CN108309293A - A kind of piezoelectricity flexible sensing device - Google Patents
A kind of piezoelectricity flexible sensing device Download PDFInfo
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- CN108309293A CN108309293A CN201810110979.6A CN201810110979A CN108309293A CN 108309293 A CN108309293 A CN 108309293A CN 201810110979 A CN201810110979 A CN 201810110979A CN 108309293 A CN108309293 A CN 108309293A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
- A61B5/6867—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive specially adapted to be attached or implanted in a specific body part
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
- A61B5/6885—Monitoring or controlling sensor contact pressure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y70/00—Materials specially adapted for additive manufacturing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y80/00—Products made by additive manufacturing
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0247—Pressure sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/12—Manufacturing methods specially adapted for producing sensors for in-vivo measurements
Abstract
The invention belongs to sensor production technical field, especially a kind of piezoelectricity flexible sensing device；It is mainly made of piezoelectricity flexible sensor, electromyography signal pre-processing module, bluetooth wireless transmitter module, bluetooth wireless receiving module, electromyography signal analysis and processing module and control artificial limb action module etc.；Piezoelectricity flexible sensor acquires Muscle tensility signal and signal is passed to electromyography signal pre-processing module, pretreated electromyography signal is transferred to electromyography signal analysis and processing module by electromyography signal pre-processing module, and control artificial limb action module is according to treated the electromyography signal control artificial limb action of electromyography signal analysis and processing module；The device it is reasonable for structure, scientific in principle is reliable, product stability is good, high sensitivity, the life of handicapped person can greatly be improved, epidermal tissue can be avoided directly with electromyography signal is used using built-in sensor, signal more effectively can be accurately acquired and remove auxiliary operation artificial limb, make artificial limb holding function closer to protopodite body.
Description
Technical field：
The invention belongs to sensor production technical fields, and in particular to a kind of piezoelectricity flexible sensing device uses 3D printing
Muscle tensility signal is acquired at the piezoelectricity flexible sensor of seamless applying remaining limb muscle and adjacent tissue shape, sensor can
It works near the best operating point of free tension-free state, sensitivity higher is at core by 9 framework S3C2440 of ARM
The prosthesis control end for managing device carries out feature recognition analysis by software intelligent behavior pattern, by the signal of control residual limb and lacks
The signal for losing limbs separates, and controls artificial limb action by ARM microcontrollers with missing limbs signal, keeps artificial limb holding function close
Protopodite body.
Background technology：
Existing sensor and preparation method thereof is varied, and the technology for controlling artificial limb with sensor also has report more
Road.If can accurately obtain feel originally in the remaining limbs of amputation patient and control the muscle of the limbs lost, tendon flesh
Tension can preferably control artifucial limb, it is made to be more nearly original limb function (Kuiken TA, Marasco PD, Lock
BA,Harden RN,Dewald JPA.Redirection of cutaneous sensation from the hand to
the chest skin of human amputees with targeted reinnervation.Proc Natl Acad
Sci USA.2007；104(50):20061-6；Kevin Kit, Anisotroic muscular tissue devices
with integrated electrical force readouts.United States Patent Application
20170016875,Kind Code A1,Parker；January 19,2017；Li Tao, to thoroughfare, Wang Jinfeng, Song Quanjun, Sun Jian,
Ge Yun build a kind of muscle tension sensor [P] of invention in 2011, Patent No. CN202086486U in；Li Tao, to thoroughfare, Wang Jin
Phoenix, Song Quanjun, Sun Jian, a kind of muscle tension sensor and muscle tone detection method [P] of the invention of Ge Yunjian etc. 2011, specially
Profit number is CN102247151A.)；The piezoelectric transducer of human body related application needs nontoxic, soft.Copolymer p (VDF-TrFE)
Nontoxic softness, meets this feature request, and copolymer p (VDF-TrFE) is that piezoelectric property is most in current organic piezoelectric materials
Good sensor material；Additionally, due to stump site there is definite shape, 3D printing the sensor printed can be made to have energy
Enough planforms combined with remaining limb muscle seamless paste, when detecting Muscle tensility in vitro, such sensor also can be more
Good acquisition Muscle tensility signal；It easily by noise jamming, skin itself or is affected from the mode presence of body surface acquisition Muscle tensility data
Problem of signal attenuation caused by deformation, and built-in sensor can avoid epidermal tissue and directly use electromyography signal, more have
Remove auxiliary operation artificial limb (Loeb GE, Peck RA, Moore WH, Hood K.BION (TM) system for effect
distributed neural prosthetic interfaces.Med Eng Phys.2001；23(1):9-18.)；Inside
It sets in use, the muscular tissue structure around sensor is just more complicated, a soft fitting receptor is made by 3D printing
The myoelectric sensor of position shape more efficient can pass on muscular movement instruction and preferably control artificial limb；Additionally while being soft
Property material sensor, the setting of its operating point under its natural tension-free state best results, and integrated directly beat
This design concept (Su Jiangzhou, Zhang Yan, Liao Lizhi, Wang Yuxiang can be realized by being printed to the PVDF-TrFE sensors of controlled shape
Equal to the bionical prosthetic hand and device [P] based on 3D printing of invention in 2017, Patent No. CN106974749A；Liu Libiao,
Week refining is equal to compound 3D printing formation system, forming method and the intravascular stent [P] of invention in 2017, Patent No.
CN106584836A；Xia Zhidong, Huang Pei, Cui Song, Nie Jingkai, thunder Yongping are equal to a kind of 3D printing compliant conductive of invention in 2017
Composite material and preparation method [P], Patent No. CN106751908A.).
