CN107890350A - A kind of wearable motion sensor, sensing circuit and method for testing motion - Google Patents
A kind of wearable motion sensor, sensing circuit and method for testing motion Download PDFInfo
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Abstract
A kind of wearable motion sensor, sensing circuit and method for testing motion; it is related to man-machine interaction sensor; provided with silicon rubber Dielectric film layers; silicon rubber Dielectric film layers the upper side and lower side is respectively equipped with flexible electrode layer and lower flexible electrode layer; insulating protective layer and lower insulating protective layer are respectively equipped with the downside of the upside of upper flexible electrode layer and lower flexible electrode layer; Top electrode pin and bottom electrode pin are respectively equipped with upper flexible electrode layer and lower flexible electrode layer, upper insulating protective layer and lower insulating protective layer are silicon rubber insulation protective layer.Sensing circuit is included with sensor body, current integration module, filtration module, signal processing module, decoupling processing module, power module of voltage regulation, switch module and display module；Detection method includes signal detection, processing, signal decoupling output in real time.The present invention have it is simple in construction, sensitivity, the high cost of precision are low, and real-time is good, wearing comfort, can accurate measurement human action the advantages that.
Description
Technical Field
The invention relates to the field of sensors for human-computer interaction, in particular to a wearable motion sensor based on silicon rubber, a sensing circuit and a motion detection method, which have the advantages of simple structure, high sensitivity and precision, low cost, good instantaneity, comfortable wearing and capability of accurately measuring human body motions.
Background
Virtual Reality (VR) technology has been widely used in electronic products in recent years, becoming a global topic of explosions. The sales of VR products in china in february of 2016 are nearly 55 million, and increase 27.8 times in february, and annual growth in VR product market size is expected to be as high as 500%. The human body joint motion detection sensor is a key element required by an interactive VR system, can capture motion and posture information of a human body, and transmits the information to a virtual reality system to realize human-computer interaction. By means of the data gloves, the user can naturally and efficiently complete man-machine interaction. In addition, the human motion capture has huge application prospect in the fields of game entertainment, animation design, operation teaching, sign language recognition, visual scientific research, robot control, military information, physical training and the like.
The current human body action monitoring means mainly utilizes a visual image tracking processing system and an inertia measurement system, wherein the visual image tracking processing system is expensive and the illumination limits the movement range; the latter is uncomfortable to wear and has low detection accuracy. As in the existing wrist motion capture device, the camera capture system is limited to indoor, the inertial measurement unit has the defect of drifting, and the rigid goniometer is uncomfortable to wear.
Disclosure of Invention
The wearable motion sensor is simple in structure, high in sensitivity and precision, low in cost, good in real-time performance, comfortable to wear and capable of accurately measuring human body actions. Is not limited by the illumination and the like,
the technical scheme adopted by the invention for solving the defects of the prior art is as follows:
a wearable motion sensor, comprising: the silicon rubber insulation protective layer is arranged on the upper side and the lower side of the silicon rubber dielectric film layer, an upper flexible electrode layer and a lower flexible electrode layer are respectively arranged on the upper side of the upper flexible electrode layer and the lower side of the lower flexible electrode layer, an upper electrode pin and a lower electrode pin are respectively arranged on the upper flexible electrode layer and the lower flexible electrode layer, and the upper insulation protective layer and the lower insulation protective layer are silicon rubber insulation protective layers; the material and the method are as follows:
firstly, preparing a silicon rubber dielectric film plate: preparing a sacrificial layer, weighing reagents according to a mass ratio of polyacrylic acid to volatile solvent of 1: 3-1: 5, placing the reagents into a small box, placing the small box into a stirrer, and uniformly mixing, defoaming and stirring to obtain sacrificial layer slurry; preparing silicon rubber liquid, placing the silicon rubber liquid and a diluent in a small box according to the mass ratio of 1: 1-3: 2, placing the silicon rubber liquid and the diluent in a stirrer, and uniformly mixing, defoaming and stirring to obtain the silicon rubber liquid; coating a sacrificial layer, namely coating the slurry of the sacrificial layer on the thermoplastic polyester substrate by using a coater, and after the coating is finished, drying the sacrificial layer to obtain seven colors of the thermoplastic polyester substrate; coating a silicon rubber layer, namely coating a silicon rubber solution on a thermoplastic polyester substrate covered with a sacrificial layer by using a coater, lifting the coated substrate by using a steel plate, and covering an acrylic cover; heating and curing, and sending the silicon rubber dielectric film plate to a heating box for heating and curing to obtain a silicon rubber dielectric film plate for later use;
