ω2、Respectively correspond to input cyclic shift x2(t)=A2sinω2The amplitude of t output simple harmonic quantity power,
Frequency and phase angle；A1、A2To input the amplitude of cyclic shift；
By x1And f (t)1(t) substituting into formula (2) can obtain
Or
The coefficient for comparing (4) formula equal sign both sides is obtained
Similarly, by x2And f (t)2(t) substituting into formula (2) can obtain
Equation simultaneous comprising m in (5) formula, (6) formula is obtained into (7) formula, and eliminates quality m,
And then try to achieve coefficient of elasticity k
Viscosity c is by inputting cyclic shift x1(t)=A1sinω1T and its corresponding output simple harmonic quantity powerAmplitude, frequency and phase angle try to achieve；That is,
Wherein A1、A2、B1、B2、ω1、ω2、Solution procedure be：
Displacement detecting component detection input cyclic shift x1(t),x2(t), the output after pressure sensing probe detection steady-state vibration
Simple harmonic quantity power f1(t),f2(t), by x1(t),x2And f (t)1(t),f2(t) skin viscoplasticity detection means is inputted, by input periodically
Displacement and output simple harmonic quantity power are separated by high-pass filtering and LPF, try to achieve A1、A2、B1、B2、ω1、ω2、And
Substitute into formula (8) and formula formula (9), you can obtain the coefficient of elasticity k and viscosity c at skin detection position.
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