Currently, existing business 3D printing raw material is powder or silk material mostly, waste of raw materials is serious, and sells in the market
P (VDF-TrFE) higher price, reduce that prepare loss very necessary, by former using liquid to the transformation of print head feeding manner
Expecting the mode as printed material can save material；(Titterington Don[US]；Wang Patricia[US]；Wu
Bo[US]Inks comprising gallants for 3D printing.US20171564083020170703；France
Xavier Boddaert seminar report within 2016 inkjet printing PVDF-TrFE sensors (Haque RI, Vie R,
Germainy M,Valbin L,Benaben P,Boddaert X.Inkjet printing of high molecular
weight PVDF-TrFE for flexible electronics.Flex Print Electron.2016；1(1):12))
Deng.In terms of analyzing nerve signal, Wang Hong does analysis to full E.E.G and obtains deformed limb control information (Wang Hong, Li Chunsheng, Liu Chong, Zhao
Beach human brain-robot arm interface system [P], Patent No. under the micro-power wireless communication mode of invention in 2009
CN101569569；), but this signal component is complicated, and accuracy rate is affected；We intend the letter using specific deformed limb nerve
Number, use for reference Hargrove etc. United States Patent (USP) (Hargrove LJ, Simon AM, Young AJ, Lipschutz RD,
Finucane SB,Smith DG,et al.Robotic leg control with EMG decoding in an
amputee with nerve transfers.N Engl J Med.2013；369(13):1237-42), in their research
Find that limb action has respective behavior pattern, such as kneed bending in practice, in order to find the signal for dominating artifucial limb,
Hargrove etc. analyzes electromyography signal, removes and isolates useful signal from original muscle signal and can control
Artifucial limb (Hargrove LJ, Simon AM, Young AJ, Lipschutz RD, Finucane SB, Smith DG, et
al.Robotic leg control with EMG decoding in an amputee with nerve transfers.N
Engl J Med.2013；369(13):1237-42)；Patients with amputation is since itself is handicapped, and lodging etc. is uncertain more, often
The multiple conducting wires for advising a plurality of nerve are connected to prosthesis control end method and are not suitable for, so using Bluetooth technology will acquire in vivo
Electromyography signal is wirelessly transmitted to prosthesis control end, and (Chen Peng, Liu Jun are in the artificial limb table based on wireless sensor network of invention in 2016
Facial muscle electrical signal collection system [P], Patent No. CN105434088A).
In conclusion prior art generally existing preparation process is complicated, manufacturing cost is high, using business 3D printing raw material system
Standby sensor resource wastes, and product stability is insufficient, and ordinary sensors are existed by the way of obtaining Muscle tensility data from body surface
The problems such as easily being caused signal to decay by tissues such as noise jamming, skins, and application range is small, and safety is poor, and service life is short
The shortcomings of.
Invention content：
It is an object of the invention to overcome disadvantage of the existing technology, more efficiently obtain Muscle tensility signal,
Guarantee batch production manufacture and it is easy to use under conditions of, design a kind of piezoelectricity flexible sensing device, it is soft using 3D printing
Property sensor, for acquire muscular movement generation electric signal.
To achieve the goals above, piezoelectricity flexible sensing device of the present invention, agent structure include：Piezoelectricity is flexible
Sensor, electromyography signal pre-processing module, bluetooth wireless transmitter module, bluetooth wireless receiving module, electromyography signal analyzing processing
Module, control artificial limb action module, charging module, built-in circuit power module, electrode, suture, preamplifier, multichannel mould
Quasi- switch, the filter except noise jamming, post-amplifier, microcontroller AD conversion unit and artificial limb power module；Piezoelectricity is soft
Property sensing device include internal portion and external part, internal portion is mounted on deformed limb muscle surface layer, external to be partly installed in vacation
In limb；Wherein the piezoelectricity flexible sensor of internal portion is fixed on the musculature surface layer of human body by suture, and piezoelectricity is flexible
Sensor upper surface is provided with more than one strip structure electrode, and electrode acquires the Muscle tensility signal of musculature, and piezoelectricity is soft
Property sensor by Muscle tensility signal power information connection by way of pass to electromyography signal pre-processing module；Before electromyography signal
Module is managed by preamplifier, multiway analog switch, the filter except noise jamming, post-amplifier and microcontroller analog-to-digital conversion
Power information connection is composed unit successively, and wherein the preamplifier of internal portion passes through multiway analog switch and external part
The connection of filter power information, filter will be transferred to post-amplifier after Muscle tensility Electric signal processing, post-amplifier is by flesh
Tension signal amplifies and is transferred to microcontroller AD conversion unit, and microcontroller AD conversion unit will treated Muscle tensility signal
Be converted to digital signal；Electromyography signal pre-processing module gives electric signal transmission to bluetooth wireless transmitter module, before electromyography signal
Reason module is connect with bluetooth wireless transmitter module power information；Bluetooth wireless transmitter module transmits wirelessly two by bluetooth coding and bluetooth
A functional unit combines, the bluetooth wireless receiving module Wireless information communication of bluetooth wireless transmitter module and external part；
Bluetooth wireless receiving module decodes two functional units by bluetooth wireless receiving and bluetooth and combines, bluetooth wireless receiving module
Received signal is transferred to electromyography signal analysis and processing module, bluetooth wireless receiving module and electromyography signal analysis and processing module
Power information connects, electromyography signal analysis and processing module will treated electric signal transmission to control artificial limb action module, control vacation
Limb action module is provided with the prosthesis control end that 9 framework S3C2440 of ARM are core processor, passes through software intelligent behavior pattern
Feature recognition analysis is carried out, the signal of the signal of control residual limb and missing limbs is separated, is passed through with missing limbs signal
ARM microcontrollers control artificial limb action, and artificial limb is made only to make a response to the instruction of deformed limb nerve；The present apparatus is provided with wireless energy system
The energy is provided for built-in circuit and external artificial limb actuating circuit.
