CN107015661B - Sensing and driving integrated data glove based on carbon nanotube film - Google Patents
Sensing and driving integrated data glove based on carbon nanotube film Download PDFInfo
- Publication number
- CN107015661B CN107015661B CN201710331841.4A CN201710331841A CN107015661B CN 107015661 B CN107015661 B CN 107015661B CN 201710331841 A CN201710331841 A CN 201710331841A CN 107015661 B CN107015661 B CN 107015661B
- Authority
- CN
- China
- Prior art keywords
- film
- carbon nanotube
- nanotube film
- glove
- sensing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
- Gloves (AREA)
Abstract
The invention discloses a sensing and driving integrated data glove based on a carbon nanotube film, which comprises a glove body made of an elastic material, wherein the outer surface of the back side of a finger hand of the glove body is sequentially attached with the carbon nanotube film, a dielectric elastomer film and a flexible electrode film, and the sensing and driving integrated data glove further comprises: the deformation monitor is embedded into the carbon nano tube film, monitors the deformation of the carbon nano tube film on the back side of each finger and analyzes and processes the deformation to obtain gesture posture data; the two poles of the high-voltage circuit are respectively connected with the carbon nano tube film and the flexible electrode film; the wireless communication module is used for transmitting the gesture data obtained by the deformation monitor to an upper computer, receiving a driving signal sent by the upper computer and sending the driving signal to a high-voltage circuit; and the power supply supplies power to the deformation monitor, the wireless communication module and the high-voltage circuit. The data glove does not need an external sensor, self-sensing of the data glove is achieved, and integration of sensing and driving is achieved.
Description
Technical Field
The invention relates to the field of soft material sensing and driving control, in particular to a sensing and driving integrated data glove based on a carbon nano tube film.
Background
With the rapid development of human science and technology and the great improvement of productivity, a plurality of new high-tech products appear, and the products permeate into various fields of life, work, entertainment and the like of people. In the past, various new products at present begin to present the characteristics of diversification, high-tech, convenience and the like under the promotion of interdisciplinary discipline. The virtual reality and the intelligent device thereof are representative of the above features of the present age, and are in blowout type in recent years, and various aspects which people can relate to in daily life are presented.
The virtual reality technology is that a computer and related technologies are used to create a digital environment which is highly similar in the aspects of vision, hearing, touch and the like, a user can interact with the digital environment by using related intelligent equipment and influence the digital environment, and the virtual reality technology provides a platform for people to learn and know nature.
The virtual reality technology can provide a multi-element virtual world, and a user can perceive and change the virtual world through physical actions, so that the virtual world is extremely immersive. The intelligent equipment related to the virtual reality technology mainly comprises the following major classes: head intelligence wearing equipment such as intelligence glasses, holographic helmet, intelligent earplug, hand intelligence wearing equipment such as intelligent gloves, bracelet, wrist-watch, other smart machines such as intelligent overcoat intelligence shoes.
The staff is the main organ that human body and external world carry out the interchange, and it can transmit multiple gesture information, just because the staff is as information output organ, has the characteristics that transferable information kind is many, the information volume is big and the mapping ability is strong, therefore hand wearing equipment is paid much attention to, has designed a large amount of intelligent wearing equipment. In various intelligent hand wearing devices, the data gloves can make full use of hand posture information, so that the data gloves have extremely strong development and research potentials.