step two, preparing a silicon rubber insulation protection layer plate: preparing sacrificial layer slurry, weighing reagents according to a mass ratio of 1: 3-1: 5 of polyacrylic acid and volatile solvent, placing the reagents into a small box, adding water accounting for 2-6% of the total mass, placing the reagents into a stirrer, and uniformly mixing, defoaming and stirring to obtain the sacrificial layer slurry; preparing silicon rubber liquid, winding a raw material belt on a small box, placing the silicon rubber liquid and a diluent in the small box according to the mass ratio of 1: 1-3: 2, placing the silicon rubber liquid and the diluent in a stirrer, and uniformly mixing, defoaming and stirring to obtain the silicon rubber liquid; coating a sacrificial layer, namely coating the slurry of the sacrificial layer on a thermoplastic polyester substrate by using a coater, and after the coating is finished, drying the sacrificial layer, wherein the dried plastic polyester substrate presents seven colors; coating a silicon rubber layer, namely coating a silicon rubber solution on a thermoplastic polyester substrate covered with a sacrificial layer by using a coater, lifting the coated substrate by using a steel plate, and covering an acrylic cover; heating and curing, and sending to a heating box for heating to obtain a silicon rubber insulation protective layer plate for later use;
step three, preparing a flexible electrode: mixing a carbon material and a volatile solvent in a mass ratio of 1: 17-1: 22, adding steel balls to disperse carbon powder, uniformly mixing and stirring in a stirrer, and defoaming to obtain electrode slurry; after stirring, taking out the small box, adding a silicon rubber stock solution with the mass ratio of 1: 9-1: 11 to the carbon material into the electrode slurry, adding a diluent with the mass ratio of 1: 1-3: 2 to the silicon rubber stock solution, and uniformly mixing, stirring and defoaming in a stirrer to obtain a flexible electrode for later use;
fourthly, cutting the prepared silicon rubber dielectric film plate and the prepared silicon rubber insulating protection layer plate into a silicon rubber dielectric film plate unit and a silicon rubber insulating protection layer plate unit, cutting an electrode pin groove on the silicon rubber insulating protection layer plate unit, and cutting an electrode smearing notch in the middle of the thermoplastic polyester plate; the size of the electrode smearing notch is slightly smaller than that of the silicon rubber dielectric film plate unit, the shape of the electrode smearing notch is the same as that of the silicon rubber dielectric film plate unit, when the electrode smearing notch is aligned with the silicon rubber dielectric film plate unit, the distance between the periphery of the electrode smearing notch and the periphery of the silicon rubber dielectric film plate unit is 2-10 mm.
Fifthly, the silicon rubber layer side of the silicon rubber dielectric film plate unit is attached to the thermoplastic polyester plate opposite to the electrode coating groove opening, a flexible electrode is coated on the silicon rubber layer side of the silicon rubber dielectric film plate unit in the electrode coating groove opening, the silicon rubber dielectric film plate unit is separated from the thermoplastic polyester plate after the flexible electrode is coated, and the silicon rubber dielectric film plate is heated and cured to obtain a silicon rubber dielectric film electrode plate;
sixthly, performing plasma treatment, namely putting the silicon rubber dielectric film electrode plate and the silicon rubber insulating protection layer plate unit into a plasma machine for plasma treatment;
seventhly, oppositely attaching, bonding and fixing the silicon rubber layer of the silicon rubber insulation protection layer plate unit after plasma treatment and the flexible electrode of the silicon rubber dielectric film electrode plate to obtain a sensor main body substrate;
eighthly, placing one side of the silicon rubber dielectric film electrode plate of the sensor main body substrate in boiling water to dissolve the sacrificial layer, and removing the thermoplastic polyester substrate;
ninth, repeating the operations of the fifth step, the sixth step and the seventh step to obtain a sensor main body plate;
respectively placing the two sides of the sensor main body plate in boiling water to dissolve the sacrificial layer, and removing the thermoplastic polyester substrate to obtain a sensor main body;
and step eleven, placing the electrode pins into the electrode pin grooves, coating a proper amount of flexible electrodes into the electrode pin grooves, placing the electrode pins into a heating box for heating and curing, and finally welding wires on the electrode pins to finish the manufacturing.
The silicon rubber collagen liquid used in the silicon rubber dielectric film layer is LSR4305 or MED 4901; the silicon rubber collagen liquid used in the silicon rubber insulating protective layer is LSR4305 or Sylgard 186; the silicone rubber collagen liquid used in the flexible electrode layer is MED 4901.
The volatile solvent in the invention is isopropanol; the diluent is isooctane or OS-20; preferred ranges of the thickness of the silicone rubber dielectric film layer are: 70-200 μm; preferred ranges of the thickness of the insulating protective layer are: 200 to 400 μm.
A sensing circuit containing the wearable motion sensor comprises a sensor body, a current integration module, a filtering module, a signal processing module, a decoupling processing module, a voltage-stabilized power supply module, a switch module and a display module; one lead of the sensor body is connected with the output end of the switch module, and the other lead is connected with the non-inverting input end of the operational amplifier; the current integration module output links to each other with the filtering module input, the filtering module output links to each other with the signal processing module input, the signal processing module output links to each other with decoupling processing module input, decoupling processing module output links to each other with the display module input, constant voltage power supply module respectively with the current integration module, the switch module, decoupling processing module and signal processing module link to each other (for its power supply), the input of switch module links to each other with the pulse signal output of signal processing module (pulse width modulation (PWM) periodic signal), the output of switch module and the pulse signal input (VD) of current integration module, a wire of sensor body links to each other.