All built-in circuits including wireless energy system that the present invention configures are integrated in one piece of circuit board, using PDMS water
Sealing dress is placed in vivo；Wireless energy system includes external charging module, built-in circuit power module and artificial limb power supply mould
Block, wherein charging module are provided with the power management module being connect with external ac power source and one is connected to power management module
Electromagnetic wave transmission module on output end, power management module further include boosting unit and voltage detection unit, and charging module will
Electric energy wireless transmission is to built-in circuit power module and artificial limb power module for driving built-in signal acquisition process transmitting electricity
Road and external signal receive processing and artificial limb mechanical movement；Built-in circuit power module and artificial limb power module are respectively by one
It is a can receive electromagnetic wave transmission module transmitting electromagnetic wave signal electromagnetic wave receiving module, one be connected to electromagnetic wave reception
The charging circuit and battery composition for charging the battery on module output end, the electromagnetic wave receiving module receive
The electromagnetic wave signal of electromagnetic wave transmission module transmitting charges to the battery of corresponding site by charging circuit；It finally realizes whole
The normal operation of covering device.
Muscle tensility electrical signal collection wireless transmission process module of the present invention includes piezoelectricity flexible sensor, myoelectricity letter
Number pre-processing module, bluetooth wireless transmitter module, the wherein AD conversion unit in electromyography signal pre-processing module are mono- by STM32
Piece machine carries out analog-to-digital conversion to signal；Each piezoelectricity flexible sensor corresponds to an electromyography signal preamplifier, microcontroller
The multiway analog switch of control allows all built-in sensors to share filter and post-amplifier after preposition amplification, in this way
Design simplify circuit, and reduce the demand to built-in space；The flesh that all electromyography signal pre-processing modules obtain
Force electrical signal is transmitted to bluetooth wireless transmitter module, and is wirelessly transmitted to external control circuit portion by bluetooth wireless transmitter module
Point.
The preparation method of piezoelectricity flexible sensor of the present invention, basic technology include the following steps：
(1), 3D figures are drawn：Nuclear magnetic resonance does the radiography of residual body part muscle, according to nuclear-magnetism structure, reference standard people
Body dissection musculature figure (such as ZygoteBody (https://www.zygotebody.com)), draw the 3D of respective muscle
Figure；
(2), 3D printing：By muscle 3D mode input 3D printers, with polylactic acid PLA raw material 3D printing respective muscle mould
Type, print temperature control between 180~200 degree, and the heating and temperature control of bottom plate is between 50~65 degree, according to Standard melt
The flow for depositing the 3D printer of (FDM), is printed using common filamentary material；Printed model is done at smooth surface
Reason：In draughty region, wears non-latex class (nitrile or neoprene) gloves and model is positioned over bottom equipped with a small amount of third
It is quiet to put 2-7 hours in the sealing container of ketone, or heating 30-50min acceleration acetone volatilization processes, reduce standing time；
(3), solution spraying：It is convenient in order to take off film in later step, it is poly- in one layer of 0.5-2wt% of muscle model surface spraying
Vinyl alcohol (PVA) solution；
(4), substratum for waterproofing is coated：PDMS colloidal solution is by solidfied material (DOW CORNING 184) and PDMS prepolymers by quality
Than 1:The proportional arrangement of 8-12；First the muscle model by above-mentioned printing is put into culture dish, and the covering of PDMS colloids is poured into flesh
On meat model, then culture dish is horizontally arranged by thickness 0.3-1mm as in vacuum drying oven, temperature control is in 60-100 degree, baking
30-180min makes muscle model cure；
(5), elargol electrode is applied：Elargol electrode is applied on cured muscle model, and connects gold or silver electrode from edge
LY-16034Ted Pella silver conductive adhesives are smeared very thin one layer with brush, stand 1-4 hours and wait for that elargol parches by conducting wire；
(6), 3D printing sensor：It is realized using liquid solution slurry and 3D printing technique,
First it is equipped with liquid material solution slurry：10-20wt%PVDF-TrFE and its composite wood are equipped on about 60 degree of warm tables
2-6% Du Pont's fluorocarbon surfactants (Capstone FS-66) are added, through 60-80 in dimethylformamide (DMF) solution of material
The PVDF-TrFE raw materials slurry that degree vacuum drying obtains for 5-24 hours after concentration；
The piezoelectricity flexible sensor of 3D printing muscle shape again, the side directly printed by liquid material using the prior art
A kind of method (the Zhejiang liquid food materials 3D printing device [P] of the triumphant of Zhang Jing, Jin Liang, Jin Jie, Wang Dilong, Pan Haijun, Wang Yijiang, Feng Qi：
CN206284362U, 2017-06-30), the piezoelectric transducer of printing, piezoelectric layer thickness is 10-100 μm；
(7), sensor cures：Temperature control 4-8 hours consolidated structures of 60 degree of vacuum drying, standing is cooled to room temperature, from PLA fleshes
Flexible sensor is taken off on meat mold；
(8), temperature control is annealed：Vacuum annealing between temperature control 90-150 degree, annealing time 5-24 hours, standing are cooled to room
Temperature, margins of excision redundance；
(9), gel electrode is applied：The top electrode of 5-7 items separation is applied out along muscle trend with elargol brush, and gold is connected from edge
Or silver electrode conducting wire is stood 1-4 hours and is waited for that elargol parches using LY-16034Ted Pella silver conductive adhesives；
(10), waterproof enclosure：With mass ratio 1:The solidfied material (DOW CORNING 184) of 8-12 and the colloid of PDMS prepolymers are molten
The above-mentioned piezoelectricity flexible sensor for being connected with upper/lower electrode is put into culture dish by liquid, make between each electrode and with lower electricity
The lead of pole separates, and PDMS colloids are poured and are layed onto on sensor, thickness 1-2mm, after bubble all discharge, then will culture
Ware is horizontally arranged as in baking oven, and temperature control makes its solidification in 60-100 degree baking 30-180min；
(11), piezoelectric transducer electric polarization：According to piezoelectric material layer thickness, apply about 1.5-2 times coercive field strength (50kV/
Mm polarizing voltage 7000-10000V), polarization time 15-40min obtain product piezoelectricity flexible sensor.