In the existing data glove technology, in order to acquire motion information of a human hand, one way is to identify the motion of the human hand by using a vision system. However, at present, the method is too complex in calculation, low in stability and accuracy, and too high in required operation conditions, so that the method is not suitable for common situations. In addition to visual system feedback, some commercialized data gloves have been introduced in recent years, such as Dataglove, data glove of VPL corporation, powerGlove, of Matal corporation, cyberGlove, data glove of imaging corporation, EXOS glove, of Sarcos corporation, and the like. These glove type control input devices can be roughly classified into two types: (1) joint position sensors (fiber optics, metal strain gauges, etc.) are attached to the glove to measure joint motion, such as DataGlove, cybergove, etc. The data gloves have the advantages that the data gloves are light in weight, are very convenient for operators to wear and use, and have the main defects that different operators wear the data gloves, the positions of the sensors can slide, and the angle measured by the joint sensors needs to be calibrated to meet the operation requirement; (2) the mechanical linkage structure drives a joint sensor such as a potentiometer to measure the motion of the joint, such as EXOS from SarCoS. The gloves integrate input control and force feedback devices, but are complex to develop and are not commercialized. Meanwhile, the two main ways of acquiring finger information adopt external sensors, such as optical fibers, strain gauges or potentiometers, and self-sensing of the gloves is not realized. Meanwhile, the required power sources of the currently drivable auxiliary data gloves can be mainly divided into the following two categories: (1) The glove is pneumatically driven by inflating with an air pump, and the driving of the glove is realized, and the mode has the main defects that the air pump is required to be arranged in the device at any time, so the glove is inconvenient to carry; (2) The motor is driven by utilizing the servo motor to play a driving role, and the mode has the defects that the driving noise of the motor is large, and the motor is made of hard materials and cannot be generally suitable for various conditions.
Disclosure of Invention
The invention provides a sensing and driving integrated data glove based on a carbon nano tube film, which does not need an external sensor, realizes self-sensing of the data glove and simultaneously realizes integration of sensing and driving.
The utility model provides a data gloves of sensing and drive integration based on carbon nanotube film, includes and makes the gloves body by elastic material, the finger back of the hand side outer surface of gloves body is attached in proper order and is had carbon nanotube film, dielectric elastomer film and flexible electrode film, still includes:
the deformation monitor is embedded in the carbon nanotube film on the back side of each finger hand of the glove body, monitors the deformation of the carbon nanotube film on the back side of each finger hand and analyzes and processes the deformation to obtain gesture posture data;
the two ends of the high-voltage circuit are respectively connected with the carbon nanotube film and the flexible electrode film, and the amplitude and the frequency of the voltage output by the two electrodes are adjusted according to the driving signal sent by the wireless communication module;
the wireless communication module is used for transmitting the gesture posture data obtained by the deformation monitor to an upper computer, receiving a driving signal sent by the upper computer and sending the driving signal to a high-voltage circuit;
and the power supply supplies power to the deformation monitor, the wireless communication module and the high-voltage circuit.
The deformation monitors embedded in the carbon nanotube films on the back sides of the fingers of the glove body are sensing parts of the data glove, gesture posture data are obtained by monitoring the deformation of the carbon nanotube films on the back sides of the fingers, and the self-sensing function of the data glove is achieved; the carbon nanotube film, the dielectric elastomer film and the flexible electrode film which are sequentially adhered to the outer surface of the glove body form a driving film, the driving part of the data glove is provided, and the amplitude and the frequency of the driving film are controlled by controlling the amplitude and the frequency of the voltage output by two poles of the high-voltage circuit, so that the driving function of the data glove is realized.
The high-voltage circuit is an oscillating circuit which can obtain 6 kV-9 kV by oscillating and stabilizing the low-voltage power supply.
Preferably, the deformation monitor comprises:
the plurality of potential collecting points are embedded in the carbon nano tube film on the back side of each finger of the glove body, and the plurality of potential collecting points positioned on the back side of the same finger are connected in series between two poles of a power supply;
and the processor is used for acquiring the potential data of each potential acquisition point at different moments and analyzing to obtain corresponding gesture data at different moments.
Each potential collecting point can be a copper foil wafer, is led out through a thin wire and is connected with a processor.
The plurality of potential acquisition points positioned on the back side of the same finger are connected in series between two poles of a power supply, potential data of each potential acquisition point at different moments are acquired, resistance change between two adjacent potential acquisition points positioned on the back side of the same finger at different moments can be obtained through calculation of a trained BP (back propagation) neural network, the bending angle of each finger is obtained, and gesture data at corresponding moments are obtained through analysis.
Preferably, the potential collection points are respectively positioned at phalanges or metacarpals of the fingers. Therefore, the bending of each finger joint can cause the stretching of the length between two corresponding adjacent potential acquisition points on the back side of the finger, so that the resistance of the carbon nanotube film between the two adjacent potential acquisition points is changed, the potential difference between the two adjacent potential acquisition points is further changed, the bending angle of the corresponding finger joint can be accurately reversely deduced through the deformation monitor, the movement of a fine hand or finger can be detected, and the gesture posture data obtained through analysis is more accurate.