The current integration module comprises an operational amplifier and a reference capacitor, and a measuring resistor R is respectively connected between the output end and the non-inverting input end of the operational amplifier and between the output end and the inverting input end of the operational amplifier2And measuring the resistance R4Reference capacitance CrefA reference capacitor C connected between the non-inverting input terminal and groundrefAre connected in parallel with a measuring resistor R1A measuring resistor R is connected between the inverting input end and the ground3. DES is a simplified sensor; sensor 1The root lead (one electrode pin) is connected with the output end of the switch module, and the other lead (the other electrode pin) is connected with the non-inverting input end of the operational amplifier. The sensor is regarded as two variable resistors and a variable capacitor which are connected in series, and a circuit is designed by utilizing a current integration method.
A method for detecting motion using the above sensing circuit, comprising the steps of:
a. attaching and fixing a sensor at the position where the skin stretching change outside the joint is maximum when each motion of the joint to be detected occurs;
b. the motion analog signal of the change of the joint angle detected by the sensor is output to a filtering module, the filtering module performs low-pass filtering (100-500 Hz and 200 Hz) on the motion electric signal, the motion electric signal after the low-pass filtering is subjected to A/D conversion by a signal processing module, and then, the signals of the front period and the rear period are superposed to obtain an average value (serious 50Hz electromagnetic noise interference exists when a sensing circuit is not subjected to filtering, so that the sensor is extremely easy to be interfered by external signals, if a computer runs around, the indication number of the sensor is very unstable, the signals of the front period and the rear period are superposed to obtain the average value, the noise is filtered, so that the stability of the indication number of the circuit is improved, and during actual measurement, the electromagnetic noise interference of the two adjacent periods has opposite influence on the waveform of the motion electric signal), and a;
c. the motion digital signal is input into the decoupling processing module (processors stm32f103 and stm32f407 for realizing the above functions), and the decoupling processing module substitutes the motion digital signal into a formula:calculating the angle of the joint to be detected in one motion direction;
stipulating: detecting jointsjThe motion angle of the individual motion direction (degree of freedom) and the detection of the joint being at the firstjThe motion angle in the signal motion direction (degree of freedom) is，Indicating when in motioniChange of voltage indication of number sensor, signIs shown asjThe motion angle in the signal motion direction (degree of freedom) and the secondiThe slope between the changes of the corresponding sensor voltage readings of the number sensor (in single degree of freedom motion); it is written in the form of a matrix:
is abbreviated as
By estimating the angle of movement of the wrist joint by the readings of the sensors, i.e.
d. And the digital signal is output in real time through the display module.
The invention calibrates the matrix before monitoring the joint movement for the first time: the joint moves to the limit position of each movement direction and is recorded in the firstjMotion in the direction of motion (degree of freedom)iChange of voltage indication of number sensorAnd combining the motion angles of all motion directions (degrees of freedom) of human joints。First, thejIn the direction of motion (degree of freedom), firstiChange of voltage indication of number sensorThe movement angle of each movement direction (degree of freedom) of human jointRatio of。
The sensor, the sensor circuit and the motion detection method of the invention are used for monitoring and measuring the joint motion, and the linearity error of the detection circuitIs 0.0014, hysteresis errorThe size of the optical fiber is 0.006, the size of the repeatability error is 0.0081, the sensitivity is 0.0082V/mm, and the dynamic response time is about 200 ms; the invention has the advantages of no obvious obstruction to the human joint movement, simple structure, high sensitivity and precision, low cost, good real-time performance and the like; the invention can monitor the motion data timely and objectively under the condition that the proprioception of the wearer is not disappeared, has good real-time performance, and almost simultaneously displays the motion and the data of the wearer.
Drawings
Fig. 1 is a schematic view of the structure of the sensor of the present invention.
Fig. 2 is a schematic circuit diagram of the current integration module and the sensor according to the present invention.
Fig. 3 is a schematic diagram of a sensing circuit according to the present invention.
FIG. 4 is a schematic diagram of the sensor attached to the wrist for detecting movement of the wrist joint according to the present invention.
Fig. 5 is a comparison graph of the motion angle curve of the wearable motion sensor for detecting wrist joint vollexed motion of the invention and the motion angle curve of the wearable motion sensor for detecting wrist joint vollexed motion of the wearable motion sensor.
Fig. 6 is a graph comparing the movement angle curve for detecting dorsiflexion movement of a wrist joint using the wearable motion sensor of the present invention with the movement angle curve for detecting dorsiflexion movement of a wrist joint using a standard instrument.