The present invention is suitble to the built-in PVDF- of respective muscle shape using 3D printing to effectively acquire Muscle tensility signal
TrFE piezoelectricity flexible sensors；After the multichannel Muscle tensility signal acquired is by built-in preamplifier and filter process
It is applicable to various and Muscle tensility by microcontroller AD conversion unit and controls relevant application.
The present invention is described further the technique of 3D printing piezoelectricity flexible sensor：General 3D printing wax material, powder,
Filamentous metal or raw materials for plastics production, the present invention use 3D printing technique liquid solution slurry；The 3D printing technique of the present invention is adopted
It is driven with stepper motor with movable base plate print structure and big distance, by adjusting motion scan speed and to phosphoric acid and temperature
The control of degree etc., and precise micro syringe pump minimum nozzle is combined, realize precise and tiny structure printing；Print head part includes that can tear open
The pin valve nozzle and stainless steel charging basket, the sliding upper end in stainless steel charging basket for unloading micro machine control can be equipped with chemically inert
Teflon pistons print push rod, Teflon piston ridges and stainless steel charging basket sealed set, and print head part further includes heating group
Part and nozzle temperature controller；In stainless steel charging basket for concentrated processing exclude the PVDF-TrFE obtained after moisture and air or
Its compound former material slurry；3D printing system is additionally provided with temperature, pressure, liquid level sensor, and temperature is finely tuned by semiconductor refrigerating
Carry out the viscosity of accuracy controlling printing raw material slurry.
Present invention combination attached drawing further illustrates the application of piezoelectricity flexible sensor：First to the muscle groups at remaining limbs end
It knits and is transformed, the nerve being connected with missing limbs is reapposed in the musculature at remaining limbs end, then by piezoelectricity
Flexible sensor is sewn in the musculature at remaining limbs end；By taking incomplete shank as an example, sciatic nerve and the calf of shank are lacked
Bone nerve is replaced on two skull fleshes of thigh；Collected electromyography signal just contains brain and sends out on two skull fleshes
The original shank respective muscle of control information.
The Muscle tensility signal of the piezoelectricity flexible sensor acquisition control artificial limb of built-in directly cladding muscle of the present invention
Corresponding electric signal, piezoelectricity flexible sensor are processed for different muscle shapes；The flexible piezoelectric Muscle tensility of internal portion
The setting of sensor：For disposing piezoelectricity flexible sensor close on olive-type gastrocnemius, going out one with 3D printing has
The piezoelectricity flexible sensor of the wrapped shapes of radian enables to piezoelectricity flexible sensor to be preferably bonded muscle, makes electromyography signal
Collection it is sensitiveer effectively；The multiple electrodes of piezoelectricity flexible sensor make the strip moved towards along muscle, first, in order to make
After the completion of standby polarization etc., it is found that individual electrode can also continue to use because the reasons such as short circuit do not work, second is that for Different electrodes
The signal acquired on position can do further position correlation sensitive analysis.
Compared with prior art, the present invention piezoelectricity flexible sensing principle of device science is reliable, product stability is good, uses the longevity
Life length, artificial limb holding function can greatly improve the life of handicapped person close to protopodite body, high sensitivity, and built in use
The sensor of formula can avoid epidermal tissue directly with electromyography signal is used, to which more effective accurately acquisition signal goes auxiliary to grasp
Artificial limb is controlled, while being used as using the liquid material of PVDF-TrFE and its composite material by doing to improve to print head feeding manner
The mode of 3D printing material can save material, and simplify preparation process, and application environment is friendly.
Description of the drawings：
Fig. 1 is the structural principle modular schematic block diagram of piezoelectricity flexible sensing device of the present invention.
Fig. 2 is the structural principle modular schematic block diagram of electromyography signal pre-processing module of the present invention.
Fig. 3 is the preparation process flow schematic block diagram of piezoelectricity flexible sensor of the present invention.
Fig. 4 is missing limbs nerve reforming structure principle schematic of the present invention.
Fig. 5 is that built-in flexible sensor of the present invention is coated on the placing structure schematic diagram on muscle.
Specific implementation mode：
The invention will be further described by way of example and in conjunction with the accompanying drawings.