The accuracy of the deformation monitor is determined by the deformation recovery capability of the carbon nanotube film, and preferably, the preparation method of the carbon nanotube film comprises the following steps: polydimethylsiloxane (PDMS) with the mass ratio of 20: 1-2 is mixed: curing agent: and dissolving the carbon nano tube in tetrahydrofuran, uniformly coating the carbon nano tube on the outer surface of the back side of the hand of the glove body, and drying at 80 ℃ to obtain the carbon nano tube film.
The curing agent is matched with Polydimethylsiloxane (PDMS). For example: the polydimethylsiloxane and the curing agent are SYLGARD 184 matching products produced by Dow Corning.
Polydimethylsiloxane (PDMS) has high elasticity and can be used as a good matrix of a carbon nano tube, the Polydimethylsiloxane (PDMS) is mixed with the carbon nano tube according to the mass ratio of 20: 1-2 to form a turbid liquid, the turbid liquid is mixed with a curing agent matched with the PDMS according to a certain proportion, the obtained turbid liquid is uniformly coated on a substrate of a dielectric elastomer and is dried in an environment of 80 ℃, and the carbon nano tube film prepared in the way has the high elasticity of the PDMS and the conductivity of the carbon nano tube and can be used as a high-precision distributed resistance sensor. Meanwhile, the mixed solution is dried at the temperature of 80 ℃, so that a stable dielectric high-elastic polymer can be formed, and the prepared carbon nano tube film has small drift deviation in multiple tests, can be used for multiple times and has good repeatability.
Preferably, the flexible electrode film is a carbon nanotube film.
The carbon nanotube film has good deformation recovery capability, and after the deformation force is removed, the carbon nanotube film can be well recovered to the original state, so that the service life of the data glove is prolonged.
The data glove of the present invention has two working modes, i.e., a sensing working mode and a driving working mode, and preferably, the data glove of the present invention, which integrates sensing and driving based on the carbon nanotube film, further comprises:
the relay is used for connecting the deformation monitor with a power supply or connecting the high-voltage circuit with the power supply;
and the controller receives a working mode switching signal of the upper computer and selectively switches on the deformation monitor or the high-voltage circuit through the relay.
When the relay switches on the deformation monitor, the data glove is in a sensing working mode, and when the high-voltage circuit is switched on, the data glove is in a driving working mode, and the two working modes are switched through the controller.
The carbon nanotube film, the dielectric elastomer film and the flexible electrode film which are sequentially adhered to the outer surface of the glove body form a driving film, after a user wears the data glove on the hand, the dielectric elastomer film is in an equibiaxial pre-stretching state, preferably, the thickness of the dielectric elastomer film before equibiaxial pre-stretching is 0.5-1.5 mm, and the equibiaxial pre-stretching value is 100% -150%.
The equi-biaxial pre-stretching value of the dielectric elastomer film can adjust the sensitivity of the dielectric elastomer to voltage, and can adjust the deformation amount of the dielectric elastomer under the same pressure. Most preferably, the dielectric elastomeric film has an equibiaxial pre-stretch value of 120%.
Preferably, the dielectric elastomer film is a polyacrylic film, a silicone rubber film, a pyrrolidone ethyl acrylate film or a urethane film.
Different materials can be selected according to different working conditions: in the case of relatively slow pressure change, polyacrylic acid film is preferably selected; under the working environment with higher environmental temperature, a silicon rubber film is preferably selected; in the case of high pressure, the pyrrolidone ethyl acrylate film is preferably selected; the polyurethane film can be selected in oily working occasions.
The high voltage of the high-voltage circuit is obtained by oscillating and stabilizing voltage of a low-voltage power supply, although the voltage is higher and reaches 6 kV-9 kV, the current passing through the high-voltage circuit is very small and is safe for a human body, but in order to prevent electric shock, preferably, the flexible electrode film is connected with the grounding end of the high-voltage circuit through a lead, and the carbon nano tube film is connected with the positive electrode of the high-voltage circuit through a lead.