Detailed Description
The wearable motion sensor shown in fig. 1 is provided with a silicon rubber dielectric film layer 6, an upper flexible electrode layer 3 and a lower flexible electrode layer 4 are respectively arranged on the upper side and the lower side of the silicon rubber dielectric film layer 6, an upper insulating protective layer 1 and a lower insulating protective layer 5 are respectively arranged on the upper side of the upper flexible electrode layer 3 and the lower side of the lower flexible electrode layer 4, an upper electrode pin 2 and a lower electrode pin 7 are respectively arranged on the upper flexible electrode layer 3 and the lower flexible electrode layer 4, and the upper insulating protective layer 1 and the lower insulating protective layer 5 are silicon rubber insulating protective layers; the wearable motion sensor is prepared from the following materials by the following method:
firstly, preparing a silicon rubber dielectric film plate: preparing a sacrificial layer, weighing reagents according to a mass ratio of polyacrylic acid to volatile solvent of 1: 3-1: 5, placing the reagents into a small box, sealing, placing the small box into a stirrer, and uniformly mixing, defoaming and stirring to obtain sacrificial layer slurry; preparing silicon rubber liquid, placing the silicon rubber liquid and a diluent in a small box according to the mass ratio of 1: 1-3: 2, sealing, placing the silicon rubber liquid and the diluent in a stirrer, and uniformly mixing, defoaming and stirring to obtain the silicon rubber liquid; the silicon rubber collagen liquid is LSR4305 or MED4901, the prepared silicon rubber liquid has good fluidity, and the defects of shrinkage cavity and the like can not occur after curing, and the tensile strength of the silicon rubber dielectric film reaches 3.4MPa and the tearing strength reaches 10N/mm. Coating a sacrificial layer, namely coating the slurry of the sacrificial layer on the thermoplastic polyester substrate by using a coater, and after the coating is finished, drying the sacrificial layer to obtain seven colors of the thermoplastic polyester substrate; cleaning the coater, coating the silicon rubber solution on the thermoplastic polyester substrate covered with the sacrificial layer by using the coater, lifting the coated substrate by using a steel plate, and covering an acrylic cover; heating and curing, conveying to a heating box for heating and curing, and covering release paper after heating to obtain a silicon rubber dielectric film plate for later use;
step two, preparing a silicon rubber insulating protective layer (upper insulating protective layer and lower insulating protective layer) plate: preparing sacrificial layer slurry, weighing reagents according to a mass ratio of 1: 3-1: 5 of polyacrylic acid and volatile solvent, placing the reagents into a small box, adding water accounting for 2-6% of the total mass, placing the reagents into a stirrer, and uniformly mixing, defoaming and stirring to obtain the sacrificial layer slurry; preparing silicon rubber liquid, winding a raw material belt on a small box, placing the silicon rubber liquid and a diluent in the small box according to the mass ratio of 1: 1-3: 2, placing the silicon rubber liquid and the diluent in a stirrer, and uniformly mixing, defoaming and stirring to obtain the silicon rubber liquid; the silastic collagen liquid is LSR4305 or Sylgard 186; coating a sacrificial layer, namely coating the slurry of the sacrificial layer on a thermoplastic polyester substrate by using a coater, and after the coating is finished, drying the sacrificial layer, wherein the dried plastic polyester substrate presents seven colors; cleaning the coater, coating the silicon rubber solution on the thermoplastic polyester substrate covered with the sacrificial layer by using the coater, lifting the coated substrate by using a steel plate, and covering an acrylic cover; heating and curing, conveying to a heating box for heating, and covering release paper after heating to obtain a silicon rubber insulation protective layer plate for later use;
step three, preparing a flexible electrode: mixing a carbon material and a volatile solvent in a mass ratio of 1: 17-1: 22, adding steel balls to disperse carbon powder, uniformly mixing and stirring in a stirrer, and defoaming to obtain electrode slurry; after stirring, taking out the small box, adding a silicon rubber stock solution with the mass ratio of 1: 9-1: 11 to the carbon material into the electrode slurry, adding a diluent with the mass ratio of 1: 1-3: 2 to the silicon rubber stock solution, uniformly mixing, stirring and defoaming in a stirrer to obtain a flexible electrode (solution) for later use; the silastic collagen liquid is MED 4901; after being coated and dried, the flexible electrode has excellent conductivity, high elasticity and firm bonding, and the tensile strength reaches 2 MPa.
Fourthly, cutting the prepared silicon rubber dielectric film plate and the prepared silicon rubber insulating protective layer plate into a silicon rubber dielectric film plate unit and a silicon rubber insulating protective layer plate unit with the same size according to the required size and shape by using a laser cutting machine, cutting an up-and-down through electrode pin groove on the silicon rubber insulating protective layer plate unit (or the silicon rubber insulating protective layer of the silicon rubber insulating protective layer plate unit), and cutting an up-and-down through electrode smearing notch in the middle of the thermoplastic polyester plate by using the laser cutting machine; the size of the electrode smearing notch is slightly smaller than that of the silicon rubber dielectric film plate unit, the shape of the electrode smearing notch is the same as that of the silicon rubber dielectric film plate unit, when the electrode smearing notch is aligned with the silicon rubber dielectric film plate unit, the distance between the periphery of the electrode smearing notch and the periphery of the silicon rubber dielectric film plate unit is 2-10 mm, and the distance between the periphery of the electrode smearing notch and the periphery of the silicon rubber dielectric film plate unit is preferably 4-6 mm.