Embodiment 1：
The piezoelectricity flexible sensing device that the present embodiment is related to is as shown in Figure 1, its agent structure includes piezoelectricity flexible sensor
1, electromyography signal pre-processing module 2, bluetooth wireless transmitter module 3, bluetooth wireless receiving module 4, electromyography signal analyzing processing mould
Block 5, control artificial limb action module 6, charging module 7, built-in circuit power module 8, electrode 9, musculature 10, suture 11,
Preamplifier 15, multiway analog switch 16, filter 17, post-amplifier 18, microcontroller analog-to-digital conversion except noise jamming
Unit 19 and artificial limb power module 20；Piezoelectricity flexible sensing device includes internal portion and external part, and internal portion is mounted on
Deformed limb muscle surface layer, it is external to be partly installed in artificial limb；Wherein the piezoelectricity flexible sensor 1 of internal portion is solid by suture 11
It is scheduled on 10 surface layer of musculature of human body, 1 upper surface of piezoelectricity flexible sensor is provided with more than one strip structure electrode 9,
Electrode 9 acquires the Muscle tensility signal of musculature 10, the side that piezoelectricity flexible sensor 1 connects Muscle tensility signal by power information
Formula passes to electromyography signal pre-processing module 2；Electromyography signal pre-processing module 2 by preamplifier 15, multiway analog switch 16,
Except the filter 17 of noise jamming, post-amplifier 18 and microcontroller AD conversion unit 19 successively power information connect combination and
At wherein the preamplifier 15 of internal portion is connected by 17 power information of filter of multiway analog switch 16 and external part
It connects, filter 17 will be transferred to post-amplifier 18 after Muscle tensility Electric signal processing, post-amplifier 18 puts Muscle tensility signal
Greatly and it is transferred to microcontroller AD conversion unit 19, Muscle tensility signal is converted to microcontroller AD conversion unit 19 by treated
Digital signal；Electromyography signal pre-processing module 2 is by electric signal transmission to bluetooth wireless transmitter module 3, electromyography signal pre-treatment mould
Block 2 is connect with 3 power information of bluetooth wireless transmitter module；Bluetooth wireless transmitter module 3 transmits wirelessly two by bluetooth coding and bluetooth
A functional unit combines, and bluetooth wireless transmitter module 3 and 4 wireless messages of bluetooth wireless receiving module of external part are logical
Letter；Bluetooth wireless receiving module 4 decodes two functional units by bluetooth wireless receiving and bluetooth and combines, bluetooth wireless receiving
Received signal is transferred to electromyography signal analysis and processing module 5 by module 4, and bluetooth wireless receiving module 4 is analyzed with electromyography signal
5 power information of processing module connects, and by treated, electric signal transmission acts mould to electromyography signal analysis and processing module 5 to control artificial limb
Block 6, control artificial limb action module 6 are provided with the prosthesis control end that 9 framework S3C2440 of ARM are core processor, pass through software
Intelligent behavior pattern carries out feature recognition analysis, the signal of the signal of control residual limb and missing limbs is separated, with missing
Limbs signal controls artificial limb action by ARM microcontrollers, and artificial limb is made only to make a response to the instruction of deformed limb nerve；The present embodiment is arranged
Wireless energy system for built-in circuit and external artificial limb actuating circuit provides the energy.
All built-in circuits including wireless energy system of the present embodiment configuration are integrated in one piece of circuit board, using PDMS
Water tight enclosure is placed in vivo；Wireless energy system includes that external charging module 7, built-in circuit power module 8 and artificial limb are electric
Source module 20, wherein charging module 7 are provided with the power management module being connect with external ac power source and one is connected to power supply
Electromagnetic wave transmission module on management module output end, power management module further include boosting unit and voltage detection unit, are filled
Electric module 7 is by electric energy wireless transmission to built-in circuit power module 8 and artificial limb power module 20 for driving built-in signal to adopt
Collection processing radiating circuit and external signal receive processing and artificial limb mechanical movement；Built-in circuit power module 8 and artificial limb electricity
Source module 20 respectively by one can receive electromagnetic wave transmission module transmitting electromagnetic wave signal electromagnetic wave receiving module, one
The charging circuit and battery composition for charging the battery being connected on electromagnetic wave receiving module output end, the electromagnetism
Wave receiving module receive the electromagnetic wave signal of electromagnetic wave transmission module transmitting by charging circuit to the battery of corresponding site into
Row charging；The final normal operation for realizing package unit.
The Muscle tensility electrical signal collection wireless transmission process module that the present embodiment is related to includes piezoelectricity flexible sensor 1, flesh
Electric signal pre-processing module 2, bluetooth wireless transmitter module 3, the wherein AD conversion unit in electromyography signal pre-processing module 2 by
STM32 microcontrollers carry out analog-to-digital conversion to signal；Each piezoelectricity flexible sensor 1 corresponds to an electromyography signal preamplifier
15, monolithic processor controlled multiway analog switch 16 allow all built-in sensors share filter 17 after preposition amplification and after
Grade amplifier 18, such design simplifies circuit, and reduces the demand to built-in space；All electromyography signal pre-treatments
The Muscle tensility electric signal transmission that module 2 obtains is wirelessly transferred to bluetooth wireless transmitter module 3, and by bluetooth wireless transmitter module 3
To external control circuit part.
Embodiment 2：
The preparation method for the piezoelectricity flexible sensor that the present embodiment is related to, basic technology include the following steps：
(1), 3D figures are drawn：Nuclear magnetic resonance does the radiography of residual body part muscle, according to nuclear-magnetism structure, reference standard people
Body dissection musculature figure (such as ZygoteBody (https://www.zygotebody.com)), draw the 3D of respective muscle
Figure；
(2), 3D printing：By muscle 3D mode input 3D printers, with polylactic acid PLA raw material 3D printing respective muscle mould
Type, print temperature control between 190 degree, and the heating and temperature control of bottom plate deposits (FDM) between 60 degree, according to Standard melt