Compared with the prior art, the invention has the beneficial effects that:
the gesture sensing part and the driving part of the data glove are integrated, so that the structure is simple; the whole data glove is of a fully flexible structure and can perfectly fit the hand shape; the driving voltage of the sensing part is low, the driving voltage of the driving part is high, but the driving voltage is obtained through low-voltage power supply oscillation voltage stabilization, although the voltage is high, the current passing through the high-voltage circuit is small, and the control mode of high voltage and low current reduces the power consumption of equipment, reduces the heat generation, can work for a long time, and realizes real-time monitoring.
Drawings
FIG. 1 is a schematic diagram of the back side of the hand of a carbon nanotube film based sensing and driving integrated data glove of the present invention;
FIG. 2 is a schematic cross-sectional view of the back hand side of a carbon nanotube film based sensing and driving integrated data glove of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and examples.
As shown in FIG. 1, the data glove of the present invention is designed to fit the size of a normal adult palm.
As shown in fig. 1 and 2, the glove body 1 of the data glove of the present invention is made of a dielectric elastomer film and is sized to be worn by a human hand. The outer surface of the back side of the hand of the glove body 1 is adhered with a first carbon nanotube film 2, a dielectric elastomer film 3 and a second carbon nanotube film 4 in sequence.
The glove body 1 and the dielectric elastomer film 3 are made of VHB4910, after the data glove is manufactured, the thicknesses of the glove body 1 and the dielectric elastomer film 3 are 1mm, when the glove is worn on a hand of a user, the glove body 1 and the dielectric elastomer film 3 are both in an equibiaxial pre-stretching state, and the equibiaxial pre-stretching value is 120%.
A first carbon nanotube film 2 is sandwiched between the glove body 1 and the dielectric elastomer film 3, and a second carbon nanotube film 4 is adhered to the outer surface of the dielectric elastomer film 3. Polydimethylsiloxane (PDMS) with the mass ratio of 20:1: curing agent: dissolving carbon nanotubes in tetrahydrofuran, uniformly coating the carbon nanotubes on the outer surface of the back side of the glove body 1, and drying at 80 ℃ to obtain a first carbon nanotube film 2; sticking a dielectric elastomer film 3 on the outer surface of the first carbon nano tube film 2, and mixing Polydimethylsiloxane (PDMS) with the mass ratio of 20:1: curing agent: and dissolving the carbon nano tube in tetrahydrofuran, uniformly coating the carbon nano tube on the outer surface of the dielectric elastomer film 3, and drying at 80 ℃ to obtain a second carbon nano tube film 4. The polydimethylsiloxane and the curing agent are SYLGARD 184 matching products produced by Dow Corning.
The first carbon nanotube film 2 and the second carbon nanotube film 4 are respectively connected with the positive electrode and the grounding end of the high-voltage circuit, the first carbon nanotube film 2, the dielectric elastomer film 3 and the second carbon nanotube film 4 form a driving film, the dielectric elastomer film 3 vibrates by outputting high-frequency voltage through the high-voltage circuit, and the amplitude and the frequency of the vibration of the dielectric elastomer film 3 are controlled by adjusting the amplitude and the frequency of the output voltage of the high-voltage circuit.
The high voltage of the high-voltage circuit is obtained by oscillating and stabilizing voltage of a low-voltage power supply, and the high voltage is up to 6-96 kV.
The data glove realizes the driving function through the first carbon nanotube film 2, the dielectric elastomer film 3, the second carbon nanotube film 4 and the high-voltage circuit.
19 copper foil disks 6 are embedded in the first carbon nanotube film 2 and used as potential collecting points, the 19 copper foil disks 6 are respectively positioned at phalanges or metacarpals of each finger, and finger joints are arranged between two adjacent copper foil disks 6 positioned on the same finger. The multiple potential acquisition points on the back side of the same finger are connected in series between two poles of a power supply, each copper foil wafer 6 is led out by a thin wire and is connected with the processor, the processor acquires potential data of each potential acquisition point at different moments, resistance change between two adjacent potential acquisition points on the back side of the same finger at different moments can be obtained through calculation, the bending angle of each finger can be obtained through calculation of a trained BP (back propagation) neural network, and gesture data at corresponding moments can be obtained through analysis. The obtained gesture posture data are transmitted to an upper computer through a 2.4G wireless communication module, and the sensing function of the data glove is achieved.