Fifthly, uncovering the silicon rubber layer side of the silicon rubber dielectric film plate unit of the release paper, facing the electrode coating notch, attaching the silicon rubber layer side of the silicon rubber dielectric film plate unit to the thermoplastic polyester plate, coating a flexible electrode on the silicon rubber layer side of the silicon rubber dielectric film plate unit in the electrode coating notch, separating the silicon rubber dielectric film plate unit from the thermoplastic polyester plate after the flexible electrode is coated, heating and curing to form a flexible electrode layer, and obtaining a silicon rubber dielectric film electrode plate;
sixthly, performing plasma treatment, namely putting the silicon rubber dielectric film electrode plate and the silicon rubber insulating protection layer plate unit with the release paper removed into a plasma machine for plasma treatment;
and seventhly, oppositely attaching, bonding and fixing the silicon rubber layer of the silicon rubber insulation protection layer plate unit subjected to plasma treatment and the flexible electrode (layer) of the silicon rubber dielectric film electrode plate to obtain the sensor main body substrate. The silicon rubber layer of the silicon rubber insulation protection layer plate after plasma treatment is bonded with the silicon rubber layer on the outer side of the flexible electrode (layer) of the silicon rubber dielectric film electrode plate more firmly. After the bonding is finished, putting the materials in a heavy object and pressing the materials for a period of time to ensure firm bonding;
eighthly, placing one side of the silicon rubber dielectric film electrode plate of the sensor main body substrate in boiling water to dissolve the sacrificial layer, and removing the thermoplastic polyester substrate;
step nine, regarding the sensor main body substrate with the thermoplastic polyester substrate removed in the step eight as a silicon rubber dielectric film plate unit with release paper removed, repeating the operations of the step five, the step six and the step seven to prepare a sensor main body plate with a silicon rubber dielectric film layer in the middle, flexible electrode layers on two (outer) sides of the silicon rubber dielectric film layer and a silicon rubber insulation protection laminate on the outer side of the flexible electrode layer;
respectively placing the two sides of the sensor main body plate in boiling water to dissolve the sacrificial layer, and removing the thermoplastic polyester substrate to obtain a sensor main body;
and a tenth step of placing the electrode pins in the electrode pin grooves of the silicon rubber insulating protective layer, electrically contacting the electrode pins with the flexible electrode layers in the electrode pin grooves of the silicon rubber insulating protective layer, coating a proper amount of flexible electrodes in the electrode pin grooves by using tweezers, fixedly connecting the flexible electrodes with the flexible electrode layers of the silicon rubber dielectric film, putting the electrodes into a heating box for heating and curing, and finally welding wires on the electrode pins to complete the manufacture.
The volatile solvent used in this example was isopropanol; the diluent is isooctane or OS-20; preferred ranges of the thickness of the silicone rubber dielectric film layer are: 70-200 μm; preferred ranges of the thickness of the insulating protective layer are: 200 to 400 μm.
The sensing circuit shown in fig. 2, which includes the wearable motion sensor, includes a sensor mechanical body 02 (i.e., the wearable motion sensor manufactured as described above), a current integration module 01, a filtering module 04, a signal processing module 06, a decoupling processing module 07, a voltage-stabilized power supply module 05, a switching module 03, and a display module 08; one lead (one electrode pin) of the sensor body is connected with the output end of the switch module, and the other lead (the other electrode pin) is connected with the non-inverting input end of the operational amplifier; the current integration module output links to each other with the filtering module input, the filtering module output links to each other with the signal processing module input, the signal processing module output links to each other with decoupling processing module input, decoupling processing module output links to each other with the display module input, constant voltage power supply module respectively with the current integration module, the switch module, decoupling processing module and signal processing module link to each other (for its power supply), the input of switch module links to each other with the pulse signal output of signal processing module (pulse width modulation (PWM) periodic signal), the output of switch module and the pulse signal input (VD) of current integration module, a wire (an electrode pin) of sensor body links to each other.
As can be seen from fig. 3, the current integration module includes a single power supply operational amplifier and a reference capacitor, and the measuring resistors R are respectively connected between the output terminal and the non-inverting input terminal, and between the output terminal and the inverting input terminal of the operational amplifier2And measuring the resistance R4Reference capacitance CrefA reference capacitor C connected between the non-inverting input terminal and groundrefAre connected in parallel with a measuring resistor R1A measuring resistor R is connected between the inverting input end and the ground3. DES is a simplified sensor; one lead (one electrode pin) of the sensor is connected with the output end of the switch module, and the other lead (the other electrode pin) of the sensor is connected with the non-inverting input end of the operational amplifier. The sensor is regarded as two variable resistors and one variable capacitor connected in series, and the current integration method is used to design the circuit
A method for detecting motion using the above sensing circuit, comprising the steps of:
a. attaching and fixing a sensor at the position where the skin stretching change outside the joint is maximum when each motion (single-degree-of-freedom motion) of the joint to be detected occurs; the sensor is fixed on the skin by two adhesive tapes, one is an intramuscular effect patch with certain elasticity, the two ends of the sensor are fixed with the skin, and the other is a medical adhesive tape, which is used for reinforcing and fixing the intramuscular effect patch with the skin.
b. The motion analog signal of the angle change of the joint detected by the sensor is output to a filtering module, the filtering module carries out low-pass filtering of 200Hz on the motion electric signal, the motion electric signal after the low-pass filtering is subjected to A/D conversion by a signal processing module, and then the signals of the front period and the rear period are superposed to obtain an average value, so that a motion digital signal is obtained;
the signal detected by the sensor has serious electromagnetic noise interference of 50Hz when filtering is carried out, so that the sensor is very easily interfered by external signals, if a computer runs around, the readout of the sensor is very unstable, the signals in the front period and the back period are superposed to obtain an average value, the noise is filtered, the stability of the circuit readout is improved, and the electromagnetic noise interference of the two adjacent periods has opposite influence on the waveform of a motion electric signal during actual measurement.