3D printer flow, printed using common filamentary material；Printed model is done into smooth surface processing：It is good divulging information
Good region wears non-latex class (nitrile or neoprene) gloves and model is positioned over the sealing container that bottom is equipped with a small amount of acetone
It is interior, it is quiet to put 4 hours, or heating 40min acceleration acetone volatilization processes, reduce standing time；
(3), solution spraying：It is convenient in order to take off film in later step, in one layer of 1wt% polyethylene of muscle model surface spraying
Alcohol (PVA) solution；
(4), substratum for waterproofing is coated：PDMS colloidal solution is by solidfied material (DOW CORNING 184) and PDMS prepolymers by quality
Than 1:8 proportional arrangement；First the muscle model by above-mentioned printing is put into culture dish, and the covering of PDMS colloids is poured into muscle mould
In type, then culture dish is horizontally arranged by thickness 0.6mm as in vacuum drying oven, and for temperature control at 80 degree, baking 100min makes flesh
Meat mold curing；
(5), elargol electrode is applied：Elargol electrode is applied on cured muscle model, and connects gold or silver electrode from edge
LY-16034Ted Pella silver conductive adhesives are smeared very thin one layer with brush, stand 1-4 hours and wait for that elargol parches by conducting wire；
(6), 3D printing sensor：It is realized using liquid solution slurry and 3D printing technique,
First it is equipped with liquid material solution slurry：15wt%PVDF-TrFE and its composite material are equipped on about 60 degree of warm tables
Dimethylformamide (DMF) solution, be added 2-6% Du Pont's fluorocarbon surfactants (Capstone FS-66), through 70 degree very
The dry PVDF-TrFE raw materials slurry obtained after concentration for 14 hours of sky；
The piezoelectricity flexible sensor of 3D printing muscle shape again, the side directly printed by liquid material using the prior art
A kind of method (the Zhejiang liquid food materials 3D printing device [P] of the triumphant of Zhang Jing, Jin Liang, Jin Jie, Wang Dilong, Pan Haijun, Wang Yijiang, Feng Qi：
CN206284362U, 2017-06-30), the piezoelectric transducer of printing, piezoelectric layer thickness is 60 μm；
(7), sensor cures：Temperature control 60 degree of vacuum drying, 6 hours consolidated structures, standing is cooled to room temperature, from PLA muscle
Take flexible sensor on mold off；
(8), temperature control is annealed：Vacuum annealing between 120 degree of temperature control, annealing time 14 hours, standing is cooled to room temperature, excision
Edge redundance；
(9), gel electrode is applied：With elargol brush along muscle trend apply out 6 separation top electrodes, and from edge connect gold or
Silver electrode conducting wire is stood 2 hours and is waited for that elargol parches using LY-16034Ted Pella silver conductive adhesives；
(10), waterproof enclosure：With mass ratio 1:The colloidal solution of 8 solidfied material (DOW CORNING 184) and PDMS prepolymers, will
The above-mentioned piezoelectricity flexible sensor for being connected with upper/lower electrode is put into culture dish, is made between each electrode and is drawn with lower electrode
Line separates, and PDMS colloids are poured and are layed onto on sensor, thickness 1.5mm, after bubble all discharge after, then by culture dish as
It is horizontally arranged in baking oven, temperature control toasts 100min at 80 degree makes its solidification；
(11), piezoelectric transducer electric polarization：According to piezoelectric material layer thickness, apply about 1.5 times of coercive field strength (50kV/mm)
Polarizing voltage 8500V, polarization time 30min, obtain product piezoelectricity flexible sensor.
The present embodiment is suitble to the built-in of respective muscle shape in order to effectively acquire Muscle tensility signal, using 3D printing
PVDF-TrFE piezoelectricity flexible sensor 1；The multichannel Muscle tensility signal acquired passes through built-in preamplifier 15 and filter
Various and Muscle tensility is applicable to by microcontroller AD conversion unit 19 control relevant application after 17 processing.
Embodiment 3：
The present embodiment is described further the technique of 3D printing piezoelectricity flexible sensor 1：General 3D printing wax material, powder
End, Filamentous metal or raw materials for plastics production, the present embodiment use 3D printing technique liquid solution slurry；The 3D printing of the present embodiment
Technique is driven using movable base plate print structure and big distance with stepper motor, is glued by adjusting motion scan speed and to slurry
The control of degree and temperature etc., and precise micro syringe pump minimum nozzle is combined, realize precise and tiny structure printing；Print head part includes
The pin valve nozzle and stainless steel charging basket that micro machine control can be dismantled, the sliding upper end in stainless steel charging basket can be equipped with chemistry
Inert Teflon pistons print push rod, Teflon piston ridges and stainless steel charging basket sealed set, and print head part further includes
Heating component and nozzle temperature controller；In stainless steel charging basket the PVDF- obtained after moisture and air is excluded for concentrated processing
TrFE or its compound former material slurry；3D printing system is additionally provided with temperature, pressure, liquid level sensor, micro- by semiconductor refrigerating
Temperature regulating carrys out the viscosity of accuracy controlling printing raw material slurry.
Embodiment 4：
The present embodiment combination attached drawing further illustrates that the application of piezoelectricity flexible sensor and effect are as shown in Figure 4：With incompleteness
For shank, the sciatic nerve 13 and fibular nerve 14 that lack shank are replaced on two skull fleshes 12 of thigh；Two
Collected electromyography signal just contains the information for the original shank respective muscle of control that brain is sent out on bone flesh 12.
The Muscle tensility letter of the piezoelectricity flexible sensor acquisition control artificial limb for the built-in direct cladding muscle that the present embodiment is related to
Number corresponding electric signal, piezoelectricity flexible sensor are processed for different muscle shapes；The flexible piezoelectric flesh of internal portion
The setting of force snesor is as shown in Figure 5：For disposing piezoelectricity flexible sensor close on olive-type gastrocnemius, beaten with 3D
The piezoelectricity flexible sensor for printing off a cambered wrapped shapes enables to piezoelectricity flexible sensor to be preferably bonded muscle,
Keep the collection of electromyography signal sensitiveer effectively；The multiple electrodes of piezoelectricity flexible sensor make the strip moved towards along muscle, and one
It is in order to after the completion ofs preparing polarization etc., it is found that individual electrode can also continue to use because the reasons such as short circuit do not work, second is that being
The signal acquired on Different electrodes position can do further position correlation sensitive analysis.