Thus, the data glove of the present invention has two modes of operation, sensing and actuation.
The data glove is further provided with a relay and a controller, the controller receives a working mode switching signal of the upper computer, and the sensing working mode or the driving working mode is selectively opened through the relay.
The working principle of the sensing and driving integrated data glove based on the carbon nanotube film is as follows:
under a driving working mode, opposite charges are applied to the first carbon nanotube film 2 and the second carbon nanotube film 4 on two sides of the dielectric elastomer film 3 through a high-voltage circuit, namely, positive charges are added on the first carbon nanotube film 2, negative charges are added on the second carbon nanotube film 4, attraction is generated between the two carbon nanotube films, and the attraction generates an extrusion effect along the normal direction of a film plane on the dielectric elastomer film 3, so that the dielectric elastomer film 3 which is pre-stretched originally becomes thin, the area is increased, and the whole effect is unfolded; meanwhile, the charges on the first carbon nanotube film 2 repel each other, so that repulsive force is generated between each part of the first carbon nanotube film 2, similarly, repulsive force is generated between each part of the second carbon nanotube film 4, and the first carbon nanotube film 2 and the second carbon nanotube film 4 are directly attached to the dielectric elastomer film 3, so that the dielectric elastomer film 3 is also stretched due to the effect; after the dielectric elastomer film 3 is made into a glove shape, the glove is in a pre-stretching state when being worn on a hand, has resilience, reaches a balanced state by the limitation of a fixed end at a wrist and an inner finger, after being electrified, the dielectric elastomer film 3 is stretched, after being powered off, the dielectric elastomer film 3 is contracted back to an initial state, and a high-frequency pulse voltage is provided by a high-voltage circuit, so that the driving effect of vibration can be achieved;
in a sensing working mode, all copper foil wafers positioned on the same finger are connected in series through the first carbon nanotube film 2 and communicated with two ends of a power supply to form a series circuit; parallel circuits are formed between the fingers. When the joints of the fingers are bent, the first carbon nano tube film 2 is stretched, the resistance between the copper foil disks positioned at two sides of the joints is changed, so that the potential difference between the two adjacent copper foil disks is also changed, the bending action of each finger joint can be obtained through reverse calculation of a processor by acquiring the potential of the copper foil disks, the gesture data of the whole hand is obtained, and the self-sensing effect of the data glove is realized.
The technical solutions and advantages of the present invention have been described in detail with reference to the above embodiments, it should be understood that the above embodiments are only specific examples of the present invention and should not be construed as limiting the present invention, and any modifications, additions, equivalents and the like made within the scope of the principles of the present invention should be included in the scope of the present invention.
Claims (6)
1. The utility model provides a data gloves of sensing and drive integration based on carbon nanotube film, includes and makes the gloves body by elastic material, its characterized in that, the finger back of the hand outside surface of gloves body is pasted in proper order and is had carbon nanotube film, dielectric elastomer film and flexible electrode film, still includes:
the deformation monitor is embedded in the carbon nanotube film on the back side of each finger hand of the glove body, monitors the deformation of the carbon nanotube film on the back side of each finger hand and analyzes and processes the deformation to obtain gesture posture data;
the two ends of the high-voltage circuit are respectively connected with the carbon nanotube film and the flexible electrode film, and the amplitude and the frequency of the voltage output by the two electrodes are adjusted according to the driving signal sent by the wireless communication module;
the wireless communication module is used for transmitting the gesture data obtained by the deformation monitor to an upper computer, receiving a driving signal sent by the upper computer and sending the driving signal to a high-voltage circuit;
the power supply supplies power to the deformation monitor, the wireless communication module and the high-voltage circuit;
the flexible electrode film is a carbon nano tube film; the dielectric elastomer film is a polyacrylic acid film, a silicon rubber film, a pyrrolidone ethyl acrylate film or a polyurethane film.