c. Inputting the motion digital signal into a decoupling processing module, and substituting the motion digital signal into a formula by the decoupling processing module:calculating the angle of the joint to be detected in one motion direction (degree of freedom);
stipulating: detecting jointsjThe motion angle of the individual motion direction (degree of freedom) and the detection of the joint being at the firstjThe movement angle in one movement direction (degree of freedom) is，Indicating when in motioniChange of voltage indication of number sensor, signIs shown asjThe motion angle in the signal motion direction (degree of freedom) and the secondiThe slope between the changes of the corresponding sensor voltage readings of the number sensor (in single degree of freedom motion); it is written in the form of a matrix:
is abbreviated as
By estimating joint movement angle by indication of sensor, i.e.
Wherein,i、ja positive integer.Is a matrixThe inverse matrix of (c). This equation is the decoupling equation for joint motion. Although the above formula is derived in the case of compound movements, it is still applicable to single independent simple movements.
d. And the digital signal is output in real time through the display module.
The signal processing module and the decoupling processing module are implemented using processors stm32f103 and/or stm32f 407.
The invention calibrates the matrix before monitoring the joint movement for the first time: the joint moves to the limit position of each movement direction (degree of freedom), the first recordjIn the direction of movement (degree of freedom)iVariation of individual sensor voltage readingsAnd combines all movement directions (freedom degree) of human joints 。First, thejIn the direction of movement (degree of freedom)iVariation of individual sensor voltage readingsWith the direction of each movement of the human body joint (degree of freedom)Ratio of。
During operation, signal processing module sends pulse signal, and pulse signal carries out power amplification through switch module, provides pulse signal to the sensor to provide input signal to current integral module, the integral result is analog signal, and the filtering module carries out low pass filtering to analog signal for the interference killing feature of increase circuit, and the filtering result is analog signal, and analog signal has carried out digital filtering after carrying out analog-to-digital conversion (AD) conversion through signal processing module, and digital filtering adopts the time domain filtering method, specifically does: and (3) superposing signals corresponding to two adjacent periods before and after, and performing arithmetic mean operation to basically filter 50Hz noise and stabilize the display.
After the digital signal output by the signal processing module is subjected to decoupling processing by the decoupling processing module, the calculated joint angle is output and displayed on the display module. Under the normal working condition of the lithium battery power supply, the output voltage can be reduced along with the loss of electric quantity, and the voltage stabilizing power supply module regulates the voltage to keep the voltage constant in the process.
The sensor, the sensor circuit and the motion detection method of the invention are used for monitoring and measuring the joint motion, and the linearity error of the detection circuitIs 0.0014, hysteresis errorThe size of the optical fiber is 0.006, the size of the repeatability error is 0.0081, the sensitivity is 0.0082V/mm, and the dynamic response time is about 200 ms; the invention has the advantages of no obvious obstruction to the human joint movement, simple structure, high sensitivity and precision, low cost, good real-time performance and the like; the invention can monitor the motion data timely and objectively under the condition that the proprioception of the wearer is not disappeared, has good real-time performance, and almost simultaneously displays the motion and the data of the wearer.
When the invention is used for detecting the wrist movement, the structure that the sensor is attached to the wrist is shown in figure 4,
wherein 8 is a ruler flexion measuring sensor, 9 is a pronation measuring sensor, 10 is a supination measuring sensor, 11 is a dorsiflexion measuring sensor, and 12 is a palmar flexion measuring sensor.
In the process of measuring the wrist movement, the movement with one degree of freedom can influence the other movement, and the movement measurement coupling exists and needs decoupling. A linear relation exists between the voltage indication change of each sensor and any simple movement angle of the wrist joint. The change in the voltage indication for each sensor is the sum of the changes in the voltage indication caused by a plurality of simple movements.
As shown in FIG. 4, wrist joint detection5The angle of movement of the individual directions of movement (degrees of freedom),jrepresents 1 to 5，1 represents wrist joint palmar flexion, 2 represents wrist joint dorsiflexion, 3 represents wrist joint ulnar flexion, 4 represents wrist joint pronation, and 5 represents wrist joint supination; the use of 5 sensors is made of a sensor,ithe representatives are 1-5, 1 is a sensor for measuring wrist joint palmar flexion movement, 2 is a sensor for measuring wrist joint dorsiflexion movement, 3 is a sensor for measuring wrist joint ulnar flexion movement, 4 is a sensor for measuring wrist joint pronation movement, and 5 is a sensor for measuring wrist joint supination movement.
For each simple movement of the wrist joint, there are 5 joint movement angles in relation to the change in the voltage readings of the sensors, namely:
in the process of measuring the joint movement, the movement with one degree of freedom can influence the other movement, and the movement measurement coupling exists and needs decoupling. A linear relation exists between the voltage indication change of each sensor and any simple motion angle of the joint. The change in the voltage indication for each sensor is the sum of the changes in the voltage indication caused by a plurality of simple movements. Taking the number sensor as an example, there are:
can also be written as:
calibrating the linear relation between the voltage readings of each sensor of the wrist joint and 5 motion angles to obtain the slope between the motion angle of the joint and the voltage reading change of the sensor。
Since there are 5 sensors, written in a matrix form:
the above formula can be abbreviated as
By estimating the angle of movement of the wrist joint by the readings of the sensors, i.e.
WhereinIs a matrixThe inverse matrix of (c). This equation is the decoupled equation for the wrist motion.
The data obtained by measuring the wrist joint palm flexion and dorsiflexion movements by using the instrument disclosed by the invention is compared with the data obtained by measuring the wrist joint palm flexion and dorsiflexion movements by using a standard instrument, the maximum measurement errors of the two data are respectively 2.35 degrees and 1.07 degrees, and the detected data curve comparison graphs are shown in fig. 5 and 6, wherein the ordinate is the change of the joint bending angle, and the abscissa is the movement time of the joint.
The sensor has the advantages of good measurement precision, light weight, good flexibility and elasticity, large stretching variable, no influence on normal movement, simple structure and low manufacturing cost. The relevant performance is compared with the common motion sensor as follows:
| sensor with a sensor element | Degree of linearity | Stretchability | Repeatability of | Hysteresis property |
| Annupu flexible fabric strain sensingDevice for cleaning the skin | 5% | 60% | 5% | 5% |
| The invention relates to a wearable motion sensor | 0.2% | 200% | 0.81% | 0.6% |
Claims (6)
1. A wearable motion sensor, comprising: the silicon rubber insulation protective layer is arranged on the upper side and the lower side of the silicon rubber dielectric film layer, an upper flexible electrode layer and a lower flexible electrode layer are respectively arranged on the upper side of the upper flexible electrode layer and the lower side of the lower flexible electrode layer, an upper electrode pin and a lower electrode pin are respectively arranged on the upper flexible electrode layer and the lower flexible electrode layer, and the upper insulation protective layer and the lower insulation protective layer are silicon rubber insulation protective layers; the material and the method are as follows:
firstly, preparing a silicon rubber dielectric film plate: preparing a sacrificial layer, weighing reagents according to a mass ratio of polyacrylic acid to volatile solvent of 1: 3-1: 5, placing the reagents into a small box, placing the small box into a stirrer, and uniformly mixing, defoaming and stirring to obtain sacrificial layer slurry; preparing silicon rubber liquid, placing the silicon rubber liquid and a diluent in a small box according to the mass ratio of 1: 1-3: 2, placing the silicon rubber liquid and the diluent in a stirrer, and uniformly mixing, defoaming and stirring to obtain the silicon rubber liquid; coating a sacrificial layer, namely coating the slurry of the sacrificial layer on the thermoplastic polyester substrate by using a coater, and after the coating is finished, drying the sacrificial layer to obtain seven colors of the thermoplastic polyester substrate; coating a silicon rubber layer, namely coating a silicon rubber solution on a thermoplastic polyester substrate covered with a sacrificial layer by using a coater, lifting the coated substrate by using a steel plate, and covering an acrylic cover; heating and curing, and sending the silicon rubber dielectric film plate to a heating box for heating and curing to obtain a silicon rubber dielectric film plate for later use;
step two, preparing a silicon rubber insulation protection layer plate: preparing sacrificial layer slurry, weighing reagents according to a mass ratio of 1: 3-1: 5 of polyacrylic acid and volatile solvent, placing the reagents into a small box, adding water accounting for 2-6% of the total mass, placing the reagents into a stirrer, and uniformly mixing, defoaming and stirring to obtain the sacrificial layer slurry; preparing silicon rubber liquid, winding a raw material belt on a small box, placing the silicon rubber liquid and a diluent in the small box according to the mass ratio of 1: 1-3: 2, placing the silicon rubber liquid and the diluent in a stirrer, and uniformly mixing, defoaming and stirring to obtain the silicon rubber liquid; coating a sacrificial layer, namely coating the slurry of the sacrificial layer on a thermoplastic polyester substrate by using a coater, and after the coating is finished, drying the sacrificial layer, wherein the dried plastic polyester substrate presents seven colors; coating a silicon rubber layer, namely coating a silicon rubber solution on a thermoplastic polyester substrate covered with a sacrificial layer by using a coater, lifting the coated substrate by using a steel plate, and covering an acrylic cover; heating and curing, and sending to a heating box for heating to obtain a silicon rubber insulation protective layer plate for later use;
step three, preparing a flexible electrode: mixing a carbon material and a volatile solvent in a mass ratio of 1: 17-1: 22, adding steel balls to disperse carbon powder, uniformly mixing and stirring in a stirrer, and defoaming to obtain electrode slurry; after stirring, taking out the small box, adding a silicon rubber stock solution with the mass ratio of 1: 9-1: 11 to the carbon material into the electrode slurry, adding a diluent with the mass ratio of 1: 1-3: 2 to the silicon rubber stock solution, and uniformly mixing, stirring and defoaming in a stirrer to obtain a flexible electrode for later use;
fourthly, cutting the prepared silicon rubber dielectric film plate and the prepared silicon rubber insulating protection layer plate into a silicon rubber dielectric film plate unit and a silicon rubber insulating protection layer plate unit, cutting an electrode pin groove on the silicon rubber insulating protection layer plate unit, and cutting an electrode smearing notch in the middle of the thermoplastic polyester plate;
fifthly, the silicon rubber layer side of the silicon rubber dielectric film plate unit is attached to the thermoplastic polyester plate opposite to the electrode coating groove opening, a flexible electrode is coated on the silicon rubber layer side of the silicon rubber dielectric film plate unit in the electrode coating groove opening, the silicon rubber dielectric film plate unit is separated from the thermoplastic polyester plate after the flexible electrode is coated, and the silicon rubber dielectric film plate is heated and cured to obtain a silicon rubber dielectric film electrode plate;
sixthly, performing plasma treatment, namely putting the silicon rubber dielectric film electrode plate and the silicon rubber insulating protection layer plate unit into a plasma machine for plasma treatment;
seventhly, oppositely attaching, bonding and fixing the silicon rubber layer of the silicon rubber insulation protection layer plate unit after plasma treatment and the flexible electrode of the silicon rubber dielectric film electrode plate to obtain a sensor main body substrate;
eighthly, placing one side of the silicon rubber dielectric film electrode plate of the sensor main body substrate in boiling water to dissolve the sacrificial layer, and removing the thermoplastic polyester substrate;
ninth, repeating the operations of the fifth step, the sixth step and the seventh step to obtain a sensor main body plate;
respectively placing the two sides of the sensor main body plate in boiling water to dissolve the sacrificial layer, and removing the thermoplastic polyester substrate to obtain a sensor main body;
and step eleven, placing the electrode pins into the electrode pin grooves, coating a proper amount of flexible electrodes into the electrode pin grooves, placing the electrode pins into a heating box for heating and curing, and finally welding wires on the electrode pins to finish the manufacturing.
2. The wearable motion sensor of claim 1, wherein: the silicon rubber collagen liquid used in the silicon rubber dielectric film layer is LSR4305 or MED 4901; the silicon rubber collagen liquid used in the silicon rubber insulating protective layer is LSR4305 or Sylgard 186; the silicone rubber collagen liquid used in the flexible electrode layer is MED 4901.
3. The wearable motion sensor of claim 1 or 2, wherein: the volatile solvent is isopropanol; the diluent is isooctane or OS-20; preferred ranges of the thickness of the silicone rubber dielectric film layer are: 70-200 μm; preferred ranges of the thickness of the insulating protective layer are: 200-400 μm.
4. A sensing circuit comprising the wearable motion sensor, characterized in that: the device comprises a sensor body, a current integration module, a filtering module, a signal processing module, a decoupling processing module, a voltage-stabilized power supply module, a switch module and a display module; one lead of the sensor body is connected with the output end of the switch module, and the other lead is connected with the non-inverting input end of the operational amplifier; the output end of the current integration module is connected with the input end of the filtering module, the output end of the filtering module is connected with the input end of the signal processing module, the output end of the signal processing module is connected with the input end of the decoupling processing module, the output end of the decoupling processing module is connected with the input end of the display module, the voltage-stabilized power supply module is respectively connected with the current integration module, the switch module, the decoupling processing module and the signal processing module, the input end of the switch module is connected with the pulse signal output end of the signal processing module, the output end of the switch module is connected with the pulse signal input end of the current integration.
5. The sensing circuit of claim 4, wherein: the current integration module comprises an operational amplifier and a reference capacitor, and a measuring resistor R is respectively connected between the output end and the non-inverting input end of the operational amplifier and between the output end and the inverting input end of the operational amplifier2And measuring the resistance R4Reference capacitance CrefA reference capacitor C connected between the non-inverting input terminal and groundrefAre connected in parallel with a measurementResistance R1A measuring resistor R is connected between the inverting input end and the ground3。
6. A method for detecting motion using the above sensing circuit, comprising the steps of:
a. attaching and fixing a sensor at the position where the skin stretching change outside the joint is maximum when each motion of the joint to be detected occurs;
b. the motion analog signal of the angle change of the joint detected by the sensor is output to a filtering module, the filtering module carries out low-pass filtering on the motion electric signal, and the motion electric signal after the low-pass filtering is subjected to A/D conversion by a signal processing module and then the signals of the previous period and the next period are superposed and averaged to obtain a motion digital signal;
c. inputting the motion digital signal into a decoupling processing module, and substituting the motion digital signal into a formula by the decoupling processing module:
calculating the angle of one motion direction of the joint motion to be detected;
stipulating: detecting jointsjThe motion angle of the joint in the first motion directionjThe movement angle in the signal movement direction is，Number 1 when indicating movementiVariation of voltage indication of sensor, signIs shown asjThe motion angle in the motion direction of the horn and the firstiThe slope between changes in the sensor voltage readings corresponding to the number sensor; it is written in the form of a matrix:
is abbreviated as
By estimating the angle of movement of the wrist joint by the readings of the sensors, i.e.
d. And the digital signal is output in real time through the display module.
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