Claims (7)
1. a kind of piezoelectricity flexible sensing device, it is characterised in that：Before its agent structure includes piezoelectricity flexible sensor, electromyography signal
Processing module, bluetooth wireless transmitter module, bluetooth wireless receiving module, electromyography signal analysis and processing module, control artificial limb action
Module, built-in circuit power module, electrode, suture, preamplifier, multiway analog switch, removes noise jamming at charging module
Filter, post-amplifier, microcontroller AD conversion unit and artificial limb power module；The piezoelectricity flexible sensing device includes
Internal portion and external part, internal portion is mounted on deformed limb muscle surface layer, external to be partly installed in artificial limb；Wherein built-in portion
The piezoelectricity flexible sensor divided is fixed on the musculature surface layer of human body, the setting of piezoelectricity flexible sensor upper surface by suture
There are one above strip structure electrode, electrode acquires the Muscle tensility signal of musculature, and piezoelectricity flexible sensor is by Muscle tensility
Signal passes to electromyography signal pre-processing module by way of power information connection；Electromyography signal pre-processing module is by preposition amplification
Power information connects successively for device, multiway analog switch, the filter except noise jamming, post-amplifier and microcontroller AD conversion unit
It connects and is composed, wherein the preamplifier of internal portion is connected by the filter power information of multiway analog switch and external part
It connects, filter will be transferred to post-amplifier after Muscle tensility Electric signal processing, Muscle tensility signal is amplified and passed by post-amplifier
It is defeated by microcontroller AD conversion unit, Muscle tensility signal is converted to digital signal to microcontroller AD conversion unit by treated；
Electromyography signal pre-processing module gives electric signal transmission to bluetooth wireless transmitter module, and electromyography signal pre-processing module and bluetooth are wireless
Transmitting module power information connects；Bluetooth wireless transmitter module by bluetooth coding and bluetooth transmit wirelessly two functional units combine and
At the bluetooth wireless receiving module Wireless information communication of bluetooth wireless transmitter module and external part；Bluetooth wireless receiving module
Two functional units are decoded by bluetooth wireless receiving and bluetooth to combine, bluetooth wireless receiving module transmits received signal
Electromyography signal analysis and processing module, bluetooth wireless receiving module is given to be connect with electromyography signal analysis and processing module power information, myoelectricity
By treated, electric signal transmission is provided with signal analysis and processing module to artificial limb action module, control artificial limb action module is controlled
9 framework S3C2440 of ARM are the prosthesis control end of core processor, and feature recognition point is carried out by software intelligent behavior pattern
The signal of signal and missing limbs that control remains limb is separated, vacation is controlled by ARM microcontrollers with missing limbs signal by analysis
Main drive is made, and artificial limb is made only to make a response to the instruction of deformed limb nerve；The present apparatus be also provided with wireless energy system be built-in circuit with
And external artificial limb actuating circuit provides the energy.
2. piezoelectricity flexible sensing device according to claim 1, it is characterised in that：The wireless energy system owns
Built-in circuit is integrated in one piece of circuit board, is placed in vivo using PDMS water tight enclosures；Wireless energy system includes external fills
Electric module, built-in circuit power module and artificial limb power module, wherein charging module are provided with to be connect with external ac power source
Power management module and an electromagnetic wave transmission module being connected on power management module output end, power management module also wrap
Boosting unit and voltage detection unit are included, charging module is by electric energy wireless transmission to built-in circuit power module and artificial limb power supply
Module is used to drive built-in signal acquisition process radiating circuit and external signal to receive processing and artificial limb mechanical movement；It is built-in
The electromagnetic wave signal that circuit power module and artificial limb power module can receive electromagnetic wave transmission module transmitting by one respectively
Electromagnetic wave receiving module, a charging circuit for charging the battery being connected on electromagnetic wave receiving module output end
And battery composition, the electromagnetic wave signal that the electromagnetic wave receiving module receives electromagnetic wave transmission module transmitting pass through charging circuit
It charges to the battery of corresponding site；The final normal operation for realizing package unit.
3. piezoelectricity flexible sensing device according to claim 1, it is characterised in that：Piezoelectricity flexible sensor, electromyography signal
Pre-processing module and bluetooth wireless transmitter module form Muscle tensility electrical signal collection wireless transmission process module, wherein electromyography signal
AD conversion unit in pre-processing module carries out analog-to-digital conversion by STM32 microcontrollers to signal；Each piezoelectricity flexible sensing
Device corresponds to an electromyography signal preamplifier, before monolithic processor controlled multiway analog switch makes all built-in sensors shared
Filter and post-amplifier after putting greatly；The Muscle tensility electric signal transmission that all electromyography signal pre-processing modules obtain is extremely
Bluetooth wireless transmitter module, and external control circuit part is wirelessly transmitted to by bluetooth wireless transmitter module.
4. piezoelectricity flexible sensing device according to claim 1, it is characterised in that：The preparation of the piezoelectricity flexible sensor
Method, basic process steps include：
(1), 3D figures are drawn：Nuclear magnetic resonance does the radiography of residual body part muscle, according to nuclear-magnetism structure, reference standard human body solution
Musculature figure is cutd open, the 3D figures of respective muscle are drawn；
(2), 3D printing：By muscle 3D mode input 3D printers, with polylactic acid PLA raw material 3D printing respective muscle model,
Print temperature controls between 180~200 degree, and the heating and temperature control of bottom plate is heavy according to Standard melt between 50~65 degree
The flow of long-pending 3D printer is printed using common filamentary material；Printed model is done into smooth surface processing：It is divulging information
Good region wears non-latex class gloves and model is positioned in sealing container of the bottom equipped with a small amount of acetone, and quiet to put 2-7 small
When, or heating 30-50min acceleration acetone volatilization processes, reduce standing time；
(3), solution spraying：It is convenient in order to take off film in later step, in one layer of 0.5-2wt% polyethylene of muscle model surface spraying
Alcoholic solution；
(4), substratum for waterproofing is coated：PDMS colloidal solution is by solidfied material and PDMS prepolymers in mass ratio 1:The ratio of 8-12 is matched
It sets；First the muscle model by above-mentioned printing is put into culture dish, the covering of PDMS colloids is poured on muscle model, thickness is
Then culture dish is horizontally arranged by 0.3-1mm as in vacuum drying oven, temperature control makes muscle in 60-100 degree, baking 30-180min
Mold curing；
(5), elargol electrode is applied：Elargol electrode is applied on cured muscle model, and connects gold or silver electrode conducting wire from edge,
LY-16034 Ted Pella silver conductive adhesives are smeared into very thin one layer with brush, 1-4 hours is stood and waits for that elargol parches；
(6), 3D printing sensor：It is realized using liquid solution slurry and 3D printing technique,
First it is equipped with liquid material solution slurry：10-20wt%PVDF-TrFE and its composite material are equipped on about 60 degree of warm tables
Dimethyl formamide solution is added 2-6% Du Ponts fluorocarbon surfactant, is dried in vacuo at concentration in 5-24 hours through 60-80 degree
The PVDF-TrFE raw materials slurry obtained after reason；
The piezoelectricity flexible sensor of 3D printing muscle shape again, the method directly printed by liquid material using the prior art,
The piezoelectric transducer of printing, piezoelectric layer thickness are 10-100 μm；
(7), sensor cures：Temperature control 4-8 hours consolidated structures of 60 degree of vacuum drying, standing is cooled to room temperature, from PLA muscle moulds
Take flexible sensor on tool off；
(8), temperature control is annealed：Vacuum annealing between temperature control 90-150 degree, annealing time 5-24 hours, standing is cooled to room temperature, and is cut
Except edge redundance；
(9), gel electrode is applied：The top electrode of 5-7 items separation is applied out along muscle trend with elargol brush, and gold or silver are connected from edge
Electrode cable is stood 1-4 hours and is waited for that elargol parches using LY-16034 Ted Pella silver conductive adhesives；
(10), waterproof enclosure：With mass ratio 1:The colloidal solution of the solidfied material and PDMS prepolymers of 8-12, will be on above-mentioned be connected with
The piezoelectricity flexible sensor of lower electrode is put into culture dish, makes to separate between each electrode and with the lead of lower electrode, will
PDMS colloids, which pour, to be layed onto on sensor, thickness 1-2mm, after bubble all discharge, then by culture dish as horizontal in baking oven
It places, temperature control makes its solidification in 60-100 degree baking 30-180min；
(11), piezoelectric transducer electric polarization：According to piezoelectric material layer thickness, apply the polarizing voltage of about 1.5-2 times coercive field strength
7000-10000V, polarization time 15-40min obtain product piezoelectricity piezoelectric transducer.
5. piezoelectricity flexible sensing device according to claim 4, it is characterised in that：The liquid solution slurry is beaten using 3D
Print technique liquid solution slurry；The 3D printing technique is driven using movable base plate print structure and big distance with stepper motor
It is dynamic, the control by adjusting motion scan speed and to phosphoric acid and temperature etc., and precise micro syringe pump minimum is combined to spray
Mouth realizes precise and tiny structure printing；The print head part of the 3D printing technique includes the needle-valve spray that can dismantle micro machine control
Mouth and stainless steel charging basket, the sliding upper end in stainless steel charging basket can be equipped with chemically inert Teflon pistons and print push rod,
Teflon piston ridges and stainless steel charging basket sealed set, print head part further includes heating component and nozzle temperature controller；
In stainless steel charging basket the PVDF-TrFE or its compound former material slurry that are obtained after moisture and air are excluded for concentrated processing；3D
Print system is additionally provided with temperature, pressure, liquid level sensor, and finely tune temperature by semiconductor refrigerating prints raw material slurry come accuracy controlling
Viscosity.
6. piezoelectricity flexible sensing device according to claim 1, it is characterised in that：It is first when using piezoelectricity flexible sensor
First the musculature at remaining limbs end is transformed, the nerve being connected with missing limbs is reapposed over remaining limbs end
In musculature, then piezoelectricity flexible sensor is sewn in the musculature at remaining limbs end.
7. piezoelectricity flexible sensing device according to claim 1, it is characterised in that：The built-in directly cladding muscle
The corresponding electric signal of Muscle tensility signal of piezoelectricity flexible sensor acquisition control artificial limb, piezoelectricity flexible sensor are directed to different fleshes
Meat shape is processed；The setting of the flexible piezoelectric Muscle tensility sensor of internal portion：With 3D printing go out one it is cambered
The piezoelectricity flexible sensor of wrapped shapes, suture are coated in musculature, and piezoelectricity flexible sensor is enabled to preferably to paste
Muscle is closed, keeps the collection of electromyography signal sensitiveer effectively；The multiple electrodes of piezoelectricity flexible sensor, which are made, to be moved towards along muscle
Strip, when the one of electrode of discovery can also continue to because the reasons such as short circuit do not work using other electrodes, Different electrodes position
The signal of upper acquisition can do further position correlation sensitive analysis.
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| CN109497968A (en) * | 2018-10-22 | 2019-03-22 | 中国人民解放军第四军医大学 | A kind of life signal synchronized measurement system and measurement method for bioradar detection |
| CN110856656A (en) * | 2018-08-24 | 2020-03-03 | 深圳先进技术研究院 | Measuring system for muscle deformation and manufacturing method of flexible sensor |
| CN111568428A (en) * | 2020-04-13 | 2020-08-25 | 汕头大学医学院 | Human joint mobility detection system and detection method |
| CN113162221A (en) * | 2021-05-10 | 2021-07-23 | 上海西隆电力科技有限公司 | Power supply signal separator, acoustic emission signal acquisition and separation system and method |
| CN113456433A (en) * | 2021-08-13 | 2021-10-01 | 北京大学人民医院 | Electric signal collector and human-computer interaction interface type exoskeleton rehabilitation system |
| CN114699082A (en) * | 2022-04-21 | 2022-07-05 | 天津大学 | Flexible wearable surface electromyography sensor |
| US11724384B2 (en) | 2021-12-09 | 2023-08-15 | Toyota Motor Engineering & Manufacturing North America, Inc. | Artificial muscles comprising a strain sensor and artificial muscle assemblies comprising the same |
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