2. The carbon nanotube film based sensing and driving integrated data glove of claim 1, wherein the deformation monitor comprises:
the plurality of potential collecting points are embedded in the carbon nano tube film on the back side of each finger hand of the glove body, and the plurality of potential collecting points positioned on the back side of the same finger hand are connected in series between two poles of a power supply;
and the processor is used for acquiring potential data of each potential acquisition point at different moments and analyzing to obtain corresponding gesture data at different moments.
3. The carbon nanotube film based sensing and driving integrated data glove of claim 2, wherein the potential collection points are located at phalanges or metacarpals of respective fingers, respectively.
4. The carbon nanotube film based sensing and driving integrated data glove according to claim 1 or 2, wherein the carbon nanotube film is prepared by the following steps: and (2) mixing the following components in percentage by mass: 1:1 to 2 of polydimethylsiloxane: curing agent: and dissolving the carbon nano tube in tetrahydrofuran, uniformly coating the carbon nano tube on the outer surface of the back side of the hand of the glove body, and drying at 80 ℃ to obtain the carbon nano tube film.
5. The carbon nanotube film based sensing and driving integrated data glove of claim 1 or 2, further comprising:
the relay is used for connecting the deformation monitor with a power supply or connecting the high-voltage circuit with the power supply;
and the controller receives a working mode switching signal of the upper computer and switches on the deformation monitor or the high-voltage circuit through the relay selection.
6. The carbon nanotube film based sensing and driving integrated data glove according to claim 1, wherein the dielectric elastomer film is in an equibiaxial pre-stretched state after the data glove is worn on a hand, the thickness of the dielectric elastomer film before equibiaxial pre-stretching is 0.5 to 1.5mm, and the equibiaxial pre-stretching value is 100% to 150%.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710331841.4A CN107015661B (en) | 2017-05-11 | 2017-05-11 | Sensing and driving integrated data glove based on carbon nanotube film |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710331841.4A CN107015661B (en) | 2017-05-11 | 2017-05-11 | Sensing and driving integrated data glove based on carbon nanotube film |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107015661A CN107015661A (en) | 2017-08-04 |
| CN107015661B true CN107015661B (en) | 2023-03-28 |
Family
ID=59450483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710331841.4A Active CN107015661B (en) | 2017-05-11 | 2017-05-11 | Sensing and driving integrated data glove based on carbon nanotube film |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107015661B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394827A (en) * | 2019-07-01 | 2019-11-01 | 浙江大学 | A kind of mechanical finger design method of multi-electrode driving |
| CN110716644A (en) * | 2019-10-11 | 2020-01-21 | 安徽建筑大学 | Tactile feedback glove and VR (virtual reality) equipment assembly with same |
| CN112692854B (en) * | 2020-12-11 | 2022-04-01 | 合肥工业大学 | Flexible manipulator |
| CN113461997A (en) * | 2021-04-22 | 2021-10-01 | 四川大学 | Strain sensing material, size measuring glove, and preparation method and application thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104281261A (en) * | 2014-09-16 | 2015-01-14 | 苏州能斯达电子科技有限公司 | Wearable tension sensor for gesture interaction system and preparation method thereof |
| CN104894618A (en) * | 2015-04-28 | 2015-09-09 | 哈尔滨工业大学 | Method for preparing germanium/aluminum nano film by electrodeposition of ionic liquid |
| WO2015134336A2 (en) * | 2014-03-02 | 2015-09-11 | Drexel University | Wearable devices, wearable robotic devices, gloves, and systems, methods, and computer program products interacting with the same |
| CN204670447U (en) * | 2015-04-22 | 2015-09-30 | 纳米新能源（唐山）有限责任公司 | Based on the sterilizing gloves of triboelectricity |
| CN105575219A (en) * | 2016-03-07 | 2016-05-11 | 钦赛勇 | Intelligent glove |
| CN205622969U (en) * | 2015-12-31 | 2016-10-05 | 博世汽车部件(苏州)有限公司 | Packaging structure of flexible circuit board, intelligent gloves |
-
2017
- 2017-05-11 CN CN201710331841.4A patent/CN107015661B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015134336A2 (en) * | 2014-03-02 | 2015-09-11 | Drexel University | Wearable devices, wearable robotic devices, gloves, and systems, methods, and computer program products interacting with the same |
| CN104281261A (en) * | 2014-09-16 | 2015-01-14 | 苏州能斯达电子科技有限公司 | Wearable tension sensor for gesture interaction system and preparation method thereof |
| CN204670447U (en) * | 2015-04-22 | 2015-09-30 | 纳米新能源（唐山）有限责任公司 | Based on the sterilizing gloves of triboelectricity |
| CN104894618A (en) * | 2015-04-28 | 2015-09-09 | 哈尔滨工业大学 | Method for preparing germanium/aluminum nano film by electrodeposition of ionic liquid |
| CN205622969U (en) * | 2015-12-31 | 2016-10-05 | 博世汽车部件(苏州)有限公司 | Packaging structure of flexible circuit board, intelligent gloves |
| CN105575219A (en) * | 2016-03-07 | 2016-05-11 | 钦赛勇 | Intelligent glove |
Non-Patent Citations (2)
| Title |
|---|
| Min Seong Kim et al..surface micro-structured, stretchable strain sensor towards biaxial sensitivity and performance enhancement.《2017 IEEE 30th International Conference on Micro Electro Mechanical Systems (MEMS)》.2017,第1044-1047页. * |
| 夏凯伦等.纳米碳材料在可穿戴柔性导电材料中的应用研究进展.《物理化学学报》.2016,第2427-2446页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107015661A (en) | 2017-08-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107015661B (en) | Sensing and driving integrated data glove based on carbon nanotube film | |
| Yang et al. | Triboelectric nanogenerator enabled wearable sensors and electronics for sustainable internet of things integrated green earth | |
| Qu et al. | Fingerprint-shaped triboelectric tactile sensor | |
| Sun et al. | Progress in the triboelectric human–machine interfaces (HMIs)-moving from smart gloves to AI/haptic enabled HMI in the 5G/IoT era | |
| Fang et al. | Wearable triboelectric devices for haptic perception and VR/AR applications | |
| Borghetti et al. | Sensorized glove for measuring hand finger flexion for rehabilitation purposes | |
| Demolder et al. | Recent advances in wearable biosensing gloves and sensory feedback biosystems for enhancing rehabilitation, prostheses, healthcare, and virtual reality | |
| Dong et al. | Stretchable human machine interface based on smart glove embedded with PDMS-CB strain sensors | |
| Yang et al. | Self-powered tactile sensor for gesture recognition using deep learning algorithms | |
| US20170203432A1 (en) | Actuation apparatus for wearable devices | |
| CN110411623B (en) | High-sensitivity flexible piezoresistive sensor and preparation method and application thereof | |
| Chen et al. | Multifunctional iontronic sensor based on liquid metal-filled ho llow ionogel fibers in detecting pressure, temperature, and proximity | |
| CN110531863B (en) | Flexible touch glove based on super-capacitor sensing principle and preparation method thereof | |
| Wang et al. | Wearable human-machine interface based on the self-healing strain sensors array for control interface of unmanned aerial vehicle | |
| Yu et al. | A self-sensing soft pneumatic actuator with closed-Loop control for haptic feedback wearable devices | |
| Zeng et al. | Sensation and perception of a bioinspired flexible smart sensor system | |
| Zheng et al. | Stretchable self-adhesive and self-powered smart bandage for motion perception and motion intention recognition | |
| Guo et al. | Laser-induced graphene based triboelectric nanogenerator for accurate wireless control and tactile pattern recognition | |
| D’Mello et al. | Wearable fiber optic sensors for biomechanical sensing via joint angle detection | |
| Ye et al. | Multimodal integrated flexible electronic skin for physiological perception and contactless kinematics pattern recognition | |
| Wang et al. | A highly stretchable triboelectric nanogenerator with both stretch-insensitive sensing and stretch-sensitive sensing | |
| Naval et al. | Hybrid vector and pressure sensor for fingertip dynamics sensing using DC-triboelectric/AC-piezoelectric mechanisms | |
| Wu et al. | Intelligent soft robotic fingers with multi-modality perception ability | |
| Pasquale et al. | Glove-based systems for medical applications: Review of recent advancements | |
| Zhong et al. | A flexible wearable e-skin sensing system for robotic teleoperation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |